CN110949402A - Alarm area determination method and device, storage medium and vehicle - Google Patents
Alarm area determination method and device, storage medium and vehicle Download PDFInfo
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- CN110949402A CN110949402A CN201911120854.2A CN201911120854A CN110949402A CN 110949402 A CN110949402 A CN 110949402A CN 201911120854 A CN201911120854 A CN 201911120854A CN 110949402 A CN110949402 A CN 110949402A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
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Abstract
The embodiment of the invention discloses a method and a device for determining an alarm area, a storage medium and a vehicle, wherein a compensation angle is determined according to road information and/or vehicle information, wherein the road information is collected by a camera; determining a pre-warning area according to the radar detection angle and the radar installation angle; and adjusting the early warning area according to the compensation angle to determine a target warning area. The technical scheme of this embodiment relies on the camera sensor of installing in the front of the vehicle/rear to gather road information and vehicle information and carry out the interaction, and accurate operation vehicle parking angle and vehicle direction of travel feed back to the radar and carry out warning range self-adjustment, and millimeter wave radar and camera fuse accurate discernment barrier simultaneously, reduce and miss the newspaper.
Description
Technical Field
The embodiment of the invention relates to the technical field of automatic driving, in particular to a method and a device for determining an alarm area, a storage medium and a vehicle.
Background
Many vehicles having a driving assistance or automatic driving function are equipped with front/rear corner radars and front/rear cameras, and have a front/rear crossing warning/braking function.
The existing forward and backward traversing warning function mainly detects obstacles in a visual field blind area through a radar, the blind area is a rectangular area determined according to a radar detection angle and an installation angle, and an alarm and braking strategy is set through TTC or distance. However, in the actual use process, the parking space and the road driving direction have a certain angle, so that the performance of the forward and backward crossing warning function is poor, and the V2X strategy is directly used for solving the problem that although the precision is high, the networking cost of people, vehicles and vehicles is high, and the networking method is not suitable for large-scale networking.
Disclosure of Invention
The invention provides a method and a device for determining an alarm area, a storage medium and a vehicle, which can provide the detection precision of the alarm area on the basis of not increasing the hardware cost.
In a first aspect, an embodiment of the present invention provides an alarm area determining method, where the method is applied to a controller, and the method includes:
determining a compensation angle according to road information and/or vehicle information, wherein the road information is collected by a camera;
determining a pre-warning area according to the radar detection angle and the radar installation angle;
and adjusting the early warning area according to the compensation angle to determine a target warning area.
In a second aspect, an embodiment of the present invention provides an apparatus for determining an alert area, where the apparatus is configured to a controller, and the apparatus includes:
the compensation angle determining module is used for determining a compensation angle according to road information and/or vehicle information, wherein the road information is collected by a camera;
the pre-warning area determining module is used for determining a pre-warning area according to the radar detection angle and the radar installation angle;
and the target alarm area determining module is used for adjusting the early warning area according to the compensation angle and determining a target alarm area.
In a third aspect, an embodiment of the present invention provides a vehicle, including:
the camera is used for acquiring road information and sending the road information to the controller;
the radar is used for determining a pre-warning area and sending the pre-warning area to the controller;
the controller, the controller includes:
one or more processors;
a memory for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the alert region determination method as described in the first aspect above;
the camera and the radar are communicated with the controller through a CAN bus.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the method for determining an alarm region according to any one of the first aspect.
According to the method, the device, the controller, the storage medium and the vehicle for determining the alarm area, the compensation angle is determined according to the road information and/or the vehicle information, wherein the road information is collected by the camera; determining a pre-warning area according to the radar detection angle and the radar installation angle; and adjusting the early warning area according to the compensation angle to determine a target warning area. The technical scheme of this embodiment relies on the camera sensor of installing in the front of the vehicle/rear to gather road information and vehicle information and carry out the interaction, and accurate operation vehicle parking angle and vehicle direction of travel feed back to the radar and carry out warning range self-adjustment, and millimeter wave radar and camera fuse accurate discernment barrier simultaneously, reduce and miss the newspaper.
Drawings
Fig. 1 is a schematic structural diagram of a forward crossing warning function in the prior art;
fig. 2 is a schematic structural diagram of a backward crossing warning function in the prior art;
FIG. 3 is a schematic diagram of a forward oblique crossing warning function in the prior art;
FIG. 4 is a schematic diagram of a backward tilt crossing warning function in the prior art;
fig. 5 is a flowchart of a method for determining an alarm area according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of an alarm area determination system according to an embodiment of the present application;
FIG. 7 is a schematic diagram of a target alarm region according to an embodiment of the present application;
FIG. 8 is a schematic diagram of a target alarm region according to an embodiment of the present application;
FIG. 9 is a block diagram of an alert area determination apparatus according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of a vehicle according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be noted that, for convenience of description, only a part of the structures related to the present invention, not all of the structures, are shown in the drawings, and furthermore, embodiments of the present invention and features of the embodiments may be combined with each other without conflict.
At present, many vehicles with driving assistance or automatic driving functions are equipped with front/rear angle radars and front/rear cameras, and have a front/rear crossing warning or braking function. The current front-back transverse crossing warning function mainly detects obstacles in a view blind area through a radar, wherein the blind area is a rectangular area (for example, the back direction is 7m, the lateral direction is 30m) which is specially set according to the detection angle and the installation angle of the radar, and an alarm and braking strategy is set through TTC or distance.
Fig. 1 is a schematic structural diagram of a forward crossing warning function in the prior art, and as shown in fig. 1, when an intermediate vehicle 101 travels forward, an alarm area is determined as a dotted frame shown in fig. 1, and when a vehicle 102 traveling on the left side on a lane joins the alarm area, the intermediate vehicle 101 gives an alarm to prompt a driver that a vehicle passes through the road ahead or controls the intermediate vehicle 101 to brake.
Fig. 2 is a schematic structural diagram of a backward crossing warning function in the prior art, and as shown in fig. 2, when an intermediate vehicle 201 backs up backward, an alarm area is determined as a dotted line frame shown in fig. 2, and when a right-side driving vehicle 202 on a lane joins the alarm area, the intermediate vehicle 201 gives an alarm to prompt a driver that a vehicle passes through the road behind the driver, or controls the intermediate vehicle 201 to brake.
However, in the actual use process, the function performance is poor due to a certain angle between the parking space and the driving direction of the road, fig. 3 is a schematic structural diagram of a forward oblique crossing warning function in the prior art, fig. 4 is a schematic structural diagram of a backward oblique crossing warning function in the prior art, as shown in fig. 3, the warning area determined in the prior art is a dashed line frame shown in fig. 3, and in the actual life, the parking space lines on both sides of the road are oblique, or the vehicle is parked obliquely. When the vehicle 301 is parked obliquely, the formed warning region may have a certain inclination angle with the inclination of the vehicle 301, and when the vehicle 302 enters the warning region, it may be close to the vehicle 301, so that the driver may not be provided with effective warning information, that is, the warning information has low accuracy, and an accident may occur. As shown in fig. 4, the warning area determined in the prior art is shown as a dotted line frame shown in fig. 4, and in real life, parking lines on both sides of a road are inclined, or a vehicle is parked obliquely. When the vehicle 401 is parked obliquely, the formed warning region may have a certain inclination angle with the inclination of the vehicle 401, and when the vehicle 402 enters the warning region, it may be close to the vehicle 401, which may result in failure to provide effective warning information to the driver, i.e., the warning information has low accuracy, which may result in an accident.
Therefore, the embodiment of the application provides a method for detecting obstacles transversely crossing the front and back of a vehicle, which accurately calculates the parking angle and the driving direction of the vehicle through cameras arranged at the front/back of the vehicle and vehicle information, and realizes the warning processing method of millimeter wave radar directional detection and camera fusion.
In an exemplary implementation manner, fig. 5 is a flowchart of a method for determining an alarm area according to an embodiment of the present application. The embodiment can be applied to accurately detect the situation that the front and the rear of the vehicle cross the obstacles, and the determination method of the alarm area is executed by the determination method device of the alarm area, which can be realized in a hardware and/or software mode, and the device is integrated in the vehicle controller.
As shown in fig. 5, a method for determining an alarm area provided in the embodiment of the present application mainly includes steps S510, S520, and S530.
S510, determining a compensation angle according to road information and/or vehicle information, wherein the road information is collected by a camera.
In this embodiment, the road information includes at least one of: lane line position and lane line position. The vehicle information includes at least one of: steering wheel rotation angle, vehicle travel speed, yaw rate.
Further, the road information is collected through a camera, the camera comprises a front camera and a rear camera, the front camera is arranged at the head of the vehicle, and the rear camera is arranged at the tail of the vehicle. In this embodiment, the camera may be a monocular camera or a binocular camera, and is not limited in this embodiment.
Further, before determining the compensation angle according to the road information and the vehicle information, the method further includes: determining the driving direction of the vehicle according to the gear information of the vehicle; and when the vehicle driving direction is a backward direction, the rear camera and the rear radar are started so that the front camera acquires the road information in front of the vehicle.
Specifically, when the vehicle gearbox is changed from a parking gear to a forward gear, the forward warning system is activated, the front camera and the front radar are started, the front camera is used for collecting road information in front of the vehicle, and the front radar is used for obtaining a pre-warning area in front of the vehicle.
Specifically, when the vehicle gearbox is shifted from a parking gear to a reverse gear, the backward warning system is activated, the rear camera and the rear radar are started, the road information behind the vehicle is collected by the rear camera, and the warning area behind the vehicle is obtained by the rear radar.
In the embodiment, a method for collecting a lane line in front of a vehicle is provided. Firstly, receiving a road surface picture shot by a vehicle-mounted camera, extracting lane line characteristics in the road surface picture by using a color space, then extracting combined color and gradient characteristics, restoring depth information in a three-dimensional world through three-dimensional perspective, and positioning lane lines through a histogram filter.
In the present embodiment, the method of the lane line in front of the vehicle is merely described, and is not limited. Other ways of detecting lane lines may be selected according to the actual application and design principles of the vehicle.
Further, in this embodiment, a method for detecting a stop line is similar to a method for detecting a lane line in front of a vehicle, and specific reference may be made to the above description of the method for detecting a lane line in front of a vehicle, which is not repeated in this embodiment.
Further, determining a compensation angle according to the road information and the vehicle information includes: and determining a compensation angle between the lane and the vehicle body according to the relative position between the lane line and the vehicle body. In this embodiment, the compensation angle between the lane and the vehicle body refers to an included angle between the lane and the vehicle when the vehicle stops, and the included angle between the lane and the vehicle is used as compensation delivery.
S520, determining a pre-warning area according to the radar detection angle and the radar installation angle.
In the embodiment, the radar is preferably a millimeter wave radar, and the pre-warning area is determined according to the detection angle of the radar and the installation angle of the radar. In this embodiment, the method for determining the warning area is not limited.
Fig. 6 is a schematic structural diagram of an alarm region determining system provided in an embodiment of the present application, and as shown in fig. 6, hardware systems are implemented by existing sensors and controllers of an autonomous vehicle, and include a front camera/rear camera U1, a millimeter wave radar U2, a front camera/rear camera U1, and a millimeter wave radar U2, which communicate with a controller U0 through a CAN bus, and at the same time, the controller U0 is connected to a vehicle CAN network to obtain signals such as a vehicle running speed, steering wheel rotation delivery, longitudinal and lateral acceleration, and yaw rate.
Further, in the present embodiment, in the case where there is no stop line or lane line in the vicinity of the vehicle, the compensation angle may be determined according to the steering wheel rotation angle, the vehicle running speed, and the yaw rate.
S530, adjusting the early warning area according to the compensation angle, and determining a target warning area.
Further, in this embodiment, the adjusting the warning area according to the compensation angle to determine the target warning area includes: and rotating the early warning area according to the compensation angle to obtain a target warning area.
Fig. 7 is a schematic diagram of a target warning area provided in an embodiment of the present application, and fig. 8 is a schematic diagram of a target warning area provided in an embodiment of the present application, where as shown in fig. 7 and fig. 8, the pre-warning area is rotated according to a compensation angle, so that the pre-warning area is parallel to the lane line.
In the embodiment, the front camera and the rear camera are used for track line identification, accurate course information is output after vehicle body information comparison, if the vehicle only has a single camera, the millimeter wave radar needs to record and correct the warning area once according to the course information, and the last recorded warning area value is called when the vehicle moves next time.
Further, the method further comprises: respectively detecting obstacles in the target alarm area through a camera and a radar; and generating warning information to prompt a driver when the camera or the radar detects the obstacle.
Further, the method further comprises: and within the preset time length after the warning information is generated, if the driver does not adopt corresponding operation, controlling the automatic braking of the vehicle.
Specifically, the camera performs target identification according to the target alarm area and outputs target information. And the millimeter wave radar also identifies the target according to the target alarm area and outputs target information. The vehicle fuses and compares the camera and the radar information, and outputs warning prompt/active braking.
The invention has the advantages that: the cost is low, the front camera system becomes the standard configuration of a common automobile at present, and the front camera is an indispensable sensor for automatically driving the automobile, so the invention does not increase the hardware cost on the basis of the existing automatically driving automobile; the lane line recognition algorithm and the vehicle positioning technology based on vision are mature at present; by applying the warning strategy of the fusion of the millimeter wave radar and the camera, the characteristics of long radar detection distance and high recognition rate after fusion are fully exerted, and the problem of vehicle deflection in the warning range of the inclined parking space is solved. Therefore, the application has high practicability.
In the method for determining the warning area provided by the embodiment, the compensation angle is determined according to road information and/or vehicle information, wherein the road information is acquired by a camera; determining a pre-warning area according to the radar detection angle and the radar installation angle; and adjusting the early warning area according to the compensation angle to determine a target warning area. The technical scheme of this embodiment relies on the camera sensor of installing in the front of the vehicle/rear to gather road information and vehicle information and carry out the interaction, and accurate operation vehicle parking angle and vehicle direction of travel feed back to the radar and carry out warning range self-adjustment, and millimeter wave radar and camera fuse accurate discernment barrier simultaneously, reduce and miss the newspaper.
The embodiment of the invention also provides a device for determining the alarm area. Fig. 9 is a block diagram of an alarm region determining apparatus according to an embodiment of the present invention, which may be implemented in hardware and/or software, and may be integrated into a vehicle controller, and this embodiment may be applied to accurately detect the situation where an obstacle crosses in front of and behind a vehicle.
As shown in fig. 9, the warning area determination apparatus provided in this embodiment mainly includes the following components:
the compensation angle determining module 91 is configured to determine a compensation angle according to road information and/or vehicle information, where the road information is collected by a camera;
a pre-warning region determination module 92, configured to determine a pre-warning region according to a radar detection angle and a radar installation angle;
and a target warning area determining module 93, configured to adjust the warning area according to the compensation angle, and determine a target warning area.
The warning area determining device provided in the embodiment determines a compensation angle according to road information and/or vehicle information, wherein the road information is acquired by a camera; determining a pre-warning area according to the radar detection angle and the radar installation angle; and adjusting the early warning area according to the compensation angle to determine a target warning area. The technical scheme of this embodiment relies on the camera sensor of installing in the front of the vehicle/rear to gather road information and vehicle information and carry out the interaction, and accurate operation vehicle parking angle and vehicle direction of travel feed back to the radar and carry out warning range self-adjustment, and millimeter wave radar and camera fuse accurate discernment barrier simultaneously, reduce and miss the newspaper.
Further, the apparatus further comprises:
the driving direction determining module is used for determining the driving direction of the vehicle according to the gear information of the vehicle;
the front camera opening module is used for opening the front camera and the front radar under the condition that the running direction of the vehicle is the advancing direction so as to enable the front camera to collect road information in front of the vehicle,
and the rear camera opening module is used for opening the rear camera and the rear radar under the condition that the driving direction of the vehicle is the backward direction so as to enable the front camera to collect the road information in front of the vehicle.
Specifically, the compensation angle determining module 92 is specifically configured to determine a compensation angle between the lane and the vehicle body according to a relative position between a lane line and the vehicle body, where the lane line includes a lane line and/or a stop line.
Specifically, the compensation angle determining module 92 is specifically configured to determine the compensation angle according to the steering wheel rotation angle, the vehicle running speed, and the yaw rate in the case that the road information is not obtained.
Further, the target warning area determining module 93 is configured to rotate the forewarning area according to a compensation angle to obtain a target warning area.
Further, the apparatus further comprises:
the obstacle detection module is used for detecting obstacles in the target warning area through the camera and the radar respectively;
and the warning information generating module is used for generating warning information to prompt a driver under the condition that the camera or the radar detects the obstacle.
Further, the apparatus further comprises:
and the braking module is set to control the automatic braking of the vehicle if the driver does not perform corresponding operation within the preset time after the warning information is generated.
The alarm area determination device provided by the embodiment of the invention can execute the alarm area determination method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects for executing the alarm area determination method.
On the basis of the foregoing embodiments, an embodiment of the present invention provides a vehicle, fig. 10 is a schematic structural diagram of a vehicle according to an embodiment of the present invention, as shown in fig. 10, the vehicle includes a processor 101, a memory 102, and the number of the processors 101 in the vehicle may be one or more, and one processor 101 is taken as an example in fig. 10; the processor 101, the memory 102, the camera 103, and the radar 104 in the vehicle may be connected by a bus or other means, and the bus connection is exemplified in fig. 10.
The memory 102 is used as a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the alert area determination method in the embodiment of the present invention (e.g., the compensation angle determination module 91, the advance warning area determination module 92, and the target alert area determination module 93 in the alert area determination device). The processor 101 executes various functional applications and data processing of the vehicle, i.e., implements the above-described alert region determination method, by executing software programs, instructions, and modules stored in the memory 102.
The memory 102 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 102 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 102 may further include memory located remotely from the processor 101, which may be connected to the vehicle over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The camera 103 and the radar 104 are communicated with the controller through a CAN bus.
EXAMPLE five
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, where the computer-executable instructions are executed by a computer processor to perform a method for determining an alarm region, and the method includes:
determining a compensation angle according to road information and/or vehicle information, wherein the road information is collected by a camera;
determining a pre-warning area according to the radar detection angle and the radar installation angle;
and adjusting the early warning area according to the compensation angle to determine a target warning area.
Of course, the storage medium provided in the embodiment of the present invention includes computer-executable instructions, and the computer-executable instructions are not limited to the operations of the method for determining an alarm area described above, and may also perform related operations in the method for determining an alarm area provided in any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the above alarm area determining apparatus, each included unit and module are only divided according to functional logic, but are not limited to the above division, as long as the corresponding function can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A method for determining an alarm region, the method comprising:
determining a compensation angle according to road information and/or vehicle information, wherein the road information is collected by a camera;
determining a pre-warning area according to the radar detection angle and the radar installation angle;
and adjusting the early warning area according to the compensation angle to determine a target warning area.
2. The method of claim 1, wherein before determining the compensation angle based on the road information and the vehicle information, further comprising:
determining the driving direction of the vehicle according to the gear information of the vehicle;
when the vehicle running direction is the advancing direction, the front camera and the front radar are started so that the front camera collects road information in front of the vehicle,
and under the condition that the driving direction of the vehicle is the backward direction, the rear camera and the rear radar are started, so that the front camera collects road information in front of the vehicle.
3. The method of claim 1, wherein determining a compensation angle based on the road information and the vehicle information comprises:
determining a compensation angle between the lane and the vehicle body according to the relative position between the lane line and the vehicle body, wherein the lane line comprises a lane line and/or a stop line.
4. The method of claim 1, wherein determining a compensation angle based on vehicle information comprises:
and under the condition that the road information is failed to be acquired, determining a compensation angle according to the rotation angle of the steering wheel, the running speed of the vehicle and the yaw rate.
5. The method of claim 1, wherein adjusting the warning area according to the compensation angle and determining a target warning area comprises:
and rotating the early warning area according to the compensation angle to obtain a target warning area.
6. The method of claim 1, further comprising:
respectively detecting obstacles in the target alarm area through a camera and a radar;
and generating warning information to prompt a driver when the camera or the radar detects the obstacle.
7. The method of claim 6, further comprising:
and within the preset time length after the warning information is generated, if the driver does not adopt corresponding operation, controlling the automatic braking of the vehicle.
8. An alert area determination apparatus, the apparatus being configured to a controller, the apparatus comprising:
the compensation angle determining module is used for determining a compensation angle according to road information and/or vehicle information, wherein the road information is collected by a camera;
the pre-warning area determining module is used for determining a pre-warning area according to the radar detection angle and the radar installation angle;
and the target alarm area determining module is used for adjusting the early warning area according to the compensation angle and determining a target alarm area.
9. A vehicle, characterized in that the vehicle comprises:
the camera is used for acquiring road information and sending the road information to the controller;
the radar is used for determining a pre-warning area and sending the pre-warning area to the controller;
the controller, the controller includes:
one or more processors;
a memory for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the alert region determination method of any of claims 1-6;
the camera and the radar are communicated with the controller through a CAN bus.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the alarm region determination method according to any one of claims 1 to 7.
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| CN111797741A (en) * | 2020-06-24 | 2020-10-20 | 中国第一汽车股份有限公司 | Vehicle detection method, device, vehicle and storage medium |
| CN112530176A (en) * | 2020-11-10 | 2021-03-19 | 浙江大华系统工程有限公司 | Drunk driving early warning method, device, equipment and medium |
| CN112789207A (en) * | 2021-01-08 | 2021-05-11 | 华为技术有限公司 | Method and device for determining blind area alarm area |
| CN114715089A (en) * | 2022-03-30 | 2022-07-08 | 重庆长安汽车股份有限公司 | Method and system for transverse braking of vehicle |
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