CN112158131A - Doubling reminding method and device, vehicle and storage medium - Google Patents
Doubling reminding method and device, vehicle and storage medium Download PDFInfo
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- CN112158131A CN112158131A CN202011075340.2A CN202011075340A CN112158131A CN 112158131 A CN112158131 A CN 112158131A CN 202011075340 A CN202011075340 A CN 202011075340A CN 112158131 A CN112158131 A CN 112158131A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/12—Mirror assemblies combined with other articles, e.g. clocks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/12—Mirror assemblies combined with other articles, e.g. clocks
- B60R2001/1215—Mirror assemblies combined with other articles, e.g. clocks with information displays
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Abstract
The embodiment of the application discloses a doubling reminding method and device, a vehicle and a storage medium. The method comprises the following steps: monitoring whether a moving object exists in the lateral rear of the vehicle; if a moving object is monitored to be arranged at the side rear part of the vehicle, dividing a display area of the electronic screen rearview mirror into a safe display area and a dangerous display area; and lightening the danger display area according to the speed of the moving object, and triggering an alarm instruction of non-doubling. By the method, the display area of the electronic screen rearview mirror is divided into the plurality of areas according to whether a moving object exists behind the side of the vehicle or not, then the corresponding danger display area can be lightened according to the speed of the moving object, the alarm instruction which cannot be doubled is triggered to give an alarm to prompt a driver that doubling operation cannot be carried out, the driver does not need to judge whether doubling can be carried out according to experience, and the possibility of traffic accidents is reduced.
Description
Technical Field
The application relates to the field of automobile driving assistance, in particular to a doubling reminding method, a doubling reminding device, a vehicle and a storage medium.
Background
The act of driving a vehicle from one lane to another is called merging, and the act of merging regardless of other vehicle conditions tends to form a forced merge. The wires are forcibly doubled in urban roads, so that scratch is easy to happen; especially, forced merging on the expressway may cause a serious traffic accident. The related doubling reminding method still needs the user to judge whether the doubling can be performed or not according to experience. Once the judgment is wrong, traffic accidents may be caused.
Disclosure of Invention
In view of the above problems, the present application provides a method, an apparatus, a vehicle, and a storage medium for reminding doubling to improve the above problems.
In a first aspect, the application provides a doubling reminding method, which is applied to a vehicle, wherein the vehicle is provided with an electronic screen rearview mirror, and the method comprises the following steps: monitoring whether a moving object exists in the lateral rear of the vehicle; if a moving object is monitored to be arranged at the side rear part of the vehicle, dividing a display area of the electronic screen rearview mirror into a safe display area and a dangerous display area; and lightening the danger display area according to the speed of the moving object, and triggering an alarm instruction of non-doubling.
In a second aspect, the application provides a doubling reminding device, is applied to the vehicle, the electronic screen rear-view mirror is installed to the vehicle, the device includes: the monitoring unit is used for monitoring whether a moving object exists behind the vehicle; the area dividing unit is used for dividing the display area of the electronic screen rearview mirror into a safe display area and a dangerous display area if a moving object is monitored to be arranged at the lateral rear part of the vehicle; and the alarm unit is used for lightening the danger display area according to the speed of the moving object and triggering an alarm instruction of non-doubling.
In a third aspect, the present application provides a vehicle comprising one or more processors and memory; one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to perform the methods described above.
In a fourth aspect, the present application provides a computer-readable storage medium having program code stored therein, the program code being invoked by a processor to perform the method described above.
The application provides a method, a device, a vehicle and a storage medium for reminding the doubling, which are used for monitoring whether a moving object exists at the side rear part of the vehicle or not, dividing a display area of an electronic screen rearview mirror into a safety display area and a dangerous display area if the moving object exists at the side rear part of the vehicle, lightening the dangerous display area according to the speed of the moving object and triggering an alarm instruction which cannot be doubled. By the method, the display area of the electronic screen rearview mirror is divided into the plurality of areas according to whether a moving object exists behind the side of the vehicle or not, the danger display area can be lightened according to the speed of the moving object, the alarm instruction which cannot be doubled is triggered to give an alarm to prompt a driver that doubling operation cannot be carried out, the driver does not need to judge whether doubling can be carried out according to experience, and the possibility of traffic accidents is reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 shows a flowchart of a doubling reminding method proposed in the present application;
fig. 2 is a schematic diagram illustrating division of a display area of an electronic screen rearview mirror in a doubling reminding method according to the present application;
FIG. 3 is a flow chart illustrating another doubling reminding method proposed by the present application;
fig. 4 is a flowchart illustrating another doubling reminding method proposed in the present application;
FIG. 5 is a flow chart illustrating another method for reminding a doubling according to the present application;
fig. 6 shows a block diagram of a doubling reminder according to the present application;
FIG. 7 is a block diagram of a vehicle for executing a merge reminder method according to an embodiment of the present application;
fig. 8 is a storage medium for storing or carrying program codes for implementing a doubling reminding method according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
And the parallel line refers to the behavior that the vehicle drives from one lane to the other lane when driving. The basic principle of doubling is that normal running of other vehicles cannot be influenced, and the normally running vehicles have no obligation and responsibility to allow doubling vehicles to pass first, so that forced doubling is not required. The vehicle doubling operation is prepared in advance, and the condition of the front and the rear of the lane is required to be known clearly and then the vehicle doubling operation is carried out. There is an important need to monitor the driving conditions of vehicles to be integrated into a lane, such as: the speed of the vehicle within the lane; whether there is congestion or deceleration ahead; whether the two cars have enough distance to carry out doubling operation; whether a vehicle is in a blind area of a rearview mirror of the vehicle, and the like. The wires are forcibly doubled in urban roads, so that scratch is easy to happen; especially, forced merging on the expressway may cause a serious traffic accident. Therefore, when the vehicle is subjected to the doubling operation, a corresponding reminder needs to be given to the driver when the vehicle is detected to have the doubling danger.
The inventor finds out in the research of the related parallel reminding method that the related parallel reminding method mainly detects the coming vehicle behind the adjacent lane through some parallel auxiliary devices and reminds the driver. However, this method only reminds whether there is a car in the adjacent lane, and still requires the user to determine whether the adjacent lanes can be merged by experience. Once the judgment is wrong, traffic accidents may be caused.
Therefore, the inventor provides a merging reminding method, a merging reminding device, a vehicle and a storage medium for monitoring whether a moving object exists behind a vehicle side or not in the application, if the moving object exists behind the vehicle side, a display area of an electronic screen rearview mirror is divided into a safety display area and a danger display area, the corresponding danger display area is lightened according to the speed of the moving object, an alarm instruction of non-merging is triggered, then the display area of the electronic screen rearview mirror is divided into a plurality of areas according to whether the moving object exists behind the vehicle side or not, the corresponding danger display area is lightened according to the speed of the moving object, the alarm instruction of the non-merging is triggered to give an alarm to remind a driver that the merging operation cannot be executed, the driver is not required to judge whether the merging operation can be carried out according to experience, and the possibility of traffic accidents is reduced.
Embodiments of the present application will be described in detail below with reference to the accompanying drawings.
Referring to fig. 1, a doubling reminding method provided by the present application is applied to a vehicle, where an electronic screen rearview mirror is installed on the vehicle, and the method includes:
step 110: and monitoring whether a moving object exists in the lateral rear part of the vehicle.
In one aspect, the vehicle lateral rear refers to a designated area range in which a capture device mounted on the vehicle can capture video information. The moving object is a target object in the range of the identified designated area behind and beside the vehicle. For example, the distance that the collection device can collect the video information is 30 meters, and then the vehicle side rear refers to a specified area range within 30 meters of the vehicle side rear.
Specifically, the video information of the side rear part of the vehicle can be collected in real time through the collecting device, and further whether a moving object exists in the video information can be detected in real time. The moving object may be a vehicle, other movable objects, and the like.
Step 120: and if a moving object is monitored to be arranged at the side rear part of the vehicle, dividing a display area of the electronic screen rearview mirror into a safe display area and a dangerous display area.
As one mode, if it is detected that there is a moving object behind the vehicle, the step of dividing the display area of the electronic screen rearview mirror into a safety display area and a danger display area includes: if the situation that a moving object exists behind the side of the vehicle is monitored, dividing a display area of the electronic screen rearview mirror into a safety display area and a danger display area according to a preset direction. Further, acquiring a danger level corresponding to the speed of the moving object; and dividing a display area of the electronic screen rearview mirror into a safe display area and a dangerous display area based on the danger level, wherein the higher the danger level is, the larger the display area of the dangerous display area is.
The preset direction can be a display area dividing direction preset by a manufacturer for the electronic screen rearview mirror when the electronic screen rearview mirror is produced. The preset direction may also be a direction away from the vehicle or a direction close to the vehicle.
For example, as shown in fig. 2, when a moving object is detected behind and to the side of the vehicle, the display area of the electronic screen rearview mirror may be divided into a safety display area (e.g., a region a) and a danger display area (e.g., a region B) in a direction away from or close to the vehicle in various manners as shown in fig. 2. If the safety display area is lightened according to the speed of the vehicle at the side rear part, representing that the vehicle can carry out the parallel operation; and if the danger display area is lightened according to the speed of the vehicle at the side rear part, representing that the vehicle can not carry out the doubling operation. Further, the display areas of the safety display area and the danger display area may be fixedly divided according to danger levels, or may be continuously changed. Specifically, the speed of the moving object can be divided into a plurality of numerical value ranges in advance, different danger levels are set for different numerical value ranges, and then the display area of the electronic screen rearview mirror can be divided into safety display areas and danger display areas with different sizes according to the danger levels corresponding to the speed of the moving object. Optionally, the sizes of the safety display area and the danger display area of the electronic screen rearview mirror can also be continuously changed along with the speed of the moving object.
Further, the electronic screen rearview mirror is divided into a safety display area and a danger display area according to a preset direction, and the designated frame image displayed in the display area of the electronic screen can be divided into two parts for display. Optionally, a dividing line may be further superimposed on the display screen of the electronic screen rearview mirror of the vehicle, so as to divide the display area of the electronic screen rearview mirror of the vehicle into a safety display area and a dangerous display area.
Step 130: and lightening the danger display area according to the speed of the moving object, and triggering an alarm instruction of non-doubling.
Wherein, the lighting the dangerous display area can be understood as increasing the display brightness of the dangerous display area in the electronic screen rearview mirror.
In the embodiment of the application, different prompt messages can be generated according to different moving objects displayed in the danger display area of the electronic screen rearview mirror so as to prompt a driver whether to perform the wire-doubling operation.
When a moving object is detected at the lateral rear part of the vehicle, the speed of the moving object is acquired, a danger display area with a corresponding size divided in the electronic screen rearview mirror is lightened according to the danger level of the speed of the moving object, and prompt information which cannot be subjected to parallel operation is generated. The prompt message that the doubling operation is not available can be displayed in various ways. Further, if the speed of the moving object does not fall within the numerical range corresponding to the divided danger display areas, the danger display areas are not lighted.
As one mode, the generated prompt information which cannot be subjected to the parallel operation can be projected onto the front windshield of the vehicle in a head-up display mode, visual image and data information are provided for the driver, and the driver is warned through different display contents.
As another mode, a prompt message of non-doubling can be generated through an in-vehicle instrument display or an in-vehicle loudspeaker. Specifically, in a driving state, a driver generally observes an in-vehicle instrument and listens sound prompt information, so that prompt information which cannot be subjected to parallel operation can be generated by using the in-vehicle instrument; the sound played by the loudspeaker in the vehicle can be sensed by the driver in the vehicle, so that the prompt message that the parallel operation cannot be carried out can be generated by the loudspeaker in the vehicle.
Optionally, the vehicle may further directly send the generated prompt information that the parallel operation is not possible to the mobile terminal connected to the vehicle, and then the driver may read the prompt information that the parallel operation is not possible and sent by the vehicle through a display interface of the mobile terminal, and then the driver may make a corresponding adjustment to the vehicle according to the read prompt information that the parallel operation is not possible.
The method for reminding the doubling is provided by the embodiment, whether a moving object exists at the lateral rear part of a vehicle or not is monitored, if the moving object exists at the lateral rear part of the vehicle, a display area of an electronic screen rearview mirror is divided into a safety display area and a danger display area, the danger display area is lightened according to the speed of the moving object, and an alarm instruction which cannot be doubled is triggered. By the method, the display area of the electronic screen rearview mirror is divided into the plurality of areas according to whether a moving object exists behind the side of the vehicle or not, then the danger display area with the corresponding size can be lightened according to the speed of the moving object, the alarm instruction which cannot be doubled is triggered to give an alarm to prompt a driver that doubling operation cannot be carried out, the driver does not need to judge whether doubling can be carried out according to experience, and the possibility of traffic accidents is reduced.
Referring to fig. 3, the doubling reminding method provided by the present application is applied to a vehicle, where the vehicle is equipped with an electronic screen rearview mirror, the vehicle includes a radar and a camera, and the method includes:
step 210: and detecting whether the vehicle performs a doubling operation.
As one way, it may be determined whether the vehicle performs the parallel line operation by detecting whether a turn lamp of the vehicle is turned on. When detecting that a left steering lamp or a right steering lamp of the vehicle is turned on, determining that the vehicle performs a doubling operation; when it is detected that the left turn lamp or the right turn lamp of the vehicle is not turned on, it is determined that the vehicle does not perform a parallel line operation.
Specifically, whether the turn lamp is turned on may be detected by a sensor installed at the turn lamp of the vehicle. Wherein, the sensor can be a photosensitive sensor or a current and voltage sensor, etc.
Step 220: and if the vehicle is subjected to the doubling operation, monitoring whether a moving object exists at the side rear part of the vehicle or not through the radar and the camera.
Wherein the moving object is a target object in a vehicle lateral rear area detected by a radar and a camera. The camera can be a CCD camera or a binocular camera and the like, and can be used for collecting video information of the side rear part of the vehicle.
As one way, when it is detected by the sensor in the above method that the turn lamp of the vehicle is turned on, it is determined that the vehicle performs a parallel operation, and after it is determined that the vehicle performs the parallel operation, it is monitored in real time whether there is a moving object in the lateral rear of the vehicle by the radar and the camera installed in the vehicle. Wherein, the radar can be millimeter wave radar sensor, can install in vehicle rear lamp department by bilateral symmetry.
Specifically, each image target object in the range of the area behind the vehicle side is detected from the video image provided by the camera.
Step 230: and if the situation that the vehicle exists at the side rear part of the vehicle is monitored, acquiring relative parameters of the vehicle at the side rear part and the vehicle.
Wherein the relative parameters include at least one of: a relative lateral distance and a relative velocity, wherein the relative lateral distance may include a horizontal lateral relative distance and a vertical lateral relative distance. Specifically, the relative parameter may be a relative lateral distance; the relative parameter may also be a relative velocity; the relative parameters may also include relative lateral distance and relative velocity. Further, the display area of the electronic screen rearview mirror can be divided according to the relative transverse distance between the side rear vehicle and the vehicle; alternatively, the display area of the electronic screen rearview mirror may be divided according to the relative lateral distance of the side rear vehicle from the vehicle; alternatively, the display area of the electronic screen rearview mirror can be divided by simultaneously combining the relative speed and the relative transverse distance of the side rear vehicle and the vehicle.
As one way, when it is detected by the radar and the camera that there is a vehicle in the lateral rear of the vehicle, the relative lateral distance and the relative speed between the vehicle in the lateral rear and the vehicle can be acquired by the radar and the camera. Specifically, whether a vehicle is in the side rear of the vehicle or not is detected by using a camera, and the relative speed and the relative transverse distance between the vehicle and the side rear vehicle are measured by using a radar.
Alternatively, the relative parameters of the vehicle behind and on the side and the vehicle can be acquired through a distance measuring sensor and a speed sensor. Specifically, the distance between the vehicle and the vehicle behind and to the side may be measured by a distance measuring sensor, and the running speed of the vehicle may be acquired by a speed sensor. The speed sensor can be various types such as a magnetoelectric speed sensor, a Hall wheel speed sensor, a photoelectric speed sensor and the like, the measurement principle and the signal form of the various types of speed sensors are different, and the Hall wheel speed sensor can be selected in order to improve the measurement accuracy. Specifically, the hall wheel speed sensor is a magnetoelectric sensor based on the hall effect principle, comprises a hall element, a permanent magnet, a gear ring, an electronic circuit and the like, and has the characteristics of high sensitivity, stable output signal, strong anti-electromagnetic interference capability, small volume, simple structure, convenient use and the like. A hall wheel speed sensor is mounted on a rear wheel of a vehicle, and the driving speed of the vehicle can be detected by the number of pulses output therefrom. The range sensor may be a laser range sensor.
Step 240: and dividing the display area of the electronic screen rearview mirror into a safe display area and a dangerous display area according to a preset direction based on the relative parameters.
As one mode, the display area of the electronic screen rearview mirror can be divided into a safety display area and a danger display area with different sizes according to the acquired relative parameters between the side rear vehicle and the vehicle and according to the preset direction. When the display area of the electronic screen rearview mirror is divided, the size of the safe display area and the size of the dangerous display area can be dynamically adjusted according to the relative transverse distance and the relative speed. Further, a preset dividing ratio of a display area of the electronic screen rearview mirror corresponding to the relative parameter is obtained; and dividing the display area of the electronic screen rearview mirror into a safe display area and a dangerous display area based on the division ratio.
Specifically, different division ratios may be set in advance for the display area of the electronic screen rearview mirror of the vehicle according to different relative parameters between the vehicle and the vehicle at the side and rear, a one-to-one correspondence relationship table may be established according to the relative parameters and the division ratios, and the relationship table may be stored in the local storage area of the vehicle. And when the relative parameters between the vehicle and the vehicle at the current side and back are acquired through the radar and the camera, the division ratio corresponding to the relative parameters between the vehicle and the vehicle at the current side and back can be searched from the relation table of the local storage area of the vehicle, so that the display area of the electronic screen rearview mirror of the vehicle can be divided into a safe display area and a dangerous display area according to the division ratio and the appointed direction.
The display area of the electronic screen rearview mirror of the vehicle is set with different specific dividing ratios according to different relative parameters between the side and rear vehicles in advance, wherein the specific dividing ratios are as follows: if the relative transverse distance between the vehicle behind and the vehicle is larger, the division ratio of the safety display area to the danger display area is larger; the division ratio of the safety display area to the hazard display area is smaller if the relative speed of the vehicle behind and in front of the vehicle is larger.
It can be understood that the larger the division ratio of the safety display area and the dangerous display area is, the larger the ratio of the safety display area to the whole display area is; the smaller the division ratio of the safety display area and the dangerous display area is, the larger the proportion of the dangerous display area in the whole display area is.
For example, when the preset relative distance between the side rear vehicle and the vehicle is 5 meters and the relative speed is 30KM/h, the division ratio of the display area of the electronic screen rearview mirror of the corresponding vehicle is 3: 7; when the relative distance between the side rear vehicle and the vehicle is 20 meters and the relative speed is 15KM/h, the division ratio of the display area of the electronic screen rearview mirror of the corresponding vehicle is 1: 1. when the relative speed of the vehicle and the vehicle at the front side and the rear side obtained through the radar and the camera is 30KM/h, and the relative distance is 5 m, the relative speed can be 3: the division ratio of 7 divides the display area of the electronic display mirror of the vehicle into a safe display area and a dangerous display area in a designated direction.
Furthermore, different parameter levels can be set for relative parameters with different values in advance, corresponding division ratios can be searched according to the obtained parameter levels of the relative parameters between the vehicle and the vehicle at the rear and on the side, and the display area of the electronic screen rearview mirror is divided into a safe display area and a dangerous display area according to the division ratios and the designated direction.
For example, different levels may be set in advance for the relative parameters between the vehicle and the vehicle at the side rear in different numerical ranges, and different division ratios may be set for the relative parameters at the different levels. For example, the relative parameters between the vehicle and the vehicle behind and behind may be divided into the risk level relative parameter and the safety level relative parameter, and the division ratio corresponding to the risk level relative parameter may be set to 2: 5, setting the division ratio corresponding to the safety level relative parameters as 3: 2, the division ratios corresponding to the relative parameters of different levels can be changed in real time along with the detected sizes of the relative parameters between the side rear vehicles and the vehicles. The relative parameters corresponding to the danger level relative parameters are the relative transverse distance and the relative speed between the vehicle and the vehicle behind and behind when the doubling operation cannot be carried out; the relative parameters corresponding to the safety level relative parameters are the relative transverse distance and the relative speed between the vehicle and the vehicle behind and behind when the doubling operation can be carried out. The safety level of the danger level relative parameter is smaller than the safety level relative parameter.
The specific relationship of setting different division ratios for the relative parameters of different grades may be: the higher the safety of the parameter level with respect to the parameter, the larger the division ratio of the safety display area and the hazard display area.
Specifically, when relative parameters between the side rear vehicle and the vehicle are acquired in real time through the radar and the camera and are dangerous level relative parameters, the method can be as follows: and 5, dividing the display area of the electronic screen rearview mirror of the vehicle into a safety display area and a danger display area according to a preset direction.
Step 250: and lightening the danger display area according to the speed of the moving object, and triggering an alarm instruction of non-doubling.
As one mode, the step of lighting the danger display area according to the speed of the moving object and triggering the alarm instruction of the unparalleled line comprises the following steps: acquiring the display area of the danger display area; and if the display area is larger than a specified threshold value, triggering an alarm instruction of non-doubling.
The designated threshold is the preset minimum display area of the danger display area which can trigger the alarm instruction. Specifically, the display area of the danger display area may be dynamically changed according to the speed of the moving object. When the danger display area with the corresponding size is lightened according to the speed of the moving object, the specific display area of the danger display area is obtained, and when the specific display area of the danger display area is detected to be larger than the preset minimum display area of the danger display area capable of triggering the alarm instruction, the alarm instruction incapable of being subjected to the doubling operation is triggered.
Step 260: and if the dangerous display area is not lightened according to the speed of the moving object, determining that the lane can be changed by doubling, and triggering a prompt instruction of doubling.
As one mode, if the speed of the moving object does not fall within the numerical range corresponding to the divided dangerous display areas, the divided dangerous display areas are not lighted, and it is determined that the driver can perform the doubling lane change operation, and prompt information capable of performing the doubling operation is generated, so that the driver can perform the doubling operation in time. Optionally, the prompt information capable of performing the doubling operation may also be displayed in various manners as described above.
The method for reminding the doubling includes the steps of firstly detecting whether a vehicle performs doubling operation or not, if the vehicle performs the doubling operation, then detecting whether a moving object exists behind the vehicle or not through a radar and a camera, if the vehicle behind the vehicle is monitored, obtaining relative parameters of the vehicle behind the vehicle, dividing a display area of an electronic screen rearview mirror into a safe display area and a dangerous display area according to a preset direction based on the relative parameters, lighting the corresponding dangerous display area according to the speed of the moving object, triggering an alarm instruction of non-doubling, and if the dangerous display area is not lighted according to the speed of the moving object, determining that the doubling can be changed into a lane, and triggering an indication instruction of doubling can be triggered. By the method, whether a moving object exists at the side rear part of the vehicle or not is monitored under the condition that the vehicle performs the wire-doubling operation, the display area of the electronic screen rearview mirror is divided into a plurality of areas according to whether the moving object exists at the side rear part of the vehicle or not, then the danger display area with the corresponding size can be lightened according to the speed of the moving object, the alarm instruction which cannot be subjected to wire-doubling is triggered to give an alarm to prompt a driver that the wire-doubling operation cannot be performed, the driver is not required to judge whether the wire-doubling can be performed according to experience, and the possibility of traffic accidents is reduced.
Referring to fig. 4, the doubling reminding method provided by the present application is applied to a vehicle, where an electronic screen rearview mirror is installed on the vehicle, and the method includes:
step 310: and detecting whether the vehicle performs a doubling operation.
Step 320: and if the vehicle is subjected to the doubling operation, monitoring whether a moving object exists at the side rear part of the vehicle or not through the radar and the camera.
For the detailed explanation of the steps included in step 310 and step 320, reference may be made to the corresponding steps in the foregoing embodiments, which are not described herein again.
Step 330: if a moving object is monitored to be arranged at the lateral rear part of the vehicle through the radar, and a blind area of the moving object in the vehicle is determined, the display area of the electronic screen rearview mirror is completely divided into the dangerous display area, and an alarm instruction which cannot be connected in parallel is triggered.
As one mode, when it is monitored by a radar that there is a moving object behind the vehicle, but the driver cannot see the moving object in the electronic screen rearview mirror, it may be determined that the moving object is in a monitoring blind area of the vehicle, and the display area of the electronic screen rearview mirror may be entirely divided into a dangerous display area.
Specifically, radar information can be sent to the area behind the side of the vehicle through the radar, but a moving object in the area behind the side of the vehicle can return an echo signal after receiving a radar signal sent by the radar, and then the echo signal can be analyzed to judge whether a moving object exists in the area behind the side of the vehicle. Furthermore, the information such as the relative transverse distance between the moving object and the vehicle, the specific position of the moving object and the like can be obtained by utilizing the echo signals returned by the moving object.
After the position of the moving object is determined to be in the detection blind area of the vehicle according to the echo signal, the display area of the electronic screen rearview mirror can be completely divided into dangerous display areas, and an alarm instruction which cannot be subjected to parallel operation is triggered. Here, dividing the display area of the electronic screen rearview mirror into the dangerous display area may be understood as moving a division line superimposed in the electronic screen rearview mirror toward the safe display area, or may be understood as displaying the images of a given frame in the dangerous display area in their entirety.
The method for reminding the doubling comprises the steps of detecting whether a vehicle performs doubling operation or not, detecting whether a moving object exists behind the vehicle or not through a radar and a camera if the vehicle performs the doubling operation, determining that the moving object is in a blind area of the vehicle if the moving object exists behind the vehicle and is monitored through the radar but not displayed in a display area of an electronic screen rearview mirror, dividing all the display area of the electronic screen rearview mirror into dangerous display areas, and triggering an alarm instruction which cannot be doubled. Through the mode, if the moving object is in the display blind area of the vehicle, the electronic screen rearview mirror displays a higher-level alarm instruction, and then the user blind area can be timely prompted to have the moving object, and the lane changing can not be performed in a parallel mode.
Referring to fig. 5, the doubling reminding method provided by the present application is applied to a vehicle, where the vehicle is equipped with an electronic screen rearview mirror, and the electronic screen rearview mirror includes an early warning lamp therein, and the method includes:
step 410: and detecting whether the vehicle performs a doubling operation.
Step 420: and if the vehicle is subjected to the doubling operation, monitoring whether a moving object exists at the side rear part of the vehicle or not through the radar and the camera.
For the detailed explanation of the steps included in step 410 and step 420, reference may be made to the corresponding steps in the foregoing embodiments, which are not described herein again.
Step 430: and if the situation that the vehicle exists at the side rear part of the vehicle is monitored, acquiring relative parameters of the vehicle at the side rear part and the vehicle.
Wherein the relative parameters include both relative velocity and relative lateral distance.
As one mode, when it is detected that the driver turns on the turn lights to prepare for the merging operation, the radar and the camera are used for identifying and tracking the vehicles behind and behind, and the relative transverse distance and the relative speed between the vehicles behind and the speed information between the vehicles behind and behind are obtained, so that the minimum safe merging distance can be calculated. Further, the actual distance between the vehicle and the vehicle behind and behind the vehicle can be compared with the minimum safe doubling distance, and whether safe doubling is possible or not can be judged.
Optionally, when the vehicle runs, the running state information of the vehicle and the vehicles behind and beside the vehicle can be collected and analyzed according to a fixed period, so as to obtain relative parameters of the vehicle and the vehicles behind and beside the vehicle, and early warning information is generated according to the relative parameters.
Step 440: and triggering the early warning lamp to display different early warning colors to prompt warning according to the relative speed and the relative transverse distance between the side rear vehicle and the vehicle.
Optionally, the danger degree of the vehicle for performing the doubling operation is judged according to the acquired relative speed and the relative transverse distance between the vehicle and the vehicle behind and beside, so as to determine which warning color to trigger the warning lamp to display for warning.
As one mode, if the relative speed of the side rear vehicle and the vehicle is greater than a first specified speed threshold value, and the relative lateral distance of the side rear vehicle and the vehicle is less than a first specified distance threshold value, the warning lamp is triggered to display a first warning color to prompt warning.
Wherein the relative speed is the difference between the running speed of the vehicle at the side rear and the running speed of the vehicle; the relative lateral distance is the distance between the vehicle and the vehicle behind and to the side. The first designated speed threshold value is the maximum value of the relative speed of the vehicle and the vehicle behind and behind when the vehicle can safely perform the parallel operation. The first designated distance threshold is the minimum value of the relative transverse distance between the vehicle and the vehicle behind and behind when the vehicle can safely perform the doubling operation.
When the fact that the relative speed of the side rear vehicle and the vehicle is larger than a first specified speed threshold value and the relative transverse distance of the side rear vehicle and the vehicle is smaller than a first specified distance threshold value is detected, it is determined that the line-combining operation cannot be carried out, and an early warning lamp is triggered to display a first early warning color to prompt for warning.
As another mode, if the relative speed of the vehicle behind and the side vehicle is greater than a second designated speed threshold, and the relative lateral distance between the vehicle behind and the side vehicle is less than a second designated distance threshold, the warning light is triggered to display a second warning color to prompt warning.
The second designated speed threshold value is the minimum value of the relative speed between the vehicle and the vehicle behind and behind when the vehicle can be safely subjected to the doubling operation which is set in advance. The second specified distance threshold value is the maximum value of the relative transverse distance between the vehicle and the vehicle behind and behind when the preset vehicle can safely perform the doubling operation.
And when the fact that the relative speed of the vehicle behind and the side is larger than a second specified speed threshold value and the fact that the relative distance between the vehicle behind and the side is smaller than a second specified distance threshold value is detected, it is determined that the parallel operation can be carried out, but certain risks exist, and the early warning lamp is triggered to display a second early warning color to prompt warning.
Optionally, the first warning color may be red, and the second warning color may be yellow. Further, the warning light may further include a third warning color, and the third warning color may be green. Specifically, if the early warning color of the early warning lamp is green, the relative transverse distance between the side rear vehicle and the rear vehicle is too large, or the running speed of the vehicle is far higher than that of the side rear vehicle, the side rear vehicle does not influence the vehicle to perform the line-combining operation; if the early warning color of the early warning lamp is yellow, the fact that the relative speed of the vehicle behind and the side is larger than a second specified speed threshold value and the relative transverse distance between the vehicle behind and the side is smaller than a second specified distance threshold value is indicated, it is determined that the vehicle can be subjected to the doubling operation, but certain risks also exist; and if the early warning color of the early warning lamp is red, the relative speed of the vehicle behind and the side vehicle is larger than a first specified speed threshold value, and the relative transverse distance between the vehicle behind and the side vehicle is smaller than a first specified distance threshold value, determining that the vehicle cannot be subjected to the doubling operation.
The method for reminding the doubling comprises the steps of detecting whether a vehicle performs doubling operation or not, monitoring whether a moving object exists behind the side of the vehicle or not through a radar and a camera if the vehicle performs the doubling operation, acquiring relative parameters of the vehicle behind the side of the vehicle and the vehicle if the vehicle behind the side of the vehicle is monitored, and triggering an early warning lamp to display different early warning colors to prompt an alarm according to the relative speed and the relative transverse distance between the vehicle behind the side of the vehicle and the vehicle. By the method, the early warning lamp is used for displaying different early warning colors to prompt whether the early warning can be used for carrying out doubling operation or not, so that the doubling operation is more intelligent.
Referring to fig. 6, in the doubling reminding device 500 provided by the present application, the device 500 includes a monitoring unit 510, an area dividing unit 520, and an alarm unit 530.
A monitoring unit 510 for monitoring whether there is a moving object in the lateral rear of the vehicle.
The monitoring unit 510 is specifically configured to detect whether the vehicle performs a parallel operation; and if the vehicle is subjected to the doubling operation, monitoring whether a moving object exists at the side rear part of the vehicle or not through the radar and the camera.
And an area dividing unit 520, configured to divide the display area of the electronic screen rearview mirror into a safety display area and a danger display area if it is detected that a moving object is located at the lateral rear of the vehicle.
As one mode, the area powdering unit 520 is configured to divide the display area of the electronic screen rearview mirror into a safety display area and a danger display area according to a designated direction if a moving object is detected in the lateral rear of the vehicle.
Specifically, the area dividing unit 520 is configured to, if it is monitored that there is a vehicle behind the vehicle, obtain relative parameters between a vehicle behind the vehicle and the vehicle; and dividing the display area of the electronic screen rearview mirror into a safe display area and a dangerous display area according to the designated direction based on the relative parameters. Wherein the relative parameters include at least one of: relative lateral distance and relative velocity.
Further, the area division unit 520 is further configured to obtain a danger level corresponding to the speed of the moving object; and dividing a display area of the electronic screen rearview mirror into a safe display area and a dangerous display area based on the danger level, wherein the higher the danger level is, the larger the display area of the dangerous display area is.
Optionally, the area dividing unit 520 is further configured to obtain a preset dividing ratio of the display area of the electronic screen rearview mirror corresponding to the relative parameter; and dividing the display area of the electronic screen rearview mirror into a safe display area and a dangerous display area based on the division ratio.
An alarm unit 530, configured to illuminate the danger display area according to the speed of the moving object, and trigger an alarm instruction that is not able to be connected in parallel.
The warning unit 530 is further configured to trigger the warning light to display different warning colors to prompt warning according to the relative speed and the relative lateral distance between the side-rear vehicle and the vehicle.
Specifically, the warning unit 530 is configured to trigger the warning light to display a first warning color to prompt a warning if the relative speed between the side rear vehicle and the vehicle is greater than a first specified speed threshold and the relative lateral distance between the side rear vehicle and the vehicle is less than a first specified distance threshold; and if the relative speed of the side rear vehicle and the vehicle is greater than a second specified speed threshold value, and the relative transverse distance between the side rear vehicle and the vehicle is less than a second specified distance threshold value, triggering the early warning lamp to display a second early warning color to prompt an alarm.
The alarm unit 530 is further configured to, if it is monitored by the radar that there is a moving object behind the vehicle and the dead zone of the moving object in the vehicle is determined, divide all display areas of the electronic screen rearview mirrors into the dangerous display area, and trigger an alarm instruction that cannot be merged.
The alarm unit 530 is further configured to obtain a display area of the dangerous display area; and if the display area is larger than a specified threshold value, triggering an alarm instruction of non-doubling.
It should be noted that, as will be clear to those skilled in the art, for convenience and brevity of description, the specific working processes of the above-described apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. In the several embodiments provided in the present application, the coupling between the modules may be electrical, mechanical or other type of coupling. In addition, functional modules in the embodiments of the present application may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
A vehicle provided by the present application will be described below with reference to fig. 7.
Referring to fig. 7, based on the above-mentioned merge-line reminding method and apparatus, another vehicle 100 capable of executing the above-mentioned merge-line reminding method is provided in the embodiment of the present application. The vehicle 100 of the present application may include one or more processors 102 (only one shown), memory 104, wireless module 106, and electronic screen rear view mirror 108 coupled to each other. The memory 104 stores programs that can execute the content of the foregoing embodiments, and the processor 102 can execute the programs stored in the memory 104.
The Memory 104 may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). The memory 104 may be used to store instructions, programs, code sets, or instruction sets. The memory 104 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing various method embodiments described below, and the like. The stored data area may also store data created during use of the vehicle 100 (e.g., phone books, audio-visual data, chat log data), and the like.
The wireless module 106 is configured to receive and transmit electromagnetic waves, and achieve interconversion between the electromagnetic waves and the electrical signals, so as to communicate with a communication network or other devices, for example, an audio playing device. The wireless module 106 may include various existing circuit elements for performing these functions, such as an antenna, a radio frequency transceiver, a digital signal processor, an encryption/decryption chip, a Subscriber Identity Module (SIM) card, memory, and so forth. The wireless module 106 may communicate with various networks, such as the internet, an intranet, a wireless network, or with other devices via a wireless network. The wireless network may comprise a cellular telephone network, a wireless local area network, or a metropolitan area network.
The electronic screen rearview mirror 108 is used for displaying video information of a vehicle side rear area collected by the radar and the camera in real time. Monitoring whether a moving object exists in the lateral rear of the vehicle; if a moving object is monitored to be arranged at the side rear part of the vehicle, dividing a display area of the electronic screen rearview mirror into a safe display area and a dangerous display area according to a specified direction; and lightening a danger display area with a corresponding size according to the speed of the moving object, and triggering an alarm instruction of non-doubling.
Referring to fig. 8, a block diagram of a computer-readable storage medium according to an embodiment of the present application is shown. The computer-readable medium 800 has stored therein a program code that can be called by a processor to execute the method described in the above-described method embodiments.
The computer-readable storage medium 800 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. Alternatively, the computer-readable storage medium 800 includes a non-volatile computer-readable storage medium. The computer readable storage medium 800 has storage space for program code 810 to perform any of the method steps of the method described above. The program code can be read from or written to one or more computer program products. The program code 810 may be compressed, for example, in a suitable form.
In summary, the method, the device, the vehicle and the storage medium for reminding the doubling provided by the application monitor whether a moving object exists at the side rear part of the vehicle, if the moving object exists at the side rear part of the vehicle, a display area of an electronic screen rearview mirror is divided into a safety display area and a dangerous display area, and when the moving object exists in the dangerous display area, an alarm instruction which cannot be doubled is triggered. By the method, the display area of the electronic screen rearview mirror is divided into the plurality of areas according to whether a moving object exists behind the side of the vehicle or not, then the danger display area with the corresponding size can be lightened according to the speed of the moving object, the alarm instruction which cannot be doubled is triggered to give an alarm to prompt a driver that doubling operation cannot be carried out, the driver does not need to judge whether doubling can be carried out according to experience, and the possibility of traffic accidents is reduced.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not necessarily depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. A doubling reminding method is applied to a vehicle, the vehicle is provided with an electronic screen rearview mirror, and the method comprises the following steps:
monitoring whether a moving object exists in the lateral rear of the vehicle;
if a moving object is monitored to be arranged at the side rear part of the vehicle, dividing a display area of the electronic screen rearview mirror into a safe display area and a dangerous display area;
and lightening the danger display area according to the speed of the moving object, and triggering an alarm instruction of non-doubling.
2. The method of claim 1, wherein the dividing the display area of the electronic screen rearview mirror into a safety display area and a danger display area if a moving object is detected to the side rear of the vehicle comprises:
if the situation that a moving object exists behind the side of the vehicle is monitored, dividing a display area of the electronic screen rearview mirror into a safety display area and a danger display area according to a preset direction.
3. The method of claim 2, wherein the mobile object is a vehicle, and the detecting of the mobile object laterally behind the vehicle comprises:
and if the situation that the vehicle exists at the side rear part of the vehicle is monitored, acquiring relative parameters of the vehicle at the side rear part and the vehicle.
4. The method of claim 3, wherein the relative parameters comprise at least one of: relative lateral distance and relative velocity.
5. The method of claim 3, wherein the dividing the display area of the electronic screen rearview mirror into a safety display area and a hazard display area comprises:
acquiring a preset division ratio of a display area of the electronic screen rearview mirror corresponding to the relative parameter;
and dividing the display area of the electronic screen rearview mirror into a safe display area and a dangerous display area based on the division ratio.
6. The method of claim 1, wherein the illuminating the hazard display area based on the speed of the moving object to trigger an unparalleled alarm command comprises:
acquiring the display area of the danger display area;
and if the display area is larger than a specified threshold value, triggering an alarm instruction of non-doubling.
7. The method of claim 1, wherein the dividing the display area of the electronic screen rearview mirror into a safety display area and a danger display area comprises:
acquiring a danger level corresponding to the speed of the moving object;
and dividing a display area of the electronic screen rearview mirror into a safe display area and a dangerous display area based on the danger level, wherein the higher the danger level is, the larger the display area of the dangerous display area is.
8. The utility model provides a doubling reminding device which characterized in that is applied to the vehicle, the vehicle is installed the electronic screen rear-view mirror, the device includes:
the monitoring unit is used for monitoring whether a moving object exists behind the vehicle;
the area dividing unit is used for dividing the display area of the electronic screen rearview mirror into a safe display area and a dangerous display area if a moving object is monitored to be arranged at the lateral rear part of the vehicle;
and the alarm unit is used for lightening the danger display area according to the speed of the moving object and triggering an alarm instruction of non-doubling.
9. A vehicle comprising one or more processors, an electronic screen rearview mirror, and a memory;
one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to perform the method of any of claims 1-7.
10. A computer-readable storage medium having program code stored therein, the program code being invoked by a processor to perform the method of any one of claims 1 to 7.
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| CN202011075340.2A CN112158131A (en) | 2020-10-09 | 2020-10-09 | Doubling reminding method and device, vehicle and storage medium |
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| CN202011075340.2A CN112158131A (en) | 2020-10-09 | 2020-10-09 | Doubling reminding method and device, vehicle and storage medium |
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Application publication date: 20210101 |