CN113370979A - Driving safety early warning method and system, vehicle, electronic equipment and storage medium - Google Patents

Driving safety early warning method and system, vehicle, electronic equipment and storage medium Download PDF

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Publication number
CN113370979A
CN113370979A CN202110780844.2A CN202110780844A CN113370979A CN 113370979 A CN113370979 A CN 113370979A CN 202110780844 A CN202110780844 A CN 202110780844A CN 113370979 A CN113370979 A CN 113370979A
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Prior art keywords
vehicle
obstacle
information
controlling
driving safety
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CN202110780844.2A
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CN113370979B (en
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李翔宇
王家琪
李明月
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Beijing Foton Daimler Automobile Co Ltd
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Beijing Foton Daimler Automobile Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • 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
    • 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 driving safety early warning method and system, a vehicle, electronic equipment and a storage medium, wherein the method comprises the following steps: detecting that an obstacle exists in front of a vehicle in running, and acquiring associated information between the vehicle and the obstacle, wherein the associated information at least comprises: the current speed, the distance between the vehicle and the obstacle and the height difference between the vehicle and the obstacle area; and controlling an alarm device of the vehicle to output corresponding early warning prompt information according to the associated information. When the obstacle in front of the vehicle is detected, the method and the device acquire the associated information between the vehicle and the obstacle and analyze the associated information, so that the alarm device of the vehicle is controlled to output corresponding early warning prompt information according to the associated information, the early warning prompt information with different degrees is output for different driving road conditions, the problem that the driver cannot accurately judge the height information or distance information between the obstacle and the vehicle to cause frequent traffic accidents is solved, and the driving safety of the vehicle is improved.

Description

Driving safety early warning method and system, vehicle, electronic equipment and storage medium
Technical Field
The invention relates to the technical field of vehicles, in particular to a driving safety early warning method and system, a vehicle, electronic equipment and a storage medium.
Background
At present, when a vehicle, especially a truck runs, the height of the vehicle is ultrahigh and the vehicle is overloaded, so that the vehicle is overweight, the running road surface is damaged, and the vehicle is ultrahigh or overloaded in the running process, so that great potential safety hazards exist, and therefore, height limiting rods are generally arranged on most running road sections to prevent the problems of vehicle overload or vehicle ultrahigh and the like.
However, when a vehicle passes through the height-limiting rod, because a driver is not familiar with road conditions of certain road sections, the indication of the height-limiting mark is easy to ignore, or because the driver judges the height of the height-limiting rod and the height of the vehicle inaccurately and other factors, accidents caused by the collision of the vehicle with the height-limiting rod frequently occur, even serious traffic accidents are caused, so that the driving safety of the vehicle is low, and great burden is brought to the traffic.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art.
Therefore, an object of the present invention is to provide a driving safety warning method, which obtains correlation information between a vehicle and an obstacle when the presence of the obstacle in front of the vehicle is detected, and analyzes the correlation information, so as to control a warning device of the vehicle to output corresponding warning prompt information according to the correlation information, so as to output warning prompt information of different degrees for different driving road conditions, thereby avoiding a problem that a driver cannot accurately judge height information or distance information between the obstacle and the vehicle, which causes frequent traffic accidents, and thus improving the driving safety of the vehicle.
Therefore, the second objective of the present invention is to provide a driving safety warning system.
To this end, a third object of the invention is to propose a vehicle.
To this end, a fourth object of the invention is to propose an electronic device.
To this end, a fifth object of the invention is to propose a computer-readable storage medium.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a driving safety warning method, including: detecting that an obstacle exists in front of a vehicle in running, and acquiring associated information between the vehicle and the obstacle, wherein the associated information at least comprises: a current vehicle speed, a distance between the vehicle and the obstacle, and a height difference between the vehicle and the obstacle area; and controlling an alarm device of the vehicle to output corresponding early warning prompt information according to the associated information.
According to the driving safety early warning method provided by the embodiment of the invention, when the obstacle in front of the driving of the vehicle is detected, the associated information between the vehicle and the obstacle is obtained and analyzed, so that the warning device of the vehicle is controlled to output corresponding early warning prompt information according to the associated information, the early warning prompt information with different degrees is output for different driving road conditions, the problem that the driver cannot accurately judge the height information or distance information between the obstacle and the vehicle to cause frequent traffic accidents is avoided, and the driving safety of the vehicle is improved.
In some embodiments, the controlling, according to the association information, an alarm device of the vehicle to output corresponding early warning prompt information includes: if the height difference is greater than or equal to a first height threshold and smaller than a second height threshold, controlling the height of the obstacle on a display interface of the alarm device; if the height difference is greater than or equal to a third height threshold and smaller than the first height threshold, and the distance between the vehicle and the obstacle is greater than a preset distance threshold, controlling the background color of a display interface of the alarm device to be adjusted to a first preset color, controlling the display interface to display first preset text prompt information, and controlling a voice module of the alarm device to send out voice corresponding to the first preset text prompt information; if the height difference is greater than or equal to a third height threshold and smaller than the first height threshold, and the distance between the vehicle and the obstacle is smaller than or equal to the preset distance threshold, controlling a display interface of the alarm device to flash at a first preset frequency, and simultaneously displaying first preset text prompt information; if the height difference is smaller than or equal to the third height threshold and the distance between the vehicle and the obstacle is larger than the preset distance threshold, controlling the background color of a display interface of the alarm device to be adjusted to a second preset color, controlling the display interface to display second preset text prompt information, and controlling a voice module of the alarm device to send out voice corresponding to the second preset text prompt information; and if the height difference is smaller than or equal to the third height threshold value and the distance between the vehicle and the obstacle is smaller than or equal to the preset distance threshold value, controlling a display interface of the alarm device to flash at a second preset frequency and simultaneously displaying second preset text prompt information, wherein the first preset frequency is smaller than the second preset frequency.
In some embodiments, after controlling the background color of the display interface of the alarm device to be adjusted to a second preset color, controlling the display interface to display a second preset text prompt message, and controlling the voice module of the alarm device to send out a voice corresponding to the second preset text prompt message, the method further includes: and generating a driving road planning suggestion, and controlling the display interface to display the driving road planning suggestion.
In some embodiments, the obtaining of the association information between the vehicle and the obstacle includes: and acquiring the associated information between the vehicle and the obstacle through a map bound with the vehicle in advance, a binocular camera arranged on the vehicle and a laser radar.
In some embodiments, the obtaining of the association information between the vehicle and the obstacle includes: and acquiring the association information between the vehicle and the obstacle through a laser radar and a binocular camera which are arranged on the vehicle.
In order to achieve the above object, an embodiment of a second aspect of the present invention provides a driving safety warning system, including: the vehicle driving device comprises an acquisition module, a judgment module and a display module, wherein the acquisition module is used for acquiring the associated information between a vehicle and an obstacle when the obstacle in front of the vehicle is detected, and the associated information at least comprises: a current vehicle speed, a distance between the vehicle and the obstacle, and a height difference between the vehicle and the obstacle area; and the control module is used for controlling the alarm device of the vehicle to output corresponding early warning prompt information according to the associated information.
According to the driving safety early warning system provided by the embodiment of the invention, when the obstacle in front of the driving of the vehicle is detected, the associated information between the vehicle and the obstacle is obtained and analyzed, so that the warning device of the vehicle is controlled to output corresponding early warning prompt information according to the associated information, the early warning prompt information with different degrees is output for different driving road conditions, the problem that the driver cannot accurately judge the height information or distance information between the obstacle and the vehicle to cause frequent traffic accidents is avoided, and the driving safety of the vehicle is improved.
In some embodiments, the alert device is configured as a human machine interface HMI.
To achieve the above object, an embodiment of a third aspect of the invention proposes a vehicle including: the driving safety early warning system of the embodiment.
According to the vehicle, when the obstacle in front of the vehicle is detected, the associated information between the vehicle and the obstacle is obtained and analyzed, so that the alarm device of the vehicle is controlled to output corresponding early warning prompt information according to the associated information, early warning prompt information with different degrees is output for different driving road conditions, the problem that a driver cannot accurately judge the height information or distance information between the obstacle and the vehicle to cause frequent traffic accidents is solved, and the driving safety of the vehicle is improved.
To achieve the above object, an embodiment of a fourth aspect of the present invention proposes an electronic apparatus, including: the driving safety early warning system comprises a processor, a memory and a driving safety early warning program which is stored on the memory and can run on the processor, wherein when the driving safety early warning program is executed by the processor, the driving safety early warning method is realized.
According to the electronic equipment provided by the embodiment of the invention, when the obstacle in front of the running vehicle is detected, the associated information between the vehicle and the obstacle is obtained and analyzed, so that the alarm device of the vehicle is controlled to output corresponding early warning prompt information according to the associated information, the early warning prompt information with different degrees is output for different running road conditions, the problem that the driver cannot accurately judge the height information or distance information between the obstacle and the vehicle to cause frequent traffic accidents is avoided, and the running safety of the vehicle is improved.
In order to achieve the above object, an embodiment of a fifth aspect of the present invention provides a computer-readable storage medium, where a driving safety warning program is stored on the computer-readable storage medium, and when executed by a processor, the driving safety warning program implements the driving safety warning method according to the above embodiment.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a block diagram of a hardware architecture of a driving safety warning method according to an embodiment of the present invention;
fig. 2 is a flowchart of a driving safety warning method according to an embodiment of the present invention;
fig. 3 is a flowchart of a driving safety warning method according to an embodiment of the present invention;
FIG. 4 is a block diagram of a driving safety warning system according to one embodiment of the present invention;
FIG. 5 is a block diagram of a vehicle according to one embodiment of the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below, the embodiments described with reference to the drawings being illustrative, and the embodiments of the present invention will be described in detail below.
Fig. 1 is a block diagram of a hardware architecture related to a driving safety warning method in a specific application scenario according to an embodiment of the present invention. As shown in fig. 1, in a specific application scenario, a hardware architecture related to the driving safety warning method may include: the vehicle is used for adjusting the weight of information input by the laser radar and the binocular camera when the vehicle runs in different application scenes, such as different road sections, and combining information of a high-precision map when the vehicle runs on the road section with the high-precision map, so that obstacle information with higher confidence is determined, warning information is output through the HMI when the vehicle cannot pass through the obstacle due to height limitation, warning information with different degrees is output according to different running road conditions, and the driver is reminded to drive carefully in advance, so that the running safety of the vehicle is improved.
The following describes a driving safety warning method according to an embodiment of the present invention.
The driving safety warning method according to the embodiment of the present invention is described below with reference to fig. 2 to fig. 3, and as shown in fig. 1, the driving safety warning method according to the embodiment of the present invention at least includes step S1 and step S2.
Step S1, detecting that an obstacle exists in front of the vehicle, and acquiring the associated information between the vehicle and the obstacle, wherein the associated information at least comprises: the current vehicle speed, the distance between the vehicle and the obstacle, and the height difference between the vehicle and the obstacle area.
In the embodiment, when an obstacle in front of the vehicle is detected, for example, in the driving process of the vehicle, when the obstacle such as a height limit rod, a bridge opening, a viaduct, a tunnel and the like in a front road section is detected, the front road condition can be detected according to a binocular camera and a laser radar, for example, noise reduction, ground calibration and point cloud clustering processing are performed through a point cloud signal output by the laser radar, and the obstacle information and the vehicle information are fused by combining the obstacle information acquired by the binocular camera, so that fusion information between the vehicle and the obstacle, namely association information, is obtained, the association information is sent to a domain controller, and the domain controller receives the association information and then controls the driving safety early warning of the vehicle according to the association information.
And step S2, controlling the alarm device of the vehicle to output corresponding early warning prompt information according to the related information.
In the embodiment, after receiving the related information, the domain controller analyzes the related information, for example, comprehensively analyzes and judges the current vehicle speed, the distance between the vehicle and the obstacle and the height difference information between the vehicle and the obstacle area, if the current vehicle speed is faster, or the distance between the vehicle and the obstacle is closer, or the height difference between the vehicle and the obstacle area is smaller, and the like, the safety of the vehicle is considered to be lower in the driving process, at this time, the domain controller controls an alarm device according to different driving conditions, such as an HMI to output corresponding early warning prompt information so as to timely remind a driver that the vehicle may have risks in passing through the obstacle area, or the vehicle cannot pass through the obstacle area, thereby avoiding the problem that the driver cannot accurately judge the height information or the distance information between the obstacle and the vehicle, which causes frequent traffic accidents, thus, the safety of the vehicle running is improved.
According to the driving safety early warning method provided by the embodiment of the invention, when the obstacle in front of the driving of the vehicle is detected, the associated information between the vehicle and the obstacle is obtained and analyzed, so that the warning device of the vehicle is controlled to output corresponding early warning prompt information according to the associated information, the early warning prompt information with different degrees is output for different driving road conditions, the problem that the driver cannot accurately judge the height information or distance information between the obstacle and the vehicle to cause frequent traffic accidents is avoided, and the driving safety of the vehicle is improved.
In some embodiments, the controlling the warning device of the vehicle to output corresponding warning prompt information according to the associated information includes: if the height difference is greater than or equal to the first height threshold and smaller than the second height threshold, controlling a display interface of the alarm device to display the height of the obstacle; if the height difference is greater than or equal to the third height threshold and smaller than the first height threshold, and the distance between the vehicle and the obstacle is greater than the preset distance threshold, controlling the background color of the display interface of the alarm device to be adjusted to a first preset color, controlling the display interface to display first preset text prompt information, and controlling a voice module of the alarm device to send out voice corresponding to the first preset text prompt information; if the height difference is greater than or equal to a third height threshold and smaller than a first height threshold, and the distance between the vehicle and the obstacle is smaller than or equal to a preset distance threshold, controlling a display interface of the alarm device to flash at a first preset frequency, and simultaneously displaying first preset text prompt information; if the height difference is smaller than or equal to a third height threshold value and the distance between the vehicle and the obstacle is larger than a preset distance threshold value, controlling the background color of the display interface of the alarm device to be adjusted to a second preset color, controlling the display interface to display second preset character prompt information, and controlling a voice module of the alarm device to send out voice corresponding to the second preset character prompt information; and if the height difference is smaller than or equal to a third height threshold value and the distance between the vehicle and the obstacle is smaller than or equal to a preset distance threshold value, controlling a display interface of the alarm device to flash at a second preset frequency, wherein the first preset frequency is smaller than the second preset frequency, and simultaneously displaying second preset character prompt information.
For example, when the warning device of the vehicle is controlled to output corresponding warning prompt information according to the current vehicle speed, the distance between the vehicle and the obstacle and the height difference between the vehicle and the obstacle area, the height of the vehicle is recorded as h2Height of obstacle is for example denoted h1The height difference between the height of the vehicle and the obstacle is, for example, denoted as h, i.e., h ═ h1-h2The distance between the vehicle and the obstacle is denoted as d, for example. When the height difference h is larger than or equal to the first height threshold and smaller than the second height threshold, for example, h is larger than or equal to 1.2m and smaller than 3.0m, the height difference h between the vehicle and the obstacle area is considered to be normal, the vehicle can smoothly pass through the obstacle area, and at the moment, the display interface of the alarm device HMI is controlled to only display the height of the obstacle without carrying out voice prompt.
When the height difference h is greater than or equal to the third height threshold and smaller than the first height threshold, and the distance between the vehicle and the obstacle is greater than a preset distance threshold d, for example, h is greater than or equal to 0.3m and less than 1.2m, and d is greater than 35m, it is considered that the height between the vehicle and the obstacle area is small, and there is a risk that the vehicle may pass through the obstacle area, at this time, the background color of the display interface of the alarm device HMI is controlled to be adjusted to a first preset color, for example, yellow, and the display interface is controlled to display first preset text prompt information, for example, prompt information asking for slow passage is displayed on the display interface, and the HMI voice module of the alarm device is controlled to send out voice corresponding to the preset text prompt, for example, the voice prompt information asking for slow passage is sent out, so as to remind the driver of slowly running.
When the height difference h is larger than or equal to the third height threshold and smaller than the first height threshold, and the distance between the vehicle and the obstacle is smaller than or equal to a preset distance, for example, h is larger than or equal to 0.3m and smaller than 1.2m, and d is smaller than or equal to 35m, the height between the vehicle and the obstacle area is considered to be smaller, and the distance between the vehicle and the obstacle is very close, so that a dangerous accident is very easy to occur, at the moment, the display interface of the alarm device HMI is controlled to flash at a first preset frequency, for example, at a frequency of 1Hz, and the first preset character prompt message is displayed at the same time, so that the driver is better reminded of slowly driving, and the driving safety of the vehicle is ensured.
When the height difference h is less than or equal to the third height threshold and the distance between the vehicle and the obstacle is greater than a preset distance threshold, for example, h is less than or equal to 0.3m, d is greater than 35m, the distance between the vehicle and the obstacle area is considered to be very close, at this time, the vehicle is considered to continuously run, dangerous accidents such as collision and the like occur, the vehicle cannot normally pass, therefore, the color of the display interface of the alarm device HMI is controlled to be adjusted to a second preset color, for example, the color of the display interface is adjusted to be red, and the display interface is controlled to display second preset character information, for example, the text information of forbidding passing is displayed on the display interface, and the voice module of the alarm device is controlled to send out voice of the second preset text prompt information, for example, the voice information of forbidding communication, so as to remind the driver that the road section in front of the driver cannot pass continuously, avoid serious accidents and ensure the driving safety of the vehicle.
When the height difference h is smaller than or equal to the third height threshold value, and the distance between the vehicle and the obstacle is smaller than or equal to a preset distance threshold value, for example, h is smaller than or equal to 0.3m, and d is smaller than or equal to 35m, the display interface of the alarm device is controlled to flicker at a second preset frequency, for example, the display interface flickers at a frequency of 2Hz, and second preset character prompt information is displayed at the same time, so that the driver is reminded that dangerous accidents such as collision and the like are about to occur due to the fact that the vehicle is close to the obstacle, and the vehicle should be stopped in time, so that accident risks caused by continuous driving are avoided, and driving safety of the vehicle is guaranteed. It can be understood that the height difference h and the distance d from the vehicle to the obstacle can be calibrated according to specific conditions, so that the data is more accurate, and the accuracy of early warning is improved.
In some embodiments, after controlling the background color of the display interface of the alarm device to be adjusted to a second preset color, controlling the display interface to display a second preset text prompt message, and controlling the voice module of the alarm device to send out a voice corresponding to the second preset text prompt message, the method further includes: and generating a driving road planning suggestion, and controlling a display interface to display the driving road planning suggestion.
In the embodiment, the background color of the display interface of the alarm device is adjusted to be red, and after the display interface is controlled to display the text prompt information for forbidding passing, the vehicle is considered to be incapable of continuously running, and if the vehicle continuously runs, the risk of collision with an obstacle is likely to occur, so that the driver is reminded of stopping the vehicle in time. Furthermore, after the corresponding early warning prompt is sent out, a driving road planning suggestion is generated, and the display interface is controlled to display the driving road planning suggestion, so that a driver can drive according to the generated road planning suggestion, a new driving route is recommended for the driver under the condition that a front road cannot pass, the driver can be ensured to reach a destination smoothly, the traveling of the driver is not affected, the reliability of a vehicle is improved, and the use experience of the driver is improved. It can be understood that after it is determined that the current road cannot continue to run, a road planning suggestion is generated according to the high-precision map information, for example, a new road planning route is generated, the new driving road planning route is displayed on a display interface, other road planning routes are provided for a driver, the driver can be ensured to smoothly reach a destination, the traveling of the driver is not affected, the reliability of a vehicle is improved, and the use experience of the driver is improved.
In some embodiments, obtaining the association information between the vehicle and the obstacle includes: and acquiring the association information between the vehicle and the obstacle through a map bound with the vehicle in advance, a binocular camera arranged on the vehicle and a laser radar.
In the embodiment, when the current travel section has a map, the map is bound with the vehicle in advance, for example, a high-precision map, the prior knowledge is output through a high-precision map, specifically, the current lane where the vehicle runs is obtained through a positioning module, obtaining the possible driving lanes of the vehicle according to the topological relation of the lanes, obtaining the height-limiting element according to the relation between the vehicle and the lanes, sending the positioning information, the map road information and the height-limiting object information to a perception information processing module of a domain controller, after receiving the information, the perception information processing module combines information acquired by a binocular camera and a laser radar on the vehicle to acquire barrier information with higher confidence and associated information between the vehicle and the barrier, thereby improving the accuracy of the acquired associated information, and then do benefit to and carry out accurate early warning to the driving safety of vehicle to further improve driving safety.
In some embodiments, obtaining the association information between the vehicle and the obstacle includes: and acquiring the association information between the vehicle and the obstacle through a laser radar and a binocular camera which are arranged on the vehicle.
In an embodiment, when the current driving road section has no high-precision map, the noise reduction, the ground calibration and the point cloud clustering processing can be performed through a laser radar output point cloud signal arranged on a vehicle, and the integration between the vehicle and the obstacle information is completed by combining the height information of the obstacle output by a binocular camera, so that the accuracy of the acquired associated information is improved, the accurate early warning on the driving safety of the vehicle is facilitated, and the driving safety is further improved.
The driving safety early warning method according to the embodiment of the present invention is described below with reference to fig. 3, and as shown in fig. 3, is a flowchart of the driving safety early warning method according to the embodiment of the present invention.
In step S11, vehicle positioning is performed.
Step S12, judging whether the current road section has a high-precision map, if not, executing step S13; if yes, go to step S20.
And step S13, outputting point cloud data by the laser radar.
And step S14, the domain controller receives the point cloud data and receives the obstacle information output by the binocular information.
And step S15, fusing the received point cloud data and the obstacle information to obtain the associated information between the vehicle and the obstacle.
In step S16, the domain controller receives the association information.
And step S17, controlling the vehicle alarm device to output corresponding early warning prompt information according to the related information.
Step S18, judging that the vehicle can normally pass through the front obstacle area according to the related information, if so, executing step S19; if not, go to step S21.
In step S19, the driver decelerates and crawls through.
And step S20, outputting the prior knowledge.
In step S21, the vehicle is prohibited from passing through.
And step S22, generating a driving road planning suggestion, and controlling a display interface to display the driving road planning suggestion or stop the vehicle close to the side.
According to the driving safety early warning method provided by the embodiment of the invention, when the obstacle in front of the driving of the vehicle is detected, the associated information between the vehicle and the obstacle is obtained and analyzed, so that the warning device of the vehicle is controlled to output corresponding early warning prompt information according to the associated information, the early warning prompt information with different degrees is output for different driving road conditions, the problem that the driver cannot accurately judge the height information or distance information between the obstacle and the vehicle to cause frequent traffic accidents is avoided, and the driving safety of the vehicle is improved.
The following describes a driving safety warning system according to a second embodiment of the present invention.
As shown in fig. 4, the driving safety warning system 2 according to the embodiment of the present invention includes an obtaining module 20 and a control module 21. The acquiring module is used for acquiring the associated information between the vehicle and the obstacle when the obstacle in front of the vehicle is detected, and the associated information at least comprises: the current speed, the distance between the vehicle and the obstacle and the height difference between the vehicle and the obstacle area; and the control module is used for controlling the alarm device of the vehicle to output corresponding early warning prompt information according to the associated information.
According to the driving safety early warning system 2 provided by the embodiment of the invention, when the obstacle in front of the driving of the vehicle is detected, the associated information between the vehicle and the obstacle is obtained and analyzed, so that the warning device of the vehicle is controlled to output corresponding early warning prompt information according to the associated information, the early warning prompt information with different degrees is output for different driving road conditions, the problem that the driver cannot accurately judge the height information or distance information between the obstacle and the vehicle to cause frequent traffic accidents is avoided, and the driving safety of the vehicle is improved.
In some embodiments, the control module 21 is specifically configured to, when the height difference is greater than or equal to a first height threshold and smaller than a second height threshold, control a display interface of the alarm device to display the height of the obstacle; when the height difference is greater than or equal to a third height threshold and smaller than a first height threshold, and the distance between the vehicle and the obstacle is greater than a preset distance threshold, controlling the background color of the display interface of the alarm device to be adjusted to a first preset color, controlling the display interface to display first preset text prompt information, and controlling a voice module of the alarm device to send out voice corresponding to the first preset text prompt information; when the height difference is greater than or equal to a third height threshold and smaller than a first height threshold, and the distance between the vehicle and the obstacle is smaller than or equal to a preset distance threshold, controlling a display interface of the alarm device to flash at a first preset frequency; when the height difference is smaller than or equal to a third height threshold value and the distance between the vehicle and the obstacle is larger than a preset distance threshold value, controlling the background color of the display interface of the alarm device to be adjusted to a second preset color, controlling the display interface to display second preset character prompt information, and controlling a voice module of the alarm device to send out voice corresponding to the second preset character prompt information; and when the height difference is smaller than or equal to a third height threshold value and the distance between the vehicle and the obstacle is smaller than or equal to a preset distance threshold value, controlling a display interface of the alarm device to flash at a second preset frequency, wherein the first preset frequency is smaller than the second preset frequency.
In some embodiments, the control module 21 is further configured to generate a driving road planning suggestion, and control the display interface to display the driving road planning suggestion.
In some embodiments, the obtaining module 20 is specifically configured to obtain the association information between the vehicle and the obstacle through a map previously bound to the vehicle, a binocular camera and a lidar arranged on the vehicle.
In some embodiments, the obtaining module 20 is specifically configured to obtain the association information between the vehicle and the obstacle through a laser radar and a binocular camera disposed on the vehicle.
In some embodiments, the alert device is configured as a human machine interface HMI.
It should be noted that a specific implementation manner of the driving safety early warning system 2 in the embodiment of the present invention is similar to a specific implementation manner of the driving safety early warning method in any of the above embodiments of the present invention, and for details, please refer to the description of the method part, and details are not described here again in order to reduce redundancy.
According to the driving safety early warning system 2 provided by the embodiment of the invention, when the obstacle in front of the driving of the vehicle is detected, the associated information between the vehicle and the obstacle is obtained and analyzed, so that the warning device of the vehicle is controlled to output corresponding early warning prompt information according to the associated information, the early warning prompt information with different degrees is output for different driving road conditions, the problem that the driver cannot accurately judge the height information or distance information between the obstacle and the vehicle to cause frequent traffic accidents is avoided, and the driving safety of the vehicle is improved.
A vehicle according to an embodiment of the third aspect of the invention is described below.
As shown in fig. 5, a vehicle 3 according to an embodiment of the present invention includes the driving safety warning system 2 according to the above-described embodiment.
In this embodiment, when the vehicle 3 performs driving safety warning, a specific implementation manner of the vehicle is similar to that of the driving safety warning system 2 according to any embodiment of the present invention, and for details, please refer to the description of the driving safety warning system 2, and details are not described here for reducing redundancy.
According to the vehicle 3, when the obstacle in front of the vehicle is detected, the associated information between the vehicle and the obstacle is obtained and analyzed, so that the alarm device of the vehicle is controlled to output corresponding early warning prompt information according to the associated information, early warning prompt information with different degrees is output for different driving road conditions, the problem that the driver cannot accurately judge the height information or distance information between the obstacle and the vehicle to cause frequent traffic accidents is solved, and the driving safety of the vehicle is improved.
An electronic apparatus according to a fourth aspect of the present invention is described below, the electronic apparatus including: the driving safety early warning system comprises a processor, a memory and a driving safety early warning program which is stored on the memory and can run on the processor, wherein the driving safety early warning program realizes the driving safety early warning method of the embodiment when being executed by the processor.
According to the electronic equipment provided by the embodiment of the invention, when the obstacle in front of the running vehicle is detected, the associated information between the vehicle and the obstacle is obtained and analyzed, so that the alarm device of the vehicle is controlled to output corresponding early warning prompt information according to the associated information, the early warning prompt information with different degrees is output for different running road conditions, the problem that the driver cannot accurately judge the height information or distance information between the obstacle and the vehicle to cause frequent traffic accidents is avoided, and the running safety of the vehicle is improved.
A computer-readable storage medium storing a driving safety warning program according to a fifth embodiment of the present invention is described below, where the driving safety warning program is executed by a processor to implement the driving safety warning method according to the above embodiment.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims (10)

1. A driving safety early warning method is characterized by comprising the following steps:
detecting that an obstacle exists in front of a vehicle in running, and acquiring associated information between the vehicle and the obstacle, wherein the associated information at least comprises: a current vehicle speed, a distance between the vehicle and the obstacle, and a height difference between the vehicle and the obstacle area;
and controlling an alarm device of the vehicle to output corresponding early warning prompt information according to the associated information.
2. The driving safety early warning method according to claim 1, wherein the controlling the warning device of the vehicle to output corresponding early warning prompt information according to the association information comprises:
if the height difference is greater than or equal to a first height threshold and smaller than a second height threshold, controlling a display interface of the alarm device to display the height of the obstacle;
if the height difference is greater than or equal to a third height threshold and smaller than the first height threshold, and the distance between the vehicle and the obstacle is greater than a preset distance threshold, controlling the background color of a display interface of the alarm device to be adjusted to a first preset color, controlling the display interface to display first preset text prompt information, and controlling a voice module of the alarm device to send out voice corresponding to the first preset text prompt information;
if the height difference is greater than or equal to a third height threshold and smaller than the first height threshold, and the distance between the vehicle and the obstacle is smaller than or equal to the preset distance threshold, controlling a display interface of the alarm device to flash at a first preset frequency, and simultaneously displaying first preset text prompt information;
if the height difference is smaller than or equal to the third height threshold and the distance between the vehicle and the obstacle is larger than the preset distance threshold, controlling the background color of a display interface of the alarm device to be adjusted to a second preset color, controlling the display interface to display second preset text prompt information, and controlling a voice module of the alarm device to send out voice corresponding to the second preset text prompt information;
and if the height difference is smaller than or equal to the third height threshold value and the distance between the vehicle and the obstacle is smaller than or equal to the preset distance threshold value, controlling a display interface of the alarm device to flicker at a second preset frequency, wherein the first preset frequency is smaller than the second preset frequency, and simultaneously displaying second preset text prompt information.
3. The driving safety early warning method according to claim 2, wherein after controlling the background color of the display interface of the warning device to be adjusted to a second preset color, controlling the display interface to display a second preset text prompt message, and controlling the voice module of the warning device to send out a voice corresponding to the second preset text prompt message, the method further comprises:
and generating a driving road planning suggestion, and controlling the display interface to display the driving road planning suggestion.
4. The driving safety warning method according to claim 1, wherein the obtaining of the association information between the vehicle and the obstacle comprises:
and acquiring the associated information between the vehicle and the obstacle through a map bound with the vehicle in advance, a binocular camera arranged on the vehicle and a laser radar.
5. The driving safety warning method according to claim 1, wherein the obtaining of the association information between the vehicle and the obstacle comprises:
and acquiring the association information between the vehicle and the obstacle through a laser radar and a binocular camera which are arranged on the vehicle.
6. The utility model provides a driving safety early warning system which characterized in that includes:
the vehicle driving device comprises an acquisition module, a judgment module and a display module, wherein the acquisition module is used for acquiring the associated information between a vehicle and an obstacle when the obstacle in front of the vehicle is detected, and the associated information at least comprises: a current vehicle speed, a distance between the vehicle and the obstacle, and a height difference between the vehicle and the obstacle area;
and the control module is used for controlling the alarm device of the vehicle to output corresponding early warning prompt information according to the associated information.
7. The traffic safety warning system according to claim 6, wherein the warning device is configured as a Human Machine Interface (HMI).
8. A vehicle comprising a driving safety warning system according to any one of claims 6 and 7.
9. An electronic device, comprising:
a processor, a memory and a driving safety warning program stored on the memory and operable on the processor, wherein the driving safety warning program when executed by the processor implements the driving safety warning method according to any one of claims 1 to 5.
10. A computer-readable storage medium, wherein a driving safety warning program is stored on the computer-readable storage medium, and when being executed by a processor, the driving safety warning program implements the driving safety warning method according to any one of claims 1 to 5.
CN202110780844.2A 2021-07-09 2021-07-09 Driving safety early warning method and system, vehicle, electronic equipment and storage medium Active CN113370979B (en)

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