CN112896041A - Blind area early warning method and device and vehicle - Google Patents
Blind area early warning method and device and vehicle Download PDFInfo
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- CN112896041A CN112896041A CN202110195684.5A CN202110195684A CN112896041A CN 112896041 A CN112896041 A CN 112896041A CN 202110195684 A CN202110195684 A CN 202110195684A CN 112896041 A CN112896041 A CN 112896041A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
Abstract
The invention provides a blind area early warning method, a device and a vehicle, wherein the method comprises the following steps: determining a blind area early warning level of the vehicle based on the running state of the vehicle and the state information of the target obstacle in the vehicle blind area; adjusting a blind area early warning parameter of the vehicle based on the blind area early warning level of the vehicle; and carrying out blind area early warning on the vehicle based on the blind area early warning parameters. Therefore, the method and the device can accurately determine the blind area early warning level of the vehicle based on the driving state of the vehicle and the state information of the target obstacle in the vehicle blind area, and can flexibly adjust the blind area early warning parameters of the vehicle according to different scenes based on the blind area early warning level of the vehicle, so that the generalization capability of the vehicle blind area early warning system is improved.
Description
Technical Field
The invention relates to the technical field of vehicle early warning, in particular to a blind area early warning method, a blind area early warning device and a vehicle.
Background
Along with the requirement of safe driving is more and more refined and strict, the blind area early warning has become the standard of passenger car, and the machineshop car also brings this function into the safety standard gradually, and the blind area early warning function that has the practicality provides certain guarantee for user (driver) and urban traffic management.
At present, vehicle blind area early warning is mostly that vehicle blind area early warning parameters are fixedly set in factory setting, and when a vehicle meets the early warning requirement, early warning is performed, but the vehicle blind area early warning mode in the method is fixed, and a blind area early warning scheme cannot be set individually according to various conditions such as different vehicle types, different purposes, different users (drivers), different scenes and the like.
Disclosure of Invention
The invention provides a blind area early warning method, a blind area early warning device and a vehicle, which are used for solving the defect that the blind area early warning cannot be flexibly carried out in the prior art.
The invention provides a blind area early warning method, which comprises the following steps:
determining a blind area early warning level of a vehicle based on a driving state of the vehicle and state information of a target obstacle in a blind area of the vehicle; the state information of the target obstacle is determined based on radar data and image data of the vehicle blind area;
adjusting the blind area early warning parameters of the vehicle based on the blind area early warning level of the vehicle;
and carrying out blind area early warning on the vehicle based on the blind area early warning parameters.
According to the blind area early warning method provided by the invention, the state information of the target obstacle is determined based on the following steps:
respectively extracting radar data and image data of the target obstacle from the radar data and the image data of the vehicle blind area;
performing feature fusion on the radar data and the image data of the target obstacle to obtain radar vision fusion data;
and determining the state information of the target obstacle based on the radar fusion data.
According to the blind area early warning method provided by the invention, after the thunder and vision fusion data are obtained, the method further comprises the following steps: and performing data cleaning on the radar vision fusion data.
According to the blind area early warning method provided by the invention, the vehicle is early warned of the blind area based on the blind area early warning parameters, and the method also comprises the following steps:
and if the adjusted blind area early warning parameter is in the radar early warning range of the vehicle and the current speed of the vehicle is less than the early warning starting speed, adjusting the blind area early warning parameter.
According to the blind area early warning method provided by the invention, the blind area early warning for the vehicle based on the current blind area early warning parameter comprises the following steps:
acquiring the running speed of the vehicle in real time, and starting the blind area early warning if the running speed is greater than the early warning starting speed; if not, the blind area early warning is not started.
According to the blind area early warning method provided by the invention, the starting of the blind area early warning comprises the following steps:
determining a time of collision of the target obstacle with the vehicle based on a relative speed of the target obstacle with the vehicle and a relative distance of the target obstacle with the vehicle;
and carrying out blind area early warning on the vehicle based on the collision time.
According to the blind area early warning method provided by the invention, the adjusting of the blind area early warning parameters of the vehicle comprises the following steps:
and performing identity authentication on the user, and if the identity authentication is passed, adjusting the blind area early warning parameters of the vehicle based on the blind area early warning parameter modification instruction of the user.
The invention also provides a blind area early warning device, which comprises:
the determining unit is used for determining the blind area early warning level of the vehicle based on the running state of the vehicle and the state information of the target obstacle in the vehicle blind area; the state information of the target obstacle is determined based on radar data and image data of the vehicle blind area;
the adjusting unit is used for adjusting the blind area early warning parameters of the vehicle based on the blind area early warning level of the vehicle;
and the early warning unit is used for carrying out blind area early warning on the vehicle based on the blind area early warning parameters.
The present invention also provides a vehicle comprising:
the vehicle-mounted host computer and the blind area early warning device are arranged; and the vehicle-mounted host is electrically connected with the blind area early warning device.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the computer program to realize the steps of any one of the above-mentioned blind area early warning methods.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of any of the above-described blind zone warning methods.
According to the blind area early warning method, the device and the vehicle, the early warning level of the blind area of the vehicle can be accurately determined based on the driving state of the vehicle and the state information of the target barrier in the blind area of the vehicle, and meanwhile, the blind area early warning parameters of the vehicle can be flexibly adjusted according to different scenes based on the early warning level of the blind area of the vehicle, so that the generalization capability of a vehicle blind area early warning system is improved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a blind area early warning method provided by the present invention;
FIG. 2 is a schematic flow chart of a method for determining status information of a target obstacle according to the present invention;
FIG. 3 is a schematic view of a process for starting a blind area warning according to the present invention;
FIG. 4 is a schematic diagram of the blind zone early warning range provided by the present invention;
FIG. 5 is a schematic illustration of a blind zone warning level display provided by the present invention;
FIG. 6 is a schematic structural diagram of a blind area early warning system provided by the present invention;
FIG. 7 is a schematic structural diagram of another blind area early warning system provided by the present invention;
FIG. 8 is a schematic structural diagram of a blind area warning device provided in the present invention;
fig. 9 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Along with the requirements of safe driving are more and more refined and strict, the blind area early warning becomes the standard matching of a passenger car, and the engineering vehicle gradually brings the function into the safety standard, so that the practical blind area early warning function provides certain guarantee for users (drivers) and urban traffic management, and the specific realization is mainly realized through a perception sensor, a vehicle controller and early warning.
At present, a lot of methods or systems for blind area early warning are provided, a vision method is basically adopted for realizing the blind area early warning, a radar scheme or a radar and vision scheme is also adopted, but interactive experience of alarm early warning and an actual user (driver) is not considered, early warning schemes and experience under various conditions of different vehicle types, different purposes, different users (drivers), different scenes and the like are not considered, and the blind area early warning system has adaptability and better generalization capability. For example, on a driving road surface in an open suburb, the number of vehicles is small, and the driving safety coefficient is relatively high, so that the blind area early warning level can be reduced; on the urban driving road surface with crowded roads, the number of vehicles is large, the driving safety factor is relatively low, and the blind area early warning and alarming level needs to be improved.
Therefore, the invention provides a blind area early warning method. Fig. 1 is a schematic flow chart of a blind area early warning method provided by the present invention, and as shown in fig. 1, the method includes the following steps:
specifically, the driving state of the vehicle is used to represent the current driving condition of the vehicle, such as the speed of the vehicle, the position of the vehicle, the driving path (e.g., straight or turning) of the vehicle, the road condition of the current driving road of the vehicle, and the like. The vehicle blind area refers to a part of an area which cannot be directly observed or an area which is not easy to observe or an area which is inconvenient to observe when a driver is positioned at a normal driving seat and the sight line of the driver is shielded by a vehicle body. Because the left side and the right side of the automobile have visual blind spot areas, a driver can hardly accurately identify all barriers in the blind areas in the driving process of the automobile, and safety accidents are easily caused. Therefore, obstacles in the vehicle blind area need to be detected, and early warning is carried out in time to ensure driving safety. The state information of the target obstacle is used for representing the running state and the characteristics of the target obstacle and can be determined through radar data and image data of a vehicle blind area, and the state information of the target obstacle comprises the type of the target obstacle, the ID of the target obstacle, the distance between the target obstacle and the vehicle, the speed between the target obstacle and the vehicle and the like.
After the driving state of the vehicle and the state information of the target obstacle are determined, the safety factor of the vehicle driving under the current road condition or scene, namely the blind area early warning level of the vehicle, can be determined. The higher the blind area early warning level is, the higher the frequency of alarm prompting is, for example, for the lower blind area early warning level, the alarm prompting can be carried out only by adopting lamplight; for a higher blind area early warning level, light and sound can be adopted for warning and prompting. For example, when the vehicle travels straight on a wide road, the safety coefficient of the vehicle is relatively high, and the corresponding blind area early warning level is low; and if the safety coefficient of the vehicle is relatively low when the vehicle changes the lane on the crowded road, the corresponding blind area early warning level is higher.
Therefore, the determined blind area early warning levels of the vehicle are different according to different running states of the vehicle and different running states of the target obstacle.
And step 120, adjusting the blind area early warning parameters of the vehicle based on the blind area early warning level of the vehicle.
Specifically, for different blind area early warning levels, if a fixed warning mode is adopted, user experience is poor. For example, when a vehicle runs on a wide suburban road, the corresponding blind area early warning level is low, and only light prompting is adopted, but if a mode of fixedly setting blind area early warning parameters in a traditional method is adopted, a higher-level blind area early warning alarm mode is adopted in a scene with a low blind area early warning level, for example, light and sound are used for alarm prompting, frequent alarm can lead to poor user experience, and therefore blind area early warning parameters of the vehicle need to be adjusted according to different blind area early warning levels. For example, a vehicle speed higher than the target obstacle indicates a higher safety factor for the vehicle currently traveling. After the blind area early warning level of the current driving of the vehicle is determined, the blind area early warning parameters of the vehicle blind area early warning system can be adjusted according to the current driving safety factor, namely, the higher the current driving safety factor of the vehicle is, the lower the level of the blind area early warning is correspondingly. For example, the last blind area early warning level of the vehicle blind area early warning system is 2 levels, the warning is prompted by sound and light, the safety coefficient of the current running of the vehicle is high, the blind area early warning level can be reduced from 2 levels to 1 level, and then the corresponding warning is prompted only by sound.
It should be noted that, in the embodiment of the present invention, the blind area early warning parameter of the vehicle may also be adjusted based on the user selection, that is, the user adjusts the blind area early warning parameter according to the vehicle type, the scene, and the like.
Therefore, the embodiment of the invention can adjust the blind area early warning parameters of the vehicle based on the blind area early warning level of the vehicle, and compared with the traditional method in which the early warning is carried out by fixedly setting the blind area early warning parameters in the blind area early warning system, the embodiment of the invention can set the blind area early warning parameters individually according to different vehicle types, different purposes, different users (drivers), different scenes and the like, and has better generalization capability.
And step 130, carrying out blind area early warning on the vehicle based on the blind area early warning parameters.
Specifically, after adjusting the blind area early warning parameters, the vehicle blind area early warning system carries out blind area early warning on the vehicle according to the adjusted blind area early warning parameters, so that the blind area early warning parameters can be flexibly adjusted according to different vehicle types, different scenes, different users, different road conditions and the like, blind area early warning requirements of different scenes are met, and the generalization ability and the practicability are stronger.
The blind area early warning method provided by the embodiment of the invention can accurately determine the early warning level of the blind area of the vehicle based on the driving state of the vehicle and the state information of the target barrier in the blind area of the vehicle, and can flexibly adjust the early warning parameters of the blind area of the vehicle according to different scenes based on the early warning level of the blind area of the vehicle, thereby improving the generalization capability of a vehicle blind area early warning system.
Based on the above embodiment, as shown in fig. 2, the state information of the target obstacle is determined based on the following steps:
and step 230, determining the state information of the target obstacle based on the radar vision fusion data.
Specifically, the radar data of the target obstacle refers to parameter information (such as a type of the target obstacle, an ID of the target obstacle, a distance between the target obstacle and the vehicle, a speed of the target obstacle relative to the vehicle, and the like) of the target obstacle in the blind area of the vehicle, which is detected by the radar, so as to assist the driver in accurately identifying the obstacle in the blind area and avoid the vehicle colliding with the obstacle during the driving process.
In addition, due to geographical conditions, electromagnetic wave propagation characteristics, target speed and radar itself, the radar cannot detect the target in certain airspace ranges and heights or the detected target is invalid, so that the radar detection has a blind area. In order to further accurately detect the target obstacle in the blind area of the vehicle, the embodiment of the invention also combines the image data of the target obstacle to detect, thereby avoiding the problem that the target obstacle cannot be accurately detected due to the blind area of the radar. The image data of the target obstacle can be acquired by installing a camera on the vehicle, so that the target obstacle in the blind area can be detected. The image data may be a video clip of the target obstacle or image data of the target obstacle, which is not specifically limited in this embodiment of the present invention.
Because the radar data can prevent the illumination condition of the image data from influencing the detection of the target obstacle, and the image data can prevent the radar data from having a detection blind area to influence the detection of the target obstacle, the information such as the position, the speed and the like of the target obstacle relative to the vehicle can be accurately determined based on the radar data and the image data of the target obstacle, and then the current driving state of the vehicle (such as the driving safety factor of the vehicle) is judged. For example, based on the radar data and the image data, if the speed of the target obstacle is smaller than the speed of the vehicle and the target obstacle is far away from the vehicle, it can be determined that the current driving state of the vehicle is a high safety factor, and the level of the blind area early warning can be relatively reduced.
Further, the radar data may be acquired by radar sensors on the vehicle, which may characterize the category, ID, relative position, relative speed, etc. of the target obstacle. The image data can be acquired by a camera on the vehicle, and the type, ID, relative position, relative speed and the like of the target obstacle can be represented as well. After the radar data and the image data are subjected to feature fusion, the obtained radar vision fusion data are fused with radar data information and image data information, so that the problems that the image data are influenced by illumination conditions and the target obstacle information cannot be accurately detected due to the fact that the radar data have detection blind areas can be solved. Therefore, after the radar fusion data are obtained, the information such as the type, the ID, the position and the speed of the relative vehicle of the target obstacle can be accurately determined, and the blind area early warning level of the vehicle can be further judged.
Based on any embodiment above, after obtaining the radar fusion data, the method further includes: and carrying out data cleaning on the radar fusion data.
In particular, data cleansing is a process of re-examining and verifying data with the purpose of deleting duplicate information, correcting existing errors, and providing data consistency. The radar-vision fusion data are determined based on radar data and image data, the radar data are acquired through various sensors, the image data are acquired through a plurality of cameras, in order to further extract effective data in the radar-vision fusion data, the radar-vision fusion data are subjected to data cleaning after the radar-vision fusion data are acquired, repeated or unmatched target data are filtered, and therefore state information of a target obstacle can be accurately acquired.
The data cleaning can be performed by calculating similarity of the center points of the targets in the radar data and the image data and the target ID to perform matching fusion, and the data are cleaned when the similarity is greater than a threshold value or the obtained data are not in a limited area. The area limiting can be to define an area for the target in the radar data and the image data, and the data outside the area needs to be cleaned and does not participate in the calculation. It can be understood that the similarity may be obtained by normalizing the radar data and the image data to the same coordinate, assigning different weights to each central point and the target ID, and calculating a difference or a square root between each two of the targets in the radar data and the image data as the similarity.
Based on any of the above embodiments, step 130 includes, before:
and if the adjusted blind area early warning parameters are within the radar early warning range of the vehicle and the current speed of the vehicle is less than the early warning starting speed, adjusting the blind area early warning parameters.
Specifically, because the radar early warning has the maximum early warning distance, if the adjusted blind area early warning parameter exceeds the maximum early warning distance of the radar early warning, the vehicle cannot perform the blind area early warning. Meanwhile, if the current speed of the vehicle is greater than the early warning starting speed, it is indicated that the vehicle cannot be early warned by the current blind area early warning parameter in the control process under the last blind area early warning parameter. Therefore, when the adjusted blind area early warning parameter is within the radar early warning range of the vehicle and the current vehicle speed of the vehicle is less than the early warning starting speed (such as 20km/h), the vehicle is within the radar early warning range and the blind area early warning program is not started yet, so that the adjusted blind area early warning parameter can be used as the current blind area early warning parameter of the vehicle to early warn the blind area of the vehicle. And if the adjusted blind area early warning parameter is not in the radar early warning range of the vehicle or the current speed of the vehicle is not less than the early warning starting speed, the adjusted blind area early warning parameter cannot be used as the current blind area early warning parameter to early warn the vehicle of the blind area.
For example, the client adjusts the blind area early warning parameters, and starts to set an early warning range and an alarm, wherein the set early warning range is Xu and Yu; if the early warning maximum distance of the vehicle radar is Xmax and Ymax, judging
If the blind area early warning parameter is not set, the setting is not in the range of the equipment, resetting or returning is carried out, if the blind area early warning parameter is set, the adjusted blind area early warning parameter is written into and stored, and the display of the early warning line in the central control screen is automatically updated; meanwhile, whether the vehicle speed is greater than the early warning starting speed (for example, 20km/h) or not is judged, and if not, the blind area early warning function is not started to give an alarm and display. In addition, when judging whether the adjusted blind area early warning parameters are in the early warning range of the radar, the judgment can be carried out by combining the angles theta x and theta y relative to the horizontal line of the vehicle, the information of the internal and external parameters of the camera calibrated by the radar and the like.
Based on any one of the above embodiments, based on the blind area early warning parameter, carry out the blind area early warning to the vehicle, include:
acquiring the running speed of the vehicle in real time, and starting the blind area early warning if the running speed is greater than the early warning starting speed; if not, the blind area early warning is not started.
Specifically, when the adjusted blind area early warning parameter is within the radar early warning range of the vehicle and the current vehicle speed of the vehicle is less than the early warning starting speed, the adjusted blind area early warning parameter is used as the current blind area early warning parameter of the vehicle to perform blind area early warning on the vehicle. The blind area early warning system judges whether to start according to the current running speed of the vehicle, and if the running speed is greater than the early warning starting speed, the vehicle is indicated to have safety risk if the vehicle does not carry out the blind area early warning at the moment, so the blind area early warning needs to be started. And if the running speed is not greater than the early warning starting speed, indicating that the vehicle speed is smaller, and not starting the blind area early warning.
Based on any of the above embodiments, as shown in fig. 3, starting the blind area warning includes:
step 310, determining the collision time of the target obstacle and the vehicle based on the relative speed of the target obstacle and the vehicle and the relative distance between the target obstacle and the vehicle;
and step 320, performing blind area early warning on the vehicle based on the collision time.
Specifically, if the running speed is greater than the early warning starting speed, it is indicated that the vehicle has a safety risk at the moment, and a blind area early warning is required to be performed to avoid collision with a target obstacle in the blind area. Based on the relative speed of the target barrier and the vehicle and the relative distance between the target barrier and the vehicle, the Collision Time of the target barrier and the vehicle can be determined based on a ranging-To-Collision algorithm (TTC), the motion track of the target barrier is predicted in advance according To the state of a primary area or a secondary area entering a blind area, the alarm display of the central control screen (different levels and sound prompt levels are displayed) is started in real Time, and meanwhile, the outdoor alarm unit is started according To the state.
As shown in FIG. 4, when a target obstacle in a vehicle blind zone enters a primary zone (zone E or zone E)′Area), it indicates that the vehicle is at a higher risk, and needs to perform a high-level alarm prompt (for example, the alarm level is set to be level 2 in cooperation with a turn signal lamp or a turn angle threshold of a steering wheel); when the target obstacle in the vehicle blind area enters a secondary area (an area F or an area F)′Zone), indicating that the vehicle is at a lower risk, a low level alert prompt may be made (e.g., alert level 1). As shown in fig. 5, when the target obstacle enters the left blind zone early warning line and the warning level is 1, the left warning signal lamp is red and blinks, and the right warning signal lamp is green. When the alarm level is 2, the alarm signal lamp on the left side is red and flickers and triggers voice alarm.
Based on any one of the above-mentioned embodiments, adjust the blind area early warning parameter of vehicle, include:
and performing identity authentication on the user, and if the identity authentication is passed, adjusting the blind area early warning parameters of the vehicle based on the blind area early warning parameter modification instruction of the user.
Specifically, if the user needs to adjust the blind area early warning parameters of the vehicle, identity authentication is needed, if the identity authentication passes, specific setting values and specific effects are displayed on the central control screen, and the setting can be manually dragged by prompting, so that the blind area early warning parameters of the vehicle can be adjusted. The identity authentication may be set through interaction in a fingerprint, a human face, or a voice, which is not specifically limited in the embodiment of the present invention.
Based on any of the above embodiments, as shown in fig. 6 and 7, an embodiment of the present invention further provides a blind area early warning system, including: the system comprises a perception sensor unit, a vehicle state information unit, a computing platform unit, an early warning and alarming unit and a user interaction unit.
The sensing sensor unit is used for acquiring barrier information and image target information, performing data interaction with the computing platform unit, and starting or closing functions of the related sensors. The vehicle state information unit is used for acquiring the land information, the positioning information, the control information and the like of the vehicle. And the computing platform unit is used for finishing perception data fusion, vehicle information, self-adaptive correction and early warning and alarming judgment. And (2) fusing perception data acquired by different sensors, filtering repeated or unmatched target data, modifying according to fusion information, vehicle state information and user interaction information to adaptively modify early warning parameters (including warning range, level, mode and content), and finally finishing early warning through early warning and warning judgment. The computing platform unit performs radar vision data fusion on the obstacle information and the image target information acquired by the perception sensor unit to obtain fused target information, wherein the fused target information mainly comprises the type and the ID of a target, and the relative position and the relative speed information of the target; and the self-adaptive correction in the computing platform unit is completed according to the fusion information, the vehicle state information and the user interaction information modification, and is used for early warning and alarm judgment. And the early warning alarm unit is used for storing the modified alarm parameters and the fusion data and finishing alarm and interaction through the intelligent central control screen and the outdoor alarm unit. The early warning unit covers the central control screen and the outdoor alarm, and a user modifies the alarm range, the alarm level, the alarm mode and the like of the blind zone after authentication, sends the alarm range, the alarm level, the alarm mode and the like to the intelligent central control screen for adaptive correction, and then carries out early warning judgment. Meanwhile, the blind area alarm range, the alarm level and the alarm mode which are changed every time are stored. And the user interaction unit is used for modifying the alarm range, level, mode and the like and interacting with the early warning alarm unit.
The method for carrying out the blind area early warning based on the blind area early warning system comprises the following steps:
firstly, the computing platform obtains vehicle parameters according to the chassis information and the positioning information, performs data interaction with the sensors, and starts or closes functions of the related sensors.
Then, a perception sensor (a camera and a radar) acquires data, wherein the data are image information and radar information of a target obstacle and comprise the type and the ID of the target, and the relative position and the relative speed information of the target; the computing platform unit fuses data of two or more sensors and filters repeated or unmatched target data.
Then, setting a blind area range, an alarm level and an initial value of alarm content, and displaying an initial early warning line, a range and a prompt on an intelligent central control screen; prompting the user about the early warning related information of the blind area, and prompting the user whether to reset the early warning line range and the early warning mode according to the vehicle type, the scene and the actual vehicle state;
if the user wants to modify, authentication is needed, setting is finished interactively through fingerprints, human faces, sounds or the like, specific setting values and specific effects are displayed on the central control screen, and the user can manually drag the setting. If not, continuously adopting the initial value to set a blind area early warning function, simultaneously monitoring the vehicle state and the operation scene in real time, and adaptively controlling the early warning range and the warning mode;
and finally, starting screen image display and sound prompt in real time according to the blind zone level and the alarm level, and simultaneously controlling whether an outdoor alarm unit is started or not for prompting the state of the vehicle.
The early warning information setting and alarming process comprises the following steps:
s1, starting by a user to set an early warning range and giving an alarm, wherein the user sets the early warning range: xu and Yu;
s2, acquiring the maximum early warning distance of the radar of the vehicle: xmax and Ymax, angles theta x and theta y relative to the horizontal line of the vehicle and the information of the internal and external parameters of the camera calibrated by the radar;
s3, judgment
The speed of the vehicle is less than the early warning starting speed;
s4, if the result of S3 is false, the setting is not in the range of the equipment, and resetting or returning is prompted;
s5, if the result of S3 is true, setting is finished, parameters are written into and stored, and the early warning line display in the central control screen is automatically updated;
s6, judging whether the vehicle speed is larger than the early warning starting speed threshold (such as 20km/h)
S7, if not, the function alarm and display are not started;
and S8, if yes, further judging ttc of the target barrier (calculated according to the relative speed and the relative distance), predicting the movement track of the target barrier in advance according to the state of the primary area or the secondary area entering the blind area, starting the alarm display (displaying different levels and sound prompt levels) of the central control screen in real time, and starting the outdoor alarm unit according to the state.
The blind area early warning device provided by the invention is described below, and the blind area early warning device described below and the blind area early warning method described above can be referred to correspondingly.
Based on any of the above embodiments, as shown in fig. 8, an embodiment of the present invention further provides a blind area early warning device, including:
a determining unit 810 for determining a blind area early warning level of a vehicle based on a driving state of the vehicle and state information of a target obstacle in a blind area of the vehicle; the state information of the target obstacle is determined based on radar data and image data of the vehicle blind area;
an adjusting unit 820, configured to adjust a blind area early warning parameter of the vehicle based on a blind area early warning level of the vehicle;
and the early warning unit 830 is configured to perform blind area early warning on the vehicle based on the blind area early warning parameter.
Based on any of the above embodiments, the method further includes a parameter determining unit, configured to:
respectively extracting radar data and image data of the target obstacle from the radar data and the image data of the vehicle blind area;
performing feature fusion on the radar data and the image data of the target obstacle to obtain radar vision fusion data;
and determining the state information of the target obstacle based on the radar fusion data.
Based on any of the above embodiments, the system further comprises a data processing unit, configured to perform data cleaning on the radar fusion data after the radar fusion data is obtained.
Based on any one of the above embodiments, the vehicle monitoring system further comprises a starting unit, wherein the starting unit is used for adjusting the blind area early warning parameter before the vehicle carries out the blind area early warning based on the blind area early warning parameter and if the adjusted blind area early warning parameter is in the radar early warning range of the vehicle and the current vehicle speed of the vehicle is less than the early warning starting speed.
Based on any of the above embodiments, the early warning unit 830 is configured to:
acquiring the running speed of the vehicle in real time, and starting the blind area early warning if the running speed is greater than the early warning starting speed; if not, the blind area early warning is not started.
Based on any of the above embodiments, the early warning unit 830 is configured to:
determining a time of collision of the target obstacle with the vehicle based on a relative speed of the target obstacle with the vehicle and a relative distance of the target obstacle with the vehicle;
and carrying out blind area early warning on the vehicle based on the collision time.
Based on any of the above embodiments, the adjusting unit 820 is configured to:
and performing identity authentication on the user, and if the identity authentication is passed, adjusting the blind area early warning parameters of the vehicle based on the blind area early warning parameter modification instruction of the user.
Based on any one of the embodiments, an embodiment of the present invention further provides a vehicle, including:
the vehicle-mounted host computer is electrically connected with the blind area early warning device and is used for providing chassis information, positioning information, control information and the like of the vehicle, and the vehicle can be a mixer truck, a passenger car and the like, which is not particularly limited in the embodiment of the invention.
Fig. 9 is a schematic structural diagram of an electronic device provided in the present invention, and as shown in fig. 9, the electronic device may include: a processor (processor)910, a communication Interface (Communications Interface)920, a memory (memory)930, and a communication bus 940, wherein the processor 910, the communication Interface 920, and the memory 930 communicate with each other via the communication bus 940. Processor 910 may invoke logic instructions in memory 930 to perform a blind zone warning method comprising: determining a blind area early warning level of a vehicle based on a driving state of the vehicle and state information of a target obstacle in a blind area of the vehicle; the state information of the target obstacle is determined based on radar data and image data of the vehicle blind area; adjusting the blind area early warning parameters of the vehicle based on the blind area early warning level of the vehicle; and carrying out blind area early warning on the vehicle based on the blind area early warning parameters.
Furthermore, the logic instructions in the memory 930 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. 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.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, which when executed by a computer, enable the computer to perform the blind zone warning method provided by the above methods, the method comprising: determining a blind area early warning level of a vehicle based on a driving state of the vehicle and state information of a target obstacle in a blind area of the vehicle; the state information of the target obstacle is determined based on radar data and image data of the vehicle blind area; adjusting the blind area early warning parameters of the vehicle based on the blind area early warning level of the vehicle; and carrying out blind area early warning on the vehicle based on the blind area early warning parameters.
In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program, which when executed by a processor is implemented to perform the above-provided dead zone warning method, the method including: determining a blind area early warning level of a vehicle based on a driving state of the vehicle and state information of a target obstacle in a blind area of the vehicle; the state information of the target obstacle is determined based on radar data and image data of the vehicle blind area; adjusting the blind area early warning parameters of the vehicle based on the blind area early warning level of the vehicle; and carrying out blind area early warning on the vehicle based on the blind area early warning parameters.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; 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 blind area early warning method is characterized by comprising the following steps:
determining a blind area early warning level of a vehicle based on a driving state of the vehicle and state information of a target obstacle in a blind area of the vehicle; the state information of the target obstacle is determined based on radar data and image data of the vehicle blind area;
adjusting the blind area early warning parameters of the vehicle based on the blind area early warning level of the vehicle;
and carrying out blind area early warning on the vehicle based on the blind area early warning parameters.
2. The blind area early warning method according to claim 1, wherein the state information of the target obstacle is determined based on the steps of:
respectively extracting radar data and image data of the target obstacle from the radar data and the image data of the vehicle blind area;
performing feature fusion on the radar data and the image data of the target obstacle to obtain radar vision fusion data;
and determining the state information of the target obstacle based on the radar fusion data.
3. The blind area early warning method according to claim 2, further comprising, after obtaining the thunder vision fusion data: and performing data cleaning on the radar vision fusion data.
4. The blind area early warning method according to claim 1, wherein the vehicle is early warned of the blind area based on the blind area early warning parameter, and the method further comprises the following steps:
and if the adjusted blind area early warning parameter is in the radar early warning range of the vehicle and the current speed of the vehicle is less than the early warning starting speed, adjusting the blind area early warning parameter.
5. The blind area early warning method according to claim 1, wherein the performing the blind area early warning on the vehicle based on the blind area early warning parameter comprises:
acquiring the running speed of the vehicle in real time, and starting the blind area early warning if the running speed is greater than the early warning starting speed; if not, the blind area early warning is not started.
6. The blind area early warning method according to claim 5, wherein the starting of the blind area early warning comprises:
determining a time of collision of the target obstacle with the vehicle based on a relative speed of the target obstacle with the vehicle and a relative distance of the target obstacle with the vehicle;
and carrying out blind area early warning on the vehicle based on the collision time.
7. The blind area warning method according to any one of claims 1 to 6, wherein the adjusting the blind area warning parameter of the vehicle includes:
and performing identity authentication on the user, and if the identity authentication is passed, adjusting the blind area early warning parameters of the vehicle based on the blind area early warning parameter modification instruction of the user.
8. A blind area early warning device, its characterized in that includes:
the determining unit is used for determining the blind area early warning level of the vehicle based on the running state of the vehicle and the state information of the target obstacle in the vehicle blind area; the state information of the target obstacle is determined based on radar data and image data of the vehicle blind area;
the adjusting unit is used for adjusting the blind area early warning parameters of the vehicle based on the blind area early warning level of the vehicle;
and the early warning unit is used for carrying out blind area early warning on the vehicle based on the blind area early warning parameters.
9. A vehicle, characterized by comprising:
an on-vehicle host machine, and the blind area early warning device of claim 8; and the vehicle-mounted host is electrically connected with the blind area early warning device.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the steps of the blind zone warning method according to any one of claims 1 to 7.
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