CN112668361A

CN112668361A - Alarm accuracy determination method, device and computer readable storage medium

Info

Publication number: CN112668361A
Application number: CN201910978666.7A
Authority: CN
Inventors: 刘思家
Original assignee: Beijing Horizon Robotics Technology Research and Development Co Ltd
Current assignee: Beijing Horizon Robotics Technology Research and Development Co Ltd
Priority date: 2019-10-15
Filing date: 2019-10-15
Publication date: 2021-04-16
Anticipated expiration: 2039-10-15

Abstract

The embodiment of the disclosure discloses an alarm accuracy determination method, an alarm accuracy determination device, a computer-readable storage medium and electronic equipment. The method comprises the following steps: acquiring an image acquired by a first image acquisition device arranged on the movable equipment at a target moment and the moving speed of the movable equipment; the target moment is the triggering moment of the front anti-collision alarm function of the movable equipment in the process that the movable equipment moves to the obstacle in the static state; determining a first distance from the image; the first distance is the actual distance between the movable equipment and the obstacle at the target moment; and determining the alarm accuracy of the front anti-collision alarm function of the movable equipment according to the first distance and the moving speed. The embodiment of the disclosure can reduce the influence of weather factors on the determination result, and therefore, compared with the prior art, the embodiment of the disclosure can better ensure the reliability of the determination result.

Description

Alarm accuracy determination method, device and computer readable storage medium

Technical Field

The present disclosure relates to the field of driving technologies, and in particular, to a method and an apparatus for determining an alarm accuracy, a computer-readable storage medium, and an electronic device.

Background

In the case of a vehicle, a front Collision Warning function such as a Forward Collision Warning (FCW) function is a very important function, and a potential Collision risk can be detected and notified based on the function, and therefore, it is necessary to determine the Warning accuracy of the front Collision Warning function of the vehicle.

Currently, when determining the warning accuracy of the front anti-collision warning function of a vehicle, a Global Positioning System (GPS) satellite is generally required, so that the reliability of a determination result is greatly reduced under the condition of bad weather.

Disclosure of Invention

The present disclosure is proposed to solve the above technical problems. The embodiment of the disclosure provides an alarm accuracy determination method and device, a computer-readable storage medium and an electronic device.

According to an aspect of the embodiments of the present disclosure, there is provided an alarm accuracy determining method including:

acquiring an image acquired by a first image acquisition device arranged on the movable equipment at a target moment and the moving speed of the movable equipment; the target moment is the triggering moment of the front anti-collision alarm function of the movable equipment in the process that the movable equipment moves to the obstacle in the static state;

determining a first distance from the image; the first distance is the actual distance between the movable equipment and the obstacle at the target moment;

and determining the alarm accuracy of the front anti-collision alarm function of the movable equipment according to the first distance and the moving speed.

According to another aspect of the embodiments of the present disclosure, there is provided an alarm accuracy determination apparatus including:

the device comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring an image acquired by a first image acquisition device arranged on the movable equipment and the moving speed of the movable equipment at a target moment; the target moment is the triggering moment of the front anti-collision alarm function of the movable equipment in the process that the movable equipment moves to the obstacle in the static state;

the first determining module is used for determining a first distance according to the image acquired by the acquiring module; the first distance is the actual distance between the movable equipment and the obstacle at the target moment;

and the second determination module is used for determining the alarm accuracy of the front anti-collision alarm function of the movable equipment according to the first distance determined by the first determination module and the movement speed acquired by the acquisition module.

According to still another aspect of an embodiment of the present disclosure, there is provided a computer-readable storage medium storing a computer program for executing the above alarm accuracy determination method.

According to still another aspect of an embodiment of the present disclosure, there is provided an electronic device including:

a processor;

a memory for storing the processor-executable instructions;

and the processor is used for reading the executable instruction from the memory and executing the instruction to realize the alarm accuracy determination method.

Based on the method, the device, the computer-readable storage medium and the electronic device for determining the alarm accuracy, the alarm accuracy of the front anti-collision alarm function of the mobile device can be determined according to the image acquired by the first image acquisition device arranged on the mobile device and the moving speed of the mobile device, that is, in the embodiment of the disclosure, the determination of the alarm accuracy of the front anti-collision alarm function does not depend on a GPS satellite, so that the embodiment of the disclosure can reduce the influence of weather factors on the determination result, and compared with the prior art, the embodiment of the disclosure can better ensure the reliability of the determination result.

The technical solution of the present disclosure is further described in detail by the accompanying drawings and examples.

Drawings

The above and other objects, features and advantages of the present disclosure will become more apparent by describing in more detail embodiments of the present disclosure with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the principles of the disclosure and not to limit the disclosure. In the drawings, like reference numbers generally represent like parts or steps.

FIG. 1 is a system diagram of a test system to which the present disclosure is applicable.

Fig. 2 is a flowchart illustrating an alarm accuracy determination method according to an exemplary embodiment of the present disclosure.

Fig. 3 is a flowchart illustrating an alarm accuracy determination method according to another exemplary embodiment of the present disclosure.

Fig. 4 is a schematic diagram of an image captured by a first image capture device in an exemplary embodiment of the disclosure.

Fig. 5 is a schematic diagram of another image captured by the first image capturing device in an exemplary embodiment of the disclosure.

Fig. 6 is a flowchart illustrating an alarm accuracy determination method according to still another exemplary embodiment of the present disclosure.

Fig. 7 is a schematic structural diagram of an alarm accuracy determination apparatus according to an exemplary embodiment of the present disclosure.

Fig. 8 is a schematic structural diagram of an alarm accuracy determining apparatus according to another exemplary embodiment of the present disclosure.

Fig. 9 is a block diagram of an electronic device provided in an exemplary embodiment of the present disclosure.

Detailed Description

Hereinafter, example embodiments according to the present disclosure will be described in detail with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a subset of the embodiments of the present disclosure and not all embodiments of the present disclosure, with the understanding that the present disclosure is not limited to the example embodiments described herein.

It should be noted that: the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

It will be understood by those of skill in the art that the terms "first," "second," and the like in the embodiments of the present disclosure are used merely to distinguish one element from another, and are not intended to imply any particular technical meaning, nor is the necessary logical order between them.

It is also understood that in embodiments of the present disclosure, "a plurality" may refer to two or more and "at least one" may refer to one, two or more.

It is also to be understood that any reference to any component, data, or structure in the embodiments of the disclosure, may be generally understood as one or more, unless explicitly defined otherwise or stated otherwise.

In addition, the term "and/or" in the present disclosure is only one kind of association relationship describing an associated object, and means that three kinds of relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" in the present disclosure generally indicates that the former and latter associated objects are in an "or" relationship.

It should also be understood that the description of the various embodiments of the present disclosure emphasizes the differences between the various embodiments, and the same or similar parts may be referred to each other, so that the descriptions thereof are omitted for brevity.

Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

The disclosed embodiments may be applied to electronic devices such as terminal devices, computer systems, servers, etc., which are operational with numerous other general purpose or special purpose computing system environments or configurations. Examples of well known terminal devices, computing systems, environments, and/or configurations that may be suitable for use with electronic devices, such as terminal devices, computer systems, servers, and the like, include, but are not limited to: personal computer systems, server computer systems, thin clients, thick clients, hand-held or laptop devices, microprocessor-based systems, set top boxes, programmable consumer electronics, network pcs, minicomputer systems, mainframe computer systems, distributed cloud computing environments that include any of the above systems, and the like.

Electronic devices such as terminal devices, computer systems, servers, etc. may be described in the general context of computer system-executable instructions, such as program modules, being executed by a computer system. Generally, program modules may include routines, programs, objects, components, logic, data structures, etc. that perform particular tasks or implement particular abstract data types. The computer system/server may be practiced in distributed cloud computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed cloud computing environment, program modules may be located in both local and remote computer system storage media including memory storage devices.

Summary of the application

In the course of implementing the present disclosure, the inventors found that, in the related art, in order to determine the warning accuracy of the FCW function of a certain vehicle (for convenience of distinction, it is hereinafter referred to as a host vehicle), it is necessary to utilize another vehicle (for convenience of distinction, it is hereinafter referred to as a target vehicle). Specifically, dedicated GPS antennas are required to be equipped on both the host vehicle and the target vehicle, and according to GPS satellites and the GPS antennas equipped on the host vehicle and the target vehicle, longitude and latitude information of the host vehicle and the target vehicle can be obtained, so as to determine the alarm accuracy of the FCW function of the host vehicle according to the obtained longitude and latitude information. Since the weather factors greatly affect the performance of both the GPS satellite and the GPS antenna, when the warning accuracy of the FCW function of the host vehicle is determined under a bad weather, the reliability of the determination result is very low.

Brief description of the drawings

To determine the alarm accuracy of the FCW function, a test system as shown in fig. 1 may be utilized. As shown in fig. 1, a test system may include a host-vehicle 110 and a target-vehicle 120, the target-vehicle 120 may be located in front of the host-vehicle 110, and the host-vehicle 110 may move along a lane line toward the target-vehicle 120 to trigger the FCW function of the host-vehicle 110, thereby facilitating determination of the accuracy of the warning of the FCW function of the host-vehicle 110.

Exemplary method

Fig. 2 is a flowchart illustrating an alarm accuracy determination method according to an exemplary embodiment of the present disclosure. The method shown in fig. 2 comprises step 201, step 202 and step 203, which are described below.

Step 201, acquiring an image acquired by a first image acquisition device arranged on the movable equipment at a target moment and the moving speed of the movable equipment; the target moment is the triggering moment of the front anti-collision alarm function of the movable equipment in the process that the movable equipment moves towards the obstacle in the static state.

Here, the movable device may be the host vehicle 110 in fig. 1; the first image capturing device may be a camera, for example, a fisheye camera 130 disposed on an outer side wall of the host vehicle 110 in fig. 1, and the fisheye camera 130 may be disposed perpendicular to a vehicle body of the host vehicle 110; the obstacle may be the target vehicle 120 in fig. 1 or a human figure or the like.

In the case where the obstacle is the target vehicle 120, the front collision avoidance warning function in step 201 may be an FCW function; in the case where the obstacle is a human, the front collision Warning function in step 201 may be a Pedestrian Collision Warning (PCW) function. For convenience of understanding, in the embodiments of the present disclosure, a case where the mobile device is the host vehicle 110, the obstacle is the target vehicle 120, and the front collision avoidance function is the FCW function is described as an example.

In specific implementation, the obstacle can be in a static state, namely the moving speed of the obstacle is kept to be zero, and the obstacle is kept in a static position; the front anti-collision alarm function of the movable equipment can be in an open state, and the movable equipment can move towards the obstacle. It will be appreciated that the speed of movement of the moveable device may be taken as the relative speed of the moveable device to the obstacle.

In the moving process of the mobile device, the first image acquisition device arranged on the mobile device CAN continuously acquire and cache images, and a Controller Area Network (CAN) message system of the mobile device CAN continuously generate and cache CAN messages.

When the actual distance of the mobile device from the obstacle is sufficiently close, the pre-crash alert function of the mobile device may be triggered (assuming the triggering time is the target time) due to the potential risk of collision. Next, an image acquired by the first image acquisition device at the target moment can be acquired from the cached image; the CAN message generated by the chassis CAN message system at the target moment CAN be acquired from the cached CAN message, and the acquired CAN message is analyzed to acquire the moving speed of the mobile equipment at the target moment.

It is noted that in case the front collision warning function of the movable apparatus is triggered, the movable apparatus may stop moving towards the obstacle. In addition, in order to achieve acquisition of images and moving speed, the software of the embodiment of the disclosure may support a client capable of synchronously playing back images and CAN messages, and the client may support operating systems such as windows or Linux through compiling.

Step 202, determining a first distance according to the image; the first distance is the actual distance of the movable device from the obstacle at the target moment.

In particular, the first distance may be an actual horizontal distance of the head of the movable device from the tail of the obstacle at the target moment. Assuming that the movable apparatus and the obstacle are in the respective positions of fig. 1 in a case where the front collision warning function of the movable apparatus is triggered, the difference between s and a in fig. 1 may be taken as the first distance.

And step 203, determining the alarm accuracy of the front anti-collision alarm function of the movable equipment according to the first distance and the moving speed.

It should be noted that after the first distance and the moving speed are obtained, the real time required for collision between the movable device and the obstacle can be calculated according to the first distance and the moving speed, and whether the movable device can timely and accurately remind the user when a potential collision danger exists can be determined according to whether the real time is reasonable, so that the determination of the alarm accuracy of the front anti-collision alarm function of the movable device is realized.

In the embodiment of the disclosure, the alarm accuracy of the front anti-collision alarm function of the mobile equipment can be determined according to the image acquired by the first image acquisition device arranged on the mobile equipment and the moving speed of the mobile equipment, that is, in the embodiment of the disclosure, the determination of the alarm accuracy of the front anti-collision alarm function does not depend on a GPS satellite, so that the embodiment of the disclosure can reduce the influence of weather factors on the determination result, and therefore, compared with the prior art, the embodiment of the disclosure can better ensure the reliability of the determination result.

Fig. 3 is a flowchart illustrating an alarm accuracy determination method according to another exemplary embodiment of the present disclosure. The method shown in fig. 3 includes

steps

301, 302, 303 and 304, which are described below.

Step 301, acquiring an image acquired by a first image acquisition device arranged on the mobile equipment at a target moment and the movement speed of the mobile equipment; the target moment is the triggering moment of the front anti-collision alarm function of the movable equipment in the process that the movable equipment moves towards the obstacle in the static state.

It should be noted that, the specific implementation process of step 301 only needs to refer to the description of step 201, and is not described herein again.

At step 302, distance markers in the image are identified.

Optionally, the test system may further include a plurality of distance markers, such as the plurality of diamond-shaped markers 150 shown in fig. 1, placed at a fixed spacing along a direction parallel to the lane line. Here, the fixed distance may be 1 meter, 1.5 meters, 2 meters, or the like, and the distance markers may be marker posts, marker boards, or the like, which are not listed herein.

It should be noted that the distance markers and the first image capturing device may be located on the same side of the movable device, for example, as shown in fig. 1, in the case that the first image capturing device is disposed on the left outer sidewall of the movable device, a plurality of distance markers may be placed on the left side of the movable device at fixed intervals. Of course, the first image capturing device may also be disposed on the right outer sidewall of the movable apparatus, and accordingly, the distance markers may be disposed on the right side of the movable apparatus, for convenience of understanding, the embodiment of the disclosure is described by taking the case shown in fig. 1 as an example.

In step 302, distance markers in the image may be identified using image recognition techniques, the number of distance markers in the image being at least one, the distance markers in the image may be used to indicate an actual distance of the movable device from the obstacle.

Step 303, determining a first distance according to the distance marker; the first distance is the actual distance of the movable device from the obstacle at the target moment.

In one embodiment, the image may have a center indicating line disposed along a preset direction;

step 303 may include:

determining a second distance between the distance marker closest to the center indicator line and the rest position of the obstacle;

determining a third distance between the target indication line and the central indication line in the image; the target indicating line is a preset indicating line which is closest to the distance marker closest to the central indicating line in the image;

and determining the first distance according to the second distance and the third distance.

It should be noted that the first image capturing device may have a corresponding configuration file, and through configuration of the configuration file, the image captured by the first image capturing device may have a central indicating line set along a preset direction and at least one other indicating line parallel to the central indicating line, and the preset direction may be a vertical direction.

Specifically, as shown in fig. 4, the image acquired by the first image acquisition device may include three indicator lines, i.e., an indicator line 401, an indicator line 403, and an indicator line 405; wherein, the indication line 403 is a central indication line, and the

indication lines

401 and 405 are all other indication lines.

As can be seen from fig. 4, two distance markers, namely the distance marker 421 and the distance marker 423, are present in the image acquired by the first image acquisition device, and the distance marker 421 is closer to the indicating line 403 as the central indicating line, then the second distance between the distance marker 421 and the rest position of the obstacle can be determined. Specifically, the second distance may be determined according to the distance markers corresponding to the rest positions of the obstacles (for convenience of explanation, which will be referred to as reference distance markers in the following) and the number of distance markers between the distance markers 421, for example, if there are b distance markers (including the distance markers 421 themselves) between the reference distance markers and the distance markers 421 and the fixed spacing of adjacent distance markers is x, the second distance s is the product of b and x.

Next, the indicator line closest to the distance marker 421 in fig. 4 (i.e., the target indicator line) may be determined, and it is apparent that the target indicator line is the indicator line 401, then the third distance of the indicator line 401 and the indicator line 403 in the image may be determined. Here, the distances of the different indication lines in the image may be pre-configured by a configuration file, and then the third distance may be obtained based on the configuration file. The first distance may then be determined based on the second distance and the third distance.

As shown in fig. 5, the image acquired by the first image acquisition device may also include five indicating lines, i.e., an indicating line 501, an indicating line 503, an indicating line 505, an indicating line 507 and an indicating line 509; wherein, the indication line 505 is a central indication line, and the indication line 501, the indication line 503, the indication line 507 and the indication line 509 are all other indication lines.

As can be seen from fig. 5, only the distance marker 521 exists in the image acquired by the first image acquisition device, and then the second distance between the distance marker 521 and the static position of the obstacle can be directly determined, and the specific determination method may refer to the description of the corresponding portion in fig. 4, and is not described herein again.

Next, an indication line (i.e., a target indication line) closest to the distance marker 521 in fig. 5 may be determined, and it is obvious that the target indication line is the indication line 507, and then, a third distance between the indication line 505 and the indication line 507 in the image may be determined, and a specific determination method may refer to the description of the corresponding portion in fig. 4, and is not described herein again. The first distance may then be determined based on the second distance and the third distance.

Optionally, determining the first distance according to the second distance and the third distance includes:

acquiring the position of the distance marker closest to the central indicating line relative to the central indicating line;

acquiring the moving direction of the movable equipment;

and determining the first distance according to the position, the moving direction, the second distance and the third distance.

It should be noted that, the distances of the different indication lines in the image after being mapped to the actual three-dimensional space may be determined in advance through experiments, and the mapping relationship is written into the configuration file. In this way, after the third distance is obtained, a distance (hereinafter referred to as a fourth distance) at which the third distance is mapped to the actual three-dimensional space may be further obtained based on the configuration file.

Continuing with the example illustrated in fig. 4, after determining the second and third distances, the orientation of the distance marker 421 relative to the indicator line 403 may be obtained, and it is apparent that the distance marker 421 is to the left of the indicator line 403; the direction of movement of the movable device can also be obtained, and it is apparent that the direction of movement of the movable device is to the left. In this case, the orientation of the distance marker 421 with respect to the indicator line 403 and the direction of movement of the movable device may be considered to match, then the second distance may be subtracted from the fourth distance and, based on the subtraction, the first distance is obtained. Specifically, a horizontal actual distance between the set position of the first image capturing device and the head of the movable apparatus (which may be represented by a in fig. 1, and a may be measured with a ruler) may be obtained, and then a is subtracted from the subtraction result of the second distance and the fourth distance to obtain a final first distance.

Continuing with the example illustrated in fig. 5, after determining the second distance and the third distance, the position of the distance marker 521 relative to the indicator line 505 may be obtained, and it is apparent that the distance marker 521 is located to the right of the indicator line 505; the direction of movement of the movable device can also be obtained, and it is apparent that the direction of movement of the movable device is to the left. In this case, the orientation of the distance marker 521 with respect to the indicating line 505 and the moving direction of the movable device may be considered to be mismatched, and then the second distance may be added to the fourth distance, and the first distance may be obtained according to the addition result. Specifically, a may be obtained, and then a is subtracted from the addition of the second distance and the fourth distance to obtain the final first distance.

And step 304, determining the alarm accuracy of the front anti-collision alarm function of the movable equipment according to the first distance and the moving speed.

It should be noted that, the specific implementation process of step 304 only needs to refer to the description of step 203, and is not described herein again.

In the embodiment of the disclosure, the first distance can be determined according to the distance markers in the image acquired by the first image acquisition device arranged on the mobile equipment, and the alarm accuracy of the front anti-collision alarm function of the mobile equipment can be determined according to the first distance and the moving speed of the mobile equipment, that is, in the embodiment of the disclosure, the determination of the alarm accuracy of the front anti-collision alarm function is realized based on additionally added distance markers and the first image acquisition device rather than the GPS satellite. In addition, in the embodiment of the disclosure, by introducing the indication line, the invisible distance can be changed into the visible distance in a mode of drawing a line on the picture, and in combination with the orientation of the specific marker in the image relative to the central indication line and the moving direction of the movable device, the very accurate first distance can be obtained, so as to further ensure the reliability of the determination result when the alarm accuracy of the pre-collision alarm function is determined.

It should be noted that, in order to realize the calculation of the first distance, only the central indicator line may be introduced in the embodiment of the present disclosure, and no other indicator line may be introduced, in which case, it is also possible to directly calculate the difference between the second distance and a, and use the difference as the first distance.

Fig. 6 is a flowchart illustrating an alarm accuracy determination method according to still another exemplary embodiment of the present disclosure. The method shown in fig. 6 includes step 601, step 602, step 603, and step 604, which are described below.

601, acquiring an image acquired by a first image acquisition device arranged on the movable equipment at a target moment and the moving speed of the movable equipment; the target moment is the triggering moment of the front anti-collision alarm function of the movable equipment in the process that the movable equipment moves towards the obstacle in the static state.

Step 602, determining a first distance according to the image; the first distance is the actual distance of the movable device from the obstacle at the target moment.

It should be noted that, the specific implementation process of step 601 to step 602 only needs to refer to the description of step 201 to step 202, and is not described herein again.

Step 603, calculating a ratio of the first distance to the moving speed to obtain a collision time of the movable device with the obstacle.

Here, the time to collision is generally used in english, and TTC is abbreviated in english as collision time. Since the first distance is the actual distance between the mobile device and the obstacle at the target time, the moving speed in step 603 is the actual speed of the mobile device (assumed as v), and the collision time obtained in step 603 can be considered as the TTC true value (i.e. the real time required for the mobile device to collide with the obstacle as mentioned above), taking the case of fig. 1 as an example, the calculation formula of the TTC true value can be:

TTC true value ═ b × x-a)/v.

And step 604, determining the alarm accuracy of the front anti-collision alarm function of the movable equipment according to the collision time.

In one embodiment, step 604 may include:

and determining the alarm accuracy of the front anti-collision alarm function of the movable equipment according to whether the collision time is within the preset collision time range.

Specifically, the predetermined time-to-collision range may be a manufacturer-specified, reasonable time-to-collision range. After the collision time in step 603 is obtained, the collision time may be compared with a preset collision time range. If the collision time is within the preset collision time range, the movable equipment can be considered to alarm timely and reliably when potential collision danger exists, and then the alarm accuracy of the front anti-collision alarm function of the movable equipment can be judged to meet the requirement; otherwise, the alarm accuracy of the front anti-collision alarm function of the movable equipment can be judged to be not qualified.

Therefore, the alarm accuracy of the front anti-collision alarm function of the movable equipment can be conveniently determined by the aid of the implementation mode.

In another embodiment, step 604 may include:

acquiring type information of an obstacle;

determining a collision time range corresponding to the type information;

and determining the alarm accuracy of the front anti-collision alarm function of the movable equipment according to whether the collision time is within the collision time range.

It should be noted that, the corresponding relationship between the type information and the collision time range may be preset; the collision time range corresponding to any type of information may be a reasonable collision time range specified by a manufacturer for an obstacle of the type of information. For example, in the above correspondence, the vehicle type may correspond to the collision time range 1, and the human figure type may correspond to the collision time range 2.

In this embodiment, the type information of the obstacle can be determined by image recognition. Assuming that the determined type information is the vehicle type, and the collision time range corresponding to the vehicle type is the collision time range 1 according to the above correspondence, after the collision time in step 603 is obtained, the collision time may be compared with the collision time range 1. If the collision time is within the collision time range 1, the movable equipment can be considered to alarm timely and reliably when potential collision danger exists, and then the alarm accuracy of the front anti-collision alarm function of the movable equipment can be judged to meet the requirement; otherwise, the alarm accuracy of the front anti-collision alarm function of the movable equipment can be judged to be not qualified.

Therefore, in the embodiment, the appropriate collision time range can be selected according to the type information of the obstacle for determining the alarm accuracy of the front anti-collision alarm function, so that the reliability of the determination result can be better ensured.

Of course, the specific implementation of step 604 is not limited to the above two cases. For example, if the collision time is t and the collision time range is [ t1, t2], t/t1 and t/t2 may be calculated first, and then the accuracy score corresponding to t may be determined according to t/t1, t/t2 and the set scoring rule; the set scoring rule may be a score calculation formula, the score calculation formula may include two independent variables, t/t1 may be a value of one of the independent variables, and t/t2 may be a value of the other independent variable. And then, the alarm accuracy of the front anti-collision alarm function of the movable equipment can be determined according to the accuracy score. Specifically, in the case that the accuracy score is higher than the set score, it can be determined that the alarm accuracy of the front collision avoidance alarm function of the mobile device meets the requirement; otherwise, the alarm accuracy of the front anti-collision alarm function of the movable equipment can be judged to be not qualified.

In the embodiment of the disclosure, the collision time between the movable equipment and the obstacle can be obtained according to the image acquired by the first image acquisition device arranged on the movable equipment and the moving speed of the movable equipment, and the alarm accuracy of the front anti-collision alarm function of the movable equipment can be conveniently determined according to the collision time, that is, in the embodiment of the disclosure, the determination of the alarm accuracy of the front anti-collision alarm function does not depend on a GPS satellite, so that the embodiment of the disclosure can reduce the influence of weather factors on the determination result, and therefore, compared with the prior art, the embodiment of the disclosure can better ensure the reliability of the determination result.

On the basis of the embodiments shown in fig. 2, 3 and 6, in an optional example, the alarm accuracy determination method may further include:

and triggering a front anti-collision alarm function based on an image acquired by a second image acquisition device arranged on the movable equipment at the target moment.

Here, the second image capturing device may also be a camera, such as a forward looking perception camera 160 in an Advanced Driving Assistance System (ADAS) as shown in fig. 1.

In the embodiment of the disclosure, since the front anti-collision alarm function is triggered based on the image acquired by the second image acquisition device at the target moment, and the first distance is determined based on the image acquired by the first image acquisition device at the target moment, clocks of the first image acquisition device and the second image acquisition device can be considered to be synchronous, so that the first distance can truly and reliably reflect the actual distance between the movable equipment and the obstacle, and the reliability of the determination result is ensured when the alarm accuracy of the front anti-collision alarm function is determined based on the first distance.

It should be noted that, in order to implement clock synchronization of the first image capturing device and the second image capturing device, the first image capturing device and the second image capturing device may access the same hardware device, so that the two image capturing devices keep frame rates synchronized and have the same timestamp, so as to record data synchronously; alternatively, the first image capturing device and the second image capturing device may access different devices, but acquire clock signals from the same time source.

In summary, in the embodiments of the present disclosure, by installing the first image capturing device at the fixed position of the mobile device, the first image capturing device may record data synchronously with the second image capturing device as the forward looking sensing camera, and by replaying the data, the real distance between the mobile device and the obstacle may be obtained, and based on the moving speed of the mobile device and the stationary state of the obstacle, the relative speed between the mobile device and the obstacle may be obtained, so as to obtain the TTC true value, and determine the alarm accuracy of the forward collision avoidance alarm function of the mobile device according to the TTC true value.

Therefore, the embodiment of the disclosure only additionally adds one image acquisition device (namely, the first image acquisition device) and common articles such as distance markers and rulers, and converts the relative speed which is difficult to obtain into the absolute speed of the movable equipment to determine the alarm accuracy of the front anti-collision alarm function. It is pointed out that the precision of the scheme can be adjusted through the placing density of the distance markers, so that the method is convenient and effective; alternatively, the accuracy of the scheme can be adjusted by the number of indicator lines on the image acquired by the first image acquisition device.

Any of the alarm accuracy determination methods provided by embodiments of the present disclosure may be performed by any suitable device having data processing capabilities, including but not limited to: terminal equipment, a server and the like. Alternatively, any of the alarm accuracy determination methods provided by the embodiments of the present disclosure may be executed by a processor, such as the processor executing any of the alarm accuracy determination methods mentioned by the embodiments of the present disclosure by calling a corresponding instruction stored in a memory. And will not be described in detail below.

Exemplary devices

Fig. 7 is a schematic structural diagram of an alarm accuracy determination apparatus according to an exemplary embodiment of the present disclosure. The apparatus shown in fig. 7 comprises an obtaining module 701, a first determining module 702 and a second determining module 703.

An obtaining module 701, configured to obtain, at a target time, an image acquired by a first image acquisition device arranged on a mobile device and a moving speed of the mobile device; the target moment is the triggering moment of the front anti-collision alarm function of the movable equipment in the process that the movable equipment moves to the obstacle in the static state;

a first determining module 702, configured to determine a first distance according to the image acquired by the acquiring module 701; the first distance is the actual distance between the movable equipment and the obstacle at the target moment;

and a second determining module 703, configured to determine the alarm accuracy of the front anti-collision alarm function of the mobile device according to the first distance determined by the first determining module 702 and the moving speed obtained by the obtaining module 701.

In the embodiment of the present disclosure, the first determining module 702 may determine the first distance according to the image acquired by the acquiring module 701, and the second determining module 703 may determine the alarm accuracy of the front anti-collision alarm function of the mobile device according to the first distance determined by the first determining module 702 and the moving speed acquired by the acquiring module 701, that is, in the embodiment of the present disclosure, the determination of the alarm accuracy of the front anti-collision alarm function does not depend on a GPS satellite, so that the embodiment of the present disclosure may reduce the influence of weather factors on the determination result, and thus, compared with the prior art, the embodiment of the present disclosure may better ensure the reliability of the determination result.

In an alternative example, as shown in fig. 8, the first determining module 702 includes:

an identification submodule 7021 configured to identify a distance marker in the image;

a first determining sub-module 7022 for determining a first distance based on the distance markers.

In an alternative example, the image has a center indicating line arranged in a preset direction;

a first determination sub-module 7022, comprising:

a first determination unit for determining a second distance between the distance marker closest to the center indicating line and the rest position of the obstacle;

a second determining unit for determining a third distance between the target indicating line and the central indicating line in the image; the target indicating line is a preset indicating line which is closest to the distance marker closest to the central indicating line in the image;

and a third determining unit for determining the first distance according to the second distance and the third distance.

In one optional example, the third determining unit includes:

the first acquisition subunit is used for acquiring the position of the distance marker closest to the central indicating line relative to the central indicating line;

a second acquisition subunit that acquires a movement direction of the movable device;

and the determining subunit determines the first distance according to the azimuth, the moving direction, the second distance and the third distance.

In an alternative example, as shown in fig. 8, the second determining module 703 includes:

a calculating submodule 7031 for calculating a ratio of the first distance to the moving speed to obtain a collision time of the movable apparatus with the obstacle;

and a second determining submodule 7032, configured to determine an alarm accuracy of the front collision avoidance alarm function of the mobile device according to the collision time.

In an alternative example, second determining submodule 7032 includes:

an acquisition unit configured to acquire type information of an obstacle;

the fourth determining unit is used for determining a collision time range corresponding to the type information;

and the fifth determining unit is used for determining the alarm accuracy of the front anti-collision alarm function of the movable equipment according to whether the collision time is within the collision time range.

Exemplary electronic device

Next, an electronic apparatus according to an embodiment of the present disclosure is described with reference to fig. 9. The electronic device may be either or both of the first device and the second device, or a stand-alone device separate from them, which stand-alone device may communicate with the first device and the second device to receive the acquired input signals therefrom.

FIG. 9 illustrates a block diagram of an electronic device in accordance with an embodiment of the disclosure.

As shown in fig. 9, the electronic device 90 includes one or more processors 91 and memory 92.

The processor 91 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 90 to perform desired functions.

Memory 92 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium and executed by the processor 91 to implement the alarm accuracy determination methods of the various embodiments of the present disclosure described above and/or other desired functions. Various contents such as an input signal, a signal component, a noise component, etc. may also be stored in the computer-readable storage medium.

In one example, the electronic device 90 may further include: an input device 93 and an output device 94, which are interconnected by a bus system and/or other form of connection mechanism (not shown).

For example, when the electronic device is a first device or a second device, the input means 93 may be a microphone or a microphone array. When the electronic device is a stand-alone device, the input means 93 may be a communication network connector for receiving the acquired input signals from the first device and the second device.

The input device 93 may also include, for example, a keyboard, a mouse, and the like.

The output device 94 may output various information including the determined distance information, direction information, and the like to the outside. The output devices 94 may include, for example, a display, speakers, a printer, and a communication network and its connected remote output devices, among others.

Of course, for simplicity, only some of the components of the electronic device 90 relevant to the present disclosure are shown in fig. 9, omitting components such as buses, input/output interfaces, and the like. In addition, the electronic device 90 may include any other suitable components, depending on the particular application.

Exemplary computer program product and computer-readable storage Medium

In addition to the above-described methods and apparatus, embodiments of the present disclosure may also be a computer program product comprising computer program instructions that, when executed by a processor, cause the processor to perform the steps in the alarm accuracy determination method according to various embodiments of the present disclosure described in the "exemplary methods" section above of this specification.

The computer program product may write program code for carrying out operations for embodiments of the present disclosure in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.

Furthermore, embodiments of the present disclosure may also be a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, cause the processor to perform the steps in the alarm accuracy determination method according to various embodiments of the present disclosure described in the "exemplary methods" section above in this specification.

The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The foregoing describes the general principles of the present disclosure in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present disclosure are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present disclosure. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the disclosure is not intended to be limited to the specific details so described.

In the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts in the embodiments are referred to each other. For the system embodiment, since it basically corresponds to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.

The block diagrams of devices, apparatuses, systems referred to in this disclosure are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".

The methods and apparatus of the present disclosure may be implemented in a number of ways. For example, the methods and apparatus of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order for the steps of the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above unless specifically stated otherwise. Further, in some embodiments, the present disclosure may also be embodied as programs recorded in a recording medium, the programs including machine-readable instructions for implementing the methods according to the present disclosure. Thus, the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.

It is also noted that in the devices, apparatuses, and methods of the present disclosure, each component or step can be decomposed and/or recombined. These decompositions and/or recombinations are to be considered equivalents of the present disclosure.

The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the disclosure. Thus, the present disclosure is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit embodiments of the disclosure to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.

Claims

1. An alarm accuracy determination method, comprising:

2. The method of claim 1, wherein said determining a first distance from said image comprises:

identifying a distance marker in the image;

determining the first distance based on the distance markers.

3. The method according to claim 2, wherein the image has a center indicating line disposed along a preset direction;

said determining said first distance from said distance marker comprises:

determining a second distance between the distance marker closest to the center indicator line and a rest position of the obstacle;

determining a third distance of a target indicator line and the center indicator line in the image; the target indicating line is a preset indicating line in the image, and is closest to the distance marker closest to the central indicating line;

4. The method of claim 3, wherein said determining said first distance from said second distance and said third distance comprises;

acquiring the position of the distance marker closest to the central indicator line relative to the central indicator line;

acquiring the moving direction of the movable equipment;

determining the first distance according to the orientation, the moving direction, the second distance and the third distance.

5. The method of claim 1, wherein said determining an alarm accuracy of a front collision avoidance alarm function of the mobile device from the first distance and the movement speed comprises:

calculating the ratio of the first distance to the moving speed to obtain the collision time of the movable equipment and the obstacle;

and determining the alarm accuracy of the front anti-collision alarm function of the movable equipment according to the collision time.

6. The method of claim 5, wherein said determining an alarm accuracy of a pre-crash alarm function of the movable device from the time of collision comprises:

acquiring type information of the obstacle;

determining a collision time range corresponding to the type information;

7. The method of any of claims 1-6, further comprising:

and triggering the front anti-collision alarm function based on an image acquired by a second image acquisition device arranged on the movable equipment at the target moment.

8. An alarm accuracy determination apparatus comprising:

9. A computer-readable storage medium storing a computer program for executing the alarm accuracy determination method of any one of claims 1 to 7.

10. An electronic device, comprising:

a processor;

a memory for storing the processor-executable instructions;

the processor is configured to read the executable instructions from the memory and execute the instructions to implement the alarm accuracy determination method of any one of claims 1-7.