CN115703478A - Method and device for generating warning information for vehicle - Google Patents
Method and device for generating warning information for vehicle Download PDFInfo
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- CN115703478A CN115703478A CN202110905421.9A CN202110905421A CN115703478A CN 115703478 A CN115703478 A CN 115703478A CN 202110905421 A CN202110905421 A CN 202110905421A CN 115703478 A CN115703478 A CN 115703478A
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Abstract
The invention discloses a method and a device for generating alarm information for a vehicle. The method comprises the following steps: acquiring radar information of radar detection of the vehicle and image information about a road on which the vehicle is located; determining whether an approaching vehicle approaching the vehicle exists on the road according to the radar information; in a case where it is determined that there is an approaching vehicle, it is determined whether warning information is generated by determining a lane relationship between the vehicle and the approaching vehicle from the image information. According to the method and the device for generating the alarm information for the vehicle, whether the alarm information is generated or not can be determined according to the image information of the road under the condition that the vehicle close to the vehicle exists on the road according to the radar information, so that the accuracy of generating the alarm information can be improved, and the condition that the alarm information is generated by mistake when the vehicle is in a safe driving/parking state on the road can be effectively reduced.
Description
Technical Field
The present invention relates to the field of vehicles, and in particular, to a method and apparatus for generating an alarm message for a vehicle.
Background
With the increasing degree of vehicle intelligence, there are more and more prompting messages for assisting the driver of the own vehicle or other vehicles in driving.
The warning information for generating a warning to the driver of the own vehicle or another vehicle in the prompt information is increasingly receiving more attention because it is information that is closely related to the safety state of the vehicle.
Conventionally, the positional relationship between the own vehicle and other vehicles on the road is detected by radars arranged on the periphery of the vehicle (e.g., angle radars arranged right in front of, right behind, or at corners of the vehicle, etc.) to determine whether or not the generation of relevant warning information is required to prompt the driver of the own vehicle or other vehicles to pay attention to safety. However, this type of determination has a high false alarm rate, which may lead to unnecessary distraction and even panic of the driver.
Therefore, a method of generating alarm information more accurately and reducing the false alarm rate is required.
Disclosure of Invention
The invention aims to provide a method and a device for generating alarm information for a vehicle.
According to an aspect of the present invention, there is provided a method of generating warning information for a vehicle, the method including: acquiring radar information of radar detection of the vehicle and image information about a road on which the vehicle is located; determining whether an approaching vehicle approaching the vehicle exists on the road according to the radar information; in a case where it is determined that there is an approaching vehicle, it is determined whether warning information is generated by determining a lane relationship between the vehicle and the approaching vehicle from the image information.
According to another aspect of the present invention, there is provided an apparatus for generating alarm information for a vehicle, the apparatus including: an information acquisition unit configured to be able to acquire radar information of radar detection of the vehicle and image information about a road on which the vehicle is located; a first determination unit configured to be able to determine whether there is an approaching vehicle approaching the vehicle on the road, based on the radar information; a second determination unit configured to be able to determine whether or not to generate warning information by determining a lane relationship between the vehicle and an approaching vehicle from the image information in a case where it is determined that the approaching vehicle exists.
According to a further aspect of the invention, a computer program product is provided, wherein the computer program product comprises a computer program which, when being executed by a processor, enables the processor to carry out the method for generating alert information for a vehicle according to the invention.
According to another aspect of the present invention, there is provided a computer-readable recording medium storing a computer program configured to implement the method of generating alarm information for a vehicle according to the present invention when executed by a processor.
According to the method and the device for generating the alarm information for the vehicle, whether the alarm information is generated or not can be determined according to the image information of the road under the condition that the vehicle close to the vehicle exists on the road according to the radar information, so that the accuracy of generating the alarm information can be improved, and the condition that the alarm information is generated by mistake when the vehicle is in a safe driving/parking state on the road can be effectively reduced.
Drawings
The foregoing and other aspects of the invention will be more fully understood from the following detailed description taken in conjunction with the accompanying drawings, in which:
fig. 1 shows a flowchart of a method for generating warning information for a vehicle according to an exemplary embodiment of the present invention.
Fig. 2 shows a flowchart detailing the steps of determining whether warning information is generated through a lane relationship, of a method of generating warning information for a vehicle according to an exemplary embodiment of the invention.
Fig. 3 shows a block diagram of an apparatus for generating warning information for a vehicle according to an exemplary embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and exemplary embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the scope of the invention.
Fig. 1 shows a flowchart of a method for generating warning information for a vehicle according to an exemplary embodiment of the present invention.
The method for generating warning information for a vehicle according to the present invention may be applied to any vehicle capable of generating warning information. As an example, the method of generating alarm information for a vehicle according to the present invention may be periodically (e.g., at 10 milliseconds, 20 milliseconds, or other periods) performed during the vehicle traveling on a road or stopping (e.g., stopping due to an indication of a traffic light, etc.).
Referring to fig. 1, in step S1, radar information of radar detection of the vehicle and image information about a road on which the vehicle is located are acquired.
As an example, radar information detected by a radar (e.g., an angle radar right in front of the vehicle, right behind the vehicle, or at a corner of the vehicle) arranged on the periphery of the vehicle (also referred to herein as "own vehicle" or "the vehicle" for convenience of description) may be acquired. The image information about the road on which the vehicle is located may be acquired from a camera arranged on the vehicle, a camera on an electronic terminal connected to the vehicle by wire or wirelessly, and/or a camera on the road capable of communicating with the vehicle.
In one embodiment, the radar information may include range information, velocity information, and/or acceleration information. For example, distance information between the host vehicle and the surrounding vehicle, speed information and/or acceleration information of the host vehicle and/or the surrounding vehicle, and the like.
In one embodiment, the image information may include at least one image about the road. Such as an image taken alone or an image frame in a video, etc.
In step S2, it is determined whether there is an approaching vehicle approaching the vehicle on the road according to the radar information.
Here, it may be determined whether there is an approaching vehicle approaching the own vehicle on the road from the radar information in any manner. For example, whether there is an approaching vehicle may be determined according to distance information, speed information, and/or acceleration information among the above radar information.
In one embodiment, step S2 may comprise: determining whether at least one vehicle which meets a preset approaching condition in terms of transverse distance, longitudinal distance and/or predicted collision time exists on the road according to the radar information; in an instance in which the at least one vehicle is determined to be present, determining the at least one vehicle as at least one approaching vehicle.
For example, distance information in the radar information may be used to determine the above lateral and longitudinal distances. The distance information, the velocity information, and the acceleration information in the radar information may be used to estimate the above predicted time-to-collision.
In one embodiment, the predetermined proximity condition may be: a lateral distance from the vehicle is less than a first distance threshold, a longitudinal distance from the vehicle is less than a second distance threshold, and/or a predicted time to collision with the vehicle is less than a predetermined time.
For example, in the case where there is a vehicle on the road that satisfies at least one of the above conditions, the vehicle may be determined as an approaching vehicle.
As an example, the above predetermined approach condition for determining whether there is an approaching vehicle may be determined according to the type of alarm corresponding to the alarm information that needs to be generated.
In one embodiment, the alert information may be alert information indicating a Door Open Warning (DOW) and/or a rear impact warning (RCW).
For example, when the alarm information corresponds to a door open warning, the first distance threshold may be 1 meter to 1.7 meters, the second distance threshold may be about 50 meters, and the above predetermined time may be about 1.4 seconds. When the alert information corresponds to a rear collision warning, the first distance threshold may be about 0.5 meters, the second distance threshold may be about 80 meters to 90 meters, and the above predetermined time may be about 1.4 seconds.
It should be understood that the above first distance threshold, second distance threshold and predetermined time are only examples, and different first distance threshold, second distance threshold and predetermined time may be set according to actual requirements.
In the case where it is determined in step S2 that there is an approaching vehicle ("Y" in fig. 1), step S3 may be performed to determine whether warning information is generated by determining a lane relationship between the vehicle and the approaching vehicle from the image information.
Fig. 2 shows a flowchart detailing the step S3 of determining whether to generate warning information by a lane relationship, of a method of generating warning information for a vehicle according to an exemplary embodiment of the present invention.
In fig. 2, steps S1 and S2 are the same as steps S1 and S2 described above with reference to fig. 1. Step S3 may include steps S31, S32, and S33 shown in fig. 2.
Referring to fig. 2, in step S31, it may be determined whether a lane line exists on the road according to the image information.
Here, by determining whether or not a lane line exists on the road, it is possible to determine whether or not the own vehicle and the other vehicles on the road can travel along the respective lanes, respectively.
In the case where it is determined in step S31 that there is no lane line ("N" in fig. 2), step S32 may be performed to generate warning information.
Here, in the case where it is determined that there is no lane line on the road, it may be described that there is a potential safety hazard state between the approaching vehicle and the host vehicle determined in step S2, and at this time, an alarm message may be generated to alert the driver of the host vehicle or another vehicle of safety.
In the case where it is determined in step S31 that the lane line exists ("Y" in fig. 2), step S33 may be performed by determining whether there is an approaching vehicle satisfying a predetermined lane relationship with the vehicle among the at least one approaching vehicle according to the image information.
In one embodiment, the predetermined lane relationship may be: the approaching vehicle is in the same lane as the vehicle, the vehicle overlaps a center lane line, and/or the approaching vehicle overlaps a center lane line. Here, the middle lane line is a lane line between the vehicle and the corresponding approaching vehicle.
For example, it may be determined whether there is an approaching vehicle that satisfies at least one of the above lane relationships.
In the case where it is determined in step S33 that there is an approaching vehicle that satisfies the predetermined lane relationship ("Y" in fig. 2), step S32 may be executed to generate warning information.
For example, when the approaching vehicle and the host vehicle are located in the same lane, it is described that the approaching vehicle and the host vehicle are in a potential safety hazard state; if there is a lane line (center lane line) between the approaching vehicle and the host vehicle overlaps the center lane line and/or the approaching vehicle overlaps the center lane line, the approaching vehicle and the host vehicle are likely to enter the same lane, and the approaching vehicle and the host vehicle are also in a potential safety hazard state. Accordingly, when at least one of the above situations occurs, an alarm message may be generated to alert the driver of the own vehicle or other vehicles to safety.
In contrast, in the case where the approaching vehicle and the host vehicle are not in the same lane, and both do not overlap with the lane line therebetween, it can be said that both the approaching vehicle and the host vehicle are traveling or parking along their own lanes, and there is no risk of collision, and therefore no warning information may be generated.
Through the mode, the situation that the alarm information is mistakenly generated due to the fact that the vehicle is close to the vehicle in the adjacent lane can be effectively avoided under the condition that the vehicle runs or stops, particularly stops at a small angle (for example, the vehicle stops due to indication of a signal lamp, and the like), and the accuracy of generating the alarm information is improved.
Here, the generated alarm information may be any form of alarm information.
In one embodiment, the alert message may include an alert message in audible, tactile, and/or visual form.
For example, different alarm information may be generated according to the type of alarm (e.g., door open alarm, rear collision alarm) to which the alarm information corresponds. Further, different warning information may be generated according to different warning degrees of the same warning type. For example, alarm information in the form of different sound frequencies and/or intensities, different haptic frequencies and/or intensities, and/or different colors and/or light intensities and/or not by text, images, animations, etc. may be generated.
It should be understood that the sequence of steps shown in fig. 1 and 2 is merely an example, and the method of generating warning information for a vehicle according to the present invention may be performed in the same or different sequence as the sequence of steps shown in fig. 1 and 2 according to actual needs. For example, the acquisition of the image information in step S1 may be performed after step S1 and before step S3.
According to the method for generating the alarm information for the vehicle, whether the alarm information is generated or not can be determined according to the image information of the road under the condition that the vehicle close to the vehicle exists on the road according to the radar information, so that the accuracy of generating the alarm information can be improved, and the condition that the alarm information is generated by mistake when the vehicle is in a safe driving/parking state on the road can be effectively reduced.
Fig. 3 shows a block diagram of an apparatus for generating warning information for a vehicle according to an exemplary embodiment of the present invention.
Referring to fig. 3, the apparatus for generating warning information for a vehicle according to the present invention includes: an information acquisition unit 1, a first determination unit 2, and a second determination unit 3.
The information acquisition unit 1 is configured to be able to acquire radar information of radar detection of the vehicle and image information about a road on which the vehicle is located.
The first determination unit 2 is configured to be able to determine whether there is an approaching vehicle approaching the vehicle on the road, based on the radar information.
The second determination unit 3 is configured to be able to determine whether or not to generate the warning information by determining a lane relationship between the vehicle and the approaching vehicle from the image information in a case where it is determined that the approaching vehicle exists.
The radar information, the image information, the determination of the approaching vehicle, and the generation of the warning information have been described in detail above with reference to fig. 1 and 2, and will not be described again.
According to the device for generating the alarm information of the vehicle, whether the alarm information is generated or not can be determined according to the image information of the road under the condition that the vehicle close to the vehicle exists on the road according to the radar information, so that the accuracy of generating the alarm information can be improved, and the condition that the alarm information is generated by mistake when the vehicle is in a safe driving/parking state on the road can be effectively reduced.
There is also provided, in accordance with an exemplary embodiment of the invention, a computer program product, wherein the computer program product comprises a computer program which, when being executed by a processor, causes the processor to carry out the method for generating warning information for a vehicle according to the invention. The computer program product may include a computer program, program code, instructions, or some combination thereof for instructing or configuring hardware devices, individually or collectively, to operate as desired. The computer program and/or program code can include a program or computer-readable instructions, software components, software modules, data files, data structures, etc., that can be implemented by one or more hardware devices. Examples of program code may include machine code, such as produced by a compiler, and higher level program code, such as executed using an interpreter.
There is also provided, in accordance with an exemplary embodiment of the present invention, a computer-readable recording medium storing a computer program, wherein the computer program is configured to implement a method of generating warning information for a vehicle according to the present invention when executed by a processor. The computer readable recording medium is any data storage device that can store data read by a computer system. Examples of the computer-readable recording medium include: read-only memory, random access memory, read-only optical disks, magnetic tapes, floppy disks, optical data storage devices, and carrier waves (such as data transmission through the internet via wired or wireless transmission paths). The computer readable recording medium can also be distributed over network coupled computer systems so that the computer readable code is stored and executed in a distributed fashion. In addition, functional programs, codes, and code segments for accomplishing the present invention can be easily construed by programmers of ordinary skill in the art to which the present invention pertains within the scope of the present invention.
Furthermore, each unit in the above-described apparatuses and devices according to exemplary embodiments of the present invention may be implemented as a hardware component or a software module. Furthermore, the respective units may be implemented by using, for example, a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), or a processor, according to the processing performed by the respective units as defined by those skilled in the art.
Although the invention is illustrated and described herein with reference to specific embodiments, the invention is not intended to be limited to the details shown. Rather, various modifications may be made in the details within the scope of the invention.
List of reference numerals
S1 acquiring radar information of a radar detection of the vehicle and image information about a road on which the vehicle is located
S2, determining whether an approaching vehicle approaching to the vehicle exists on the road or not
S3, determining whether to generate alarm information by determining the lane relation between the vehicle and the approaching vehicle according to the image information
S31, determining whether a lane line exists on the road
S32 generating alarm information
S33 determines whether there is an approaching vehicle satisfying a predetermined lane relationship with the vehicle
Y is
N is no
1. Information acquisition unit
2. First determining unit
3. Second determining unit
Claims (10)
1. A method of generating alert information for a vehicle, the method comprising:
acquiring radar information of radar detection of the vehicle and image information about a road on which the vehicle is located (S1);
determining whether there is an approaching vehicle approaching the vehicle on the road according to the radar information (S2);
in a case where it is determined that there is an approaching vehicle, it is determined whether warning information is generated by determining a lane relationship between the vehicle and the approaching vehicle from the image information (S3).
2. The method of claim 1, wherein the step (S2) of determining whether there is an approaching vehicle on the road in proximity to the vehicle, based on the radar information, comprises:
determining whether at least one vehicle which meets a preset approaching condition in terms of transverse distance, longitudinal distance and/or predicted collision time exists on the road according to the radar information;
in an instance in which the at least one vehicle is determined to be present, determining the at least one vehicle as at least one approaching vehicle.
3. The method of claim 2, wherein the predetermined proximity condition is: a lateral distance from the vehicle is less than a first distance threshold, a longitudinal distance from the vehicle is less than a second distance threshold, and/or a projected time to collision with the vehicle is less than a predetermined time.
4. The method according to claim 2, wherein the step (S3) of determining whether to generate warning information by determining a lane relationship between the vehicle and an approaching vehicle from the image information includes:
determining whether a lane line exists on the road according to the image information (S31);
in a case where it is determined that the lane line does not exist, generating alarm information (S32);
in a case where it is determined that the lane line exists, by determining whether there is an approaching vehicle satisfying a predetermined lane relationship with the vehicle among the at least one approaching vehicle according to the image information (S33);
in a case where it is determined that there is an approaching vehicle that satisfies the predetermined lane relationship, alarm information is generated (S32).
5. The method of claim 4, wherein the predetermined lane relationship is:
the approaching vehicle is located in the same lane as said vehicle,
the vehicle overlaps the center lane line, and/or
The approaching vehicle overlaps the center lane line,
wherein the intermediate lane line is a lane line between the vehicle and the corresponding approaching vehicle.
6. The method of any one of claims 1-5,
the radar information comprises distance information, velocity information and/or acceleration information, and/or
The image information includes at least one image about the road.
7. The method according to any of claims 1-5, wherein the alert information is alert information indicating a door open warning and/or a rear collision warning.
8. The method of any of claims 1-5, wherein the alert information includes alert information in acoustic, tactile, and/or visual form.
9. An apparatus for generating alarm information for a vehicle, the apparatus comprising:
an information acquisition unit (1) configured to be able to acquire radar information of radar detection of the vehicle and image information about a road on which the vehicle is located;
a first determination unit (2) configured to be able to determine whether there is an approaching vehicle approaching the vehicle on the road, based on the radar information;
a second determination unit (3) configured to be able to determine whether alarm information is generated by determining a lane relationship between the vehicle and an approaching vehicle from the image information in a case where it is determined that the approaching vehicle exists.
10. A computer program product, wherein the computer program product comprises a computer program which, when executed by a processor, enables the processor to carry out the method according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110905421.9A CN115703478A (en) | 2021-08-06 | 2021-08-06 | Method and device for generating warning information for vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110905421.9A CN115703478A (en) | 2021-08-06 | 2021-08-06 | Method and device for generating warning information for vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115703478A true CN115703478A (en) | 2023-02-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110905421.9A Pending CN115703478A (en) | 2021-08-06 | 2021-08-06 | Method and device for generating warning information for vehicle |
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| Country | Link |
|---|---|
| CN (1) | CN115703478A (en) |
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2021
- 2021-08-06 CN CN202110905421.9A patent/CN115703478A/en active Pending
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