CN113043985A - Vehicle rear-end collision prevention reminding method and system - Google Patents
Vehicle rear-end collision prevention reminding method and system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
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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
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0132—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
Abstract
The invention discloses a vehicle rear-end collision prevention reminding method and a vehicle rear-end collision prevention reminding system, wherein the vehicle rear-end collision prevention reminding method comprises the following steps: acquiring continuous images acquired by a binocular camera arranged right behind the vehicle, wherein the binocular camera comprises two cameras with a distance; processing continuous images acquired by a binocular camera based on a parallax principle, and determining the backward collision early warning time when a vehicle collides with the vehicle; and if the backward collision early warning time is smaller than the preset safe collision time threshold value, sending collision warning information to a driver interaction terminal of the vehicle. The embodiment of the invention discloses a vehicle rear-end collision prevention reminding method and a vehicle rear-end collision prevention reminding system, and provides a reliable vehicle rear-end collision prevention reminding scheme, so that the safety of a vehicle is improved.
Description
Technical Field
The embodiment of the invention relates to a vehicle technology, in particular to a vehicle rear-end collision prevention reminding method and system.
Background
At present, the rear-end collision prevention technology in the automobile industry mainly focuses on preventing rear-end collision in the forward direction and preventing other vehicles or barriers from driving in the forward direction due to the rear-end collision of the vehicle, so that the safety of the vehicle is protected. The forward rear-end collision prevention technology generally detects whether an obstacle exists in the front of a vehicle in a driving mode through a sensor, and judges whether a driver needs to be reminded or automatically brake according to the speed of the vehicle, so that the injury of rear-end collision accidents is reduced. The forward rear-end collision prevention technology is represented by Automatic Emergency Braking (AEB).
But at present, no mature technical scheme is provided for preventing rear-end collision in the rear direction of the vehicle. Particularly in the field of commercial vehicles, as the commercial vehicles are long in length, for a driver, a vision blind area is formed behind the commercial vehicle, and the driver lacks a means for observing the rear part of the vehicle. On the other hand, a vehicle traveling backwards on a commercial vehicle may cause a rear-end collision due to fatigue driving or inattention, while a driver of a commercial vehicle may sometimes even be unaware of a large commercial vehicle after a rear-end collision with a small vehicle, thereby possibly causing greater collateral damage.
For a long time, the rear-end collision prevention solution of the commercial vehicle is only to install an anti-collision warning board, an anti-collision beam, a reflective strip and the like at the tail part of the vehicle, which belong to passive safety devices, do not have active reminding capability, and cannot realize good rear-end collision prevention effect.
Disclosure of Invention
The invention provides a vehicle rear-end collision prevention reminding method and system, provides a reliable vehicle rear-end collision prevention reminding scheme, and improves the safety of vehicles.
In a first aspect, an embodiment of the present invention provides a vehicle rear-end collision prevention reminding method, including:
acquiring continuous images acquired by a binocular camera arranged right behind the vehicle, wherein the binocular camera comprises two cameras with a distance;
processing continuous images acquired by a binocular camera based on a parallax principle, and determining the backward collision early warning time when a vehicle collides with the vehicle;
and if the backward collision early warning time is smaller than the preset safe collision time threshold value, sending collision warning information to a driver interaction terminal of the vehicle.
In a possible implementation manner of the first aspect, processing continuous images acquired by a binocular camera based on a parallax principle, and determining a backward collision warning time when a vehicle collides with the vehicle backward includes:
determining the distance between the vehicle behind the vehicle and the vehicle based on the parallax principle for each image in the continuous images;
calculating the speed of the vehicle behind the vehicle according to the acquisition time interval of the continuous images and the distance between the vehicle behind the vehicle and the vehicle in the continuous images;
and calculating the backward collision early warning time when the vehicle collides with the vehicle from the back of the vehicle according to the speed of the vehicle from the back of the vehicle and the distance from the vehicle.
In a possible implementation manner of the first aspect, determining a distance between a vehicle behind the host vehicle and the host vehicle based on a principle of parallax for each of the consecutive images includes:
for each image in the continuous images, respectively calculating the distance between the vehicle behind the vehicle and the camera in the images collected by two cameras in the binocular cameras;
and calculating the distance between the vehicle behind the vehicle and the vehicle through a trigonometric function according to the distance between the two cameras of the binocular cameras and the distance between the vehicle behind the vehicle and the cameras calculated according to the images collected by the two cameras.
In a possible implementation manner of the first aspect, after determining a backward collision warning time when the host vehicle collides with the host vehicle backward, the method further includes:
and if the backward collision early warning time is smaller than the preset safe collision time threshold, displaying collision warning prompt information on a warning display device arranged right behind the vehicle.
In a possible implementation manner of the first aspect, sending collision warning information to a driver interaction terminal of a host vehicle includes:
and sending at least one of audio collision warning information, light collision warning information and character collision warning information to a driver interaction terminal of the vehicle.
In a second aspect, an embodiment of the present invention provides a vehicle rear-end collision avoidance reminding system, including:
the system comprises a binocular camera, a data processing module and a driver interaction terminal;
the binocular camera is arranged right behind the vehicle to be reminded and comprises two cameras with intervals, and the binocular camera is used for collecting continuous images right behind the vehicle to be reminded;
the data processing module is used for processing the continuous images acquired by the binocular camera based on a parallax principle, determining the backward collision early warning time for the vehicle to collide with the vehicle to be reminded after the vehicle to be reminded, and sending collision warning information to a driver interaction terminal of the vehicle to be reminded if the backward collision early warning time is smaller than a preset safe collision time threshold value;
and the driver interaction terminal is used for sending collision warning information to a driver of the vehicle to be reminded.
In a possible implementation manner of the second aspect, the data processing module is specifically configured to determine, for each image in the continuous images, a distance between a vehicle to be reminded and a vehicle to be reminded behind the vehicle to be reminded based on a parallax principle; calculating the speed of the vehicle to be reminded behind the vehicle to be reminded according to the acquisition time interval of the continuous images and the distance between the vehicle to be reminded behind the vehicle to be reminded in the continuous images; and calculating the backward collision early warning time of the vehicle to be reminded to the vehicle to be reminded when the vehicle to be reminded collides with the vehicle according to the speed of the vehicle to be reminded to the vehicle and the distance of the vehicle to be reminded to the vehicle.
In a possible implementation manner of the second aspect, the data processing module is specifically configured to calculate, for each image in the continuous images, a distance between a vehicle to be reminded and a camera behind the vehicle in images acquired by two cameras in the binocular camera; according to the distance between two cameras of the binocular camera and the distance between the vehicle to be reminded and the camera after the vehicle to be reminded is calculated according to the images collected by the two cameras, and the distance between the vehicle to be reminded and the vehicle to be reminded is calculated through a trigonometric function.
In a possible implementation manner of the second aspect, the vehicle rear-end collision prevention reminding system further includes: an alarm display device;
the data processing module is also used for sending collision warning prompt information to the warning display device if the backward collision warning time is judged to be smaller than a preset safe collision time threshold value;
and the warning display device is used for displaying the collision warning prompt information.
In a possible implementation manner of the second aspect, the driver interaction terminal is specifically configured to send at least one of audio collision warning information, light collision warning information, and text collision warning information to a driver of a vehicle to be reminded.
The vehicle rear-end collision prevention reminding method and system provided by the embodiment of the invention firstly acquire continuous images acquired by a binocular camera arranged right behind a vehicle, the binocular camera comprises two cameras with a distance, then the continuous images acquired by the binocular camera are processed based on a parallax principle, the rear collision early warning time when the vehicle collides the vehicle behind the vehicle is determined, if the rear collision early warning time is less than a preset safe collision time threshold value, collision warning information is sent to a driver interaction terminal of the vehicle, and the binocular camera behind the vehicle is adopted to detect the rear collision of other vehicles behind the vehicle, so that the vehicle realizes active rear-end collision prevention recognition, and the active safety of the vehicle is improved.
Drawings
Fig. 1 is a flowchart of a vehicle rear-end collision prevention reminding method according to an embodiment of the present invention;
FIG. 2 is an original binocular image acquired by a binocular camera;
fig. 3 is a schematic view of binocular disparity calculation;
FIG. 4 is a flowchart of another method for reminding a vehicle of rear-end collision according to an embodiment of the present invention;
FIG. 5 is a schematic view of a vehicle to which the method for reminding a driver of rear-end collision is applied according to the embodiment of the present invention;
FIGS. 6 and 7 are partial schematic views of the vehicle shown in FIG. 5;
FIG. 8 is a schematic structural diagram of a vehicle rear-end collision avoidance reminding system according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of another vehicle rear-end collision avoidance reminding system according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a flowchart of a vehicle rear-end collision prevention reminding method according to an embodiment of the present invention, and as shown in fig. 1, the vehicle rear-end collision prevention reminding method according to the embodiment includes:
and step S101, acquiring continuous images acquired by a binocular camera installed right behind the vehicle, wherein the binocular camera comprises two cameras with intervals.
The vehicle rear-end collision prevention reminding method provided by the embodiment is used for realizing rear-end collision prevention reminding of a vehicle, namely reminding the risk that other vehicles behind the vehicle collide with the vehicle, so that the driving safety of the vehicle is improved. The vehicle rear-end collision prevention reminding method provided by the embodiment can be applied to any vehicle. Since commercial vehicles such as large buses, heavy trucks and container trailers have long vehicle lengths, the blind area of the field of vision behind the vehicles is also large, and therefore, the vehicle rear-end collision prevention reminding method provided by the embodiment can be preferably applied to the commercial vehicles with long vehicle lengths.
The current scheme for preventing rear-end collision of vehicles mainly focuses on preventing rear-end collision of vehicles in the forward direction, and for preventing rear-end collision of vehicles in the backward direction, passive safety devices such as anti-collision warning boards, anti-collision beams and reflective strips which are arranged at the rear of the vehicles are mainly used, and no scheme for actively preventing rear-end collision is provided. In this embodiment, through installing the binocular camera directly behind the vehicle, through the parallax principle of binocular camera, detect the other vehicles in vehicle rear to realize preventing the rear-end collision behind the vehicle.
First, a binocular camera is required to be installed right behind a vehicle, the binocular camera is a camera including two cameras, and a certain distance is provided between the two cameras of the binocular camera. Two cameras in the binocular camera can realize image acquisition respectively. In order to prevent rear-end collision of the vehicle, the rear of the vehicle needs to be continuously detected, and then continuous images collected by a binocular camera installed right behind the vehicle need to be acquired. The continuous images acquired by the binocular camera may be acquired with an acquisition period, which may be, for example, 0.1 second or other acquisition periods.
And S102, processing continuous images acquired by the binocular camera based on a parallax principle, and determining the backward collision early warning time when the vehicle collides with the vehicle.
Because a certain distance is reserved between the two cameras of the binocular cameras, the distance is a fixed value, and the images collected by each camera are collected from the visual angle of each camera. Then, the images acquired by the two cameras are different from each other, and for an object behind the vehicle, the distance measurement is performed on the object according to the images acquired by the two cameras, so that distance data from the two cameras to the object are obtained respectively. The two cameras and the object are connected into a triangle as three vertexes of the triangle, and the distance data between the two cameras and the object and the distance between the two cameras are respectively three side lengths of the triangle. Then the distance between the vehicle and an object behind the vehicle can be calculated by simple trigonometric function calculation. And the binocular camera acquires continuous images with a fixed period, so that the continuous distance change between the vehicle and the rear object can be obtained by performing distance measurement processing on each image in the continuous images, and the speed of the rear object relative to the vehicle can be determined.
Generally, when a vehicle is in a driving state, a need exists for a rear-end collision prevention reminder, and other vehicles may collide with the rear end of the driving vehicle. Therefore, for a vehicle with a rear-end collision prevention reminder, called as a host vehicle, it is necessary to perform early warning judgment on whether there is a risk that another vehicle behind the host vehicle will collide with the host vehicle. Then the continuous images collected by the binocular camera are processed, such as determining the distance and speed information between the vehicle behind the vehicle and the vehicle. After the distance and speed information between the vehicle behind the vehicle and the vehicle are determined, whether the vehicle behind the vehicle is possible to rear-end the vehicle can be determined, and the time required for the vehicle behind the vehicle to rear-end the vehicle can be calculated and is called the rear collision early warning time of the vehicle. The backward collision early warning time of the vehicle is the speed of the backward vehicle when the distance between the backward vehicle and the vehicle is equal to the speed of the backward vehicle, and the backward collision early warning time of the vehicle can be obtained.
In an embodiment, the sequential images collected by the binocular camera are processed based on the parallax principle, and the backward collision early warning time when the vehicle collides with the vehicle backward is determined, which may be as follows: determining the distance between the vehicle behind the vehicle and the vehicle based on the parallax principle for each image in the continuous images; calculating the speed of the vehicle behind the vehicle according to the acquisition time interval of the continuous images and the distance between the vehicle behind the vehicle and the vehicle in the continuous images; and calculating the backward collision early warning time when the vehicle collides with the vehicle from the back of the vehicle according to the speed of the vehicle from the back of the vehicle and the distance from the vehicle.
Namely, each image in the continuous images collected by the binocular camera is subjected to image recognition, and whether a vehicle exists in each image is firstly recognized. The image recognition is performed on the single-line image to determine whether the vehicle exists therein, and any image recognition method can be adopted for processing, which is not described herein again. Then, for the image recognized to contain the vehicle, the distance between the vehicle behind the host vehicle and the host vehicle is determined based on the parallax principle. And then, for the continuous images, calculating the speed of the vehicle behind the vehicle according to the acquisition time interval of the continuous images and the distance between the vehicle behind the vehicle and the vehicle in the continuous images, and finally calculating the rear collision early warning time for the vehicle to collide with the vehicle according to the speed of the vehicle behind the vehicle and the distance between the vehicle behind the vehicle and the vehicle.
For each image in the continuous images, the distance between the vehicle behind the vehicle and the vehicle is determined based on the parallax principle, and the following method can be adopted: for each image in the continuous images, respectively calculating the distance between the vehicle behind the vehicle and the camera in the images collected by two cameras in the binocular cameras; and calculating the distance between the vehicle behind the vehicle and the vehicle through a trigonometric function according to the distance between the two cameras of the binocular cameras and the distance between the vehicle behind the vehicle and the cameras calculated according to the images collected by the two cameras.
In the following, a detailed description is given of a method for processing continuous images acquired by a binocular camera based on a parallax principle in the vehicle rear-end collision prevention reminding method provided by the embodiment of the invention. First, each image in the continuous images collected by the binocular camera needs to be processed, each image collected by the binocular camera actually includes images collected by two cameras respectively, for example, as shown in fig. 2, fig. 2 is an original binocular image collected by the binocular camera, and includes a left image and a right image, which are images collected by two cameras of the binocular camera respectively, as can be seen from fig. 2, the images collected by the two cameras of the binocular camera are basically the same, and only because the positions of the two cameras have a certain distance, elements in the images have a certain position deviation. And then, carrying out image recognition on images collected by two cameras of the binocular cameras to determine whether a vehicle exists.
If the vehicle exists, the distance between the vehicle behind the vehicle and the camera in the images collected by the two cameras is calculated respectively, and the distance between the vehicle behind the vehicle and the vehicle behind the vehicle is calculated through a trigonometric function according to the distance between the two cameras and the distance between the vehicle behind the vehicle and the camera calculated according to the images collected by the two cameras. The specific calculation method is shown in fig. 3, fig. 3 is a schematic view of binocular disparity calculation, and in fig. 3, O is set1And O2For the positions of two cameras in a binocular camera, T is O1And O2The distance between the two cameras, i.e. the distance between the two cameras. P is an object to be measured, that is, the position of the vehicle behind the host vehicle identified in the image, and the position of P may be the position of the point at which the vehicle behind the host vehicle is closest to the host vehicle. For the sake of convenience of calculation, the position of the vehicle rearward of the host vehicle is abstracted to one point, and if there are a plurality of points closest to the host vehicle rearward of the host vehicle, the center of the plurality of closest points may be the position of P. The distance between the vehicle behind the vehicle and the vehicle is Z. In the image collected by each camera, the distance from each camera to the measured point P can be obtained, and the central position of each image can be determinedThe position of the camera is determined by an image processing method. The camera O1The distance from P is x1, and the camera O2The distance from P is set to x2, then triangle O is known1O2The length of the three sides of the P can be determined by simple trigonometric function calculation.
And step S103, if the backward collision early warning time is less than a preset safe collision time threshold value, sending collision warning information to a driver interaction terminal of the vehicle.
After the backward collision early warning time when the vehicle collides with the vehicle is determined, that is, how long the vehicle can collide with the vehicle after the vehicle still runs at the current speed and direction is determined. If the time is long, the driver of the vehicle behind the host vehicle may be in a normal driving state. If the time is short, the driver of the vehicle behind the vehicle may be in an abnormal driving state, and if the driver does not take measures in time, a rear-end collision accident may occur. A time-to-collision-safe threshold may thus be set, which may be set as desired. The threshold value of the safe collision time can be a dynamic value, and the corresponding threshold value between the safe collisions is determined according to the speed of the vehicle behind the vehicle, wherein the threshold value between the safe collisions is shorter when the speed of the vehicle behind the vehicle is higher, and the threshold value between the safe collisions is longer when the speed of the vehicle behind the vehicle is lower.
If the backward collision early warning time is smaller than the preset safe collision time threshold, the possibility of rear-end collision of the vehicle backward is indicated, and at the moment, collision warning information can be sent to the driver interaction terminal of the vehicle. The driver interaction terminal of the vehicle can be a terminal device arranged in a cab of the vehicle, and the terminal device can send interaction information to the driver. After the driver interaction terminal acquires the collision warning information, the collision warning information is sent to the driver through at least one of the warning modes such as voice, characters, light and the like. For example, the driver interaction terminal of the host vehicle may play audio rear-end collision warning information (e.g., "rear vehicle may collide with the rear end"), flash warning lights in a cab, or display warning information on a screen of the driver interaction terminal of the host vehicle (e.g., display related information and warning information of the rear vehicle of the host vehicle by means of images and characters). After the driver learns the collision warning information through the driver interaction terminal, the driver can learn that the rear end of the driver is likely to be collided with by other vehicles, the driver can avoid collision in the ways of changing lanes, accelerating and the like, and can remind the driver of the vehicle in the second way by turning on an emergency light, whistling and the like.
The method for reminding the rear-end collision of the vehicle comprises the steps of firstly obtaining continuous images collected by a binocular camera arranged right behind the vehicle, wherein the binocular camera comprises two cameras with intervals, then processing the continuous images collected by the binocular camera based on a parallax principle, determining the rear collision early warning time when the vehicle collides the vehicle behind the vehicle, and sending collision warning information to a driver interaction terminal of the vehicle if the rear collision early warning time is smaller than a preset safe collision time threshold value.
Fig. 4 is a flowchart of another vehicle rear-end collision prevention reminding method according to an embodiment of the present invention, and as shown in fig. 4, the vehicle rear-end collision prevention reminding method according to the embodiment includes:
step S401, acquiring continuous images collected by a binocular camera installed right behind the vehicle, wherein the binocular camera comprises two cameras with a distance.
And S402, processing the continuous images acquired by the binocular camera based on the parallax principle, and determining the backward collision early warning time when the vehicle collides with the vehicle.
And step S403, if the backward collision early warning time is less than the preset safe collision time threshold, sending collision warning information to the driver interaction terminal of the vehicle.
And S404, if the backward collision early warning time is less than the preset safe collision time threshold, displaying collision warning prompt information on a warning display device arranged right behind the vehicle.
In the embodiment shown in fig. 1, if it is determined that the backward collision warning time between the vehicle backward and the vehicle is less than the preset safe collision time after the continuous images are collected by the binocular camera, collision warning information is sent to the driver interaction terminal of the vehicle, that is, the collision warning information is provided to the driver of the vehicle. However, when a rear-end collision accident occurs, the main body of the collision accident is a vehicle located in the rear direction, and therefore, the warning of a rear-end vehicle which may cause a rear-end collision to the vehicle is more important. Therefore, the warning display device may be installed behind the vehicle, and the backward display device may be a display device having a display function of light, characters, images, or the like. When the backward collision warning time is less than the preset safe collision time threshold, the collision warning prompt message may be displayed on a warning display device installed right behind the host vehicle (for example, a word "will end the tail |" may be displayed on the warning display device). Therefore, the warning information can be sent to the vehicle behind the vehicle, so that a driver of the vehicle behind the vehicle can know the potential safety hazard of rear-end collision, and the rear-end collision accidents can be avoided by adopting modes of speed reduction, lane changing and the like.
Fig. 5 is a schematic view of a vehicle to which the method for reminding the vehicle of preventing rear-end collision according to the embodiment of the present invention is applied, and fig. 5 shows a container trailer, which has a large blind area in the rear of the vehicle due to the long length of the vehicle. As shown in fig. 5, a binocular camera 51 is installed right behind the vehicle, a driver interaction terminal 52 is installed in the cab of the vehicle, and the binocular camera 51 and the driver interaction terminal 52 can be connected in a wired or wireless manner to realize data interaction. In addition, a data processing device or module capable of processing the images collected by the binocular camera 51 may also be provided on the vehicle. The data processing device or module may be an independent device, or may be a module integrally provided in the binocular camera 51 or the driver interaction terminal 52. Preferably, the binocular camera 51 may be disposed together with the data processing module to jointly constitute a binocular perception module. The vehicle provided with the binocular camera 51 and the driver interaction terminal 52 can realize the vehicle rear-end collision prevention reminding method shown in fig. 1. The binocular camera 51 may be disposed right in the middle of the vehicle right behind, so that the distance between the other vehicles behind the vehicle and the vehicle can be accurately detected.
Optionally, in the vehicle shown in fig. 5, an alarm display device 53 may be further disposed right behind the vehicle, and the alarm display device 53 and the binocular camera 51 may be connected in a wired or wireless manner, so as to implement data interaction. The vehicle provided with the binocular camera 51, the driver interaction terminal 52 and the warning display device 53 may implement the vehicle rear-end collision prevention reminding method shown in fig. 4.
Fig. 6 and 7 are partial schematic views of the vehicle shown in fig. 5, wherein fig. 6 is a schematic view of the rear of the vehicle and fig. 7 is a schematic view of the cab of the vehicle.
Fig. 8 is a schematic structural diagram of a vehicle rear-end collision prevention reminding system according to an embodiment of the present invention, and as shown in fig. 8, the vehicle rear-end collision prevention reminding system according to the embodiment includes: a binocular camera 81, a data processing module 82 and a driver interaction terminal 83.
The binocular camera 81 is arranged right behind the vehicle to be reminded, the binocular camera 81 comprises two cameras with a distance, and the binocular camera 81 is used for acquiring continuous images right behind the vehicle to be reminded; the data processing module 82 is used for processing the continuous images acquired by the binocular camera 81 based on the parallax principle, determining the backward collision early warning time for the vehicle to collide with the vehicle to be reminded after the vehicle to be reminded, and sending collision warning information to the driver interaction terminal 83 of the vehicle to be reminded if the backward collision early warning time is smaller than a preset safe collision time threshold value; and the driver interaction terminal 83 is used for sending collision warning information to the driver of the vehicle to be reminded.
The binocular camera 81 and the driver interaction terminal 83 in the vehicle rear-end collision prevention reminding system provided by the embodiment can be installed at positions as shown in fig. 5, and the data processing module 82 and the binocular camera 81 can jointly form a binocular perception module, or the binocular camera 81 can also be arranged in the driver interaction terminal 83.
The vehicle rear-end collision prevention reminding system provided by the embodiment is used for realizing the technical scheme of the vehicle rear-end collision prevention reminding method shown in fig. 1, the realization principle and the technical effect are similar, and the detailed description is omitted here.
Further, in the embodiment shown in fig. 8, the data processing module 82 is specifically configured to determine, for each of the consecutive images, a distance between the vehicle to be reminded and the vehicle to be reminded behind the vehicle to be reminded based on a parallax principle; calculating the speed of the vehicle to be reminded behind the vehicle to be reminded according to the acquisition time interval of the continuous images and the distance between the vehicle to be reminded behind the vehicle to be reminded in the continuous images; and calculating the backward collision early warning time of the vehicle to be reminded to the vehicle to be reminded when the vehicle to be reminded collides with the vehicle according to the speed of the vehicle to be reminded to the vehicle and the distance of the vehicle to be reminded to the vehicle.
Further, in the embodiment shown in fig. 8, the data processing module 82 is specifically configured to, for each image in the continuous images, respectively calculate a distance between a vehicle to be reminded and a camera behind the vehicle in images collected by two cameras in the binocular camera; according to the distance between two cameras of the binocular camera and the distance between the vehicle to be reminded and the camera after the vehicle to be reminded is calculated according to the images collected by the two cameras, and the distance between the vehicle to be reminded and the vehicle to be reminded is calculated through a trigonometric function.
Optionally, the vehicle rear-end collision prevention reminding system shown in fig. 8 further includes: the warning display device 84 and the data processing module 82 are further configured to send collision warning prompt information to the warning display device 84 if the backward collision warning time is judged to be smaller than the preset safe collision time threshold; and an alarm display device 84 for displaying collision alarm prompt information.
Further, in the embodiment shown in fig. 8, the driver interaction terminal 83 is specifically configured to send at least one of audio collision warning information, light collision warning information, and text collision warning information to the driver of the vehicle to be reminded.
The following describes a structure of a vehicle rear-end collision prevention reminding system according to an embodiment of the present invention with a specific example. As shown in fig. 9, fig. 9 is a schematic structural diagram of another vehicle rear-end collision prevention reminding system according to an embodiment of the present invention, and the vehicle rear-end collision prevention reminding system according to the embodiment includes a binocular sensing module 91, a driver interaction terminal 92, and an alarm display device 93.
The binocular sensing module 91 is composed of a binocular camera 94 and a data processing module 95. The binocular camera 94 includes two cameras, the data processing module 95 is composed of a computing chip and a plurality of data transmission interfaces, and includes a Mobile Industry Processor Interface (MIPI) image Interface connected to the two cameras in the binocular camera 94, a Low-Voltage Differential signaling (LVDS) image Interface connected to a logic Controller in the driver interaction terminal 92, and a Controller Area Network (CAN) communication Interface, where the CAN communication Interface is further connected to a logic control device in the warning display device 93. The computing chip in the data processing module 95 is configured to perform recognition processing on the image acquired by the binocular camera 94, determine the backward collision warning time, and output the determined result to the driver interaction terminal 92 and the warning display device 93. The driver interaction terminal 92 comprises a logic controller, a display screen, a speaker and a key, and the driver interaction terminal 92 can display the collision warning information in an image mode through the display screen or send the collision warning information in a sound mode through the speaker. The warning display device 93 includes a logic controller, a constant current module and an LED lamp set, and can display collision warning prompt information through the LED lamp set.
The embodiment of the invention also provides a vehicle with a vehicle rear-end collision prevention reminding system, which comprises: the vehicle body with set up in vehicle in the vehicle body prevents the warning system that knocks into back, the vehicle prevents the warning system that knocks into back and includes binocular camera, data processing module and driver interaction terminal. The vehicle body can be any vehicle, and the vehicle rear-end collision prevention reminding system can be the vehicle rear-end collision prevention reminding system shown in fig. 8.
The present invention also provides a storage medium containing computer executable instructions which when executed by a computer processor are for performing a method of vehicle rear-end collision avoidance warning, the method comprising: acquiring continuous images acquired by a binocular camera arranged right behind the vehicle, wherein the binocular camera comprises two cameras with a distance; processing continuous images acquired by a binocular camera based on a parallax principle, and determining the backward collision early warning time when a vehicle collides with the vehicle; and if the backward collision early warning time is smaller than the preset safe collision time threshold value, sending collision warning information to a driver interaction terminal of the vehicle.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments illustrated herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A vehicle rear-end collision prevention reminding method is characterized by comprising the following steps:
acquiring continuous images acquired by a binocular camera arranged right behind the vehicle, wherein the binocular camera comprises two cameras with a distance;
processing continuous images acquired by the binocular camera based on a parallax principle, and determining the backward collision early warning time when a vehicle collides with the vehicle from the rear of the vehicle;
and if the backward collision early warning time is smaller than a preset safe collision time threshold value, sending collision warning information to a driver interaction terminal of the vehicle.
2. The method of claim 1, wherein the processing the continuous images collected by the binocular camera based on the parallax principle to determine a backward collision warning time for a backward vehicle of the vehicle to collide with the vehicle comprises:
for each image in the continuous images, determining the distance between the vehicle behind the vehicle and the vehicle based on the parallax principle;
calculating the speed of the vehicle behind the vehicle according to the acquisition time interval of the continuous images and the distance between the vehicle behind the vehicle and the vehicle in the continuous images;
and calculating the backward collision early warning time when the vehicle collides with the vehicle from the back of the vehicle according to the speed of the vehicle from the back of the vehicle and the distance from the vehicle.
3. The method of claim 2, wherein determining a distance between a vehicle rearward of the host vehicle and the host vehicle based on a principle of parallax for each of the successive images comprises:
for each image in the continuous images, respectively calculating the distance between the vehicle behind the vehicle and the camera in the images collected by two cameras in the binocular cameras;
and calculating the distance between the vehicle behind the vehicle and the vehicle through a trigonometric function according to the distance between the two cameras of the binocular camera and the distance between the vehicle behind the vehicle and the camera calculated according to the images collected by the two cameras.
4. The method according to any one of claims 1 to 3, wherein after determining the rear collision warning time when the vehicle rear-facing vehicle collides with the vehicle, the method further comprises:
and if the backward collision early warning time is smaller than a preset safe collision time threshold value, displaying collision warning prompt information on a warning display device arranged right behind the vehicle.
5. The method according to any one of claims 1 to 3, wherein the sending collision warning information to the driver interaction terminal of the host vehicle comprises:
and sending at least one of audio collision warning information, light collision warning information and character collision warning information to a driver interaction terminal of the vehicle.
6. A vehicle rear-end collision prevention reminding system is characterized by comprising: the system comprises a binocular camera, a data processing module and a driver interaction terminal;
the binocular camera is arranged right behind the vehicle to be reminded and comprises two cameras with intervals, and the binocular camera is used for acquiring continuous images right behind the vehicle to be reminded;
the data processing module is used for processing the continuous images acquired by the binocular camera based on a parallax principle, determining the backward collision early warning time for a vehicle to collide with the vehicle to be reminded after the vehicle to be reminded, and sending collision warning information to a driver interaction terminal of the vehicle to be reminded if the backward collision early warning time is less than a preset safe collision time threshold value;
and the driver interaction terminal is used for sending the collision warning information to the driver of the vehicle to be reminded.
7. The system according to claim 6, wherein the data processing module is configured to determine, for each of the consecutive images, a distance between a vehicle to be reminded and a vehicle to be reminded behind the vehicle to be reminded based on a principle of parallax; calculating the speed of the vehicle to be reminded behind the vehicle to be reminded according to the acquisition time interval of the continuous images and the distance between the vehicle to be reminded behind the vehicle to be reminded in the continuous images; and calculating the backward collision early warning time of the vehicle to be reminded to the vehicle to be reminded when the vehicle to be reminded collides with the vehicle according to the speed of the vehicle to be reminded to the vehicle and the distance of the vehicle to be reminded to the vehicle.
8. The system according to claim 7, wherein the data processing module is specifically configured to calculate, for each of the consecutive images, a distance between a vehicle to be reminded and a camera behind the vehicle in the images captured by two cameras of the binocular cameras, respectively; and calculating the distance between the vehicle to be reminded and the vehicle to be reminded through a trigonometric function according to the distance between the two cameras of the binocular camera and the distance between the vehicle to be reminded and the camera to be reminded calculated according to the images collected by the two cameras.
9. The system of any one of claims 6 to 8, further comprising: an alarm display device;
the data processing module is further used for sending collision warning prompt information to the warning display device if the backward collision early warning time is judged to be smaller than a preset safe collision time threshold value;
and the warning display device is used for displaying the collision warning prompt message.
10. The system according to any one of claims 6 to 8, wherein the driver interaction terminal is specifically configured to send at least one of audio collision warning information, light collision warning information, and text collision warning information to a driver of a vehicle to be reminded.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110520820.3A CN113043985A (en) | 2021-05-13 | 2021-05-13 | Vehicle rear-end collision prevention reminding method and system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113635834A (en) * | 2021-08-10 | 2021-11-12 | 东风汽车集团股份有限公司 | Lane changing auxiliary method based on electronic outside rear-view mirror |
| CN116714596A (en) * | 2023-06-13 | 2023-09-08 | 北京速度时空信息有限公司 | Automatic driving data processing system and method |
-
2021
- 2021-05-13 CN CN202110520820.3A patent/CN113043985A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113635834A (en) * | 2021-08-10 | 2021-11-12 | 东风汽车集团股份有限公司 | Lane changing auxiliary method based on electronic outside rear-view mirror |
| CN113635834B (en) * | 2021-08-10 | 2023-09-05 | 东风汽车集团股份有限公司 | Lane changing auxiliary method based on electronic exterior rearview mirror |
| CN116714596A (en) * | 2023-06-13 | 2023-09-08 | 北京速度时空信息有限公司 | Automatic driving data processing system and method |
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