CN108399394A - Barrier method for early warning, device and terminal - Google Patents
Barrier method for early warning, device and terminal Download PDFInfo
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Abstract
A kind of barrier method for early warning of disclosure offer, device and terminal are related to assisting driving technology field, the method includes：When an obstacle is detected, according to the first lateral distance and first longitudinal direction distance between the location determination automobile of the barrier and the barrier；According to the position at the directional velocity angle and the barrier of automobile, the second lateral distance and second longitudinal direction distance of the automobile movement in pre-warning time are estimated；If second lateral distance is greater than or equal to first lateral distance, and second longitudinal direction distance is greater than or equal to the first longitudinal direction distance, and early warning is carried out to the barrier.Using this method, the accuracy of the efficiency and barrier early warning result of barrier early warning can be improved.
Description
Technical field
This disclosure relates to assist a kind of driving technology field more particularly to barrier method for early warning, device and terminal.
Background technology
Currently, advanced driving assistance system is typically based on binocular camera acquisition road conditions image, pass through Stereo Matching Algorithm
Obtain the anaglyph of road conditions image, barrier determined in anaglyph, and according to prediction policy to the barrier that detects and
When early warning, to ensure the safe driving of automobile, wherein the judgement of collision time is the important evidence of early warning, the standard of collision time
Really rational calculate is the premise for carrying out effective early warning.Currently, the prediction policy of mainstream is according between vehicle and barrier
Distance and current vehicle speed, estimation vehicle reach time (i.e. collision time) of barrier, when the collision time is less than setting
The pre-warning time of setting then carries out barrier early warning, often occurs invalid early warning situation in practical application so that barrier is pre-
Alert accuracy is relatively low, influences user experience.
Invention content
In view of this, in order to solve the problems, such as that existing barrier early warning accuracy is relatively low, it is pre- that the disclosure provides a kind of barrier
Alarm method, device and terminal, to improve the accuracy of barrier early warning.
Specifically, the disclosure is achieved by the following technical solution：
According to the first aspect of the embodiments of the present disclosure, a kind of barrier method for early warning is provided, the method includes：
When an obstacle is detected, according to first between the location determination automobile of the barrier and the barrier
Lateral distance and first longitudinal direction distance；According to the position at the directional velocity angle and the barrier of automobile, estimate in pre-warning time
The second lateral distance and second longitudinal direction distance of the automobile movement；If second lateral distance is greater than or equal to described the
One lateral distance, and second longitudinal direction distance is greater than or equal to the first longitudinal direction distance, is carried out to the barrier pre-
It is alert.
Optionally, it is described when an obstacle is detected, determine the first lateral distance between automobile and the barrier and
First longitudinal direction distance, specific steps include：According to the parallax value of barrier corresponding pixel points in the disparity map, obstacle is determined
Position relationship between position coordinates and the automobile and the barrier of the object under space coordinates obtains described
One lateral distance and the first longitudinal direction distance；Wherein, the space coordinates are with the image center on the automobile
Coordinate origin is directed toward for Y-axis positive direction immediately ahead of headstock with being parallel to ground, to be directed toward below ground for Z axis perpendicular to ground
Positive direction is directed toward on the right side of driver with being parallel to ground as X-axis positive direction.
Optionally, the position at the directional velocity angle and the barrier according to automobile is estimated described in pre-warning time
The second lateral distance and second longitudinal direction distance of automobile movement, specifically include：The directional velocity angle of the automobile is headstock and vehicle
Angle between wheel, wherein when the automobile is kept straight on, the directional velocity angle is 0, when the automobile is turned right, the speed
Spend deflection ＞ 0, when the automobile turns left, the directional velocity angle ＜ 0；If directional velocity angle >=0 and the obstacle
Object is when abscissa >=0 in X-axis or directional velocity angle≤0 and the barrier are in abscissa in X-axis≤0, according to vapour
The position at the directional velocity angle and the barrier of vehicle, estimate in pre-warning time the second lateral distance of automobile movement and
Second longitudinal direction distance.
Optionally, the second lateral distance and second longitudinal direction distance that the automobile moves in the estimation pre-warning time, tool
Body step includes：According to the wheelbase and steering wheel angle of the automobile, the turning radius of the automobile is determined；Based on the vapour
Speed, acceleration and the turning radius of vehicle estimate the second lateral distance and second of the automobile movement in the pre-warning time
Fore-and-aft distance.
Optionally, the second lateral distance and second longitudinal direction distance that the automobile moves in the estimation pre-warning time, tool
Body step includes：According to the wheelbase and steering wheel angle of the automobile, the turning radius of the automobile is determined；Based on the vapour
Speed, the turning radius of vehicle, estimate the second lateral distance and second longitudinal direction of automobile movement in the pre-warning time away from
From.
Optionally, first lateral distance, the second lateral distance, first longitudinal direction distance, second longitudinal direction distance are big respectively
In or equal to 0.
According to the second aspect of the embodiment of the present disclosure, a kind of barrier prior-warning device is provided, described device includes：
Detection of obstacles unit is used for when an obstacle is detected, according to the location determination automobile of the barrier and institute
State the first lateral distance and first longitudinal direction distance between barrier；Automobile position estimation unit, for the speed according to automobile
The second lateral distance and second longitudinal direction of the automobile movement in pre-warning time are estimated in the position of deflection and the barrier
Distance；Barrier prewarning unit, if it is greater than or equal to first lateral distance for second lateral distance, and it is described
Second longitudinal direction distance is greater than or equal to the first longitudinal direction distance, and early warning is carried out to the barrier.
Optionally, automobile position estimation unit is used for：According to the parallax of barrier corresponding pixel points in the disparity map
Value determines that the position between position coordinates and the automobile and the barrier of the barrier under space coordinates is closed
System, obtains first lateral distance and the first longitudinal direction distance；Wherein, the space coordinates are to be located at the automobile
On image center be coordinate origin, be parallel to ground be directed toward headstock immediately ahead of be Z axis positive direction, to refer to perpendicular to ground
Earthward lower section is Y-axis positive direction, is directed toward on the right side of driver as X-axis positive direction with being parallel to ground.
Optionally, automobile position estimation unit is used for：The position at the directional velocity angle and the barrier according to automobile
It sets, estimates the second lateral distance and second longitudinal direction distance of the automobile movement in pre-warning time, specifically include：The automobile
Angle of the directional velocity angle between headstock and wheel, wherein when the automobile is kept straight on, the directional velocity angle is 0,
When the automobile is turned right, the directional velocity angle ＞ 0, when the automobile turns left, the directional velocity angle ＜ 0；If described
Directional velocity angle >=0 and the barrier abscissa >=0 or directional velocity angle≤0 and the barrier is in X on X axis
When abscissa on axis≤0, according to the position at the directional velocity angle and the barrier of automobile, the vapour in pre-warning time is estimated
The second lateral distance and second longitudinal direction distance of vehicle movement.
Optionally, automobile position estimation unit is used for：According to the wheelbase and steering wheel angle of the automobile, determine described in
The turning radius of automobile；Speed, acceleration based on the automobile and turning radius estimate the vapour in the pre-warning time
The second lateral distance and second longitudinal direction distance of vehicle movement.
Optionally, automobile position estimation unit is used for：According to the wheelbase and steering wheel angle of the automobile, determine described in
The turning radius of automobile；Speed, turning radius based on the automobile estimate the automobile movement in the pre-warning time
Second lateral distance and second longitudinal direction distance.
Optionally, first lateral distance, the second lateral distance, first longitudinal direction distance, second longitudinal direction distance are big respectively
In or equal to 0.
According to the third aspect of the embodiment of the present disclosure, a kind of barrier Forewarning Terminal is provided, including processor, communication connect
Mouth, memory and communication bus；
Wherein, the processor, communication interface, memory carry out mutual communication by the communication bus；
The memory, for storing computer program；
The processor, for executing the computer program stored on the memory, described in the processor executes
The step of any barrier method for early warning that the embodiment of the present disclosure provides is realized when computer program.
According to the fourth aspect of the embodiment of the present disclosure, a kind of computer readable storage medium is provided, it is described computer-readable
It is stored with computer program in storage medium, realizes that the embodiment of the present disclosure provides when the computer program is executed by processor
Any barrier method for early warning the step of.
As seen from the above-described embodiment, by when an obstacle is detected, according to the location determination automobile of the barrier with
The first lateral distance between the barrier and first longitudinal direction distance；According to the directional velocity angle of automobile and the barrier
Position, estimate the second lateral distance and second longitudinal direction distance of automobile movement in pre-warning time；If described second laterally
Distance is greater than or equal to first lateral distance, and second longitudinal direction distance is greater than or equal to the first longitudinal direction distance,
Early warning is carried out to the barrier.
Since there are certain delays between the rotation and the rotation in automobile head direction of vehicle steering wheel, that is to say, that
The directional velocity of automobile and headstock direction may be inconsistent, therefore, in barrier early warning, are contemplated that the speed side of automobile
Upward barrier rather than the barrier in headstock direction that is to say the disclosure and estimated according to the directional velocity angle of automobile and is pre-
The second lateral distance and second longitudinal direction distance of automobile movement carry to judge whether to carry out early warning to barrier in the alert time
The accuracy of high obstacle object early warning.
Description of the drawings
Fig. 1 is the schematic diagram of existing barrier prediction policy；
Fig. 2 is the flow chart of the barrier method for early warning of the embodiment of the present disclosure one；
Fig. 3 is that the embodiment of the present disclosure one determines the first lateral distance and first longitudinal direction apart from schematic diagram；
Fig. 4 is the vehicle motion model schematic diagram that the embodiment of the present disclosure one is established；
Fig. 5 A are that the car speed deflection of the embodiment of the present disclosure one and Obstacle Position are unsatisfactory for the signal of preset condition one
Figure；
Fig. 5 B are that the car speed deflection of the embodiment of the present disclosure one and Obstacle Position are unsatisfactory for that preset condition is another to be shown
It is intended to；
Fig. 6 is that schematic diagram is estimated in the track of the automobile turning of the embodiment of the present disclosure one；
Fig. 7 A judge a schematic diagram for barrier early warning under the first situation of the embodiment of the present disclosure one；
Fig. 7 B judge another schematic diagram for barrier early warning under the first situation of the embodiment of the present disclosure one；
Fig. 8 judges a schematic diagram for barrier early warning under the second situation of the embodiment of the present disclosure one；
Fig. 9 A judge a schematic diagram for barrier early warning under the third situation of the embodiment of the present disclosure one；
Fig. 9 B judge another schematic diagram for barrier early warning under the third situation of the embodiment of the present disclosure one；
Figure 10 A judge a schematic diagram for barrier early warning under the 4th situation of the embodiment of the present disclosure one；
Figure 10 B judge another schematic diagram for barrier early warning under the 4th situation of the embodiment of the present disclosure one；
Figure 11 is the barrier prior-warning device structure chart of the embodiment of the present disclosure two；
Figure 12 is the barrier Forewarning Terminal structure chart of the embodiment of the present disclosure three；
Specific implementation mode
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary is implemented
Embodiment described in example does not represent all implementations consistent with this disclosure.On the contrary, they are only and such as institute
The example of the consistent device and method of some aspects be described in detail in attached claims, the disclosure.
It is the purpose only merely for description specific embodiment in the term that the disclosure uses, is not intended to be limiting the disclosure.
The "an" of singulative used in disclosure and the accompanying claims book, " described " and "the" are also intended to including more
Number form formula, unless context clearly shows that other meanings.It is also understood that term "and/or" used herein refers to simultaneously
Including one or more associated list items purposes any or all may combine.
It will be appreciated that though various information, but this may be described using term first, second, third, etc. in the disclosure
A little information should not necessarily be limited by these terms.These terms are only used for same type of information being distinguished from each other out.For example, not taking off
In the case of disclosure range, the first information can also be referred to as the second information, and similarly, the second information can also be claimed
For the first information.Depending on context, word as used in this " if " can be construed to " ... when " or
" when ... " or " in response to determination ".
Fig. 1 is the schematic diagram of existing barrier prediction policy, as shown in Figure 1, the automobile 103 of binocular camera is installed,
For the road conditions image of acquisition between dotted line 104 and dotted line 105, the image acquired by binocular camera can obtain disparity map,
And barrier is detected in disparity map, it can be in the hope of the distance of barrier to camera according to the mean parallax value of the barrier.With
Image center on the automobile is coordinate origin, is directed toward for Y-axis positive direction immediately ahead of headstock with being parallel to ground, with
It is Z axis positive direction below ground to be directed toward perpendicular to ground, is that X-axis positive direction is established to be parallel to ground and be directed toward on the right side of driver
Space coordinates.If detecting barrier 101 and barrier 102, due in vehicle traveling process, being only concerned about before being located at automobile
The barrier of side and side, that is, only judge the barrier in X-direction and Y-direction.
Specifically, according to Fig. 1 establish coordinate system, can calculate separately barrier to camera baseline vertical range, i.e.,
101 corresponding vertical range of barrier is Y1, and 102 corresponding vertical range of barrier is Y2.Next judge automobile 103 with
Whether the time that current vehicle speed travels above-mentioned vertical range is less than pre-warning time, and warning message is sent out if being less than pre-warning time.
After judgement, automobile 103 sends out early warning to barrier 101, but in actual conditions, and barrier 101 and automobile 103 be not same
It is travelled on one track, it is assumed that lane change behavior does not occur for automobile 103 and barrier 101, and automobile 103 is will not be with barrier 101
It collides, i.e., it is unnecessary that automobile 103 carries out early warning to barrier 101.
In addition, there is likely to be following problems for existing barrier early warning technology：1) if driver sees front obstacle simultaneously
It brakes immediately, carries out early warning still according to the collision time that current vehicle speed is calculated, automobile does not arrive pre-warning time probably
Stopped, such case early warning；If 2) driver sees and also accelerating when front obstacle, then have very much can for automobile
Pre-warning time can be not up to and have occurred and that collision, such case is late early warning；3) if pilot control steering wheel carries out steering behaviour
When making, the driving trace of automobile can change, and may send out some closer barriers away from motor turning direction
Raw accidentally early warning.
As it can be seen that existing early warning technology is there are great number of issues, non-early warning or delay early warning can all influence the function of system,
There is prodigious security risk；User experience can be influenced by crossing early warning, reduced the confidence level of intelligent DAS (Driver Assistant System), then considered
The behavior of driver is intended to, and a kind of barrier method for early warning that the disclosure proposes can solve the above problems as far as possible, to
Improve the accuracy to barrier early warning.It is as follows, with reference to figure 2, this method is described in detail：
Fig. 2 is the barrier method for early warning flow chart of the embodiment of the present disclosure one, and this method may comprise steps of：
Step S101：When an obstacle is detected, according to the location determination automobile of the barrier and the barrier it
Between the first lateral distance and first longitudinal direction distance.
Specifically, according to the parallax value of barrier corresponding pixel points in the disparity map, the binocular camera and institute are determined
Position relationship of the barrier under space coordinates is stated, first lateral distance and the first longitudinal direction distance are obtained.
In the possible embodiment of the disclosure, the image acquired according to binocular camera determines disparity map, is based on the disparity map
It carries out detection of obstacles and obtains barrier, you can with by camera acquisition road image, wherein the video camera can be arranged
On vehicle, referred to as vehicle-mounted vidicon, the video camera can be binocular camera, the left camera of binocular camera and right camera shooting
Head can collect a width road image respectively, to obtain disparity map, detection of obstacles is carried out in disparity map, usually with
The binocular camera center of automobile is that origin establishes coordinate system, can be in the hope of the picture by the parallax value of formula (1) and pixel
Vegetarian refreshments is in the position of space coordinates：
Wherein, d is the parallax value of pixel, and f is camera focus, and B is the parallax range of binocular camera, and Y is barrier
Distance of the point to stereoscopic camera focal plane.According to determine disparity map and in disparity map detect barrier specifically refer to it is existing
Technology, which is not described herein again.
In the possible embodiment of the disclosure, can using the two width road image as image to be detected, can also this two
Area-of-interest respectively delimited on width road image, using the corresponding parts of images of area-of-interest as image to be detected, this public affairs
It opens and this is not restricted.It is determined on road image it will be appreciated by persons skilled in the art that various ways may be used
Area-of-interest, for example, area-of-interest can be confined by way of manually selecting frame on road image, in another example, it can be with
Area-of-interest is intercepted on road image by preset height ratio (such as upper 3/4 part), the disclosure is in mileage chart
As the detailed process of upper determining area-of-interest is not limited.
Then by taking the barrier 101 detected in Fig. 1 as an example, position of the barrier under the coordinate system can be obtained, is worth
It must illustrate, describe the following drawings for convenience and all omit Z axis, in addition, with tail portion (one nearest from camera of barrier
Side) center position represent the position of barrier.As shown in figure 3, being the exhausted of abscissa to acquire the first lateral distance
To value, i.e., | X1 |, first longitudinal direction distance is the absolute value of ordinate, i.e., | Y1 |.
Optionally, coordinate system is established by origin of the center of automobile, or lateral to calculate first with the center of barrier
Distance and first longitudinal direction distance, do not limit here.
Step S102 estimates the vapour in pre-warning time according to the position at the directional velocity angle and the barrier of automobile
The second lateral distance and second longitudinal direction distance of vehicle movement.
Specifically, angle of the directional velocity angle of the automobile between headstock and wheel, wherein when the automobile is straight
When row, the directional velocity angle is 0, when the automobile is turned right, the directional velocity angle ＞ 0, and when the automobile turns left,
The directional velocity angle ＜ 0；If directional velocity angle >=0 and the barrier abscissa >=0 or the speed in X-axis
Deflection≤0 and the barrier are in abscissa in X-axis≤0, according to the position at the directional velocity angle and the barrier of automobile
It sets, estimates the second lateral distance and second longitudinal direction distance of the automobile movement in pre-warning time；
It will be appreciated by persons skilled in the art that driver can adjust wheel by rotating the steering wheel of vehicle
Direction of travel, the direction of travel of wheel also means that the direction of Vehicle Speed, also, in steering wheel rotation, wheel
Direction of travel can approximation be interpreted as changing immediately, and the headstock of vehicle is towards can't change immediately, from
And the travel speed and headstock of vehicle can have certain angle between.Fig. 4 is the vehicle motion model that the disclosure is established
Schematic diagram, as shown in figure 4, automobile includes front-wheel 401 and trailing wheel 402, with the rotation of steering wheel, front-wheel 401 can occur partially
Turn, is then moved with the circular arc type track 403 formed center of circle Q and turning radius R, wherein θ is the directional velocity angle of automobile, and L is
The wheelbase of automobile, at this point, automobile is turned right, directional velocity angle θ ＞ 0, the next calculating of the disclosure is all based on shown in Fig. 4
Automobile steering power model.
In the embodiments of the present disclosure, OBD (On-BoardDiagnostic, onboard diagnostic system) detection dresses may be used
Set and obtain the current travel speed of vehicle and directional velocity angle, using OBD detection devices obtain the current travel speed of vehicle with
The detailed process at directional velocity angle may refer to associated description in the prior art, this is no longer described in detail in the application.
It should be noted that in practical applications, can also use GPS (Global Positioning System, entirely
Ball positioning system), speed measuring device etc. obtained the current travel speed of vehicle, and obtained using gyroscope, Inertial Measurement Unit etc.
Pick-up current directional velocity angle, specific hand of the embodiment of the present application to the acquisition current travel speed and steering angle of vehicle
Section is not restricted.
In addition, above-mentioned model is not limited to automobile turning state, it is equally applicable when automobile is kept straight on, at this time turning half
Diameter R=∞, directional velocity angle θ=0.
In addition, first to judge whether the directional velocity angle of automobile and the position of the barrier meet preset condition,
In, the preset condition is directional velocity angle >=0 and the barrier abscissa >=0 or the speed side in X-axis
Abscissa≤0 in X-axis to angle≤0 and the barrier.When automobile is turned, it is now placed in the turn direction
The barrier that barrier is just possibly realized on the barrier rather than the turn direction of early warning will not cause shadow to the traveling of automobile
It rings, also there is no need to carry out early warning to it, if for example, automobile is turned right, then the barrier in front of Automobile Right is exactly possible
The barrier of early warning is wanted, and positioned at the barrier of automobile left front there is no need to carry out early warning, therefore to judge the speed of automobile
Whether the position of deflection and the barrier meets preset condition.
Fig. 5 illustratively gives two kinds of car speed deflections and the case where Obstacle Position is unsatisfactory for preset condition,
As shown in Figure 5A, the automobile 501 of binocular camera is housed, barrier 502 is located at the right front of automobile 501, abscissa X1 ＞ 0,
And the directional velocity angle θ ＜ 0 of automobile 501, it is unsatisfactory for preset condition, i.e. automobile 501 will turn left, and barrier 502 would not
It falls on the travel route of automobile, need not carry out early warning to barrier 502 at this time.
Similar, in figure 5B, barrier 503 is located at the left front of automobile, and abscissa X1 ＜ 0, automobile 501 will
It turns right, directional velocity angle θ ＞ 0 are also unsatisfactory for preset condition, therefore need not carry out early warning to barrier 503 at this time.
If judge that car speed deflection and Obstacle Position meet preset condition, next need according to the vapour
The wheelbase and steering wheel angle of vehicle, determine the turning radius of the automobile；Speed, acceleration based on the automobile and turning
Radius estimates the second lateral distance and second longitudinal direction distance of the automobile movement in the pre-warning time.
In the possible embodiment of the disclosure, current speed v, acceleration a can also be read from the CAN bus of automobile
Etc. data, automobile can be calculated in pre-warning time t by formula (2)0It is horizontal to be calculated second by the distance S of interior movement by distance S
To distance and second longitudinal direction distance：
Illustratively, as shown in fig. 6, detecting barrier 601 equipped with the automobile 602 of binocular camera, automobile 602 at this time
It has been rotated by steering wheel and prepares turning, the deflection θ of current vehicle speed v, in pre-warning time t0The track 603 of interior movement, it is corresponding
The angle that distance S is turned over is β, the second lateral distance X2 and second longitudinal direction distance Y2 can be determined according to geometrical relationship, with reference to public affairs
Formula (3) and formula (4), wherein turning radius
More than, to determine the derivation of equation of the second lateral distance and second longitudinal direction distance, it should be noted that the disclosure
The setting of vehicle motion model is not limited, it is above-mentioned only to provide a kind of example calculating the second lateral distance and second longitudinal direction distance.
Also, the model considers the behavior of driver, that is, embodies the directional velocity θ of acceleration a and automobile in a model, and existing
There is technology to compare, considers that the two parameters obtain motor racing track and more meet automobile actual motion track.
Optionally, the second lateral distance and second longitudinal direction distance that the automobile moves in the pre-warning time are being calculated,
Speed, the turning radius of the automobile can be based only upon, here only "ball-park" estimate motor racing track, reference formula (5) and
Formula (6)：
Under some optional embodiments, the driving trace model of automobile can be hyperbola, parabola, multinomial
Etc. modes, the disclosure is merely exemplary when giving automobile turning using fan circular trace.
Step S103：If second lateral distance is greater than or equal to first lateral distance and the second longitudinal direction
Distance is greater than or equal to the first longitudinal direction distance, and early warning is carried out to the barrier, wherein the first lateral distance, first are indulged
All >=0 to distance, the second lateral distance and second longitudinal direction distance.
According between the first lateral distance of calculating, first longitudinal direction distance, the second lateral distance and second longitudinal direction distance
Magnitude relationship can obtain following four kinds of situations, specific as follows：
First situation：
In pre-warning time t0It is interior, formula (7) is met between aforementioned four parameter, motor racing track is on the directions X and Y
All without the position for reaching barrier, represents automobile and do not collide with barrier, do not need early warning at this time.
For example, when automobile is kept straight on, barrier not early warning remotely to both sides track, as shown in Figure 7 A, automobile
702 directional velocity is can to obtain the second lateral distance along Y-direction | X2 |=0, and second longitudinal direction distance is acquired according to speed v |
Y2 |, and the first lateral distance can be obtained according to the position of barrier 701 | X1 | and first longitudinal direction distance | Y1 |, it is clear that meet formula
(7) early warning is not needed.
For example, automobile is turned towards the direction of barrier, but when the angle of its turning is smaller, and meet above-mentioned formula
(7), at this time need not be to barrier early warning, as shown in Figure 7 B, ship trajectory 703 of the automobile 702 in pre-warning time, at this
In pre-warning time, automobile does not reach 701 position of barrier with current motion state traveling, need not be carried out to barrier yet
Early warning.
Second situation：
In pre-warning time t0It is interior, formula (8) is met between aforementioned four parameter, motor racing track is not up in X-direction
The position of barrier, but the position of barrier is reached in the Y direction, it represents automobile and does not also collide with barrier, at this time not
Need early warning.
For example, when automobile is kept straight on, barrier not early warning more nearby to both sides track, as shown in figure 8, automobile 802
Directional velocity be that can obtain the second lateral distance along Y-direction | X2 |=0, and second longitudinal direction distance is acquired according to speed v | Y2 |,
And the first lateral distance can be obtained according to the position of barrier 801 | X1 | and first longitudinal direction distance | Y1 |, it is clear that meet formula (8)
Early warning is not needed.
Third situation：
In pre-warning time t0It is interior, formula (9) is met between aforementioned four parameter, motor racing track reaches barrier in X-direction
Hinder the position of object, but do not reach the position of barrier in the Y direction, represents automobile and also do not collide with barrier, at this time not
Need early warning.
For example, automobile is in turning condition, to the barrier not early warning remotely immediately ahead of automobile, as shown in Figure 9 A,
Automobile 902 is deflected along the direction of speed v, it is contemplated that its driving trace is 903, acquires the second lateral distance | X2 | and second longitudinal direction
Distance | Y2 |, can be obtained according to the position of barrier 901, the first lateral distance | X1 | and first longitudinal direction distance | Y1 |, it is clear that meet
Formula (9) does not need early warning.
In another example automobile is in turning condition, to the barrier not early warning of turning side track remotely, such as Fig. 9 B institutes
Show, automobile 902 is deflected along the direction of speed v, it is contemplated that its driving trace is 905, acquires the second lateral distance | X2 | it is vertical with second
To distance | Y2 |, can be obtained according to the position of barrier 904, the first lateral distance X1 | and first longitudinal direction distance | Y1 |, it is clear that it is full
Sufficient formula (9) does not need early warning.
4th situation：
In pre-warning time t0It is interior, formula (10) is met between aforementioned four parameter, motor racing track is in X-direction and in Y
The position for all reaching barrier on direction, representing automobile and barrier can collide, and need early warning at this time.
For example, when automobile is kept straight on, to the barrier meeting early warning of front more nearby, as shown in Figure 10 A, automobile 1002
Directional velocity is can to obtain the second lateral distance along Y-direction | X2 |=0, and second longitudinal direction distance is acquired according to speed v | Y2 |, and
The first lateral distance can be obtained according to the position of barrier 1001 | X1 |=0 and first longitudinal direction distance | Y1 |, | Y2 | ＞ | Y1 | obviously
Meet formula (10) and needs early warning.
In another example automobile needs early warning to barrier closer in its turn direction, and as shown in Figure 9 B, 1002 edge of automobile
The direction of speed v deflects, it is contemplated that its driving trace is 1004, acquires the second lateral distance | X2 | and second longitudinal direction distance | Y2 |,
Can be obtained according to the position of barrier 1003, the first lateral distance | X1 | and first longitudinal direction distance | Y1 |, it is clear that meet formula
(10)。
Optionally, above-mentioned four kinds of situations are all only enumerated several examples and are introduced, and estimate the movement of automobile in pre-warning time
Estimation can select different models, can only consider speed, the directional velocity angle of automobile, it is also contemplated that the speed of automobile,
Acceleration, directional velocity angle etc., those skilled in the art can derive according to the prior art, and explanation is no longer unfolded one by one here.
To consider the side of the speed of automobile when carrying out early warning to barrier by the introduction of the above-mentioned embodiment of the present disclosure
Come whether disturbance in judgement object falls into the driving trace of automobile to angle to estimate the driving trace of automobile in pre-warning time, certainly
It is fixed whether early warning to be carried out to barrier, it is seen then that the disclosure considers the custom of driver, in conjunction with automobile motion conditions to obstacle
Object carries out early warning, with the prior art according only to fore-and-aft distance of the automobile in pre-warning time to determine whether being carried out to barrier
Early warning is compared, and the disclosure can be to avoid crossing early warning, late early warning, missing the case where early warning, which can meet practical operation
Scene, and improve the accuracy of barrier early warning.
Embodiment two：
Corresponding with above-mentioned barrier method for early warning, the embodiment of the present disclosure two provides a kind of barrier prior-warning device,
It is specific as follows：
Figure 11 is a kind of barrier prior-warning device structure chart of the embodiment of the present disclosure two, as shown in figure 11, the device packet
It includes：
Detection of obstacles unit 110 is used for when an obstacle is detected, according to the location determination automobile of the barrier
The first lateral distance between the barrier and first longitudinal direction distance.
Specifically, detection of obstacles unit 110 is additionally operable to：It is regarded according to barrier corresponding pixel points in the disparity map
Difference determines that the position between position coordinates and the automobile and the barrier of the barrier under space coordinates is closed
System, obtains first lateral distance and the first longitudinal direction distance；Wherein, the space coordinates are to be located at the automobile
On image center be coordinate origin, be parallel to ground be directed toward headstock immediately ahead of be Y-axis positive direction, to refer to perpendicular to ground
Earthward lower section is Z axis positive direction, is directed toward on the right side of driver as X-axis positive direction with being parallel to ground.
Automobile position estimation unit 111 is used for the position at the directional velocity angle and the barrier according to automobile, estimation
The second lateral distance and second longitudinal direction distance of the automobile movement in pre-warning time.
Specifically, angle of the directional velocity angle of the automobile between headstock and wheel, wherein when the automobile is straight
When row, the directional velocity angle is 0, when the automobile is turned right, the directional velocity angle ＞ 0, and when the automobile turns left,
The directional velocity angle ＜ 0；If directional velocity angle >=0 and the barrier abscissa >=0 or the speed in X-axis
Deflection≤0 and the barrier abscissa≤0 in X-axis, according to the position at the directional velocity angle and the barrier of automobile
It sets, estimates the second lateral distance and second longitudinal direction distance of the automobile movement in pre-warning time.
Optionally, the second lateral distance and second longitudinal direction distance for estimating the automobile movement in pre-warning time, need root
According to the wheelbase and steering wheel angle of the automobile, the turning radius of the automobile is determined；Speed, acceleration based on the automobile
Degree and turning radius estimate the second lateral distance and second longitudinal direction distance of the automobile movement in the pre-warning time.
Optionally, the second lateral distance and second longitudinal direction distance for estimating the automobile movement in pre-warning time, according to institute
The wheelbase and steering wheel angle for stating automobile, determine the turning radius of the automobile；Speed, turning radius based on the automobile,
Estimate the second lateral distance and second longitudinal direction distance of the automobile movement in the pre-warning time.
Barrier prewarning unit 112, if being greater than or equal to first lateral distance for second lateral distance,
And the second longitudinal direction distance is greater than or equal to the first longitudinal direction distance, and early warning is carried out to the barrier.
Wherein, above-mentioned first lateral distance, the second lateral distance, first longitudinal direction distance, second longitudinal direction are apart from all >=0.
The function of modules and the realization process of effect specifically refer to and correspond to step in the above method in above-mentioned apparatus
Realization process, details are not described herein.
Embodiment three：
The embodiment of disclosure barrier prior-warning device can be applied on barrier Forewarning Terminal.Device embodiment can
By software realization, can also be realized by way of hardware or software and hardware combining.For implemented in software, as one
Device on a logical meaning, being will be corresponding in nonvolatile memory by the processor of barrier Forewarning Terminal where it
Computer program instructions read in memory what operation was formed.For hardware view, as shown in figure 12, hinder for the disclosure
A kind of hardware structure diagram of barrier Forewarning Terminal where hindering object prior-warning device, wherein processor 1201 is the barrier early warning
The control centre of device 1200 is passed through using the various pieces of various interfaces and the entire barrier prior-warning device of connection
Operation executes the software program and/or module being stored in memory 1202, and calls and be stored in memory 1202
Data execute the various functions and processing data of barrier prior-warning device 1200, to be carried out to the barrier prior-warning device
Integral monitoring.
Optionally, processor 1201 may include and (being not shown in Figure 12) one or more processing cores；Preferably, it handles
Device 1201 can integrate application processor and modem processor, wherein the main processing operation system of application processor, user
Interface and application program etc., modem processor mainly handle wireless communication.It is understood that above-mentioned modulatedemodulate is mediated
Reason device can not also be integrated into processor 1201.
Memory 1202 can be used for storing software program and module, and processor 1201 is stored in memory by operation
1202 software program and module, to perform various functions application and data processing.Memory 1202 includes mainly
(being not shown in Figure 12) storing program area and storage data field, wherein storing program area can storage program area, at least one
Application program etc. needed for function；Storage data field can be stored uses created number according to barrier prior-warning device 1200
According to (such as the image collected, the anaglyph that is calculated or processing obtained gray level image etc.) etc..
In addition, memory 1202 may include (being not shown in Figure 12) high-speed random access memory, can also include
(being not shown in Figure 12) nonvolatile memory, for example, at least a disk memory, flush memory device or other volatibility
Solid-state memory.Correspondingly, memory 1202 can also include (being not shown in Figure 12) Memory Controller, to provide place
Manage access of the device 1201 to memory 1202.
In some embodiments, device 1200 is also optional includes：Peripheral device interface 1203 and at least one periphery are set
It is standby.It can be with communication bus or signal wire (in Figure 12 not between processor 1201, memory 1202 and peripheral device interface 1203
Show) it is connected.Each peripheral equipment can be connected with communication bus or signal wire with peripheral device interface 1203.Specifically, peripheral
Equipment may include：Radio frequency component 1204, touch display screen 1205, CCD camera assembly 1206, audio component 1207, positioning group
At least one of part 1208 and power supply module 1209.
Wherein, CCD camera assembly 1206 is for acquiring image to be detected.Optionally, CCD camera assembly 1206 may include
At least two cameras.In some embodiments, at least two cameras can be respectively the left and right camera shooting in binocular camera
Head.
In some embodiments, CCD camera assembly 1206 can also include flash lamp.Flash lamp can be monochromatic temperature flash of light
Lamp can also be double-colored temperature flash lamp.Double-colored temperature flash lamp refers to the combination of warm light flash lamp and cold light flash lamp, Ke Yiyong
Light compensation under different-colour.
Other than each hardware exemplified by Figure 12, the usual root of barrier Forewarning Terminal in embodiment where device
According to the actual functional capability of the barrier Forewarning Terminal, it can also include other hardware, this is repeated no more.
It will be appreciated by persons skilled in the art that the barrier Forewarning Terminal exemplified by Figure 12 can be applied in automobile
On, it can also apply in the other equipments such as computer, smart mobile phone, the disclosure is not restricted this.
The disclosure also provides a kind of computer readable storage medium, is stored thereon with computer program, the computer journey
The step of any barrier method for early warning that the disclosure provides is realized when sequence is executed by processor.
For device embodiments, since it corresponds essentially to embodiment of the method, so related place is referring to method reality
Apply the part explanation of example.The apparatus embodiments described above are merely exemplary, wherein described be used as separating component
The unit of explanation may or may not be physically separated, and the component shown as unit can be or also may be used
Not to be physical unit, you can be located at a place, or may be distributed over multiple network units.It can be according to reality
Border needs to select some or all of module therein to realize the purpose of disclosure scheme.Those of ordinary skill in the art
Without creative efforts, you can to understand and implement.
The foregoing is merely the preferred embodiments of the disclosure, not limiting the disclosure, all essences in the disclosure
With within principle, any modification, equivalent substitution, improvement and etc. done should be included within the scope of the disclosure protection god.
Claims (9)
1. a kind of barrier method for early warning, which is characterized in that the method includes：
When an obstacle is detected, according between the location determination automobile of the barrier and the barrier first laterally away from
From with a distance from first longitudinal direction；
According to the position at the directional velocity angle and the barrier of automobile, estimate that second of the automobile movement in pre-warning time is horizontal
To distance and second longitudinal direction distance；
If second lateral distance is greater than or equal to first lateral distance, and the second longitudinal direction distance is greater than or equal to
The first longitudinal direction distance carries out early warning to the barrier.
2. according to the method described in claim 1, it is characterized in that, it is described when an obstacle is detected, determine automobile with it is described
The first lateral distance and first longitudinal direction distance, specific steps between barrier include：
According to the parallax value of barrier corresponding pixel points in the disparity map, determine that position of the barrier under space coordinates is sat
Mark and the position relationship between the automobile and the barrier, obtain first lateral distance and the first longitudinal direction
Distance；
Wherein, the space coordinates are using the image center on the automobile as coordinate origin, to be parallel to ground direction
It is Y-axis positive direction immediately ahead of headstock, to be directed toward below ground for Z axis positive direction perpendicular to ground, is driven with being parallel to ground direction
It is X-axis positive direction on the right side of the person of sailing.
3. according to the method described in claim 2, it is characterized in that, the directional velocity angle according to automobile and the barrier
Position, estimate the second lateral distance and second longitudinal direction distance of automobile movement in pre-warning time, specifically include：
Angle of the directional velocity angle of the automobile between headstock and wheel, wherein when the automobile is kept straight on, the speed
Deflection is 0, when the automobile is turned right, the directional velocity angle, when the automobile turns left, the directional velocity angle；
If the directional velocity angleAnd barrier abscissa in X-axisOr the directional velocity angleAnd the barrier
Hinder object abscissa in X-axisWhen, according to the position at the directional velocity angle and the barrier of automobile, estimate institute in pre-warning time
State the second lateral distance and second longitudinal direction distance of automobile movement.
4. wanting the method described in 3 according to right, which is characterized in that the second of the automobile movement is horizontal in the estimation pre-warning time
To distance and second longitudinal direction distance, specific steps include：
According to the wheelbase and steering wheel angle of the automobile, the turning radius of the automobile is determined；
Speed, acceleration based on the automobile and turning radius estimate second of the automobile movement in the pre-warning time
Lateral distance and second longitudinal direction distance.
5. according to the method described in claim 3, it is characterized in that, the automobile moves in the estimation pre-warning time second
Lateral distance and second longitudinal direction distance, specific steps include：
According to the wheelbase and steering wheel angle of the automobile, the turning radius of the automobile is determined；
Speed, turning radius based on the automobile estimate the second lateral distance of the automobile movement in the pre-warning time
With second longitudinal direction distance.
6. according to the method described in claim 1, it is characterized in that, first lateral distance, the second lateral distance, first vertical
All to distance, second longitudinal direction distance0。
7. a kind of barrier prior-warning device, which is characterized in that described device includes：
Detection of obstacles unit is used for when an obstacle is detected, according to the location determination automobile of the barrier and the barrier
Hinder the first lateral distance and first longitudinal direction distance between object；
Automobile position estimation unit is used for the position at the directional velocity angle and the barrier according to automobile, estimates pre-warning time
The second lateral distance and second longitudinal direction distance of the interior automobile movement；
Barrier prewarning unit, if being greater than or equal to first lateral distance, and described for second lateral distance
Two fore-and-aft distances are greater than or equal to the first longitudinal direction distance, and early warning is carried out to the barrier.
8. a kind of barrier Forewarning Terminal, which is characterized in that including memory, processor, communication interface, CCD camera assembly, with
And communication bus；
Wherein, the memory, processor, communication interface, CCD camera assembly carry out mutual lead to by the communication bus
Letter；
The CCD camera assembly sends described image to be detected for acquiring image to be detected, and by the communication bus
To the processor；
The memory, for storing computer program；
The processor, for executing the computer program stored on the memory, the processor executes the calculating
The step of when machine program to described image to be detected realization claim 1-6 any the methods.
9. a kind of computer readable storage medium, which is characterized in that be stored with computer in the computer readable storage medium
Program, the step of claim 1-6 any the method is realized when the computer program is executed by processor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810201703.9A CN108399394A (en) | 2018-03-12 | 2018-03-12 | Barrier method for early warning, device and terminal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810201703.9A CN108399394A (en) | 2018-03-12 | 2018-03-12 | Barrier method for early warning, device and terminal |
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| CN111578894A (en) * | 2020-06-02 | 2020-08-25 | 北京经纬恒润科技有限公司 | Method and device for determining heading angle of obstacle |
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