CN115064005A - Vehicle blind area early warning method, system and storage medium - Google Patents
Vehicle blind area early warning method, system and storage medium Download PDFInfo
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- CN115064005A CN115064005A CN202210644441.XA CN202210644441A CN115064005A CN 115064005 A CN115064005 A CN 115064005A CN 202210644441 A CN202210644441 A CN 202210644441A CN 115064005 A CN115064005 A CN 115064005A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B7/00—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00
- G08B7/06—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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Abstract
The invention discloses a vehicle blind area early warning method, a vehicle blind area early warning system and a storage medium. The method comprises the following steps: acquiring vehicle running information of a target vehicle, and determining a vehicle running state of the target vehicle according to the vehicle running information; determining a target detection device for detecting a vehicle blind area of the target vehicle according to the vehicle running state, and acquiring target detection information of the vehicle blind area through the target detection device; generating a blind area early warning instruction according to the target detection information and the vehicle running information, and controlling target early warning equipment of the target vehicle to perform early warning according to the blind area early warning instruction. The method and the device realize accurate monitoring of the obstacles in the vehicle visual field blind spot area under the vehicle running state under the influence of different factors, and timely early warning is carried out aiming at the running states of the obstacles and the vehicle, so that potential traffic accident danger is avoided.
Description
Technical Field
The invention relates to the field of vehicle control, in particular to a vehicle blind area early warning method, a vehicle blind area early warning system and a storage medium.
Background
When a driver drives an automobile, a blind spot area exists, and because the driver cannot know the condition of the blind spot area, serious potential safety hazards exist, and traffic accidents are easily caused. Therefore, when the vehicle is driven, the blind spot monitoring system is needed to obtain the specific situation of the driver's blind spot area, so as to assist the driver in driving. In the prior art, a camera or a distance sensor is generally used for acquiring the specific situation of a blind spot area, so that when a vehicle or other obstacles appear in the blind spot area, a warning is given in the vehicle. However, in the prior art, when a blind spot area is detected through a camera or a distance sensor, the driving state of a vehicle and the motion relationship between the vehicle and an obstacle are not considered, so that in a complex scene, early warning cannot be timely performed and is inaccurate, and a large potential safety hazard still exists.
Disclosure of Invention
The invention provides a vehicle blind area early warning method, a vehicle blind area early warning system and a storage medium, which are used for realizing accurate monitoring and timely early warning of obstacles in a blind area of a visual field.
According to one aspect of the invention, a vehicle blind area early warning method is provided, which comprises the following steps:
acquiring vehicle running information of a target vehicle, and determining a vehicle running state of the target vehicle according to the vehicle running information;
determining a target detection device for detecting a vehicle blind area of the target vehicle according to the vehicle running state, and acquiring target detection information of the vehicle blind area through the target detection device;
generating a blind area early warning instruction according to the target detection information and the vehicle running information, and controlling target early warning equipment of the target vehicle to perform early warning according to the blind area early warning instruction.
According to another aspect of the present invention, there is provided a vehicle blind area early warning system, including: driving state monitoring module, vehicle blind area monitoring module connected with driving state monitoring module and vehicle blind area early warning module connected with vehicle blind area monitoring module
The driving state monitoring module is used for acquiring vehicle driving information of a target vehicle, determining the vehicle driving state of the target vehicle according to the vehicle driving information, and sending the vehicle driving state of the target vehicle to the vehicle blind area monitoring module;
the vehicle blind area monitoring module is used for determining a target detection device for detecting the vehicle blind area of the target vehicle according to the vehicle running state, acquiring target detection information of the vehicle blind area through the target detection device, and reporting the target detection information and the vehicle running information to the vehicle blind area early warning module;
and the vehicle blind area early warning module is used for generating a blind area early warning instruction according to the target detection information and the vehicle running information and controlling target early warning equipment of the target vehicle to carry out early warning according to the blind area early warning instruction.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to implement the vehicle blind area warning method according to any one of the embodiments of the present invention when the computer instructions are executed.
According to the technical scheme of the embodiment of the invention, the vehicle running information of the target vehicle is acquired, the vehicle running state of the target vehicle is determined according to the vehicle running information, the target detection device for detecting the vehicle blind area of the target vehicle is determined according to the vehicle running state, the target detection information of the vehicle blind area is acquired through the target detection device, and the target detection information of the vehicle blind area is monitored through the vehicle running state and the target detection device, so that the target in the vehicle blind area can be accurately and continuously monitored, and the monitoring accuracy of the obstacles in the vehicle blind area is improved. Generating a blind area early warning instruction according to the target detection information and the vehicle running information, controlling a target early warning device of the target vehicle to perform early warning according to the blind area early warning instruction, and dynamically analyzing the obstacle in the blind area of the vehicle by combining the vehicle running information and the target detection information, so that the technical problems that in the prior art, the driving state of the vehicle is not considered, the motion relation between the vehicle and the obstacle is not considered, the early warning cannot be timely performed and the early warning is inaccurate in a complex scene are solved, when the obstacle in the blind area of the vehicle possibly affects the running of the vehicle, the vehicle is timely and accurately early warned, and the potential traffic accident danger is effectively avoided.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a vehicle blind area early warning method according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating another vehicle blind area warning method according to a second embodiment of the present invention;
FIG. 3 is a flowchart of a vehicle blind area warning system according to an embodiment of the present invention;
FIG. 4 is a flow chart of another vehicle blind spot warning system provided in accordance with an embodiment of the present invention;
FIG. 5 is a flowchart of another vehicle blind area warning method according to an embodiment of the present invention;
fig. 6 is a schematic diagram of an alarm indicator light provided by an embodiment of the invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, 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 invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in other sequences than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example one
Fig. 1 is a flowchart of a vehicle blind area warning method according to an embodiment of the present invention, where the embodiment is applicable to monitoring obstacles in a vehicle blind area and warning, the method may be executed by a vehicle blind area warning device, the vehicle blind area warning device may be implemented in a form of hardware and/or software, and the vehicle blind area warning device may be configured in a vehicle. As shown in fig. 1, the method includes:
s110, vehicle running information of a target vehicle is obtained, and the vehicle running state of the target vehicle is determined according to the vehicle running information.
The vehicle running information may be vehicle information when the vehicle is running, and may be, for example, a vehicle speed, a steering wheel angle, an engine speed, a vehicle angular velocity, a vehicle linear velocity, and the like. The vehicle running state may be a state in which the vehicle is in at the present time.
Specifically, the current running information of the target vehicle is acquired through a Controller Area Network (CAN) in the target vehicle, and the running state of the target vehicle at the current time is determined according to the current running information of the target vehicle. The vehicle running state comprises a vehicle normal running state starting state, a slow running state, a reversing state and the like.
S120, determining a target detection device for detecting the vehicle blind area of the target vehicle according to the vehicle running state, and acquiring target detection information of the vehicle blind area through the target detection device.
Wherein the target detection means may be detection means for detecting a vehicle blind area of the target vehicle. The object detection device may include, but is not limited to, any one of a millimeter wave radar monitoring device, an ultrasonic sensing device, an infrared sensing device, and a visual sensing device.
The vehicle blind area can be an area which cannot be observed by a driver due to the fact that the driver of the target vehicle is shielded by a vehicle body when the target vehicle is driven normally, and the vehicle blind area can comprise a visual blind area and an artificial blind area. For example: the rear door area on the two sides of the vehicle, the shielding area of the rearview mirror of the vehicle, the tail dead zone and the like. The target detection information may be information of a vehicle blind area of the target vehicle. For example, the target detection information may be real-time traffic information, target obstacle information, and the like.
Specifically, a target detection device corresponding to the vehicle running state is determined according to the vehicle running state of the target vehicle, and the target detection device detects the vehicle blind area to obtain target detection information of the vehicle blind area of the target vehicle.
Optionally, the determining, according to the vehicle driving state, a target detection device for detecting a vehicle blind area of the target vehicle includes:
and if the vehicle running state is a normal running state, determining a first detection device as a target detection device for detecting a vehicle blind area of the target vehicle, wherein the vehicle speed of the target vehicle in the normal running state is greater than a first preset speed threshold value, and the first detection device at least comprises a millimeter wave radar monitoring device.
The first preset speed threshold may be preset to start the millimeter wave radar monitoring device.
Specifically, the driving state of the target vehicle is judged, if the driving state of the target vehicle is the normal driving state, whether the speed of the target vehicle is greater than a first preset speed threshold value or not is continuously judged, if yes, the first detection device is determined as the target detection device for detecting the vehicle blind area of the target vehicle, and then the vehicle vision blind area is detected through the first target detection device. The first detection equipment at least comprises a millimeter wave radar monitoring device.
S130, generating a blind area early warning instruction according to the target detection information and the vehicle running information, and controlling target early warning equipment of the target vehicle to perform early warning according to the blind area early warning instruction.
The blind area early warning instruction is used for giving an early warning instruction when the target obstacle influencing the normal running of the vehicle is in the target vehicle vision blind area.
Specifically, after the target detection information and the vehicle running information are acquired, whether a target obstacle influencing the vehicle running exists in the target detection information or not is judged through calculation of the target detection information and the vehicle running information, and if the target obstacle influencing the vehicle running normally exists in a target vehicle vision blind area, a blind area early warning instruction is generated to give a driver a driving early warning.
Optionally, the generating a blind area early warning instruction according to the target detection information and the vehicle driving information includes: and determining a target early warning strategy according to the target detection information and the vehicle running information, and generating a blind area early warning instruction based on the target early warning strategy.
The target early warning strategy can be a strategy for early warning the driver.
Specifically, after target detection information and vehicle running information are obtained, whether obstacles influencing vehicle running exist in the target detection information or not is judged through calculation of the target detection information and the vehicle running information, if the obstacles influencing normal vehicle running exist in a target vehicle vision blind area, a corresponding target early warning strategy is selected according to the obstacles existing in the target vehicle vision blind area, a corresponding blind area early warning instruction is generated according to the target early warning strategy and sent to target early warning equipment, and the target early warning equipment sends out early warning to a driver to perform driving early warning. Wherein, the target early warning equipment includes warning pilot lamp and buzzer.
Optionally, determining a target early warning strategy according to the target detection information and the vehicle driving information includes at least one of the following operations:
if the steering shifting lever of the target vehicle is not shifted, and the target obstacle does not exist in the vehicle blind area according to the target detection information and the vehicle running information, controlling the alarm indicator lamp to be displayed in a first state and controlling the buzzer to be displayed in a second state to serve as a target early warning strategy;
if the steering shifting lever of the target vehicle is not shifted, and a target obstacle is judged to exist in the vehicle blind area according to the target detection information and the vehicle running information, displaying an alarm indicator lamp which is installed on the vehicle side of the target vehicle and is controlled to have the target obstacle in a third state, and displaying a buzzer in a fourth state as a target early warning strategy;
if the steering deflector rod of the target vehicle is stirred and the target obstacle does not exist in the vehicle blind area is judged according to the target detection information and the vehicle running information, the alarm indicator lamp is controlled to be displayed in a fifth state and the buzzer is controlled to be displayed in a sixth state to serve as a target early warning strategy;
and if the steering deflector rod of the target vehicle is stirred and the target obstacle is judged to exist in the vehicle blind area according to the target detection information and the vehicle running information, displaying a seventh state of an alarm indicator lamp which is used for controlling a vehicle side with the target obstacle and installed on the target vehicle, and accurately controlling a buzzer to display an eighth state of the alarm indicator lamp as a target early warning strategy.
Wherein, the first state show can be that the alarm indicator is bright and not twinkling, the second state show can be that the bee calling organ does not sound, the third state show can be that the alarm indicator is bright red light and not twinkling, the fourth state show can be that the bee calling organ does not sound, the fifth state show can be that the alarm indicator is bright green light and twinkling, the sixth state show can be that the bee calling organ does not sound, the seventh state show can be that the alarm indicator is bright red light and high frequency twinkling, the eighth state show can be that the bee calling organ sounds.
Specifically, if the steering lever of the target vehicle is not toggled and the target obstacle does not exist in the vehicle blind area according to the target detection information and the vehicle running information, controlling the alarm indicator lamp not to be on and not to flash and the buzzer not to sound as a target early warning strategy;
if the steering deflector rod of the target vehicle is not stirred and the target obstacle is judged to exist in the vehicle blind area according to the target detection information and the vehicle running information, the alarm indicator lamp which is arranged on the vehicle side of the target vehicle and is controlled to be on the red light and not to flicker and the buzzer is controlled not to sound as a target early warning strategy;
if the steering driving lever of the target vehicle is stirred and the target obstacle does not exist in the blind area of the vehicle is judged according to the target detection information and the vehicle running information, the control alarm indicator lamp is controlled to be turned on and turned on, the buzzer is controlled to be in a non-sounding state, and the target early warning strategy is adopted;
and if the steering deflector rod of the target vehicle is stirred and the target obstacle is judged to exist in the vehicle blind area according to the target detection information and the vehicle running information, controlling a warning indicator lamp which is arranged on the vehicle side of the target vehicle and has the target obstacle to light a red light and flash at high frequency, and controlling a buzzer to sound as a target early warning strategy.
According to the technical scheme of the embodiment of the invention, the vehicle running information of the target vehicle is acquired, the vehicle running state of the target vehicle is determined according to the vehicle running information, the target detection device for detecting the vehicle blind area of the target vehicle is determined according to the vehicle running state, the target detection information of the vehicle blind area is acquired through the target detection device, and the target detection information of the vehicle blind area is monitored through the vehicle running state and the target detection device, so that the target in the vehicle blind area can be accurately and continuously monitored, and the monitoring accuracy of the obstacle in the vehicle blind area is improved. Generating a blind area early warning instruction according to the target detection information and the vehicle running information, controlling a target early warning device of the target vehicle to perform early warning according to the blind area early warning instruction, and dynamically analyzing the obstacle in the blind area of the vehicle by combining the vehicle running information and the target detection information, so that the technical problems that in the prior art, the driving state of the vehicle is not considered, the motion relation between the vehicle and the obstacle is not considered, the early warning cannot be timely performed and the early warning is inaccurate in a complex scene are solved, when the obstacle in the blind area of the vehicle possibly affects the running of the vehicle, the vehicle is timely and accurately early warned, and the potential traffic accident danger is effectively avoided.
Example two
Fig. 2 is a flowchart of another vehicle blind area warning method according to a second embodiment of the present invention, and a relationship between this embodiment and the above embodiments may be a further description of an acquisition process of target detection information. As shown in fig. 2, the method includes:
s210, vehicle running information of a target vehicle is obtained, and the vehicle running state of the target vehicle is determined according to the vehicle running information.
S220, determining a target detection device for detecting the vehicle blind area of the target vehicle according to the vehicle running state, and acquiring target detection information of the vehicle blind area through the target detection device.
Optionally, in another embodiment of the present invention. The target detection device for determining a vehicle blind area for detecting the target vehicle according to the vehicle running state includes:
and if the vehicle running state is a starting state, a slow running state or a reversing state, determining a second detection device as a target detection device for detecting a vehicle blind area of the target vehicle, wherein the vehicle speed of the target vehicle in the slow running state is lower than a second preset vehicle speed threshold value, and the second detection device at least comprises at least one of an ultrasonic sensing device, an infrared sensing device or a visual sensing device.
Wherein the second preset speed threshold may be preset as a preset speed threshold for activating at least one of the ultrasonic sensing device, the infrared sensing device or the visual sensing device.
Specifically, the driving state of the target vehicle is judged, if the driving state of the target vehicle is a starting state, a slow driving state or a reversing state, whether the speed of the target vehicle is smaller than a second preset speed threshold value or not is continuously judged, if yes, a second detection device is determined as a target detection device for detecting the vehicle blind area of the target vehicle, and then the vehicle vision blind area is detected through the second target detection device. Wherein the second detection device at least comprises at least one of an ultrasonic sensing device, an infrared sensing device or a visual sensing device.
And S230, acquiring image detection information of the vehicle blind area through a visual sensing device, and determining whether a target obstacle exists in the vehicle blind area or not based on the image detection information.
The visual sensing device may be a camera of the target vehicle itself, and is used to acquire image information of the target vehicle. The image detection information may be image information of the target vehicle acquired by a vision sensing device of the target vehicle.
Specifically, the image detection information of the vehicle blind area of the target vehicle is collected through the visual sensing device, and the target vehicle judges whether the target obstacle exists in the current vehicle blind area or not according to the image detection information of the vehicle blind area. If yes, collecting ultrasonic detection information in the vehicle blind area through the ultrasonic sensing device and infrared detection information corresponding to the infrared sensing device.
Specifically, the ultrasonic detection information may be ultrasonic detection information of the target vehicle acquired by an ultrasonic detection device of the target vehicle. The infrared detection information may be infrared detection information of the target vehicle acquired by an infrared sensing device of the target vehicle.
Further, the image detection information, the ultrasonic detection information, and the infrared detection information are used as target detection information of the target vehicle.
Optionally, in another embodiment of the present invention, the image detection information is displayed in a display module of the target vehicle.
And S240, determining obstacle information corresponding to the target obstacle according to the image detection information, the ultrasonic detection information and the infrared detection information.
The obstacle information may be information such as a moving direction, a moving speed, and a relative distance of the target vehicle of the target obstacle.
Specifically, the target vehicle calculates the moving direction and the moving speed of the target obstacle and the relative distance obstacle information of the target vehicle according to the image detection information, the ultrasonic detection information and the infrared detection information. After the obstacle information corresponding to the target obstacle is calculated, the obstacle information corresponding to the target obstacle is checked and corrected, and the accuracy of the obstacle information is guaranteed.
And S250, generating a blind area early warning instruction according to the obstacle information and the vehicle running information.
Specifically, the relative position between the target obstacle and the target vehicle is calculated according to the obstacle information of the target obstacle and the running state information of the target vehicle, whether a running risk exists in the relative distance and the relative speed between the target obstacle and the target vehicle is judged, and then a blind area early warning instruction is generated according to the running risk.
According to the technical scheme of the embodiment of the invention, the vehicle running information of the target vehicle is acquired, the vehicle running state of the target vehicle is determined according to the vehicle running information, the target detection device for detecting the vehicle blind area of the target vehicle is determined according to the vehicle running state, the target detection information of the vehicle blind area is acquired through the target detection device, and the target detection information of the vehicle blind area is monitored through the vehicle running state and the target detection device, so that the target in the vehicle blind area can be accurately and continuously monitored, and the monitoring accuracy of the obstacles in the vehicle blind area is improved. Generating a blind area early warning instruction according to the target detection information and the vehicle running information, controlling a target early warning device of the target vehicle to perform early warning according to the blind area early warning instruction, and dynamically analyzing the obstacle in the blind area of the vehicle by combining the vehicle running information and the target detection information, so that the technical problems that in the prior art, the driving state of the vehicle is not considered, the motion relation between the vehicle and the obstacle is not considered, the early warning cannot be timely performed and the early warning is inaccurate in a complex scene are solved, when the obstacle in the blind area of the vehicle possibly affects the running of the vehicle, the vehicle is timely and accurately early warned, and the potential traffic accident danger is effectively avoided.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a vehicle blind area early warning system provided in the third embodiment of the present invention. As shown in fig. 3, the apparatus includes: a driving state monitoring module 310, a vehicle blind zone monitoring module 320 and a vehicle blind zone early warning module 330.
The driving state monitoring module 310 is configured to acquire vehicle driving information of a target vehicle, and determine a vehicle driving state of the target vehicle according to the vehicle driving information; a vehicle blind area monitoring module 320, configured to determine, according to the vehicle driving state, a target detection device for detecting a vehicle blind area of the target vehicle, and obtain target detection information of the vehicle blind area through the target detection device; and the vehicle blind area early warning module 330 is configured to generate a blind area early warning instruction according to the target detection information and the vehicle driving information, and control a target early warning device of the target vehicle to perform early warning according to the blind area early warning instruction.
Optionally, the vehicle blind zone monitoring module 320 is specifically configured to:
and if the vehicle running state is a normal running state, determining a first detection device as a target detection device for detecting a vehicle blind area of the target vehicle, wherein the vehicle speed of the target vehicle in the normal running state is greater than a first preset speed threshold value, and the first detection device at least comprises a millimeter wave radar monitoring device.
And if the vehicle running state is a starting state, a slow running state or a reversing state, determining a second detection device as a target detection device for detecting a vehicle blind area of the target vehicle, wherein the vehicle speed of the target vehicle in the slow running state is lower than a second preset vehicle speed threshold value, and the second detection device at least comprises at least one of an ultrasonic sensing device, an infrared sensing device or a visual sensing device.
Optionally, the vehicle blind area monitoring module 320 is further specifically configured to:
the system comprises a vision sensing device, a vehicle blind area detection device and a control device, wherein the vision sensing device is used for collecting image detection information of the vehicle blind area and determining whether a target obstacle exists in the vehicle blind area or not based on the image detection information;
if yes, collecting ultrasonic detection information in the vehicle blind area through the ultrasonic sensing device and infrared detection information corresponding to the infrared sensing device;
and taking the image detection information, the ultrasonic detection information and the infrared detection information as target detection information of the target vehicle.
Optionally, the vehicle blind area monitoring module 320 is further specifically configured to:
determining obstacle information corresponding to the target obstacle according to the image detection information, the ultrasonic detection information and the infrared detection information;
and generating a blind area early warning instruction according to the obstacle information and the vehicle running information.
Optionally, the vehicle blind area monitoring module 320 is further specifically configured to:
and displaying the image detection information in a display module of the target vehicle.
Optionally, the driving state monitoring module 310 is further specifically configured to:
and determining a target early warning strategy according to the target detection information and the vehicle running information, and generating a blind area early warning instruction based on the target early warning strategy.
Optionally, the driving state monitoring module 310 is further specifically configured to:
the target early warning device comprises an alarm indicator lamp and a buzzer; the determining of the target early warning strategy according to the target detection information and the vehicle driving information comprises at least one of the following operations:
if the steering shifting lever of the target vehicle is not shifted, and the target obstacle does not exist in the vehicle blind area according to the target detection information and the vehicle running information, controlling the alarm indicator lamp to be displayed in a first state and controlling the buzzer to be displayed in a second state to serve as a target early warning strategy;
if the steering shifting lever of the target vehicle is not shifted, and a target obstacle is judged to exist in the vehicle blind area according to the target detection information and the vehicle running information, displaying an alarm indicator lamp which is installed on the vehicle side of the target vehicle and is controlled to have the target obstacle in a third state, and displaying a buzzer in a fourth state as a target early warning strategy;
if the steering deflector rod of the target vehicle is stirred and the target obstacle does not exist in the blind area of the vehicle is judged according to the target detection information and the vehicle running information, the alarm indicator lamp is controlled to be displayed in a fifth state and the buzzer is controlled to be displayed in a sixth state to serve as a target early warning strategy;
and if the steering deflector rod of the target vehicle is stirred and the target obstacle is judged to exist in the vehicle blind area according to the target detection information and the vehicle running information, displaying a seventh state of an alarm indicator lamp which is used for controlling a vehicle side with the target obstacle and installed on the target vehicle, and accurately controlling a buzzer to display an eighth state of the alarm indicator lamp as a target early warning strategy.
The vehicle blind area early warning system provided by the embodiment of the invention can execute the vehicle blind area early warning method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Optionally, fig. 4 is a flowchart of another vehicle blind area early warning system provided by the present invention, as shown in fig. 4, the system includes: a blind spot monitoring module 410, a control module 420, and an early warning response module 430.
Blind spot monitoring module 410 includes millimeter wave radar monitoring devices, ultrasonic sensing device, infrared sensing device and vision sensing device, wherein:
the millimeter wave radar monitoring device is used for being activated and maintained when the vehicle speed is higher than 10km/h, sending detection microwave signals to the first distance (such as 3m) range on the left side and the right side of the target vehicle and the first distance (such as 8m) range behind the target vehicle in real time, and analyzing and processing the reflected microwave signals by the system to obtain at least one of the relative distance, the relative speed and the relative angle between the obstacle and the vehicle.
The ultrasonic sensing device has a noise reduction function and is used in cooperation with the receiving and transmitting separated waterproof probe to detect blind spot obstacle information and transmit the blind spot obstacle information to the control module for analysis;
the infrared sensing device is used for detecting blind spot obstacle information through infrared rays and transmitting the detected blind spot obstacle information to the control module for analysis;
the visual sensing device is used for transmitting images of a driving environment and obstacles into the control module in real time, and has a good image acquisition effect under the conditions of strong different light rays and contrast;
the blind spot detection module synchronously monitors the blind spot area through the millimeter wave radar monitoring device, the ultrasonic sensing device, the infrared sensing device and the visual sensing device, real-time road condition information can be detected, barrier information is transmitted to the control module, and the control module fuses the information and vehicle running state information. As previously described, the obstacle information may include at least one of a relative distance, a relative speed, and a relative angle of the obstacle to the host vehicle.
The control module 420 includes a comprehensive calculation module, a vehicle driving state module, and a vehicle control output module, wherein:
the comprehensive calculation module is used for performing integrated calculation according to the real-time images, the target obstacle distance and other information provided by the blind spot detection module to obtain the motion information of the target obstacle;
the vehicle running state module is used for acquiring the vehicle running state, including the vehicle motion direction, the running speed, whether the vehicle is in a starting state, a slow running state or a reversing state;
and the vehicle output control module is used for integrating the blind area environment barrier information and the vehicle running state information, transmitting a corresponding early warning instruction to the early warning response module and transmitting a corresponding vehicle control instruction to the electronic control unit.
The early warning response module 430 includes a buzzer, an alarm indicator light and a screen display module, wherein:
the buzzer has three working modes: no sound is emitted, or low frequency sounds are emitted 75 times per minute, or high frequency sounds are emitted 150 times per minute.
Alarm indicator as shown in fig. 6 in the embodiment of the present invention, the alarm indicator is disposed on the instrument panel, and there are four operation modes: the lamp is not lighted, or the lamp is not twinkling when the lamp is lighted green, or the lamp is not twinkling when the lamp is lighted red, or the lamp is twinkling when the lamp is lighted red.
And the screen display module is used for displaying the target obstacle image in the blind spot area of the target vehicle.
After the control module fuses the real-time road condition information, the obstacle information and the vehicle running state information, the early warning response module controls the alarm module to give different forms of alarms under different conditions, and controls the electronic control unit to perform corresponding vehicle control measures, so that traffic accidents are avoided.
Fig. 5 is a flowchart of another vehicle blind area warning method provided by the present invention, as shown in fig. 5, the method includes:
and S510, judging whether the vehicle running speed is smaller than a preset initial value or not by a vehicle running state module in the control module, and judging whether the target vehicle is in a starting state, a slow running state or a reversing state or not.
For example, the preset initial value may be 10km/t, and when the vehicle running speed is less than 10km/t, the state of the target vehicle is determined according to the vehicle running state module.
And S520, when the target vehicle is in a starting state, a slow-speed driving state or a reversing state, acquiring an environment image of a blind spot area of the target vehicle by the visual sensing device, and transmitting the environment image into a screen display module of the target vehicle for visual display.
Specifically, a visual sensing device arranged in the blind spot area of the target vehicle shoots an environment image of the blind spot area of the vehicle, and the environment image of the blind spot area of the target vehicle shot by the visual sensing device is transmitted to a screen display area in the target vehicle to display. Wherein the visual sensing device may be comprised of a plurality of vehicle exterior cameras.
S530, when the obstacle exists in the external environment, the information of the target obstacle is acquired in real time by the ultrasonic sensing device, the infrared sensing device and the visual sensing device and is transmitted to the comprehensive calculation module of the control module, the information of the movement direction, the movement speed, the relative distance and the like of the target obstacle is calculated through the information acquired continuously, and the information is shared and mutually collated to ensure that the information is accurate.
Specifically, when the target vehicle recognizes that an obstacle exists in the external environment, the ultrasonic sensing device, the infrared sensing device and the visual sensing device are started to acquire information of the target obstacle in real time, the acquired information of the target obstacle is transmitted to the comprehensive calculation module of the control module, the comprehensive calculation module calculates information of the movement direction, the movement speed, the relative distance and the like of the target obstacle according to the information acquired continuously, and the information is shared and collated with one another to ensure that the information is accurate.
And S540, acquiring running state information such as the motion direction, the running speed and the like of the vehicle by the vehicle running state module.
And S550, the vehicle output control module judges the risk level according to a preset risk level judgment strategy and by combining the information of the comprehensive calculation module and the vehicle running state module and according to the relative distance and the relative speed between the target obstacle and the target vehicle, if the risk level is low, the buzzer is controlled to sound at a low frequency, and if the risk level is high, the buzzer is controlled to sound at a high frequency.
The preset risk level evaluation strategy can be a preset evaluation strategy for judging the risk that the normal running of the vehicle is influenced by the relative distance and the relative speed between the current target obstacle and the target vehicle.
Specifically, the vehicle output control module judges the magnitude of the risk level and the preset risk level according to the relative distance and the relative speed between the target obstacle and the target vehicle according to the preset risk level judgment strategy by integrating the information of the calculation module and the vehicle running state module, controls the buzzer to sound at a low frequency if the risk level is lower than the preset risk level, and controls the buzzer to sound at a high frequency if the risk level is higher than the preset risk level. Wherein the preset risk level may be a threshold value of the preset risk level.
And S560, the vehicle output control module combines the information of the comprehensive calculation module and the information of the vehicle running state module to judge whether the target obstacle meets a preset control strategy or not, and controls the target vehicle to perform corresponding control actions such as deceleration or braking.
The preset control strategy may be a strategy in which the target vehicle controls the vehicle to travel according to the risk level itself, which is set in advance.
Specifically, the vehicle output control module combines information of the comprehensive calculation module and the vehicle running state module to judge whether the risk level of the target obstacle meets a preset control strategy, and if the risk level of the target obstacle meets the preset control strategy, the vehicle output control module controls the target vehicle to perform corresponding control actions such as deceleration or braking and the like, so that the target obstacle is avoided.
By adopting the technical scheme of the embodiment of the invention, the beneficial effects are as follows:
1. the blind spot monitoring is not limited to radar sensors, but is performed by a plurality of sensing devices. When the driving speed is higher than a preset speed threshold value, the millimeter wave radar monitors the driving speed, and when the driving speed is in a starting stage, a low-speed driving state or a reversing state, the ultrasonic sensing device, the infrared sensing device and the visual sensing device monitor the driving speed in a cooperative mode, so that the blind spot environment information and the obstacle motion state information are acquired more comprehensively.
2. The obstacle information acquired by different blind spot monitoring devices can be calculated to obtain the information such as the movement direction, the movement speed and the relative distance of the obstacle, and the information is mutually corrected, so that the obstacle information is more accurate, and the traffic accident caused by misjudgment caused by the fact that a certain sensor is damaged or the monitoring is inaccurate can be prevented.
3. Under different driving conditions, different measures are taken for monitoring the blind areas of the vehicles, so that the vehicles running at high speed in the blind area of the vehicles can be monitored and early warned, and obstacles such as pedestrians or non-vehicles moving slowly in the blind area nearby the vehicles can be monitored and early warned through the ultrasonic sensing device, the infrared sensing device and the visual sensing device.
4. Under the condition that the vehicle is lower than the preset running speed, the system not only can accurately monitor and early warn the environment and the obstacle information of the nearby blind spot area, but also can judge by the vehicle output control module according to the obstacle motion information and the vehicle running state information and take corresponding deceleration or braking measures, so as to prevent traffic accidents caused by carelessness of a driver in the starting stage, the slow running state or the backing state.
5. Except that carrying out the early warning through the warning icon of rear-view mirror, still set up bee calling organ in the car, the alarm indicator, screen display module carries out the early warning, not only can audio-visually present the regional environment of blind spot and barrier information, can also carry out different alarm modes under the different conditions, shelter from thing factor influence in weather or the field of vision in addition, avoided the driver to judge inaccurately and take wrong control measure to barrier information, thereby avoided potential traffic accident danger.
Example four
The present embodiment provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the vehicle blind area warning method steps as provided in any of the embodiments of the present invention, the method comprising:
acquiring vehicle running information of a target vehicle, and determining a vehicle running state of the target vehicle according to the vehicle running information;
determining a target detection device for detecting a vehicle blind area of the target vehicle according to the vehicle running state, and acquiring target detection information of the vehicle blind area through the target detection device;
generating a blind area early warning instruction according to the target detection information and the vehicle running information, and controlling target early warning equipment of the target vehicle to perform early warning according to the blind area early warning instruction. Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer-readable storage medium may be, for example but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It will be understood by those skilled in the art that the modules or steps of the invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of computing devices, and optionally they may be implemented by program code executable by a computing device, such that it may be stored in a memory device and executed by a computing device, or it may be separately fabricated into various integrated circuit modules, or it may be fabricated by fabricating a plurality of modules or steps thereof into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
It should be understood that various forms of the flows shown above, reordering, adding or deleting steps, may be used. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A vehicle blind area early warning method is characterized by comprising the following steps:
acquiring vehicle running information of a target vehicle, and determining a vehicle running state of the target vehicle according to the vehicle running information;
determining a target detection device for detecting a vehicle blind area of the target vehicle according to the vehicle running state, and acquiring target detection information of the vehicle blind area through the target detection device;
generating a blind area early warning instruction according to the target detection information and the vehicle running information, and controlling target early warning equipment of the target vehicle to perform early warning according to the blind area early warning instruction.
2. The method according to claim 1, wherein the determining a target detection device for detecting a vehicle blind area of the target vehicle according to the vehicle travel state includes:
and if the vehicle running state is a normal running state, determining a first detection device as a target detection device for detecting a vehicle blind area of the target vehicle, wherein the vehicle speed of the target vehicle in the normal running state is greater than a first preset speed threshold value, and the first detection device at least comprises a millimeter wave radar monitoring device.
3. The method according to claim 1, wherein the determining a target detection device for detecting a vehicle blind area of the target vehicle according to the vehicle travel state includes:
and if the vehicle running state is a starting state, a slow running state or a reversing state, determining a second detection device as a target detection device for detecting a vehicle blind area of the target vehicle, wherein the vehicle speed of the target vehicle in the slow running state is lower than a second preset vehicle speed threshold value, and the second detection device at least comprises at least one of an ultrasonic sensing device, an infrared sensing device or a visual sensing device.
4. The method according to claim 3, wherein the obtaining, by the object detection device, object detection information of the vehicle blind spot includes:
acquiring image detection information of the vehicle blind area through a visual sensing device and determining whether a target obstacle exists in the vehicle blind area or not based on the image detection information;
if so, acquiring ultrasonic detection information in the vehicle blind area through the ultrasonic sensing device and infrared detection information corresponding to the infrared sensing device;
and taking the image detection information, the ultrasonic detection information and the infrared detection information as target detection information of the target vehicle.
5. The method of claim 4, wherein generating a blind zone warning instruction according to the target detection information and the vehicle driving information comprises:
determining obstacle information corresponding to the target obstacle according to the image detection information, the ultrasonic detection information and the infrared detection information;
and generating a blind area early warning instruction according to the obstacle information and the vehicle running information.
6. The method of claim 4, further comprising:
and displaying the image detection information in a display module of the target vehicle.
7. The method of claim 1, wherein generating a blind zone warning instruction according to the target detection information and the vehicle driving information comprises:
and determining a target early warning strategy according to the target detection information and the vehicle running information, and generating a blind area early warning instruction based on the target early warning strategy.
8. The method of claim 7, wherein the target early warning device comprises an alarm indicator light and a buzzer; the determining of the target early warning strategy according to the target detection information and the vehicle driving information comprises at least one of the following operations:
if the steering shifting lever of the target vehicle is not shifted, and the target obstacle does not exist in the vehicle blind area according to the target detection information and the vehicle running information, controlling the alarm indicator lamp to be displayed in a first state and controlling the buzzer to be displayed in a second state to serve as a target early warning strategy;
if the steering shifting lever of the target vehicle is not shifted and the target obstacle is judged to be present in the vehicle blind area according to the target detection information and the vehicle running information, displaying an alarm indicator lamp which is controlled to be mounted on the vehicle side of the target vehicle with the target obstacle in a third state and controlling a buzzer to be displayed in a fourth state as a target early warning strategy;
if the steering deflector rod of the target vehicle is stirred and the target obstacle does not exist in the vehicle blind area is judged according to the target detection information and the vehicle running information, the alarm indicator lamp is controlled to be displayed in a fifth state and the buzzer is controlled to be displayed in a sixth state to serve as a target early warning strategy;
and if the steering deflector rod of the target vehicle is stirred and the target obstacle is judged to exist in the vehicle blind area according to the target detection information and the vehicle running information, displaying a seventh state of an alarm indicator lamp which is used for controlling a vehicle side with the target obstacle and installed on the target vehicle, and accurately controlling a buzzer to display an eighth state of the alarm indicator lamp as a target early warning strategy.
9. A vehicle blind area early warning system, comprising:
the system comprises a running state monitoring module, a driving state monitoring module and a driving state monitoring module, wherein the running state monitoring module is used for acquiring vehicle running information of a target vehicle and determining the vehicle running state of the target vehicle according to the vehicle running information;
the vehicle blind area monitoring module is used for determining a target detection device for detecting the vehicle blind area of the target vehicle according to the vehicle running state and acquiring target detection information of the vehicle blind area through the target detection device;
and the vehicle blind area early warning module is used for generating a blind area early warning instruction according to the target detection information and the vehicle running information and controlling target early warning equipment of the target vehicle to carry out early warning according to the blind area early warning instruction.
10. A computer readable storage medium storing computer instructions for causing a processor to implement the vehicle blind spot warning method according to any one of claims 1 to 8 when executed.
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