CN110715667A - Real-time early warning navigation device, map display method and terminal equipment - Google Patents

Real-time early warning navigation device, map display method and terminal equipment Download PDF

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Publication number
CN110715667A
CN110715667A CN201910947126.2A CN201910947126A CN110715667A CN 110715667 A CN110715667 A CN 110715667A CN 201910947126 A CN201910947126 A CN 201910947126A CN 110715667 A CN110715667 A CN 110715667A
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vehicle
early warning
target
radar
preset
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吴中红
张鹏
潘丽
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Individual
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3602—Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G01C21/3661—Guidance output on an external device, e.g. car radio
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3691—Retrieval, searching and output of information related to real-time traffic, weather, or environmental conditions
    • G01C21/3694—Output thereof on a road map
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3697—Output of additional, non-guidance related information, e.g. low fuel level
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/865—Combination of radar systems with lidar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/886—Radar or analogous systems specially adapted for specific applications for alarm systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
    • G01S13/92—Radar or analogous systems specially adapted for specific applications for traffic control for velocity measurement
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Ecology (AREA)
  • Environmental & Geological Engineering (AREA)
  • Environmental Sciences (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses a real-time early warning navigation device, a map display method, terminal equipment, a storage medium and a vehicle, wherein the real-time early warning navigation device comprises: an object detection module configured to detect one or more predetermined objects around a vehicle; an early warning display module configured to display early warning information of the predetermined target; wherein the target detection module comprises a first radar configured to detect a predetermined target within a preset radius around the vehicle, a second radar, and a camera sensor; the second radar is configured to detect a predetermined target within a preset distance in front of the vehicle; the camera sensor is configured to detect a preset target within a preset range in front of the vehicle, and the system and the method can grasp the traffic condition of nearby roads in real time and perform early warning.

Description

Real-time early warning navigation device, map display method and terminal equipment
Technical Field
The invention relates to the technical field of driving assistance, in particular to a real-time early warning navigation device, a map display method, terminal equipment, a storage medium and a vehicle.
Background
The vehicle-mounted navigation instrument or the driving software in the current market can provide services such as path planning, positioning navigation and the like, and provides convenience for a vehicle driver during driving on a road. However, it only depends on factors such as distance and direction to perform simple path planning and guidance, and cannot grasp the traffic conditions of nearby roads in real time, which results in that when an emergency occurs on the road, the driver cannot respond in time and make driving adjustment. In addition, the current vehicle navigation instruments or driving software on the market only complete navigation according to the geographic system and historical data, and cannot update road data quickly and timely, and cannot actively perform early warning when an emergency occurs near a vehicle. Therefore, there is a need to improve the existing car navigation device or driving software to overcome the above-mentioned deficiencies.
Disclosure of Invention
The invention provides a real-time early warning navigation device, a map display method, a terminal device, a storage medium and a vehicle, aiming at the defects in the prior art, and the device can grasp the traffic condition of nearby roads in real time and carry out early warning.
As a first aspect of the present invention, there is provided a real-time warning navigation apparatus, including: an object detection module configured to detect one or more predetermined objects around a vehicle; an early warning display module configured to display early warning information of the predetermined target; wherein the target detection module comprises a first radar configured to detect a predetermined target within a preset radius around the vehicle, a second radar, and a camera sensor; the second radar is configured to detect a predetermined target within a preset distance in front of the vehicle; the camera sensor is configured to detect a predetermined target within a preset range in front of the vehicle.
Preferably, the second radar overlaps with the image sensor and the detection range of the first radar, and the image sensor overlaps with the detection range of the first radar.
Preferably, the number of the second radars is two, and there is no overlap in detection ranges of the two second radars.
Preferably, the real-time early warning navigation device further comprises a vehicle communication module configured to transmit the early warning information of the predetermined target to surrounding vehicles and receive the early warning information of the predetermined target transmitted by the surrounding vehicles;
the target detection module further comprises a target recognition unit which acquires an image of the predetermined target from the camera sensor and obtains the type of the predetermined target from the image of the predetermined target;
the early warning display module is configured to display a map of an area where the vehicle is located, wherein the map dynamically displays the position of the vehicle and early warning information of the preset target and/or early warning information of the preset target transmitted by the surrounding vehicle, and the early warning information comprises the type of the preset target, the distance between the preset target and the vehicle and the moving speed of the preset target.
As a second aspect of the present invention, there is provided a real-time warning navigation device, including: an object detection module configured to detect one or more predetermined objects around the vehicle;
the terminal communication module is configured to transmit the early warning information of the preset target to a terminal device for displaying; wherein the target detection module comprises a first radar configured to detect a predetermined target within a preset radius around the vehicle, a second radar, and a camera sensor; the second radar is configured to detect a predetermined target within a preset distance in front of the vehicle; the camera sensor is configured to detect a predetermined target within a preset range in front of the vehicle;
a vehicle-on-vehicle communication module configured to transmit warning information of the predetermined target to a nearby vehicle and receive warning information of the predetermined target transmitted from the nearby vehicle; the terminal equipment is configured to display a map of the area where the vehicle is located, and the map dynamically displays the position of the vehicle and the early warning information of the preset target and/or the early warning information of the preset target transmitted by the surrounding vehicles.
As a third aspect of the present invention, there is provided a real-time warning navigation apparatus, comprising: an object detection module configured to detect one or more predetermined objects around the vehicle; the vehicle-to-vehicle communication module is configured to transmit the early warning information of the preset target to surrounding vehicles and receive the early warning information of the preset target transmitted by the surrounding vehicles and the traffic detection station; wherein the target detection module comprises a first radar configured to detect a predetermined target within a preset radius around the vehicle, a second radar, and a camera sensor; the second radar is configured to detect a predetermined target within a preset distance in front of the vehicle; the camera sensor is configured to detect a predetermined target within a preset range in front of the vehicle.
As a fourth aspect of the present invention, there is provided a map display method including: and acquiring and displaying the early warning information of the preset target in the real-time early warning navigation device in the technical scheme.
As a fifth aspect of the present invention, there is provided a terminal device comprising a memory and a processor; wherein the memory is configured to store one or more computer instructions that are executed by the processor to implement the map display method described above.
As a sixth aspect of the present invention, there is provided a computer-readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the above-described map display method.
As a seventh aspect of the present invention, a vehicle is provided, where the vehicle is equipped with the real-time warning navigation device in the above technical solution.
The invention has the beneficial effects that:
(1) the invention provides a real-time early warning navigation device, a map display method, a terminal device, a storage medium and a vehicle, wherein the real-time early warning navigation device comprises: an object detection module configured to detect one or more predetermined objects around the vehicle; an early warning display module configured to display early warning information of the predetermined target; wherein the target detection module comprises a first radar configured to detect a predetermined target within a preset radius around the vehicle, a second radar, and a camera sensor; the second radar is configured to detect a predetermined target within a preset distance in front of the vehicle; the camera sensor is configured to detect a predetermined target within a preset range in front of the vehicle, so that the surrounding, near, medium and long-distance traffic conditions of the vehicle can be detected through the coordination of the first radar, the second radar and the camera sensor, and early warning is carried out in real time through the early warning display module.
(2) According to the real-time early warning navigation device, the map display method, the terminal device, the storage medium and the vehicle, the second radar, the camera sensor and the first radar are overlapped in detection range, and the camera sensor and the first radar are overlapped in detection range, so that the first radar, the second radar and the camera sensor are configured, the position of a potential preset target relative to the vehicle can be comprehensively covered, and the detection comprehensiveness is improved.
(3) According to the real-time early warning navigation device, the map display method, the terminal device, the storage medium and the vehicle, the number of the second radars is two, and the detection ranges of the two second radars are not overlapped, so that the position of a long-distance preset target in front of the vehicle relative to the vehicle can be covered more comprehensively, and the detection comprehensiveness is further improved.
(4) According to the real-time early warning navigation device, the map display method, the terminal device, the storage medium and the vehicle, the early warning information of the preset target can be transmitted to the surrounding vehicles through the vehicle-to-vehicle communication module, and the early warning information of the preset target transmitted by the surrounding vehicles or the early warning information of the preset target transmitted by the traffic detection station is received, so that the early warning information is shared with the surrounding vehicles, and the early warning information is received from the surrounding vehicles and the traffic detection station, and the early warning information is acquired in a diversified manner.
(5) According to the real-time early warning navigation device, the map display method, the terminal device, the storage medium and the vehicle, the map of the area where the vehicle is located is displayed through the early warning display module, and the position of the vehicle, the type of the preset target, the distance between the preset target and the vehicle and the moving speed of the preset target are dynamically displayed in the map, so that the visibility of early warning information display can be improved, and the user experience is enhanced.
(6) According to the real-time early warning navigation device, the map display method, the terminal equipment, the storage medium and the vehicle, the early warning information of the preset target is transmitted to the terminal equipment through the terminal communication module to be displayed, so that a user can conveniently display the early warning information through the terminal equipment such as a mobile phone and a tablet personal computer, the early warning display module does not need to be purchased additionally, and the use cost is reduced.
Drawings
In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
Fig. 1 is a schematic diagram of target detection of a real-time early warning navigation device according to an embodiment of the present invention;
FIG. 2-1 is a schematic diagram of a real-time warning navigation device according to an embodiment of the present invention;
FIG. 2-2 is a schematic diagram of a real-time warning navigation device according to another embodiment of the present invention;
FIG. 3 is a schematic diagram of an early warning display of a real-time early warning navigation apparatus according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a real-time warning navigation device according to another embodiment of the present invention;
fig. 5 is a schematic diagram of a real-time warning navigation device according to another embodiment of the invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.
It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains.
As shown in fig. 1, the vehicle 1 is provided with a real-time warning navigation device, which may be configured before the vehicle 1 leaves the factory, or may be added after the vehicle 1 leaves the factory. The real-time early warning navigation device is used for detecting the emergency situation around the vehicle and providing early warning for the vehicle driver in time. Wherein the emergency condition includes, but is not limited to, a pedestrian suddenly crossing the road, an animal approaching a nuisance vehicle driving, etc.
In one embodiment, as shown in fig. 2-1, a real-time warning navigation device is provided. The real-time early warning navigation device comprises: an object detection module 100 and an early warning display module 200.
The object detection module 100 is configured to detect one or more predetermined objects 2 around the vehicle 1. The predetermined target may be a pedestrian, an animal, but also a specific type of vehicle, such as a lorry, a muck truck, a tricycle, etc., which may cause a hazard to occur in the proximity of the vehicle 1. It is to be noted that the predetermined target 2 is not limited to the above example, and may be specifically determined according to the actual driving assistance need.
The object detection module 100 includes a first radar 110, a second radar 120, and a camera sensor 130. As shown in fig. 1, the detection range of the first radar 110 is the area of the mark a, the detection range of the second radar 120 is the area of the mark B, and the detection range of the image sensor 130 is the area of the mark C.
Wherein the first radar 110 is configured to detect a predetermined target 2 within a preset radius around the vehicle 1. The first radar 110 may be a lidar and the predetermined radius may be 6-10 meters, such as 6 meters, 8 meters, 10 meters, etc.
The second radar 120 is configured to detect a predetermined target 2 within a preset distance in front of the vehicle 1. The second radar 120 may be a continuous wave radar, and as a preferred embodiment, the second radar 120 is implemented by a software radar, and particularly, by an S-band software radar. The preset distance may be 150-220 meters, such as 150 meters, 170 meters, 200 meters, 220 meters, and the like.
The image sensor 130 is configured to detect a predetermined target 2 within a preset range in front of the vehicle 1. The camera sensor 130 may adopt a common camera, and the preset range is a shooting range of the camera.
As shown in fig. 1, the detection distance of the second radar 120 is greater than the detection distance of the image sensor 130, the detection distance of the image sensor 130 is greater than the detection distance of the first radar 120, and the detection ranges of the first radar 110, the second radar 120, and the image sensor 130 at least overlap. In a preferred embodiment, the detection ranges of the second radar 120, the image sensor 130 and the first radar 110 overlap, and the detection ranges of the image sensor 130 and the first radar 110 overlap. Wherein, the number of the second radars 120 may be two, and there is no overlap between the detection ranges of the two second radars 120. It should be noted that the number of the second radars 120 may also be multiple, for example, 3, 4, 5, etc., which is not illustrated here, and may be determined according to actual needs.
Further, the object detection module 100 further includes an object recognition unit 140, and the object recognition unit 140 acquires the image of the predetermined object 2 from the image sensor 130, and obtains the type of the predetermined object 2 from the image of the predetermined object 2. Specifically, the object recognition unit 140 may employ a microprocessor that performs arithmetic processing on an image of the predetermined object 2, and recognizes the type of the predetermined object 2 through an object recognition algorithm. Taking the predetermined target 2 as a pedestrian as an example, the SSD algorithm may be adopted as the target recognition algorithm to recognize the pedestrian.
It should be noted that the image sensor 130 and the object recognition unit 140 cooperate to detect the predetermined object 2 within the preset range in front of the vehicle 1, wherein the object recognition unit 140 may be integrated in the image sensor 130, or may be separately provided outside the image sensor 130.
The early warning display module 200 is configured to display early warning information of the predetermined target.
As shown in fig. 3, as a specific embodiment, the warning display module 200 is configured to display a map of an area where the vehicle 1 is located, and the map dynamically displays the position of the vehicle 1 and warning information of the predetermined target 2. Wherein the early warning information includes a type of the predetermined target 2, a distance between the predetermined target 2 and the vehicle 1, and a moving speed of the predetermined target 2. In fig. 3, the five-pointed star is marked as the position of the vehicle, i.e. the position of the vehicle 1, and there are two adjacent predetermined targets 2, wherein one of the predetermined targets 2 is a pedestrian, the distance between the pedestrian and the vehicle 1 is 37m, the moving speed of the pedestrian is 1.2m/s, the type of the other predetermined target 2 is unknown, the target is marked as an unknown target on the map, the distance between the pedestrian and the vehicle 1 is 14m, and the moving speed of the pedestrian is 0.8 m/s. The type of the other preset target 2 is identified as an unknown target, which may be caused by the fact that it is not in the shooting range of the image sensor 130.
As shown in fig. 2-2, the real-time warning navigation device further includes a vehicle communication module 300. The vehicle-side communication module 300 is configured to transmit the warning information of the predetermined target 2 to the nearby vehicle and receive the warning information of the predetermined target 2 transmitted from the nearby vehicle.
As shown in fig. 3, the warning information of the predetermined target 2 may be detected and transmitted by the host vehicle, or transmitted by the neighboring vehicle, or transmitted from both the host vehicle and the neighboring vehicle.
As an embodiment, as shown in fig. 4, a real-time warning navigation device is also provided. The real-time early warning navigation device comprises a target detection module 100, a terminal communication module 400 and a vehicle communication module 300.
The object detection module 100 is configured to detect one or more predetermined objects 2 around the vehicle 1. The predetermined target may be a pedestrian, an animal, or a specific type of vehicle, such as a truck, a dirt car, a tricycle, etc., which may cause a hazard to occur in proximity to the vehicle. It is to be noted that the predetermined target 2 is not limited to the above example, and may be specifically determined according to the actual driving assistance need.
The object detection module 100 includes a first radar 110, a second radar 120, and a camera sensor 130. As shown in fig. 1, the detection range of the first radar 110 is the area of the mark a, the detection range of the second radar 120 is the area of the mark B, and the detection range of the image sensor 130 is the area of the mark C.
Wherein the first radar 110 is configured to detect the predetermined target 2 within a preset radius around the vehicle 1, the first radar 110 may be a lidar, and the preset radius may be 6-10 meters, such as 6 meters, 8 meters, 10 meters, etc.
The second radar 120 is configured to detect the predetermined target 2 within a preset distance in front of the vehicle 1, and the second radar 120 may be a continuous wave radar, and as a preferred embodiment, the second radar 120 is implemented by a software radar, especially an S-band software radar. The preset distance may be 150-220 meters, such as 150 meters, 170 meters, 200 meters, 220 meters, and the like.
The image sensor 130 is configured to detect a predetermined target 2 within a preset range in front of the vehicle 1. The camera sensor 130 may adopt a common camera, and the preset range is a shooting range of the camera.
As shown in fig. 1, the detection distance of the second radar 120 is greater than the detection distance of the image sensor 130, the detection distance of the image sensor 130 is greater than the detection distance of the first radar 120, and at least the detection ranges of the first radar 110, the second radar 120, and the image sensor 130 overlap. In a preferred embodiment, the detection ranges of the second radar 120, the image sensor 130 and the first radar 110 overlap, and the detection ranges of the image sensor 130 and the first radar 110 overlap. Wherein, the number of the second radars 120 may be two, and there is no overlap between the detection ranges of the two second radars 120. It should be noted that the number of the second radars 120 may also be multiple, for example, 3, 4, 5, etc., which is not illustrated here, and may be determined according to actual needs.
Further, the object detection module 100 further includes an object recognition unit 140, and the object recognition unit 140 acquires the image of the predetermined object 2 from the image sensor 130, and obtains the type of the predetermined object 2 from the image of the predetermined object 2. Specifically, the object recognition unit 140 may employ a microprocessor that performs arithmetic processing on an image of the predetermined object 2, and recognizes the type of the predetermined object 2 through an object recognition algorithm. Taking the predetermined target 2 as a pedestrian as an example, the SSD algorithm may be adopted as the target recognition algorithm to recognize the pedestrian.
It should be noted that the image sensor 130 and the object recognition unit 140 cooperate to detect the predetermined object 2 within the preset range in front of the vehicle 1, wherein the object recognition unit 140 may be integrated in the image sensor 130, or may be separately provided outside the image sensor 130.
The terminal communication module 400 is configured to transmit the warning information of the predetermined target to a terminal device for display. The terminal equipment can be a mobile phone, a notebook computer, a tablet computer, a desktop computer and the like.
Wherein, as shown in fig. 3, the terminal device is configured to display a map of the area where the vehicle 1 is located, and the map dynamically displays the position of the vehicle 1 and the warning information of the predetermined target 2. Wherein the early warning information includes a type of the predetermined target 2, a distance between the predetermined target 2 and the vehicle 1, and a moving speed of the predetermined target 2.
In fig. 3, the five-pointed star is marked as the position of the vehicle, i.e. the position of the vehicle 1, and there are two adjacent predetermined targets 2, wherein one of the predetermined targets 2 is a pedestrian, the distance between the pedestrian and the vehicle 1 is 37m, the moving speed of the pedestrian is 1.2m/s, the type of the other predetermined target 2 is unknown, the target is marked as an unknown target on the map, the distance between the pedestrian and the vehicle 1 is 14m, and the moving speed of the pedestrian is 0.8 m/s. The type of the other preset target 2 is identified as an unknown target, which may be caused by the fact that it is not in the shooting range of the image sensor 130.
As shown in fig. 2-2, the real-time warning navigation device further includes a vehicle communication module 300.
The vehicle-side communication module 300 is configured to transmit the warning information of the predetermined target 2 to the nearby vehicle and receive the warning information of the predetermined target 2 transmitted from the nearby vehicle.
As shown in fig. 3, the warning information of the predetermined target 2 may be detected and transmitted by the host vehicle, or transmitted by the neighboring vehicle, or transmitted from both the host vehicle and the neighboring vehicle.
In one embodiment, as shown in fig. 5, a real-time warning navigation device is also provided. The real-time early warning navigation device comprises: an object detection module 100 and a vehicle communication module 300.
The object detection module 100 is configured to detect one or more predetermined objects around the vehicle. The predetermined target may be a pedestrian, an animal, or a specific type of vehicle, such as a truck, a dirt car, a tricycle, etc., which may cause a hazard to occur in proximity to the vehicle. It is to be noted that the predetermined target 2 is not limited to the above example, and may be specifically determined according to the actual driving assistance need.
The object detection module 100 includes a first radar 110, a second radar 120, and a camera sensor 130. As shown in fig. 1, the detection range of the first radar 110 is the area of the mark a, the detection range of the second radar 120 is the area of the mark B, and the detection range of the image sensor 130 is the area of the mark C.
Wherein the first radar 110 is configured to detect the predetermined target 2 within a preset radius around the vehicle 1, the first radar 110 may be a lidar, and the preset radius may be 6-10 meters, such as 6 meters, 8 meters, 10 meters, etc.
The second radar 120 is configured to detect the predetermined target 2 within a preset distance in front of the vehicle 1, and the second radar 120 may be a continuous wave radar, and as a preferred embodiment, the second radar 120 is implemented by a software radar, especially an S-band software radar. The preset distance may be 150-220 meters, such as 150 meters, 170 meters, 200 meters, 220 meters, and the like.
The image sensor 130 is configured to detect a predetermined target 2 within a preset range in front of the vehicle 1. The camera sensor 130 may adopt a common camera, and the preset range is a shooting range of the camera.
As shown in fig. 1, the detection distance of the second radar 120 is greater than the detection distance of the image sensor 130, the detection distance of the image sensor 130 is greater than the detection distance of the first radar 120, and at least the detection ranges of the first radar 110, the second radar 120, and the image sensor 130 overlap. In a preferred embodiment, the detection ranges of the second radar 120, the image sensor 130 and the first radar 110 overlap, and the detection ranges of the image sensor 130 and the first radar 110 overlap. Wherein, the number of the second radars 120 may be two, and there is no overlap between the detection ranges of the two second radars 120. It should be noted that the number of the second radars 120 may also be multiple, for example, 3, 4, 5, etc., which is not illustrated here, and may be determined according to actual needs.
Further, the object detection module 100 further includes an object recognition unit 140, and the object recognition unit 140 acquires the image of the predetermined object 2 from the image sensor 130, and obtains the type of the predetermined object 2 from the image of the predetermined object 2. Specifically, the object recognition unit 140 may employ a microprocessor that performs arithmetic processing on an image of the predetermined object 2, and recognizes the type of the predetermined object 2 through an object recognition algorithm. Taking the predetermined target 2 as a pedestrian as an example, the SSD algorithm may be adopted as the target recognition algorithm to recognize the pedestrian.
It should be noted that the image sensor 130 and the object recognition unit 140 cooperate to detect the predetermined object 2 within the preset range in front of the vehicle 1, wherein the object recognition unit 140 may be integrated in the image sensor 130, or may be separately provided outside the image sensor 130.
The vehicle-side communication module 300 is configured to transmit the warning information of the predetermined target to the nearby vehicle and receive the warning information of the predetermined target 2 transmitted from the nearby vehicle. In particular, the vehicle communication module 300 is further configured to receive the warning information of the predetermined target 2 transmitted from the traffic detection station. Wherein the traffic detection station is configured to detect one or more predetermined targets around the traffic detection station and transmit early warning information of the predetermined targets to relevant vehicles. In one embodiment, the traffic detection station and the relevant vehicle form a wireless network connection.
In one embodiment, there is also provided a map display method, the method including: the early warning information of the preset target is obtained from the real-time early warning navigation device for driving in the embodiment and is displayed.
In one embodiment, there is also provided a terminal device comprising a memory and a processor; wherein the memory is to store one or more computer instructions that are executed by the processor to perform a map display method: and acquiring and displaying the early warning information of the preset target in the real-time early warning navigation device in the embodiment.
In one embodiment, there is also provided a computer readable storage medium having stored thereon computer instructions which, when executed by a processor, implement a map display method comprising: and acquiring and displaying the early warning information of the preset target in the real-time early warning navigation device in the embodiment.
In one embodiment, a vehicle is further provided, and the vehicle is provided with the real-time early warning navigation device in the embodiment.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, databases, or other media used in embodiments provided herein may include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.

Claims (10)

1. A real-time early warning navigation device, comprising:
an object detection module configured to detect one or more predetermined objects around a vehicle;
an early warning display module configured to display early warning information of the predetermined target;
wherein the target detection module comprises a first radar configured to detect a predetermined target within a preset radius around the vehicle, a second radar, and a camera sensor; the second radar is configured to detect a predetermined target within a preset distance in front of the vehicle; the camera sensor is configured to detect a predetermined target within a preset range in front of the vehicle.
2. The real-time pre-warning navigation device according to claim 1, wherein: the second radar overlaps with the camera sensor and the detection range of the first radar, and the camera sensor overlaps with the detection range of the first radar.
3. The real-time pre-warning navigation device according to claim 2, wherein: the number of the second radars is two, and there is no overlap in the detection ranges of the two second radars.
4. The real-time pre-warning navigation device according to any one of claims 1-3, wherein: the vehicle-to-vehicle communication module is configured to transmit the early warning information of the preset target to surrounding vehicles and receive the early warning information of the preset target transmitted by the surrounding vehicles;
the target detection module further comprises a target recognition unit which acquires an image of the predetermined target from the camera sensor and obtains the type of the predetermined target from the image of the predetermined target;
the early warning display module is configured to display a map of an area where the vehicle is located, wherein the map dynamically displays the position of the vehicle and early warning information of the preset target and/or early warning information of the preset target transmitted by the surrounding vehicle, and the early warning information comprises the type of the preset target, the distance between the preset target and the vehicle and the moving speed of the preset target.
5. A real-time early warning navigation device, comprising:
an object detection module configured to detect one or more predetermined objects around a vehicle;
the terminal communication module is configured to transmit the early warning information of the preset target to a terminal device for displaying;
wherein the target detection module comprises a first radar configured to detect a predetermined target within a preset radius around the vehicle, a second radar, and a camera sensor; the second radar is configured to detect a predetermined target within a preset distance in front of the vehicle; the camera sensor is configured to detect a predetermined target within a preset range in front of the vehicle;
a vehicle-on-vehicle communication module configured to transmit warning information of the predetermined target to a nearby vehicle and receive warning information of the predetermined target transmitted from the nearby vehicle;
the terminal equipment is configured to display a map of the area where the vehicle is located, and the map dynamically displays the position of the vehicle and the early warning information of the preset target and/or the early warning information of the preset target transmitted by the surrounding vehicles.
6. A real-time early warning navigation device, comprising:
an object detection module configured to detect one or more predetermined objects around a vehicle;
the vehicle-to-vehicle communication module is configured to transmit the early warning information of the preset target to surrounding vehicles and receive the early warning information of the preset target transmitted by the surrounding vehicles and the traffic detection station;
wherein the target detection module comprises a first radar configured to detect a predetermined target within a preset radius around the vehicle, a second radar, and a camera sensor; the second radar is configured to detect a predetermined target within a preset distance in front of the vehicle; the camera sensor is configured to detect a predetermined target within a preset range in front of the vehicle.
7. A map display method, characterized in that the method comprises: acquiring and displaying the early warning information of the preset target in the real-time early warning navigation device of any one of claims 1-6.
8. A terminal device comprising a memory and a processor; wherein the memory is configured to store one or more computer instructions, characterized in that: the one or more computer instructions being executable by the processor to perform the method steps of claim 7.
9. A computer-readable storage medium having stored thereon computer instructions, characterized in that: which when executed by a processor implement the method steps of claim 7.
10. A vehicle, characterized in that the vehicle is provided with the real-time warning navigation device of any one of claims 1-6.
CN201910947126.2A 2019-09-29 2019-09-29 Real-time early warning navigation device, map display method and terminal equipment Pending CN110715667A (en)

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Application publication date: 20200121