CN109835253A - A kind of driving blind area road hazard source reminding method and system - Google Patents
A kind of driving blind area road hazard source reminding method and system Download PDFInfo
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- CN109835253A CN109835253A CN201910206038.7A CN201910206038A CN109835253A CN 109835253 A CN109835253 A CN 109835253A CN 201910206038 A CN201910206038 A CN 201910206038A CN 109835253 A CN109835253 A CN 109835253A
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Abstract
The invention discloses a kind of driving blind area road hazard source reminding method and system, methods are as follows: whether there is road hazard source from the first preset range of front side by the detection of the first car-mounted terminal；If it exists, the blind area that the road hazard source is checked caused by the vehicle is calculated；It detects the blind area and whether there is his vehicle position of driver in the overlapping region of the second preset range from around vehicle；If it exists, the second car-mounted terminal for controlling his vehicle carries out dangerous information prompt.The present invention is by being obtained from front side road hazard source information, and it gives in his vehicle due to being blocked the vehicle that can not see road hazard source from vehicle with dangerous tip, efficiently solve road hazard source caused by mutually blocking between vehicle blocks blind zone problem, it has ensured and has also been ensured while his vehicle is safe from vehicle safety, reduced accident risk.
Description
Technical field
The present invention relates to vehicle detection and vehicular traffic security technology area, in particular to a kind of driving blind area road hazard
Source reminding method and system.
Background technique
In vehicle travel process, often occur causing his vehicle driver that cannot find pedestrian, barrier in time due to blocking from vehicle
Hinder the road hazards such as object, electric vehicle source that traffic accident occurs, such as barrier occurs from front side, from vehicle rear or side front vehicle
Driver's sight that is blocked do not find that barrier still maintains and runs at high speed, when making urgent brake from vehicle evacuation barrier of meeting an urgent need
When vehicle or lane change operate, rear or side front vehicle, which are easy to happen, to knock into the back or side impact accident；For another example at crossing, pedestrian or compact car
When jaywalking, due to mutually blocking between vehicle cause some vehicle drivers do not find pedestrian or small vehicle and
Holding is run at high speed, when pedestrian or vehicle suddenly appear in the visual field and can not avoidance cause traffic accident；In summary, vehicle
Between mutual occlusion issue be the one of the major reasons for causing traffic accident, in the prior art be directed to field obscuration problem weight
The heart, which is predominantly stayed in, to be reduced on blind area by increasing from the field range of vehicle, does not solve vehicle and block each other to cause
Blind area problem.
Summary of the invention
It is an object of that present invention to provide a kind of driving blind area road hazard source reminding method and systems, it is intended to solve due to certainly
The problem of his vehicle caused by vehicle can not see road ahead danger source, reduce vehicle between mutually block cause sight blind area occur
Traffic accident.
In a first aspect, including the following steps: the invention discloses a kind of driving blind area road hazard source reminding method
S1: road hazard source whether there is from the first preset range of front side by the detection of the first car-mounted terminal；
S2: if it exists, the blind area that the road hazard source is checked caused by the vehicle is calculated；
S3: detecting the blind area and whether there is his vehicle driver position in the overlapping region of the second preset range from around vehicle
It sets；
S4: if it exists, the second car-mounted terminal for controlling his vehicle carries out dangerous information prompt.
Further, first car-mounted terminal includes camera and identification module, and the camera is obtained from vehicle in real time
Front video image information, and identified by identification module and whether there is road hazard source in video image information；
Wherein, the recognition methods in road hazard source are as follows: by obtaining characteristic image and default road danger in video image information
Dangerous source images are matched, and the type and existence in road hazard source are determined after successful match.
Further, the type in the road hazard source includes: pedestrian, small vehicle and road barrier, middle-size and small-size
Vehicle includes bicycle, motorcycle and electric vehicle.
Further, the step S2 is specifically included:
S201: there are when road hazard source, the three-dimensional figure in road hazard source is constructed according to the road hazard source image information of acquisition
As model；
S202: the 3-dimensional image model in road hazard source is mapped in default three-dimensional space model and determines it in default three-dimensional space
Between current location in model, prestore from vehicle model and vehicle coordinate plane in the default three-dimensional space model；
Wherein, the origin of the vehicle coordinate plane is the camera center of the first car-mounted terminal, and X-axis is perpendicular to from vehicle longitudinal direction
Heart symmetrical plane, Y-axis be directed toward the front at the camera center to；
S203: it projects by the 3-dimensional image model in road hazard source and from vehicle model to the vehicle coordinate plane, passes through edge
Extracting method obtains road hazard source edge contour and from vehicle edge contour；
S204: making road hazard source edge contour and from the outside common tangent between vehicle edge contour, two outside common tangents inside is separate
Road hazard source direction with from vehicle edge contour formed region as blind area.
Further, the step S3 is specifically included:
The second preset range determines its overlapping region according to the blind area and from around vehicle；
The video image information from vehicle far from road hazard source direction side is obtained, his vehicle is judged whether there is；
His vehicle if it exists, judges whether he vehicle position of driver is in the overlapping region.
Further, the step S4 is specifically included:
Determine there are when position of driver, by obtaining his vehicle image information from vehicle side or rear camera, and with acquisition
Road hazard source information is sent to server from vehicle information jointly；
Server inquires whether his vehicle has been transmitted across for the road in preset time before according to his vehicle image information
The dangerous tip of danger source；
The dangerous tip for the road hazard source is not received before Ruo Tache, determines the dangerous tip information in road hazard source
And the second car-mounted terminal for being sent to his vehicle carries out dangerous tip.
Further, the dangerous tip includes that voice prompting and video are shown.
Further, the content of the voice prompting includes the phase of the type in road hazard source, road hazard source and his vehicle
To positional relationship and the emergency operation behavior that may be made from vehicle；The content that the video is shown includes road hazard source images
And its relative position image.
Second aspect, the invention discloses a kind of driving blind area road hazard source prompt systems, comprising: the first vehicle-mounted end
End, the second car-mounted terminal and server；
First car-mounted terminal is mounted on from vehicle, including detection identification module, blind area determining module, be overlapped computing module,
His vehicle detection module and first communication module；The detection identification module is used to detect
It is no that there are road hazard sources；The blind area determining module checks the view in the road hazard source for determining described caused by the vehicle
Wild blind area；The overlapping region for being overlapped computing module and being used to calculate blind area and the second preset range；His vehicle detection module
For detecting in the overlapping region with the presence or absence of his vehicle position of driver；
The server detects that there are his vehicle position of driver information in overlapping region for receiving the first car-mounted terminal, and controls
It makes the second car-mounted terminal and carries out dangerous tip；
Second car-mounted terminal is mounted on his vehicle, including cue module and second communication module, the second communication module
It receives the control instruction of server and dangerous tip operation is executed by cue module.
The technology of the present invention is obtained from vehicle traveling road ahead danger source the utility model has the advantages that technical solution of the present invention passes through in real time,
Other vehicles for determining and can not seeing road hazard source as caused by blocking from vehicle are calculated, and remind other road vehicles dangerous
The presence in source can effectively assist other vehicle drivers to reduce blind area to find road hazard source in time, reduce vehicle
The emergency brake or deflecting occurred when coping with road hazard source, reduces traffic accident rate, has ensured from vehicle and other
The safety of vehicle.
Detailed description of the invention
Fig. 1 is the flow chart of present invention driving blind area road hazard source reminding method；
Fig. 2 is that blind area of the embodiment of the present invention determines schematic diagram of a scenario；
Fig. 3 is that the embodiment of the present invention determines his vehicle position of driver schematic diagram of a scenario；
Fig. 4 is present invention driving blind area road hazard source prompt system structural schematic diagram.
Specific embodiment
For convenient for those skilled in the art understand that technical solution of the present invention, now in conjunction with Figure of description to the technology of the present invention side
Case is described further.
As shown in Figure 1, including the following steps: present embodiment discloses a kind of driving blind area road hazard source reminding method
S1: road hazard source whether there is from the first preset range of front side by the detection of the first car-mounted terminal；
In the embodiment of the present invention, the first car-mounted terminal is mounted on from vehicle, and the first car-mounted terminal includes camera and identification module,
The camera is obtained from front side video image information in real time, and identifies in video image information whether deposit by identification module
In road hazard source；Wherein, the characteristics of image in all kinds of road hazard sources is stored in the first car-mounted terminal, by obtaining video figure
As the characteristic image in information is matched with default road hazard source images, the type in road hazard source is determined after successful match
And existence；Road hazard Source Type in the embodiment of the present invention is mainly small volume, is easy by the road of occlusion
Danger source specifically includes that pedestrian, small vehicle and road barrier, and wherein small vehicle includes bicycle, motorcycle and electronic
Vehicle.
S2: if it exists, the blind area that the road hazard source is checked caused by the vehicle is calculated；
Preferably, calculating the blind area for checking the road hazard source caused by the vehicle specifically:
S201: there are when road hazard source, the three-dimensional figure in road hazard source is constructed according to the road hazard source image information of acquisition
As model；
S202: the 3-dimensional image model in road hazard source is mapped in default three-dimensional space model and determines it in default three-dimensional space
Between current location in model, prestore from vehicle model and vehicle coordinate plane in the default three-dimensional space model；
Wherein, the origin of the vehicle coordinate plane is the camera center of the first car-mounted terminal, and X-axis is perpendicular to from vehicle longitudinal direction
Heart symmetrical plane, Y-axis be directed toward the front at the camera center to；
S203: it projects by the 3-dimensional image model in road hazard source and from vehicle model to the vehicle coordinate plane, passes through edge
Extracting method obtains road hazard source edge contour and from vehicle edge contour；
S204: making road hazard source edge contour and from the outside common tangent between vehicle edge contour, two outside common tangents inside is separate
Road hazard source direction with from vehicle edge contour formed region as blind area.
As shown in Fig. 2, the camera of the first car-mounted terminal is installed on the longitudinal median plane from vehicle in the embodiment of the present invention
On be located on the longitudinal centre line of vehicle coordinate plane to get the origin O of vehicle coordinate plane, the X-axis of vehicle coordinate plane is hung down
Directly in from vehicle longitudinal center symmetrical plane, Y-axis is directed toward the front at the camera center to as vehicle forward direction is being just
Front direction；Road hazard source is positioned at the barrier from vehicle left front, barrier and the projection from vehicle in vehicle coordinate plane
As shown in Fig. 2, making road hazard source edge contour and from the outside common tangent between vehicle edge contour and extension obtains two straight line Y1
And the slope of Y2, straight line Y1 be less than straight line Y2 slope, blind area be figure in below straight line Y1, above straight line Y2 with from
The region that vehicle edge contour is constituted.
Since road hazard source and automobile three-dimensional structure are irregular, by occlusion test mutual between threedimensional model from vehicle structure
At check that the blind area in road hazard source is sufficiently complex, technical solution of the present invention is by road hazard source and from the three-dimensional mould of vehicle
It is X-Y scheme that type, which is projected in vehicle coordinate plane conversion, and the method by making outside common tangent determines blind area, accuracy
It is high, calculation amount is small, can quickly determine the blind area that road hazard source is checked caused by the vehicle.
S3: detecting the blind area and drives in the overlapping region of the second preset range with the presence or absence of his vehicle from around vehicle
Member position；
Specifically include: the second preset range determines its overlapping region according to the blind area and from around vehicle；Described in obtaining certainly
Video image information of the vehicle far from road hazard source direction side, judges whether there is his vehicle, and video image information can pass through
It is mounted on from the camera at vehicle side or rear and obtains, and judge whether there is his vehicle by image recognition；His vehicle if it exists, sentences
Whether his the vehicle position of driver that breaks is in the overlapping region, method are as follows: his vehicle is constructed in default three-dimensional space model
Threedimensional model simultaneously demarcates position of driver, and the threedimensional model for demarcating his vehicle of position of driver is projected to vehicle coordinate plane,
Check whether he vehicle position of driver falls in overlapping region.
In the embodiment of the present invention, the second preset range can be set as rectangle, circle or other shapes, and the present invention is herein not
It limits, as shown in figure 3, the second preset range of the invention is the long 30m including from vehicle, the rectangular area of wide 12m, rectangle
The four edges in region are straight line Y3, Y4, Y5 and to surround with X-axis, wherein from the forward edge of vehicle and rectangular area only in X-axis
On width edge be overlapped between two parties, the overlapping region of blind area and the second preset range is straight line Y1, Y2, Y3, Y5 and from vehicle
The region S portion that edge contour surrounds determines that method obtains currently driving in the embodiment of the present invention according to above-mentioned position of driver
Member position is located inside the overlapping region S.
S4: if it exists, the second car-mounted terminal for controlling his vehicle carries out dangerous information prompt.
Specifically, determine there are when position of driver, by obtaining his vehicle image information from vehicle side or rear camera,
And it is sent to server jointly with the road hazard source information of the first car-mounted terminal acquisition, from vehicle information；Wherein, road hazard source
Information includes road hazard Source Type, 3-dimensional image model and relative position information, includes from vehicle model and being directed to from vehicle information
The relative position information in road hazard source；Whether server inquires his vehicle in preset time before according to his vehicle image information
Be transmitted across dangerous tip for the road hazard source, it is specific by extract the license board information in his vehicle image information into
Row inquiry；Since his vehicle pilot's line of vision may be blocked simultaneously by multiple vehicles and it can not see road hazard source, i.e., he drives vehicle
The person of sailing position is located at the overlapping region of multiple blind areas of multiple vehicles composition, and multiple vehicles may can determine whether to cause from vehicle
His same vehicle of blind area locking as dangerous tip object, thus verify whether his vehicle is sent out as target vehicle
The dangerous tip for passing through the reply road hazard source can prevent his from vehicle car-mounted terminal issuing two different dangerous tip information
Upset driver；The dangerous tip for the road hazard source is not received before Ruo Tache, determines the danger in road hazard source
Prompt information and the second car-mounted terminal progress dangerous tip for being sent to his vehicle；In the embodiment of the present invention, the dangerous tip packet
It includes voice prompting and video is shown；The content of voice prompting includes the phase of the type in road hazard source, road hazard source and his vehicle
To positional relationship and the emergency operation behavior that may be made from vehicle；The content that video is shown include road hazard source images and its
Relative position image；By be located at his vehicle on the second car-mounted terminal prompt road danger source there are information, to make his vehicle
Driver can cope with road hazard source in advance, greatly reduce certain danger and accident caused by driver's seat is blocked
Probability.
It can also judge by the following method in blind area with the presence or absence of position of driver in above-mentioned technical proposal: make road
Danger source edge contour and from the outside common tangent between vehicle edge contour, obtain outside common tangent and road hazard source edge contour,
From the point of contact of vehicle edge contour, point of contact coordinate is obtained according to point of contact to X-axis, Y-axis distance；Outside common tangent is sought according to point of contact coordinate
Linear equation seeks the coordinate points model of blind area covering according to two outside common tangent linear equations and from vehicle edge contour coordinate
Enclose, blind area be similarly on the inside of two outside common tangents far from road hazard source direction with from the area that vehicle edge contour line coordinates is formed
Domain；After determining the coordinate point range covered in blind area, can according to acquisition from vehicle far from road hazard source side
Video image information determines the presence of his vehicle and from the relative position of vehicle and his vehicle, further true according to his relative position of vehicle
Position of driver coordinate points region can be obtained in coordinate points in Ding Tache vehicle coordinate plane, calibration position of driver region,
Judge whether position of driver coordinate points region is completely in the coordinate point range of blind area covering, sentences if being completely in
There are position of driver in disconnected blind area.
Second aspect provides a kind of driving blind area road hazard source prompt system, as shown in Figure 4, comprising: the first vehicle-mounted end
Hold the 1, second car-mounted terminal 2 and server 3；
First car-mounted terminal is mounted on from vehicle, including detection identification module 101, blind area determining module 102, coincidence calculating
Module 103, his vehicle detection module 104 and first communication module 105；The detection identification module 101 is for detecting from Chinese herbaceous peony
It whether there is road hazard source in the first preset range of side；The blind area determining module 102 is described caused by the vehicle for determining
Check the blind area in the road hazard source；The coincidence computing module 103 is for calculating blind area and the second default model
The overlapping region enclosed；His vehicle detection module 104 is used to detect in the overlapping region with the presence or absence of his vehicle position of driver；First
Communication module 105 is for realizing the communication connection between the first car-mounted terminal 1 and server 3.
There are his vehicle position of driver letters in overlapping region of the server 3 for receiving the transmission of the first car-mounted terminal 1
Breath, and control the second car-mounted terminal 2 and carry out dangerous tip, the server 3 is stored with his vehicle corresponding to the second car-mounted terminal 2
Information.
Second car-mounted terminal 2 is mounted on his vehicle, including cue module 201 and second communication module 202, and described
Two communication modules 202 receive the control instruction of server and execute dangerous tip operation, the prompt mould by cue module 201
Block 201 includes voice cue module and display module, prompts driver road in such a way that voice prompting and video image are shown
Road danger source there are information.
Technical solution of the present invention travels road ahead danger source by being obtained from vehicle in real time, calculates and determines due to blocking from vehicle
Caused by can not see other vehicles in road hazard source, and remind the presence of other road vehicle danger sources, can effectively solve
It certainly causes other vehicle drivers to there are problems that blind area due to being blocked from vehicle and can not find road hazard source, reduce it
He promptly copes with the occurrence frequency in road hazard source by vehicle, while having ensured the safety from vehicle and Ta Che, reduces traffic accident
Incidence.
Technical solution of the present invention is exemplarily described invention above in conjunction with attached drawing, it is clear that present invention specific implementation
It is not subject to the restrictions described above, changes as long as using the various unsubstantialities that the inventive concept and technical scheme of the present invention carry out
Into, or it is not improved the conception and technical scheme of invention are directly applied into other occasions, in protection scope of the present invention
Within.
Claims (9)
1. a kind of driving blind area road hazard source reminding method, which comprises the steps of:
S1: road hazard source whether there is from the first preset range of front side by the detection of the first car-mounted terminal；
S2: if it exists, the blind area that the road hazard source is checked caused by the vehicle is calculated；
S3: detecting the blind area and whether there is his vehicle driver position in the overlapping region of the second preset range from around vehicle
It sets；
S4: if it exists, the second car-mounted terminal for controlling his vehicle carries out dangerous information prompt.
2. driving blind area according to claim 1 road hazard source reminding method, which is characterized in that the first vehicle-mounted end
End includes camera and identification module, and the camera is obtained from front side video image information in real time, and passes through identification module
It identifies and whether there is road hazard source in video image information；
Wherein, the recognition methods in road hazard source are as follows: by obtaining characteristic image and default road danger in video image information
Dangerous source images are matched, and the type and existence in road hazard source are determined after successful match.
3. driving blind area according to claim 2 road hazard source reminding method, which is characterized in that the road hazard source
Type include: pedestrian, small vehicle and road barrier, wherein small vehicle includes bicycle, motorcycle and electric vehicle.
4. driving blind area according to claim 1 road hazard source reminding method, which is characterized in that the step S2 is specific
Include:
S201: there are when road hazard source, the three-dimensional figure in road hazard source is constructed according to the road hazard source image information of acquisition
As model；
S202: the 3-dimensional image model in road hazard source is mapped in default three-dimensional space model and determines it in default three-dimensional space
Between current location in model, prestore from vehicle model and vehicle coordinate plane in the default three-dimensional space model；
Wherein, the origin of the vehicle coordinate plane is the camera center of the first car-mounted terminal, and X-axis is perpendicular to from vehicle longitudinal direction
Heart symmetrical plane, Y-axis be directed toward the front at the camera center to；
S203: it projects by the 3-dimensional image model in road hazard source and from vehicle model to the vehicle coordinate plane, passes through edge
Extracting method obtains road hazard source edge contour and from vehicle edge contour；
S204: making road hazard source edge contour and from the outside common tangent between vehicle edge contour, two outside common tangents inside is separate
Road hazard source direction with from vehicle edge contour formed region as blind area.
5. driving blind area according to claim 1 road hazard source reminding method, which is characterized in that the step S3 is specific
Include:
The second preset range determines its overlapping region according to the blind area and from around vehicle；
The video image information from vehicle far from road hazard source direction side is obtained, his vehicle is judged whether there is；
His vehicle if it exists, judges whether he vehicle position of driver is in the overlapping region.
6. driving blind area according to claim 1 road hazard source reminding method, which is characterized in that the step S4 is specific
Include:
Determine there are when position of driver, by obtaining his vehicle image information from vehicle side or rear camera, and with acquisition
Road hazard source information is sent to server from vehicle information jointly；
Server inquires whether his vehicle has been transmitted across for the road in preset time before according to his vehicle image information
The dangerous tip of danger source；
The dangerous tip for the road hazard source is not received before Ruo Tache, determines the dangerous tip information in road hazard source
And the second car-mounted terminal for being sent to his vehicle carries out dangerous tip.
7. driving blind area according to claim 6 road hazard source reminding method, which is characterized in that the dangerous tip packet
It includes voice prompting and video is shown.
8. driving blind area according to claim 7 road hazard source reminding method, which is characterized in that the voice prompting
Content includes the type in road hazard source, the relative positional relationship of road hazard source and his vehicle and the emergency that may be made from vehicle
Operation behavior；The content that the video is shown includes road hazard source images and its relative position image.
9. a kind of driving blind area road hazard source prompt system characterized by comprising the first car-mounted terminal, the second vehicle-mounted end
End and server；
First car-mounted terminal is mounted on from vehicle, including detection identification module, blind area determining module, be overlapped computing module,
His vehicle detection module and first communication module；The detection identification module is used to detect
It is no that there are road hazard sources；The blind area determining module checks the view in the road hazard source for determining described caused by the vehicle
Wild blind area；The overlapping region for being overlapped computing module and being used to calculate blind area and the second preset range；His vehicle detection module
For detecting in the overlapping region with the presence or absence of his vehicle position of driver；
The server detects that there are his vehicle position of driver information in overlapping region for receiving the first car-mounted terminal, and controls
It makes the second car-mounted terminal and carries out dangerous tip；
Second car-mounted terminal is mounted on his vehicle, including cue module and second communication module, the second communication module
It receives the control instruction of server and dangerous tip operation is executed by cue module.
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