CN118082684A - Early warning method and device for vehicle collision prevention, vehicle and storage medium - Google Patents
Early warning method and device for vehicle collision prevention, vehicle and storage medium Download PDFInfo
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- CN118082684A CN118082684A CN202410309303.5A CN202410309303A CN118082684A CN 118082684 A CN118082684 A CN 118082684A CN 202410309303 A CN202410309303 A CN 202410309303A CN 118082684 A CN118082684 A CN 118082684A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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Abstract
The application discloses a vehicle anti-collision early warning method, a vehicle anti-collision early warning device, a vehicle and a storage medium, wherein the method comprises the following steps: detecting whether the vehicle is in an anti-collision working condition; under the condition that the vehicle is detected to be in an anti-collision working condition, at least one side image of the vehicle is collected, and an obstacle is identified according to the at least one side image; the method comprises the steps of obtaining the actual distance between the obstacle and the vehicle, identifying the relative movement condition between the obstacle and the vehicle according to the actual distance, and judging whether the vehicle meets the preset anti-collision alarm condition according to the relative movement condition, wherein if the vehicle meets the preset anti-collision alarm condition, the vehicle is controlled to carry out anti-collision alarm. According to the embodiment of the application, the obstacle can be identified according to the acquired lateral image of the vehicle, the relative motion condition is identified according to the actual distance between the obstacle and the vehicle, and when the vehicle meets the anti-collision alarm condition, the vehicle is controlled to carry out anti-collision alarm, so that the comprehensiveness and instantaneity of the anti-collision of the vehicle are effectively improved.
Description
Technical Field
The present application relates to the field of vehicle technologies, and in particular, to a vehicle anti-collision early warning method and apparatus, a vehicle, and a storage medium.
Background
In the related art, ultrasonic probes on the front side and the rear side of a vehicle are used for identifying and memorizing stationary obstacles on the side of the vehicle body (in a detection area of the ultrasonic probes), then the current running direction of the vehicle, steering wheel angle information of the vehicle and the like are integrated, whether the collision risk of the vehicle and the obstacles exists or not is calculated and judged, and warning is carried out through radar images and texts of the vehicle.
However, in the related art, a stationary obstacle is identified according to an ultrasonic probe of a vehicle, and collision risk is calculated by utilizing vehicle body information, so that the identification of the obstacle is single, the comprehensiveness and instantaneity of the anti-collision of the vehicle are reduced, the safety of the vehicle is reduced, the driving requirement of a user cannot be met, and the problem is to be solved.
Disclosure of Invention
The application provides a vehicle anti-collision early warning method, a vehicle anti-collision early warning device, a vehicle and a storage medium, which are used for solving the problems that in the related art, a static obstacle is identified according to an ultrasonic probe of the vehicle, and collision risk is calculated by utilizing vehicle body information, so that the identification of the obstacle is single, the comprehensiveness and instantaneity of the vehicle anti-collision are reduced, and the safety of the vehicle is reduced.
An embodiment of a first aspect of the present application provides a vehicle anti-collision early warning method, including the following steps: detecting whether the vehicle is in an anti-collision working condition; under the condition that the vehicle is detected to be in the anti-collision working condition, at least one side image of the vehicle is collected, and an obstacle is identified according to the at least one side image; acquiring the actual distance between the obstacle and the vehicle, identifying the relative movement condition between the obstacle and the vehicle according to the actual distance, and judging whether the vehicle meets a preset anti-collision alarm condition according to the relative movement condition, wherein if the vehicle meets the preset anti-collision alarm condition, the vehicle is controlled to carry out anti-collision alarm.
Through the technical scheme, under the condition that the vehicle is detected to be in the anti-collision working condition, the obstacle can be identified according to the collected lateral image of the vehicle, and the actual distance between the obstacle and the vehicle is obtained, so that the relative motion condition between the obstacle and the vehicle is identified, and further, when the vehicle meets the anti-collision alarm condition, the vehicle is controlled to carry out anti-collision alarm, the comprehensiveness and the instantaneity of the anti-collision of the vehicle are effectively improved, and the safety of the vehicle is improved.
Optionally, in one embodiment of the present application, after controlling the vehicle to perform the anti-collision alarm, the method further includes: and if the vehicle does not meet the preset anti-collision alarm condition, controlling the vehicle to release the alarm.
Through the technical scheme, when the vehicle does not meet the preset anti-collision alarm condition, the vehicle is controlled to release the anti-collision alarm, the real-time performance of the anti-collision early warning of the vehicle is effectively improved, and the driving experience of a user is improved.
Optionally, in one embodiment of the present application, after controlling the vehicle to perform the anti-collision alarm, the method further includes: judging whether the obstacle exists in the effective visual field range of the vehicle according to the at least one sideways image; and if the obstacle is not present, controlling the vehicle to release the alarm.
Through the technical scheme, when no obstacle exists in a certain visual field range of the vehicle according to the sideways image of the vehicle, the vehicle releases the alarm, the real-time performance of the anti-collision early warning of the vehicle is effectively improved, and the intelligent level of the vehicle is improved.
Optionally, in one embodiment of the present application, after controlling the vehicle to perform the anti-collision alarm, the method further includes: calculating lateral distances to the obstacle at a plurality of moments according to the actual distances at the plurality of moments; and obtaining the transverse distance change trend of the obstacle according to the transverse distances at the multiple moments, and controlling the vehicle to release the alarm under the condition that the transverse distance change trend is a far-away trend.
Through the technical scheme, the transverse distances between the vehicle and the obstacle at a plurality of moments can be calculated according to the actual distances between the vehicle and the obstacle at a plurality of moments, so that the vehicle is controlled to release the alarm under the condition that the change trend of the transverse distances is a far away trend, and the real-time performance and the accuracy of the anti-collision early warning of the vehicle are effectively improved.
Optionally, in one embodiment of the present application, after controlling the vehicle to perform the anti-collision alarm, the method further includes: acquiring a distance between a rear ultrasonic radar of the vehicle and the obstacle; judging whether the distance is larger than a preset contact alarm threshold value or not; and if the contact alarm threshold value is larger than the preset contact alarm threshold value, controlling the vehicle to release the alarm.
Through the technical scheme, the distance between the rear ultrasonic radar of the vehicle and the obstacle can be obtained, and when the distance is greater than the contact alarm threshold value, the vehicle is controlled to release the alarm, so that the real-time performance and the reliability of the anti-collision early warning of the vehicle are effectively improved.
Optionally, in one embodiment of the present application, the detecting whether the vehicle is in an anti-collision condition includes: the method comprises the steps of collecting the whole vehicle state of the vehicle, and controlling the vehicle to be in the anti-collision working condition when the whole vehicle state meets the preset anti-collision condition; or receiving an anti-collision early warning instruction of a user, and responding to the anti-collision early warning instruction to control the vehicle to be in the anti-collision working condition.
Through the technical scheme, when the whole vehicle state of the vehicle meets the anti-collision condition, the vehicle is controlled to enter the anti-collision working condition, the anti-collision early warning instruction of the user can also be received, and the vehicle is controlled to enter the anti-collision working condition according to the anti-collision early warning instruction of the user, so that the interactivity of the vehicle is effectively improved.
Optionally, in one embodiment of the present application, the controlling the vehicle to perform an anti-collision alarm includes: determining an actual type of the obstacle from the at least one roll image; and matching the target alarming mode corresponding to the vehicle according to the actual type, and performing anti-collision alarming according to the target alarming mode.
Through the technical scheme, the actual type of the obstacle can be determined according to the sideways image of the vehicle so as to be matched with the corresponding alarm mode of the vehicle, anti-collision alarm is carried out according to the alarm mode, the diversity of anti-collision early warning of the vehicle is improved, and the driving experience of a user is improved.
An embodiment of a second aspect of the present application provides a vehicle collision warning device, including: the detection module is used for detecting whether the vehicle is in an anti-collision working condition or not; the first processing module is used for acquiring at least one side image of the vehicle and identifying an obstacle according to the at least one side image under the condition that the vehicle is detected to be in the anti-collision working condition; the control module is used for acquiring the actual distance between the obstacle and the vehicle, identifying the relative movement condition between the obstacle and the vehicle according to the actual distance, and judging whether the vehicle meets a preset anti-collision alarm condition according to the relative movement condition, wherein if the vehicle meets the preset anti-collision alarm condition, the vehicle is controlled to carry out anti-collision alarm.
Through the technical scheme, the vehicle anti-collision early warning device can identify the obstacle according to the acquired lateral image of the vehicle under the condition that the vehicle is detected to be in an anti-collision working condition, so that the actual distance between the obstacle and the vehicle is acquired, and the relative motion condition between the obstacle and the vehicle is identified, and further when the vehicle meets the anti-collision alarm condition, the vehicle is controlled to carry out anti-collision alarm, the comprehensiveness and instantaneity of the vehicle anti-collision are effectively improved, and the safety of the vehicle is improved.
Optionally, in an embodiment of the present application, the apparatus of the embodiment of the present application further includes: and the second processing module is used for controlling the vehicle to release the alarm if the vehicle does not meet the preset anti-collision alarm condition after controlling the vehicle to carry out the anti-collision alarm.
Through the technical scheme, the vehicle anti-collision early warning device can control the vehicle to release anti-collision warning when the vehicle does not meet the preset anti-collision warning condition, effectively improves the real-time performance of the vehicle anti-collision early warning, and improves the driving experience of a user.
Optionally, in an embodiment of the present application, the apparatus of the embodiment of the present application further includes: the judging module is used for judging whether the obstacle exists in the effective visual field range of the vehicle according to the at least one side image after the vehicle is controlled to carry out anti-collision alarm; and the third processing module is used for controlling the vehicle to release the alarm if the obstacle is not present after controlling the vehicle to perform the anti-collision alarm.
Through the technical scheme, when the vehicle anti-collision early warning device can detect that no obstacle exists in a certain visual field range of the vehicle according to the lateral image of the vehicle, the vehicle releases the alarm, the real-time performance of the vehicle anti-collision early warning is effectively improved, and the intelligent level of the vehicle is improved.
Optionally, in an embodiment of the present application, the apparatus of the embodiment of the present application further includes: a calculation module for calculating lateral distances between the vehicle and the obstacle at a plurality of moments according to the actual distances at a plurality of moments after the vehicle is controlled to carry out anti-collision alarm; and the control module is used for obtaining the transverse distance change trend of the obstacle according to the transverse distances at a plurality of moments after controlling the vehicle to carry out anti-collision alarm, and controlling the vehicle to release the alarm under the condition that the transverse distance change trend is far away.
Through the technical scheme, the vehicle anti-collision early warning device can calculate the transverse distances of the vehicle and the obstacle at a plurality of moments according to the actual distances of the vehicle and the obstacle at a plurality of moments, so that the vehicle is controlled to release the warning under the condition that the change trend of the transverse distances is a far away trend, and the real-time performance and the accuracy of the vehicle anti-collision early warning are effectively improved.
Optionally, in an embodiment of the present application, the apparatus of the embodiment of the present application further includes: the acquisition module is used for acquiring the distance between the rear ultrasonic radar of the vehicle and the obstacle after controlling the vehicle to carry out anti-collision alarm; the judging module is used for judging whether the distance is larger than a preset contact alarm threshold value or not after the vehicle is controlled to carry out anti-collision alarm; and the control module is used for controlling the vehicle to release the alarm if the contact alarm threshold value is larger than the preset contact alarm threshold value after controlling the vehicle to carry out the anti-collision alarm.
Through the technical scheme, the vehicle anti-collision early warning device can acquire the distance between the rear ultrasonic radar of the vehicle and the obstacle, and when the distance is greater than the contact alarm threshold value, the vehicle is controlled to release the alarm, so that the real-time performance and the reliability of the vehicle anti-collision early warning are effectively improved.
Optionally, in one embodiment of the present application, the detection module includes: the control unit is used for collecting the whole vehicle state of the vehicle, and controlling the vehicle to be in the anti-collision working condition when the whole vehicle state meets the preset anti-collision condition, or receiving an anti-collision early warning instruction of a user, responding to the anti-collision early warning instruction, and controlling the vehicle to be in the anti-collision working condition.
Through the technical scheme, the detection module can control the vehicle to enter the anti-collision working condition when the whole vehicle state of the vehicle meets the anti-collision condition, can also receive the anti-collision early warning instruction of the user, and can control the vehicle to enter the anti-collision working condition according to the anti-collision early warning instruction of the user, so that the interactivity of the vehicle is effectively improved.
Optionally, in one embodiment of the present application, the control module includes: a determining unit configured to determine an actual type of the obstacle from the at least one roll image; and the matching unit is used for matching the target alarming mode corresponding to the vehicle according to the actual type and carrying out anti-collision alarming according to the target alarming mode.
Through the technical scheme, the control module can determine the actual type of the obstacle according to the sideways image of the vehicle so as to match the corresponding alarm mode of the vehicle, and anti-collision alarm is carried out according to the alarm mode, so that the diversity of anti-collision early warning of the vehicle is improved, and the driving experience of a user is improved.
An embodiment of a third aspect of the present application provides a vehicle including: the vehicle anti-collision early warning system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to realize the vehicle anti-collision early warning method according to the embodiment.
A fourth aspect of the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the vehicle collision warning method as above.
A fifth aspect of the present application provides a computer program for implementing the vehicle collision warning method as above when executed.
According to the embodiment of the application, under the condition that the vehicle is detected to be in the anti-collision working condition, the obstacle is identified according to the acquired lateral image of the vehicle, and the actual distance between the obstacle and the vehicle is acquired, so that the relative motion condition between the obstacle and the vehicle is identified, whether the vehicle meets the anti-collision alarm condition is judged, and when the vehicle meets the anti-collision alarm condition, the vehicle is controlled to carry out anti-collision alarm, the comprehensiveness and instantaneity of the anti-collision of the vehicle are effectively improved, and the safety of the vehicle is improved. Therefore, the problems that in the related art, the static obstacle is identified according to the ultrasonic probe of the vehicle, the collision risk is calculated by utilizing the vehicle body information, the obstacle identification is single, the comprehensiveness and the instantaneity of the anti-collision of the vehicle are reduced, and the safety of the vehicle is reduced are solved.
Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a schematic diagram of an early warning system for collision avoidance of a seed vehicle according to an embodiment of the present application;
FIG. 2 is a flowchart of a vehicle anti-collision early warning method according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a sensor for identifying an obstacle for a vehicle in accordance with one embodiment of the application;
FIG. 4 is a schematic diagram of a side warning when there is a stationary obstacle on the left side of a vehicle in accordance with one embodiment of the present application;
Fig. 5 is a schematic structural diagram of a vehicle anti-collision early warning device according to an embodiment of the present application;
Fig. 6 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application.
The following describes an anti-collision early warning method and device for a vehicle, the vehicle and a storage medium according to the embodiments of the present application with reference to the accompanying drawings. Aiming at the problems that in the related art mentioned in the background center, the ultrasonic probe of the vehicle is used for identifying the static obstacle, the collision risk is calculated by utilizing the vehicle body information, so that the identification of the obstacle is single, the comprehensiveness and the instantaneity of the vehicle collision prevention are reduced, and the safety of the vehicle is reduced. Therefore, the problems that in the related art, the static obstacle is identified according to the ultrasonic probe of the vehicle, the collision risk is calculated by utilizing the vehicle body information, the obstacle identification is single, the comprehensiveness and the instantaneity of the anti-collision of the vehicle are reduced, and the safety of the vehicle is reduced are solved.
The traditional vehicle recognizes and memorizes stationary obstacles at the side of the vehicle body (in the detection area of the ultrasonic probe) through the ultrasonic probes at the front side and the rear side, then synthesizes the current running direction of the vehicle, steering wheel angle information of the vehicle and the like, calculates and judges whether the collision risk exists between the vehicle and the obstacles, and warns through radar graphics of the vehicle, but causes the recognition of the obstacles to have singleness, and reduces the comprehensiveness of the anti-collision of the vehicle.
Therefore, in the related art, the static obstacle is identified according to the ultrasonic probe of the vehicle, and the collision risk is calculated by utilizing the vehicle body information, so that the identification of the obstacle has singleness, the comprehensiveness and the instantaneity of the anti-collision of the vehicle are reduced, and the safety of the vehicle is reduced.
The application scenario or system architecture of the embodiment of the present application will be described. As shown in fig. 1, the vehicle anti-collision early warning function in the embodiment of the application mainly includes sensors including a high-definition panoramic camera (left view and right view) and front and rear ultrasonic radars, the left view camera and the right view camera can effectively detect obstacles in two side areas of a vehicle, including static and dynamic obstacles, the front and rear ultrasonic radars can detect distance information of the obstacles scanned by the front and rear ultrasonic radars, and the relative distance between the obstacles and the vehicle side is calculated according to the vehicle running track so as to promote the comprehensiveness and instantaneity of vehicle anti-collision.
Specifically, fig. 1 is a schematic flow chart of a vehicle anti-collision early warning method according to an embodiment of the present application.
As shown in fig. 1, the vehicle collision prevention early warning method includes the following steps:
in step S101, it is detected whether the vehicle is in an anti-collision condition.
In the embodiment of the application, the anti-collision working condition is the working condition for preventing the collision risk of the vehicle, and the embodiment of the application can prompt the user in time when the collision risk exists in the vehicle.
It can be understood that the embodiment of the application can detect whether the vehicle is in an anti-collision working condition, wherein when the vehicle is in the anti-collision working condition and the vehicle has collision risk, the embodiment of the application can timely carry out anti-collision reminding on the user, thereby improving the feasibility of the anti-collision early warning of the vehicle.
Wherein, in one embodiment of the application, detecting whether the vehicle is in an anti-collision working condition comprises: collecting the whole vehicle state of the vehicle, and controlling the vehicle to be in an anti-collision working condition when the whole vehicle state meets the preset anti-collision condition; or receiving an anti-collision early warning instruction of the user, and responding to the anti-collision early warning instruction to control the vehicle to be in an anti-collision working condition.
In the embodiment of the present application, the preset anti-collision condition is a preset condition that a vehicle may have a collision risk, where the preset anti-collision condition is set by a person skilled in the art according to actual situations, and is not specifically limited herein.
For example, the embodiment of the application can acquire the current running track of the vehicle, the steering wheel turning angle of the vehicle and other vehicle running states through the vehicle body sensor, and judge that the vehicle meets the anti-collision condition when the vehicle running states are turning, reversing or passing through a traffic light intersection.
For another example, the embodiment of the application can receive the anti-collision early warning instruction of the user, for example, the user can control the vehicle to enter the anti-collision working condition through the physical key in the vehicle, and can also control the vehicle to enter the anti-collision working condition by sending a voice instruction of 'XX vehicle to enter the anti-collision working condition', thereby effectively improving the interactivity of the vehicle.
In step S102, in the case where it is detected that the vehicle is in the anti-collision condition, at least one roll image of the vehicle is acquired, and an obstacle is identified according to the at least one roll image.
It can be understood that in the embodiment of the application, at least one side image of the vehicle can be acquired when the vehicle is detected to be in an anti-collision working condition, for example, as shown in fig. 3, the embodiment of the application can be provided with a left-view camera and a right-view camera on the left side and the right side outside the vehicle respectively, wherein the left-view camera and the right-view camera can effectively detect the obstacle in a region with the width of 2.5m on the left side and the right side of the vehicle, and the embodiment of the application can respectively acquire the left side image and the right side image of the vehicle through the left-view camera and the right-view camera, for example, when the obstacle is on the right side of the vehicle, the embodiment of the application can identify the obstacle according to the image of the right side obstacle, and display the obstacle on the right side of the vehicle on a control screen in the vehicle, thereby effectively improving the real-time of the anti-collision early warning of the vehicle.
The obstacle may be a static obstacle, such as a wall, a stationary vehicle, or a dynamic obstacle, such as a pedestrian, an animal, a traveling vehicle, or the like.
In step S103, an actual distance between the obstacle and the vehicle is obtained, a relative movement condition between the obstacle and the vehicle is identified according to the actual distance, and whether the vehicle meets a preset anti-collision alarm condition is judged according to the relative movement condition, wherein if the vehicle meets the preset anti-collision alarm condition, the vehicle is controlled to perform anti-collision alarm.
In the embodiment of the application, the preset anti-collision alarm condition is a condition that the actual distance between the vehicle and the obstacle is too small, the risk of collision exists, and the user needs to be timely alerted, wherein the preset anti-collision alarm condition is set by a person skilled in the art according to the actual situation, and is not particularly limited herein.
It may be understood that the embodiment of the present application may obtain the actual distance between the obstacle and the vehicle, for example, as shown in fig. 3, in the embodiment of the present application, front and rear ultrasonic radars may be disposed on the vehicle body, the actual distance between the obstacle and the vehicle may be calculated by echo signals of the front and rear ultrasonic radars, and the relative motion situation between the obstacle and the vehicle may be identified according to the actual distance, as shown in fig. 4, after the vehicle enters the anti-collision working condition, when the vehicle travels forward, the front ultrasonic radars detect that the left side of the vehicle has a wall, i.e., a static obstacle, the front ultrasonic radars calculate the actual distance between the vehicle and the wall according to the echo signals, calculate the distance and the relative position of the wall that will reach the side of the vehicle in combination with the motion track of the vehicle, and if the distance gradually decreases, determine that the vehicle has a risk of collision, thereby vibrating the steering wheel of the vehicle, and giving an anti-collision alarm to the left door at the central control screen, so as to improve the safety of the vehicle.
For example, after the vehicle enters an anti-collision working condition, when the left-view camera of the vehicle detects that a pedestrian appears on the left side of the vehicle, and the distance between the vehicle and the pedestrian is detected to be gradually reduced through the ultrasonic radar on the left side of the vehicle, for example, when the distance is smaller than 2m, the vehicle is judged to meet an anti-collision alarm condition, and further the vehicle seat vibration can be controlled, a voice prompt of 'dynamic obstacle exists at the door on the left side of the vehicle and please pay attention to avoidance' is sent out, so that the anti-collision alarm of the vehicle is carried out, the accuracy of anti-collision early warning of the vehicle is effectively improved, and the safety of the vehicle is improved.
Wherein, in one embodiment of the application, the control vehicle carries out anti-collision alarm, which comprises the following steps: determining an actual type of the obstacle according to the at least one sideways image; and matching the target alarming mode corresponding to the vehicle according to the actual type, and carrying out anti-collision alarming according to the target alarming mode.
In some embodiments, the embodiment of the application can determine the actual type of the obstacle according to the side images of the vehicle obtained by the cameras on the left side and the right side, such as static obstacles like walls, stationary vehicles and the like, or dynamic obstacles like pedestrians, animals, running vehicles and the like.
Optionally, in one embodiment of the present application, after controlling the vehicle to perform the anti-collision alarm, the method further includes: and if the vehicle does not meet the preset anti-collision alarm condition, controlling the vehicle to release the alarm.
In some embodiments, after the vehicle is controlled to perform anti-collision alarm, the embodiment of the application can continuously detect whether the vehicle meets the anti-collision alarm condition, for example, when the vehicle detects that the actual distance between the pedestrian and the vehicle is greater than the safety distance through the left-view camera, for example, the actual distance is greater than 2m, the vehicle is judged not to meet the anti-collision alarm condition, and then the vehicle is controlled to release the alarm, so that the real-time performance of the anti-collision alarm of the vehicle is effectively improved, and the driving experience of a user is improved.
Optionally, in one embodiment of the present application, after controlling the vehicle to perform the anti-collision alarm, the method further includes: judging whether an obstacle exists in the effective visual field range of the vehicle according to at least one side image; if no obstacle exists, the vehicle is controlled to release the alarm.
For example, after the vehicle is controlled to carry out anti-collision alarm, the embodiment of the application can continuously detect whether the obstacle exists in the effective detection range through the left-view camera, namely, the 2.5m wide area on the left side of the vehicle, and when the obstacle does not exist in the effective detection range of the left-view camera, the vehicle is judged not to meet the anti-collision alarm condition, the vehicle is controlled to release the alarm, and the real-time performance of the anti-collision reminding of the vehicle is effectively improved.
Optionally, in one embodiment of the present application, after controlling the vehicle to perform the anti-collision alarm, the method further includes: calculating lateral distances between the obstacle and the actual distances at a plurality of moments according to the actual distances at the plurality of moments; and obtaining the transverse distance change trend of the obstacle according to the transverse distances at a plurality of moments, and controlling the vehicle to release the alarm under the condition that the transverse distance change trend is far away.
In some embodiments, the embodiment of the application can obtain the actual distances between the obstacle and the vehicle at a plurality of moments according to the front and rear ultrasonic radars of the vehicle, calculate the transverse distances between the obstacle and the actual distances at a plurality of moments according to the actual distances, and control the vehicle to release the alarm when the change trend of the transverse distances is a far trend, for example, when the transverse distances are gradually changed from 1m to 2.5m, thereby effectively improving the reliability of the anti-collision detection of the vehicle.
Optionally, in one embodiment of the present application, after controlling the vehicle to perform the anti-collision alarm, the method further includes: acquiring the distance between the rear ultrasonic radar of the vehicle and the obstacle; judging whether the distance is larger than a preset contact alarm threshold value or not; and if the contact alarm threshold value is larger than the preset contact alarm threshold value, controlling the vehicle to release the alarm.
In some embodiments, the method and the device can acquire the distance between the rear ultrasonic radar of the vehicle and the obstacle, judge whether the distance is larger than the contact alarm threshold, for example, whether the distance is larger than the contact alarm threshold by 2.5m, and control the vehicle to release the alarm when the distance is larger than 2.5m, so that the accuracy of anti-collision reminding of the vehicle is effectively improved.
It should be noted that, the preset touch alarm threshold is set by those skilled in the art according to the actual situation, and is not specifically limited herein.
According to the vehicle anti-collision early warning method provided by the embodiment of the application, under the condition that the vehicle is detected to be in an anti-collision working condition, the obstacle can be identified according to the acquired lateral image of the vehicle, and the actual distance between the obstacle and the vehicle is acquired, so that the relative motion condition between the obstacle and the vehicle is identified, and further whether the vehicle meets the anti-collision alarm condition is judged, when the vehicle meets the anti-collision alarm condition, the vehicle is controlled to carry out anti-collision alarm, the comprehensiveness and instantaneity of the anti-collision of the vehicle are effectively improved, and the safety of the vehicle is improved. Therefore, the problems that in the related art, the static obstacle is identified according to the ultrasonic probe of the vehicle, the collision risk is calculated by utilizing the vehicle body information, the obstacle identification is single, the comprehensiveness and the instantaneity of the anti-collision of the vehicle are reduced, and the safety of the vehicle is reduced are solved.
Next, an early warning device for vehicle collision prevention according to an embodiment of the present application will be described with reference to the accompanying drawings.
Fig. 5 is a block schematic diagram of an early warning device for vehicle collision prevention according to an embodiment of the present application.
As shown in fig. 5, the vehicle collision warning device 10 includes: the device comprises a detection module 100, a first processing module 200 and a control module 300.
Specifically, the detection module 100 is configured to detect whether the vehicle is in an anti-collision condition.
The first processing module 200 is configured to acquire at least one roll image of the vehicle and identify an obstacle according to the at least one roll image when it is detected that the vehicle is in an anti-collision condition.
The control module 300 is configured to obtain an actual distance between the obstacle and the vehicle, identify a relative movement condition between the obstacle and the vehicle according to the actual distance, and determine whether the vehicle meets a preset anti-collision alarm condition according to the relative movement condition, where if the vehicle meets the preset anti-collision alarm condition, the vehicle is controlled to perform anti-collision alarm.
Optionally, in an embodiment of the present application, the apparatus 10 of the embodiment of the present application further includes: and a second processing module.
The second processing module is used for controlling the vehicle to release the alarm if the vehicle does not meet the preset anti-collision alarm condition after controlling the vehicle to carry out anti-collision alarm.
Optionally, in an embodiment of the present application, the apparatus 10 of the embodiment of the present application further includes: the device comprises a judging module and a third processing module.
The judging module is used for judging whether an obstacle exists in the effective visual field range of the vehicle according to at least one side body image after the vehicle is controlled to carry out anti-collision alarm.
And the third processing module is used for controlling the vehicle to release the alarm if no obstacle exists after the vehicle is controlled to perform the anti-collision alarm.
Optionally, in an embodiment of the present application, the apparatus 10 of the embodiment of the present application further includes: a calculation module and a control module.
The calculation module is used for calculating the transverse distances between the vehicle and the obstacle at a plurality of moments according to the actual distances at a plurality of moments after the vehicle is controlled to carry out anti-collision alarm.
And the control module is used for obtaining the transverse distance change trend of the obstacle according to the transverse distances at a plurality of moments after controlling the vehicle to carry out anti-collision alarm, and controlling the vehicle to release the alarm under the condition that the transverse distance change trend is far away.
Optionally, in an embodiment of the present application, the apparatus 10 of the embodiment of the present application further includes: the device comprises an acquisition module, a judging module and a control module.
The acquisition module is used for acquiring the distance between the rear ultrasonic radar of the vehicle and the obstacle after controlling the vehicle to carry out anti-collision alarm.
And the judging module is used for judging whether the distance is greater than a preset contact alarm threshold value after the vehicle is controlled to carry out anti-collision alarm.
And the control module is used for controlling the vehicle to release the alarm if the contact alarm threshold value is larger than the preset contact alarm threshold value after the collision alarm is performed on the vehicle.
Optionally, in one embodiment of the present application, the detection module 100 includes: and a control unit.
The control unit is used for collecting the whole vehicle state of the vehicle, and controlling the vehicle to be in an anti-collision working condition when the whole vehicle state meets the preset anti-collision condition, or receiving an anti-collision early warning instruction of a user, and controlling the vehicle to be in the anti-collision working condition in response to the anti-collision early warning instruction.
Optionally, in one embodiment of the present application, the control module 300 includes: a determining unit and a matching unit.
Wherein the determining unit is used for determining the actual type of the obstacle according to at least one side image.
And the matching unit is used for matching the target alarming mode corresponding to the vehicle according to the actual type and carrying out anti-collision alarming according to the target alarming mode.
It should be noted that the foregoing explanation of the embodiment of the vehicle anti-collision early warning method is also applicable to the vehicle anti-collision early warning device of this embodiment, and will not be repeated here.
According to the vehicle anti-collision early warning device provided by the embodiment of the application, when the situation that the vehicle is in an anti-collision working condition is detected, the obstacle can be identified according to the acquired lateral image of the vehicle, and the actual distance between the obstacle and the vehicle is acquired, so that the relative motion condition between the obstacle and the vehicle is identified, whether the vehicle meets the anti-collision warning condition is judged, and when the vehicle meets the anti-collision warning condition, the vehicle is controlled to carry out anti-collision warning, the comprehensiveness and instantaneity of the anti-collision of the vehicle are effectively improved, and the safety of the vehicle is improved. Therefore, the problems that in the related art, the static obstacle is identified according to the ultrasonic probe of the vehicle, the collision risk is calculated by utilizing the vehicle body information, the obstacle identification is single, the comprehensiveness and the instantaneity of the anti-collision of the vehicle are reduced, and the safety of the vehicle is reduced are solved.
Fig. 6 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:
A memory 601, a processor 602, and a computer program stored on the memory 601 and executable on the processor 602.
The processor 602 implements the vehicle collision prevention warning method provided in the above embodiment when executing the program.
Further, the vehicle further includes:
A communication interface 603 for communication between the memory 601 and the processor 602.
A memory 601 for storing a computer program executable on the processor 602.
The memory 601 may comprise a high-speed RAM memory or may further comprise a non-volatile memory (non-volatile memory), such as at least one disk memory.
If the memory 601, the processor 602, and the communication interface 603 are implemented independently, the communication interface 603, the memory 601, and the processor 602 may be connected to each other through a bus and perform communication with each other. The bus may be an industry standard architecture (Industry Standard Architecture, abbreviated ISA) bus, an external device interconnect (PERIPHERAL COMPONENTINTERCONNECT, abbreviated PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 6, but not only one bus or one type of bus.
Alternatively, in a specific implementation, if the memory 601, the processor 602, and the communication interface 603 are integrated on a chip, the memory 601, the processor 602, and the communication interface 603 may perform communication with each other through internal interfaces.
The processor 602 may be a central processing unit (Central Processing Unit, abbreviated as CPU), or an Application SPECIFIC INTEGRATED Circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the application.
The present embodiment also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the vehicle collision warning method as above.
The present embodiment also provides a computer program which, when executed, is used to implement the vehicle collision prevention warning method as above.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, for example, two, three, etc., unless specifically defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and additional implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order from that shown or discussed, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer cartridge (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with another embodiment, if implemented in hardware, may be implemented in a combination of any one or more of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (10)
1. The vehicle anti-collision early warning method is characterized by comprising the following steps of:
Detecting whether the vehicle is in an anti-collision working condition;
under the condition that the vehicle is detected to be in the anti-collision working condition, at least one side image of the vehicle is collected, and an obstacle is identified according to the at least one side image;
Acquiring the actual distance between the obstacle and the vehicle, identifying the relative movement condition between the obstacle and the vehicle according to the actual distance, and judging whether the vehicle meets a preset anti-collision alarm condition according to the relative movement condition, wherein if the vehicle meets the preset anti-collision alarm condition, the vehicle is controlled to carry out anti-collision alarm.
2. The method of claim 1, further comprising, after controlling the vehicle to perform an anti-collision warning:
and if the vehicle does not meet the preset anti-collision alarm condition, controlling the vehicle to release the alarm.
3. The method of claim 1, further comprising, after controlling the vehicle to perform an anti-collision warning:
judging whether the obstacle exists in the effective visual field range of the vehicle according to the at least one sideways image;
and if the obstacle is not present, controlling the vehicle to release the alarm.
4. The method of claim 1, further comprising, after controlling the vehicle to perform an anti-collision warning:
calculating lateral distances to the obstacle at a plurality of moments according to the actual distances at the plurality of moments;
And obtaining the transverse distance change trend of the obstacle according to the transverse distances at the multiple moments, and controlling the vehicle to release the alarm under the condition that the transverse distance change trend is a far-away trend.
5. The method of claim 1, further comprising, after controlling the vehicle to perform an anti-collision warning:
acquiring a distance between a rear ultrasonic radar of the vehicle and the obstacle;
Judging whether the distance is larger than a preset contact alarm threshold value or not;
and if the contact alarm threshold value is larger than the preset contact alarm threshold value, controlling the vehicle to release the alarm.
6. The method of claim 1, wherein detecting whether the vehicle is in an anti-collision condition comprises:
The method comprises the steps of collecting the whole vehicle state of the vehicle, and controlling the vehicle to be in the anti-collision working condition when the whole vehicle state meets the preset anti-collision condition;
Or receiving an anti-collision early warning instruction of a user, and responding to the anti-collision early warning instruction to control the vehicle to be in the anti-collision working condition.
7. The method of claim 1, wherein said controlling the vehicle to provide an anti-collision warning comprises:
Determining an actual type of the obstacle from the at least one roll image;
and matching the target alarming mode corresponding to the vehicle according to the actual type, and performing anti-collision alarming according to the target alarming mode.
8. An early warning device for preventing a vehicle from collision, comprising:
The detection module is used for detecting whether the vehicle is in an anti-collision working condition or not;
The first processing module is used for acquiring at least one side image of the vehicle and identifying an obstacle according to the at least one side image under the condition that the vehicle is detected to be in the anti-collision working condition;
The control module is used for acquiring the actual distance between the obstacle and the vehicle, identifying the relative movement condition between the obstacle and the vehicle according to the actual distance, and judging whether the vehicle meets a preset anti-collision alarm condition according to the relative movement condition, wherein if the vehicle meets the preset anti-collision alarm condition, the vehicle is controlled to carry out anti-collision alarm.
9. A vehicle, characterized by comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the vehicle collision warning method according to any one of claims 1 to 7.
10. A computer-readable storage medium having stored thereon a computer program, characterized in that the program is executed by a processor for realizing the vehicle collision warning method according to any one of claims 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410309303.5A CN118082684A (en) | 2024-03-18 | 2024-03-18 | Early warning method and device for vehicle collision prevention, vehicle and storage medium |
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| CN202410309303.5A CN118082684A (en) | 2024-03-18 | 2024-03-18 | Early warning method and device for vehicle collision prevention, vehicle and storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118597126A (en) * | 2024-07-01 | 2024-09-06 | 重庆赛力斯凤凰智创科技有限公司 | Vehicle side collision control method, device, electronic device and storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118597126A (en) * | 2024-07-01 | 2024-09-06 | 重庆赛力斯凤凰智创科技有限公司 | Vehicle side collision control method, device, electronic device and storage medium |
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