CN112349142B - Vehicle rear-end collision early warning method and related equipment thereof - Google Patents
Vehicle rear-end collision early warning method and related equipment thereof Download PDFInfo
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- CN112349142B CN112349142B CN202011184027.2A CN202011184027A CN112349142B CN 112349142 B CN112349142 B CN 112349142B CN 202011184027 A CN202011184027 A CN 202011184027A CN 112349142 B CN112349142 B CN 112349142B
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Abstract
The embodiment of the application discloses a vehicle rear-end collision early warning method which is used for outputting rear-end collision warning information. The embodiment of the application is applied to vehicle-mounted equipment, the vehicle-mounted equipment is in communication connection with an image acquisition device arranged on a vehicle, the image acquisition device is used for acquiring images of the surrounding environment of the vehicle, and the method comprises the following steps: acquiring an environment image acquired by the image acquisition device in real time; if the environment image comprises a target vehicle, determining the image size of the target vehicle and acquiring the target warning image size associated with the target vehicle; judging whether the image size is larger than or equal to the target warning image size, wherein the target warning image size is used for reflecting a preset safety distance between the vehicle and the target vehicle; and if the image size is larger than or equal to the target warning image size, outputting rear-end collision warning information.
Description
Technical Field
The embodiment of the application relates to the field of vehicles, in particular to a vehicle rear-end collision early warning method and related equipment.
Background
Traffic accidents are commonly caused by vehicle rear-end collision, and in the prior art, in order to avoid the occurrence of the traffic accidents caused by vehicle rear-end collision, the adopted early warning method comprises the steps of detecting the distance between two vehicles by a millimeter wave radar, measuring the distance by a binocular camera and the like.
Although the millimeter wave radar is adopted to detect the distance between the two vehicles, the precision is high, and the high precision is also high in cost. And adopt binocular camera to carry out the range finding must use the roadside to have the camera as the prerequisite, then can't effectively reduce the vehicle accident incidence that knocks into the back to the road that does not have the camera, builds a large amount of cameras in the road and has also improved the early warning cost moreover. Therefore, how to reduce the occurrence rate of rear-end collision of the vehicle in a relatively low-cost manner is a problem to be solved.
Disclosure of Invention
The embodiment of the application provides a vehicle rear-end collision early warning method and related equipment thereof, which are problems to be solved urgently at present and are used for reducing the vehicle rear-end collision occurrence rate in a relatively low-cost mode.
In a first implementation manner of the first aspect of the embodiment of the present application, a vehicle rear-end collision warning method is provided, where the method is applied to an on-board device, the on-board device is in communication connection with an image acquisition device disposed on a vehicle, and the image acquisition device is configured to acquire an image of an environment around the vehicle, where the method includes:
acquiring an environment image acquired by the image acquisition device in real time;
if the environment image comprises a target vehicle, determining the image size of the target vehicle;
acquiring a target warning image size associated with a target vehicle, wherein the target warning image size is used for reflecting a preset safety distance between the vehicle and the target vehicle;
judging whether the image size is larger than or equal to the target warning image size;
and if the image size is larger than or equal to the target warning image size, outputting rear-end collision warning information.
In combination with the first implementation manner of the first aspect of the embodiments of the present application, the second implementation manner of the first aspect of the embodiments of the present application includes:
determining a target vehicle type of the target vehicle;
and acquiring the target warning image size corresponding to the target vehicle type according to the preset corresponding relation between the vehicle type and the warning image size.
With reference to the first implementation manner of the first aspect of the embodiment of the present application, a third implementation manner of the first aspect of the embodiment of the present application includes:
acquiring a target running speed of the vehicle, and determining a target vehicle type of the target vehicle;
and acquiring the target warning image size corresponding to the target vehicle type and the target running speed according to the preset corresponding relation among the running speed, the vehicle type and the warning image size.
With reference to the third implementation manner of the first aspect of the example of the present application, the fourth implementation manner of the first aspect of the example of the present application includes:
in the running speed interval, determining a target running speed interval according to the target running speed;
acquiring a first warning image size set according to the target running speed interval, wherein the first warning image size set corresponds to the target running speed interval and corresponds to a preset safety distance established by the vehicle and vehicles of different vehicle types;
and determining the size of the target warning image corresponding to the target vehicle type from the first warning image size set according to the target vehicle type.
With reference to the third implementation manner of the first aspect of the embodiments of the present application, the fifth implementation manner of the first aspect of the embodiments of the present application includes:
acquiring a second warning image size set according to the target vehicle type, wherein the second warning image size set is a warning image size set corresponding to a preset safety distance established between the vehicle and the target vehicle type in different driving speed intervals;
in the running speed interval, determining a target running speed interval according to the target running speed;
and determining the target warning image size corresponding to the target driving speed interval from the second warning image size set according to the target driving speed interval.
With reference to the first implementation manner of the first aspect of the embodiments of the present application, a sixth implementation manner of the first aspect of the embodiments of the present application includes:
judging whether the vehicle is in a moving state or a static state;
if the vehicle is in a motion state, executing the step of acquiring the environmental image acquired by the image acquisition device in real time;
and if the vehicle is in a static state, the step of acquiring the environmental image acquired by the image acquisition device in real time is not executed.
With reference to the first implementation manner of the first aspect of the embodiment of the present application, a seventh implementation manner of the first aspect of the embodiment of the present application includes:
determining the image size change speed of the target vehicle according to the multi-frame environment images acquired by the image acquisition device in real time;
determining alarm modes corresponding to the change speed according to the change speed, wherein different alarm modes are used for prompting rear-end collision conditions with different danger levels;
and outputting rear-end collision warning information according to the alarm mode.
In a second aspect of the embodiments of the present application, there is provided an in-vehicle device, including:
the device comprises a processor, an image acquisition device, an alarm device, a positioning device, a memory and a bus;
the memory is a transient memory or a persistent memory;
the positioning device is used for acquiring the longitude and latitude of the vehicle and calculating the speed of the vehicle;
the processor is in communication connection with the memory, the image acquisition device and the alarm device, and the processor invokes a computer program in the memory to perform the method of any of the preceding first aspects.
In a first implementation manner of the third aspect of the embodiments of the present application, there is provided an on-board device, where the on-board device is connected to an image capture device disposed on a vehicle in a communication manner, and the on-board device includes:
the first acquisition unit is used for acquiring an environment image acquired by the image acquisition device in real time;
the determining unit is used for determining the image size of the target vehicle if the environment image comprises the target vehicle;
the second acquisition unit is used for acquiring a target warning image size associated with a target vehicle, wherein the target warning image size is used for reflecting a preset safety distance between the vehicle and the target vehicle;
the judging unit is used for judging whether the image size is larger than or equal to the target warning image size;
and the output unit is used for outputting rear-end collision warning information if the image size is larger than or equal to the target warning image size.
With reference to the first implementation manner of the third aspect, in a second implementation manner of the third aspect of the embodiments of the present application, the second obtaining unit is configured to:
determining a target vehicle type of the target vehicle;
and acquiring the target warning image size corresponding to the target vehicle type according to the preset corresponding relation between the vehicle type and the warning image size.
With reference to the first implementation manner of the third aspect, in a third implementation manner of the third aspect of the embodiments of the present application, the second obtaining unit is further configured to:
acquiring a target running speed of the vehicle, and determining a target vehicle type of the target vehicle;
and acquiring the target warning image size corresponding to the target vehicle type and the target running speed according to the preset corresponding relation among the running speed, the vehicle type and the warning image size.
With reference to the third implementation manner of the third aspect, the second obtaining unit is specifically configured to:
in the running speed interval, determining a target running speed interval according to the target running speed;
acquiring a first warning image size set according to the target running speed interval, wherein the first warning image size set corresponds to the target running speed interval and a preset safety distance established by the vehicle and vehicles of different vehicle types;
and determining the size of the target warning image corresponding to the target vehicle type from the first warning image size set according to the target vehicle type.
With reference to the third implementation manner of the third aspect, the second obtaining unit is further specifically configured to:
acquiring a second warning image size set according to the target vehicle type, wherein the second warning image size set is a warning image size set corresponding to a preset safety distance established between the vehicle and the target vehicle type in different driving speed intervals;
in the running speed interval, determining a target running speed interval according to the target running speed;
and determining the target warning image size corresponding to the target driving speed interval from the second warning image size set according to the target driving speed interval.
With reference to the first implementation manner of the third aspect, a fourth implementation manner of the third aspect of the examples of the present application further includes:
a first determination unit configured to determine whether the vehicle is in a moving state or a stationary state;
the execution unit is used for executing the step of acquiring the environmental image acquired by the image acquisition device in real time if the vehicle is in a motion state;
and if the vehicle is in a static state, the step of acquiring the environmental image acquired by the image acquisition device in real time is not executed.
With reference to the first implementation manner of the third aspect, a fifth implementation manner of the third aspect of the embodiments of the present application, the output unit is configured to:
determining the image size change speed of the target vehicle according to the multi-frame environment images acquired by the image acquisition device in real time;
determining an alarm mode corresponding to the change speed according to the change speed, wherein different alarm modes are used for prompting rear-end collision conditions with different danger levels;
and outputting rear-end collision warning information according to the alarm mode.
In a fourth aspect of embodiments of the present application, there is provided a computer-readable storage medium, wherein a program is stored in the computer-readable storage medium, and when the program is executed by the computer, the computer performs the method according to any one of the foregoing first aspects.
In a fifth aspect of embodiments of the present application, there is provided a computer program product, wherein when the computer program product is executed on a computer, the computer executes the method of any one of the foregoing first aspects.
According to the technical scheme, the embodiment of the application has the following advantages:
according to the technical scheme, the image size of the target vehicle is obtained from the image containing the target vehicle, whether the image size is larger than or equal to the target warning image size associated with the target vehicle or not is judged, wherein the target warning image size has a corresponding relation with the preset safety distance between the vehicle and the target vehicle, and if the image size is larger than or equal to the preset safety distance, rear-end collision warning information is output. Compared with the prior art, the vehicle can output rear-end collision warning information by the vehicle after judging the relative size of the image size of the target vehicle in the image and the size of the target warning image, wherein the image size of the target vehicle in the image is easy to obtain in the prior art, and the size of the target warning image only needs to be preset, so the implementation cost of the vehicle is low.
Drawings
FIG. 1 is a schematic flow chart illustrating a vehicle rear-end collision warning method according to an embodiment of the present disclosure;
FIG. 2 is a schematic flow chart of a part of a vehicle rear-end collision warning method in the embodiment of the application;
FIG. 3 is a schematic flow chart of another part of a vehicle rear-end collision warning method in the embodiment of the application;
FIG. 4 is a schematic flow chart of another part of a vehicle rear-end collision warning method in the embodiment of the application;
FIG. 5 is a schematic structural diagram of an on-board device according to an embodiment of the present application;
fig. 6 is another schematic structural diagram of the vehicle-mounted device in the embodiment of the present application.
Detailed Description
The embodiment of the application provides a vehicle rear-end collision early warning method and related equipment thereof, which are used for providing vehicle rear-end collision early warning prompt information.
In the vehicle rear-end collision process, the relative distance between the vehicle to be rear-ended and the vehicle to be rear-ended behind the vehicle to be rear-ended is a reduction process, in the process, the image collector of the vehicle to be rear-ended collects the image size of the vehicle to be rear-ended, it can be known that for the vehicles close to each other, the relative distance between the vehicle to be rear-ended and the image size have a mapping relation, and the relative distance can be obtained through the image size. Therefore, the preset safe distance can be determined between the vehicles in advance, the image size between the vehicles can be determined based on the preset safe distance, the size of the imaging image can be used as a judgment basis for judging whether the rear-end collision risk exists between the vehicles, and when the rear-end collision risk exists, the warning information can be output.
Based on the foregoing, please refer to fig. 1, an embodiment of the vehicle rear-end collision warning method according to the embodiment of the present application includes:
the vehicle-mounted equipment of the vehicle is in communication connection with the image acquisition device, the image acquisition device is used for acquiring the environment image around the vehicle in real time, the vehicle-mounted equipment of the vehicle can acquire the environment image acquired by the image acquisition device, and the image acquisition device can be a monocular camera.
101. And acquiring an environment image acquired by the image acquisition device in real time.
The vehicle-mounted equipment of the vehicle acquires the environment image acquired by the image acquisition device in real time. The environment image may contain common objects such as vehicles, roads, people, and the like. The environment image may be an environment image behind the vehicle, an environment image in front of the vehicle, or an environment image in other directions.
For example, a medium-sized SUV is taken as a possible rear-end collision vehicle as a description object, a possible rear-end collision vehicle running on a road acquires an environment image of the current surroundings, for example, an environment image of the back of the person, in real time through a monocular camera, and a vehicle-mounted device of the possible rear-end collision vehicle acquires a corresponding environment image.
102. And if the environment image comprises the target vehicle, determining the image size of the target vehicle.
After the vehicle-mounted equipment of the vehicle acquires the environment image, the vehicle-mounted equipment of the vehicle judges whether the target vehicle exists in the environment image through an image processing algorithm. If the on-board device of the vehicle determines that the environment image contains the target vehicle, determining the image size of the target vehicle from the environment image in which the target vehicle exists by an image processing method, and executing step 103; if the on-board device of the vehicle determines that the environment image does not contain the target vehicle, the on-board device of the vehicle continues to determine whether the subsequent environment image contains the target vehicle.
The image size of the target vehicle may be a pixel amount of the target vehicle in the environment image, where the pixel amount indicates a pixel amount of the target vehicle in the total pixel amount of the environment image when the vehicle acquires the environment image including the target vehicle, and the image size of the target vehicle may also be an area of the target vehicle in the environment image, where the area is bounded by a peripheral outline of the target vehicle, and is not limited herein.
The target warning image size may be a pixel amount, or an area with a peripheral outline as a boundary, and corresponds to the image size of the target vehicle, and the target warning image size is also associated with the target vehicle.
Illustratively, also taking a medium SUV as a possible rear-end vehicle as a description object, if the vehicle-mounted device of the possible rear-end vehicle determines that the environment pattern behind the vehicle body contains the medium SUV in the acquired environment image, the image size of the medium SUV in the environment image, for example, the image size of 105 × 105, is determined in the environment image containing the medium SUV.
103. And acquiring a target warning image size associated with a target vehicle, wherein the target warning image size is used for reflecting a preset safety distance between the vehicle and the target vehicle.
After the vehicle-mounted equipment of the vehicle determines the image size of the target vehicle, the target warning image size related to the target vehicle is obtained.
The vehicle-mounted equipment of the vehicle not only determines the image size of the target vehicle, but also can locally acquire the target warning image size associated with the target vehicle. It can be understood that the relative distance between the objects determines the imaging size of the object in the view of the opposite object, so that when the imaging size of the same object in the view of the opposite object is known, the distance between the objects can be determined, and vice versa, and therefore, the relative distance between the objects and the imaging size have a corresponding relationship. Therefore, according to the calibration relationship between the imaging size and the relative distance, the relative distance corresponding to the imaging size can be determined after the imaging size is obtained, and the imaging size corresponding to the relative distance can be determined after the relative distance is obtained, so that when the relative distance between the vehicles and the preset safety distance are determined, the relationship between the image size corresponding to the relative distance and the image size of the preset safety distance can be determined. Therefore, the image size can reflect the relative distance between the vehicle with the current image size and the target vehicle, and the target warning image size can reflect the preset safe distance between the vehicle and the target vehicle. When the image size is larger than or equal to the target warning image size, namely the relative distance between the vehicle and the target vehicle is smaller than or equal to the preset safety distance between the vehicle and the target vehicle.
Illustratively, also taking a medium SUV as a possible rear-end vehicle as a description object, after the vehicle-mounted device of the possible rear-end vehicle acquires the image size of the medium SUV in the environment image, a target warning image size of the medium SUV, for example, a target warning image size of 100 × 100, is acquired.
104. And judging whether the image size is larger than or equal to the target warning image size.
After the on-board equipment of the vehicle determines the image size and the target warning image size, the on-board equipment of the vehicle judges whether the image size is larger than or equal to the target warning image size, and if the image size is larger than or equal to the target warning image size, the step 105 is executed; if the image size is not larger than or equal to the target warning image size, performing other associated operations, which is not limited herein.
The target warning image size is that the target vehicle is used as a collected object under the condition that the vehicle is used as a collecting position in advance and a preset safe distance is used as a spacing distance between the vehicle and the target vehicle, and the image size of the target vehicle is collected in advance.
Illustratively, also taking a mid-sized SUV as a possible rear-end vehicle as a description object, after the on-board device of the possible rear-end vehicle acquires the image size of the mid-sized SUV in the current environment and the target warning image size for the mid-sized SUV, the on-board device of the possible rear-end vehicle determines whether the image size of the mid-sized SUV is equal to or greater than the target warning image size for the mid-sized SUV.
105. And if the image size is larger than or equal to the target warning image size, outputting rear-end collision warning information.
And after the vehicle-mounted equipment of the vehicle judges that the image size is larger than or equal to the target warning image size, the vehicle-mounted equipment of the vehicle outputs rear-end collision warning information for prompting a driver of the vehicle to deal with the dangerous condition, and the rear-end collision warning information indicates that the relative distance between the possible rear-end collision vehicle and the vehicle is smaller than a preset safe distance at present and the rear-end collision risk exists.
Illustratively, also with the mid-sized SUV as a possible rear-end vehicle as a description object, the vehicle-mounted device of the possible rear-end vehicle determines itself as a rear-end vehicle and outputs rear-end warning information, for example, a warning voice of beeping, after determining that the 105x105 image size of the current mid-sized SUV is larger than the target warning image size of 100x 100.
It should be noted that this embodiment may also be used to output warning information when the size of the vehicle and the target vehicle around the vehicle is greater than or equal to the size of the warning safety image.
In the embodiment, the relative size of the image size of the target vehicle and the size of the target warning image associated with the target vehicle is compared to indirectly judge whether the relative distance between the vehicle and the target vehicle is not within the preset safety distance between the vehicle and the target vehicle, and the rear-end collision early warning information is output.
Based on the embodiment of fig. 1, the following embodiments are further described for the vehicle rear-end collision warning method in the aforementioned step 103, please refer to fig. 2, which includes:
201. and determining a target vehicle type of the target vehicle.
The vehicle-mounted device of the vehicle can acquire not only the image size of the target vehicle but also the target vehicle type of the target vehicle. And the target vehicle type of the target vehicle is also determined according to the image processing algorithm.
202. And acquiring the target warning image size corresponding to the target vehicle type according to the preset corresponding relation between the vehicle type and the warning image size.
After the vehicle-mounted equipment of the vehicle determines the target vehicle type, the vehicle-mounted equipment of the vehicle acquires the target warning image size corresponding to the target vehicle type based on the preset corresponding relation between the vehicle type and the warning image size and the determined target vehicle type.
It should be noted that, the vehicle-mounted device of the vehicle has a preset corresponding relationship between various vehicle types and corresponding warning image sizes, and after the warning image size in the preset corresponding relationship is determined based on the vehicle type of each vehicle and the preset safety distance, the image size is determined based on the determined preset safety distance, so it can be understood that different vehicle types correspond to different warning image sizes. After the vehicle-mounted equipment of the vehicle acquires the image size of the target vehicle, the vehicle type of the target vehicle needs to be determined, so that the target warning image size of the target vehicle is determined from the warning image size. Because in an actual situation, the vehicle-mounted devices of the vehicles may acquire the same image size but actually correspond to different relative distances, and in such a situation, if the vehicle type of the target vehicle is different, misjudgment of the relative distance may occur, so that a warning error may be caused. In this regard, a warning image size, which is an image size determined by different vehicle types at a preset safety distance of the respective vehicle types, is established as a guideline for indirectly determining whether a relative distance between the vehicle and the target vehicle is equal to or greater than the preset safety distance, in cooperation with the vehicle type of the target vehicle and the preset safety distance. It can be understood that different preset safe distances exist for target vehicles of different vehicle types, so that different sizes of the warning images exist, wherein the preset corresponding relationship can be correspondingly added, deleted or modified according to actual conditions, and is not limited specifically here.
Based on the embodiment of fig. 1, the following embodiment is another description of the aforementioned step 103 of the vehicle rear-end collision warning method, please refer to fig. 3, and includes:
301. and acquiring the target running speed of the vehicle, and determining the target vehicle type of the target vehicle.
The vehicle-mounted device of the vehicle may also determine a target vehicle type of the target vehicle and acquire a target running speed of the vehicle, which is also the current running speed of the vehicle.
302. And acquiring the target warning image size corresponding to the target vehicle type and the target running speed according to the preset corresponding relation between the running speed interval and the vehicle type and the warning image size.
After the vehicle-mounted equipment of the vehicle acquires the target running speed and determines the target running speed, in the preset corresponding relation between the running speed interval, the vehicle type and the size of the warning image, the corresponding size of the warning image is acquired according to the target vehicle type and the target running speed.
It should be noted that the preset corresponding relationship between the travel speed interval, the vehicle type, and the size of the warning image is a relationship established by determining the size of the warning image according to the preset safety distance after determining the preset safety distance in advance based on the travel speed interval and the vehicle type, where the travel speed interval is an interval in which the travel speed of the vehicle itself is located, and the vehicle type is the vehicle type of the target vehicle. In an actual situation, the vehicle has different moving speeds, and the moving speed of the vehicle can substantially reflect the traffic condition of a road where the vehicle is located, particularly in the case of traffic congestion, so that the preset safety distance of a speed interval corresponding to the speed can be set according to the speed of the vehicle and the type of a target vehicle, the size of a warning image of the preset safety distance is determined, and finally the size relation between the relative distance between the vehicle and the target vehicle and the preset safety distance is indirectly judged according to the size relation between the size of the warning image and the size of an image obtained by the vehicle, so that when the size of the image is greater than or equal to the size of the warning image, a rear-end collision early warning prompt is output, namely, the fact that the relative distance between the vehicle and the target vehicle is smaller than or equal to the preset safety distance is indicated.
In one way of acquiring the size of the target warning image, after the onboard device of the vehicle acquires the target running speed of the onboard device and the target vehicle type of the target vehicle, the onboard device of the vehicle may determine a target running speed section including the target running speed in each running speed section according to the target running speed. And then, acquiring a first warning image size set corresponding to the target running speed interval according to the target running speed interval, wherein the first warning image size set is determined by the vehicle in the target running speed interval and the vehicles of different vehicle types based on a preset safety distance. And when the vehicle-mounted equipment of the vehicle acquires the first warning image size, determining the corresponding target warning image size of the target vehicle type from the first warning image size set according to the target vehicle type.
In a manner of obtaining the size of the target warning image, after the vehicle-mounted device of the vehicle obtains the target running speed of the vehicle-mounted device and the target vehicle type of the target vehicle, the vehicle-mounted device of the vehicle may further obtain a second warning image size set corresponding to the target vehicle type, where the second warning image size set is a warning image size determined by the vehicle and the vehicle of the target vehicle type at a preset safe distance in different running speed intervals. After the vehicle-mounted equipment of the vehicle acquires the second warning image size set, the vehicle determines a target running speed interval containing the target running speed according to the target running speed in different running speed intervals, and then determines a target warning image size corresponding to the target running speed interval from the second warning image size set according to the target running speed interval.
It can be understood that the preset safe distance between the vehicle and the target vehicle is not uniquely corresponding, and under the target vehicle type of the same target vehicle, the vehicle and the target vehicle may have a plurality of preset safe distances, so that a plurality of corresponding target warning image sizes exist, and the plurality of corresponding preset safe distances and target warning image sizes also correspond to each driving speed interval of the vehicle, wherein each driving speed interval and the preset safe distance may be set according to an actual situation, and are not limited herein.
Based on the embodiment shown in fig. 1, the following embodiment is a description of the aforementioned step 104 of the vehicle rear-end collision warning method, please refer to fig. 4, and includes:
401. and determining the image size change speed of the target vehicle according to the multi-frame environment images acquired by the image acquisition device in real time.
After the vehicle-mounted equipment of the vehicle determines that the size of the image is larger than or equal to the size of the target warning image, the vehicle-mounted equipment of the vehicle continuously acquires a plurality of environment images from the multi-frame environment images acquired by the image acquisition device in real time, and determines the image size of the target vehicle of each environment image, so that the continuous image size change speed is determined according to the continuous image size.
Illustratively, also with the medium SUV that a possible rear-end vehicle becomes a rear-end vehicle as a description object, the on-board device of the rear-end vehicle determines the image size of the medium SUV in each environmental image based on a plurality of environmental images collected by the monocular camera with respect to the medium SUV behind the vehicle body, and determines the continuous image size change speed with respect to the medium SUV with the determined image sizes of the continuous medium SUVs.
402. And determining an alarm mode corresponding to the change speed according to the change speed, wherein different alarm modes are used for prompting rear-end collision conditions with different danger levels.
After the vehicle-mounted equipment of the vehicle determines the continuous change speed, the vehicle-mounted equipment of the vehicle determines a corresponding alarm mode according to the continuous change speed, wherein the alarm mode represents rear-end collision conditions of different crisis levels.
Illustratively, also with a mid-sized SUV, in which a possible rear-end vehicle becomes a rear-end vehicle, as a description object, the in-vehicle device of the rear-end vehicle determines a corresponding warning manner based on a plurality of continuous image size change speeds of the mid-sized SUV.
403. And outputting rear-end collision warning information according to the alarm mode.
And after the vehicle-mounted equipment of the vehicle determines the alarm mode, outputting rear-end collision warning information according to the determined alarm mode.
One way of achieving this is that the image size change speed is gradually increased, the warning mode of outputting the rear-end collision warning information is of a jerky type, such as beeping sounds of high frequency, and when the image size change speed is gradually decreased, the warning mode of outputting the rear-end collision warning information is of a short type, such as beeping sounds of low frequency.
For example, when the in-vehicle device of the vehicle determines that the image size change speed gradually increases, a beep sound whose frequency gradually increases is output; when the in-vehicle device of the vehicle determines that the image size change speed gradually decreases, a beep sound whose frequency gradually decreases is output.
Based on the contents of fig. 1, fig. 2, fig. 3, or fig. 4, the vehicle-mounted device of the vehicle may determine that the vehicle is in a moving state, and if the vehicle-mounted device of the vehicle determines that the vehicle is in the moving state, the vehicle-mounted device of the vehicle executes the contents of fig. 1, fig. 2, fig. 3, or fig. 4; the in-vehicle apparatus of the vehicle need not execute the contents of fig. 1, 2, 3, or 4 if the in-vehicle apparatus of the vehicle determines that the vehicle is in a stationary state.
Referring to fig. 5, an in-vehicle apparatus includes:
a first obtaining unit 501, configured to obtain an environment image collected by the image collecting device in real time;
a determining unit 502, configured to determine an image size of a target vehicle if the environment image includes the target vehicle;
a second obtaining unit 503, configured to obtain a target warning image size associated with a target vehicle, where the target warning image size is used to reflect a preset safety distance between the vehicle and the target vehicle;
a determining unit 504, configured to determine whether the image size is greater than or equal to the target warning image size;
an output unit 505, configured to output rear-end collision warning information if the image size is greater than or equal to the target warning image size.
In one implementation, the second obtaining unit 503 is configured to:
determining a target vehicle type of the target vehicle;
and acquiring the target warning image size corresponding to the target vehicle type according to the preset corresponding relation between the vehicle type and the warning image size.
In one implementation, the second obtaining unit 503 is further configured to:
acquiring a target running speed of the vehicle, and determining a target vehicle type of the target vehicle;
and acquiring the target warning image size corresponding to the target vehicle type and the target running speed according to the preset corresponding relation among the running speed, the vehicle type and the warning image size.
In an implementation manner, the second obtaining unit 503 is specifically configured to:
in the running speed interval, determining a target running speed interval according to the target running speed;
acquiring a first warning image size set according to the target running speed interval, wherein the first warning image size set corresponds to the target running speed interval and corresponds to a preset safety distance established by the vehicle and vehicles of different vehicle types;
and determining the size of the target warning image corresponding to the target vehicle type from the first warning image size set according to the target vehicle type.
In an implementation manner, the second obtaining unit 503 is further specifically configured to:
acquiring a second warning image size set according to the target vehicle type, wherein the second warning image size set is a warning image size set corresponding to a preset safety distance established between the vehicle and the target vehicle type in different driving speed intervals;
in the running speed interval, determining a target running speed interval according to the target running speed;
and determining the target warning image size corresponding to the target driving speed interval from the second warning image size set according to the target driving speed interval.
In one implementation, the vehicle-mounted device apparatus further includes:
a first determination unit configured to determine whether the vehicle is in a moving state or a stationary state;
the execution unit is used for executing the step of acquiring the environmental image acquired by the image acquisition device in real time if the vehicle is in a motion state;
and if the vehicle is in a static state, the step of acquiring the environmental image acquired by the image acquisition device in real time is not executed.
In one implementation, the output unit 505 is configured to:
determining the image size change speed of the target vehicle according to the multi-frame environment images acquired by the image acquisition device in real time;
determining alarm modes corresponding to the change speed according to the change speed, wherein different alarm modes are used for prompting rear-end collision conditions with different danger levels;
and outputting rear-end collision warning information according to the alarm mode.
Fig. 6 is a schematic structural diagram of an in-vehicle device provided in an embodiment of the present application, where the in-vehicle device may include one or more Central Processing Units (CPUs) 601 and a memory 602, and one or more applications or data are stored in the memory 602.
The memory 602 may be volatile storage or persistent storage, among other things. The program stored in the memory 602 may include one or more modules, each of which may include a series of instruction operations in the in-vehicle device. Still further, the central processor 601 may be arranged in communication with the memory 602, with a series of instruction operations in the memory 602 being performed on the central processor 601.
The in-vehicle devices may also include an alarm 604, a locator 605, one or more power supplies 603, and the like.
The vehicle-mounted device may perform the operations in the embodiments shown in fig. 1, fig. 2, fig. 3, or fig. 4, which are not described herein again in detail.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, 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, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and the like.
Claims (8)
1. A vehicle rear-end collision early warning method is applied to vehicle-mounted equipment, the vehicle-mounted equipment is in communication connection with an image acquisition device arranged on a vehicle, the image acquisition device is used for acquiring images of the surrounding environment of the vehicle, and the method comprises the following steps:
acquiring an environment image acquired by the image acquisition device in real time;
if the environment image comprises a target vehicle, determining the image size of the target vehicle;
acquiring a target warning image size associated with a target vehicle, wherein the target warning image size is used for reflecting a preset safety distance between the vehicle and the target vehicle, and the target warning image size is an image size which is acquired in advance by taking the target vehicle as an acquired object under the condition that the vehicle is used as an acquisition position and the preset safety distance is used as a spacing distance between the vehicle and the target vehicle;
judging whether the image size is larger than or equal to the target warning image size;
if the image size is larger than or equal to the target warning image size, outputting rear-end collision warning information;
wherein, the obtaining of the target warning image size associated with the target vehicle comprises:
acquiring a target running speed of the vehicle, and determining a target vehicle type of the target vehicle;
acquiring a target warning image size corresponding to the target vehicle type and the target running speed according to a preset corresponding relation between a running speed interval and the vehicle type and the warning image size;
the method for acquiring the target warning image size corresponding to the target vehicle type and the target running speed according to the preset corresponding relation between the running speed interval, the vehicle type and the warning image size comprises the following steps:
in the running speed interval, determining a target running speed interval according to the target running speed;
acquiring a first warning image size set according to the target running speed interval, wherein the first warning image size set corresponds to the target running speed interval and corresponds to a preset safety distance established by the vehicle and vehicles of different vehicle types;
and determining the size of the target warning image corresponding to the target vehicle type from the first warning image size set according to the target vehicle type.
2. The vehicle rear-end collision early warning method according to claim 1, wherein the obtaining of the target warning image size associated with the target vehicle comprises:
determining a target vehicle type of the target vehicle;
and acquiring the target warning image size corresponding to the target vehicle type according to the preset corresponding relation between the vehicle type and the warning image size.
3. The vehicle rear-end collision early warning method according to claim 1, wherein the obtaining of the target warning image size corresponding to the target vehicle type and the target driving speed according to the preset corresponding relationship between the driving speed interval, the vehicle type and the warning image size comprises:
acquiring a second warning image size set according to the target vehicle type, wherein the second warning image size set is a warning image size set corresponding to a preset safety distance established by the vehicle of the target vehicle type in different driving speed intervals;
in the running speed interval, determining a target running speed interval according to the target running speed;
and determining the target warning image size corresponding to the target driving speed interval from the second warning image size set according to the target driving speed interval.
4. The vehicle rear-end collision warning method according to claim 1, further comprising:
judging whether the vehicle is in a moving state or a static state;
if the vehicle is in a motion state, executing the step of acquiring the environmental image acquired by the image acquisition device in real time;
and if the vehicle is in a static state, the step of acquiring the environmental image acquired by the image acquisition device in real time is not executed.
5. The vehicle rear-end collision warning method according to claim 1, wherein the outputting of the rear-end collision warning information includes:
determining the image size change speed of the target vehicle according to the multi-frame environment images acquired by the image acquisition device in real time;
determining alarm modes corresponding to the change speed according to the change speed, wherein different alarm modes are used for prompting rear-end collision conditions with different danger levels;
and outputting rear-end collision warning information according to the alarm mode.
6. An in-vehicle apparatus that is communicatively connected to an image pickup device provided on a vehicle, the in-vehicle apparatus comprising:
the first acquisition unit is used for acquiring an environment image acquired by the image acquisition device in real time;
the determining unit is used for determining the image size of the target vehicle if the environment image comprises the target vehicle;
a second obtaining unit, configured to obtain a target warning image size associated with a target vehicle, where the target warning image size is used to reflect a preset safe distance between the vehicle and the target vehicle, and the target warning image size is an image size of the target vehicle, which is acquired in advance and is about the target vehicle, where the target warning image size is an acquired object under a condition that the vehicle is used as an acquisition position and the preset safe distance is used as a distance between the vehicle and the target vehicle;
the judging unit is used for judging whether the image size is larger than or equal to the target warning image size;
the output unit is used for outputting rear-end collision warning information if the image size is larger than or equal to the target warning image size;
wherein the second obtaining unit is further configured to:
acquiring a target running speed of the vehicle, and determining a target vehicle type of the target vehicle;
acquiring a target warning image size corresponding to the target vehicle type and the target running speed according to a preset corresponding relation between a running speed interval and the vehicle type and the warning image size;
the second obtaining unit is specifically configured to:
in the running speed interval, determining a target running speed interval according to the target running speed;
acquiring a first warning image size set according to the target running speed interval, wherein the first warning image size set corresponds to the target running speed interval and corresponds to a preset safety distance established by the vehicle and vehicles of different vehicle types;
and determining the size of the target warning image corresponding to the target vehicle type from the first warning image size set according to the target vehicle type.
7. An in-vehicle apparatus characterized by comprising:
the system comprises a processor, a memory, an alarm, a locator and a bus thereof;
the processor, the memory, the alarm and the locator are connected with the bus;
the memory is a transient memory or a persistent memory;
the locator is used for acquiring the longitude and latitude of the vehicle and calculating the speed of the vehicle;
the processor is connected with the memory and the alarm in a communication mode, and calls the computer program in the memory to execute the vehicle rear-end collision early warning method according to any one of claims 1 to 5.
8. A computer-readable storage medium storing a program, wherein the program is executed by a computer to perform the method according to any one of claims 1 to 5.
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| JP4466571B2 (en) * | 2005-05-12 | 2010-05-26 | 株式会社デンソー | Driver status detection device, in-vehicle alarm device, driving support system |
| CN100374332C (en) * | 2005-09-09 | 2008-03-12 | 中国科学院自动化研究所 | Vehicle imbedding type system |
| CN102542843A (en) * | 2010-12-07 | 2012-07-04 | 比亚迪股份有限公司 | Early warning method for preventing vehicle collision and device |
| CN102642510B (en) * | 2011-02-17 | 2015-08-05 | 香港生产力促进局 | A kind of collision prevention of vehicle method for early warning based on image |
| JP5774140B2 (en) * | 2012-02-10 | 2015-09-02 | 三菱電機株式会社 | Driving support device and driving support method |
| JP5836490B2 (en) * | 2012-08-17 | 2015-12-24 | 本田技研工業株式会社 | Driving assistance device |
| US9965957B2 (en) * | 2014-11-26 | 2018-05-08 | Mitsubishi Electric Corporation | Driving support apparatus and driving support method |
| CN106295459A (en) * | 2015-05-11 | 2017-01-04 | 青岛若贝电子有限公司 | Based on machine vision and the vehicle detection of cascade classifier and method for early warning |
| CN205644987U (en) * | 2016-02-17 | 2016-10-12 | 袁重德 | On -vehicle crowd navigation of highway based on GPS and GSM platform |
| CN105825185B (en) * | 2016-03-15 | 2018-02-06 | 深圳市中天安驰有限责任公司 | Vehicle collision avoidance method for early warning and device |
| CN107633703A (en) * | 2016-07-19 | 2018-01-26 | 上海小享网络科技有限公司 | A kind of drive recorder and its forward direction anti-collision early warning method |
| CN108860045B (en) * | 2018-06-28 | 2021-08-17 | 深圳奥尼电子股份有限公司 | Driving support method, driving support device, and storage medium |
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