CN110254349A - A kind of vehicle collision prewarning method, system, vehicle and storage medium - Google Patents
A kind of vehicle collision prewarning method, system, vehicle and storage medium Download PDFInfo
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- CN110254349A CN110254349A CN201910582457.0A CN201910582457A CN110254349A CN 110254349 A CN110254349 A CN 110254349A CN 201910582457 A CN201910582457 A CN 201910582457A CN 110254349 A CN110254349 A CN 110254349A
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- 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
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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Abstract
A kind of vehicle collision prewarning method, system, vehicle and storage medium, this method comprises: radar sensor and camera is utilized to carry out detection of obstacles；Warning grade is determined according to the testing result of the testing result of the radar sensor and the camera；Determine the virtual image of the barrier corresponding with the warning grade；Output shows the true environment image that the camera takes, and the virtual image described in Overlapping display on the true environment image；Wherein, the virtual image of the corresponding barrier of the different warning grades is different.Implement the embodiment of the present invention, the detection blind area to barrier can be reduced, reduces the risk that vehicle collides.
Description
Technical field
The present invention relates to drive ancillary technique field, and in particular to a kind of vehicle collision prewarning method, system, vehicle and deposits
Storage media.
Background technique
Currently, most of vehicle is equipped with collision warning systems (such as reversing radar), it can be in the reversing scene of low speed
Lower carry out detection of obstacles, and prompt early warning is carried out by sound or reverse image when detecting the presence of barrier.
In practice, it has been found that, from the theory of cost and good appearance, can generally be use up when designing collision warning systems
Amount, which is reduced, needs radar quantity to be used.Also, radar can be also mounted on to relatively beautiful position as far as possible, and this installation position
It is equipped with the radar performance that may sacrifice a part.In addition, radar sensor itself also has certain limitation.With ultrasonic wave thunder
For reaching, the sound wave envelope coverage area of ultrasonic radar transmitting is limited, and is 120 ° generally in horizontal direction, Vertical Square
It is upwards 60 °.
Under the combined influence of the factors such as radar quantity, installation site, envelope trait, reverse radar system there may be
One biggish detection blind area.It is a kind of showing for investigative range that collision warning systems can cover also referring to Fig. 1, Fig. 1
Example diagram.Vehicle installation shown in FIG. 1 is there are two radar sensor, and one is mounted on the outside of bumper, another is mounted on insurance
On the inside of thick stick.H1 is the minimum terrain clearance of vehicle, generally 200mm~300mm in Fig. 1；H2 is the packet of radar on the outside of bumper
The terrain clearance of network coverage area minimum point, generally 280mm~350mm；H3 is that the envelope of radar on the inside of bumper covers model
Enclose the terrain clearance of minimum point, generally 130~160mm.As can be seen that collision warning systems shown in FIG. 1 are liftoff relatively close
Region in there are a biggish detection blind areas, and closer to vehicle, the area of detection blind area is bigger.Detection blind area is deposited
It will lead to the more short barrier in collision warning systems missing inspection part, increased so as to cause the risk that vehicle collides.
Summary of the invention
The embodiment of the invention discloses a kind of vehicle collision prewarning method, system, vehicle and storage medium, can reduce pair
The detection blind area of barrier reduces the risk that vehicle collides.
First aspect of the embodiment of the present invention discloses a kind of vehicle collision prewarning method, which comprises
Detection of obstacles is carried out using radar sensor and camera；
Warning grade is determined according to the testing result of the testing result of the radar sensor and the camera；
Determine the virtual image of the barrier corresponding with the warning grade；
Output shows the true environment image that the camera takes, and the Overlapping display on the true environment image
The virtual image；
Wherein, the virtual image of the corresponding barrier of the different warning grades is different.
As an alternative embodiment, in first aspect of the embodiment of the present invention, it is described to be sensed according to the radar
The testing result of device and the testing result of the camera determine warning grade, comprising:
If the testing result of the radar sensor and described taken the photograph during the vehicle mobile pre-determined distance
As the testing result of head indicate barrier exist, warning grade is determined as advanced；
If the testing result of the radar sensor indicates barrier during the vehicle mobile pre-determined distance
Object is hindered to disappear with the movement of the vehicle, while the testing result of the camera indicates that the barrier exists, it will be pre-
Alert grade is determined as middle rank；
If the testing result of the radar sensor indicates barrier during the vehicle mobile pre-determined distance
Object is hindered to be not present, while the testing result of the camera indicates that the barrier exists, and warning grade is determined as rudimentary.
As an alternative embodiment, in first aspect of the embodiment of the present invention, it is described in the true environment shadow
The virtual image as described in upper Overlapping display, comprising:
Identify picture position of the barrier in the true environment image；
The virtual image described in Overlapping display on described image position.
As an alternative embodiment, in first aspect of the embodiment of the present invention, the different warning grades pair
The virtual image for the barrier answered highlights degree difference.
As an alternative embodiment, utilizing radar sensor described in first aspect of the embodiment of the present invention
And before camera carries out detection of obstacles, the method also includes:
Detect whether the vehicle is linked into reverse gear；
If so, executing described the step of carrying out detection of obstacles using radar sensor and camera.
As an alternative embodiment, in first aspect of the embodiment of the present invention, it is described using radar sensor with
And camera carries out detection of obstacles, comprising:
It is detected using radar sensor several early warning planning regions ready-portioned in advance to the vehicle-surroundings；
If detecting a certain early warning planning region, there are barriers, using camera to there are the barriers
The early warning planning region is shot；
Detect in the image that the camera takes that whether there are obstacles.
Second aspect of the embodiment of the present invention discloses a kind of vehicle collision prewarning system, comprising: first detection unit, for benefit
Detection of obstacles is carried out with radar sensor and camera；
First determination unit, for according to the testing result of the radar sensor and the testing result of the camera
Determine warning grade；
Second determination unit, for determining the virtual image of the barrier corresponding with the warning grade；
First display unit, for exporting the true environment image for showing that the camera takes；
Second display unit, for virtual image described in the Overlapping display on the true environment image；
Wherein, the virtual image of the corresponding barrier of the different warning grades is different.
As an alternative embodiment, in second aspect of the embodiment of the present invention:
First determination unit is specifically used for during the vehicle mobile pre-determined distance, if the radar
The testing result of sensor and the testing result of the camera indicate that barrier exists, and warning grade is determined as height
Grade；And if during the vehicle mobile pre-determined distance, the testing result instruction of the radar sensor
Barrier disappears with the movement of the vehicle, while the testing result of the camera indicates that the barrier exists, will
Warning grade is determined as middle rank；And during the mobile pre-determined distance of the vehicle, if the detection of the radar sensor
As a result instruction barrier is not present, while the testing result of the camera indicates that the barrier exists, and warning grade is true
It is set to rudimentary.
As an alternative embodiment, in second aspect of the embodiment of the present invention, second display unit, packet
It includes:
Identify subelement, for identification picture position of the barrier in the true environment image；
It is superimposed subelement, for virtual image described in the Overlapping display on described image position.
As an alternative embodiment, in second aspect of the embodiment of the present invention, the different warning grades pair
The virtual image for the barrier answered highlights degree difference.
As an alternative embodiment, in second aspect of the embodiment of the present invention, the system also includes:
Second detection unit, for carrying out barrier using radar sensor and camera in the first detection unit
Before detection, detect whether the vehicle is linked into reverse gear；And when detecting that the vehicle is linked into reverse gear, institute is triggered
It states first detection unit and executes the operation for carrying out detection of obstacles using radar sensor and camera.
As an alternative embodiment, in second aspect of the embodiment of the present invention, the first detection unit, packet
It includes:
First detection sub-unit, for utilizing radar sensor to the vehicle-surroundings several early warning ready-portioned in advance
Planning region is detected；
Subelement is shot, there are obstacles for detecting a certain early warning planning region in first detection sub-unit
When object, the early warning planning region there are the barrier is shot using camera；
Second detection sub-unit, for detecting, whether there are obstacles in the image that the camera takes.
The third aspect of the embodiment of the present invention discloses a kind of vehicle, comprising: any disclosed in second aspect of the embodiment of the present invention
Item vehicle collision prewarning system.
Fourth aspect present invention discloses a kind of computer readable storage medium, stores computer program, wherein the meter
Calculation machine program makes computer execute the disclosed any one method of first aspect of the embodiment of the present invention.
The 5th aspect of the embodiment of the present invention discloses a kind of computer program product, when the computer program product is calculating
When being run on machine, so that the computer executes the disclosed any one method of first aspect of the embodiment of the present invention.
Compared with prior art, the embodiment of the present invention has the advantages that
The obstacle information that fusion radar sensor of the embodiment of the present invention and camera detection arrive, can be mentioned by camera
The visual information of confession supplements the detection blind area of radar sensor, so as to reduce the detection blind area of barrier.Also,
According to radar sensor and camera to the difference of the testing result of barrier, different warning grades is marked off, and correspondingly
It shows different virtual images, so that driver can rapidly identify current warning grade, and then takes
Corresponding avoidance operation, reduces the risk that vehicle collides.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is the exemplary diagram for the investigative range that a kind of collision warning systems disclosed by the embodiments of the present invention can cover；
Fig. 2 is a kind of flow diagram of vehicle collision prewarning method disclosed by the embodiments of the present invention；
Fig. 3 is the flow diagram of another vehicle collision prewarning method disclosed by the embodiments of the present invention；
Fig. 4 is a kind of exemplary diagram of the early warning planning region of vehicle-surroundings disclosed by the embodiments of the present invention；
Fig. 5 is a kind of structural schematic diagram of vehicle collision prewarning system disclosed by the embodiments of the present invention；
Fig. 6 is the structural schematic diagram of another vehicle collision prewarning system disclosed by the embodiments of the present invention；
Fig. 7 is the structural schematic diagram of another vehicle collision prewarning system disclosed by the embodiments of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that the described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall within the protection scope of the present invention.
It should be noted that term " includes " and " having " and their any changes in the embodiment of the present invention and attached drawing
Shape, it is intended that cover and non-exclusive include.Such as contain the process, method of a series of steps or units, system, product or
Equipment is not limited to listed step or unit, but optionally further comprising the step of not listing or unit or optional
Ground further includes the other step or units intrinsic for these process, methods, product or equipment.
The embodiment of the invention discloses a kind of vehicle collision prewarning methods, can reduce the detection blind area to barrier, drop
The risk that low vehicle collides.It is described in detail separately below.
Embodiment one
Referring to Fig. 2, Fig. 2 is a kind of flow diagram of vehicle collision prewarning method disclosed by the embodiments of the present invention.Such as
Shown in Fig. 2, which be may comprise steps of:
101, early warning system carries out detection of obstacles using radar sensor and camera.
In embodiments of the present invention, radar sensor can for ultrasonic radar sensor, millimetre-wave radar sensor or
Person's laser radar sensor etc., the embodiment of the present invention is without limitation.Radar sensor may be mounted at vehicle head, vehicle tail
And/or vehicle two sides door position, the quantity of radar sensor can be one or more.Camera can be common light
Camera is learned, is also possible to 360 ° of full-view cameras, the embodiment of the present invention is without limitation.Further, the model of finding a view of camera
Enclosing can be with the investigative range of radar sensor there may be some or all of overlapping, and the embodiment of the present invention is without limitation.
The investigative range of viewfinder range and radar sensor due to camera may not be identical, and camera may be clapped
The region that radar sensor can not detect is taken the photograph, and radar sensor can detect the region that camera can not take,
It can complement one another between camera and radar sensor.It, can be by depth when carrying out detection of obstacles using camera
The image recognition algorithms such as habit, extract barrier from the image that camera takes.
102, early warning system determines warning grade according to the testing result of radar sensor and the testing result of camera.
In embodiments of the present invention, the testing result of radar sensor can specifically indicate to exist or there is no obstacles
Object；The testing result of camera can also indicate that in the presence of or there is no barrier.Accordingly, there exist following situations:
1) there are barriers for the testing result instruction of radar sensor, and the testing result of camera also indicates that there are obstacles
Object；
2) barrier is not present in the testing result instruction of radar sensor, but there are obstacles for the testing result instruction of camera
Object；
3) there are barriers for the testing result instruction of radar sensor, but obstacle is not present in the testing result instruction of camera
Object；
4) barrier is not present in the testing result instruction of radar sensor, and there is no barriers for the testing result instruction of camera
Hinder object.
The above each case can correspond to a warning grade.Optionally, situation 1) corresponding warning grade can be
It is advanced；Situation 2) and situation 3) corresponding warning grade can be middle rank；Situation 4) corresponding warning grade can be rudimentary.In advance
Alert higher grade, and the probability that there are in fact barrier is higher.
103, early warning system determines the virtual image of barrier corresponding with above-mentioned warning grade.
In embodiments of the present invention, the virtual image of the corresponding barrier of different warning grades is different.Therefore, Yong Hutong
Current warning grade can intuitively be understood by crossing different virtual images, so that it is determined that needing which kind of countermeasure taken.
104, the true environment image that early warning system output display camera takes, and be superimposed on true environment image
Show virtual image.
As an alternative embodiment, early warning system can be in any position Overlapping display void of true environment image
Quasi- image.Preferably,
The specific embodiment of step 104 also may comprise steps of:
Picture position of the cognitive disorders object in true environment image；
The above-mentioned virtual image of Overlapping display on the picture position.
That is, early warning system directly marks out the position of barrier in true environment image, to prompt driver
Pay attention to.It is specially that driver can directly be oriented by virtual image there are the barrier of risk of collision for which in true environment
One object, so as to more easily implement avoidance measure.
Wherein, vehicle collision prewarning method described in Fig. 2 can be adapted for the scene driven at low speed such as move backward, park
In, it is supplemented using detection blind area of the camera to radar sensor, to reduce the detection blind area of barrier.Also, root
According to radar sensor and camera to the difference of the testing result of barrier, different warning grades is marked off, and correspondingly show
Show different virtual images, so that driver can rapidly identify current warning grade, and then takes phase
The avoidance operation answered, reduces the risk that vehicle collides.
Embodiment two
Referring to Fig. 3, Fig. 3 is the flow diagram of another vehicle collision prewarning method disclosed by the embodiments of the present invention.
As shown in figure 3, the vehicle collision prewarning method may comprise steps of:
301, whether early warning system detection vehicle is linked into reverse gear；If so, executing step 302；If not, terminating this stream
Journey.
The vision dead zone of driver is more when due to reversing, and the embodiment of the present invention is detecting that vehicle needs to carry out reversing behaviour
When making, following steps 302~step 307 is executed, to improve detection of obstacles accuracy when reversing, improves row when reversing
Vehicle safety.
302, early warning system using radar sensor several early warning planning regions ready-portioned in advance to vehicle-surroundings into
Row detection.
In embodiments of the present invention, referring to Figure 4 together, Fig. 4 is a kind of vehicle-surroundings disclosed by the embodiments of the present invention
The exemplary diagram of early warning planning region.As an alternative embodiment, each early warning planning region is specifically as follows single thunder
Up to the search coverage of sensor, depending on the data of early warning planning region are based on the quantity for the radar sensor installed on vehicle.
If 303, there are barriers for a certain early warning planning region, early warning system is using camera to there are the pre- of barrier
Alert planning region is shot.
In embodiments of the present invention, it first passes through radar sensor and carries out preliminary detection of obstacles, if radar sensor
Barrier is detected the presence of, camera is recycled to carry out further obstacle recognition.That is, being detected to radar sensor
To there are the early warning planning region emphasis of barrier to carry out image recognition.Implement the embodiment, it is possible to reduce need to carry out figure
As the data processing amount of identification, to improve the reaction speed of early warning system.
304, early warning system determines warning grade according to the testing result of radar sensor and the testing result of camera.
In embodiments of the present invention, as an alternative embodiment, being subject to the testing result of camera, if taken the photograph
As head testing result instruction be not present barrier, then it is considered that do not need carry out anti-collision warning, do not divide early warning at this time
Grade.Correspondingly, situation 1 shown in embodiment one) and situation 2) following situations can be further subdivided into:
1. the testing result instruction barrier of radar sensor exists during vehicle mobile pre-determined distance, and
The testing result of camera also indicates that barrier exists；
2. the testing result instruction barrier of radar sensor is with vehicle during vehicle mobile pre-determined distance
It moves and disappears, while the testing result instruction barrier of camera exists；
3. the testing result instruction barrier of radar sensor is not present, together during vehicle mobile pre-determined distance
When camera testing result instruction barrier exist.
Wherein, above-mentioned pre-determined distance can be arranged with reference to the investigative range of radar sensor, can be set to be less than thunder
Up to the total length of the investigative range of sensor.Radar sensor can't detect the reason of barrier may are as follows: vehicle and barrier
Distance it is too far；Or vehicle too close (as stated in the background art) at a distance from barrier.If the mobile distance of vehicle is longer,
Likely result in the distance between vehicle and barrier farther out, at this time actually and be not present risk of collision.Therefore, the present invention is real
Example is applied to detect barrier as detection cycle using a shorter vehicle moving distance, thus detection obtain it is above-mentioned
Situation 1.~situation 3. in any situation.It is discussed respectively below:
Situation is 1. since radar sensor and camera can detect barrier, corresponding warning grade always
It can be advanced；Situation 2. very maximum probability be cause barrier with the movement of vehicle due to the detection blind area of radar sensor and
It disappears, but is not excluded for the case where vehicle has moved away from barrier, therefore corresponding warning grade can be middle rank；Situation 3. due to
Radar sensor does not detect barrier always, it may be possible to exist when carrying out image recognition to the picture that camera takes and miss
Difference causes to misidentify out barrier, therefore corresponding warning grade can be rudimentary.
305, what early warning system determined the virtual image of corresponding with above-mentioned warning grade barrier highlights degree.
In embodiments of the present invention, what different warning grades corresponded to different virtual images highlights degree.Wherein,
Highlighted concrete form can include but is not limited to: adjust the color of virtual image, the size for adjusting virtual image etc..One
As for, warning grade is higher, virtual image to highlight degree higher.
By taking color as an example, when warning grade is advanced, red virtual image can be corresponded to；When warning grade is middle rank
When, the virtual image of yellow can be corresponded to；When warning grade is rudimentary, the virtual image of green can be corresponded to.Red, yellow
And the frequency that green occurs in true environment successively reduces, when the contrast of the color of barrier and true environment is bigger,
Highlighted degree is higher.It for another example says, by taking the size of virtual image as an example, warning grade is higher, the size of virtual image
It is bigger, virtual image to highlight degree higher.
Further, virtual image highlights that degree is higher, and driver more likely notices the virtual of barrier
Image, and by the color or size of observation virtual image, driver can intuitively understand current warning grade
Just, to help driver to determine which kind of avoidance measure taken.
306, picture position of the early warning system cognitive disorders object in true environment image.
307, early warning system is on above-mentioned picture position with the corresponding void for highlighting degree Overlapping display barrier
Quasi- image.
In embodiments of the present invention, as an alternative embodiment, the shape of the virtual image of barrier can be
Preset warning symbol, the profile of barrier or to surround the embodiment of the present invention such as virtual picture frame of barrier without limitation.
Preferably, can be the profile of barrier or be surround barrier virtual picture frame so that the virtual image of barrier
It is superimposed upon when being shown on the picture position of barrier, barrier will not be blocked, so that driver is while seeing virtual image
The actual conditions of true environment Imaging Study barrier can also be passed through.
Execute step 306~step 307, identify barrier after the picture position in true environment image, benefit
Mode Overlapping display virtual image on above-mentioned picture position is highlighted with color, size etc., in combination with true environment
Image, driver can quickly navigate to barrier, to enhance the peace that vehicle collision system drives ancillary service with providing
Quan Xing optimizes the driving experience of driver's subjectivity.
In addition, as an alternative embodiment, early warning system can also further determine that it is corresponding with warning grade
Alarm sound effect, and the loudspeaker for controlling vehicle exports corresponding alarm sound effect, to be paid attention to by auditory tone cues driver.
As it can be seen that in the method depicted in fig. 3, early warning system is by adjusting modes such as color, sizes in true environment figure
The virtual image of barrier is highlighted, as in remind driver to pay attention to.And different warning grades corresponds to different dash forward
Degree is shown out, can enable a driver to quickly navigate to barrier, while understanding current specific warning grade, to increase
Strong vehicle collision system provides the safety that ground drives ancillary service, optimizes the driving experience of driver's subjectivity.In addition, such as
The shape of fruit virtual image, can be in the virtual shadow of Overlapping display using the profile of barrier or the virtual picture frame of encirclement barrier
As while do not block barrier in true environment image so that driver can also pass through while seeing virtual image
The actual conditions of true environment Imaging Study barrier.
Further, anti-collision warning is triggered when detecting that vehicle needs to carry out car backing operation, when can be improved reversing
Detection of obstacles accuracy improves traffic safety when reversing.Further, method described in Fig. 3 is to radar sensor
The early warning planning region emphasis for detecting the presence of barrier carries out image recognition, it is possible to reduce needs to carry out the data of image recognition
Treating capacity, to improve the reflection speed of early warning system.
Example IV
Referring to Fig. 5, Fig. 5 is a kind of structural schematic diagram of vehicle collision prewarning system disclosed by the embodiments of the present invention.Such as
Shown in Fig. 5, which may include:
First detection unit 501, for carrying out detection of obstacles using radar sensor and camera；Wherein, it images
Head can be 360 ° of full-view cameras, and the embodiment of the present invention is without limitation.It can specifically be calculated by image recognitions such as deep learnings
Method extracts barrier from the image that camera takes.
First determination unit 502, for being determined according to the testing result of radar sensor and the testing result of camera
Warning grade；
Wherein, if there are barriers for the testing result instruction of radar sensor, and the testing result of camera also indicates that
There are barriers, warning grade are determined as advanced；If barrier is not present in the testing result instruction of radar sensor, but takes the photograph
As there are barriers for the testing result instruction of head, alternatively, if the testing result instruction of radar sensor there are barriers, but take the photograph
As head testing result instruction be not present barrier, warning grade is determined as middle rank；If the testing result of radar sensor
Barrier is not present in instruction, and barrier is not present in the testing result instruction of camera, warning grade is determined as advanced；
Second determination unit 503, for determining the virtual image of barrier corresponding with above-mentioned warning grade；Wherein,
The virtual image of the corresponding barrier of different warning grades is different.
First display unit 504, the true environment image taken for exporting display camera；
Second display unit 505, for the Overlapping display virtual image on true environment image.
As an alternative embodiment, the second display unit 505 can specifically include:
Identify subelement 5051, for identification picture position of the barrier in true environment image；
It is superimposed subelement 5052, for the Overlapping display virtual image on above-mentioned picture position.
That is, the second display unit 505 can directly mark out the position of barrier in true environment image, with
Prompt driver pays attention to.
As it can be seen that implementing vehicle collision prewarning system as shown in Figure 5, detection of the camera to radar sensor can use
Blind area is supplemented, to reduce the detection blind area of barrier.Also, the inspection according to radar sensor and camera to barrier
The difference for surveying result, marks off different warning grades, and correspondingly show different virtual images, so that driving
Member can rapidly identify current warning grade, and then corresponding avoidance is taken to operate, and reduce the wind that vehicle collides
Danger.
Example IV
Referring to Fig. 6, Fig. 6 is the structural schematic diagram of another vehicle collision prewarning system disclosed by the embodiments of the present invention.
Wherein, vehicle collision prewarning system shown in fig. 6 is that vehicle collision prewarning system as shown in Figure 5 optimizes.?
In vehicle collision prewarning system shown in fig. 6:
The first above-mentioned determination unit 502 is specifically used for during vehicle mobile pre-determined distance, if radar senses
The testing result of device and the testing result of camera indicate that barrier exists, and warning grade are determined as advanced；And such as
Fruit during vehicle mobile pre-determined distance, the testing result instruction barrier of radar sensor with the movement of vehicle and
It disappears, while the testing result instruction barrier of camera exists, and warning grade is determined as middle rank；And vehicle is mobile pre-
If during distance, if the testing result instruction barrier of radar sensor is not present, while the testing result of camera
It indicates that barrier exists, warning grade is determined as rudimentary.
Correspondingly, in vehicle collision prewarning system shown in Fig. 6, the protrusion of the corresponding barrier of different warning grades
Display degree is different.Wherein, highlighted concrete form can include but is not limited to: adjust color, the adjustment of virtual image
The size etc. of virtual image.In general, warning grade is higher, virtual image to highlight degree higher.
By taking color as an example, when warning grade is advanced, red virtual image can be corresponded to；When warning grade is middle rank
When, the virtual image of yellow can be corresponded to；When warning grade is rudimentary, the virtual image of green can be corresponded to.Red, yellow
And the frequency that green occurs in true environment successively reduces, when the contrast of the color of barrier and true environment is bigger,
Highlighted degree is higher.
By taking the size of virtual image as an example, warning grade is higher, and the size of virtual image is bigger, and the protrusion of virtual image is aobvious
Show that degree is higher.
Further alternative, the shape of the virtual image of barrier can be the profile of barrier or be to surround obstacle
The virtual picture frame of object；
That is, above-mentioned superposition subelement 5052, specifically can be used on the picture position of barrier by waking up
Purpose color depicts the profile of barrier or irises out barrier using virtual picture frame；Alternatively, in the picture position of barrier
It is upper that the profile of barrier is depicted by different sizes or irises out barrier using virtual picture frame；
Optionally, in vehicle collision prewarning system shown in Fig. 6, can also include:
Second detection unit 506, for carrying out obstacle using radar sensor and camera in first detection unit 501
Before analyte detection, whether detection vehicle is linked into reverse gear；And when detecting that vehicle is linked into reverse gear, the first detection of triggering
Unit 501 executes the operation that detection of obstacles is carried out using radar sensor and camera.It is right to execute second detection unit 506
The operation answered can trigger anti-collision warning when detecting that vehicle needs to carry out car backing operation, thus obstacle when improving reversing
Analyte detection accuracy improves traffic safety when reversing.
It is further alternative, in vehicle collision prewarning system shown in Fig. 6, above-mentioned first detection unit 501, specifically
May include:
First detection sub-unit 5011, for utilizing radar sensor to vehicle-surroundings several early warning ready-portioned in advance
Planning region is detected；
Subelement 5012 is shot, there are obstacles for detecting a certain early warning planning region in the first detection sub-unit 5011
When object, the early warning planning region there are barrier is shot using camera；
Second detection sub-unit 5013, for detecting, whether there are obstacles in the image that camera takes.
That is, the early warning planning region emphasis for detecting the presence of barrier to radar sensor carries out image recognition,
So as to reduce the data processing amount for needing to carry out image recognition, to improve the reflection speed of early warning system.
As it can be seen that implement vehicle collision prewarning system as shown in FIG. 6, it can be by adjusting modes such as color, sizes true
The virtual image of barrier is highlighted in real environment image, it is to remind driver note that fast so as to enable a driver to
Speed navigates to barrier, while understanding current specific warning grade, had both enhanced vehicle collision system and has driven auxiliary with providing
The safety of service also optimizes the driving experience of driver's subjectivity.In addition, if the shape of virtual image is using barrier
Profile or the virtual picture frame for surrounding barrier, can not block in true environment image while Overlapping display virtual image
Barrier so that driver can also pass through the reality of true environment Imaging Study barrier while seeing virtual image
Situation.Further, anti-collision warning is triggered when detecting that vehicle needs to carry out car backing operation, obstacle when reversing can be improved
Analyte detection accuracy improves traffic safety when reversing.Further, the pre- of barrier is detected the presence of to radar sensor
Alert planning region emphasis carries out image recognition, it is possible to reduce needs to carry out the data processing amount of image recognition, to improve early warning
The reflection speed of system.
Embodiment five
Referring to Fig. 7, Fig. 7 is the structural schematic diagram of another vehicle collision prewarning system disclosed by the embodiments of the present invention.
As shown in fig. 7, the vehicle collision prewarning system may include:
Anti-collision warning control unit 701, radar sensor 702, camera 703, display 704, sound alarm module
705, power module 706.Wherein, anti-collision warning control unit 701 is specifically as follows electronic control unit (Electronic
Contro Unit, ECU)；Intranet can be passed through between radar sensor 702 and anti-collision warning control unit 701
(Local Inter Connect Networks, LIN) is communicated；Between camera 703 and anti-collision warning control unit 701
It can be communicated by Low Voltage Differential Signal (Low Voltage Differential Signaling, LVDS) interface；It is aobvious
Show between device 704 and anti-collision warning control unit 701 can by public network cluster (Push to Talk over Celluler,
Poc) communication is attached；Controller LAN can be passed through between sound alarm module 705 and anti-collision warning control unit 701
Bus (Controller Area Network, CAN) is communicated.
Anti-collision warning control unit 701 can be used for analyzing the collected radar data of radar sensor 702, to obtain
The testing result that radar sensor detects barrier；701 acquisition camera 703 of anti-collision warning control unit is collected
Visual information, to obtain the testing result that camera detects barrier；
Anti-collision warning control unit 701 can be also used for testing result and camera according to radar sensor 702
703 testing result determines warning grade, and determines the virtual image of barrier corresponding with warning grade；Optionally, it collides
Early warning control unit 701 can also determine alarm audio corresponding with warning grade；Wherein, the corresponding barrier of different warning grades
Hinder the virtual image of object different；The alarm audio of the corresponding barrier of different warning grades is also different；
Display 704, the true environment image taken for obtaining and exporting camera 703, and Receiving collision early warning
The virtual image that control unit 701 determines, with the virtual image of the Overlapping display barrier on true environment image；
Sound alarm module 705, for exporting alarm audio corresponding with warning grade；
Power module 706, each unit or module for including into vehicle collision prewarning system are powered, with
Each unit or module is set to execute corresponding operation.
The embodiment of the present invention discloses a kind of vehicle, including vehicle collision prewarning system shown in any one of Fig. 5~Fig. 7.
The embodiment of the present invention discloses a kind of computer readable storage medium, stores computer program, wherein the computer
Program makes computer execute any vehicle collision prewarning method of Fig. 2 or shown in Fig. 4.
The embodiment of the present invention discloses a kind of computer program product, which includes storing computer journey
The non-transient computer readable storage medium of sequence, and the computer program is operable to execute computer shown in Fig. 2 or Fig. 4
Any vehicle collision prewarning method.
It should be understood that " one embodiment " or " embodiment " that specification is mentioned in the whole text mean it is related with embodiment
A particular feature, structure, or characteristic is included at least one embodiment of the present invention.Therefore, occur everywhere in the whole instruction
" in one embodiment " or " in one embodiment " not necessarily refer to identical embodiment.In addition, these special characteristics, structure
Or characteristic can combine in any suitable manner in one or more embodiments.Those skilled in the art should also know that
Embodiment described in this description belongs to alternative embodiment, and not necessarily the present invention must for related actions and modules
Must.
In various embodiments of the present invention, it should be appreciated that magnitude of the sequence numbers of the above procedures are not meant to execute suitable
Successively, the execution sequence of each process should be determined by its function and internal logic the certainty of sequence, without coping with the embodiment of the present invention
Implementation process constitutes any restriction.
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 object unit, can be in one place, or may be distributed over multiple networks
On unit.Some or all of units can be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
In addition, each functional unit in various embodiments of the present invention can integrate in one processing unit, it is also possible to
Each unit physically exists alone, and can also be integrated in one unit with two or more units.Above-mentioned integrated unit
Both it 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 when sold or used as an independent product,
It can store in a retrievable memory of computer.Based on this understanding, technical solution of the present invention substantially or
Person says all or part of of the part that contributes to existing technology or the technical solution, can be in the form of software products
It embodies, which is stored in a memory, including several requests are with so that a computer is set
Standby (can be personal computer, server or network equipment etc., specifically can be the processor in computer equipment) executes
Some or all of each embodiment above method of the invention step.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can be stored in a computer readable storage medium, storage
Medium include read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory,
RAM), programmable read only memory (Programmable Read-only Memory, PROM), erasable programmable is read-only deposits
Reservoir (Erasable Programmable Read Only Memory, EPROM), disposable programmable read-only memory (One-
Time Programmable Read-Only Memory, OTPROM), the electronics formula of erasing can make carbon copies read-only memory
(Electrically-Erasable Programmable Read-Only Memory, EEPROM), CD-ROM (Compact
Disc Read-Only Memory, CD-ROM) or other disc memories, magnetic disk storage, magnetic tape storage or can
For carrying or any other computer-readable medium of storing data.
A kind of vehicle collision prewarning method disclosed by the embodiments of the present invention, system, vehicle and storage medium are carried out above
It is discussed in detail, used herein a specific example illustrates the principle and implementation of the invention, above embodiments
Explanation be merely used to help understand method and its core concept of the invention.At the same time, for those skilled in the art,
According to the thought of the present invention, there will be changes in the specific implementation manner and application range, in conclusion in this specification
Appearance should not be construed as limiting the invention.
Claims (14)
1. a kind of vehicle collision prewarning method characterized by comprising
Detection of obstacles is carried out using radar sensor and camera；
Warning grade is determined according to the testing result of the testing result of the radar sensor and the camera；
Determine the virtual image of the barrier corresponding with the warning grade；
Output shows the true environment image that the camera takes, and on the true environment image described in Overlapping display
Virtual image；
Wherein, the virtual image of the corresponding barrier of the different warning grades is different.
2. the method according to claim 1, wherein the testing result according to the radar sensor and
The testing result of the camera determines warning grade, comprising:
If during the vehicle mobile pre-determined distance, the testing result of the radar sensor and the camera
Testing result indicate barrier exist, warning grade is determined as advanced；
If the testing result of the radar sensor indicates barrier during the vehicle mobile pre-determined distance
It disappears with the movement of the vehicle, while the testing result of the camera indicates that the barrier exists, by early warning etc.
Grade is determined as middle rank；
If the testing result of the radar sensor indicates barrier during the vehicle mobile pre-determined distance
It is not present, while the testing result of the camera indicates that the barrier exists, and warning grade is determined as rudimentary.
3. the method according to claim 1, wherein described on the true environment image described in Overlapping display
Virtual image, comprising:
Identify picture position of the barrier in the true environment image；
The virtual image described in Overlapping display on described image position.
4. according to the method described in claim 3, it is characterized in that, the different warning grades corresponding barrier
Virtual image highlights degree difference.
5. the method according to claim 1, wherein being hindered described using radar sensor and camera
Before hindering analyte detection, the method also includes:
Detect whether the vehicle is linked into reverse gear；
If so, executing described the step of carrying out detection of obstacles using radar sensor and camera.
6. described in any item methods according to claim 1~5, which is characterized in that described to utilize radar sensor and camera shooting
Head carries out detection of obstacles, comprising:
It is detected using radar sensor several early warning planning regions ready-portioned in advance to the vehicle-surroundings；
If detecting a certain early warning planning region, there are barriers, using camera to there are described in the barrier
Early warning planning region is shot；
Detect in the image that the camera takes that whether there are obstacles.
7. a kind of vehicle collision prewarning system characterized by comprising
First detection unit, for carrying out detection of obstacles using radar sensor and camera；
First determination unit, for being determined according to the testing result of the radar sensor and the testing result of the camera
Warning grade；
Second determination unit, for determining the virtual image of the barrier corresponding with the warning grade；
First display unit, for exporting the true environment image for showing that the camera takes；
Second display unit, for virtual image described in the Overlapping display on the true environment image；
Wherein, the virtual image of the corresponding barrier of the different warning grades is different.
8. system according to claim 7, it is characterised in that:
First determination unit is specifically used for during the vehicle mobile pre-determined distance, if the radar senses
The testing result of device and the testing result of the camera indicate that barrier exists, and warning grade are determined as advanced；With
And if the testing result of the radar sensor indicates obstacle during the vehicle mobile pre-determined distance
Object disappears with the movement of the vehicle, while the testing result of the camera indicates that the barrier exists, by early warning
Grade is determined as middle rank；And during the mobile pre-determined distance of the vehicle, if the testing result of the radar sensor
Instruction barrier is not present, while the testing result of the camera indicates that the barrier exists, and warning grade is determined as
It is rudimentary.
9. system according to claim 7, which is characterized in that second display unit, comprising:
Identify subelement, for identification picture position of the barrier in the true environment image；
It is superimposed subelement, for virtual image described in the Overlapping display on described image position.
10. system according to claim 9, which is characterized in that the corresponding barrier of the different warning grades
Highlight degree difference.
11. system according to claim 7, which is characterized in that the system also includes:
Second detection unit, for carrying out detection of obstacles using radar sensor and camera in the first detection unit
Before, detect whether the vehicle is linked into reverse gear；And when detecting that the vehicle is linked into reverse gear, described the is triggered
One detection unit executes the operation that detection of obstacles is carried out using radar sensor and camera.
12. according to the described in any item systems of claim 7~11, which is characterized in that the first detection unit, comprising:
First detection sub-unit, for being planned using radar sensor the vehicle-surroundings several early warning ready-portioned in advance
It is detected in region；
Subelement is shot, there are barriers for detecting a certain early warning planning region in first detection sub-unit
When, the early warning planning region there are the barrier is shot using camera；
Second detection sub-unit, for detecting, whether there are obstacles in the image that the camera takes.
13. a kind of vehicle characterized by comprising such as the described in any item vehicle collision prewarning systems of claim 7~12.
14. a kind of computer readable storage medium, stores computer program thereon, it is characterised in that: the computer program makes
It obtains computer and executes vehicle collision prewarning method as described in any one of claims 1 to 6.
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