CN109311425A - A kind of alarming method by monitoring of vehicle blind zone, device, equipment and storage medium - Google Patents
A kind of alarming method by monitoring of vehicle blind zone, device, equipment and storage medium Download PDFInfo
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- CN109311425A CN109311425A CN201880001103.6A CN201880001103A CN109311425A CN 109311425 A CN109311425 A CN 109311425A CN 201880001103 A CN201880001103 A CN 201880001103A CN 109311425 A CN109311425 A CN 109311425A
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- alarm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
-
- 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
- G08B21/24—Reminder alarms, e.g. anti-loss alarms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Emergency Alarm Devices (AREA)
Abstract
The application belongs to technical field of vehicle safety, provides alarming method by monitoring, device, equipment and the storage medium of a kind of vehicle blind zone, which comprises obtains the video of right side camera and/or the shooting of left side camera；The picture frame for detecting video whether there is target object；If detecting the picture frame of video, there are the target objects, it is determined that location information of the target object in picture frame；According to location information of the target object in described image frame, controls alarm panel and combined aural and visual alarm carries out the alarm of corresponding level；Wherein, alarm panel is mounted in the driver's cabin of automobile, and combined aural and visual alarm is mounted on the outside of the automobile.Due to that can control the alarm panel being mounted in automobile cab according to the location information of target object and the combined aural and visual alarm for being mounted on automobile external carries out the warning reminding driver of corresponding level and pedestrian pays attention to spacing, improve the traffic safety of automobile.
Description
Technical field
The application belongs to technical field of vehicle safety more particularly to a kind of alarming method by monitoring of vehicle blind zone, device, sets
Standby and storage medium.
Background technique
With the development of the social economy, people's lives level is continuously improved, more and more automobiles enter the life of people
It is living, however while automobile offers convenience to people's lives, also increase security risk.
Show in traffic accident according to statistics, due to factors such as human eye physiological structure and Automobile Design, vehicle blind zone is caused
Contingency account for about 30 percent in China, 20 percent is accounted for about in the traffic accident in the U.S., so that automobile
Driving safety it is lower.It presently mainly alarms automobile lane change, type of alarm is single, and safety is low.
Summary of the invention
In view of this, the embodiment of the present application provides alarming method by monitoring, device, equipment and the storage of a kind of vehicle blind zone
Medium.Aiming to solve the problem that automobile, type of alarm is single in the process of moving, the not high problem of safety.
The first aspect of the embodiment of the present application provides a kind of alarming method by monitoring of vehicle blind zone, the monitoring, alarming side
Method includes:
The operating status for the automobile that the sensor of the automobile detects is obtained, and judges whether the operating status is pre-
If operating status；
When the operating status is preset operating state, the view of right side camera and/or the shooting of left side camera is obtained
Frequently；Wherein, the right side camera is mounted at the car right side tailstock, for shooting the blind area of the car right side；Institute
It states left side camera to be mounted at the automobile left side tailstock, for shooting the blind area of the automobile left side；
The picture frame of the video is detected with the presence or absence of target object；
If detecting the picture frame of the video, there are the target objects, it is determined that the target object is in described image
Location information in frame；
According to location information of the target object in described image frame, controls alarm panel and combined aural and visual alarm carries out pair
Answer the alarm of rank；Wherein, the alarm panel is mounted in the driver's cabin of the automobile, and the combined aural and visual alarm is mounted on described
The outside of automobile.
In one embodiment, the location information according to the target object in described image frame, control alarm
Screen and combined aural and visual alarm carry out the alarm of corresponding level, comprising:
Determine the target object relative to the vapour according to location information of the target object in described image frame
The range information of vehicle；
If the range information within the scope of the first pre-determined distance, controls the alarm panel and combined aural and visual alarm carries out one
Grade alarm；
If the range information within the scope of the second pre-determined distance, controls the alarm panel and combined aural and visual alarm carries out two
Grade alarm；
If the range information within the scope of third pre-determined distance, controls the alarm panel and combined aural and visual alarm carries out three
Grade alarm.
In one embodiment, if there are the target objects for the picture frame for detecting the video, it is determined that institute
Location information of the target object in described image frame is stated, including；
If detecting the picture frame of the video there are the target object, it will test that there are the target objects
Picture frame determines the location information of the target object in the reference frame as current reference frame.
In one embodiment, the location information according to the target object in described image frame, control alarm
Screen and combined aural and visual alarm carry out the alarm of corresponding level, further includes:
It detects in the picture frame obtained within a preset time with the presence or absence of the target object；
The target object if it exists, it is determined that in the picture frame that the target object obtains in the preset time
Location information；
According to the location information of the target object in the reference frame and the target object in the preset time
Location information in the picture frame of interior acquisition determines motion profile of the target object relative to the automobile；
Corresponding alarm time interval is determined according to the motion profile, and controls the alarm panel and the sound-light alarm
Device carries out the alarm of corresponding level every the alarm time interval.
In one embodiment, described that corresponding alarm time interval is determined according to the motion profile, and described in control
Alarm panel and the combined aural and visual alarm carry out the alarm of corresponding level every the alarm time interval, comprising:
The direction of motion and speed of the relatively described automobile of the target object are determined according to the motion profile；
Corresponding alarm time interval is determined according to the direction of motion and speed, and controls the alarm panel and the sound
Light crossing-signal carries out the alarm of corresponding level every the alarm time interval.
In one embodiment, the operating status of the detection automobile, and judge whether the operating status is default fortune
Row state, comprising:
The speed of service for detecting automobile by vehicle speed sensor is obtained, and judges the speed of service whether in default operation
In velocity interval.
The application second aspect provides a kind of monitoring alarm of vehicle blind zone, and the monitoring alarm includes:
First detection module, the operating status for the automobile that the sensor for obtaining the automobile detects, and judge institute
State whether operating status is preset operating state；
First obtains module, for obtaining right side camera and/or a left side when the operating status is preset operating state
The video of side camera shooting；Wherein, the camera is mounted at the car right side tailstock, for shooting the Automobile Right
The blind area of side；The left side camera is mounted at the automobile left side tailstock, for shooting the blind area of the automobile left side；
Second detection module, for detecting the picture frame of the video with the presence or absence of target object；
First determining module, if there are the target objects for the picture frame for detecting the video, it is determined that described
Location information of the target object in described image frame；
First alarm module controls alarm panel for the location information according to the target object in described image frame
The alarm of corresponding level is carried out with combined aural and visual alarm；Wherein, the alarm panel is mounted in the driver's cabin of the automobile, the sound
Light crossing-signal is mounted on the outside of the automobile.
In one embodiment, first alarm module includes:
First determination unit, for determining the target according to location information of the target object in described image frame
Range information of the object relative to the automobile；
First alarm unit, if controlling the alarm panel within the scope of the first pre-determined distance for the range information
Level-one alarm is carried out with combined aural and visual alarm；
Second alarm unit, if controlling the alarm panel within the scope of the second pre-determined distance for the range information
Secondary alarm is carried out with combined aural and visual alarm；
Third alarm unit, if controlling the alarm panel within the scope of third pre-determined distance for the range information
Three-level alarm is carried out with combined aural and visual alarm.
The third aspect of the embodiment of the present application provides a kind of monitoring, alarming equipment, including memory, processor and storage
In the memory and the computer program that can run on the processor, the processor execute the computer program
The step of Shi Shixian above method.
The fourth aspect of the embodiment of the present application provides a kind of computer readable storage medium, and computer readable storage medium is deposited
The step of containing computer program, the above method realized when above-mentioned computer program is executed by processor.
In the embodiment of the present application, by obtaining the operating status for the automobile that the sensor of the automobile detects, and sentence
Whether the operating status of breaking is preset operating state；When the operating status is preset operating state, right side camera shooting is obtained
Head and/or the video of left side camera shooting；Wherein, the right side camera is mounted at the car right side tailstock, is used for
Shoot the blind area of the car right side；The left side camera is mounted at the automobile left side tailstock, for shooting the vapour
Blind area on the left of vehicle；The picture frame of the video is detected with the presence or absence of target object；If detecting, the picture frame of the video is deposited
In the target object, it is determined that location information of the target object in described image frame；Existed according to the target object
Location information in described image frame, controls alarm panel and combined aural and visual alarm carries out the alarm of corresponding level；Wherein, the alarm
Screen is mounted in the driver's cabin of the automobile, and the combined aural and visual alarm is mounted on the outside of the automobile.Due to can be according to target
The location information of object controls the alarm that the alarm panel being mounted in automobile cab carries out corresponding level, reminds driver's note
Anticipate pedestrian, and the warning reminding pedestrian that the controllable combined aural and visual alarm for being mounted on automobile external carries out corresponding level pays attention to spacing, from
And the prompting driver and pedestrian of intelligence pay attention to spacing, improve the traffic safety of automobile.
Detailed description of the invention
It in order to more clearly explain the technical solutions in the embodiments of the present application, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only some of the application
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the flow diagram of the alarming method by monitoring for the vehicle blind zone that the embodiment of the present application one provides；
Fig. 2 is the flow diagram of the alarming method by monitoring for the vehicle blind zone that the embodiment of the present application two provides；
Fig. 3 is the structural schematic diagram of the monitoring alarm for the vehicle blind zone that the embodiment of the present application three provides；
Fig. 4 is the structural schematic diagram for the monitoring, alarming equipment that the embodiment of the present application four provides.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, so as to provide a thorough understanding of the present application embodiment.However, it will be clear to one skilled in the art that there is no these specific
The application also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, so as not to obscure the description of the present application with unnecessary details.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in following methods embodiment, respectively
The execution sequence of process should be determined by its function and internal logic, and the implementation process without coping with each embodiment constitutes any limit
It is fixed.
In order to illustrate technical solution described herein, the following is a description of specific embodiments.
Embodiment one
The embodiment of the present application one provides a kind of alarming method by monitoring of vehicle blind zone, as shown in Figure 1, which comprises
Step S101, the operating status for the automobile that the sensor of the acquisition automobile detects, and judge the operation shape
Whether state is preset operating state；
In the embodiment of the present application, the status information of the automobile detected by the sensor of automobile itself can be obtained, or
The running state information of automobile is detected by the related sensor being set in advance on automobile.The operating status of above-mentioned automobile is believed
The status information that breath can be the speed of service of automobile or whether automobile starts.It is above-mentioned to judge whether the operating status is default
Operating status can be the speed of service for judging automobile whether in preset velocity interval, or be also possible to judge that automobile is
The no starting state being in.
In one embodiment, the operating status of the detection automobile, and judge whether the operating status is default fortune
Row state, comprising: obtain the speed of service for detecting automobile by vehicle speed sensor, and judge the speed of service whether default
In operational speed range.In a particular application, the operation that (such as velocity sensor) automobile is detected by related sensor can be obtained
Speed, or the position that can also be moved within a certain period of time by automobile, calculate the speed of service of automobile.Pre-set velocity model
It encloses, as pre-set velocity range can be, setting car speed is greater than 0 (indicating speed) or (expression is when speed greater than 10km/h
Degree reaches a timing), it can be configured as other numerical value certainly, can specifically be set, not limited this according to actual needs.
After obtaining the speed of service of automobile, judge whether in the range of the default speed of service.
Step S102, when the operating status is preset operating state, right side camera and/or left side camera are obtained
The video of shooting；Wherein, the right side camera is mounted at the car right side tailstock, for shooting the car right side
Blind area；The left side camera is mounted at the automobile left side tailstock, for shooting the blind area of the automobile left side.
In the embodiment of the present application, above-mentioned operating status be preset operating state it is to be understood that above-mentioned automobile fortune
Scanning frequency degree is in preset velocity interval or above-mentioned automobile is in the state of starting.When the speed of service is in preset speed model
In enclosing, or when detecting that automobile be in starting state, the video that right side camera and/or left side camera are shot is obtained.
Above-mentioned right side camera is mountable at the car right side tailstock, for shooting the blind area of car right side.Specifically, above-mentioned right side is taken the photograph
As head is mounted at the tailstock of car right side forward, shooting can take the blind area of car right side pilot's line of vision；Above-mentioned left side is taken the photograph
The blind area of automobile left side is shot at the tailstock of automobile left side forward as head is mounted on.For example, when above-mentioned automobile is large commercial vapour
Che Shi at the height in 1.5 meters to 2 meters or so of the mountable tailstock portion on the right side of vehicle body of above-mentioned right side camera, is shot from back to front
The video of car right side, at the height in 1.5 meters to 2 meters or so of the mountable tailstock portion on the left of vehicle body of above-mentioned left side camera, from
The video of shooting automobile left side before backward.Certainly, the position of above-mentioned right camera and/or the installation of above-mentioned left side camera can basis
The car category of practical application is installed, and is not limited this.
Step S103, the picture frame for detecting the video whether there is target object；
In the embodiment of the present application, when obtaining the video that above-mentioned right side camera and/or left side camera take, inspection
The picture frame surveyed in video whether there is target object, and above-mentioned target object can be people or other automobiles, it is of course possible to
It is other targets (such as animal or other articles).Specifically, can be detected by machine vision algorithm in the picture frame in video is
It is no that there are target objects.
If step S104, detecting the picture frame of the video, there are the target objects, it is determined that the target object
Location information in described image frame；
In the embodiment of the present application, the picture frame in video that above-mentioned right side camera and/or left side camera are shot is real
It is the process projected to the scene of real world in video camera imaging picture on border.Pre-establish object point in real world with
Mapping relations between the pixel of above-mentioned right side camera and/or the image of left side camera shooting, that is, pass through video camera mark
Determine technology, pre-establish coordinate system, and determines actual position relationship of each location of pixels relative to garage in coordinate system.Cause
This, if detecting the picture frame of above-mentioned video, there are when target object, it may be determined that the pixel institute of target object is in a coordinate system
Location information, that is, location information of the target object in picture frame has been determined.
In one embodiment, if there are the target objects for the picture frame for detecting the video, it is determined that institute
State location information of the target object in described image frame, comprising: there are the targets if detecting the picture frame of the video
Object then will test that there are the picture frames of the target object as current reference frame, and determine that the target object exists
Location information in the reference frame.
Step S105, the location information according to the target object in described image frame controls alarm panel and acousto-optic report
Alert device carries out the alarm of corresponding level；Wherein, the alarm panel is mounted in the driver's cabin of the automobile, the combined aural and visual alarm
It is mounted on the outside of the automobile.
In the embodiment of the present application, the above-mentioned location information according to the target object in described image frame, it will be appreciated that
For the distance of the automobile distance according to target object, controls the control alarm panel and combined aural and visual alarm carries out corresponding level
Alarm；If position of the target object in described image frame is corresponding longer-distance position, then alarm panel harmony is controlled
The alarm of light crossing-signal progress low level；When position of the target object in described image frame is the position of corresponding closer distance,
It then controls alarm panel and/or combined aural and visual alarm carries out high level alarm.
In one embodiment, the location information according to the target object in described image frame, control alarm
Screen and combined aural and visual alarm carry out the alarm of corresponding level, comprising: are believed according to position of the target object in described image frame
Breath determines range information of the target object relative to the automobile；If the range information is in the first pre-determined distance range
It is interior, then it controls the alarm panel and combined aural and visual alarm carries out level-one alarm；If the range information is in the second pre-determined distance range
It is interior, then it controls the alarm panel and combined aural and visual alarm carries out secondary alarm；If the range information is in third pre-determined distance range
It is interior, then it controls the alarm panel and combined aural and visual alarm carries out three-level alarm.If detecting the picture frame of above-mentioned video, there are targets
When object, it may be determined that the pixel of target object location information in a coordinate system, that is, determined target object in picture frame
In location information, and then can determine range information of the target object relative to automobile.Above-mentioned first pre-determined distance is preset to be greater than
Second pre-determined distance, the second pre-determined distance are greater than third pre-determined distance, above-mentioned first pre-determined distance, the second pre-determined distance and third
Pre-determined distance can be set in advance according to actual needs.The alarm form that above-mentioned level-one alarm, secondary alarm and three-level are alarmed
It can also be set, not limited this in advance.
In a particular application, when above-mentioned target object is pedestrian, believed according to position of the institute pedestrian in described image frame
Breath determines range information of the pedestrian relative to the automobile, generates alarm according to the relative position of vehicle and pedestrian.As above
3m, 2m and 1m can be preset as respectively by stating the first pre-determined distance, the second pre-determined distance and third pre-determined distance.As pedestrian and above-mentioned vapour
The alarm of different stage is generated when the distance in workshop is 3m, 2m and 1m.Level-one is generated when pedestrian is 3m at a distance from garage
Alarm, the level-one alarm may be configured as interior alarm panel and show green pedestrian's icon and one sound of buzzing, the outer sound-light alarm of vehicle
Device does not work；Secondary alarm is generated when pedestrian is 2 meters of distance at a distance from garage, the secondary alarm may be configured as car
Alarm panel shows that yellow pedestrian icon and two sound of continuous buzzing, the outer combined aural and visual alarm of vehicle play voice " please noting that far from vehicle "
And light starts to flash 5s；Three-level alarm is generated when pedestrian is with garage distance 1m, the three-level alarm may be configured as
Alarm panel is displayed in red pedestrian's icon and 3 sound of continuous buzzing in driver's cabin, and the outer combined aural and visual alarm of vehicle plays voice and " please notes that remote
From vehicle " and light start flash 5s.It should be noted that above-mentioned level-one alarm corresponds to low level alarm, above-mentioned second level report
The alarm of alert and three-level corresponds to high level alarm, and three-level alarm is advanced alert levels more higher leveled than secondary alarm rank.
In one embodiment, the location information according to the target object in described image frame, control alarm
Whether screen and combined aural and visual alarm carry out the alarm of corresponding level, further includes: deposit in the picture frame that detection obtains within a preset time
In the target object；The target object if it exists, it is determined that the figure that the target object obtains in the preset time
As the location information in frame；According to the location information of the target object in the reference frame with the target object described
The location information in picture frame obtained in preset time, determines motion profile of the target object relative to the automobile；
Corresponding alarm time interval is determined according to the motion profile, and controls the alarm panel and the combined aural and visual alarm every institute
State the alarm that alarm time interval carries out corresponding level.
It can be seen that in the embodiment of the present application, the operation for the automobile that the sensor by obtaining the automobile detects
State, and judge whether the operating status is preset operating state；When the operating status is preset operating state, obtain
Right side camera and/or the video of left side camera shooting；Wherein, the right side camera is mounted on the car right side tailstock
Place, for shooting the blind area of the car right side；The left side camera is mounted at the automobile left side tailstock, for shooting
The blind area of the automobile left side；The picture frame of the video is detected with the presence or absence of target object；If detecting the figure of the video
As there are the target objects for frame, it is determined that location information of the target object in described image frame；According to the target
Location information of the object in described image frame, controls alarm panel and combined aural and visual alarm carries out the alarm of corresponding level；Wherein, institute
It states alarm panel to be mounted in the driver's cabin of the automobile, the combined aural and visual alarm is mounted on the outside of the automobile.Due to can root
According to the location information of target object, the alarm that the alarm panel being mounted in automobile cab carries out corresponding level is controlled, prompting is driven
The person of sailing watches for pedestrians, and the warning reminding pedestrian that the controllable combined aural and visual alarm for being mounted on automobile external carries out corresponding level pays attention to vehicle
Away from, thus intelligence prompting driver and pedestrian pay attention to spacing, improve the traffic safety of automobile.
Embodiment two
The present embodiment is the further explanation to the method and step in embodiment one, same or similar with above-described embodiment one
Place, for details, reference can be made to the associated descriptions of embodiment one, and details are not described herein again.As shown in Fig. 2, in the present embodiment, it is above-mentioned
After step S103, comprising:
Step S201, if the picture frame for detecting the video will test described in presence there are the target object
The picture frame of target object determines the location information of the target object in the reference frame as current reference frame.
In the embodiment of the present application, if detecting the picture frame of the video, there are the target objects, when in above-mentioned view
Target object is detected in the picture frame of frequency, then will detect the presence of the picture frame of the target object for the first time as reference
Frame, and determine location information of the target object in reference frame, while recording the time of the reference frame shooting, so as to root
Target object is determined according to location information of the target object in the location information and reference frame in the picture frame of subsequent video
The direction of motion and movement velocity.And the report of corresponding level is carried out according to location information of the target object in described image frame
It is alert.
Step S202 is detected in the picture frame obtained within a preset time with the presence or absence of the target object；
In the embodiment of the present application, when will test in step S201, there are the picture frames of the target object as current
Reference frame, and after determining the location information of the target object in the reference frame, the figure that is obtained in detection preset time
As whether there is above-mentioned target object in frame.
Step S203, the if it exists target object, it is determined that the target object obtained in the preset time
Location information in picture frame；
In the embodiment of the present application, if there are above-mentioned target objects in the picture frame obtained within a preset time, it is determined that
Location information of the target object in reference frame, while the shooting time of the picture frame obtained in preset time.When default
The picture frame of interior acquisition can be individual or multiple images, multiple images in this way can determine above-mentioned in multiple picture frames respectively
The location information of target object and the time for shooting multiple picture frames.
Step S204, according to the location information of the target object in the reference frame with the target object described
The location information in picture frame obtained in preset time, determines motion profile of the target object relative to the automobile；
It in the embodiment of the present application, can be according to location information of the target object in above-mentioned reference frame and the target object
The location information in picture frame obtained in the preset time, when in conjunction with the time for shooting reference frame and shooting above-mentioned default
The time of the picture frame of interior acquisition, it may be determined that go out motion profile of the target object relative to automobile in preset time, above-mentioned fortune
Dynamic rail mark includes the direction of motion and movement velocity of opposite automobile.As can determine target object relative to automobile in preset time
The direction of motion and movement velocity, i.e. target object relative to the automobile be by as far as it is close or from the near to the remote with much speed into
Row movement.
Step S205 determines corresponding alarm time interval according to the motion profile, and controls the alarm panel and institute
State the alarm that combined aural and visual alarm carries out corresponding level every the alarm time interval.
In the embodiment of the present application, above-mentioned that corresponding alarm time interval is determined according to motion profile, it can be and set in advance
Determine the direction of motion and the corresponding alarm time interval of movement velocity preset amount of motion profile, and controls the alarm panel
The alarm of corresponding level is carried out every the alarm time interval with the combined aural and visual alarm.
In one embodiment, described that corresponding alarm time interval is determined according to the motion profile, and described in control
Alarm panel and the combined aural and visual alarm carry out the alarm of corresponding level every the alarm time interval, comprising: according to the fortune
Dynamic rail mark determines the direction of motion and speed of the relatively described automobile of the target object；It is determined according to the direction of motion and speed
Corresponding alarm time interval, and control the alarm panel and the combined aural and visual alarm and carried out pair every the alarm time interval
Answer the alarm of rank.
For example, the direction of motion and movement velocity size for presetting motion profile are set in advance in a kind of application scenarios
Fixed corresponding alarm time interval may is that when preset target object relative to the direction of motion of automobile be from as far as close,
And in corresponding distance range of the target object in the alarm of above-mentioned level-one, secondary alarm or three-level alarm at a distance from automobile
When, then not preset alarm time interval, the location information according to the target object relative to automobile, carry out corresponding alert levels
Alarm, and continuous alarm.The first alarm time interval is preset, first alarm time interval is set as 0；When pre-
First setting target object relative to the direction of motion of automobile and is less than relative to the movement velocity of automobile preset from closely to remote
When speed, then the second alarm time interval is preset, second alarm time interval is longer (such as 5s or other time)；When
Target object, which is preset, relative to the direction of motion of automobile and is greater than relative to the movement velocity of automobile default from closely to remote
Speed when, then preset third alarm time interval, the third alarm time interval is longer (such as 10s or other time)
Or the time is infinitely great (not alarming)；When target object is to maintain constant relative to the direction of motion of automobile, i.e., relatively
It is zero in the movement velocity of automobile, then can sets time of fire alarming according to location information of the target object in described image frame, such as
Within the scope of third pre-determined distance (in such as 1 meter or in other distance ranges), then set the 4th alarm time interval (such as 2s or its
Its time), i.e., expression pedestrian and spacing are constantly in the spacing of three-level alarm, and the shorter interval alarms time is arranged；Second
Within the scope of pre-determined distance (in such as 2 meters or in other distance ranges), then the 5th alarm time interval is set (when such as 5s or other
Between), i.e., expression pedestrian and spacing are constantly in the spacing of secondary alarm, are arranged relative to the medium interval alarms time；?
Within the scope of first pre-determined distance (in such as 3 meters or in other distance ranges), then set the 6th alarm time interval (such as 10s or its
Its time), i.e., expression pedestrian and spacing are constantly in the spacing of level-one alarm, when being arranged relative to longer interval alarms
Between, or be arranged and do not alarm.
It can be seen that in the embodiment of the present application, on the one hand, since peace can be controlled according to the location information of target object
Alarm panel in automobile cab carries out the alarm of corresponding level, and driver is reminded to watch for pedestrians, controllable to be mounted on vapour
The warning reminding pedestrian that combined aural and visual alarm outside vehicle carries out corresponding level pays attention to spacing, thus the prompting driver of intelligence and row
People pays attention to spacing, improves the traffic safety of automobile；On the other hand, corresponding report can be determined according to the motion profile of target object
Alert time interval, and control the alarm panel and the combined aural and visual alarm and carry out corresponding level every the alarm time interval
Alarm is reduced to driver and target object to further carry out the alarm of intelligence by alarm panel and combined aural and visual alarm
The traffic safety of automobile is improved while interference alarm.
Embodiment three
The embodiment of the present application provides a kind of structural schematic diagram of the monitoring alarm of vehicle blind zone, as shown in figure 3, described
Monitoring alarm 300 includes:
First detection module 301, the operating status for the automobile that the sensor for obtaining the automobile detects, and judge
Whether the operating status is preset operating state；
In one embodiment, the first detection module is specifically used for obtaining the fortune for detecting automobile by vehicle speed sensor
Scanning frequency degree, and judge the speed of service whether in default operational speed range.
First obtain module 302, for when the operating status be preset operating state when, obtain right side camera and/
Or the video of left side camera shooting；Wherein, the camera is mounted at the car right side tailstock, for shooting the vapour
Blind area on the right side of vehicle；The left side camera is mounted at the automobile left side tailstock, for shooting the blind of the automobile left side
Area；
Second detection module 303, for detecting the picture frame of the video with the presence or absence of target object；
First determining module 304, if there are the target objects for the picture frame for detecting the video, it is determined that institute
State location information of the target object in described image frame；
In one embodiment, if there are the mesh for picture frame of first determining module for detecting the video
Object is marked, then will test that there are the picture frames of the target object as current reference frame, and determine the target object
Location information in the reference frame.
First alarm module 305, for the location information according to the target object in described image frame, control alarm
Screen and combined aural and visual alarm carry out the alarm of corresponding level；Wherein, the alarm panel is mounted in the driver's cabin of the automobile, described
Combined aural and visual alarm is mounted on the outside of the automobile.
In one embodiment, first alarm module 305 specifically includes:
First determination unit, for determining the target according to location information of the target object in described image frame
Range information of the object relative to the automobile；
First alarm unit, if controlling the alarm panel within the scope of the first pre-determined distance for the range information
Level-one alarm is carried out with combined aural and visual alarm；
Second alarm unit, if controlling the alarm panel within the scope of the second pre-determined distance for the range information
Secondary alarm is carried out with combined aural and visual alarm；
Third alarm unit, if controlling the alarm panel within the scope of third pre-determined distance for the range information
Three-level alarm is carried out with combined aural and visual alarm.
In one embodiment, first alarm module 305 is specific further include:
First detection unit, for detecting in the picture frame obtained within a preset time with the presence or absence of the target object；
First acquisition unit, for the target object if it exists, it is determined that the target object is in the preset time
Location information in the picture frame of interior acquisition；
Second determination unit, for according to target object location information in the reference frame and the target pair
As the location information in the picture frame that obtains in the preset time, fortune of the target object relative to the automobile is determined
Dynamic rail mark；
4th alarm unit for determining corresponding alarm time interval according to the motion profile, and controls the report
Alert screen and the combined aural and visual alarm carry out the alarm of corresponding level every the alarm time interval.
In one embodiment, the 4th alarm unit is specifically used for determining the target pair according to the motion profile
As the direction of motion and speed of the relatively described automobile；Corresponding alarm time interval is determined according to the direction of motion and speed,
And control the alarm that the alarm panel and the combined aural and visual alarm carry out corresponding level every the alarm time interval.
In the embodiment of the present application, by obtaining the operating status for the automobile that the sensor of the automobile detects, and sentence
Whether the operating status of breaking is preset operating state；When the operating status is preset operating state, right side camera shooting is obtained
Head and/or the video of left side camera shooting；Wherein, the right side camera is mounted at the car right side tailstock, is used for
Shoot the blind area of the car right side；The left side camera is mounted at the automobile left side tailstock, for shooting the vapour
Blind area on the left of vehicle；The picture frame of the video is detected with the presence or absence of target object；If detecting, the picture frame of the video is deposited
In the target object, it is determined that location information of the target object in described image frame；Existed according to the target object
Location information in described image frame, controls alarm panel and combined aural and visual alarm carries out the alarm of corresponding level；Wherein, the alarm
Screen is mounted in the driver's cabin of the automobile, and the combined aural and visual alarm is mounted on the outside of the automobile.Due to can be according to target
The location information of object controls the alarm that the alarm panel being mounted in automobile cab carries out corresponding level, reminds driver's note
Anticipate pedestrian, and the warning reminding pedestrian that the controllable combined aural and visual alarm for being mounted on automobile external carries out corresponding level pays attention to spacing, from
And the prompting driver and pedestrian of intelligence pay attention to spacing, improve the traffic safety of automobile.
Example IV
The embodiment of the present application provides a kind of monitoring system of vehicle blind zone, and the monitoring system includes monitoring, alarming equipment,
Sensor, alarm panel, combined aural and visual alarm and camera, the monitoring, alarming equipment respectively with the sensor, the alarm panel,
The combined aural and visual alarm is connected with the camera；The camera may include right side camera and/or left side camera, described
Right side camera is mounted at the car right side tailstock, for shooting the blind area of the car right side；The left side camera
It is mounted at the automobile left side tailstock, for shooting the blind area of the automobile left side；The alarm panel is mounted on the automobile
In driver's cabin, the combined aural and visual alarm is mounted on the outside of the automobile.
As shown in figure 4, being the structural schematic diagram of monitoring, alarming equipment provided by the embodiments of the present application.The monitoring, alarming is set
Standby 400 include: processor 401, memory 402 and are stored in above-mentioned memory 402 and can transport on above-mentioned processor 401
Capable computer program 403.Above-mentioned processor 401 realizes the monitoring of above-mentioned vehicle blind zone when executing above-mentioned computer program 403
Step in alarm method embodiment, such as step 101 shown in FIG. 1 is to 105 and/or step 201 shown in Fig. 2 to 205.
Illustratively, above-mentioned computer program 403 can be divided into one or more units/modules, said one or
The multiple units/modules of person are stored in above-mentioned memory 402, and are executed by above-mentioned processor 401, to complete the application.On
Stating one or more units/modules can be the series of computation machine program instruction section that can complete specific function, the instruction segment
For describing implementation procedure of the above-mentioned computer program 403 in above-mentioned monitoring, alarming equipment 400.For example, above-mentioned computer journey
Sequence 403 can be divided into first detection module, the first acquisition module, the second detection module, the first determining module, the first alarm
Module, each module concrete function have been described in above-described embodiment three, are not repeating herein.
Above-mentioned monitoring, alarming equipment 400 may include, but be not limited only to, processor 401, memory 402.Those skilled in the art
Member is appreciated that Fig. 4 is only the example of monitoring, alarming equipment 400, does not constitute the restriction to monitoring, alarming equipment 400, can
To include perhaps combining certain components or different components, such as above-mentioned monitoring, alarming than illustrating more or fewer components
Equipment 400 can also include input-output equipment, network access equipment, bus etc..
Alleged processor 401 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
Above-mentioned memory 402 can be the internal storage unit of monitoring, alarming equipment 400, such as monitoring, alarming equipment 400
Hard disk or memory.Above-mentioned memory 402 is also possible to the External memory equipment of above-mentioned monitoring, alarming equipment 400, such as above-mentioned
The plug-in type hard disk being equipped in monitoring, alarming equipment 400, intelligent memory card (Smart Media Card, SMC), secure digital
(Secure Digital, SD) card, flash card (Flash Card) etc..Further, above-mentioned memory 402 can also both include
The internal storage unit of above-mentioned monitoring, alarming equipment 400 also includes External memory equipment.Above-mentioned memory 402 is above-mentioned for storing
Other programs and data needed for computer program and above-mentioned monitoring, alarming equipment 400.Above-mentioned memory 402 can be also used for
Temporarily store the data that has exported or will export.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of above-mentioned apparatus is divided into different functional unit or module, more than completing
The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list
Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above-mentioned intelligence
The specific work process of unit in terminal, module, can refer to corresponding processes in the foregoing method embodiment, no longer superfluous herein
It states.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
Scope of the present application.
In embodiment provided herein, it should be understood that disclosed device and method can pass through others
Mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of above-mentioned module or unit,
Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be with
In conjunction with or be desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or discussed
Mutual coupling or direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING of device or unit or
Communication connection can be electrical property, mechanical or other forms.
Above-mentioned unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.Some or all of unit therein can be selected to realize the embodiment of the present application scheme according to the actual needs
Purpose.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If above-mentioned integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, the application realizes above-described embodiment side
All or part of the process in method can also instruct relevant hardware to complete, above-mentioned computer by computer program
Program can be stored in a computer readable storage medium, and the computer program is when being executed by processor, it can be achieved that above-mentioned each
The step of a embodiment of the method.Wherein, above-mentioned computer program includes computer program code, and above-mentioned computer program code can
Think source code form, object identification code form, executable file or certain intermediate forms etc..Above-mentioned computer-readable medium can be with
It include: any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic disk, light that can carry above-mentioned computer program code
Disk, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random
Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that above-mentioned computer
The content that readable medium includes can carry out increase and decrease appropriate according to the requirement made laws in jurisdiction with patent practice, such as
In certain jurisdictions, according to legislation and patent practice, computer-readable medium do not include be electric carrier signal and telecommunications letter
Number.
Embodiment described above is only to illustrate the technical solution of the application, rather than its limitations；Although referring to aforementioned reality
Example is applied the application is described in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope of each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution should all
Comprising within the scope of protection of this application.
Claims (10)
1. a kind of alarming method by monitoring of vehicle blind zone, which is characterized in that the alarming method by monitoring includes:
The operating status for the automobile that the sensor of the automobile detects is obtained, and judges whether the operating status is default fortune
Row state；
When the operating status is preset operating state, the video of right side camera and/or the shooting of left side camera is obtained；Its
In, the right side camera is mounted at the car right side tailstock, for shooting the blind area of the car right side；The left side
Camera is mounted at the automobile left side tailstock, for shooting the blind area of the automobile left side；
The picture frame of the video is detected with the presence or absence of target object；
If detecting the picture frame of the video, there are the target objects, it is determined that the target object is in described image frame
Location information；
According to location information of the target object in described image frame, controls alarm panel and combined aural and visual alarm carries out respective stages
Other alarm；Wherein, the alarm panel is mounted in the driver's cabin of the automobile, and the combined aural and visual alarm is mounted on the automobile
Outside.
2. alarming method by monitoring as described in claim 1, which is characterized in that it is described according to the target object in described image
Location information in frame, controls alarm panel and combined aural and visual alarm carries out the alarm of corresponding level, comprising:
Determine the target object relative to the automobile according to location information of the target object in described image frame
Range information；
If the range information within the scope of the first pre-determined distance, controls the alarm panel and combined aural and visual alarm carries out level-one report
It is alert；
If the range information within the scope of the second pre-determined distance, controls the alarm panel and combined aural and visual alarm carries out second level report
It is alert；
If the range information within the scope of third pre-determined distance, controls the alarm panel and combined aural and visual alarm carries out three-level report
It is alert.
3. alarming method by monitoring as described in claim 1, which is characterized in that if the picture frame for detecting the video is deposited
In the target object, it is determined that location information of the target object in described image frame, comprising:
If detecting the picture frame of the video there are the target object, it will test that there are the images of the target object
Frame determines the location information of the target object in the reference frame as current reference frame.
4. alarming method by monitoring as claimed in claim 3, which is characterized in that it is described according to the target object in described image
Location information in frame, controls alarm panel and combined aural and visual alarm carries out the alarm of corresponding level, further includes:
It detects in the picture frame obtained within a preset time with the presence or absence of the target object；
The target object if it exists, it is determined that the position in picture frame that the target object obtains in the preset time
Information；
It is obtained in the preset time according to the location information of the target object in the reference frame with the target object
The location information in picture frame taken determines motion profile of the target object relative to the automobile；
Corresponding alarm time interval is determined according to the motion profile, and controls the alarm panel and the combined aural and visual alarm is every
The alarm of corresponding level is carried out every the alarm time interval.
5. alarming method by monitoring as claimed in claim 4, which is characterized in that it is described determined according to the motion profile it is corresponding
Alarm time interval, and control the alarm panel and the combined aural and visual alarm and carry out corresponding level every the alarm time interval
Alarm, comprising:
The direction of motion and speed of the relatively described automobile of the target object are determined according to the motion profile；
Corresponding alarm time interval is determined according to the direction of motion and speed, and controls the alarm panel and the acousto-optic report
Alert device carries out the alarm of corresponding level every the alarm time interval.
6. such as alarming method by monitoring described in any one of claim 1 to 5, which is characterized in that the operation shape of the detection automobile
State, and judge whether the operating status is preset operating state, comprising:
The speed of service for detecting automobile by vehicle speed sensor is obtained, and judges the speed of service whether in the default speed of service
In range.
7. a kind of monitoring alarm of vehicle blind zone, which is characterized in that the monitoring alarm includes:
First detection module, the operating status for the automobile that the sensor for obtaining the automobile detects, and judge the fortune
Whether row state is preset operating state；
First obtains module, for obtaining right side camera and/or left side being taken the photograph when the operating status is preset operating state
The video shot as head；Wherein, the right side camera is mounted at the car right side tailstock, for shooting the Automobile Right
The blind area of side；The left side camera is mounted at the automobile left side tailstock, for shooting the blind area of the automobile left side；
Second detection module, for detecting the picture frame of the video with the presence or absence of target object；
First determining module, if there are the target objects for the picture frame for detecting the video, it is determined that the target
Location information of the object in described image frame；
First alarm module controls alarm panel harmony for the location information according to the target object in described image frame
The alarm of light crossing-signal progress corresponding level；Wherein, the alarm panel is mounted in the driver's cabin of the automobile, the acousto-optic report
Alert device is mounted on the outside of the automobile.
8. monitoring alarm as claimed in claim 7, which is characterized in that first alarm module includes:
First determination unit, for determining the target object according to location information of the target object in described image frame
Range information relative to the automobile；
First alarm unit, if controlling the alarm panel harmony within the scope of the first pre-determined distance for the range information
Light crossing-signal carries out level-one alarm；
Second alarm unit, if controlling the alarm panel harmony within the scope of the second pre-determined distance for the range information
Light crossing-signal carries out secondary alarm；
Third alarm unit, if controlling the alarm panel harmony within the scope of third pre-determined distance for the range information
Light crossing-signal carries out three-level alarm.
9. a kind of monitoring, alarming equipment, which is characterized in that in the memory and can including memory, processor and storage
The computer program run on the processor, the processor realize such as claim 1 when executing the computer program
The step of to any one of 6 the method.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of any one of such as claim 1 to 6 of realization the method.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2018/101961 WO2020037604A1 (en) | 2018-08-23 | 2018-08-23 | Automobile blind area monitoring and alarming method and apparatus, device and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109311425A true CN109311425A (en) | 2019-02-05 |
Family
ID=65221708
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201880001103.6A Pending CN109311425A (en) | 2018-08-23 | 2018-08-23 | A kind of alarming method by monitoring of vehicle blind zone, device, equipment and storage medium |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109311425A (en) |
| WO (1) | WO2020037604A1 (en) |
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| CN112061030A (en) * | 2020-10-13 | 2020-12-11 | 深圳市全守安行科技有限公司 | Commercial vehicle blind area monitoring device and detection method thereof |
| TWI834931B (en) * | 2020-12-01 | 2024-03-11 | 光陽工業股份有限公司 | Vehicle blind spot detection system |
| CN113103957A (en) * | 2021-04-28 | 2021-07-13 | 上海商汤临港智能科技有限公司 | Blind area monitoring method and device, electronic equipment and storage medium |
| CN113240940A (en) * | 2021-05-07 | 2021-08-10 | 恒大恒驰新能源汽车研究院(上海)有限公司 | Automobile reminding monitoring method, electronic equipment and storage medium |
| CN115941909A (en) * | 2023-02-14 | 2023-04-07 | 徐工汉云技术股份有限公司 | Driving safety monitoring system, method and device |
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Application publication date: 20190205 |