CN101349562A - Method and apparatus for alarming vehicle running bias direction - Google Patents
Method and apparatus for alarming vehicle running bias direction Download PDFInfo
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- CN101349562A CN101349562A CNA2007101299701A CN200710129970A CN101349562A CN 101349562 A CN101349562 A CN 101349562A CN A2007101299701 A CNA2007101299701 A CN A2007101299701A CN 200710129970 A CN200710129970 A CN 200710129970A CN 101349562 A CN101349562 A CN 101349562A
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Abstract
The invention relates to a vehicle running deflection warning process and a device thereof, wherein the device can generate an image signal through continuously capturing the roadway images on the back of the vehicle by an image camera, and then analyzes the static background on a roadway surface, analyzes whether the vehicle deflects from an original running road, and decides the surrounding move objects and the like by means of an image processor, wherein the image processor can output a signal to a microprocessor when abnormal conditions occur, and the microprocessor can drive an alarm to send out warning signals for prompting drivers.
Description
Technical field
The present invention is about a kind of alarming method and device, refers to especially a kind ofly be applied to vehicle and can judge that vehicle has or not the deflection alarming method and the device of the former driving path of obvious skew.
Background technology
Lifting along with the automobile popularity rate, the collision that meets accident on road causes the situation of traffic hazard also more and more, and vehicle collision takes place is because adjacent vehicle is arranged when crossing near or excessive velocities mostly, the unexpected changing Lane of a vehicle is wherein arranged or depart from that former direct of travel causes.When needing changing Lane in the vehicle ' process, do not note dodging, or vehicle unexpected changing Lane in back is overtaken other vehicles the then very likely generation traffic hazard with the front vehicles collision as if the vehicle of side, back.
Though can draw the travel direction of vehicle separatrix with the standard vehicle on the existing road surface, limit the maximum travel speed of vehicle simultaneously, in the hope of reducing the probability that traffic hazard takes place, yet, for the bigger urban road of vehicle flowrate, because traffic density height, current circumstance complication are changeable, only rely on above-mentioned measure to be not sufficient to effectively avoid collision accident, therefore still be necessary to collide avoiding with more effective detection and alarm means.
Summary of the invention
Can assist the vehicle driver to note the driving situation and the information that gives a warning in advance in view of there is no active judgement alarm device at present, a fundamental purpose of the present invention provides a kind of alarming method of vehicle running bias direction, when the unexpected abnormal deviation traveling lane of vehicle, can initiatively point out the driver.
For reaching aforementioned purpose, the alarming method of vehicle running bias direction of the present invention comprises:
Capture the road image at a car rear continuously;
Analyze static background, analyze the static background of road, wherein comprise the lane line on the road surface in this static background according to this continuous image that captures out;
Judge whether this car is partial to,, judge the relative position of this car and lane line, judge whether run-off-road of this car in view of the above according to the lane line in this static background;
A caution signal is sent in the output alarm when this car of judgement run-off-road.
Another object of the present invention provides a kind of alarming method of vehicle running bias direction, when vehicle periphery has other suddenly approaching dynamic vehicle, can initiatively point out the driver, and for reaching this purpose, this method further comprises:
Judge whether to exist mobile object, compare, judge whether there is mobile object in this continuous image with continuous image and the static background that captures;
Judge that this mobile object whether suddenly near this car, judges when having mobile object, whether monitor this mobile object suddenly near this car, if then send a caution signal near this car.
A further object of the present invention provides a kind of alarm device of vehicle running bias direction, to judge that vehicle has or not unexpected abnormal deviation traveling lane, also can judge further that vehicle periphery has other approaching dynamic vehicle suddenly, for reaching this purpose, the alarm device of this vehicle running bias direction comprises:
At least one image camera, an appropriate location that is installed in a car produces a signal of video signal with the road image at a car rear of continuous acquisition;
At least one image processor, one input end connect this image camera receive the signal of video signal of self imaging camera, analyze static background on the road surface in view of the above, analyze this vehicle whether depart from former traveling lane, judge around mobile object;
One microprocessor, one input end are connected in the output terminal of this image processor, judge whether according to the result of this image processor that the beard and hair responding is responded with and remind the driver;
One warning horn is connected in an output terminal of this microprocessor, is subjected to microprocessor control and sends alarm signal with the prompting driver.
The alarm device of aforementioned vehicle running bias direction can further comprise a gear detecting device, its output terminal is connected in an input end of this microprocessor, in order to detecting the gear position information of vehicle, gear position information is sent in real time and is given this microprocessor and determine whether to close aforementioned Flame Image Process and image camera to judge present gear.
In addition, the alarm device of aforementioned vehicle running bias direction can further comprise a speed of vehicle detector, in order to the inspection vehicle wheel speed with the present speed that obtains vehicle to produce a rate signal, this rate signal output is given microprocessor and whether should be closed aforementioned image processor and image camera with decision.
Description of drawings
Fig. 1: the imaging synoptic diagram that is the image camera.
Fig. 2: another imaging synoptic diagram that is the image camera.
Fig. 3: be circuit block diagram of the present invention.
Fig. 4: be the floor map that image camera of the present invention is installed on vehicle.
Fig. 5: be method flow diagram of the present invention.
Fig. 6 A-Fig. 6 E: be the present invention with the take a sample synoptic diagram of continuous picture reduction static background of difference.
Fig. 7: be a road picture view.
Fig. 8: be to utilize the present invention to judge that vehicle has or not a synoptic diagram of deflection.
Fig. 9: be to utilize the present invention to judge that vehicle has or not another synoptic diagram of deflection.
Figure 10 A-Figure 10 D: be that the present invention judges the synoptic diagram that has or not moving object.
Figure 11: be that the present invention judges and has or not other vehicle suddenly near the synoptic diagram of this car.
[primary clustering symbol description]
(10) image camera (20) image processor
(30) microprocessor (40) warning horn
(50) gear detecting device (60) speed of vehicle detector
(100) image camera (110) lens
(120) imaging master (200) target object
(300) vehicle (400) separatrix
Embodiment
Please refer to shown in Fig. 1,2, is the imaging synoptic diagram of an image camera (CCD) 100 with respect to an imaging object 200, and this image camera 100 comprises the imaging master 120 that lens 110 and are made of light sensitive diode.Because light is along rectilinear propagation, when remaining unchanged between lens 110 and the imaging master 120 apart from d1, the imaging size of onesize target object 200 on this imaging master 120, depend between target object 200 and the lens 110 apart from d2.Near more apart from lens 110 when target object 200, promptly d2 is more little, and the projection of target object 200 on imaging master 120 is big more; Otherwise far away more apart from lens 120 when target object 200, promptly d2 is big more, and the projection of target object 200 on imaging master 120 is more little.
The present invention promptly according to aforementioned principles to judge the relative position of vehicle 300 on road surface, analyze vehicle 300 according to relative position and have or not whether occur other vehicle or object suddenly around obviously departing from travel direction or its, please refer to shown in Figure 3, vehicle of the present invention advance the deflection alarm device circuit comprise:
At least one image camera 10, the appropriate location that is installed in vehicle 300 rears is with the environmental aspect around taking, and this image camera 10 can adopt tool wide-angle lens person, to enlarge the field range of taking; Present embodiment uses two image cameras 10, and the both sides that are installed on the car body rear side as shown in Figure 4 respectively are with acquisition rear image, and the video conversion that will capture is exported behind the signal of video signal;
At least one image processor 20, can constitute by high speed numerical processor (DSP), one input end connects this image camera 10, in this enforcement calculation process speed of accelerating image analysing computer, so two image cameras 10 connect an image processor 20 respectively, if desire is saved cost, also can use single image processor 20 to carry out computing; Image processor 200 receives the signal of video signal of self imaging camera 10, analyze static background on the road surface in view of the above, analyze size that whether this vehicle 300 depart from other vehicle around original traveling lane, the definition suddenly, judge around the overall size of other vehicle whether become big suddenly or size has surpassed certain boundary, learn by this to have or not other vehicle near this vehicle 300;
One microprocessor 30, its input end is connected in the output terminal of this image processor 20, judges whether according to the result of this image processor 20 that the beard and hair responding is responded with and reminds the driver;
One warning horn 40 is connected in an output terminal of this microprocessor 30, is subjected to microprocessor 30 controls and sends the caution sound or wigwag is noted travel route and surrounding vehicles with the prompting driver;
One gear detecting device 50, its output terminal is connected in an input end of this microprocessor 30, in order to detect the gear position information of vehicle 300, gear position information is sent in real time and is given this microprocessor 30, if neutral gear (N shelves) or park (P shelves), this microprocessor 30 will cut out aforementioned image processor 20 and image camera 10, just can activate image processor 20 and image camera 10 when vehicle 300 travels motion; If when vehicle 300 itself can provide gear information, this gear detecting device 30 can not need be installed;
One speed of vehicle detector 60, in order to the inspection vehicle wheel speed with the present speed that obtains vehicle 300 to produce a rate signal, microprocessor 30 is given in this rate signal output, when vehicle stops to advance, when the speed of a motor vehicle is zero, this microprocessor 30 will cut out aforementioned image processor 20 and image camera 10.
Please refer to Fig. 5, the performed deflection of aforementioned alarm device detects and the method for alarm includes:
Detecting gear and the speed of a motor vehicle 701 are utilized the present gear and the speed of a motor vehicle of aforementioned gear detecting device 50 and speed of vehicle detector 60 detecting vehicles 300, judge whether for neutral gear (N shelves) or park (P shelves) and the speed of a motor vehicle whether be zero;
Acquisition continuous image 702, if judged result is when not to be neutral gear (N shelves) or park (P shelves) or the speed of a motor vehicle non-vanishing, this microprocessor 30 will activate the continuous image that image camera 10 and image processor 20 begin to capture rear view of vehicle and also be analyzed;
Analyze static background 703, this image processor 20 captures many pictures continuously to analyze the static background of road in the signal of video signal of image camera 10, for example static static backgrounds such as the lane line on the road surface, security partition island, shade tree;
Judge whether vehicle is partial to 704, this image processor 20 judges according to the lane line in the static background whether vehicle 300 is partial to;
Give the alarm 705, when judging that vehicle 300 has produced deflection, this image processor 20 sends signal and gives this microprocessor 30, makes microprocessor 30 drive warning horn 40 and sends caution sound.
Except that aforementioned flow process, the present invention also can further include to judge whether vehicle 300 occurs the function of other vehicle or object on every side suddenly, and its practice is as follows:
Judge mobile object 706, this image processor 20 except analyzing the static background of road, also judges whether there is mobile object on road in many pictures of acquisition continuously;
Judge that whether mobile object is suddenly near this car 707, this image processor 20 is after judging mobile object, whether further monitor this mobile object suddenly near vehicle 300, the scale that monitor mode can be presented on picture according to mobile object and analyzing whether near this car, if suddenly near this car, then also give the alarm 705.
Analysis acquisition mode about the aforementioned static background, image processor 20 is to utilize statistical property reduction background picture, in a short period of time, the information of road surface that image camera 10 photographs does not have too big-difference, promptly the image of taking continuously has continuity, therefore if extract plurality of pictures continuously from vision signal, the road surface background is indifference almost.And the vehicle on the road is because in motion, each position constantly is all different, if eliminate the part that changes in the plurality of pictures, then reduciblely goes out static background.
Please refer to Fig. 6 A-Fig. 6 E, Fig. 6 A is the raw video that image camera 10 photographs, Fig. 6 B is the background picture after capturing continuous 20 pictures and eliminating changing unit, Fig. 6 C is the background picture after capturing continuous 30 pictures and eliminating changing unit, Fig. 6 D is the background picture after capturing continuous 60 pictures and eliminating changing unit, Fig. 6 E is the background picture after capturing continuous 100 pictures and eliminating changing unit, and obviously, Fig. 6 E successfully restores needed static background.
Because serial sampling is very short at interval, for example per second sampling 25-40 opens, suppose to adopt continuous 60 pictures reduction background, capture 60 pictures and only need 1.5-2 second, when Vehicle Speed was 60km/h, the maximum moving distance of vehicle was 33m in 2 seconds, and when vehicle travels with 60km/h, interval between the adjacent vehicle can't be too near, so the possibility of background sudden change is little.On the other hand, owing to have the comparatively pattern of rule in the highway image that photographs, fechtable goes out metastable statistical property, image processor 20 also can according to current shooting to picture background is carried out certain prediction, again with actual photographed to next pictures and predicted pictures compare, can further reduce the needed number of reduction background after adopting this mode, thereby further reduce the influence of environmental change the background reduction.
Please refer to shown in Figure 7, vehicle is when travels down, adularescent or yellow lane line 400 are generally drawn in both sides, every track, normal vehicle operation is not in track central authorities (when promptly being partial to both sides), image camera 10 taken 400 positions, separatrix remain unchanged basically, if but vehicle is when departing from travel direction, vehicle 300 then changes with the relative distance of separatrix, both sides 400.
Because the color of lane line and the color on ground have obvious different, image camera 10 taken pictures have different GTG values, for example the GTG value of road surface color is about 165, marginal GTG value is about 228, orients lane line so image processor 20 can be distinguished easily according to different GTG values.
And judge for aforementioned whether vehicle is partial to 704 the practice, be after orienting lane line, image processor 100 calculates the distance of separatrix to vehicle, in order to calculate this distance, the picture that image processor 100 is captured image camera 10 in advance is divided into several different zones, Fig. 7 only distinguishes eight zones of A to H for convenience of description, but thinner zone is divided in image processor 100 actual meetings, because the fixed focal length of image camera 10, can measure before dispatching from the factory and store with respect to the shooting distance of taking lens in each zone on its internal imaging base plate, after orienting lane line, as long as judge which zone the separatrix falls into, and can converse the marginal relatively distance of vehicle 300.
Please referring to Fig. 8,9, suppose that be d1 at T1 moment vehicle 300 apart from the marginal distance in left side, apart from the marginal distance in right side is d2, T2 vehicle 300 constantly is d1 ' apart from the marginal distance in left side, apart from the marginal distance in right side is d2 ', when the time becomes T2 by T1, if d1 '＜d1 and d2 '＞d2 illustrates that the travel direction of vehicle 300 has been partial to the left side; Otherwise, if d1 '＞d1 and d2 '＜d2 illustrate that the travel direction of vehicle has been partial to the right side.Be partial to if find vehicle 300, promptly activated warning horn 40 reminding the driver, it is big more that this warning horn 40 can be designed to the amplitude that departs from when vehicle 300, and the frequency of then warning the sound also improves gradually.
Please refer to Figure 10 A-Figure 10 D, the practice about aforementioned judgement mobile object 706, the profile of other vehicle around image processor 20 is located based on following principle: if image camera 10 positions remain unchanged, in a very short time, taken background image can remain unchanged, and changing can appear in the image of moving object, therefore can utilize the difference of adjacent continuous picture, obtains the moving image that changes.The vehicle location process is please referring to Figure 10 A-Figure 10 D: Figure 10 A image processor 20 utilize statistical property reduction around static background figure when not having vehicle, Figure 10 B is the taken actual figure of this image camera 10 when having moving vehicle, Figure 10 A and Figure 10 B are relatively obtained Figure 10 C in the back, wherein white portion is moving object, the part deletion of vehicle characteristics, profile, size (shown in dashed rectangle) and the position of promptly orienting other dynamic vehicle among Figure 10 D will do not met among Figure 10 C.
Please refer to shown in Figure 11, identify other dynamic vehicle profile after, can judge that according to the projection size of profile on image camera 10 dynamic vehicle is whether suddenly near this car.Between two lane lines, be this car on the synoptic diagram, in this car right back is all the other vehicles, this car is observed the image of this right back vehicle shown in rectangle frame inside, when the vehicle of right back the closer to this car, then image camera 10 is taken the automobile image that comes out and is become big relatively.
Judge that have or not can be with reference to following embodiment near the comparative approach of this car: if in an a period of time, for example in 2 to 5 minutes, the overall size of dynamic vehicle changes little, but that a certain moment overall size becomes suddenly is big, then reminds the driver to notice that both sides send a car immediately; Two or, if the dynamic vehicle overall size that image camera 10 photographs surpasses certain scope, for example occupied 1/2nd of image camera 10 picture dimensions, then remind the driver to notice that both sides send a car immediately; Three, utilize the aforementioned lane line of having learnt, mating area is divided, and can calculate the distance of other dynamic vehicle of both sides at a distance of this car, if after distance apart is lower than a default value, represents the both sides vehicle too close, and give the alarm.
In sum, after the present invention judges the static background of road with many continuous pictures, can calculate this car according to the lane line in the image with respect to the marginal distance in both sides, analyze the whether suddenly normal course of abnormal deviation of this car by this, moreover, also can be according to static background, judge other dynamic vehicle of surrounding environment again, if dynamic vehicle suddenly near Ben Che or two cars at a distance of crossing when near, also can initiatively send the caution sound and remind the driver, so that safer guarantee to be provided when driving.
Claims (20)
1. the alarming method of a vehicle running bias direction is characterized in that, comprises:
Capture the road image at a car rear continuously;
Analyze static background, analyze the static background of road, wherein comprise the lane line on the road surface in this static background according to this continuous image that captures out;
Judge whether this car is partial to,, judge the relative position of this car and lane line, judge whether run-off-road of this car in view of the above according to the lane line in this static background;
A caution signal is sent in the output alarm when this car of judgement run-off-road.
2. whether the alarming method of vehicle running bias direction according to claim 1 is characterized in that, this static background is divided a plurality of zones, be positioned at what person zone and judge this car run-off-road according to this lane line.
3. as the alarming method of vehicle running bias direction as described in the claim 2, it is characterized in that this lane line and road surface have different GTG value in image, can judge the position of lane line according to the difference of GTG value.
4. as the alarming method of vehicle running bias direction as described in each among the claim 1-3, it is characterized in that, more comprise:
Judge whether to exist mobile object, compare, judge whether there is mobile object in this continuous image with continuous image and the static background that captures;
Judge that this mobile object whether suddenly near this car, judges when having mobile object, whether monitor this mobile object suddenly near this car, if then send a caution signal near this car.
5. as the alarming method of vehicle running bias direction as described in the claim 4, it is characterized in that, whether judge mobile object suddenly near the step of this car in aforementioned, is the scale that is presented on continuous image according to mobile object and analyzing whether near this car.
6. as the alarming method of vehicle running bias direction as described in the claim 4, it is characterized in that, whether judge mobile object suddenly near the step of this car in aforementioned, is to judge whether the ratio that this mobile object is presented on continuous image becomes greatly suddenly.
7. as the alarming method of vehicle running bias direction as described in the claim 4, it is characterized in that, judge that in aforementioned mobile object whether suddenly near the step of this car, is the zone of dividing according to static background, judge that what person zone mobile object is positioned at and calculates the distance of this mobile object with respect to this car.
8. as the alarming method of vehicle running bias direction as described in the claim 5, it is characterized in that, in the step of the road image at aforementioned continuous this car of acquisition rear, is to carry out the acquisition action with the frequency of 20 to 100 of per seconds.
9. as the alarming method of vehicle running bias direction as described in the claim 6, it is characterized in that, in the step of the road image at aforementioned continuous this car of acquisition rear, is to carry out the acquisition action with the frequency of 20 to 100 of per seconds.
10. as the alarming method of vehicle running bias direction as described in the claim 7, it is characterized in that, in the step of the road image at aforementioned continuous this car of acquisition rear, is to carry out the acquisition action with the frequency of 20 to 100 of per seconds.
11. as the alarming method of vehicle running bias direction as described in each among the claim 1-3, it is characterized in that, further comprise:
Judging the gear and the speed of a motor vehicle of this car, is neutral gear or park or this vehicle speed when being zero in gear, stops to capture continuously road image.
12. the alarming method as vehicle running bias direction as described in the claim 4 is characterized in that, further comprises:
Judging the gear and the speed of a motor vehicle of this car, is neutral gear or park or this vehicle speed when being zero in gear, stops to capture continuously road image.
13. the alarming method as vehicle running bias direction as described in the claim 8 is characterized in that, further comprises:
Judging the gear and the speed of a motor vehicle of this car, is neutral gear or park or this vehicle speed when being zero in gear, stops to capture continuously road image.
14. the alarming method as vehicle running bias direction as described in the claim 9 is characterized in that, further comprises:
Judging the gear and the speed of a motor vehicle of this car, is neutral gear or park or this vehicle speed when being zero in gear, stops to capture continuously road image.
15. the alarming method as vehicle running bias direction as described in the claim 10 is characterized in that, further comprises:
Judging the gear and the speed of a motor vehicle of this car, is neutral gear or park or this vehicle speed when being zero in gear, stops to capture continuously road image.
16. use the vehicle running bias direction alarm device of alarming method according to claim 1 for one kind, it is characterized in that,
Comprise:
At least one image camera, an appropriate location that is installed in a car produces a signal of video signal with the road image at a car rear of continuous acquisition;
At least one image processor, one input end connects this image camera receive the signal of video signal of self imaging camera, analyzes static background on the road surface in view of the above, analyzes this car and whether depart from former traveling lane, have or not dynamic object around judging and whether suddenly near this car;
One microprocessor, one input end are connected in the output terminal of this image processor, judge whether according to the result of this image processor that the beard and hair responding is responded with and remind the driver;
One warning horn is connected in an output terminal of this microprocessor, is subjected to microprocessor control and sends alarm signal with the prompting driver.
17. vehicle running bias direction alarm device as claimed in claim 16 is characterized in that, further comprises:
One gear detecting device, its output terminal are connected in an input end of this microprocessor, and in order to detecting the gear position information of vehicle, gear position information is sent in real time and given this microprocessor and determine whether to close aforementioned Flame Image Process and image camera to judge present gear.
18. as claim 16 or 17 described vehicle running bias direction alarm devices, it is characterized in that, further comprise:
One speed of vehicle detector, in order to the inspection vehicle wheel speed with the present speed that obtains vehicle to produce a rate signal, this rate signal output is given microprocessor and whether should be closed aforementioned image processor and image camera with decision.
19. vehicle running bias direction alarm device as claimed in claim 18 is characterized in that, includes two image cameras and is installed on the both sides, car body rear of this car respectively.
20. vehicle running bias direction alarm device as claimed in claim 18 is characterized in that, includes two image processors and connects aforementioned two image cameras respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007101299701A CN101349562A (en) | 2007-07-20 | 2007-07-20 | Method and apparatus for alarming vehicle running bias direction |
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| Application Number | Priority Date | Filing Date | Title |
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| CNA2007101299701A CN101349562A (en) | 2007-07-20 | 2007-07-20 | Method and apparatus for alarming vehicle running bias direction |
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| CNA2007101299701A Pending CN101349562A (en) | 2007-07-20 | 2007-07-20 | Method and apparatus for alarming vehicle running bias direction |
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| CN101915672A (en) * | 2010-08-24 | 2010-12-15 | 清华大学 | Testing device and testing method of lane departure warning system |
| CN102481931A (en) * | 2009-09-30 | 2012-05-30 | 日立汽车系统株式会社 | Vehicle Controller |
| CN102785661A (en) * | 2012-08-20 | 2012-11-21 | 深圳先进技术研究院 | Lane departure control system and lane departure control method |
| CN103617755A (en) * | 2013-12-17 | 2014-03-05 | 浙江维尔科技股份有限公司 | Test result generation unit and device |
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| CN102481931A (en) * | 2009-09-30 | 2012-05-30 | 日立汽车系统株式会社 | Vehicle Controller |
| CN102481931B (en) * | 2009-09-30 | 2014-11-05 | 日立汽车系统株式会社 | Vehicle Controller |
| CN101915672B (en) * | 2010-08-24 | 2012-07-25 | 清华大学 | Testing device and testing method of lane departure warning system |
| CN101915672A (en) * | 2010-08-24 | 2010-12-15 | 清华大学 | Testing device and testing method of lane departure warning system |
| CN102785661A (en) * | 2012-08-20 | 2012-11-21 | 深圳先进技术研究院 | Lane departure control system and lane departure control method |
| CN102785661B (en) * | 2012-08-20 | 2015-05-13 | 深圳先进技术研究院 | Lane departure control system and lane departure control method |
| CN104239834A (en) * | 2013-06-24 | 2014-12-24 | 万信科技系统有限公司 | Radio frequency identification reader system and control method thereof |
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| CN103622682A (en) * | 2013-11-14 | 2014-03-12 | 成都博约创信科技有限责任公司 | System and method for detecting health state of driver |
| CN103617755A (en) * | 2013-12-17 | 2014-03-05 | 浙江维尔科技股份有限公司 | Test result generation unit and device |
| CN103617755B (en) * | 2013-12-17 | 2016-08-17 | 浙江维尔科技股份有限公司 | A kind of test result signal generating unit and device |
| CN105554346A (en) * | 2015-12-14 | 2016-05-04 | 宁波裕兰信息科技有限公司 | Mobile object detection system based on vehicle-mounted video |
| CN105976453A (en) * | 2016-04-29 | 2016-09-28 | 北京奇虎科技有限公司 | Image transformation-based driving alarm method and apparatus thereof |
| CN108010385A (en) * | 2016-10-31 | 2018-05-08 | 德尔福技术公司 | Automotive vehicle cross traffic detection system |
| CN108010385B (en) * | 2016-10-31 | 2021-02-05 | 德尔福技术公司 | Automatic vehicle cross traffic detection system |
| CN113178025A (en) * | 2021-05-14 | 2021-07-27 | 南京领行科技股份有限公司 | Vehicle lane change detection method and device, electronic equipment and storage medium |
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