CN109902624A - The method and apparatus of information for rendering - Google Patents
The method and apparatus of information for rendering Download PDFInfo
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- CN109902624A CN109902624A CN201910146248.1A CN201910146248A CN109902624A CN 109902624 A CN109902624 A CN 109902624A CN 201910146248 A CN201910146248 A CN 201910146248A CN 109902624 A CN109902624 A CN 109902624A
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Abstract
The embodiment of the present disclosure discloses the method and apparatus of information for rendering.One specific embodiment of this method includes: the vehicle external environment image for obtaining at least one image capture device acquisition for being installed on vehicle predeterminated position；Based on the human detection result to vehicle external environment image, determine in vehicle external environment image whether include target body image；In response to determining in vehicle external environment image including target body image, classification belonging to target body indicated by target body image is determined；In response to determining that classification belonging to target body is pre-set categories, location information of the target body relative to vehicle is determined；Warning message is generated based on classification belonging to location information and target body, and warning message is presented.The embodiment realizes the identification and alarm to the human body of pre-set categories in vehicle external environment, eliminates the influence of vision dead zone, improves the safety of vehicle and vehicle periphery pre-set categories group.
Description
Technical field
The embodiment of the present disclosure is related to Vehicle Engineering technical field, and in particular to the method and apparatus of information for rendering.
Background technique
With the development of science and technology, vehicle is more and more common in life.Driver needs to obtain in real time when driving vehicle
Take the environmental information of vehicle periphery.In general, driver can intuitively see the environmental information of front part of vehicle, and for a vehicle left side
The environmental information of right and rear side then needs to obtain by other tools (for example, rearview mirror, camera etc.), to guarantee vehicle
Safe driving.Present price section, since there are visual blind spot regions for vehicle periphery, in Vehicle Starting Process, driver without
Method judges with the presence or absence of slow in action specific groups that can not be avoided in time such as old man or children in blind area, thus may result in
Safety accident occurs.
Summary of the invention
The embodiment of the present disclosure proposes the method and apparatus of information for rendering.
In a first aspect, the embodiment of the present disclosure provides a kind of method of information for rendering, this method comprises: obtaining installation
In the vehicle external environment image that at least one image capture device of vehicle predeterminated position acquires；Based on to above-mentioned vehicle external environment image
Human detection result, determine in above-mentioned vehicle external environment image whether to include target body image；Outside in response to the above-mentioned vehicle of determination
Include target body image in ambient image, determines classification belonging to target body indicated by above-mentioned target body image；It rings
Position of the above-mentioned target body relative to above-mentioned vehicle should be determined in determining that classification belonging to above-mentioned target body is pre-set categories
Information；Warning message is generated based on classification belonging to above-mentioned location information and above-mentioned target body, and by above-mentioned warning message
It is presented.
In some embodiments, the above-mentioned human detection result based on to above-mentioned vehicle external environment image, determines outside above-mentioned vehicle
It whether include target body image in ambient image, comprising: human testing is carried out to above-mentioned vehicle external environment image, obtains at least one
A human testing frame；For the human testing frame at least one above-mentioned human testing frame, face shared by human body detection block is determined
Whether product is greater than or equal to preset threshold；In response to determining that human body detection block occupied area is greater than or equal to preset threshold, really
Determining human body image corresponding to human body detection block is target body image.
In some embodiments, classification belonging to target body indicated by the above-mentioned target body image of above-mentioned determination, packet
It includes: above-mentioned target body image being imported to the human body kind judging model pre-established, obtains the class of above-mentioned target body image
Not, wherein above-mentioned human body kind judging model is used to characterize pair of the classification of human body indicated by human body image and human body image
It should be related to.
In some embodiments, above-mentioned predeterminated position includes on the left of the front, tail portion, vehicle body of vehicle and vehicle body right side, on
Stating at least one image capture device includes four image capture devices；And the above-mentioned above-mentioned target body of determination is relative to above-mentioned
The location information of vehicle, comprising: determine that the image for acquiring above-mentioned vehicle external environment image is adopted from aforementioned four image capture device
Collect the installation site of equipment；According to identified installation site, position of the above-mentioned target body relative to above-mentioned vehicle is determined.
In some embodiments, the above-mentioned installation site according to determined by determines above-mentioned target body relative to above-mentioned vehicle
Position, comprising: the installation site of the image capture device of bad border image outside above-mentioned vehicle will be acquired as first position；It will be upper
Position of the target body image in above-mentioned vehicle external environment image is stated as the second position；According to above-mentioned first position and above-mentioned
Two positions determine position of the above-mentioned target body relative to above-mentioned vehicle.
In some embodiments, above-mentioned acquisition is installed at least one image capture device acquisition of vehicle predeterminated position
Vehicle external environment image, comprising: starting state is in response to the above-mentioned vehicle of determination, using being installed on above-mentioned vehicle predeterminated position
At least one image capture device collecting vehicle external environment image.
Second aspect, the embodiment of the present disclosure provide a kind of device of information for rendering, and device includes: acquiring unit,
It is configured to obtain the vehicle external environment image for being installed at least one image capture device acquisition of vehicle predeterminated position；First really
Order member, is configured to based on the human detection result to above-mentioned vehicle external environment image, determining in above-mentioned vehicle external environment image is
No includes target body image；Second determination unit, being configured in response to determine includes target in above-mentioned vehicle external environment image
Human body image determines classification belonging to target body indicated by above-mentioned target body image；Third determination unit, is configured to
It is pre-set categories in response to classification belonging to the above-mentioned target body of determination, determines position of the above-mentioned target body relative to above-mentioned vehicle
Confidence breath；Display unit is configured to generate warning message based on classification belonging to above-mentioned location information and above-mentioned target body,
And above-mentioned warning message is presented.
In some embodiments, above-mentioned first determination unit is further configured to: being carried out to above-mentioned vehicle external environment image
Human testing obtains at least one human testing frame；For the human testing frame at least one above-mentioned human testing frame, determine
Whether human body detection block occupied area is greater than or equal to preset threshold；In response to determining that human body detection block occupied area is greater than
Or it is equal to preset threshold, determine that human body image corresponding to human body detection block is target body image.
In some embodiments, above-mentioned second determination unit is further configured to: above-mentioned target body image is imported
The human body kind judging model pre-established, obtains the classification of above-mentioned target body image, wherein above-mentioned human body kind judging mould
Type is used to characterize the corresponding relationship of the classification of human body indicated by human body image and human body image.
In some embodiments, predeterminated position include vehicle front, tail portion, vehicle body on the left of and vehicle body on the right side of, it is above-mentioned extremely
A few image capture device includes four image capture devices；And above-mentioned third determination unit includes: that installation site determines
Module is configured to determine the image capture device for acquiring above-mentioned vehicle external environment image from aforementioned four image capture device
Installation site；Position of human body determining module, is configured to according to identified installation site, determine above-mentioned target body relative to
The position of above-mentioned vehicle.
In some embodiments, above-mentioned position of human body determining module is further configured to: will acquire bad border outside above-mentioned vehicle
The installation site of the image capture device of image is as first position；By above-mentioned target body image in above-mentioned vehicle external environment image
In position as the second position；According to above-mentioned first position and said second position, determine above-mentioned target body relative to upper
State the position of vehicle.
In some embodiments, above-mentioned acquiring unit is further configured to: being in starting in response to the above-mentioned vehicle of determination
State uses at least one the image capture device collecting vehicle external environment image for being installed on above-mentioned vehicle predeterminated position.
The third aspect, the embodiment of the present disclosure provide a kind of terminal, which includes: one or more processors；Storage
Device is stored thereon with one or more programs, when said one or multiple programs are executed by said one or multiple processors
When, so that said one or multiple processors realize the method as described in implementation any in first aspect.
Fourth aspect, the embodiment of the present disclosure provide a kind of computer-readable medium, are stored thereon with computer program,
In, the method as described in implementation any in first aspect is realized when which is executed by processor.
The method and apparatus for the information for rendering that the embodiment of the present disclosure provides obtain be installed on vehicle predeterminated position first
At least one image capture device acquisition vehicle external environment image, then based on the human detection result to vehicle external environment image
It determines in vehicle external environment image whether include target body image, if including, further determines that target body image is signified
Classification belonging to the target body shown, if classification belonging to target body be pre-set categories, it is determined that target body relative to
The location information of vehicle finally generates warning message based on classification belonging to location information and target body, and by warning message
It is presented, to be effectively utilized the vehicle external environment image of multiple images acquisition equipment acquisition, is realized in vehicle external environment
The identification and alarm of the human body of pre-set categories, eliminate the influence of vision dead zone, improve vehicle and vehicle periphery pre-set categories
The safety of group.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the disclosure is other
Feature, objects and advantages will become more apparent upon:
Fig. 1 is that one embodiment of the disclosure can be applied to exemplary system architecture figure therein；
Fig. 2 is the flow chart according to one embodiment of the method for the information for rendering of the disclosure；
Fig. 3 is the schematic diagram according to an application scenarios of the method for the information for rendering of the disclosure；
Fig. 4 is the flow chart according to another embodiment of the method for the information for rendering of the disclosure；
Fig. 5 is the structural schematic diagram according to one embodiment of the device of the information for rendering of the disclosure；
Fig. 6 is adapted for the structural schematic diagram for the computer system for realizing the terminal of the embodiment of the present disclosure.
Specific embodiment
The disclosure is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to
Convenient for description, part relevant to related invention is illustrated only in attached drawing.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the disclosure can phase
Mutually combination.The disclosure is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 is shown can be using the method or the device of information for rendering of the information for rendering of the embodiment of the present disclosure
Exemplary system architecture 100.
As shown in Figure 1, system architecture 100 may include vehicle 101, network 102 and server 103.Network 102 to
The medium of communication link is provided between vehicle 101 and server 103.Network 102 may include various connection types, such as wirelessly
Communication link.
Vehicle 101 can be interacted by network 102 with server 103, to receive or send signal etc..It can on vehicle 101
To be equipped with various electronic devices, such as car-mounted terminal, image capture device (such as camera), sensor etc..
Vehicle 101 can be various vehicles, including but not limited to motorbus, tractor, city bus, medium-sized visitor
Vehicle, large-sized truck, kart, small-sized automatic catch automobile, automatic driving vehicle or other intelligent vehicles etc..
Server 103 can be to provide the server of various services, for example, the vehicle external environment image that vehicle 101 is sent into
The background server of row processing.Background server can be handled the vehicle external environment image etc. received, and processing is tied
Fruit (such as warning message) feeds back to vehicle 101.
It should be noted that server 103 can be hardware, it is also possible to software.It, can when server 103 is hardware
To be implemented as the distributed server cluster that multiple servers form, individual server also may be implemented into.When server 103 is
When software, multiple softwares or software module (such as providing Distributed Services) may be implemented into, also may be implemented into single
Software or software module.It is not specifically limited herein.
It should be noted that provided by the embodiment of the present disclosure for rendering the method for information generally by the vehicle of vehicle 101
Mounted terminal executes, and correspondingly, the device of information is generally positioned in the car-mounted terminal of vehicle 101 for rendering.
It should be understood that the number of vehicle, network and server in Fig. 1 is only schematical.It, can according to needs are realized
With any number of vehicle, network and server.
With continued reference to Fig. 2, the process of one embodiment of the method for the information for rendering according to the disclosure is shown
200.The method of the information for rendering, comprising the following steps:
Step 201, the vehicle external environment figure for being installed at least one image capture device acquisition of vehicle predeterminated position is obtained
Picture.
In the present embodiment, (such as vehicle shown in FIG. 1 101 is vehicle-mounted for the executing subject of the method for information for rendering
Terminal) it can be adopted by wired connection mode or radio connection from least one image for being installed on vehicle predeterminated position
Collect equipment and obtains vehicle external environment image.As an example, multiple cameras can be installed on above-mentioned vehicle, the peace of multiple cameras
Holding position can be determined according to the actual conditions of actual vehicle, for example, by taking common compact automobile as an example, it can be in vehicle
A camera is installed on the right side of headstock, the tailstock, vehicle body left side and vehicle body, respectively to guarantee that vehicle periphery all directions can be collected
Vehicle external environment image.For large-sized truck, it is each to guarantee that vehicle periphery can be collected to install more cameras
The vehicle external environment image in direction.
In some optional implementations of the present embodiment, step 201 specific as follows can be carried out: in response to determining vehicle
Be in starting state, use at least one the image capture device collecting vehicle external environment image for being installed on vehicle predeterminated position.
In this implementation, executing subject can determine whether vehicle is in starting state by various modes, for example,
It can determine whether vehicle is in starting state according to information such as tire pressure, sensor signals.If vehicle is in starting state,
At least one the image capture device collecting vehicle external environment image for being installed on vehicle predeterminated position can be used in executing subject.Pass through
This implementation, it is ensured that when vehicle start, the safety of vehicle and vehicle periphery pre-set categories crowd.
Step 202, based on the human detection result to vehicle external environment image, determine in vehicle external environment image whether include mesh
Mark human body image.
In the present embodiment, above-mentioned executing subject can carry out human body inspection to the vehicle external environment image obtained in step 201
It surveys, obtains human detection result.Later, executing subject can determine whether wrap in vehicle external environment image according to human detection result
Include target body image.In practice, if in a vehicle external environment image including human body image, which passes through
After human testing, the corresponding human body rectangle frame of human body in the available vehicle external environment image.As an example, if human testing
It as a result include human body rectangle frame in, then the image confined human body rectangle frame is as target body image.If human testing
It as a result does not include human body rectangle frame in, it is determined that do not include target body image in vehicle external environment image.
Step 203, in response to determining to include target body image in vehicle external environment image, determine that target body image is signified
Classification belonging to the target body shown.
In the present embodiment, if it is determined that include target body image in vehicle external environment image, executing subject can be into one
It walks and determines classification belonging to target body indicated by target body image.In practice, people can be divided into baby, child,
Multiple classifications such as children and adolescents, youth, middle age, old age.
As an example, can be previously stored with a mapping table inside executing subject, which be can be
Technical staff based on to a large amount of human body image feature vector and human body image indicated by human body generic statistics and
The mapping table of corresponding relationship pre-establishing, being stored with multiple feature vectors and classification.In this way, executing subject can lead to
It crosses following manner and determines classification belonging to target body indicated by target body image: firstly, executing subject can be using side
It is extracted from target body image to scheduling algorithms such as histogram of gradients feature extraction algorithm, local binary patterns feature extraction algorithms
Feature generates target feature vector.Later, executing subject can by feature vector in target feature vector and mapping table into
Row compares, if some feature vector and target feature vector in mapping table are same or similar, by mapping table
In the corresponding classification of this feature vector as classification belonging to target body.
In some optional implementations of the present embodiment, in step 203, determine indicated by target body image
Classification belonging to target body specific as follows can carry out: target body image is imported to the human body kind judging pre-established
Model obtains the classification of target body image.
Human body kind judging model can be pre-established in this implementation, inside above-mentioned executing subject, wherein above-mentioned
Human body kind judging model can be used for characterizing the corresponding relationship of the classification of human body indicated by human body image and human body image.
As an example, above-mentioned human body kind judging model can be depth convolutional neural networks.Depth convolutional neural networks
It may include convolutional layer, pond layer, full articulamentum and classifier etc. for the neural network of a multilayer.It, can be with base in practice
In the different production scenes and data the characteristics of, design by different depth, the neuron of different number, different convolution pond groups
The depth convolutional neural networks that the mode of knitting is constituted.Wherein, the convolution kernel that convolutional layer can be different using weight by convolution operation
Convolution is scanned to input picture or characteristic image (feature map), therefrom extracts the feature of different dimensions, and export extremely
Characteristic pattern.Pond layer can be operated by pondization carries out dimensionality reduction operation to characteristic pattern, the main feature in keeping characteristics figure.Pass through
The available global characteristics of full articulamentum.Classification can be exported by classifier.
For example, above-mentioned depth convolutional neural networks can be above-mentioned executing subject or other are used to train above-mentioned depth
Spending the executing subjects of convolutional neural networks, training obtains in the following manner:
Firstly, obtaining sample set, wherein sample includes human body indicated by sample human body image and sample human body image
Classification.
Then, using the sample human body image of the sample in sample set as input, the sample human body image of input is signified
The classification of the human body shown obtains depth convolutional neural networks as desired output, training.As an example, can by reality output with
Desired output is compared, if error amount between the two is less than preset threshold value, then it represents that training is completed, and instruction is stopped
Practice；If error amount between the two is not less than preset threshold value, back-propagation algorithm (Back can be used
Propgation Algorithm, BP algorithm) and gradient descent method (such as stochastic gradient descent algorithm) to network parameter carry out
Adjustment, and choose sample again from sample set and be trained.
Step 204, in response to determining that classification belonging to target body is pre-set categories, determine target body relative to vehicle
Location information.
In the present embodiment, executing subject may determine that whether the classification determined in step 203 is pre-set categories, if
The classification determined in step 203 is pre-set categories, then executing subject may further determine that target body relative to vehicle
Location information.For example, human body is closer from vehicle, and human body image corresponding to the human body is shared in vehicle external environment image
Ratio is bigger, and therefore, the ratio that executing subject can be shared in vehicle external environment image based on target body image determines target
Distance of the human body relative to vehicle, and using identified distance as location information.
As an example, above-mentioned pre-set categories can refer to old man and child.In general, old man and child are slow in action, it can not
Therefore evacuation vehicle in time identifies the old man and child of vehicle periphery and early warning, it is old vehicle periphery can be effectively ensured
People and baby safety reduce the generation of safety accident.
In some optional implementations of the present embodiment, before the predeterminated position in step 201 may include vehicle
On the right side of portion, tail portion, vehicle body left side and vehicle body, in this way, at least one above-mentioned Image Acquisition may include being installed on aforementioned four position
Four image capture devices set.In addition, determining location information of the target body relative to vehicle in step 204, can have
Body carries out as follows:
Firstly, determining the image capture device for acquiring above-mentioned vehicle external environment image from aforementioned four image capture device
Installation site.As an example, each image capture device to executing subject send vehicle external environment image collected when, meeting simultaneously
From the device identification of body, therefore, executing subject can determine that each vehicle external environment image is by that by device identification
Image capture device acquisition.Later, executing subject can be with pair of image capture device according to the pre-stored data and installation site
It should be related to, determine the installation site of each corresponding image capture device of vehicle external environment image.
Then, according to identified installation site, position of the target body relative to vehicle is determined.As an example, executing
Main body can determine position of the target body relative to vehicle according to by identified installation site.As an example it is assumed that institute is really
Fixed installation site is on the left of vehicle body, and image capture device can acquire the vehicle external environment image in left side outside compartment, then executes master
Body can determine target portrait in the left side of vehicle.
In some optional implementations, the above-mentioned installation site according to determined by determines target body relative to vehicle
Position, specific as follows can carry out:
Firstly, using the installation site of the image capture device of border bad outside collecting vehicle image as first position.
Then, the position using target body image in vehicle external environment image is as the second position.
Herein, executing subject can determine position of the target body image in entire vehicle external environment image.For example,
Left side, centre or right side in entire vehicle external environment image.And using determining position as the second position.
Finally, determining position of the target body relative to vehicle according to first position and the second position.
Herein, executing subject can determine position of the target body relative to vehicle according to first position and the second position
It sets.For example, first position is the front of vehicle, the second position is the left side of vehicle external environment image, then can determine target body
In the left forward side position of vehicle.In another example first position is on the left of vehicle body, the second position is the left side of vehicle external environment image,
It can then determine target body in the left side rear position of vehicle.In practice, first can be previously stored with inside executing subject
The corresponding relationship of position and the second position and target body relative to the position of vehicle.In this way, executing subject can quick basis
First position and the second position determine position of the target body relative to vehicle.By this implementation, the mesh obtained can be made
It is more accurate relative to the position of vehicle to mark human body.
Step 205, based on classification belonging to location information and target body generate warning message, and by warning message into
Row is presented.
In the present embodiment, executing subject can generate alarm signal based on classification belonging to location information and target body
Breath, and warning message is presented.As an example, the mode presented to warning message includes but is not limited to voice shape
Formula, textual form, image format, indicator light form etc..For example, executing subject can be generated following voice content and carry out
It plays: " having child in 1 meter outside compartment, it is noted that evacuation！".
With continued reference to the signal that Fig. 3, Fig. 3 are according to the application scenarios of the method for the information for rendering of the present embodiment
Figure.In the application scenarios of Fig. 3, firstly, the car-mounted terminal acquisition of vehicle 301 is installed at least the one of 301 predeterminated position of vehicle
The vehicle external environment image of a image capture device acquisition.Later, the car-mounted terminal of vehicle 301 can be based on to vehicle external environment image
Human detection result, determine in vehicle external environment image whether to include target body image, if including target body image,
Further determine that classification belonging to target body indicated by target body image.If classification belonging to certain target body is
Child then further determines that location information " vehicle right side " of the target body relative to vehicle.Finally, being based on location information " vehicle
Right side " and target body belonging to classification " child " generate warning message " compartment external right side has child, it is noted that avoid！",
And the warning message is subjected to voice broadcast.
The method provided by the above embodiment of the disclosure is effectively utilized the vehicle external environment of multiple images acquisition equipment acquisition
Image realizes identification and alarm to the human body of pre-set categories in vehicle external environment, eliminates the influence of vision dead zone, improve
The safety of vehicle and vehicle periphery pre-set categories group.
With further reference to Fig. 4, it illustrates the processes 400 of another embodiment of the method for information for rendering.The use
In the process 400 for the method that information is presented, comprising the following steps:
Step 401, the vehicle external environment figure for being installed at least one image capture device acquisition of vehicle predeterminated position is obtained
Picture.
In the present embodiment, step 401 is similar with the step 201 of embodiment illustrated in fig. 2, and details are not described herein again.
Step 402, human testing is carried out to vehicle external environment image, obtains at least one human testing frame.
In the present embodiment, executing subject can carry out human testing to the vehicle external environment image obtained in step 401, obtain
To at least one human testing frame.Wherein, human testing frame can be for confining the human body image in vehicle external environment image
Human body rectangle frame.
Step 403, for the human testing frame at least one human testing frame, human body detection block occupied area is determined
Whether preset threshold is greater than or equal to；In response to determining that human body detection block occupied area is greater than or equal to preset threshold, determine
Human body image corresponding to human body detection block is target body image.
In the present embodiment, for each of at least one human testing frame human testing obtained in step 402
Frame, executing subject can execute following steps: firstly, determining whether human body detection block occupied area is greater than or equal to default threshold
Value, if human body detection block occupied area is greater than or equal to preset threshold, it is determined that human body corresponding to human body detection block
Image is target body image；If human body detection block occupied area is less than preset threshold, it is determined that human body detection block institute
Corresponding human body image is not target body image.
Step 404, in response to determining to include target body image in vehicle external environment image, determine that target body image is signified
Classification belonging to the target body shown.
Step 405, in response to determining that classification belonging to target body is pre-set categories, determine target body relative to vehicle
Location information.
Step 406, based on classification belonging to location information and target body generate warning message, and by warning message into
Row is presented.
In the present embodiment, step 404- step 406 is similar with the step 203-205 of embodiment illustrated in fig. 2 respectively, herein
It repeats no more.
Figure 4, it is seen that compared with the corresponding embodiment of Fig. 2, the method for the information for rendering in the present embodiment
Process 400 highlight the step of target body image is determined based on human testing frame occupied area.The present embodiment describes as a result,
Scheme can only handle the human body image that occupied area in vehicle external environment image is greater than or equal to preset threshold, without
Human body image that processing screened arrives, apart from the farther away people of vehicle, is realizing the human body to pre-set categories in vehicle external environment
While identified and alarmed, data processing amount can be effectively reduced, improves presentation information efficiency.
With further reference to Fig. 5, as the realization to method shown in above-mentioned each figure, present disclose provides one kind to believe for rendering
One embodiment of the device of breath, the Installation practice is corresponding with embodiment of the method shown in Fig. 2, which can specifically answer
For in various electronic equipments.
As shown in figure 5, the device 500 of the information for rendering of the present embodiment includes: that acquiring unit 501, first determines list
First 502, second determination unit 503, third determination unit 504 and display unit 505.Acquiring unit 501 is configured to obtain peace
The vehicle external environment image of at least one image capture device acquisition loaded on vehicle predeterminated position；First determination unit 502 is matched
It is set to based on the human detection result to above-mentioned vehicle external environment image, determines in above-mentioned vehicle external environment image whether include target person
Body image；Second determination unit 503 is configured in response to determine to include target body image in above-mentioned vehicle external environment image, really
Classification belonging to target body indicated by fixed above-mentioned target body image；Third determination unit 504 is configured in response to really
Classification belonging to fixed above-mentioned target body is pre-set categories, determines location information of the above-mentioned target body relative to above-mentioned vehicle；
Display unit 505 is configured to generate warning message based on classification belonging to above-mentioned location information and above-mentioned target body, and
Above-mentioned warning message is presented.
In the present embodiment, the acquiring unit 501 of the device 500 of information, the first determination unit 502, second for rendering
Determination unit 503, the specific processing of third determination unit 504 and display unit 505 and its brought technical effect can be distinguished
With reference to the related description of step 201, step 202, step 203, step 204 and step 205 in Fig. 2 corresponding embodiment, herein not
It repeats again.
In some optional implementations of the present embodiment, above-mentioned first determination unit 502 is further configured to: right
Above-mentioned vehicle external environment image carries out human testing, obtains at least one human testing frame；For at least one above-mentioned human testing
Human testing frame in frame, determines whether human body detection block occupied area is greater than or equal to preset threshold；It should in response to determining
Human testing frame occupied area is greater than or equal to preset threshold, determines that human body image corresponding to human body detection block is target person
Body image.
In some optional implementations of the present embodiment, above-mentioned second determination unit 503 is further configured to: will
Above-mentioned target body image imports the human body kind judging model pre-established, obtains the classification of above-mentioned target body image,
In, for characterizing, human body image is corresponding with the classification of human body indicated by human body image to close above-mentioned human body kind judging model
System.
In some optional implementations of the present embodiment, predeterminated position includes on the left of the front, tail portion, vehicle body of vehicle
With on the right side of vehicle body, at least one above-mentioned image capture device includes four image capture devices；And above-mentioned third determination unit
504 include: installation site determining module (not shown), is configured to determine acquisition from aforementioned four image capture device
The installation site of the image capture device of above-mentioned vehicle external environment image；Position of human body determining module (not shown), is configured
At according to identified installation site, position of the above-mentioned target body relative to above-mentioned vehicle is determined.
In some optional implementations of the present embodiment, above-mentioned position of human body determining module is further configured to:
The installation site of the image capture device of bad border image outside above-mentioned vehicle will be acquired as first position；By above-mentioned target body image
Position in above-mentioned vehicle external environment image is as the second position；According to above-mentioned first position and said second position, in determination
State position of the target body relative to above-mentioned vehicle.
In some optional implementations of the present embodiment, above-mentioned acquiring unit 501 is further configured to: in response to
It determines that above-mentioned vehicle is in starting state, is acquired using at least one image capture device for being installed on above-mentioned vehicle predeterminated position
Vehicle external environment image.
Below with reference to Fig. 6, it illustrates the electronic equipment that is suitable for being used to realize embodiment of the disclosure, (example is as shown in figure 1
The car-mounted terminal of vehicle 101) 600 structural schematic diagram.Car-mounted terminal shown in Fig. 6 is only an example, should not be to this public affairs
The function and use scope for the embodiment opened bring any restrictions.
As shown in fig. 6, electronic equipment 600 may include processing unit (such as central processing unit, graphics processor etc.)
601, random access can be loaded into according to the program being stored in read-only memory (ROM) 602 or from storage device 608
Program in memory (RAM) 603 and execute various movements appropriate and processing.In RAM 603, it is also stored with electronic equipment
Various programs and data needed for 600 operations.Processing unit 601, ROM 602 and RAM603 are connected with each other by bus 604.
Input/output (I/O) interface 605 is also connected to bus 604.
In general, following device can connect to I/O interface 605: including such as touch screen, touch tablet, keyboard, mouse, taking the photograph
As the input unit 606 of head, microphone, accelerometer, gyroscope etc.；Including such as liquid crystal display (LCD), loudspeaker, vibration
The output device 607 of dynamic device etc.；Storage device 608 including such as tape, hard disk etc.；And communication device 609.Communication device
609, which can permit electronic equipment 600, is wirelessly or non-wirelessly communicated with other equipment to exchange data.Although Fig. 6 shows tool
There is the electronic equipment 600 of various devices, it should be understood that being not required for implementing or having all devices shown.It can be with
Alternatively implement or have more or fewer devices.Each box shown in Fig. 6 can represent a device, can also root
According to needing to represent multiple devices.
Particularly, in accordance with an embodiment of the present disclosure, it may be implemented as computer above with reference to the process of flow chart description
Software program.For example, embodiment of the disclosure includes a kind of computer program product comprising be carried on computer-readable medium
On computer program, which includes the program code for method shown in execution flow chart.In such reality
It applies in example, which can be downloaded and installed from network by communication device 609, or from storage device 608
It is mounted, or is mounted from ROM 602.When the computer program is executed by processing unit 601, the implementation of the disclosure is executed
The above-mentioned function of being limited in the method for example.
It is situated between it should be noted that computer-readable medium described in embodiment of the disclosure can be computer-readable signal
Matter or computer readable storage medium either the two any combination.Computer readable storage medium for example can be with
System, device or the device of --- but being not limited to --- electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, or it is any more than
Combination.The more specific example of computer readable storage medium can include but is not limited to: have one or more conducting wires
Electrical connection, portable computer diskette, hard disk, random access storage device (RAM), read-only memory (ROM), erasable type are programmable
Read-only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), light storage device, magnetic are deposited
Memory device or above-mentioned any appropriate combination.In embodiment of the disclosure, computer readable storage medium, which can be, appoints
What include or the tangible medium of storage program that the program can be commanded execution system, device or device use or and its
It is used in combination.And in embodiment of the disclosure, computer-readable signal media may include in a base band or as carrier wave
The data-signal that a part is propagated, wherein carrying computer-readable program code.The data-signal of this propagation can be adopted
With diversified forms, including but not limited to electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal is situated between
Matter can also be any computer-readable medium other than computer readable storage medium, which can be with
It sends, propagate or transmits for by the use of instruction execution system, device or device or program in connection.Meter
The program code for including on calculation machine readable medium can transmit with any suitable medium, including but not limited to: electric wire, optical cable,
RF (radio frequency) etc. or above-mentioned any appropriate combination.
Above-mentioned computer-readable medium can be included in above-mentioned electronic equipment；It is also possible to individualism, and not
It is fitted into the electronic equipment.Above-mentioned computer-readable medium carries one or more program, when said one or more
When a program is executed by the electronic equipment, so that the electronic equipment: obtaining at least one image for being installed on vehicle predeterminated position
Acquire the vehicle external environment image of equipment acquisition；Based on the human detection result to above-mentioned vehicle external environment image, determine outside above-mentioned vehicle
It whether include target body image in ambient image；In response to including target body image in the above-mentioned vehicle external environment image of determination,
Determine classification belonging to target body indicated by above-mentioned target body image；In response to class belonging to the above-mentioned target body of determination
Not Wei pre-set categories, determine location information of the above-mentioned target body relative to above-mentioned vehicle；Based on above-mentioned location information and above-mentioned
Classification belonging to target body generates warning message, and above-mentioned warning message is presented.
The behaviour for executing embodiment of the disclosure can be write with one or more programming languages or combinations thereof
The computer program code of work, described program design language include object oriented program language-such as Java,
Smalltalk, C++ further include conventional procedural programming language-such as " C " language or similar program design language
Speech.Program code can be executed fully on the user computer, partly be executed on the user computer, as an independence
Software package execute, part on the user computer part execute on the remote computer or completely in remote computer or
It is executed on server.In situations involving remote computers, remote computer can pass through the network of any kind --- packet
It includes local area network (LAN) or wide area network (WAN)-is connected to subscriber computer, or, it may be connected to outer computer (such as benefit
It is connected with ISP by internet).
Flow chart and block diagram in attached drawing are illustrated according to the system of the various embodiments of the disclosure, method and computer journey
The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation
A part of one module, program segment or code of table, a part of the module, program segment or code include one or more use
The executable instruction of the logic function as defined in realizing.It should also be noted that in some implementations as replacements, being marked in box
The function of note can also occur in a different order than that indicated in the drawings.For example, two boxes succeedingly indicated are actually
It can be basically executed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.Also it to infuse
Meaning, the combination of each box in block diagram and or flow chart and the box in block diagram and or flow chart can be with holding
The dedicated hardware based system of functions or operations as defined in row is realized, or can use specialized hardware and computer instruction
Combination realize.
Being described in unit involved in embodiment of the disclosure can be realized by way of software, can also be passed through
The mode of hardware is realized.Described unit also can be set in the processor, for example, can be described as: a kind of processor
Including acquiring unit, the first determination unit, the second determination unit, third determination unit and display unit.Wherein, these units
Title does not constitute the restriction to the unit itself under certain conditions, for example, acquiring unit is also described as " obtaining peace
The unit of the vehicle external environment image of at least one image capture device acquisition loaded on vehicle predeterminated position ".
Above description is only the preferred embodiment of the disclosure and the explanation to institute's application technology principle.Those skilled in the art
Member it should be appreciated that embodiment of the disclosure involved in invention scope, however it is not limited to the specific combination of above-mentioned technical characteristic and
At technical solution, while should also cover do not depart from foregoing invention design in the case where, by above-mentioned technical characteristic or its be equal
Feature carries out any combination and other technical solutions for being formed.Such as disclosed in features described above and embodiment of the disclosure (but
It is not limited to) technical characteristic with similar functions is replaced mutually and the technical solution that is formed.
Claims (14)
1. a kind of method of information for rendering, comprising:
Obtain the vehicle external environment image for being installed at least one image capture device acquisition of vehicle predeterminated position；
Based on the human detection result to the vehicle external environment image, determine in the vehicle external environment image whether include target person
Body image；
In response to including target body image in the determination vehicle external environment image, determine indicated by the target body image
Classification belonging to target body；
It is pre-set categories in response to classification belonging to the determination target body, determines the target body relative to the vehicle
Location information；
Based on classification belonging to the location information and the target body generate warning message, and by the warning message into
Row is presented.
2. according to the method described in claim 1, wherein, the human detection result based on to the vehicle external environment image,
Determine in the vehicle external environment image whether include target body image, comprising:
Human testing is carried out to the vehicle external environment image, obtains at least one human testing frame；
For the human testing frame at least one described human testing frame, determine whether human body detection block occupied area is greater than
Or it is equal to preset threshold；In response to determining that human body detection block occupied area is greater than or equal to preset threshold, the people's physical examination is determined
Surveying human body image corresponding to frame is target body image.
3. according to the method described in claim 1, wherein, target body institute indicated by the determination target body image
The classification of category, comprising:
The target body image is imported to the human body kind judging model pre-established, obtains the class of the target body image
Not, wherein the human body kind judging model is used to characterize pair of the classification of human body indicated by human body image and human body image
It should be related to.
4. according to the method described in claim 1, wherein, the predeterminated position include on the left of the front, tail portion, vehicle body of vehicle and
On the right side of vehicle body, at least one described image capture device includes four image capture devices；And
Location information of the determination target body relative to the vehicle, comprising:
The installation site for acquiring the image capture device of the vehicle external environment image is determined from four image capture devices；
According to identified installation site, position of the target body relative to the vehicle is determined.
5. according to the method described in claim 4, wherein, the installation site according to determined by determines the target body
Position relative to the vehicle, comprising:
The installation site of the image capture device of bad border image outside the vehicle will be acquired as first position；
Using position of the target body image in the vehicle external environment image as the second position；
According to the first position and the second position, position of the target body relative to the vehicle is determined.
6. according to the method described in claim 1, wherein, at least one image that the acquisition is installed on vehicle predeterminated position is adopted
Collect the vehicle external environment image of equipment acquisition, comprising:
It is in starting state in response to the determination vehicle, is adopted using at least one image for being installed on the vehicle predeterminated position
Collect equipment collecting vehicle external environment image.
7. a kind of device of information for rendering, comprising:
Acquiring unit is configured to obtain the vehicle outer ring for being installed at least one image capture device acquisition of vehicle predeterminated position
Border image；
First determination unit is configured to determine the vehicle outer ring based on the human detection result to the vehicle external environment image
It whether include target body image in the image of border；
Second determination unit is configured in response to determine in the vehicle external environment image to include target body image, determines institute
State classification belonging to target body indicated by target body image；
Third determination unit is configured in response to determine classification belonging to the target body for pre-set categories, described in determination
Location information of the target body relative to the vehicle；
Display unit is configured to generate warning message based on classification belonging to the location information and the target body, with
And the warning message is presented.
8. device according to claim 7, wherein first determination unit is further configured to:
Human testing is carried out to the vehicle external environment image, obtains at least one human testing frame；
For the human testing frame at least one described human testing frame, determine whether human body detection block occupied area is greater than
Or it is equal to preset threshold；In response to determining that human body detection block occupied area is greater than or equal to preset threshold, the people's physical examination is determined
Surveying human body image corresponding to frame is target body image.
9. device according to claim 7, wherein second determination unit is further configured to:
The target body image is imported to the human body kind judging model pre-established, obtains the class of the target body image
Not, wherein the human body kind judging model is used to characterize pair of the classification of human body indicated by human body image and human body image
It should be related to.
10. device according to claim 7, wherein predeterminated position includes front, tail portion, vehicle body left side and the vehicle of vehicle
On the right side of body, at least one described image capture device includes four image capture devices；And
The third determination unit includes:
Installation site determining module is configured to determine the acquisition vehicle external environment image from four image capture devices
Image capture device installation site；
Position of human body determining module is configured to determine the target body relative to described according to identified installation site
The position of vehicle.
11. device according to claim 10, wherein the position of human body determining module is further configured to:
The installation site of the image capture device of bad border image outside the vehicle will be acquired as first position；
Using position of the target body image in the vehicle external environment image as the second position；
According to the first position and the second position, position of the target body relative to the vehicle is determined.
12. device according to claim 7, wherein the acquiring unit is further configured to:
It is in starting state in response to the determination vehicle, is adopted using at least one image for being installed on the vehicle predeterminated position
Collect equipment collecting vehicle external environment image.
13. a kind of terminal, comprising:
One or more processors；
Storage device is stored thereon with one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
Now such as method as claimed in any one of claims 1 to 6.
14. a kind of computer-readable medium, is stored thereon with computer program, wherein real when described program is executed by processor
Now such as method as claimed in any one of claims 1 to 6.
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