CN115027353A - Blind area monitoring system and method - Google Patents
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- CN115027353A CN115027353A CN202210670300.5A CN202210670300A CN115027353A CN 115027353 A CN115027353 A CN 115027353A CN 202210670300 A CN202210670300 A CN 202210670300A CN 115027353 A CN115027353 A CN 115027353A
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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
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/525—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking automatically indicating risk of collision between vehicles in traffic or with pedestrians, e.g. after risk assessment using the vehicle sensor data
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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
- B60Q2400/00—Special features or arrangements of exterior signal lamps for vehicles
- B60Q2400/50—Projected symbol or information, e.g. onto the road or car body
Abstract
The embodiment of the application discloses a blind area monitoring system and a method, wherein the system comprises: the monitoring unit and the warning unit; the monitoring unit is set to acquire a target object entering a blind area in a preset range around the vehicle body in real time and determine the distance between the target object and the vehicle body; the warning unit is set to send visual warning information to the target object if the distance between the target object and the vehicle body is smaller than or equal to a preset distance threshold, wherein the display position of the warning information is within the sight range of the target object. Through this embodiment, no matter what kind of driving state the vehicle belongs to, can both help vision blind area department target object to know whether self is in driver's vision blind area, avoid the emergence of accident.
Description
Technical Field
The embodiment of the application relates to a vehicle blind area monitoring technology, in particular to a blind area monitoring system and a method.
Background
Due to the structure of the automobile, various blind areas exist in the sight of a driver, and all conditions around the automobile body cannot be seen. In addition, when the road environment is complex, when the driver turns or changes lanes, the moving target object (such as an automobile, a motorcycle, a bicycle and a pedestrian) positioned behind the visual blind area of the inside and outside rearview mirror cannot know whether the position of the moving target object is in the visual blind area of the driver, and the safety of the moving target object and the road is very unfavorable.
In the related art, no solution exists for the problem that the target object in the vision blind area cannot know whether the position of the target object is in the sight blind area of the driver, which is easy to threaten the safety of the target object.
Disclosure of Invention
The embodiment of the application provides a blind area monitoring system and method, no matter what kind of driving state a vehicle belongs to, the target object in the blind area can be helped to know whether the target object is in the blind area of the driver, and accidents are avoided.
The embodiment of the application provides a blind area monitoring system, the system can include:
the monitoring unit and the warning unit;
the monitoring unit is arranged to acquire a target object entering a blind area in a preset range around the vehicle body in real time and determine the distance between the target object and the vehicle body;
the warning unit is set to send visual warning information to the target object if the distance between the target object and the vehicle body is smaller than or equal to a preset distance threshold, wherein the display position of the warning information is within the sight range of the target object.
In an exemplary embodiment of the present application, the warning unit includes: the warning lamp control module and the warning lamp;
the warning light control module is set to control the warning light to project preset image information to serve as warning information if the distance between the target object and the vehicle body is smaller than or equal to the distance threshold value, so that the target object is warned.
In an exemplary embodiment of the present application, the image information is displayed on the ground within the visual range of the target object, and the image information at least includes one of the following: light color, text, numbers, graphic codes, and animation.
In an exemplary embodiment of the present application, the blind zone monitoring system further comprises a processing unit;
the processing unit is configured to predict a moving direction of the target object according to a moving image of the target object, wherein the moving image is acquired by the monitoring unit.
In an exemplary embodiment of the present application, the processing unit predicts the moving direction of the target object according to at least one frame of the moving image, and/or the processing unit predicts the moving direction of the target object according to direction indication information in the moving image.
In an exemplary embodiment of the present application, the monitoring unit includes a distance measuring device for determining a distance between the target object and a vehicle body, and a photographing device for acquiring a moving image of the target object; alternatively, the first and second electrodes may be,
the monitoring unit includes a detection device for determining a distance between the target object and a vehicle body and acquiring a moving image of the target object.
In an exemplary embodiment of the application, the detection equipment includes the camera, the camera setting is in at least one the automobile body position that the blind area corresponds department.
In an exemplary embodiment of the present application, the ranging apparatus includes a ranging sensor or a radar, and the photographing apparatus includes a camera; the distance measuring equipment and the shooting equipment are arranged at least one position of the vehicle body corresponding to the blind area.
In an exemplary embodiment of the present application, the location of the monitoring unit or the location of the warning unit includes at least one of: the vehicle head position, the vehicle tail position and the positions of the two sides of the vehicle body.
In an exemplary embodiment of the application, the warning unit is further configured to display different image information according to a distance between the target object and the vehicle body.
In an exemplary embodiment of the present application, the warning unit further includes: an audible alarm; the audible alarm is set to give out warning sound when the distance between the target object and the vehicle body is smaller than or equal to the distance threshold value.
In an exemplary embodiment of the application, the audible alarm emits different types and/or different decibels of warning sounds according to the distance between the target object and the vehicle body.
In an exemplary embodiment of the present application, the system further includes a display unit for displaying a moving image of the target object in the vehicle.
The embodiment of the application also provides a blind area monitoring method, based on the blind area monitoring system, the method can comprise the following steps:
acquiring a target object entering a blind area within a preset range around an automobile body in real time, and determining the distance between the target object and the automobile body;
and if the distance between the target object and the vehicle body is smaller than or equal to a preset distance threshold value, visual warning information is sent to the target object, wherein the display position of the warning information is within the sight range of the target object.
Compared with the related art, the blind area monitoring system of the embodiment of the application can comprise: the monitoring unit and the warning unit; the monitoring unit is arranged to acquire a target object entering a blind area in a preset range around the vehicle body in real time and determine the distance between the target object and the vehicle body; the warning unit is set to send visual warning information to the target object if the distance between the target object and the vehicle body is smaller than or equal to a preset distance threshold, wherein the display position of the warning information is within the sight range of the target object. Through the scheme of the embodiment, no matter which driving state the vehicle belongs to, the target object at the vision blind area can be helped to know whether the target object is in the vision blind area of the driver, and accidents are avoided.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the application. Other advantages of the present application may be realized and attained by the instrumentalities and combinations particularly pointed out in the specification and the drawings.
Drawings
The accompanying drawings are included to provide an understanding of the present disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the examples serve to explain the principles of the disclosure and not to limit the disclosure.
FIG. 1 is a block diagram of a blind area monitoring system according to an embodiment of the present disclosure;
fig. 2 is a schematic connection diagram in which a processing unit, a monitoring unit, a display unit, and a warning light control module are all separately arranged according to an embodiment of the present application;
fig. 3 is a schematic connection diagram of a warning light control module disposed in a processing unit according to an embodiment of the present application;
fig. 4 is a schematic connection diagram of a warning light control module disposed in a monitoring unit according to an embodiment of the present application;
fig. 5 is a schematic connection diagram illustrating a warning light control module disposed in a display unit according to an embodiment of the present application.
Fig. 6 is a flowchart of a blind area monitoring method according to an embodiment of the present application.
Detailed Description
The present application describes embodiments, but the description is illustrative rather than limiting and it will be apparent to those of ordinary skill in the art that many more embodiments and implementations are possible within the scope of the embodiments described herein. Although many possible combinations of features are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are possible. Any feature or element of any embodiment may be used in combination with or instead of any other feature or element in any other embodiment, unless expressly limited otherwise.
The present application includes and contemplates combinations of features and elements known to those of ordinary skill in the art. The embodiments, features and elements disclosed in this application may also be combined with any conventional features or elements to form a unique inventive concept as defined by the claims. Any feature or element of any embodiment may also be combined with features or elements from other inventive aspects to form yet another unique inventive aspect, as defined by the claims. Thus, it should be understood that any of the features shown and/or discussed in this application may be implemented alone or in any suitable combination. Accordingly, the embodiments are not limited except as by the appended claims and their equivalents. Furthermore, various modifications and changes may be made within the scope of the appended claims.
Further, in describing representative embodiments, the specification may have presented the method and/or process as a particular sequence of steps. However, to the extent that the method or process does not rely on the particular order of steps set forth herein, the method or process should not be limited to the particular sequence of steps described. Other orders of steps are possible as will be understood by those of ordinary skill in the art. Therefore, the particular order of the steps set forth in the specification should not be construed as limitations on the claims. Further, the claims directed to the method and/or process should not be limited to the performance of their steps in the order written, and one skilled in the art can readily appreciate that the sequences may be varied and still remain within the spirit and scope of the embodiments of the present application.
An embodiment of the present application provides a blind area monitoring system, as shown in fig. 1, the system may include: the monitoring unit 1 and the warning unit 2;
the monitoring unit 1 is arranged to acquire a target object entering a blind area in a preset range around a vehicle body in real time and determine the distance between the target object and the vehicle body;
and the warning unit 2 is set to send visual warning information to the target object if the distance between the target object and the vehicle body is smaller than or equal to a preset distance threshold, wherein the display position of the warning information is within the sight range of the target object.
In the exemplary embodiment of the present application, the vehicle body periphery preset range may be determined according to the effective monitoring region of the monitoring unit 1. The blind area is an area around the vehicle where the driver cannot see, for example, an area in front of the vehicle outside the driver's field of view (e.g., an area below the field of view), an area behind the vehicle outside the driver's field of view (e.g., an area below the field of view), and an area on the side of the vehicle where the rearview mirror cannot view. Preferably, the target object entering the blind area within the preset range around the vehicle body may be acquired only during the traveling of the vehicle.
In an exemplary embodiment of the present application, the distance between the target object and the vehicle body may be a distance between the target object and a geometric center of the vehicle body, or may also be a distance between the target object and the monitoring unit itself, and the preset distance threshold is related to the distance between the target object and the vehicle body, and may be determined empirically, or may be calculated according to a motion parameter such as a driving speed, a reaction time, and the like of the vehicle, and within a range corresponding to the distance threshold, the target object may have a risk of rubbing or colliding with the vehicle body.
In an exemplary embodiment of the present application, when the warning information is visual warning information, a display position of the warning information is within a visual range of the target object, so that the warning information can be observed by the target object; preferably, the warning information may be initiated to the location of the target object, so that the target object can receive the warning information, for example, if the warning unit 2 is located at the rear side of the vehicle, if the target object is located at the rear right side of the vehicle, the warning unit initiates the warning information towards the rear right side, and if the target object is located at the rear left side of the vehicle, the warning unit 2 initiates the warning information towards the rear left side. Further, under the condition that a plurality of warning units 2 are arranged on the vehicle body, if the target object is determined to be on the left side of the vehicle, the warning units 2 arranged on the left side of the vehicle are started to send warning information to the target object; and if the target object is determined to be at the rear side of the vehicle, starting a warning unit 2 arranged at the rear side of the vehicle to send warning information to the target object so as to improve the pertinence of the warning information and improve the warning effect on the target object.
It should be noted that the target object in the present application may be a pedestrian, a motor vehicle, a non-motor vehicle, an animal, or another obstacle, and the target object may be in a moving state or a stationary state.
In the exemplary embodiment of the application, the target object entering the blind area within the preset range around the vehicle body is obtained in real time through the monitoring unit 1, so that no matter what driving state the vehicle belongs to, the target object in the blind area can be obtained in time, and the warning unit 2 initiates visual warning information to the target object according to the distance between the target object and the vehicle body, so that the target object in the blind area can be helped to know whether the target object is in the blind area of the driver, and the occurrence of accidents is avoided.
In an exemplary embodiment of the present application, the monitoring unit 1 may include a ranging apparatus and a photographing apparatus. The distance measuring device is used for determining the distance between the target object and the vehicle body, and the shooting device is used for acquiring the moving image of the target object.
In an exemplary embodiment of the present application, the ranging apparatus may include a ranging sensor or a radar, and the photographing apparatus may include a camera; the distance measuring equipment and the shooting equipment are arranged at least one position of the vehicle body corresponding to the blind area.
In an exemplary embodiment of the present application, the monitoring unit 1 may further include only a detection device for determining a distance between the target object and a vehicle body and simultaneously acquiring a moving image of the target object.
Preferably, the detection apparatus may include a camera that is disposed at a vehicle body position corresponding to at least one of the blind areas and photographs a moving image of a target object within the corresponding blind area. In this embodiment, under the condition that the camera has the distance measurement function, the distance measurement and the shooting can be independently completed.
Further, the detection device may also be a monocular camera or a binocular camera, so that the type of the target object, such as a pedestrian, a non-motor vehicle, other obstacles, and the like, can be determined through a visual algorithm such as deep learning. In addition, based on a monocular camera or a binocular camera, a distance measurement function can be directly realized, specifically, calibration is performed firstly to determine the position of the camera and determine the relationship between the physical distance of points and the number of pixels in an image, then a target object is detected according to a moving image, and the distance between the target object and a vehicle body is determined by utilizing calibration information. Furthermore, depth information may be added to improve ranging accuracy.
The position of the monitoring unit 1 or the position of the warning unit may include at least one of: the vehicle head position, the vehicle tail position and the positions of the two sides of the vehicle body.
In the exemplary embodiment of the present application, these setting positions may enable the monitoring unit 1 to better detect the target object and enable the warning unit 2 to more clearly warn the detected target object, thereby improving the monitoring efficiency and the monitoring effect of the blind area.
In an exemplary embodiment of the present application, for example, the radar may include: the radar system comprises a first radar located in front of a vehicle body, a second radar located behind the vehicle body, a third radar located on a first side of the vehicle body and a fourth radar located on a second side of the vehicle body.
In an exemplary embodiment of the present application, the monitoring unit 1 may include a plurality of sets of ranging devices and photographing devices, where the ranging devices and the photographing devices are correspondingly disposed; for example, at least one set of distance measuring equipment and shooting equipment are arranged at the position of the vehicle body corresponding to each blind area on the periphery of the vehicle body, wherein the distance measuring equipment can be a distance measuring sensor or a radar, and the shooting equipment can comprise a camera.
In an exemplary embodiment of the present application, the plurality of sets of ranging apparatuses and photographing apparatuses may include: the vehicle body shooting device comprises a first group of distance measuring devices and shooting devices positioned in front of the vehicle body, a second group of distance measuring devices and shooting devices positioned behind the vehicle body, a third group of distance measuring devices and shooting devices positioned on the first side of the vehicle body, and a fourth group of distance measuring devices and shooting devices positioned on the second side of the vehicle body.
In the exemplary embodiment of the present application, in practical situations, the ranging sensors included in the monitoring unit 1 may detect all targets in the range, and sensing ranges of the ranging sensors may overlap, so it needs to be considered how to determine and warn the distance when there are multiple target objects in the detection range of a certain ranging sensor, or when the same target object is detected by multiple sensors.
In order to solve the above problem, the monitoring unit 1 detects all target objects in a monitoring area including a blind area, and then obtains the distance from each target object to a vehicle body through a preset algorithm. The geometric relationship between the monitoring unit 1 and the vehicle body can be determined through pre-calibration, so that the distance between the target object and the vehicle body can be obtained through conversion according to the distance between the target object and the monitoring unit. When a plurality of target objects are provided, whether collision danger exists and whether warning is needed can be determined according to the distance between the target object closest to the vehicle body, and warning is given out as long as the closest target has collision risk.
In an exemplary embodiment of the present application, the warning unit 2 may include: warning light control module 21 and warning light.
In an exemplary embodiment of the present application, the warning light is used to warn a target object within a detected blind area. The warning lamp can be specially arranged and can also be realized through a projection lamp on the vehicle, so that the cost is reduced, and the arrangement space on the vehicle is saved.
In the exemplary embodiment of the present application, the warning light control module 21 may be configured to control the warning light to project preset image information as the warning information if the distance between the target object and the vehicle body is less than or equal to the distance threshold, so as to warn the target object.
In the exemplary embodiment of the application, the target object which is too close to the car body can be detected in time through the scheme of the embodiment, and the warning is given out to the target object in time, so that the target object can be warned to be far away from the car body before the target object is dangerous, and car accidents can be effectively prevented.
Preferably, the warning light in this embodiment is a projection light, specifically like car projection light, also is called as ground light, and the pattern that car projection light throws out not only can play the function of seeking the car and illuminating the road surface in the front of the car, and car projection light distinctive mark or pattern moreover can also realize more functions such as signal indication and information interaction, consequently, image information in this application can be thrown to subaerial by the projection light.
In an exemplary embodiment of the present application, the image information is displayed on the ground within the visual range of the target object, and specifically, the image information may include at least one of the following: light color, text, numbers, graphic codes, and animation. The light colors may include: the light and/or the image with a specific display effect and/or color (such as a color shadow flashing at a set frequency) can quickly arouse the alertness of a target object through the reminding of the light and the image, and play a role in reminding at the first time, particularly in a scene with dark light; the characters can be various languages with warning significance, and the numbers can be actual distances between the target objects and the vehicle body or due distance thresholds between the target objects and the vehicle body; the graph code may include, but is not limited to: the method comprises the steps that a warning picture with a preset pattern, a geometric figure and/or a logo (icon) with reminding information are displayed on a target object, for example, a picture with a car accident scene can indicate the target object to stop, keep away or not to approach a traffic sign, and the like, the visual impact force can be improved, the reminding effect can be improved, and the specific people (such as deaf-mutes) can be reminded in time through the display of picture codes; the animation may be a video frame with a warning effect, and may include but is not limited to: the video pictures of the traffic police stop certain behaviors (such as approaching), the simulated video pictures of car accidents and the like, and the impact including vision and hearing can be further improved through playing of animation, so that the warning effect is more intuitively and vividly realized. It is understood that the image information includes various combinations of the above-mentioned colors, letters, numbers, graphic codes and animations.
In an exemplary embodiment of the present application, the warning unit 2 may include: a plurality of warning lights; at least one warning light is arranged at the position of the vehicle body corresponding to each blind area on the periphery of the vehicle body.
In an exemplary embodiment of the present application, the blind spot monitoring system may further include a processing unit 3.
In the exemplary embodiment of the present application, when the processing unit 3 detects that the distance between the target object (e.g., a person or a vehicle) and the vehicle body is smaller than or equal to the distance threshold, a control command is sent to the warning light control module 21, and the warning light control module 21 controls the warning light to start according to the control command to send a warning to the target object.
In an exemplary embodiment of the present application, the plurality of warning lamps may include: the first warning light that is located the automobile body the place ahead, the second warning light that is located the automobile body rear, the third warning light that is located the automobile body first side and the fourth warning light that is located the automobile body second side.
In an exemplary embodiment of the application, the warning unit 2 is further configured to display different image information according to a distance between the target object and the vehicle body.
In an exemplary embodiment of the present application, the distance between the target object and the vehicle body may be divided into different distance levels in advance, and the image displayed by the warning unit may be divided into different image levels, and the different distance levels may correspond to the corresponding image levels.
In the exemplary embodiment of the present application, for example, when the distance is further, the distance level is lower, and the image level is lower, only low-frequency light flashing may be performed, and when the distance is decreased, the distance level is increased, and the image level is increased, high-frequency light flashing may be performed, and text pattern display is increased, such as "vehicle distance is noticed"; when the distance is further reduced, the distance level is further increased, the image level is continuously increased at the moment, high-frequency light flicker can be carried out, character and pattern display is added, for example, a traffic accident is about to happen, and meanwhile, a traffic collision simulation animation can be displayed to increase visual impact.
In an exemplary embodiment of the present application, the system may further include a display unit 4, and the display unit 4 may be configured to display a moving image of the target object in the vehicle to allow the driver to know the target object at the blind visual area in time.
In the exemplary embodiment of the application, the target object in the blind area of the driver can be intuitively reminded through the display of the moving image, the driver can make a prejudgment on the next action of the target object in time according to the motion condition of the target object, and the vehicle is controlled to stop or avoid in time when the prejudgment shows that danger is likely to occur, so that the guarantee is further provided for avoiding the occurrence of a traffic accident, and the driving safety is further improved.
In the exemplary embodiment of the present application, the warning light control module 21 may be disposed in the processing unit 3, may be disposed separately, may be disposed integrally with the display unit 4, may be disposed integrally with the monitoring unit 1, or may be disposed integrally with the warning unit 2.
In an exemplary embodiment of the present application, as shown in fig. 2, a connection schematic diagram in which the processing unit 3, the monitoring unit 1, the display unit 4, and the warning light control module 21 are all separately arranged is given, where the warning unit 2 includes a front projection lamp, a left projection lamp, a right projection lamp, and a rear projection lamp, and the monitoring unit 1 includes a plurality of front cameras (or radars); as shown in fig. 3, a schematic connection diagram of the warning light control module 21 disposed in the processing unit 3 is shown; as shown in fig. 4, a schematic connection diagram of the warning light control modules 21 disposed in the monitoring unit 1 is shown, and at this time, each group of front cameras (or radars) may correspond to one warning light control module 21; as shown in fig. 5, a schematic connection diagram of the warning light control module 21 disposed in the display unit 1 is shown. The front projection lamp may be a projection lamp disposed in front of the vehicle body (e.g., at the front of the vehicle), the rear projection lamp may be a projection lamp disposed behind the vehicle body (e.g., at the rear of the vehicle), the left projection lamp may be a projection lamp disposed at a first side of the vehicle, and the right projection lamp may be a projection lamp disposed at a second side of the vehicle.
In an exemplary embodiment of the present application, the warning unit 2 may further include: an audible alarm;
the audible alarm can be set to give out warning sound when the processing unit detects that the distance between the target object and the vehicle body is smaller than or equal to the distance threshold value.
In the exemplary embodiment of the application, the sound alarm is added on the warning lamp, so that the target objects around the vehicle body can know that the area where the target objects are located is a blind area of a driver, and the danger degree can be known more clearly through the urgency of the sound of the alarm.
In an exemplary embodiment of the present application, the processing unit 3 may be further configured to: and controlling the sound alarm to emit different types and/or different decibels of warning sounds according to the distance between the target object and the vehicle body.
In an exemplary embodiment of the present application, the warning sound emitted by the warning unit 2 may be divided into different sound levels, and the different distance levels may correspond to the respective sound levels.
In the exemplary embodiment of the present application, for example, when the distance is farther, the distance level is lower, the sound level is lower, only low-speed and low-decibel sound playback can be performed, when the distance is decreased, the distance level is increased, the sound level is increased, high-speed and high-decibel sound playback can be performed, and a voice prompt, such as "attention to the vehicle distance", is increased; as the distance is further decreased, the distance level is further increased, at which point the sound level continues to increase, allowing for higher speed and higher decibel light flashes, and voice prompts, such as "car accident is about to occur," to draw the attention of the persons in the blind area.
In an exemplary embodiment of the present application, the processing unit may be connected to each of the radar, the display unit, the monitoring unit 1, and the warning unit 2 (e.g., a car light control module) through a data line. When the blind area monitoring system is powered on, the processing unit obtains an image signal of the shooting equipment and a distance signal of the distance measuring equipment. According to the image signal and the distance signal, the processing unit calculates and obtains the distance between the current vehicle body and the target object (such as an automobile, a motorcycle, a bicycle and a pedestrian) in the blind area of the vision outside the vehicle, and accesses the shot image of the shooting equipment arranged on the vehicle body in the direction of the target object to the display unit which can be observed by the driver and triggers the warning unit 2 on the vehicle body in the direction of the target object.
In exemplary embodiments of the present application, several specific embodiments of the present application scheme are given below:
when the distance between a target object in front of the vehicle and the vehicle body is smaller than or equal to a set distance threshold value, the processing unit accesses a video of a forward camera of the vehicle, displays an image in front of the vehicle in real time on the display unit, transmits a signal to the warning lamp control module and controls the forward warning lamp to be lightened;
when the distance between a target object on the left side (namely the first side) of the vehicle and the vehicle body is smaller than or equal to a set distance threshold value, the processing unit accesses the video of the camera on the left side of the vehicle, displays the image on the left side in real time on the display unit, transmits a signal to the warning lamp control module and controls the left warning lamp to be turned on;
when the distance between a target object on the right side (namely the second side) of the vehicle and the vehicle body is smaller than or equal to the set distance threshold value, the processing unit accesses the video of the camera on the right side of the vehicle, displays the image on the right side of the vehicle in real time on the display unit, transmits a signal to the warning light control module and controls the warning light on the right side to be lightened;
when the distance between the rear target object of the vehicle and the vehicle body is smaller than or equal to the set distance threshold value, the processing unit accesses the video of the camera behind the vehicle, displays the image behind the vehicle in real time on the display unit, outputs a signal to the warning light control module and controls the rear warning light to be turned on.
In an exemplary embodiment of the present application, the processing unit may be further configured to pre-determine a moving direction of the target object according to a moving image of the target object, and control a braking system of a vehicle to brake when the moving direction is pre-determined to point to a vehicle body, where the moving image may be acquired by the monitoring unit 1.
In the exemplary embodiment of the application, in order to avoid that a driver cannot make an accurate and timely judgment on an impending car accident, a function of prejudging the action track of a target object around a car body can be added in a processing unit, and the automatic emergency stop and brake of the car can be controlled when the next moving direction of the target object is determined to possibly point to the car body according to the action track of the target object.
In an exemplary embodiment of the present application, the processing unit may pre-judge the moving direction of the target object according to at least one frame of the moving image, and/or the processing unit pre-judges the moving direction of the target object according to direction indication information in the moving image.
In an exemplary embodiment of the present application, the pre-judging, by the processing unit, a moving direction of the target object according to the moving image may include:
judging the type of the target object;
when the target object is a vehicle, acquiring a steering wheel image from a multi-frame moving image, detecting the rotating direction of the steering wheel according to the steering wheel image of the multi-frame moving image, and prejudging the moving direction of the vehicle according to the rotating direction of the steering wheel;
and when the target object is a pedestrian, acquiring a toe image from the moving image, detecting the pointing direction of the toe, and prejudging the moving direction of the pedestrian according to the execution direction of the toe.
In the exemplary embodiment of the present application, the monitoring unit 1 may include an external camera, and may also include a camera in the vehicle, which may cover the driver and the steering wheel, where the camera covering the steering wheel may monitor the movement of the steering wheel in real time, and determine the steering of the steering wheel through multiple frames of images.
In the exemplary embodiment of the present application, the method for acquiring the moving direction of the vehicle is not limited to the steering wheel image, and may be acquired by connecting the monitoring unit 1 to a vehicle body data unit through a CAN (controller area network) bus or other communication lines, or by including a gyroscope or an inertial navigation chip in the monitoring unit 1 and acquiring through the gyroscope or the inertial navigation chip.
In an exemplary embodiment of the present application, the obtaining of the steering wheel image from the moving image and the obtaining of the toe image from the moving image may be further implemented by a preset recognition model, for example, inputting one or more frames of the moving image in the obtained moving image into the preset recognition model, which may include a pre-established and trained steering wheel image recognition model and a toe image recognition model, recognizing the steering wheel image by the steering wheel image recognition model, and recognizing the toe image by the toe image recognition model. And the steering wheel image recognition model and the toe image recognition model may have a direction recognition function so that a rotation direction of the steering wheel and an execution direction of the toes may be determined.
In the exemplary embodiment of the application, no matter what kind of driving state the vehicle belongs to, through equipment such as camera and/or radar, all can in time obtain the distance of each direction target object and automobile body, according to this distance and relevant distance threshold value of preset, can open the display function at the display element automatically, show the camera video image of corresponding position on driver's screen in real time, and control relevant position warning light through car light control module output signal control and open, help outer vision blind area target object of car (like car, motorcycle, bicycle, pedestrian) to know whether self is in driver's sight blind area, avoid the emergence of accident.
In the exemplary embodiment of the application, the scheme of the embodiment does not need manual intervention, and does not need to be triggered by actual operation actions such as a turn light; the automation and the intellectualization of blind area detection and reminding are realized, and the driving safety is greatly improved.
The embodiment of the present application further provides a blind area monitoring method, based on the blind area monitoring system, as shown in fig. 6, the method may include steps S101 to S102:
s101, acquiring a target object entering a blind area in a preset range around an automobile body in real time, and determining the distance between the target object and the automobile body;
s102, if the distance between the target object and the vehicle body is smaller than or equal to a preset distance threshold value, visual warning information is sent to the target object, wherein the display position of the warning information is within the sight range of the target object.
In an exemplary embodiment of the application, through the above step S101 and step S102, the target object entering the blind area within the preset range around the vehicle body can be obtained in real time, so that no matter what driving state the vehicle belongs to, the target object in the blind area can be obtained in time, and visual warning information is sent to the target object according to the distance between the target object and the vehicle body, so that the target object in the blind area can be helped to know whether the target object is in the blind area of the driver, and the occurrence of an accident is avoided.
In the exemplary embodiment of the present application, any embodiment of the foregoing blind area monitoring system may be applied to the embodiment of the blind area monitoring method, and details are not repeated here.
It will be understood by those of ordinary skill in the art that all or some of the steps of the methods, systems, functional modules/units in the devices disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. In a hardware implementation, the division between functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be performed by several physical components in cooperation. Some or all of the components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.
Claims (14)
1. A blind zone monitoring system, the system comprising: a monitoring unit and a warning unit;
the monitoring unit is arranged to acquire a target object entering a blind area in a preset range around the vehicle body in real time and determine the distance between the target object and the vehicle body;
the warning unit is set to send visual warning information to the target object if the distance between the target object and the vehicle body is smaller than or equal to a preset distance threshold, wherein the display position of the warning information is within the sight range of the target object.
2. The blind spot monitoring system according to claim 1, wherein the warning unit includes: the warning lamp control module and the warning lamp;
the warning lamp control module is set to control the warning lamp to project preset image information to serve as the warning information if the distance between the target object and the vehicle body is smaller than or equal to the distance threshold value, so that the target object is warned.
3. The blind spot monitoring system according to claim 2, wherein the image information is displayed on the ground within the line of sight of the target object, the image information including at least one of: light color, text, numbers, graphic codes, and animation.
4. The blind zone monitoring system of claim 1 further comprising a processing unit;
the processing unit is configured to predict a moving direction of the target object according to a moving image of the target object, wherein the moving image is acquired by the monitoring unit.
5. The blind spot monitoring system according to claim 4, wherein the processing unit predicts the moving direction of the target object based on at least one frame of the moving image, and/or the processing unit predicts the moving direction of the target object based on direction indication information in the moving image.
6. The blind area monitoring system according to claim 1, wherein the monitoring unit includes a distance measuring device for determining a distance between the target object and a vehicle body and a photographing device for acquiring a moving image of the target object; alternatively, the first and second electrodes may be,
the monitoring unit includes a detection device for determining a distance between the target object and a vehicle body and acquiring a moving image of the target object.
7. The blind area monitoring system according to claim 6, wherein the detection device includes a camera disposed at a position of the vehicle body corresponding to at least one of the blind areas.
8. The blind spot monitoring system according to claim 6, wherein the ranging device comprises a ranging sensor or a radar, the photographing device comprises a camera; the distance measuring equipment with shoot the equipment setting at least one with the automobile body position department that the blind area corresponds.
9. The blind spot monitoring system according to any one of claims 1-8, wherein the location of the monitoring unit or the location of the warning unit comprises at least one of: the vehicle head position, the vehicle tail position and the positions of the two sides of the vehicle body.
10. The blind spot monitoring system according to claim 1, wherein the warning unit is further configured to display different image information according to a distance between the target object and the vehicle body.
11. The blind spot monitoring system according to claim 1, wherein the warning unit further comprises: an audible alarm; the audible alarm is set to give out warning sound when the distance between the target object and the vehicle body is smaller than or equal to the distance threshold value.
12. The blind spot monitoring system according to claim 11, wherein the audible alarm generates different types and/or different decibels of warning sounds according to the distance between the target object and the vehicle body.
13. The blind spot monitoring system according to claim 1, wherein the system further comprises a display unit for displaying a moving image of the target object in a vehicle.
14. A blind area monitoring method based on the blind area monitoring system of any one of claims 1 to 13, the method comprising:
acquiring a target object entering a blind area within a preset range around an automobile body in real time, and determining the distance between the target object and the automobile body;
and if the distance between the target object and the vehicle body is smaller than or equal to a preset distance threshold value, visual warning information is sent to the target object, wherein the display position of the warning information is within the sight range of the target object.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210670300.5A CN115027353A (en) | 2022-06-14 | 2022-06-14 | Blind area monitoring system and method |
| PCT/CN2023/099735 WO2023241521A1 (en) | 2022-06-14 | 2023-06-12 | Blind area monitoring system and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210670300.5A CN115027353A (en) | 2022-06-14 | 2022-06-14 | Blind area monitoring system and method |
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| CN115027353A true CN115027353A (en) | 2022-09-09 |
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| CN202210670300.5A Pending CN115027353A (en) | 2022-06-14 | 2022-06-14 | Blind area monitoring system and method |
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| CN (1) | CN115027353A (en) |
| WO (1) | WO2023241521A1 (en) |
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