CN111127938A - Vehicle safety early warning method and system and vehicle - Google Patents
Vehicle safety early warning method and system and vehicle Download PDFInfo
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- CN111127938A CN111127938A CN201811278688.4A CN201811278688A CN111127938A CN 111127938 A CN111127938 A CN 111127938A CN 201811278688 A CN201811278688 A CN 201811278688A CN 111127938 A CN111127938 A CN 111127938A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
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Abstract
The invention provides a safety early warning method and system for a vehicle and the vehicle. The safety early warning method for the vehicle comprises the following steps: when a parking space is detected, triggering a safety early warning signal; and projecting a pre-stored vehicle projection diagram to the parking space so as to feed back the projection state of the vehicle projection diagram on the parking space to a driver, wherein the vehicle projection diagram is consistent with the shape and size of the orthographic projection diagram of the vehicle on a horizontal plane. According to the safety early warning method for the vehicle, the vehicle projection drawing which is consistent with the size and the shape of the vehicle can be projected into the parking space before the vehicle enters the parking space, so that whether the vehicle can be safely parked into the parking space can be accurately determined according to the projection condition of the vehicle projection drawing on the parking space, and the parking safety is improved.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a safety early warning method and system for a vehicle and the vehicle.
Background
Along with the more and more of vehicle, parking stall is more and more nervous, consequently, the parking stall of many parking lots division is narrow and small relatively.
For a driver, especially for a novice driver, the driver is often very labored to park in the parking space, and is easy to scratch and rub the vehicle in the adjacent parking space.
In the related art, through the configured vehicle-mounted intelligent front-view system, a simulation line of the width of a vehicle can be simulated on a vehicle-mounted screen, and the vehicle-mounted screen can help a driver when the driver parks and puts in storage, but the driver needs to observe a rearview mirror, a parking space and the like in the process of parking and putting in storage and also needs to observe the vehicle-mounted screen with distraction, so that the vehicle in an adjacent parking space is scratched easily in the process of switching visual angles, in addition, an image seen through the screen is a two-dimensional image, the distance cannot be accurately judged, the shooting visual field of a camera is limited, all scenes of the parking space cannot be seen through the camera, and a virtual guide line synthesized on the image can also make the driver difficult to judge the actual distance. This makes it still difficult for the driver to make an accurate judgment when parking the garage. In addition, the error of the intelligent forward-looking system is large, the width of the vehicle is only roughly represented, the length of the vehicle cannot be represented, and the assistance provided for a driver to judge the size of the vehicle and the size of the parking space is limited.
Disclosure of Invention
In view of the above, the present invention is directed to a safety warning method for a vehicle. The safety early warning method for the vehicle can project the vehicle projection image which is consistent with the size and the shape of the vehicle in the parking space before the vehicle enters the parking space, and then can accurately determine whether the vehicle can be safely parked in the parking space according to the projection condition of the vehicle projection image in the parking space, so that the parking safety is improved.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a safety early warning method for a vehicle comprises the following steps: when a parking space is detected, triggering a safety early warning signal; and projecting a pre-stored vehicle projection diagram to the parking space so as to feed back the projection state of the vehicle projection diagram on the parking space to a driver, wherein the vehicle projection diagram is consistent with the shape and size of the orthographic projection diagram of the vehicle on a horizontal plane.
Further, the projecting the pre-stored vehicle projection map to the parking space includes: when the vehicle is directly opposite to the parking space, the vehicle projection drawing is projected to the front of the vehicle, and the vehicle projection drawing is projected to the corresponding parking space along with the movement of the vehicle.
Further, the projecting the pre-stored vehicle projection map to the parking space includes: when the vehicle is not over against the parking space, detecting an included angle between the driving direction of the vehicle and the parking space; detecting a distance of the vehicle from the parking space in the vehicle traveling direction; and projecting the vehicle projection drawing to the parking space according to the included angle and the distance.
Further, before projecting the vehicle projection view to the parking space, the method further comprises: and carrying out affine transformation and projection transformation on the vehicle projection diagram so as to keep the regularity of the projected vehicle projection diagram.
Further, the method also comprises the following steps: when the vehicle drives into the parking space, prompting whether the vehicle is parked or not; after the vehicle stops, the vehicle door can be opened to prompt the vehicle.
According to the safety early warning method for the vehicle, the vehicle projection drawing which is consistent with the size and the shape of the vehicle can be projected into the parking space before the vehicle enters the parking space, and therefore whether the vehicle can be safely parked into the parking space can be accurately determined according to the projection condition of the vehicle projection drawing on the parking space, and the parking safety is improved.
The second objective of the invention is to provide a safety early warning system for a vehicle. This system can throw the vehicle projection drawing unanimous with vehicle size and shape in the parking stall before the vehicle drives into the parking stall, and then, can accurately determine whether the vehicle can park into the parking stall safely according to the projection condition of vehicle projection drawing at the parking stall, promotes parking safety.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a safety precaution system for a vehicle, comprising: the triggering module is used for triggering a safety early warning signal when a parking space is detected; the projection device is used for projecting a pre-stored vehicle projection diagram to the parking space so as to feed back the projection state of the vehicle projection diagram on the parking space to a driver, wherein the vehicle projection diagram is consistent with the shape and size of the orthographic projection diagram of the vehicle on a horizontal plane.
Further, the projection device is used for detecting the running direction of the vehicle and the included angle of the parking space when the vehicle is not right opposite to the parking space, detecting the distance between the vehicle and the parking space in the running direction of the vehicle, and projecting the projection drawing of the vehicle to the parking space according to the included angle and the distance.
Further, the method also comprises the following steps: and the correction module is used for carrying out affine transformation and projection transformation on the vehicle projection drawing before the projection device projects the vehicle projection drawing to the parking space so as to keep the regularity of the projected vehicle projection drawing.
Further, the method also comprises the following steps: the early warning device is used for: when the vehicle drives into the parking space, prompting whether the vehicle is parked or not; after the vehicle stops, the vehicle door can be opened to prompt the vehicle.
Compared with the prior art, the vehicle safety early warning system and the vehicle safety early warning method have the same advantages, and are not repeated herein.
A third objective of the present invention is to provide a vehicle, which can project a vehicle projection diagram with a size and a shape consistent with those of the vehicle into a parking space before the vehicle enters the parking space, and further can accurately determine whether the vehicle can be safely parked into the parking space according to the projection condition of the vehicle projection diagram on the parking space, so as to improve the parking safety.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a vehicle is provided with the safety early warning system of the vehicle according to any one of the embodiments.
Compared with the prior art, the vehicle and the vehicle safety early warning system have the same advantages, and are not repeated herein.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of a safety warning method for a vehicle according to an embodiment of the present invention;
fig. 2 is a schematic view of a projected vehicle projection diagram of a safety warning method for a vehicle according to a first embodiment of the present invention;
fig. 3 is a schematic view of a projected vehicle projection diagram of a safety precaution method for a vehicle according to a second embodiment of the present invention;
fig. 4 is a schematic view of a projected vehicle projection diagram of a safety warning method for a vehicle according to a third embodiment of the present invention;
fig. 5 is a schematic view illustrating a projected vehicle view of a safety warning method for a vehicle according to a fourth embodiment of the present invention;
fig. 6 is a schematic view illustrating a projected vehicle view of a safety warning method for a vehicle according to a seventh embodiment of the present invention;
fig. 7 is a schematic view illustrating a projected vehicle view of a safety warning method for a vehicle according to an eighth embodiment of the present invention;
fig. 8 is a block diagram of a safety warning system of a vehicle according to an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 is a flowchart of a safety warning method of a vehicle according to one embodiment of the present invention.
As shown in fig. 1, a safety precaution method for a vehicle according to an embodiment of the present invention includes the steps of:
s101: and when the parking space is detected, triggering a safety early warning signal.
For example: when the vehicle travels to the parking space, the safety early warning device can be realized by a button arranged on a central control of the vehicle and the like, and when the button is triggered, a safety early warning signal can be triggered.
Of course, the vehicle may also collect an image in front of the vehicle through a sensor, such as a camera, to identify the image, determine whether a parking space is detected, and trigger a safety warning signal when the parking space is identified.
S102: and projecting a pre-stored vehicle projection diagram to the parking space so as to feed back the projection state of the vehicle projection diagram on the parking space to a driver, wherein the vehicle projection diagram is consistent with the shape and size of the orthographic projection diagram of the vehicle on the horizontal plane.
The projection distance can be preset or automatically adjusted according to the obstacle, the garage position, the distance between the vehicle and the obstacle, the garage position and the like.
The shape and size of the vehicle projection drawing are equal to the length and width of the vehicle, and the tire position and the geometric attribute representing the characteristics of the vehicle are consistent with the projected vehicle projection drawing.
In addition, the actual projection drawing of the vehicle is measured and drawn in advance and is used as the vehicle projection drawing, and the actual projection drawing is stored in the vehicle in advance, so that the vehicle projection drawing can be directly called when the vehicle projection drawing is needed.
In the above description, the way of feeding back the projection state of the vehicle projection view on the parking space to the driver may be image feedback, that is: the driver observes the projection state of vehicle projection drawing in the parking stall to, for the driver provides help, the driver can be directly perceivedly cognitive whether the vehicle can park in the parking stall. Of course, the projection state of the vehicle projection drawing in the parking space can also be fed back to the user through the central control screen, and the user confirms whether the vehicle can be put in a garage or not by observing the projection state in the central control screen.
The projection state of the vehicle projection diagram on the parking space may be a projection state of a relative position and size relationship, for example: the projection state of the vehicle projection diagram completely in the parking space is as follows: the size of the projected view of the vehicle is smaller than the size of the parking space, which generally indicates that the vehicle can be parked in the parking space. If the size of the vehicle projection is larger than the size of the parking space, then: the projection state of the vehicle projection diagram on the parking space is that one part of the vehicle projection diagram is in the parking space, and the other part of the vehicle projection diagram is projected outside the parking space, namely: this projected state indicates that the vehicle cannot be parked in the parking space.
For example: when the vehicle is directly opposite to the parking space, the vehicle projection drawing is projected to the front of the vehicle, and the vehicle projection drawing is projected to the corresponding parking space along with the movement of the vehicle.
Of course, when the vehicle is not directly opposite to the parking space, detecting an included angle between the driving direction of the vehicle and the parking space; detecting a distance of the vehicle from the parking space in the vehicle traveling direction; and projecting the vehicle projection drawing to the parking space according to the included angle and the distance.
Further, still include: when the vehicle drives into the parking space, prompting whether the vehicle is parked or not; after the vehicle stops, the vehicle door can be opened to prompt the vehicle.
As a specific example, a vehicle projection view is projected in front of the vehicle. The vehicle projection drawing can be divided into two forms of static projection and dynamic projection, the relative position of the static projection drawing and the vehicle is static, namely the vehicle projection drawing always keeps an equidistant position with the vehicle along with the movement of the vehicle; the dynamic projected pattern is movable relative to the vehicle for purposes including, but not limited to, performing a simulation of a positional movement.
As shown in fig. 2, 3 and 4 represent obstacles, namely: a width-limited roadblock. In the process of passing through the width-limiting roadblock in front, when the vehicle projection image is static projection, the vehicle projection image and the vehicle are relatively static and move with the vehicle, and before the vehicle enters the width-limiting roadblock, the vehicle projection image enters the width-limiting roadblock along with the movement of the vehicle, namely: along with the forward movement of the vehicle 2, the position of the vehicle projection diagram is changed from the position 1 to the position 2, and then is changed from the position 2 to the position 3, and further, whether the vehicle can pass through the width-limited roadblock or not can be judged by comparing the size of the vehicle projection diagram with the size of the width-limited roadblock.
When the dynamic projection is set, the vehicle projection diagram is not static relative to the vehicle at the moment, but a section of dynamic projection relative to the displacement of the vehicle is carried out, as shown in fig. 3, the vehicle projection diagram moves from the position 2 to the position 3 and then from the position 3 to the position 4, namely, the dynamic projection relative to the movement of the vehicle is carried out, at the moment, the position information of the vehicle in the front, middle and rear states of the vehicle passing through the limited-width road can be judged through the dynamic projection, and the trafficability of the road is judged.
As shown in connection with fig. 3, when a vehicle passes through a narrow bridge, a dynamic projection view is projected, including but not limited to the projection dynamics: and a short animation, wherein the animation content is the animation of the continuous advancing of the vehicle projection diagram from the position 2 to the position 3 to the position 4, and the projection can be performed for multiple cycles according to the intention of an operator.
As shown in fig. 4, when a driver drives into a dense parking space in the forward direction, if it cannot be determined whether a vehicle can drive into the parking space, the function may be turned on, and the driver may aim a vehicle projection diagram at the parking space in advance and control the vehicle, in state 1, the projection diagram projected by the vehicle does not enter the garage, at this time, the driver may adjust the position of the vehicle so that the projection diagram faces the parking space, in state 2, the vehicle has adjusted the position of the vehicle and keeps moving slowly, the projection diagram of the vehicle has entered the garage along with the advance of the vehicle, at this time, the driver may determine whether the width of the garage will meet the width of the vehicle according to the size of the projection diagram and the size of the garage, that is, whether the vehicle can enter the garage, and at the same time, it may be observed whether the projection diagram coincides with the surrounding vehicles, if it coincides, it is determined that the current position driven into the garage will scratch, therefore, the driver needs to adjust the vehicle to ensure that the projection is not overlapped with the surrounding vehicles, and can safely drive into the garage at the moment, and in the state 3, the driver adjusts the projection image to enter the garage, so that the width and the length of the current garage are proved to be consistent with the vehicle, the surrounding vehicles cannot be influenced, and the driver can safely drive into the garage.
In addition, more information can be projected according to the selection of the driver, the door opening information can be projected when the vehicle opens the door, as shown in fig. 5, when the projection is detected to enter the garage, the projection can be static relative to the garage according to the selection of the driver, the door opening information can be projected, the garage width and the door opening information can be detected, and whether the driver can open the door on the two sides of the parking space and walk out the vehicle can be judged. If the opening of the detected vehicle is interfered with the surrounding environment, the driver is reminded that the vehicle door may not be opened after entering the garage, or the driver is reminded that the vehicle may not leave the garage after entering the garage.
When a driver drives into a dense parking space in a non-forward direction, as shown in fig. 6, the position of the parking space can be identified, image information collected by a camera is comprehensively judged with the direction of a vehicle, an included angle β between a vehicle angle and the parking space is obtained through calculation, and the distance L between the vehicle and the parking space is obtained through a sensor.
It should be noted that the angle β between the vehicle and the parking space may be any angle, and the projection range is the projection area.
Similarly, when the driver turns into the narrow road section, because the visual field is limited, the passability of the narrow road section is difficult to judge intuitively, as shown in fig. 7, when the vehicle 1 is about to turn into the narrow road section, the vehicle-mounted sensor can be used for measuring the angle β of the curve and the distance between the vehicle and the curve, the output image of the projection graph is calculated by the vehicle-mounted controller, and the projection graph L1 is projected before the vehicle enters the curve, so that the dynamic projection mode is consistent with the linear dynamic projection mode, and the simulation animation of the vehicle entering the curve can be projected dynamically.
Before projecting the vehicle projection view to the target area, the method further comprises the following steps: affine transformation and projective transformation are carried out on the vehicle projection to keep the regularity of the projected vehicle projection, and specifically, fan-shaped distortion generated by horizontal tiling of the vehicle projection on the ground can cause the whole image to be deformed into a figure which is wide at the front and narrow at the back and is no longer regular. Therefore, it is necessary to correct the input source of the pattern, and after the input source pattern is corrected by affine transformation and projective transformation, the pattern projected by the headlight is a regular vehicle projection pattern having the size and features of the vehicle and the like.
According to the safety early warning method for the vehicle, disclosed by the embodiment of the invention, the vehicle projection drawing which is consistent with the size and the shape of the vehicle can be projected into the parking space before the vehicle enters the parking space, so that whether the vehicle can be safely parked into the parking space can be accurately determined according to the projection condition of the vehicle projection drawing on the parking space, and the parking safety is improved.
Fig. 8 is a block diagram of a safety warning system of a vehicle according to an embodiment of the present invention. As shown in fig. 8, a safety precaution system 800 for a vehicle according to an embodiment of the present invention includes: a trigger module 810 and a projection device 820.
The triggering module 810 is configured to trigger a safety precaution signal when a parking space is detected. The projection device 820 is used for projecting a pre-stored vehicle projection diagram to the parking space so as to feed back the projection state of the vehicle projection diagram on the parking space to the driver, wherein the vehicle projection diagram is consistent with the shape and size of the orthographic projection diagram of the vehicle on the horizontal plane.
In an embodiment of the present invention, the projection device 820 is configured to detect an included angle between a vehicle driving direction and the parking space, detect a distance between the vehicle and the parking space in the vehicle driving direction, and project the projection diagram of the vehicle to the parking space according to the included angle and the distance.
In one embodiment of the present invention, further comprising: and the correction module (not shown in the figure 8) is used for carrying out affine transformation and projection transformation on the vehicle projection drawing before the projection device projects the vehicle projection drawing to the parking space so as to keep the regularity of the projected vehicle projection drawing.
In an embodiment of the present invention, as shown in fig. 8, the method further includes: an early warning device 830 for: when the vehicle drives into the parking space, prompting whether the vehicle is parked or not; after the vehicle stops, the vehicle door can be opened to prompt the vehicle.
According to the safety early warning system for the vehicle, disclosed by the embodiment of the invention, the vehicle projection drawing which is consistent with the size and the shape of the vehicle can be projected into the parking space before the vehicle enters the parking space, so that whether the vehicle can be safely parked into the parking space can be accurately determined according to the projection condition of the vehicle projection drawing on the parking space, and the parking safety is improved.
It should be noted that a specific implementation manner of the vehicle safety early warning system in the embodiment of the present invention is similar to a specific implementation manner of the vehicle safety early warning method in the embodiment of the present invention, and please refer to the description of the method part specifically, and details are not described here in order to reduce redundancy.
Further, the embodiment of the invention discloses a vehicle which is provided with the safety early warning system of the vehicle in any one of the embodiments. This vehicle can throw the vehicle projection drawing unanimous with vehicle size and shape in the parking stall before the vehicle drives into the parking stall, and then, can accurately determine whether the vehicle can park into the parking stall safely according to the projection condition of vehicle projection drawing at the parking stall, promotes parking safety.
In addition, other configurations and functions of the vehicle according to the embodiment of the present invention are known to those skilled in the art, and are not described herein in detail in order to reduce redundancy.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A safety early warning method for a vehicle is characterized by comprising the following steps:
when a parking space is detected, triggering a safety early warning signal;
and projecting a pre-stored vehicle projection diagram to the parking space so as to feed back the projection state of the vehicle projection diagram on the parking space to a driver, wherein the vehicle projection diagram is consistent with the shape and size of the orthographic projection diagram of the vehicle on a horizontal plane.
2. The vehicle safety precaution method according to claim 1, wherein the projecting the pre-stored vehicle projection map to the parking space comprises:
when the vehicle is directly opposite to the parking space, the vehicle projection drawing is projected to the front of the vehicle, and the vehicle projection drawing is projected to the corresponding parking space along with the movement of the vehicle.
3. The vehicle safety precaution method according to claim 1, wherein the projecting the pre-stored vehicle projection map to the parking space comprises:
when the vehicle is not over against the parking space, detecting an included angle between the driving direction of the vehicle and the parking space;
detecting a distance of the vehicle from the parking space in the vehicle traveling direction;
and projecting the vehicle projection drawing to the parking space according to the included angle and the distance.
4. The vehicle safety precaution method according to any one of claims 1-3, characterized in that, before projecting the vehicle projection view to the parking space, it further comprises: and carrying out affine transformation and projection transformation on the vehicle projection diagram so as to keep the regularity of the projected vehicle projection diagram.
5. The vehicle safety warning method according to any one of claims 1 to 3, further comprising:
when the vehicle drives into the parking space, prompting whether the vehicle is parked or not;
after the vehicle stops, the vehicle door can be opened to prompt the vehicle.
6. A safety precaution system for a vehicle, comprising:
the triggering module is used for triggering a safety early warning signal when a parking space is detected;
the projection device is used for projecting a pre-stored vehicle projection diagram to the parking space so as to feed back the projection state of the vehicle projection diagram on the parking space to a driver, wherein the vehicle projection diagram is consistent with the shape and size of the orthographic projection diagram of the vehicle on a horizontal plane.
7. The vehicle safety precaution system of claim 6, wherein the projection device is configured to detect an included angle between a vehicle driving direction and the parking space, detect a distance between the vehicle and the parking space in the vehicle driving direction, and project the vehicle projection drawing to the parking space according to the included angle and the distance, when the vehicle is not directly facing the parking space.
8. The safety warning system of a vehicle according to claim 6 or 7, further comprising:
and the correction module is used for carrying out affine transformation and projection transformation on the vehicle projection drawing before the projection device projects the vehicle projection drawing to the parking space so as to keep the regularity of the projected vehicle projection drawing.
9. The safety warning system of a vehicle according to claim 6 or 7, further comprising: the early warning device is used for:
when the vehicle drives into the parking space, prompting whether the vehicle is parked or not;
after the vehicle stops, the vehicle door can be opened to prompt the vehicle.
10. A vehicle characterized by being provided with a safety warning system of the vehicle as claimed in any one of claims 6 to 9.
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| CN201811278688.4A CN111127938A (en) | 2018-10-30 | 2018-10-30 | Vehicle safety early warning method and system and vehicle |
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| CN201811278688.4A CN111127938A (en) | 2018-10-30 | 2018-10-30 | Vehicle safety early warning method and system and vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114582154A (en) * | 2020-11-30 | 2022-06-03 | 丰田自动车株式会社 | Image display apparatus and method, non-transitory computer-readable medium |
| CN114582154B (en) * | 2020-11-30 | 2023-12-29 | 丰田自动车株式会社 | Image display device and method, non-transitory computer readable medium |
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