CN109815832A

CN109815832A - Driving method for early warning and Related product

Info

Publication number: CN109815832A
Application number: CN201811626860.0A
Authority: CN
Inventors: 李建文; 陈显炉; 张阳
Original assignee: Shenzhen Intellifusion Technologies Co Ltd
Current assignee: Shenzhen Intellifusion Technologies Co Ltd
Priority date: 2018-12-28
Filing date: 2018-12-28
Publication date: 2019-05-28

Abstract

The embodiment of the present application discloses a kind of driving method for early warning and Related product, applied to the electronic equipment for driving vehicle, the electronic equipment is communicated to connect at least one camera for being set at least one position for driving vehicle, the described method includes: obtaining the running information for driving vehicle, running information includes the motion state for driving vehicle；The obstacle target that driver's field of vision blind area is identified by the multiple image that camera acquires, determines the relative position between vehicle and obstacle target, according to multiple image and motion state, determines obstacle target relative to the relative motion state for driving vehicle；According to relative motion state and driver's field of vision blind area subregion, driving safety control is carried out for vehicle is driven.By the above method, different counter-measures can be taken according to the different situations of the target disorders, be conducive to the Accuracy and high efficiency for improving driving early warning, the safety of vehicle driving is improved, to reduce traffic accident incidence.

Description

Driving method for early warning and Related product

Technical field

This application involves technical field of electronic equipment, and in particular to a kind of driving method for early warning and Related product.

Background technique

With the raising of Living consumption, the quantity of motor vehicles is steeply risen, and traffic accident or car emergency stop Vehicle security risk caused by driving vehicle becomes increasingly conspicuous.Vehicle especially large-sized truck is in driving process especially low visibility Be easy because front vehicles accident or suddenly parking cause front vehicle brake or avoid it is too late due to lead to traffic accident or secondary friendship Interpreter's event.At present all technical solution when no satellite map records, into tunnel etc. without satellite positioning when just can not be timely Accurate measure is executed, the safety of vehicle driving is affected, and then increases traffic accident.

Summary of the invention

The embodiment of the present application provides a kind of driving method for early warning and Related product, to improve the high efficiency of driving early warning And convenience.

In a first aspect, the embodiment of the present application provides a kind of driving method for early warning, applied to the electronic equipment for driving vehicle, institute It states electronic equipment and is communicated to connect at least one camera for being set at least one position for driving vehicle；The method Include:

The running information for driving vehicle is obtained, the running information includes the motion state for driving vehicle；

Multiple image is acquired by least one described camera；

By at least obstacle target of a frame image recognition driver's field of vision blind area in the multiple image, and described in determining Relative position between vehicle and the obstacle target, wherein the driver's field of vision blind area includes at least one driver view Wild blind area subregion；

Depending on that relative position, the driver's field of vision blind area subregion that the obstacle target is located at is determined；

According to the multiple image and the motion state, determine the obstacle target relative to the phase for driving vehicle To motion state；

According to the relative motion state and the driver's field of vision blind area subregion, driven for the driving vehicle Security control.

Second aspect, the embodiment of the present application provide a kind of driving prior-warning device, applied to the electronic equipment for driving vehicle, institute It states electronic equipment and is communicated to connect at least one camera for being set at least one position for driving vehicle, the driving Prior-warning device includes processing unit and communication unit, wherein the processing unit, for obtaining the running information for driving vehicle, The running information includes the motion state for driving vehicle；And for acquiring multiframe by least one described camera Image；And for by at least obstacle target of a frame image recognition driver's field of vision blind area in the multiple image, and really Relative position between the fixed vehicle and the obstacle target, wherein the driver's field of vision blind area includes that at least one is driven The person's of sailing blind area subregion；And for depending on that relative position, determining the driver that the obstacle target is located at Blind area subregion；And for determining the obstacle target relative to institute according to the multiple image and the motion state State the relative motion state for driving vehicle；And for according to the relative motion state and the driver's field of vision blind area point Area carries out driving safety control for the driving vehicle by the communication unit.

The third aspect, the embodiment of the present application provide a kind of electronic equipment, including processor, memory, communication interface and One or more programs, wherein said one or multiple programs are stored in above-mentioned memory, and are configured by above-mentioned It manages device to execute, above procedure is included the steps that for executing the instruction in the embodiment of the present application first aspect either method.

Fourth aspect, the embodiment of the present application provide a kind of computer readable storage medium, wherein above-mentioned computer-readable Storage medium storage is used for the computer program of electronic data interchange, wherein above-mentioned computer program executes computer such as Step some or all of described in the embodiment of the present application second aspect either method.

5th aspect, the embodiment of the present application provide a kind of computer program product, wherein above-mentioned computer program product Non-transient computer readable storage medium including storing computer program, above-mentioned computer program are operable to make to calculate Machine executes the step some or all of as described in the embodiment of the present application second aspect either method.The computer program product It can be a software installation packet.

As can be seen that providing a kind of driving method for early warning and Related product in the embodiment of the present application.Electronic equipment obtains The running information of vehicle is driven, the running information includes the motion state for driving vehicle；By it is described at least one take the photograph As head acquires multiple image；By at least obstacle target of a frame image recognition driver's field of vision blind area in the multiple image, And determine the relative position between the vehicle and the obstacle target, wherein the driver's field of vision blind area includes at least one A driver's field of vision blind area subregion；Depending on that relative position, the driver's field of vision blind area that the obstacle target is located at is determined Subregion；According to the multiple image and the motion state, determine that the obstacle target drives the opposite of vehicle relative to described Motion state；According to the relative motion state and the driver's field of vision blind area subregion, driven for the driving vehicle Sail security control.The above method is driven by obtaining an at least frame image recognition in the running information and multiple image that drive vehicle The obstacle target of member's blind area, determines the relative position between the vehicle and the obstacle target；To further determine that The driver's field of vision blind area subregion that the obstacle target is located at out is conducive to the institute for more accurately judging the obstacle target Locate position, take different counter-measures for the obstacle target of different blind area subregions, is carried out convenient for the driving vehicle Hide early warning, it is described to be directed to according to the difference of the difference of the relative motion state and the driver's field of vision blind area subregion The driving safety control that vehicle carries out distinct methods is driven, it, being capable of not sympathizing with according to the target disorders by the above method Condition takes different counter-measures, is conducive to the Accuracy and high efficiency for improving driving early warning, improves the safety of vehicle driving Property, to reduce traffic accident incidence.

Detailed description of the invention

In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this Some embodiments of application for those of ordinary skill in the art without creative efforts, can be with It obtains other drawings based on these drawings.

Fig. 1 is a kind of flow diagram of method for early warning of driving a vehicle provided by the embodiments of the present application；

Fig. 2 is the flow diagram of another driving method for early warning provided by the embodiments of the present application；

Fig. 3 is the flow diagram of another driving method for early warning provided by the embodiments of the present application；

Fig. 4 is the structural schematic diagram of a kind of electronic equipment provided by the embodiments of the present application；

Fig. 5 is a kind of functional unit composition block diagram of prior-warning device of driving a vehicle provided by the embodiments of the present application.

Specific embodiment

In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only Some embodiments of the present application, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art Every other embodiment obtained without creative efforts, shall fall in the protection scope of this application.

The description and claims of this application and term " first " in above-mentioned attached drawing, " second " etc. are for distinguishing Different objects, are not use to describe a particular order.In addition, term " includes " and " having " and their any deformations, it is intended that It is to cover and non-exclusive includes.Such as the process, method, system, product or equipment for containing a series of steps or units do not have It is defined in listed step or unit, but optionally further comprising the step of not listing or unit, or optionally also wrap Include other step or units intrinsic for these process, methods, product or equipment.

Referenced herein " embodiment " is it is meant that a particular feature, structure, or characteristic described can wrap in conjunction with the embodiments It is contained at least one embodiment of the application.Each position in the description occur the phrase might not each mean it is identical Embodiment, nor the independent or alternative embodiment with other embodiments mutual exclusion.Those skilled in the art explicitly and Implicitly understand, embodiment described herein can be combined with other embodiments.

Electronic equipment involved by the embodiment of the present application may include the vehicle control syetem of automobile, such as electric car Vehicle does not do unique limit in the controller perhaps central controller of mixed electrical automobile or the braking control system of gasoline car etc. herein It is fixed.

It is described be applied to drive vehicle electronic equipment, the electronic equipment be set to it is described drive vehicle at least one At least one camera of a position communicates to connect, and multiple cameras are exactly respectively placed in the different parts of vehicle body, are told more A camera is communicated to connect with the electronic equipment, realizes the Image Acquisition of multiple blind area subregions, it is ensured that multiple camera shootings Collected all images cover whole blind area subregions.

It describes in detail below to the embodiment of the present application.

Referring to Fig. 1, Fig. 1 is that the embodiment of the present application provides a kind of flow diagram of method for early warning of driving a vehicle, it is applied to The electronic equipment of vehicle is driven, the electronic equipment is taken the photograph at least one for being set at least one position for driving vehicle As head communicates to connect；The described method includes:

S101, electronic equipment obtain the running information for driving vehicle, and the running information includes the fortune for driving vehicle Dynamic state；

Wherein, the running information include it is described drive vehicle location information, it is described drive vehicle course information and The velocity information for driving vehicle；

S102, the electronic equipment pass through at least one described camera and acquire multiple image；

Wherein, at least one described camera includes vehicle front camera, vehicle body side camera, and/or, after vehicle body Square camera；

S103, the electronic equipment pass through at least barrier of a frame image recognition driver's field of vision blind area in the multiple image Hinder target, and determines the relative position between the vehicle and the obstacle target；

Wherein, the driver's field of vision blind area includes at least one driver's field of vision blind area subregion；

S104, the electronic equipment depending on that relative position, determine the driver's seat that the obstacle target is located at Blind area subregion；

Wherein, the driver's field of vision blind area subregion includes vehicle front blind area subregion, vehicle body side blind area Subregion, and/or, vehicle body back visibibility blind area subregion；

S105, the electronic equipment determine that the obstacle target is opposite according to the multiple image and the motion state In the relative motion state for driving vehicle；

Wherein, the multiple image includes the image information of the multiple camera acquisition；

Wherein, the relative motion state for driving vehicle includes driving vehicle, described described in the obstacle gtoal setting Obstacle target is far from the driving vehicle or the relatively described driving stationary vehicle of the obstacle target；

S106, the electronic equipment is according to the relative motion state and the driver's field of vision blind area subregion, for institute It states and drives vehicle progress driving safety control.

It is described according to the multiple image and the motion state in a possible example, determine the obstacle mesh It marks relative to the relative motion state for driving vehicle, comprising: electronic equipment obtains the obstacle according to the multiple image The trace information of target；The electronic equipment according to the trace information and the motion state, determine the driving vehicle and Relative distance between the obstacle target；The electronic equipment determines the barrier when detecting that the relative distance becomes smaller Hinder target relative to the relative motion state for driving vehicle for close to the driving vehicle.

Wherein, the trace information includes the travel track trace information obtained from being made of the multiple image.

In the specific implementation, existing driving vehicle X, applied to driving the electronic equipment A of vehicle X according to the camera shooting of communication connection Head B, has obtained the multiple image of obstacle target Y, according to the trace information of the available Y of the multiple image of Y, according to obtained Y Trace information and X motion state, determine the relative distance Z between X and Y, when detecting that Z becomes smaller, determine the opposite fortune of Y Dynamic state is close to X.

In the specific implementation, existing driving vehicle X, applied to driving the electronic equipment A of vehicle X according to the camera shooting of communication connection Head B, has obtained the multiple image B1 of obstacle target Y, according to the camera C of communication connection, obtained the multiframe of obstacle target Y Image C1, in conjunction with B1 and C1, the trace information of available Y is determined according to the motion state of the trace information of obtained Y and X Relative distance Z between X and Y determines that the relative motion state of Y is close to X when detecting that Z becomes smaller.

As it can be seen that electronic equipment determines obstacle target according to the multiple image obtained by multiple cameras in this example Trace information improves the control accuracy to the present position of obstacle target, according to the fortune of the trace information and driving vehicle Dynamic state, determines the relative distance between the driving vehicle and the obstacle target, available described according to relative distance The relatively described relative motion state for driving vehicle of obstacle target determines the barrier when detecting that the relative distance becomes smaller The relative motion state for hindering target is to be conducive to improve the phase to obstacle target by the above method close to the driving vehicle To the Accuracy and high efficiency of motion state judgement, one kind is provided in driving early warning for obstacle target relative movement state Judgment method, can accurately determine obstacle gtoal setting drive vehicle movement, be conducive to the root in subsequent driving early warning Corresponding early warning control measure are taken according to the relative motion state of the obstacle target.

It is described according to the multiple image and the motion state in a possible example, determine the obstacle mesh It marks relative to the relative motion state for driving vehicle, comprising: electronic equipment obtains the obstacle according to the multiple image The trace information of target；The electronic equipment according to the trace information and the motion state, determine the driving vehicle and Relative distance between the obstacle target；The electronic equipment determines the barrier when detecting that the relative distance becomes larger Hinder target relative to the relative motion state for driving vehicle for far from the driving vehicle.

Wherein, the multiple image includes the collected multiple image of the multiple camera.

In the specific implementation, existing driving vehicle X, applied to driving the electronic equipment A of vehicle X according to the camera shooting of communication connection Head B, has obtained the multiple image B1 of obstacle target Y, according to the camera C of communication connection, obtained the multiframe of obstacle target Y Image C1, in conjunction with B1 and C1, the trace information of available Y is determined according to the motion state of the trace information of obtained Y and X Relative distance Z between X and Y determines that the relative motion state of Y is far from X when detecting that Z becomes larger.

As it can be seen that electronic equipment determines obstacle target according to the multiple image obtained by multiple cameras in this example Trace information improves the control accuracy to the present position of obstacle target, according to the fortune of the trace information and driving vehicle Dynamic state, determines the relative distance between the driving vehicle and the obstacle target, available described according to relative distance The relatively described relative motion state for driving vehicle of obstacle target determines the barrier when detecting that the relative distance becomes larger The relative motion state for hindering target is by the above method, to be conducive to improve determining obstacle target remote far from the driving vehicle From the accuracy for driving vehicle movement, meanwhile, be conducive in subsequent driving early warning, according to the opposite fortune of the obstacle target Dynamic state takes corresponding early warning control measure.

It is described according to the multiple image and the motion state in a possible example, determine the obstacle mesh It marks relative to the relative motion state for driving vehicle, comprising: electronic equipment obtains the obstacle according to the multiple image The trace information of target；The electronic equipment according to the trace information and the motion state, determine the driving vehicle and Relative distance between the obstacle target；The electronic equipment determines the barrier when detecting that the relative distance is constant Hinder target relative to it is described drive vehicle relative motion state be the relatively described driving stationary vehicle.

Wherein, the obstacle target is that the relatively described driving vehicle is quiet relative to the relative motion state for driving vehicle It only include the relatively described driving stationary vehicle of either partition that the obstacle target is located at the blind area.

In the specific implementation, existing driving vehicle X, applied to driving the electronic equipment A of vehicle X according to the camera shooting of communication connection Head B, has obtained the multiple image B1 of obstacle target Y, according to the camera C of communication connection, obtained the multiframe of obstacle target Y Image C1, in conjunction with B1 and C1, the trace information of available Y is determined according to the motion state of the trace information of obtained Y and X Relative distance Z between X and Y determines that the relative motion state of Y is that opposite X is static when detecting that Z is constant.

As it can be seen that electronic equipment determines obstacle target according to the multiple image obtained by multiple cameras in this example Trace information improves the control accuracy to the present position of obstacle target, according to the fortune of the trace information and driving vehicle Dynamic state, determines the relative distance between the driving vehicle and the obstacle target, available described according to relative distance The relatively described relative motion state for driving vehicle of obstacle target determines the barrier when detecting that the relative distance becomes larger The relative motion state for hindering target is that the relatively described driving stationary vehicle is conducive to improve determining obstacle mesh by the above method Accuracy of the mark far from driving vehicle movement, meanwhile, be conducive in subsequent driving early warning, according to the phase of the obstacle target Corresponding early warning control measure are taken to motion state.

It is described according to the relative motion state, the relative distance and the driver in a possible example Blind area subregion carries out driving safety control for the driving vehicle, comprising: electronic equipment gets the relative motion State is close to the driving vehicle, and getting the driver's field of vision blind area is vehicle front blind area subregion or body side Square blind area subregion；The electronic equipment is when detecting that the relative distance is less than or equal to first threshold, described in determination Vehicle driving enters danger zone, carries out first time early warning；The electronic equipment is after detecting the progress first time early warning When the relative distance is less than or equal to second threshold, second of early warning is carried out, and controls the driving vehicle and reduces traveling speed Degree；The electronic equipment the relative distance after detecting second of early warning of the progress be less than or equal to third threshold value when, Third time early warning is carried out, and controls the driving vehicle and carries out brake processing.

Wherein, the driver's field of vision blind area subregion includes vehicle front blind area subregion, vehicle body side blind area Subregion, and/or, vehicle body back visibibility blind area subregion.

Wherein, the first threshold is greater than the second threshold, and the second threshold is greater than the third threshold value.

In the specific implementation, it is the close driving vehicle B that electronic equipment A, which gets the relative motion state, it is described to drive The person's of sailing blind area is vehicle front blind area subregion, it is known that first threshold X, second threshold Y, third threshold value are Z, A Detect that the relative distance is N；When N is less than X, determines that the vehicle driving enters danger zone, carry out first time early warning； The electronic equipment carries out second of early warning when N after detecting the progress first time early warning is less than Y, and drives described in control It sails vehicle and reduces travel speed；The electronic equipment carries out third when N after detecting second of early warning of the progress is less than Z Secondary early warning, and control the driving vehicle and carry out brake processing.

In the specific implementation, electronic equipment A detects an obstacle target pedestrian B, get B relative motion state be by Close to drive vehicle C, B is located at vehicle front blind area subregion, it is known that first threshold X, second threshold Y, third threshold value are Z, C is carrying out right-hand bend operation at this time, when detecting that the relative distance of B and C is less than X, determines that C traveling enters danger zone, Carry out first time early warning；When continuing to test the relative distance of B and C less than Y, second of early warning is carried out, and controls C and reduces traveling speed Degree；When continuing to test the relative distance of B and C less than Z, third time early warning is carried out, and control C and carry out brake processing, temporarily ceased It turns right.

As it can be seen that electronic equipment is regarded according to the relative motion state, the relative distance and the driver in this example Wild blind area subregion carries out driving safety control for the driving vehicle, is conducive to avoid visibility is low, how curved narrow narrow lane Duan Yin fails first to find that opposite direction is sailed the vehicle come and avoided not as good as caused traffic accident.When getting the relative motion state For close to the driving vehicle, the driver's field of vision blind area is vehicle front blind area point or vehicle body side blind area point Qu Shi carries out different driving safeties according to the first threshold, second threshold and the third threshold value that pre-set respectively and controls, is conducive to The Accuracy and high efficiency for improving driving early warning is conducive to enhancing and drives the driving safety of vehicle, while advantageously reducing traffic The probability of happening of accident.

It is described according to the relative motion state, the relative distance and the driver in a possible example Blind area subregion carries out driving safety control for the driving vehicle, comprising: electronic equipment gets the relative motion State is close to the driving vehicle, and getting the driver's field of vision blind area is vehicle body back visibibility blind area subregion；The electricity Sub- equipment determines that the vehicle driving enters danger zone when detecting that the relative distance is less than or equal to first threshold, Carry out first time early warning；Electronic equipment relative distance after detecting the progress first time early warning is less than or equal to When second threshold, second of early warning is carried out, and controls the driving vehicle whistle；The electronic equipment is detecting the progress When the relative distance is less than or equal to third threshold value after second of early warning, carries out third time early warning and control the driving vehicle Open tail-light.

Wherein, the relative distance includes after the image information for collecting the target disorders, persistently to the target Obstacle carries out Image Acquisition, determines the relative distance.

In the specific implementation, it is to get close to the driving vehicle B that electronic equipment A, which gets the relative motion state, The driver's field of vision blind area is vehicle body back visibibility blind area subregion；Known first threshold is X, second threshold Y, third threshold value Detect that the relative distance is N for Z, A；When N is less than X, determines that the vehicle driving enters danger zone, carry out for the first time Early warning；When N is less than Y, second of early warning is carried out, and controls the driving vehicle whistle；When N is less than Z, it is pre- to carry out third time It warns and controls the driving vehicle and open tail-light.

In the specific implementation, electronic equipment A detects an obstacle target electric vehicle B, the relative motion state for getting B is Close to vehicle C is driven, B is located at vehicle body back visibibility blind area subregion, it is known that first threshold X, second threshold Y, third threshold value For Z, C is carrying out car backing operation at this time, when detecting that the relative distance of B and C is less than X, determines that C traveling enters danger zone, Carry out first time early warning；When continuing to test the relative distance of B and C less than Y, second of early warning is carried out, and controls C whistle；Continue When detecting the relative distance of B and C less than Z, third time early warning is carried out, and controls C and opens tail-light, temporarily ceases car backing operation.

As it can be seen that electronic equipment is regarded according to the relative motion state, the relative distance and the driver in this example Wild blind area subregion carries out driving safety control for the driving vehicle, is close institute when getting the relative motion state Driving vehicle is stated, when the driver's field of vision blind area is vehicle body back visibibility blind area subregion, according to the first threshold pre-seted, the Two threshold values and third threshold value carry out different driving safety control respectively, and the rear barrier target of whistle signal when necessary is conducive to It avoids obstacle target and driving vehicle positioned at vehicle body rear that mutually collision occurs, causes traffic accident, be conducive to improve and drive a vehicle The Accuracy and high efficiency of early warning.

It is described according to the relative motion state, the relative distance and the driver in a possible example Blind area subregion carries out driving safety control for the driving vehicle, comprising: electronic equipment gets the obstacle target Relative motion state be that it is blind to get the driver's seat far from the driving vehicle or the relatively described driving stationary vehicle Area is vehicle front blind area subregion, vehicle body side blind area subregion or vehicle body back visibibility blind area subregion；The electronics Equipment determines that the vehicle driving enters danger zone when detecting that the relative distance is less than or equal to first threshold, into Row first time early warning.

Wherein, the electronic equipment is when detecting that the relative distance is less than or equal to first threshold, including the barrier Hinder target far from drive vehicle or it is opposite drive stationary vehicle, determine that relative distance becomes larger or constant, the obstacle target is in Any driver's field of vision blind area subregion will not all make relative distance be less than or equal to second threshold, therefore need to only judge the phase It adjusts the distance and whether is less than or equal to first threshold.

In the specific implementation, electronic equipment A determines that the relative motion state of the obstacle target is far from the driving vehicle B, obtaining the driver's field of vision blind area is vehicle front blind area subregion；Known first threshold is X, and A detects the phase It adjusts the distance as N；When detecting that N is equal to X, determines that the vehicle driving enters danger zone, carry out first time early warning.

As it can be seen that in this example, according to the relative motion state, the relative distance and the driving described in electronic equipment Member's blind area subregion carries out driving safety control for the driving vehicle, when the opposite fortune for getting the obstacle target Dynamic state be far from the drivings vehicle or relatively the driving stationary vehicle when, need to detect whether the relative distance is less than Or it is equal to first threshold, the program step of the scene down train early warning is simplified, the height for preferably improving driving early warning is conducive to Effect property and convenience.

It is consistent with above-mentioned embodiment shown in FIG. 1, referring to Fig. 2, Fig. 2 is a kind of driving provided by the embodiments of the present application The flow diagram of method for early warning the electronic equipment and is set to the driving vehicle applied to the electronic equipment for driving vehicle At least one position at least one camera communication connection；As shown, this driving method for early warning includes:

S201, electronic equipment obtain the running information for driving vehicle, and the running information includes the fortune for driving vehicle Dynamic state；

S202, the electronic equipment pass through at least one described camera and acquire multiple image；

S203, the electronic equipment pass through at least barrier of a frame image recognition driver's field of vision blind area in the multiple image Hinder target, and determines the relative position between the vehicle and the obstacle target；

S204, the electronic equipment depending on that relative position, determine the driver's seat that the obstacle target is located at Blind area subregion；

S205, the electronic equipment obtain the trace information of the obstacle target according to the multiple image；

S206, the electronic equipment determine the driving vehicle and institute according to the trace information and the motion state State the relative distance between obstacle target；

S207, the electronic equipment determine the obstacle target relative to institute when detecting that the relative distance becomes smaller Stating and driving the relative motion state of vehicle is close to the driving vehicle；

S208, the electronic equipment is according to the relative motion state and the driver's field of vision blind area subregion, for institute It states and drives vehicle progress driving safety control.

In addition, electronic equipment determines the trace information of obstacle target according to the multiple image obtained by multiple cameras, The control accuracy to the present position of obstacle target is improved, according to the motion state of the trace information and driving vehicle, really The fixed relative distance driven between vehicle and the obstacle target, according to relative distance, the available obstacle target The relatively described relative motion state for driving vehicle determines the obstacle target when detecting that the relative distance becomes smaller Relative motion state is to be conducive to improve the relative motion shape to obstacle target by the above method close to the driving vehicle The Accuracy and high efficiency of state judgement provides a kind of judgement side that obstacle target relative movement state is directed in driving early warning Method can accurately determine obstacle gtoal setting and drive vehicle movement, be conducive in subsequent driving early warning according to the barrier The relative motion state of target is hindered to take corresponding early warning control measure.

It is consistent with above-mentioned embodiment shown in FIG. 1, referring to Fig. 3, Fig. 3 is a kind of driving provided by the embodiments of the present application The flow diagram of method for early warning the electronic equipment and is set to the driving vehicle applied to the electronic equipment for driving vehicle At least one position at least one camera communication connection；As shown, this driving method for early warning includes:

S301, electronic equipment obtain the running information for driving vehicle, and the running information includes the fortune for driving vehicle Dynamic state；

S302, the electronic equipment pass through at least one described camera and acquire multiple image；

S303, the electronic equipment pass through at least barrier of a frame image recognition driver's field of vision blind area in the multiple image Hinder target, and determines the relative position between the vehicle and the obstacle target；

S304, the electronic equipment depending on that relative position, determine the driver's seat that the obstacle target is located at Blind area subregion；

S305, the electronic equipment determine that the obstacle target is opposite according to the multiple image and the motion state In the relative motion state for driving vehicle；

S306, it is to get described close to the driving vehicle that the electronic equipment, which gets the relative motion state, Driver's field of vision blind area is vehicle front blind area subregion or vehicle body side blind area subregion；

S307, the electronic equipment determine the vehicle when detecting that the relative distance is less than or equal to first threshold Traveling enter danger zone, carry out first time early warning；

S308, electronic equipment relative distance after detecting the progress first time early warning are less than or equal to the When two threshold values, second of early warning is carried out, and controls the driving vehicle and reduces travel speed；

S309, electronic equipment relative distance after detecting second of early warning of the progress are less than or equal to the When three threshold values, third time early warning is carried out, and control the driving vehicle and carry out brake processing.

In addition, electronic equipment is according to the relative motion state, the relative distance and the driver's field of vision blind area point Area carries out driving safety control for the driving vehicle, is conducive to avoid visibility is low, how curved narrow section is because failing First discovery opposite direction is sailed the vehicle come and is avoided not as good as caused traffic accident.When getting the relative motion state as close to institute Driving vehicle is stated, when the driver's field of vision blind area is vehicle front blind area point or vehicle body side blind area subregion, root It carries out different driving safety control respectively according to the first threshold, second threshold and the third threshold value that pre-set, is conducive to improve row The Accuracy and high efficiency of vehicle early warning is conducive to enhancing and drives the driving safety of vehicle, while advantageously reducing traffic accident Probability of happening.

It is consistent with above-mentioned Fig. 1, Fig. 2, embodiment shown in Fig. 3, referring to Fig. 4, Fig. 4 is provided by the embodiments of the present application The structural schematic diagram of a kind of electronic equipment 400, as shown, the electronic equipment 400 includes application processor 410, memory 420, communication interface 430 and one or more programs 421, wherein one or more of programs 421 are stored in above-mentioned deposit In reservoir 420, and it is configured to be executed by above-mentioned application processor 410, one or more of programs 421 include for executing The instruction of following steps；

Multiple image is acquired by least one described camera；

It is described according to the multiple image and the motion state in a possible example, determine the obstacle mesh The relative motion state relative to the driving vehicle is marked, the instruction in described program is specifically used for executing following operation: according to The multiple image obtains the trace information of the obstacle target；According to the trace information and the motion state, institute is determined State the relative distance driven between vehicle and the obstacle target；When detecting that the relative distance becomes smaller, the barrier is determined Hinder target relative to the relative motion state for driving vehicle for close to the driving vehicle.

It is described according to the multiple image and the motion state in a possible example, determine the obstacle mesh The relative motion state relative to the driving vehicle is marked, the instruction in described program is specifically used for executing following operation: according to The multiple image obtains the trace information of the obstacle target；According to the trace information and the motion state, institute is determined State the relative distance driven between vehicle and the obstacle target；When detecting that the relative distance becomes larger, the barrier is determined Hinder target relative to the relative motion state for driving vehicle for far from the driving vehicle.

It is described according to the multiple image and the motion state in a possible example, determine the obstacle mesh The relative motion state relative to the driving vehicle is marked, the instruction in described program is specifically used for executing following operation: according to The multiple image obtains the trace information of the obstacle target；According to the trace information and the motion state, institute is determined State the relative distance driven between vehicle and the obstacle target；When detecting that the relative distance is constant, the barrier is determined Hinder target relative to it is described drive vehicle relative motion state be the relatively described driving stationary vehicle.

It is described according to the relative motion state, the relative distance and the driver in a possible example Blind area subregion carries out driving safety control for the driving vehicle, the instruction in described program be specifically used for executing with Lower operation: getting the relative motion state is close to the driving vehicle, and getting the driver's field of vision blind area is vehicle Body field of front vision blind area subregion or vehicle body side blind area subregion；Detecting the relative distance less than or equal to the first threshold When value, determines that the vehicle driving enters danger zone, carry out first time early warning；After detecting the progress first time early warning When the relative distance is less than or equal to second threshold, second of early warning is carried out, and controls the driving vehicle and reduces traveling speed Degree；When the relative distance after detecting second of early warning of the progress is less than or equal to third threshold value, it is pre- to carry out third time It is alert, and control the driving vehicle and carry out brake processing.

It is described according to the relative motion state, the relative distance and the driver in a possible example Blind area subregion carries out driving safety control for the driving vehicle, the instruction in described program be specifically used for executing with Lower operation: getting the relative motion state is close to the driving vehicle, and getting the driver's field of vision blind area is vehicle Square blind area subregion behind；When detecting that the relative distance is less than or equal to first threshold, the vehicle driving is determined Into danger zone, first time early warning is carried out；The relative distance is less than or waits after detecting the progress first time early warning When second threshold, second of early warning is carried out, and controls the driving vehicle whistle；Detecting second of early warning of the progress When the relative distance is less than or equal to third threshold value afterwards, third time early warning is carried out and controls the driving vehicle to open the tailstock Lamp.

It is described according to the relative motion state, the relative distance and the driver in a possible example Blind area subregion carries out driving safety control for the driving vehicle, the instruction in described program be specifically used for executing with Lower operation: it is quiet far from the driving vehicle or the relatively described driving vehicle for getting the relative motion state of the obstacle target Only, getting the driver's field of vision blind area is vehicle front blind area subregion, vehicle body side blind area subregion or vehicle body Back visibibility blind area subregion；Detect the relative distance be less than or equal to first threshold when, determine the vehicle driving into Enter danger zone, carries out first time early warning.

It is above-mentioned that mainly the scheme of the embodiment of the present application is described from the angle of method side implementation procedure.It is understood that , in order to realize the above functions, it comprises execute the corresponding hardware configuration of each function and/or software mould for electronic equipment Block.Those skilled in the art should be readily appreciated that, in conjunction with each exemplary unit of embodiment description presented herein And algorithm steps, the application can be realized with the combining form of hardware or hardware and computer software.Some function actually with Hardware or computer software drive the mode of hardware to execute, the specific application and design constraint item depending on technical solution Part.Professional technician can specifically realize described function to each using distinct methods, but this reality Now it is not considered that exceeding scope of the present application.

The embodiment of the present application can carry out the division of functional unit according to above method example to electronic equipment, for example, can With each functional unit of each function division of correspondence, two or more functions can also be integrated in a processing unit In.Above-mentioned integrated unit both can take the form of hardware realization, can also realize in the form of software functional units.It needs It is noted that be schematical, only a kind of logical function partition to the division of unit in the embodiment of the present application, it is practical real It is current that there may be another division manner.

Fig. 5 is the functional unit composition block diagram of driving prior-warning device 500 involved in the embodiment of the present application.The driving is pre- Alarm device 500 is applied to drive the electronic equipment of vehicle, the electronic equipment and at least one for being set to the driving vehicle At least one camera of position communicates to connect；Including processing unit 501 and communication unit 502, wherein

The processing unit 501, for obtaining the running information for driving vehicle, the running information includes the driving vehicle Motion state；And for acquiring multiple image by least one described camera；And for passing through the multiframe At least obstacle target of a frame image recognition driver's field of vision blind area in image, and determine the vehicle and the obstacle target it Between relative position, wherein the driver's field of vision blind area includes at least one driver's field of vision blind area subregion；And it is used for root According to the relative position, the driver's field of vision blind area subregion that the obstacle target is located at is determined；And for according to institute Multiple image and the motion state are stated, determines the obstacle target relative to the relative motion state for driving vehicle；With And for being driven for described by the communication unit according to the relative motion state and the driver's field of vision blind area subregion It sails vehicle and carries out driving safety control.

It is described according to the multiple image and the motion state in a possible example, determine the obstacle mesh It marks relative to the relative motion state for driving vehicle, the processing unit 501 is specifically used for: according to the multiple image, Obtain the trace information of the obstacle target；According to the trace information and the motion state, determine the driving vehicle and Relative distance between the obstacle target；When detecting that the relative distance becomes smaller, determine the obstacle target relative to The relative motion state for driving vehicle is close to the driving vehicle.

It is described according to the multiple image and the motion state in a possible example, determine the obstacle mesh It marks relative to the relative motion state for driving vehicle, the processing unit 501 is specifically used for: according to the multiple image, Obtain the trace information of the obstacle target；According to the trace information and the motion state, determine the driving vehicle and Relative distance between the obstacle target；When detecting that the relative distance becomes larger, determine the obstacle target relative to The relative motion state for driving vehicle is far from the driving vehicle.

It is described according to the multiple image and the motion state in a possible example, determine the obstacle mesh It marks relative to the relative motion state for driving vehicle, the processing unit 501 is specifically used for: according to the multiple image, Obtain the trace information of the obstacle target；According to the trace information and the motion state, determine the driving vehicle and Relative distance between the obstacle target；When detecting that the relative distance is constant, determine the obstacle target relative to The relative motion state for driving vehicle is the relatively described driving stationary vehicle.

It is described according to the relative motion state, the relative distance and the driver in a possible example Blind area subregion carries out driving safety control for the driving vehicle, and the processing unit 501 is specifically used for: getting The relative motion state is close to the driving vehicle, and getting the driver's field of vision blind area is vehicle front blind area Subregion or vehicle body side blind area subregion；When detecting that the relative distance is less than or equal to first threshold, described in determination Vehicle driving enters danger zone, carries out first time early warning；The relative distance after detecting the progress first time early warning When less than or equal to second threshold, second of early warning is carried out, and controls the driving vehicle and reduces travel speed；Detecting State carry out second of early warning after the relative distance be less than or equal to third threshold value when, carry out third time early warning, and control described in It drives vehicle and carries out brake processing.

It is described according to the relative motion state, the relative distance and the driver in a possible example Blind area subregion carries out driving safety control for the driving vehicle, and the processing unit 501 is specifically used for: getting The relative motion state is close to the driving vehicle, and getting the driver's field of vision blind area is vehicle body back visibibility blind area Subregion；When detecting that the relative distance is less than or equal to first threshold, determine that the vehicle driving enters danger zone, into Row first time early warning；When the relative distance after detecting the progress first time early warning is less than or equal to second threshold, into Second of early warning of row, and control the driving vehicle whistle；The relative distance after detecting second of early warning of the progress When less than or equal to third threshold value, third time early warning is carried out and controls the driving vehicle to open tail-light.

It is described according to the relative motion state, the relative distance and the driver in a possible example Blind area subregion carries out driving safety control for the driving vehicle, and the processing unit 501 is specifically used for: getting The relative motion state of the obstacle target is to get described far from the driving vehicle or the relatively described driving stationary vehicle Driver's field of vision blind area is vehicle front blind area subregion, vehicle body side blind area subregion or vehicle body back visibibility blind area point Area；It when detecting that the relative distance is less than or equal to first threshold, determines that the vehicle driving enters danger zone, carries out First time early warning.

The embodiment of the present application also provides a kind of computer storage medium, wherein computer storage medium storage is for electricity The computer program of subdata exchange, the computer program make computer execute any as recorded in above method embodiment Some or all of method step, above-mentioned computer include electronic equipment.

The embodiment of the present application also provides a kind of computer program product, and above-mentioned computer program product includes storing calculating The non-transient computer readable storage medium of machine program, above-mentioned computer program are operable to that computer is made to execute such as above-mentioned side Some or all of either record method step in method embodiment.The computer program product can be a software installation Packet, above-mentioned computer includes electronic equipment.

It should be noted that for the various method embodiments described above, for simple description, therefore, it is stated as a series of Combination of actions, but those skilled in the art should understand that, the application is not limited by the described action sequence because According to the application, some steps may be performed in other sequences or simultaneously.Secondly, those skilled in the art should also know It knows, the embodiments described in the specification are all preferred embodiments, related actions and modules not necessarily the application It is necessary.

In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, there is no the portion being described in detail in some embodiment Point, reference can be made to the related descriptions of other embodiments.

In several embodiments provided herein, it should be understood that disclosed device, it can be by another way It realizes.For example, the apparatus embodiments described above are merely exemplary, such as the division of said units, it is only a kind of Logical function partition, there may be another division manner in actual implementation, such as multiple units or components can combine or can To be integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual Coupling, direct-coupling or communication connection can be through some interfaces, the indirect coupling or communication connection of device or unit, It can be electrical or other forms.

Above-mentioned unit as illustrated by the separation member may or may not be physically separated, aobvious as unit The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme 's.

It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list Member both can take the form of hardware realization, can also realize in the form of software functional units.

If above-mentioned integrated unit is realized in the form of SFU software functional unit and sells or use as independent product When, it can store in a computer-readable access to memory.Based on this understanding, the technical solution of the application substantially or Person says that all or part of the part that contributes to existing technology or the technical solution can body in the form of software products Reveal and, which is stored in a memory, including some instructions are used so that a computer equipment (can be personal computer, server or network equipment etc.) executes all or part of each embodiment above method of the application Step.And memory above-mentioned includes: USB flash disk, read-only memory (ROM, Read-Only Memory), random access memory The various media that can store program code such as (RAM, Random Access Memory), mobile hard disk, magnetic or disk.

Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can It is completed with instructing relevant hardware by program, which can store in a computer-readable memory, memory May include: flash disk, read-only memory (English: Read-Only Memory, referred to as: ROM), random access device (English: Random Access Memory, referred to as: RAM), disk or CD etc..

The embodiment of the present application is described in detail above, specific case used herein to the principle of the application and Embodiment is expounded, the description of the example is only used to help understand the method for the present application and its core ideas； At the same time, for those skilled in the art can in specific embodiments and applications according to the thought of the application There is change place, in conclusion the contents of this specification should not be construed as limiting the present application.

Claims

1. a kind of driving method for early warning, which is characterized in that applied to the electronic equipment for driving vehicle, the electronic equipment and setting At least one camera communication connection at least one position for driving vehicle；The described method includes:

Multiple image is acquired by least one described camera；

Pass through at least obstacle target of a frame image recognition driver's field of vision blind area, and the determining vehicle in the multiple image Relative position between the obstacle target, wherein the driver's field of vision blind area includes that at least one driver's seat is blind Distinguish area；

According to the multiple image and the motion state, determine the obstacle target relative to the opposite fortune for driving vehicle Dynamic state；

According to the relative motion state and the driver's field of vision blind area subregion, driving safety is carried out for the driving vehicle Control.

2. the method according to claim 1, wherein described according to the multiple image and the motion state, Determine the obstacle target relative to the relative motion state for driving vehicle, comprising:

According to the multiple image, the trace information of the obstacle target is obtained；

According to the trace information and the motion state, determine between the driving vehicle and the obstacle target it is opposite away from From；

When detecting that the relative distance becomes smaller, determine the obstacle target relative to the relative motion shape for driving vehicle State is close to the driving vehicle.

3. the method according to claim 1, wherein described according to the multiple image and the motion state, Determine the obstacle target relative to the relative motion state for driving vehicle, comprising:

When detecting that the relative distance becomes larger, determine the obstacle target relative to the relative motion shape for driving vehicle State is far from the driving vehicle.

4. the method according to claim 1, wherein described according to the multiple image and the motion state, Determine the obstacle target relative to the relative motion state for driving vehicle, comprising:

When detecting that the relative distance is constant, determine the obstacle target relative to the relative motion shape for driving vehicle State is the relatively described driving stationary vehicle.

5. method according to claim 1-4, which is characterized in that described according to the relative motion state, institute Relative distance and the driver's field of vision blind area subregion are stated, carries out driving safety control for the driving vehicle, comprising:

Getting the relative motion state is to get the driver's field of vision blind area close to the driving vehicle as before vehicle body Square blind area subregion or vehicle body side blind area subregion；

When detecting that the relative distance is less than or equal to first threshold, determine that the vehicle driving enters danger zone, into Row first time early warning；

When the relative distance after detecting the progress first time early warning is less than or equal to second threshold, carry out pre- for the second time It is alert, and control the driving vehicle and reduce travel speed；

When the relative distance after detecting second of early warning of the progress is less than or equal to third threshold value, it is pre- to carry out third time It is alert, and control the driving vehicle and carry out brake processing.

6. method according to claim 1-4, which is characterized in that described according to the relative motion state, institute Relative distance and the driver's field of vision blind area subregion are stated, carries out driving safety control for the driving vehicle, comprising:

Getting the relative motion state is to get the driver's field of vision blind area close to the driving vehicle as after vehicle body Square blind area subregion；

When the relative distance after detecting the progress first time early warning is less than or equal to second threshold, carry out pre- for the second time It is alert, and control the driving vehicle whistle；

When the relative distance after detecting second of early warning of the progress is less than or equal to third threshold value, it is pre- to carry out third time It warns and controls the driving vehicle and open tail-light.

7. method according to claim 1-4, which is characterized in that described according to the relative motion state, institute Relative distance and the driver's field of vision blind area subregion are stated, carries out driving safety control for the driving vehicle, comprising:

The relative motion state for getting the obstacle target is the separate driving vehicle or the relatively described driving stationary vehicle, Getting the driver's field of vision blind area is vehicle front blind area subregion, vehicle body side blind area subregion or vehicle body rear Blind area subregion；

When detecting that the relative distance is less than or equal to first threshold, determine that the vehicle driving enters danger zone, into Row first time early warning.

8. a kind of driving prior-warning device, which is characterized in that applied to the electronic equipment for driving vehicle, the electronic equipment and setting At least one camera communication connection at least one position for driving vehicle；The driving prior-warning device includes processing Unit and communication unit, wherein

The processing unit, for obtaining the running information for driving vehicle, the running information includes the fortune for driving vehicle Dynamic state；And for acquiring multiple image by least one described camera；And for by the multiple image At least obstacle target of a frame image recognition driver's field of vision blind area, and determine the phase between the vehicle and the obstacle target To position, wherein the driver's field of vision blind area includes at least one driver's field of vision blind area subregion；And for according to Relative position determines the driver's field of vision blind area subregion that the obstacle target is located at；And for according to the multiframe Image and the motion state determine the obstacle target relative to the relative motion state for driving vehicle；And it is used for According to the relative motion state and the driver's field of vision blind area subregion, the driving vehicle is directed to by the communication unit Carry out driving safety control.

9. a kind of electronic equipment, which is characterized in that including processor, memory, communication interface, and one or more programs, One or more of programs are stored in the memory, and are configured to be executed by the processor, described program packet Include the instruction for executing the step in the method according to claim 1 to 7.

10. a kind of computer readable storage medium, which is characterized in that storage is used for the computer program of electronic data interchange, In, the computer program makes computer execute the method according to claim 1 to 7.