CN114373335B - Collision early warning method and device for vehicle, electronic equipment and storage medium - Google Patents
Collision early warning method and device for vehicle, electronic equipment and storage medium Download PDFInfo
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- CN114373335B CN114373335B CN202111576692.0A CN202111576692A CN114373335B CN 114373335 B CN114373335 B CN 114373335B CN 202111576692 A CN202111576692 A CN 202111576692A CN 114373335 B CN114373335 B CN 114373335B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Abstract
The embodiment of the application discloses a collision early warning method and device for a vehicle, electronic equipment and a storage medium, and relates to the technical field of intelligent driving. Wherein the method comprises the following steps: receiving alarm data of an obstacle sent by a vehicle; determining the area where the obstacle is located from the plurality of areas according to the alarm data to obtain a target area; and determining collision early warning information according to the target area and the warning data, and displaying the collision early warning information. According to the technical scheme provided by the embodiment of the application, the defect that the collision accident can be avoided only by relying on the driving experience of the driver in the prior art is overcome, the processing reaction time of the driver to the front obstacle collision accident is shortened, and the vehicle safety is improved.
Description
Technical Field
The embodiment of the application relates to the technical field of intelligent driving, in particular to a collision early warning method and device for a vehicle, electronic equipment and a storage medium.
Background
With the development of the autopilot industry, more and more automobile factories begin to develop and produce autopilot automobiles. Therefore, whether collision occurs between the driven vehicle and the front vehicle is judged in the driving process of the vehicle by the driver, and the safety coefficient of the automatic driving vehicle is directly influenced.
The common practice in the prior art is as follows: an advanced driving assistance system (Advanced Driving Assistance System, ADAS) determines warning information of a front vehicle collision and sends the warning information to a vehicle-mounted screen, and the vehicle-mounted screen views a possible front vehicle position of the collision through a vehicle top view or in a Virtual Reality (VR) or Mixed Reality (MR) mode after receiving the warning information. However, since the warning information is displayed on the vehicle-mounted screen by the warning sound or the text of the vehicle screen, the driver needs to check the warning information on the vehicle-mounted screen at a low head, evaluate the collision event through own experience, and trigger the collision accident avoidance action. Therefore, the prior art needs to rely on the driver's own skilled driving experience to avoid collision accidents, and the driver's reaction time is also long.
Disclosure of Invention
The embodiment of the application provides a collision early warning method, a device, electronic equipment and a storage medium for a vehicle, which shorten the processing reaction time of a driver to a front obstacle collision accident and improve the safety of the vehicle.
In a first aspect, an embodiment of the present application provides a collision early warning method for a vehicle, including:
receiving alarm data of an obstacle sent by the vehicle;
determining the area where the obstacle is located from the plurality of areas according to the alarm data to obtain a target area;
and determining collision early warning information according to the target area and the warning data, and displaying the collision early warning information.
In a second aspect, an embodiment of the present application provides a collision warning apparatus for a vehicle, including:
the alarm data receiving module is used for receiving alarm data of the obstacle sent by the vehicle;
the target area determining module is used for determining the area where the obstacle is located from the plurality of areas according to the alarm data to obtain a target area;
and the early warning information display module is used for determining collision early warning information according to the target area and the warning data and displaying the collision early warning information.
In a third aspect, an embodiment of the present application provides an electronic device, including:
one or more processors;
a storage means for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method for collision warning of a vehicle according to any embodiment of the present application.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium having stored thereon a computer program that, when executed by a processor, implements the collision warning method of a vehicle according to any embodiment of the present application.
The embodiment of the application provides a collision early warning method, a device, electronic equipment and a storage medium of a vehicle, wherein the method comprises the following steps: receiving alarm data of an obstacle sent by a vehicle; determining the area where the obstacle is located from the plurality of areas according to the alarm data to obtain a target area; and determining collision early warning information according to the target area and the warning data, and displaying the collision early warning information. According to the method, the device and the system, the front view of the vehicle is divided into a plurality of areas in advance, the target area where the obstacle is located is determined from the plurality of areas according to the distance between the obstacle and the vehicle, and corresponding collision early warning information is formulated according to the difference of the target areas so as to guide a driver to safely drive according to the collision early warning information, so that the defect that the collision accident can be avoided only by relying on the driving experience of the driver in the prior art is overcome, the processing reaction time of the driver to the front obstacle collision accident is shortened, and the vehicle safety is improved.
It should be understood that the description of this section is not intended to identify key or critical features of the embodiments of the application or to delineate the scope of the application. Other features of the present application will become apparent from the description that follows.
Drawings
The drawings are for better understanding of the present solution and do not constitute a limitation of the present application. Wherein:
fig. 1 is a schematic flow chart of a collision early warning method for a vehicle according to an embodiment of the present application;
FIG. 2 is a schematic view of a front view of a vehicle provided in an embodiment of the present application;
fig. 3 is a second flow chart of a collision early warning method for a vehicle according to an embodiment of the present application;
fig. 4A is a schematic diagram of early warning identification information provided in an embodiment of the present application;
FIG. 4B is a schematic diagram of emergency alert identification information provided in an embodiment of the present application;
FIG. 4C is a schematic diagram of an automatic brake warning indicator provided in an embodiment of the present application;
fig. 5 is a schematic structural diagram of a collision warning device for a vehicle according to an embodiment of the present application;
fig. 6 is a block diagram of an electronic device for implementing a collision warning method of a vehicle according to an embodiment of the present application.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
Example 1
Fig. 1 is a schematic flow chart of a collision early warning method for a vehicle according to an embodiment of the present application;
fig. 2 is a schematic view of a front view of a vehicle according to an embodiment of the present application. The present embodiment is applicable to a case where collision warning information is presented to a driver when a vehicle is likely to collide with an obstacle ahead of the vehicle. The collision early-warning method of the vehicle provided by the embodiment of the invention can be implemented by the collision early-warning device of the vehicle provided by the embodiment of the invention, and the device can be implemented in a software and/or hardware mode and is integrated in an electronic device for executing the method. Preferably, the electronic device in the embodiment of the application may be a head-up display, and the method is performed by the head-up display. The vehicle in the embodiment of the application is provided with a head-up display, and the front view of the vehicle comprises a plurality of areas which are divided according to the view angle of the head-up display.
Referring to fig. 1, the method of the present embodiment includes, but is not limited to, the following steps:
s110, receiving alarm data of the obstacle sent by the vehicle.
In this embodiment, the vehicle further includes a driving assistance device, and the driving assistance device may be equipped with an ADAS or another driving assistance system. The obstacle refers to a front object that may cause an obstacle to the running of a vehicle driven by a driver, including a preceding vehicle, a roadblock, a pedestrian, and the like. The warning data refers to data related to when the vehicle is likely to collide with the obstacle, and the warning data includes a collision probability.
In the embodiment of the application, the driving assistance device detects attribute information (such as the type and the outline dimension of the obstacle) of the obstacle in front of the vehicle and running information (such as the speed difference) of the obstacle relative to the vehicle in real time through the data acquisition device. The driving assistance device determines, when it is determined that a collision is likely to occur between the vehicle and the obstacle, based on the attribute information and the travel information, and further determines a collision probability between the vehicle and the obstacle.
In the embodiment of the application, after the driving auxiliary equipment determines the collision probability between the vehicle and the obstacle, the collision probability is processed to obtain alarm data, for example, the collision probability and other data are packaged to obtain the alarm data of the obstacle; and finally, sending the alarm data to a head-up display, and receiving the alarm data of the obstacle sent by the driving auxiliary equipment by the head-up display. The head-up display is an augmented reality head-up display, and important driving information is projected onto a windshield glass of a vehicle through an optical projection technology, so that a driver can see the important driving information without lowering or turning.
S120, determining the area where the obstacle is located from the plurality of areas according to the alarm data, and obtaining the target area.
In the embodiment of the application, a plurality of areas are obtained by dividing the front view of the vehicle according to the view angle of the head-up display in advance, and then the area where the obstacle is located is determined from the plurality of areas according to the alarm data, so that the target area is obtained.
First, the process of determining the angle of view of the head-up display is: and determining the view angle of the head-up display according to the driving eyepoint, the head data and the imaging boundary point of the vehicle. The driving eyepoint refers to the position of the eyes of the driver. The imaging interface point refers to the furthest distance the heads-up display can image in the field of view in front of the vehicle. The head data refers to the length of the driving eyepoint from the hood and the height of the driving eyepoint from the ground. The field angle of the head-up display refers to the included angle between the edge of the observable range of the head-up display at the driving eye point and the connecting line of the driving eye point. As shown in fig. 2, which is a schematic view of a front view of a vehicle, as can be seen from fig. 2, a driving eye point is an O point, head data includes a length x and a height y, and an imaging boundary point is an a point.
Specifically, determining a head-up display field angle according to a driving eye point, head data and an imaging boundary point of a vehicle includes: determining a semi-imaging boundary point according to the driving eyepoint and the headstock data; and determining the field angle of the head-up display according to the driving eyepoint, the semi-imaging boundary point and the imaging boundary point. The semi-imaging boundary point refers to a critical point of whether the head-up display can show the front ground in the front view of the vehicle. As can be seen from fig. 2, the half-imaging boundary point is point C, and the head-up display field angle (i.e., angle AOC) is determined according to the driving eye point (i.e., point O) and the half-imaging boundary point (i.e., point C) imaging boundary point (i.e., point a).
Secondly, the dividing process of the plurality of areas is as follows: firstly, determining an area covered by an angle of view of a head-up display, namely an area covered by an angle AOC; determining imaging identification boundary points in the area covered by the field angle of the head-up display, namely a point B in fig. 2; finally, determining a semi-imaging Area, namely Area1 in fig. 2, of the Area between the head of the vehicle and the semi-imaging boundary point; determining a region between the half imaging boundary point and the imaging identification boundary point as an imaging identifiable region, namely Area2 in fig. 2; determining an imaging identification boundary point and a region between the imaging identification boundary points as an imaging unrecognizable region, namely Area3 in fig. 2; the Area beyond the imaging boundary point is determined as the imaging outer Area, that is, area4 in fig. 2.
In this application, in order to improve user experience, the obstacle presented on the display screen satisfies the effect that the obstacle should be far and near and big, that is, the pattern corresponding to the obstacle imaging on the display screen is smaller when the obstacle is far from the vehicle, the pattern corresponding to the obstacle imaging on the display screen is larger when the obstacle is near from the vehicle, but when the pattern presented on the display screen is very small, the user cannot see the shape of the pattern. Thus, an imaging recognition boundary point within the area covered by the field angle of the heads-up display is determined based on whether the pattern presented on the display screen can be recognized.
Illustratively, in the front view of the vehicle, the distance between the imaging boundary point and the vehicle is 100 meters, the distance between the semi-imaging boundary point and the vehicle is 10 meters, and the distance between the imaging identification boundary point and the vehicle is 50 meters. Then the half imaging area is arranged between 0 m and 10 m in front of the vehicle, the imaging identifiable area is arranged between 10 m and 50 m in front of the vehicle, the imaging unidentifiable area is arranged between 50 m and 100 m in front of the vehicle, and the imaging outer area is arranged outside 100 m in front of the vehicle.
Finally, the specific process of determining the area where the obstacle is located from the plurality of areas according to the alarm data and obtaining the target area can be realized through the following two substeps:
(1) The distance of the obstacle from the vehicle is determined from the position data.
The alarm data also comprises position data of the obstacle.
In the embodiment of the application, after the head-up display receives the warning data sent by the driving auxiliary equipment, the position data is called from the warning data, and the distance between the obstacle and the vehicle is obtained by performing data processing on the position data. Wherein the process of the driving assistance apparatus determining the position data may be: the method comprises the steps that azimuth information and coordinate information of an obstacle are obtained through data acquisition equipment, and then the azimuth information and the coordinate information are subjected to data processing to obtain position data of the obstacle; the data acquisition equipment can be a laser radar sensor, a millimeter wave radar sensor, an ultrasonic radar sensor, a vision sensor or the like.
(2) And determining the area where the obstacle is located from the plurality of areas according to the distance to obtain the target area.
In the embodiment of the application, the front view of the vehicle is divided into four areas in advance, namely a half-imaging area, an imaging identifiable area, an imaging unidentifiable area and an imaging outer area. After the distance between the obstacle and the vehicle is determined, determining the area where the obstacle is located from the four areas according to the distance, and taking the determined area as a target area.
S130, determining collision early warning information according to the target area and the warning data, and displaying the collision early warning information.
Wherein, the alarm data comprises attribute information of the obstacle.
In the embodiment of the application, after the head-up display receives the warning data sent by the driving auxiliary equipment, attribute information of the obstacle is called from the warning data, collision early warning information corresponding to the obstacle is determined by combining the determined target area where the obstacle is located, and the collision early warning information is displayed on the display screen so as to guide a driver to drive safely according to the collision early warning information. Optionally, the display screen may be a display screen of an in-vehicle terminal; preferably, the display screen may also be arranged on the windscreen in front of the vehicle.
Optionally, the alarm data further includes attribute information of the obstacle, that is, outline dimension information of the obstacle, such as width and height.
Specifically, determining collision early warning information according to the target area and the warning data includes: when the target area is a driving blind area, determining collision early warning information as an early warning identification pattern, and determining the size of the early warning identification pattern according to the attribute information; when the target area is an imaging identifiable area, determining collision early warning information as early warning identification patterns and ground pasting mark lines, and respectively determining the sizes of the early warning identification patterns and the ground pasting mark lines according to attribute information; and when the target area is an imaging unrecognizable area or an imaging external area, determining that the collision early warning information is a ground-attached mark line, and determining the size of the ground-attached mark line according to the attribute information. Wherein the pre-warning identification pattern and the labeling mark line are both pre-warning identification information.
In the embodiment of the application, when the obstacle is in the driving blind area, the driver cannot see the road surface of the driving blind area, so that the lower end of the obstacle cannot be seen, marking lines are not needed to be attached to the obstacle marks, and only the body of the obstacle is needed to be marked with the warning mark patterns. And determining the size of the early warning mark pattern according to the outline size of the obstacle. The advantage of this is that when the obstacle is closer to the vehicle, the collision probability is larger, and the larger the external dimension of the obstacle currently collected by the sensor is, the larger the external dimension of the warning sign pattern is marked according to the external dimension, so that the driver can judge the collision probability with the obstacle in front according to the dimension of the warning sign pattern. When the target area is an imaging unrecognizable area or an imaging external area, the external dimension of the obstacle currently collected by the sensor is smaller because the distance between the obstacle and the vehicle is far beyond the imaging identification boundary point, and if the body of the obstacle is marked with the pre-warning identification pattern, the driver cannot identify what pattern is because the pre-warning identification pattern is smaller, so that the body of the obstacle is not required to be marked with the pre-warning identification pattern, and only the obstacle mark is required to be marked with a mark line.
According to the technical scheme provided by the embodiment, alarm data of the obstacle sent by the vehicle is received; determining the area where the obstacle is located from the plurality of areas according to the alarm data to obtain a target area; and determining collision early warning information according to the target area and the warning data, and displaying the collision early warning information. According to the method, the device and the system, the front view of the vehicle is divided into a plurality of areas in advance, the target area where the obstacle is located is determined from the plurality of areas according to the distance between the obstacle and the vehicle, and corresponding collision early warning information is formulated according to the difference of the target areas so as to guide a driver to safely drive according to the collision early warning information, so that the defect that the collision accident can be avoided only by relying on the driving experience of the driver in the prior art is overcome, the processing reaction time of the driver to the front obstacle collision accident is shortened, and the vehicle safety is improved.
Example two
Fig. 3 is a second flow chart of a collision early warning method for a vehicle according to an embodiment of the present application;
fig. 4A is a schematic diagram of early warning identification information provided in an embodiment of the present application; FIG. 4B is a schematic diagram of emergency alert identification information provided in an embodiment of the present application; fig. 4C is a schematic diagram of automatic braking warning identification information according to an embodiment of the present application. The embodiment of the application is optimized based on the embodiment, and is specifically: the present embodiment explains in detail the determination process of collision warning information and the determination process of imaging positions corresponding to different warning types.
Referring to fig. 3, the method of the present embodiment includes, but is not limited to, the following steps:
s210, receiving alarm data of the obstacle sent by the vehicle.
In the driving assistance device of the present embodiment, an ADAS may be mounted, and another driving assistance system may be mounted. The obstacle refers to a front object that may cause an obstacle to the running of a vehicle driven by a driver, including a preceding vehicle, a roadblock, a pedestrian, and the like. The warning data refers to data related to when the vehicle is likely to collide with the obstacle, and the warning data includes a collision probability.
In the embodiment of the application, the driving assistance device detects attribute information (such as the type and the outline dimension of the obstacle) of the obstacle in front of the vehicle and running information (such as the speed difference) of the obstacle relative to the vehicle in real time through the data acquisition device. The driving assistance device determines, when it is determined that a collision is likely to occur between the vehicle and the obstacle, based on the attribute information and the travel information, and further determines a collision probability between the vehicle and the obstacle.
Preferably, the process of determining the collision probability by the driving assistance apparatus may further be: if the obstacle is a front car, the injuries caused between collisions when the front car is a truck or a tricycle may be different. Therefore, the collision weight of the obstacle can be determined according to the attribute information of the vehicle, and then the collision probability between the vehicle and the obstacle can be determined according to the collision weight and the driving information.
In the embodiment of the application, after the driving auxiliary equipment determines the collision probability between the vehicle and the obstacle, the collision probability is processed to obtain alarm data, for example, the collision probability and other data are packaged to obtain the alarm data of the obstacle; and finally, sending the alarm data to a head-up display, and receiving the alarm data of the obstacle sent by the driving auxiliary equipment by the head-up display. The head-up display is an augmented reality head-up display, and important driving information is projected onto a windshield glass of a vehicle through an optical projection technology, so that a driver can see the important driving information without lowering or turning.
And S220, determining the area where the obstacle is located from the plurality of areas according to the alarm data when the alarm type is early warning, and obtaining the target area.
In the embodiment of the application, the alarm data also contains an alarm type. After receiving the warning data sent by the driving auxiliary equipment, the head-up display retrieves the warning type from the warning data, when the warning type is warning, then determines the area where the obstacle is located from four areas of a half imaging area, an imaging identifiable area, an imaging unidentifiable area and an imaging outer area in advance according to the warning data, and takes the determined area as a target area. Fig. 4A is a schematic diagram of early warning identification information, in which an image identifiable region of an obstacle in front of a vehicle is shown, and the obstacle is marked with an early warning identification pattern and a ground-attached marking line.
Optionally, when the alarm type is an emergency alarm, the emergency alarm identification information is displayed.
In this embodiment of the present application, after receiving the warning data sent by the driving assistance device, the head-up display invokes the warning type from the warning data, and when the warning type is an emergency warning, the vehicle controller determines that the driver needs to take a braking measure for the vehicle, and sends the braking measure to the head-up display, and the head-up display receives the braking measure, determines corresponding emergency warning identification information according to the braking measure, and displays the emergency warning identification information, where the braking measure may include deceleration, braking, half braking, or the like. A schematic diagram of the emergency alert identification information is shown in fig. 4B.
Optionally, when the alarm type is an automatic brake alarm, the automatic brake alarm identification information is displayed.
In this embodiment of the present application, after receiving the warning data sent by the driving assistance device, the head-up display retrieves the warning type from the warning data, and when the warning type is an automatic braking warning, the vehicle controller automatically controls the vehicle to perform an emergency braking state and sends information that the vehicle enters the emergency braking state to the head-up display, and the head-up display receives the information and determines automatic braking warning identification information corresponding to the actual emergency braking state and displays the automatic braking warning identification information. Fig. 4C is a schematic diagram of the automatic brake warning indicator.
In order to give an alarm of the degree of urgency, the automatic braking warning is higher than the emergency warning, which is higher than the warning.
The color and shape of the corresponding pattern in the pre-warning identification information, the emergency warning identification information, and the automatic brake warning identification information are not particularly limited in this application.
S230, determining collision early warning information according to the target area and the warning data, and displaying the collision early warning information.
Wherein, the alarm data comprises attribute information of the obstacle.
In the embodiment of the application, after the head-up display receives the warning data sent by the driving auxiliary equipment, attribute information of the obstacle is called from the warning data, collision early warning information corresponding to the obstacle is determined by combining the determined target area where the obstacle is located, and the collision early warning information is displayed on a windshield of the vehicle so as to guide a driver to drive safely according to the collision early warning information.
Optionally, displaying the collision early warning information may be: and projecting the collision early warning information to a windshield of the vehicle for display.
Preferably, before displaying the collision warning information, the method further comprises: determining corresponding imaging positions of the obstacle in the information viewing area of the windshield according to the position data; correspondingly, displaying collision early warning information includes: and projecting the collision early warning information to an imaging position in the information watching area for display.
In this embodiment of the present application, in order to improve the use experience of the driver, so that when the obstacle is far from the vehicle, the collision warning information is displayed at the lower end portion of the information viewing area, and as the distance between the obstacle and the vehicle becomes closer, the imaging position of the collision warning information on the information viewing area moves from the lower end portion to the middle portion. Therefore, it is necessary to determine the corresponding imaging position of the obstacle in the information viewing area of the windshield from the position data, the imaging position being determined by: if the obstacle is in the imaging outer region of the vehicle front view, determining the corresponding position of the imaging boundary point (i.e., point a in fig. 2) in the information viewing area as the imaging position, i.e., the lower end portion of the information viewing area; in addition, the position of the obstacle corresponding to the determined position in the information viewing area is determined as an imaging position, and it is to be noted that the imaging position is gradually moved from the lower end portion to the intermediate portion as the distance between the obstacle and the vehicle, and if a movement height is set, the movement height is equal to the distance between the obstacle and the vehicle multiplied by a movement coefficient.
Optionally, in addition to displaying collision early warning information, the proposed speed of the vehicle can be determined according to the warning data, and the head-up display displays the proposed speed, so that the driver can change the current speed of the vehicle according to the proposed speed.
According to the technical scheme provided by the embodiment, alarm data of the obstacle sent by the vehicle is received; when the alarm type is early warning, determining the area where the obstacle is located from a plurality of areas according to alarm data to obtain a target area; and determining collision early warning information according to the target area and the warning data, and projecting the collision early warning information to a windshield of the vehicle for display. According to the method and the device, corresponding collision early warning information is determined for different warning types so as to guide a driver to safely drive according to the collision early warning information, the defect that collision accidents can be avoided only by relying on driving experience of the driver in the prior art is overcome, the response time of the driver to the front obstacle collision accidents is shortened, and the safety of the vehicle is improved.
Example III
Fig. 5 is a schematic structural diagram of a collision warning device for a vehicle according to an embodiment of the present application, and as shown in fig. 5, the device 400 may include:
optionally, the vehicle is provided with a head-up display, the front view of the vehicle comprises a plurality of areas divided according to the view angle of the head-up display, and the device is integrated with the head-up display.
And the alarm data receiving module 410 is configured to receive alarm data of an obstacle sent by the vehicle.
And the target area determining module 420 is configured to determine an area where the obstacle is located from the plurality of areas according to the alarm data, and obtain a target area.
And the early warning information display module 430 is configured to determine collision early warning information according to the target area and the warning data, and display the collision early warning information.
Optionally, the alarm data includes position data of the obstacle.
Further, the target area determining module 420 may be specifically configured to: determining a distance of the obstacle from the vehicle according to the position data; and determining the area where the obstacle is located from the plurality of areas according to the distance to obtain the target area.
Further, the collision warning device of the vehicle may further include: a field angle determination module;
the view angle determining module is used for determining the view angle of the head-up display according to the driving eye point, the head data and the imaging boundary point of the vehicle.
Further, the above-mentioned view angle determining module may be specifically configured to: determining a semi-imaging boundary point according to the driving eyepoint and the headstock data; and determining the view angle of the head-up display according to the driving eye point, the semi-imaging boundary point and the imaging boundary point.
Further, the collision warning device of the vehicle may further include: a region determination module;
the area determining module is used for determining an area covered by the field angle of the head-up display and determining an imaging identification boundary point in the area covered by the field angle of the head-up display; a half-imaging area is determined from an area between a head of the vehicle and the half-imaging boundary point, an area between the half-imaging boundary point and the imaging identification boundary point is determined as an imaging identifiable area, an area between the imaging identification boundary point and the imaging boundary point is determined as an imaging unidentifiable area, and an area beyond the imaging boundary point is determined as an imaging outer area.
Optionally, the alarm data includes attribute information of the obstacle.
Further, the foregoing early warning information display module 430 may be specifically configured to: when the target area is the driving blind area, determining that the collision early warning information is an early warning identification pattern, and determining the size of the early warning identification pattern according to the attribute information; when the target area is the imaging identifiable area, determining that the collision early warning information is the early warning identification pattern and the ground-pasting mark line, and respectively determining the sizes of the early warning identification pattern and the ground-pasting mark line according to the attribute information; and when the target area is the imaging unrecognizable area or the imaging external area, determining the collision early warning information as the ground-pasting mark line, and determining the size of the ground-pasting mark line according to the attribute information.
Optionally, the alarm data includes an alarm type.
Further, the target area determining module 420 may be specifically configured to: and when the alarm type is early warning, determining the area where the obstacle is located from the plurality of areas according to the alarm data to obtain the target area.
Further, the foregoing early warning information display module 430 may be further specifically configured to: displaying emergency warning identification information when the warning type is an emergency warning; and when the alarm type is an automatic brake alarm, displaying automatic brake alarm identification information.
Further, the collision warning device of the vehicle may further include: an imaging position determination module;
the imaging position determining module is used for determining the corresponding imaging position of the obstacle in the information watching area of the windshield according to the position data before the collision early warning information is displayed;
accordingly, the foregoing early warning information display module 430 may be further specifically configured to: and projecting the collision early warning information to the imaging position in the information viewing area for display.
The collision early-warning device for the vehicle provided by the embodiment is applicable to the collision early-warning method for the vehicle provided by any embodiment, and has corresponding functions and beneficial effects.
Example IV
Fig. 6 is a block diagram of an electronic device for implementing a collision warning method of a vehicle according to an embodiment of the present application, and fig. 6 shows a block diagram of an exemplary electronic device suitable for implementing an embodiment of the present application. The electronic device shown in fig. 6 is only an example and should not be construed as limiting the functionality and scope of use of the embodiments herein. The electronic device may typically be a smart phone, a tablet computer, a notebook computer, a vehicle-mounted terminal, a wearable device, etc. Preferably, the electronic device in the embodiment of the application may be a head-up display.
As shown in fig. 6, the electronic device 500 is embodied in the form of a general purpose computing device. The components of electronic device 500 may include, but are not limited to: one or more processors or processing units 516, a memory 528, a bus 518 that connects the various system components (including the memory 528 and the processing unit 516).
A program/utility 540 having a set (at least one) of program modules 542 may be stored in, for example, memory 528, such program modules 542 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 542 generally perform the functions and/or methods described in the embodiments herein.
The electronic device 500 may also communicate with one or more external devices 514 (e.g., keyboard, pointing device, display 524, etc.), one or more devices that enable a user to interact with the electronic device 500, and/or any devices (e.g., network card, modem, etc.) that enable the electronic device 500 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 522. Also, electronic device 500 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN), an in-vehicle Ethernet, and/or a public network such as the Internet via network adapter 520. As shown in fig. 6, the network adapter 520 communicates with other modules of the electronic device 500 over the bus 518. It should be appreciated that although not shown in fig. 6, other hardware and/or software modules may be used in connection with electronic device 500, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
The processing unit 516 executes various functional applications and data processing by running a program stored in the memory 528, for example, to implement the collision warning method of the vehicle provided in any of the embodiments of the present application.
Example five
Embodiments of the present application also provide a computer-readable storage medium having stored thereon a computer program (or referred to as computer-executable instructions) that, when executed by a processor, is operable to perform the method for collision warning of a vehicle provided in any of the above embodiments of the present application. Carrying out
Any combination of one or more computer readable media may be employed as the computer storage media of the embodiments herein. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for embodiments of the present application may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
Claims (8)
1. A collision warning method of a vehicle having a head-up display, the vehicle having a front view including a plurality of areas divided according to a view angle of the head-up display, the method being performed by the head-up display, the method comprising:
receiving alarm data of an obstacle sent by the vehicle, wherein the alarm data comprises position data of the obstacle;
determining a distance of the obstacle from the vehicle according to the position data;
determining the area where the obstacle is located from the plurality of areas according to the distance to obtain a target area;
determining collision early warning information according to the target area and the warning data, and displaying the collision early warning information;
the head-up display field angle is determined by:
determining a semi-imaging boundary point according to the driving eyepoint and the headstock data;
determining the view angle of the head-up display according to the driving eye point, the semi-imaging boundary point and the imaging boundary point;
the plurality of areas are divided as follows:
determining an area covered by the field angle of the head-up display, and determining an imaging identification boundary point in the area covered by the field angle of the head-up display;
determining a half-imaging area from an area between a head of the vehicle and the half-imaging boundary point, determining an area between the half-imaging boundary point and the imaging identification boundary point as an imaging identifiable area, determining an area between the imaging identification boundary point and the imaging boundary point as an imaging unidentifiable area, and determining an area beyond the imaging boundary point as an imaging outer area;
the imaging boundary point refers to the farthest distance that the head-up display can image in the front view of the vehicle; the head data refer to the length of a driving eye point from an engine cover and the height of the driving eye point from the ground; the semi-imaging boundary point is a critical point of whether the head-up display can show the front ground in the front view of the vehicle; the imaging recognition boundary point refers to a critical point whether a pattern presented on a display screen can be recognized or not.
2. The collision early-warning method of a vehicle according to claim 1, wherein the warning data includes attribute information of the obstacle; the determining collision early warning information according to the target area and the warning data comprises the following steps:
when the target area is a driving blind area, determining that the collision early warning information is an early warning identification pattern, and determining the size of the early warning identification pattern according to the attribute information;
when the target area is the imaging identifiable area, determining that the collision early warning information is the early warning identification pattern and the ground-pasting mark line, and respectively determining the sizes of the early warning identification pattern and the ground-pasting mark line according to the attribute information;
and when the target area is the imaging unrecognizable area or the imaging external area, determining the collision early warning information as the ground-pasting mark line, and determining the size of the ground-pasting mark line according to the attribute information.
3. The method for collision warning of a vehicle according to claim 1, wherein the warning data includes a warning type,
and when the alarm type is early warning, determining the area where the obstacle is located from the plurality of areas according to the alarm data to obtain the target area.
4. A collision warning method of a vehicle according to claim 3, characterized in that the method further comprises:
displaying emergency warning identification information when the warning type is an emergency warning;
and when the alarm type is an automatic brake alarm, displaying automatic brake alarm identification information.
5. The collision warning method of a vehicle according to claim 1, further comprising, before displaying the collision warning information:
determining a corresponding imaging position of the obstacle in an information viewing area of the windshield according to the position data;
correspondingly, the displaying the collision early warning information includes:
and projecting the collision early warning information to the imaging position in the information viewing area for display.
6. A collision warning device for a vehicle, the vehicle having a head-up display, the front view of the vehicle including a plurality of areas divided according to a view angle of the head-up display, the device being integrated with the head-up display, the device comprising:
the warning data receiving module is used for receiving warning data of the obstacle sent by the vehicle, wherein the warning data comprises position data of the obstacle;
a target area determining module for determining a distance between the obstacle and the vehicle according to the position data; determining the area where the obstacle is located from the plurality of areas according to the distance to obtain the target area;
the early warning information display module is used for determining collision early warning information according to the target area and the warning data and displaying the collision early warning information;
the view angle determining module is used for determining a semi-imaging boundary point according to the driving eyepoint and the headstock data; determining the view angle of the head-up display according to the driving eye point, the semi-imaging boundary point and the imaging boundary point;
the area determining module is used for determining an area covered by the field angle of the head-up display and determining an imaging identification boundary point in the area covered by the field angle of the head-up display; determining a half-imaging area from an area between a head of the vehicle and the half-imaging boundary point, determining an area between the half-imaging boundary point and the imaging identification boundary point as an imaging identifiable area, determining an area between the imaging identification boundary point and the imaging boundary point as an imaging unidentifiable area, and determining an area beyond the imaging boundary point as an imaging outer area;
the imaging boundary point refers to the farthest distance that the head-up display can image in the front view of the vehicle; the head data refer to the length of a driving eye point from an engine cover and the height of the driving eye point from the ground; the semi-imaging boundary point is a critical point of whether the head-up display can show the front ground in the front view of the vehicle; the imaging recognition boundary point refers to a critical point whether a pattern presented on a display screen can be recognized or not.
7. An electronic device, the electronic device comprising:
one or more processors;
a storage means for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the collision warning method of a vehicle as claimed in any one of claims 1 to 5.
8. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the collision warning method of a vehicle according to any one of claims 1 to 5.
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| CN115540898B (en) * | 2022-12-02 | 2023-04-28 | 泽景(西安)汽车电子有限责任公司 | Marking method and device for front vehicle, head-up display and storage medium |
| CN115985136B (en) * | 2023-02-14 | 2024-01-23 | 江苏泽景汽车电子股份有限公司 | Early warning information display method, device and storage medium |
| CN116620168B (en) * | 2023-05-24 | 2023-12-12 | 江苏泽景汽车电子股份有限公司 | Barrier early warning method and device, electronic equipment and storage medium |
| CN116605141B (en) * | 2023-06-26 | 2024-02-09 | 江苏泽景汽车电子股份有限公司 | Display method and device of electronic rearview mirror, electronic equipment and storage medium |
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| JP6252316B2 (en) * | 2014-03-31 | 2017-12-27 | 株式会社デンソー | Display control device for vehicle |
| WO2016103395A1 (en) * | 2014-12-25 | 2016-06-30 | 三菱電機株式会社 | Display control device |
| JP6259482B2 (en) * | 2016-03-18 | 2018-01-10 | 株式会社Ｓｕｂａｒｕ | Display control device for vehicle |
| CN105835777A (en) * | 2016-03-30 | 2016-08-10 | 乐视控股（北京）有限公司 | Display method and device and vehicle |
| CN106183980A (en) * | 2016-07-15 | 2016-12-07 | 深圳前海辅驾宝车联网有限公司 | The method accurately indicating barrier |
| JP6565893B2 (en) * | 2016-12-26 | 2019-08-28 | トヨタ自動車株式会社 | Driving assistance device |
| CN107521411B (en) * | 2017-07-18 | 2020-07-17 | 吉林大学 | Lane-level navigation augmented reality device for assisting driver |
| CN107554425B (en) * | 2017-08-23 | 2019-06-21 | 江苏泽景汽车电子股份有限公司 | A kind of vehicle-mounted head-up display AR-HUD of augmented reality |
| JP6909151B2 (en) * | 2017-12-28 | 2021-07-28 | アルパイン株式会社 | In-vehicle system |
| CN208376628U (en) * | 2018-06-26 | 2019-01-15 | 比歪尔科技（深圳）有限公司 | A kind of safe driving assistant system |
| CN110962744A (en) * | 2018-09-28 | 2020-04-07 | 中国电信股份有限公司 | Vehicle blind area detection method and vehicle blind area detection system |
| CN110758286A (en) * | 2019-10-22 | 2020-02-07 | 同济大学 | AR-HUD (augmented reality) -based automobile side and rear blind spot detection system and method based on head-up display |
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