CN111746526B - Early warning method, device and equipment for rear unmanned vehicle and vehicle - Google Patents
Early warning method, device and equipment for rear unmanned vehicle and vehicle Download PDFInfo
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- CN111746526B CN111746526B CN202010404183.9A CN202010404183A CN111746526B CN 111746526 B CN111746526 B CN 111746526B CN 202010404183 A CN202010404183 A CN 202010404183A CN 111746526 B CN111746526 B CN 111746526B
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/804—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for lane monitoring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8093—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for obstacle warning
Abstract
The invention discloses a method, a device and equipment for early warning of a rear unmanned vehicle and the vehicle, wherein the method comprises the following steps: the method comprises the steps of obtaining rear road image information of a current vehicle, identifying a rear vehicle according to the rear road image information to obtain rear vehicle image information, determining whether the rear vehicle is a rear unmanned vehicle or not according to the rear vehicle image information, increasing a collision early warning distance between the current vehicle and the rear unmanned vehicle and reducing a collision early warning vehicle speed difference between the current vehicle and the rear unmanned vehicle when the rear vehicle is determined to be the rear unmanned vehicle, and early warning collision between the current vehicle and the rear unmanned vehicle based on the increased collision early warning distance and the reduced collision early warning vehicle speed difference. The method can set a detection scheme with more sensitive response aiming at the rear unmanned vehicle, so that the driving safety is improved.
Description
Technical Field
The invention relates to the field of unmanned driving, in particular to a method, a device and equipment for early warning of a rear unmanned vehicle and the vehicle.
Background
With the development of the automatic driving technology, there is a possibility that an unmanned vehicle appears in an actual driving scene, especially in a high-speed scene. Such vehicles, or the vehicles themselves, already have L3 level and autonomous driving capability, the primary driving location is unmanned; or the vehicle only has the automatic driving function of the level L2 or below, but the main driving position is still unmanned. The safety of the vehicle to the driving environment can bring high risk.
The existing rear millimeter wave radar system uses the same judgment threshold value and mode for all scenes, and when any vehicle approaches behind the vehicle and approaches to left and right lanes behind, a collision early warning or radar early warning function is triggered within a fixed range to remind a driver of rear risks. However, the unmanned vehicle has a higher risk of making mistakes, and the rear millimeter wave radar system used in the existing scene has low detection sensitivity for the unmanned vehicle, and may leave a potential safety hazard when the vehicle is running.
Disclosure of Invention
The invention provides a method, a device and equipment for early warning of a rear unmanned vehicle and the vehicle, so that a controller can switch the sensitivity of radar detection according to actual conditions, and the driving safety is improved.
In one aspect, the invention provides a method for early warning of a rear unmanned vehicle, the method comprising:
acquiring rear road image information of a current vehicle;
according to the rear road image information, identifying a rear vehicle to obtain rear vehicle image information;
determining whether the rear vehicle is a rear unmanned vehicle or not according to the rear vehicle image information;
when the rear vehicle is determined to be a rear unmanned vehicle, increasing a collision early warning distance between the current vehicle and the rear unmanned vehicle, and reducing a collision early warning vehicle speed difference between the current vehicle and the rear unmanned vehicle;
and early warning the collision between the current vehicle and the rear unmanned vehicle based on the increased collision early warning distance and the reduced collision early warning vehicle speed difference.
Another aspect provides a warning apparatus of a rear unmanned vehicle, the apparatus including:
the device comprises: the system comprises an image acquisition module, a rear vehicle identification module, an unmanned vehicle identification module, an early warning parameter adjustment module and a collision early warning module;
the image acquisition module is used for acquiring the rear road image information of the current vehicle;
the rear vehicle identification module is used for identifying a rear vehicle according to the rear road image information to obtain rear vehicle image information;
the unmanned vehicle identification module is used for determining whether the rear vehicle is a rear unmanned vehicle or not according to the rear vehicle image information;
the early warning parameter adjusting module is used for increasing a collision early warning distance between the current vehicle and the rear unmanned vehicle and reducing a collision early warning vehicle speed difference between the current vehicle and the rear unmanned vehicle when the rear vehicle is determined to be the rear unmanned vehicle;
the collision early warning module is used for early warning the collision between the current vehicle and the rear unmanned vehicle based on the increased collision early warning distance and the reduced collision early warning vehicle speed difference.
Another aspect provides a warning apparatus of a rear unmanned vehicle, the apparatus including: the system comprises a streaming media rearview camera, an internal streaming media rearview mirror, a driving safety domain controller and a rear angle radar;
the streaming media rear-view camera is arranged behind a vehicle and is connected with the internal streaming media rear-view mirror and the active safety domain controller and used for acquiring rear road video stream information;
the active safety domain controller is connected with the rear angle radar controller and is used for carrying out image recognition on the rear road video stream information, determining a rear unmanned vehicle and transmitting the image recognition result to the internal flow media rearview mirror;
the active safety domain controller is also used for adjusting the detection parameters of the rear angle radar according to the image recognition result, and the rear angle radar is arranged on two sides of a rear bumper of the vehicle;
the internal flow media rearview mirror is arranged in the vehicle and used for displaying the rear road video stream information and displaying warning information according to the image recognition result.
Another aspect provides a vehicle comprising a warning device for a rear unmanned vehicle as described above.
The invention provides a method, a device and equipment for early warning of a rear unmanned vehicle and the vehicle, wherein the method comprises the following steps: and acquiring rear road image information of the vehicle through the streaming media rearview camera, identifying a rear vehicle in the rear road image information, and judging whether the rear vehicle is an unmanned vehicle. When the rear vehicle is an unmanned vehicle, the detection parameters of the rear angle radar are adjusted, the detection sensitivity of the rear angle radar is improved, and the collision early warning function is triggered in a wider range and a lower vehicle speed difference. Therefore, a detection scheme with higher priority and more sensitive response can be set for the unmanned vehicle, so that the accident rate of the unmanned vehicle is reduced, and the driving safety is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of an early warning method for a rear unmanned vehicle according to an embodiment of the present invention;
fig. 2 is a flowchart of acquiring rear road image information according to an early warning method for a rear unmanned vehicle according to an embodiment of the present invention;
fig. 3 is a flowchart illustrating that a current vehicle is in a non-high speed scene in the warning method for a rear unmanned vehicle according to the embodiment of the present invention;
fig. 4 is a flowchart of a method for calibrating a rear angle radar in the warning method for a rear unmanned vehicle according to the embodiment of the present invention;
fig. 5 is a flowchart of a method for determining a rear unmanned vehicle in an early warning method for the rear unmanned vehicle according to an embodiment of the present invention;
fig. 6 is a flowchart of a method for increasing a collision warning distance and reducing a collision warning vehicle speed difference in a warning method for a rear unmanned vehicle according to an embodiment of the present invention;
fig. 7 is a schematic view of an application scenario of an early warning method for a rear unmanned vehicle according to an embodiment of the present invention;
fig. 8 is a flowchart of a method for prompting a driver in an early warning method for a rear unmanned vehicle according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of an early warning device of a rear unmanned vehicle according to an embodiment of the present invention;
fig. 10 is a schematic hardware structure diagram of an apparatus for implementing the method provided by the embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the description of the present invention, it is to be understood that the terms "first", "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Moreover, the terms "first," "second," and the like, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein.
Referring to fig. 1, a method for warning a rear unmanned vehicle, which can be applied to a server side, is shown, and the method includes:
s110, acquiring rear road image information of a current vehicle;
further, referring to fig. 2, the acquiring the rear road image information of the current vehicle includes:
s210, acquiring rear road video stream information of a current vehicle through a stream media rearview camera;
s220, determining whether the current vehicle is in a highway scene;
and S230, if the current vehicle is in a highway scene, transmitting the rear road video stream information to an active safety domain controller for extracting frame data to obtain rear road image information.
Further, referring to fig. 3, after determining whether the current vehicle is in the highway scene, the method further includes:
s310, if the current vehicle is in a non-highway scene, transmitting the rear road video stream information to an internal flow media rearview mirror;
and S320, displaying the rear road video stream information through the internal flow media rearview mirror.
Specifically, when determining whether the current vehicle is in the expressway scene, the current vehicle can be determined by a map mark in vehicle navigation, and when the vehicle navigation does not have the map mark or cannot receive a signal, the current vehicle can be determined whether the current vehicle is in the expressway scene or not by judging through a sign in rear road video stream information, the relative speed between the vehicle and the vehicle, the relative speed between the vehicle and a roadside marker and the like.
When the vehicle is determined to be in the expressway scene, the rear road video stream information is transmitted to the active safety domain controller for image processing, and the active safety domain controller extracts each frame of image data in the rear road video stream information to obtain the rear road image information. The active safety domain controller can also screen the extracted rear road image data, eliminate road scenes without obstacles and further process images including the obstacles.
When the vehicle is determined to be in the off-highway scene, the rear road video stream information is transmitted to the internal flow media rearview mirror. The internal flow media rearview mirror can display the rear road condition in real time by displaying the video stream information of the rear road.
By distinguishing the expressway scene from the non-expressway scene, different strategies can be adopted for coping, so that the early warning strategy for the rear unmanned vehicles is more flexible and intelligent, the user experience is improved, meanwhile, the calculation cost is avoided, and the processing efficiency of the controller is improved.
Further, referring to fig. 4, before acquiring the image information of the road behind the current vehicle, the method further includes:
s410, calibrating a relief angle radar of a current vehicle, and determining general detection parameters of the relief angle radar;
and S420, carrying out secondary calibration on the rear angle radar of the current vehicle, and determining alternative detection parameters of the rear angle radar, wherein the alternative detection parameters represent parameters for detection when the rear vehicle is a rear unmanned vehicle.
Specifically, since it is necessary to control the rear angle radar to adjust the detection parameters when it is detected that the rear vehicle is an unmanned vehicle, detection parameters with higher detection accuracy, that is, alternative detection parameters, are used, but the detection parameters with high detection accuracy may increase the possibility of false alarm of the rear angle radar when detecting. Under the condition of low requirement on detection precision, the false alarm rate needs to be reduced, so that detection parameters with low false alarm rate, namely general detection parameters, also need to be used. And calibrating the rear angle radar twice to respectively obtain a general detection parameter and an alternative detection parameter, wherein the general detection parameter and the alternative detection parameter are respectively used for detecting the rear angle radar when the rear vehicle is not an unmanned vehicle and detecting the rear angle radar when the rear vehicle is the unmanned vehicle.
The setting time of the echo time early warning threshold value of the radar in the general detection parameters is short, namely when the distance between the radar and an obstacle is short, the radar sends out an early warning signal, so that a collision early warning function is triggered in a small range and a small vehicle speed difference, and false alarm is avoided.
The setting time of the early warning threshold value of the echo data of the radar in the alternative detection parameters is long, namely when the distance between the radar and the obstacle is long, the radar sends out an early warning signal, so that the collision early warning function is triggered in a larger range and a lower vehicle speed difference.
Through the mode of secondary calibration, the controller can directly switch the parameters of the rear angle radar when the driving scene changes, the operation is simple and convenient, and the detection parameters can be rapidly adjusted.
S120, identifying a rear vehicle according to the rear road image information to obtain rear vehicle image information;
s130, determining whether the rear vehicle is a rear unmanned vehicle or not according to the rear vehicle image information;
further, referring to fig. 5, the determining whether the rear vehicle is a rear unmanned vehicle according to the rear vehicle image information includes:
s510, identifying the driver image information in the rear vehicle image information based on a preset image identification algorithm;
s520, if the driver image information cannot be identified, determining that the rear vehicle is a rear unmanned vehicle.
Specifically, the image recognition is performed on the rear road image information, and it is determined that the vehicle exists in the rear road image information. The method comprises the steps that based on a preset image recognition algorithm, people on a driver seat behind a front windshield in a rear vehicle are recognized, when the situation that people exist on the driver seat is determined, the vehicle can be judged to be a vehicle with people, and when the situation that no people exist on the driver seat is determined, the vehicle can be judged to be an unmanned vehicle.
The image recognition algorithm is used for obtaining an image of a driver seat area by segmenting original rear vehicle image information, extracting features of the image of the driver seat area based on a preset convolution network to obtain feature information of the driver seat area, and judging whether a person exists on the driver seat after classifying or recognizing the feature information of the driver seat area. The image recognition algorithm can be RCNN, fast-RCNN, VGG or ResNet and the like, and the image is segmented based on the modes of threshold, clustering, edge or region growing and the like, the region of interest is selected, and further recognition or classification regression is carried out.
S140, when the rear vehicle is determined to be a rear unmanned vehicle, increasing a collision early warning distance between the current vehicle and the rear unmanned vehicle, and reducing a collision early warning vehicle speed difference between the current vehicle and the rear unmanned vehicle;
further, referring to fig. 6, when it is determined that the rear vehicle is a rear unmanned vehicle, increasing a collision warning distance between the current vehicle and the rear unmanned vehicle and decreasing a collision warning vehicle speed difference between the current vehicle and the rear unmanned vehicle includes:
s610, when the rear vehicle is determined to be a rear unmanned vehicle, acquiring alternative detection parameters of a rear angle radar;
s620, taking the alternative detection parameters of the clearance angle radar as the current detection parameters of the clearance angle radar;
s630, adjusting the echo early warning time of the relief angle radar based on the alternative detection parameters of the relief angle radar;
and S640, increasing the collision early warning distance between the current vehicle and the rear unmanned vehicle according to the adjusted echo early warning time, and reducing the collision early warning vehicle speed difference between the current vehicle and the rear unmanned vehicle.
Specifically, please refer to the application scenario in fig. 7, after determining that the rear vehicle is the unmanned vehicle, it is necessary to set higher priority detection and early warning for the unmanned vehicle, so that the range of collision early warning can be expanded by improving the sensitivity of radar detection.
Be used for carrying out the alternative detection parameter of early warning to unmanned vehicle in rear when calibrating the relief angle radar, set up as the detection parameter of current relief angle radar, can adjust the echo early warning time in the relief angle radar, lengthen echo early warning time. For example, in the general detection parameter, when the echo warning time is 4 seconds, the rear angle radar sends out a collision warning signal, and in the alternative detection parameter, when the echo warning time is 8 seconds, the rear angle radar sends out a collision warning signal. By prolonging the echo early warning time, the collision early warning distance between the current vehicle and the rear unmanned vehicle can be prolonged, the early warning threshold value is reduced, and the early warning range is enlarged.
In addition, the relative speed between the rear unmanned vehicle and the current vehicle can be calculated through the frequency of the reflected signal of the rear unmanned vehicle fed back by the rear corner radar, and the early warning threshold value of the relative speed is adjusted, so that early warning is also performed when the speed difference between the rear unmanned vehicle and the current vehicle is small, for example, under the condition that the rear vehicle is a manned vehicle, in the detection result transmitted by the radar, the speed of the rear vehicle is greater than that of the current vehicle, and when the speed difference is 10m/s, the possibility of collision is judged to be high, and collision early warning information is sent out to the current vehicle. And under the condition that the rear vehicle is an unmanned vehicle, in the detection result transmitted by the radar, the speed of the rear vehicle is higher than that of the current vehicle, when the speed difference is 5m/s, the possibility of collision is judged to be high, and collision early warning information is sent to the current vehicle.
Further, the detection parameter adjustment of the clearance radar may be performed by switching between the alternative detection parameters and the general detection parameters via a controller of the clearance radar, or a controller of the vehicle that integrates the clearance radar control function. The rear angle radar can be connected with the collision early warning system, so that a radar early warning signal is transmitted to the collision early warning system.
The detection scheme with higher priority and more sensitive reaction is set for the unmanned vehicle, so that the accident rate of the unmanned vehicle is reduced, and the driving safety is improved.
S150, on the basis of the increased collision early warning distance and the reduced collision early warning vehicle speed difference, early warning is carried out on collision between the current vehicle and the rear unmanned vehicle.
Further, referring to fig. 8, the method further includes:
s810, when the rear vehicle is determined to be a rear unmanned vehicle, sending warning information to an internal flow media rearview mirror;
and S820, displaying the warning information through the internal flow media rearview mirror.
Specifically, when it is determined that the rear vehicle is the rear unmanned vehicle, information that the rear vehicle is the unmanned vehicle may be transmitted to the internal streaming media rearview mirror, and a warning icon of the unmanned vehicle is displayed on the internal streaming media rearview mirror for warning the driver of the presence of the unmanned vehicle behind.
Alternatively, the driver may be reminded of whether a vehicle is driven behind by a person through voice reminding and the like.
The driver is reminded through the warning information, the attention of the driver can be improved, possible accidents are avoided, and the driving safety and the driving experience are improved.
The embodiment of the invention provides an early warning method for a rear unmanned vehicle, which comprises the following steps: and acquiring rear road image information of the vehicle through the streaming media rearview camera, identifying a rear vehicle in the rear road image information, and judging whether the rear vehicle is an unmanned vehicle. When the rear vehicle is an unmanned vehicle, the detection parameters of the rear angle radar are adjusted, the detection sensitivity of the rear angle radar is improved, and the collision early warning function is triggered in a wider range and a lower vehicle speed difference. Therefore, a detection scheme with higher priority and more sensitive reaction can be set for the unmanned vehicle, so that the accident rate of the unmanned vehicle is reduced, and the driving safety is improved.
The embodiment of the present invention further provides an early warning device for a rear unmanned vehicle, please refer to fig. 9, where the device includes: the system comprises an image acquisition module 910, a rear vehicle identification module 920, an unmanned vehicle identification module 930, an early warning parameter adjustment module 940 and a collision early warning module 950;
the image obtaining module 910 is configured to obtain rear road image information of a current vehicle;
the rear vehicle identification module 920 is configured to identify a rear vehicle according to the rear road image information to obtain rear vehicle image information;
the unmanned vehicle identification module 930 is configured to determine whether the rear vehicle is a rear unmanned vehicle according to the rear vehicle image information;
the early warning parameter adjusting module 940 is configured to increase a collision early warning distance between the current vehicle and the rear unmanned vehicle and decrease a collision early warning vehicle speed difference between the current vehicle and the rear unmanned vehicle when it is determined that the rear vehicle is the rear unmanned vehicle;
the collision early warning module 950 is configured to early warn a collision between the current vehicle and the rear unmanned vehicle based on the increased collision early warning distance and the decreased collision early warning vehicle speed difference.
The device provided in the above embodiments can execute the method provided in any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method. Technical details that are not described in detail in the above embodiments may be referred to a method for warning a rear unmanned vehicle according to any embodiment of the present invention.
The embodiment further provides an early warning device for a rear unmanned vehicle, please refer to fig. 10, the device includes: the system comprises a streaming media rearview camera, an internal streaming media rearview mirror, an active safety domain controller and a rear angle radar;
the streaming media rearview camera is arranged behind a vehicle and connected with the internal streaming media rearview mirror and the active safety domain controller, and is used for acquiring rear road video stream information;
the active safety domain controller is connected with the rear angle radar controller and is used for carrying out image recognition on the rear road video stream information, determining a rear unmanned vehicle and transmitting the image recognition result to the internal flow media rearview mirror;
the active safety domain controller is also used for adjusting the detection parameters of the rear angle radar according to the image recognition result, and the rear angle radar is arranged on two sides of a rear bumper of the vehicle;
the internal flow media rearview mirror is arranged in the vehicle and used for displaying the rear road video stream information and displaying warning information according to the image recognition result.
The embodiment also provides a vehicle, which is provided with the early warning device for the rear unmanned vehicle, and the early warning device for the rear unmanned vehicle can execute the early warning method for the rear unmanned vehicle of the embodiment.
The present specification provides method steps as described in the examples or flowcharts, but may include more or fewer steps based on routine or non-inventive labor. The steps and sequences recited in the embodiments are but one manner of performing the steps in a multitude of sequences and do not represent a unique order of performance. In the actual system or interrupted product execution, it may be performed sequentially or in parallel (e.g., in the context of parallel processors or multi-threaded processing) according to the embodiments or methods shown in the figures.
The configurations shown in the present embodiment are only partial configurations related to the present application, and do not constitute a limitation on the devices to which the present application is applied, and a specific device may include more or less components than those shown, or combine some components, or have an arrangement of different components. It should be understood that the methods, apparatuses, and the like disclosed in the embodiments may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is merely a division of one logic function, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or unit modules.
Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Those of skill would further appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A method of warning a rear unmanned vehicle, the method comprising:
acquiring rear road image information of a current vehicle;
according to the rear road image information, identifying a rear vehicle to obtain rear vehicle image information;
determining whether the rear vehicle is a rear unmanned vehicle or not according to the rear vehicle image information;
when the rear vehicle is determined to be a rear unmanned vehicle, increasing a collision early warning distance between the current vehicle and the rear unmanned vehicle, and reducing a collision early warning vehicle speed difference between the current vehicle and the rear unmanned vehicle;
and early warning the collision between the current vehicle and the rear unmanned vehicle based on the increased collision early warning distance and the reduced collision early warning vehicle speed difference.
2. The warning method for the unmanned vehicle behind according to claim 1, wherein the obtaining the rear road image information of the current vehicle comprises:
acquiring the rear road video stream information of the current vehicle through a stream media rearview camera;
determining whether a current vehicle is in a highway scene;
and if the current vehicle is in the expressway scene, transmitting the rear road video stream information to an active safety domain controller for extracting frame data to obtain rear road image information.
3. The warning method for the unmanned vehicle behind according to claim 2, wherein after determining whether the current vehicle is in a highway scene, the method further comprises:
if the current vehicle is in a non-highway scene, transmitting the rear road video stream information to an internal flow media rearview mirror;
and displaying the rear road video stream information through the internal flow media rearview mirror.
4. The method for warning a rear unmanned vehicle according to claim 1, wherein before acquiring the rear road image information of the current vehicle, the method comprises:
calibrating a relief angle radar of a current vehicle, and determining general detection parameters of the relief angle radar;
and carrying out secondary calibration on the relief angle radar of the current vehicle, determining alternative detection parameters of the relief angle radar, wherein the alternative detection parameters are parameters for detecting when the rear vehicle is a rear unmanned vehicle and adjusting the echo early warning time of the relief angle radar.
5. The warning method for the rear unmanned vehicle as claimed in claim 4, wherein when the rear vehicle is determined to be a rear unmanned vehicle, increasing the pre-crash warning distance between the current vehicle and the rear unmanned vehicle and decreasing the pre-crash warning vehicle speed difference between the current vehicle and the rear unmanned vehicle comprises:
when the rear vehicle is determined to be a rear unmanned vehicle, acquiring alternative detection parameters of a rear corner radar;
taking the alternative detection parameters of the clearance radar as the current detection parameters of the clearance radar;
adjusting the echo early warning time of the relief angle radar based on the alternative detection parameters of the relief angle radar;
and increasing the collision early warning distance between the current vehicle and the rear unmanned vehicle according to the adjusted echo early warning time, and reducing the collision early warning vehicle speed difference between the current vehicle and the rear unmanned vehicle.
6. The warning method for the rear unmanned vehicle as claimed in claim 1, wherein the determining whether the rear vehicle is a rear unmanned vehicle according to the rear vehicle image information comprises:
identifying the driver image information in the rear vehicle image information based on a preset image identification algorithm;
and if the driver image information is not identified, determining that the rear vehicle is a rear unmanned vehicle.
7. The warning method for the rear unmanned vehicle as claimed in claim 1, further comprising:
when the rear vehicle is determined to be a rear unmanned vehicle, sending warning information to the internal flow media rearview mirror;
and displaying the warning information through the internal flow media rearview mirror.
8. A warning device for a rear unmanned vehicle, the device comprising: the system comprises an image acquisition module, a rear vehicle identification module, an unmanned vehicle identification module, an early warning parameter adjustment module and a collision early warning module;
the image acquisition module is used for acquiring the rear road image information of the current vehicle;
the rear vehicle identification module is used for identifying a rear vehicle according to the rear road image information to obtain rear vehicle image information;
the unmanned vehicle identification module is used for determining whether the rear vehicle is a rear unmanned vehicle or not according to the rear vehicle image information;
the early warning parameter adjusting module is used for increasing a collision early warning distance between the current vehicle and the rear unmanned vehicle and reducing a collision early warning vehicle speed difference between the current vehicle and the rear unmanned vehicle when the rear vehicle is determined to be the rear unmanned vehicle;
the collision early warning module is used for early warning the collision between the current vehicle and the rear unmanned vehicle based on the increased collision early warning distance and the reduced collision early warning vehicle speed difference.
9. An early warning device for a rear drone vehicle, the device comprising: the system comprises a streaming media rearview camera, an internal streaming media rearview mirror, an active safety domain controller and a rear angle radar;
the streaming media rear-view camera is arranged behind a vehicle and is connected with the internal streaming media rear-view mirror and the active safety domain controller and used for acquiring rear road video stream information;
the active safety domain controller is connected with the rear angle radar controller and is used for carrying out image recognition on the rear road video stream information, determining a rear unmanned vehicle and transmitting the image recognition result to the internal flow media rearview mirror;
the active safety domain controller is further used for adjusting alternative detection parameters of the rear angle radar according to the image recognition result, the rear angle radar is arranged on two sides of a rear bumper of the vehicle, and the alternative detection parameters are parameters for detecting when a rear vehicle is a rear unmanned vehicle and adjusting echo early warning time of the rear angle radar;
the internal flow media rearview mirror is arranged in the vehicle and used for displaying the rear road video stream information and displaying warning information according to the image recognition result.
10. A vehicle comprising a rear unmanned vehicle forewarning device of claim 9.
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| CN204196777U (en) * | 2014-10-30 | 2015-03-11 | 长城汽车股份有限公司 | Drive road conditions control system for identifying and vehicle |
| KR20170054186A (en) * | 2015-11-09 | 2017-05-17 | 현대자동차주식회사 | Apparatus for controlling autonomous vehicle and method thereof |
| CN109923597A (en) * | 2016-11-18 | 2019-06-21 | 三菱电机株式会社 | Drive assistance device and driving assistance method |
| US10406917B2 (en) * | 2017-08-28 | 2019-09-10 | Ford Global Technologies, Llc | Systems and methods for vehicle cruise control smoothness adaptation |
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| CN110775069B (en) * | 2019-10-29 | 2021-04-27 | 长安大学 | Vehicle driving mode recognition device and method in mixed driving mode |
| CN111028531B (en) * | 2019-12-26 | 2022-02-08 | 苏州智加科技有限公司 | Prompting method, prompting device, automatic driving vehicle and storage medium |
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