CN114851963A - Reversing monitoring system, method and device and electronic equipment - Google Patents
Reversing monitoring system, method and device and electronic equipment Download PDFInfo
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- CN114851963A CN114851963A CN202210672997.XA CN202210672997A CN114851963A CN 114851963 A CN114851963 A CN 114851963A CN 202210672997 A CN202210672997 A CN 202210672997A CN 114851963 A CN114851963 A CN 114851963A
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- 238000000034 method Methods 0.000 title claims abstract description 43
- 238000012544 monitoring process Methods 0.000 title claims abstract description 33
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- 238000012806 monitoring device Methods 0.000 claims description 5
- 238000004590 computer program Methods 0.000 claims description 4
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
- B60R1/26—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view to the rear of the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
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Abstract
The invention discloses a system, a method and a device for monitoring reversing and electronic equipment, wherein the system for monitoring reversing comprises the following components: the wide-angle camera is used for acquiring image data in a preset range behind the vehicle; an alarm device for responding to an alarm operation; and the processor is respectively connected with the wide-angle camera and the alarm device and is used for processing the acquired image data and controlling the alarm device to execute alarm operation on an abnormal image processing result. The system provided by the invention can acquire image data in a larger view field range behind the vehicle by arranging the wide-angle camera, process the image data in a preset range behind the vehicle by arranging the processor, and control the alarm equipment to execute alarm operation according to an abnormal image processing result, can effectively monitor obstacles and road conditions behind the vehicle, can find the obstacles suddenly appearing behind the vehicle in time, and effectively reduces the loss caused by collision with the obstacles in the view field blind area during reversing.
Description
Technical Field
The invention relates to the technical field of driving monitoring, in particular to a reversing monitoring system, method and device and electronic equipment.
Background
Along with the use amount of electric automobiles is more and more, drivers are troubled by the problem that pedestrians and road conditions cannot be monitored in real time when the automobiles are backed, and how to monitor the situation that people suddenly appear behind the automobiles becomes a problem which needs to be solved urgently in the driving process of the automobiles.
Disclosure of Invention
Therefore, the technical problem to be solved by the present invention is to overcome the defect that the existing vehicle cannot monitor pedestrians and road conditions in real time during reversing, so as to provide a system, a method, a device and an electronic device for monitoring reversing.
According to a first aspect, an embodiment of the present invention discloses a reverse monitoring system, including: the wide-angle camera is used for acquiring image data in a preset range behind the vehicle; an alarm device for responding to an alarm operation; and the processor is respectively connected with the wide-angle camera and the alarm equipment and is used for processing the acquired image data and controlling the alarm equipment to execute alarm operation according to an abnormal image processing result.
According to the reversing monitoring system provided by the invention, the wide-angle camera is arranged to acquire the image data in the preset range behind the vehicle, so that the image data in the larger view field range behind the vehicle can be acquired, the processor is arranged to process the image data in the preset range behind the vehicle and control the alarm equipment to perform alarm operation according to the abnormal image processing result, the obstacles and road conditions behind the vehicle can be effectively monitored, the obstacles suddenly appearing behind the vehicle can be found in time, and the loss caused by collision with the obstacles in the view field blind area during reversing is effectively reduced.
Optionally, the system further comprises: solar power supply equipment.
The solar power supply equipment can provide necessary power supply for the reversing monitoring system, and meanwhile, solar energy is clean energy, so that the environment can be protected by using the solar power supply equipment.
Optionally, the wide-angle camera is arranged at a position where the roof contacts with the rear windshield.
Through setting up wide angle camera at roof and back deep bead contact position, the wide angle camera of being convenient for gathers the image data in the vehicle rear preset range.
Optionally, the alert device comprises: vehicle alarm, voice prompt equipment and alarm lamp.
The vehicle-mounted alarm and the alarm lamp are arranged as alarm devices, so that alarm operation is realized.
According to a second aspect, the embodiment of the invention discloses a reverse monitoring method, which is applied to the reverse monitoring system according to the first aspect or any optional embodiment of the first aspect; the method comprises the following steps: acquiring vehicle rear image data; comparing the vehicle rear image data with preset base map data; and when the comparison result shows that the target barrier exists in the vehicle rear image data, controlling the alarm equipment to respond to the alarm operation.
According to the reversing monitoring method provided by the invention, the image data behind the vehicle is obtained, the image data behind the vehicle is compared with the preset base map data, the obstacle existing behind the vehicle can be accurately identified, when the comparison result shows that the target obstacle exists in the image data behind the vehicle, the alarm equipment is controlled to respond to the alarm operation, and the loss caused by collision with the obstacle in the blind area of the visual field during reversing is effectively reduced.
Optionally, after the comparison result shows that the target obstacle exists in the vehicle rear image data, the method further includes: and sending the image data behind the vehicle to an in-vehicle display screen for displaying.
By the method, the image data behind the vehicle is sent to the display screen in the vehicle for displaying, and a user can conveniently observe the position of the obstacle behind the vehicle through the display screen in the vehicle.
Optionally, the target obstacle comprises a movable obstacle.
Optionally, the method further comprises: repeatedly acquiring vehicle rear image data according to the target interval duration; recognizing repeatedly acquired vehicle rear image data; when the image data behind the vehicle contains the movable target object, determining whether the same movable barrier is in a moving state or not according to the acquired image data behind the adjacent vehicles; when any movable obstacle is in a moving state, determining the moving direction and the moving speed of the movable obstacle relative to the vehicle; and controlling the alarm equipment to respond to the alarm operation according to the moving speed of the movable obstacle relative to the moving direction of the vehicle.
By the method, the moving direction and the moving speed of any movable obstacle relative to the vehicle are determined, the alarm device is controlled to respond to the alarm operation according to the moving direction and the moving speed of the movable obstacle relative to the vehicle, and a user can conveniently judge the moving condition of the movable obstacle behind the vehicle through the alarm information.
According to a third aspect, an embodiment of the present invention further discloses a reverse monitoring device, including: the acquisition module is used for acquiring vehicle rear image data; the comparison module is used for comparing the vehicle rear image data with preset base map data; and the control module is used for controlling the alarm equipment to respond to the alarm operation when the comparison result shows that the target obstacle exists in the vehicle rear image data.
According to the reversing monitoring device, the image data behind the vehicle is obtained, the image data behind the vehicle is compared with the preset base map data, the obstacle existing behind the vehicle can be accurately identified, when the comparison result shows that the target obstacle exists in the image data behind the vehicle, the alarm equipment is controlled to respond to the alarm operation, and the life and property loss caused by collision with the obstacle in the blind area of the visual field during reversing is effectively reduced.
According to a fourth aspect, an embodiment of the present invention further discloses an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executable by the at least one processor to cause the at least one processor to perform the steps of the reverse monitoring method according to the second aspect or any one of the optional embodiments of the second aspect.
According to a fifth aspect, the embodiments of the present invention further disclose a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the reverse monitoring method according to the second aspect or any optional embodiment of the second aspect.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic block diagram of a specific example of a reverse monitoring system in an embodiment of the present invention;
FIG. 2 is a schematic diagram of one specific example of a reverse monitoring system in an embodiment of the present invention;
fig. 3 is a flowchart of a specific example of a reverse monitoring method according to an embodiment of the present invention;
FIG. 4 is a schematic block diagram of a specific example of a reverse monitoring apparatus in an embodiment of the present invention;
fig. 5 is a diagram of a specific example of an electronic device in an embodiment of the invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two elements may be directly connected or indirectly connected through an intermediate medium, or may be communicated with each other inside the two elements, or may be wirelessly connected or wired connected. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The embodiment of the invention discloses a reversing monitoring system, as shown in figure 1, the system comprises:
and the wide-angle camera 001 is used for acquiring image data in a preset range behind the vehicle. The wide-angle camera may be a camera with a visible angle of 120 degrees or more, and may select a wide-angle camera capable of collecting image data within a preset range behind the vehicle according to actual requirements.
And the alarm equipment is used for responding to the alarm operation. Illustratively, the alarm devices are capable of performing alarm operations, and may include, but are not limited to, in-vehicle voice prompt devices, in-vehicle LED light alerts, and audible alarms.
And the processor is respectively connected with the wide-angle camera and the alarm equipment and is used for processing the acquired image data and controlling the alarm equipment to execute alarm operation according to an abnormal image processing result.
Illustratively, the processor acquires image data acquired by the wide-angle camera, processes the image data, and controls the alarm device to perform an alarm operation when the processing result shows that the image data has an abnormality.
According to the reversing monitoring system, the wide-angle camera is arranged to acquire the image data in the preset range behind the vehicle, the image data in the larger view field range behind the vehicle can be acquired, the processor is arranged to process the image data in the preset range behind the vehicle and control the alarm device to perform alarm operation according to the abnormal image processing result, the obstacles behind the vehicle and road conditions can be effectively monitored, the obstacles suddenly appearing behind the vehicle can be found in time, and the loss caused by collision with the obstacles in the view field blind area during reversing is effectively reduced.
As an optional embodiment of the present invention, the system further comprises: solar power supply equipment. For example, the solar power supply device can provide necessary power supply for the reversing monitoring system by using solar energy, and the solar energy is clean energy, so that the environment can be protected by using the solar power supply device. Specifically, the solar power supply equipment can be arranged on the roof of the vehicle, so that solar energy can be conveniently acquired.
As an optional embodiment of the invention, the wide-angle camera is arranged at the contact position of the roof and the rear windshield. Illustratively, the wide-angle camera is arranged at a position as shown in fig. 2, and is arranged at a position where the roof contacts with the rear windshield plate, so that the wide-angle camera is convenient for acquiring image data within a preset range behind the vehicle.
As an optional embodiment of the present invention, the alarm device comprises: vehicle alarm, voice prompt equipment and alarm lamp. For example, in this embodiment, the vehicle-mounted alarm may alarm by sound, the voice prompt device may prompt the user to pay attention to an obstacle behind the vehicle by voice, and the alarm lamp may prompt the user to pay attention to pedestrians and other obstacles behind the vehicle, and may also prompt the pedestrians behind the vehicle to pay attention to avoidance. Alarm operation is realized by arranging the vehicle-mounted alarm, the voice prompt equipment and the alarm lamp.
The embodiment of the invention also discloses a reverse monitoring method which is applied to the reverse monitoring system in the embodiment; as shown in fig. 3, the method comprises the steps of:
And 102, comparing the vehicle rear image data with preset base map data. For example, the preset map data may include, but is not limited to, preset image data behind the vehicle. In this embodiment, the preset base map data may be image data of the rear of the vehicle acquired by the wide-angle camera and determined manually.
And 103, controlling the alarm equipment to respond to the alarm operation when the comparison result shows that the target obstacle exists in the vehicle rear image data. For example, the target obstacle may be an obstacle that needs to be focused when backing a car, the obstacle may include, but is not limited to, a pedestrian and an animal, the preset base map data does not include the target obstacle, and the alarm device is controlled to alarm when the comparison result between the vehicle rear image data and the preset base map data shows that the target obstacle exists in the vehicle rear image data. In this embodiment, whether a target obstacle exists in the image data behind the vehicle may be determined by a target object recognition determination algorithm (such as an image recognition model), and the alarm operation may include, but is not limited to, the vehicle-mounted alarm emitting an alarm sound, an in-vehicle voice prompt, and a behind-vehicle alarm lamp flashing. Meanwhile, when the comparison result shows that the target barrier exists in the vehicle rear image data, the vehicle rear image data can be stored, evidence is reserved for accident qualification, and disputes are convenient to deal with.
According to the reversing monitoring method provided by the invention, the image data behind the vehicle is obtained, the image data behind the vehicle is compared with the preset base map data, the obstacle existing behind the vehicle can be accurately identified, when the comparison result shows that the target obstacle exists in the image data behind the vehicle, the alarm equipment is controlled to respond to the alarm operation, and the loss caused by collision with the obstacle in the blind area of the visual field during reversing is effectively reduced.
As an optional embodiment of the present invention, after the comparison result shows that the target obstacle exists in the vehicle rear image data, the method further includes: and sending the image data behind the vehicle to an in-vehicle display screen for displaying. Illustratively, the image data behind the vehicle is sent to the display screen in the vehicle for displaying, so that a user can conveniently observe the position of an obstacle behind the vehicle through the display screen in the vehicle. Specifically, the vehicle rear image data can be sent to the in-vehicle display screen for display through the USB switching screen control module.
As an alternative embodiment of the invention, the target obstacle comprises a movable obstacle. Illustratively, movable obstacles may include, but are not limited to, pedestrians and animals.
As an optional embodiment of the present invention, the method further comprises:
and repeatedly acquiring the vehicle rear image data according to the target interval duration. For example, the target interval duration may be any duration, and may be determined according to actual requirements, and in this specific embodiment, the target interval duration may be 1 second.
And recognizing the repeatedly acquired vehicle rear image data. For example, the repeatedly acquired image data behind the vehicle may be recognized by a target object recognition determination algorithm, and a movable obstacle present in the image data may be determined; in the vehicle rear image data collected by the wide-angle camera, the image edge can have the image bending phenomenon, and the corrected image can be obtained by performing distortion correction on the image through a wide-angle image edge data error algorithm.
And when the image data behind the vehicle contains the movable barrier, determining whether the same movable barrier is in a moving state according to the acquired image data behind the adjacent vehicles. Specifically, it is possible to determine whether or not the movable obstacle in the repeatedly acquired vehicle rear image data is in the moving state by the target object moving distance calculation algorithm.
And when any movable obstacle is in a moving state, determining the moving direction and the moving speed of the movable obstacle relative to the vehicle. Specifically, the moving direction and the moving speed of any movable obstacle with respect to the vehicle in the repeatedly acquired vehicle rear image data may be determined by the target object moving distance calculation algorithm. Specifically, when repeatedly acquired vehicle rear image data is processed, the whole image can be regarded as a coordinate position network, and the moving distance of the corresponding obstacle is calculated through the coordinates of the movable obstacle moving to different positions; specifically, the position coordinates of the same obstacle in different images are converted into the same image, and the moving distance of the obstacle is determined according to the position coordinate distance of the obstacle. And calculating the moving time by using the images shot at different times, wherein the moving speed of the obstacle is obtained by dividing the moving distance by the moving time. The moving direction may be determined by converting the obstacle in the acquired plurality of images into a change in position coordinates in the same image.
And controlling the alarm device to respond to the alarm operation according to the moving direction and the moving speed of the movable obstacle relative to the vehicle. Specifically, whether the movable barrier is close to the vehicle or not and the moving speed of the movable barrier are determined according to the moving direction and the moving speed of the movable barrier relative to the vehicle, when the movable barrier is close to the vehicle and moves fast, the vehicle-mounted alarm gives out a sharp alarm sound, a voice prompt is given out in the vehicle, and an LED alarm lamp behind the vehicle flashes red light; when the movable barrier approaches the vehicle and moves slowly, the vehicle-mounted alarm gives out a quick alarm sound, a voice prompt is given out in the vehicle, and an LED alarm lamp behind the vehicle flashes red light; when the movable barrier does not move, the vehicle-mounted alarm gives out a relaxing alarm sound, the vehicle-mounted alarm does not give out voice prompt, and the LED alarm lamp gives out green light behind the vehicle.
By the method, the moving direction and the moving speed of any movable obstacle relative to the vehicle are determined, the alarm device is controlled to respond to the alarm operation according to the moving direction and the moving speed of the movable obstacle relative to the vehicle, and a user can conveniently judge the moving condition of the movable obstacle behind the vehicle through the alarm information.
The embodiment of the invention also discloses a reverse monitoring device, as shown in fig. 4, the device comprises: the method comprises the following steps: an obtaining module 201, configured to obtain vehicle rear image data; a comparison module 202, configured to compare the vehicle rear image data with preset base map data; and the first control module 203 is used for controlling the alarm equipment to respond to the alarm operation when the comparison result shows that the target obstacle exists in the vehicle rear image data.
According to the reversing monitoring device, the image data behind the vehicle is obtained, the image data behind the vehicle is compared with the preset base map data, the obstacle existing behind the vehicle can be accurately identified, when the comparison result shows that the target obstacle exists in the image data behind the vehicle, the alarm equipment is controlled to respond to the alarm operation, and the life and property loss caused by collision with the obstacle in the blind area of the visual field during reversing is effectively reduced.
As an optional embodiment of the present invention, the apparatus further comprises: and the display module is used for sending the image data behind the vehicle to an in-vehicle display screen for displaying.
As an alternative embodiment of the invention, the target obstacle comprises a movable obstacle.
As an optional embodiment of the present invention, the apparatus further comprises: the repeated acquisition module is used for repeatedly acquiring the image data behind the vehicle according to the target interval duration; the identification module is used for identifying the repeatedly acquired vehicle rear image data; the first determining module is used for determining whether the same movable barrier is in a moving state or not according to the acquired adjacent multiple pieces of vehicle rear image data when the vehicle rear image data contain the movable target object; the second determination module is used for determining the moving direction and the moving speed of the movable barrier relative to the vehicle when any movable barrier is in a moving state; and the second control module is used for controlling the alarm equipment to respond to the alarm operation according to the moving speed of the movable obstacle relative to the moving direction of the vehicle.
An embodiment of the present invention further provides an electronic device, as shown in fig. 5, the electronic device may include a processor 401 and a memory 402, where the processor 401 and the memory 402 may be connected by a bus or in another manner, and fig. 5 takes the connection by the bus as an example.
The memory 402, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the reverse monitoring method in the embodiment of the present invention. The processor 401 executes various functional applications and data processing of the processor by running non-transitory software programs, instructions and modules stored in the memory 402, so as to implement the reverse monitoring method in the above method embodiment.
The memory 402 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created by the processor 401, and the like. Further, the memory 402 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 402 may optionally include memory located remotely from processor 401, which may be connected to processor 401 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 402 and when executed by the processor 401, perform the reverse monitoring method in the embodiment shown in fig. 2.
The details of the electronic device may be understood with reference to the corresponding related description and effects in the embodiment shown in fig. 2, and are not described herein again.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, abbreviated as HDD) or a Solid State Drive (SSD), etc.; the storage medium may also comprise a combination of memories of the kind described above.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (11)
1. A reversing monitoring system, comprising:
the wide-angle camera is used for acquiring image data in a preset range behind the vehicle;
an alarm device for responding to an alarm operation;
and the processor is respectively connected with the wide-angle camera and the alarm device and is used for processing the acquired image data and controlling the alarm device to execute alarm operation according to an abnormal image processing result.
2. The system of claim 1, further comprising: solar power supply equipment.
3. The system of claim 1, wherein the wide angle camera is positioned at a roof-to-rear windshield contact location.
4. The system of claim 1, wherein the alert device comprises: vehicle alarm and warning light.
5. A method of monitoring reversing, characterized by being applied to a reversing monitoring system according to any one of claims 1-4; the method comprises the following steps:
acquiring vehicle rear image data;
comparing the vehicle rear image data with preset base map data;
and when the comparison result shows that the target barrier exists in the vehicle rear image data, controlling the alarm equipment to respond to the alarm operation.
6. The method according to claim 5, wherein after the comparison result shows that the target obstacle exists in the vehicle rear image data, the method further comprises:
and sending the image data behind the vehicle to an in-vehicle display screen for displaying.
7. The method of claim 5, wherein the target obstacle comprises a movable obstacle.
8. The method of claim 7, further comprising:
repeatedly acquiring vehicle rear image data according to the target interval duration;
recognizing repeatedly acquired vehicle rear image data;
when the image data behind the vehicle contains the movable target object, determining whether the same movable barrier is in a moving state or not according to the acquired image data behind the adjacent vehicles;
when any movable obstacle is in a moving state, determining the moving direction and the moving speed of the movable obstacle relative to the vehicle;
and controlling the alarm device to respond to the alarm operation according to the moving direction and the moving speed of the movable obstacle relative to the vehicle.
9. A reversing monitoring device, comprising:
the acquisition module is used for acquiring vehicle rear image data;
the comparison module is used for comparing the vehicle rear image data with preset base map data;
and the control module is used for controlling the alarm equipment to respond to the alarm operation when the comparison result shows that the target obstacle exists in the vehicle rear image data.
10. An electronic device, comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to cause the at least one processor to perform the steps of the reverse monitoring method according to any one of claims 5 to 8.
11. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method of reverse monitoring according to any one of claims 5 to 8.
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