CN116110254A - Anti-collision reminding method, device, equipment and storage medium for multi-channel junction - Google Patents
Anti-collision reminding method, device, equipment and storage medium for multi-channel junction Download PDFInfo
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- G08G—TRAFFIC CONTROL SYSTEMS
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Abstract
The application is applicable to the technical field of road safety, and provides an anti-collision reminding method, device and equipment for a multi-channel junction and a storage medium. The anti-collision reminding method for the multi-channel junction comprises the following steps: monitoring the distance between an object which is led to the multi-channel junction and the multi-channel junction in each channel which is arranged at the multi-channel junction in real time; if any one of the channels is detected to have a target object with a distance smaller than a first threshold value at the junction of the multiple channels, outputting anti-collision reminding information for indicating stopping moving to the objects of other channels except for any one of the channels. According to the anti-collision reminding method for the multi-channel junction, after the target object is determined, anti-collision reminding information for indicating stopping moving can be output to objects of other channels except the channel where the target object is located, and the safety of the objects passing through the multi-channel junction is improved.
Description
Technical Field
The application belongs to the technical field of road safety, and particularly relates to an anti-collision reminding method, device and equipment for a multi-channel junction and a storage medium.
Background
In daily life, there is often a blind field of view at the junction of multiple channels, which may cause a movable object (e.g., a person, a movable device, etc.) to collide at the junction of multiple channels.
At present, methods such as installing a reflecting mirror, installing a human body pyroelectric device, installing an ultrasonic reflecting device and the like are generally adopted to carry out anti-collision reminding on an object. However, the reflector has poor effect in the multi-channel junction of the road and the light is not beneficial to anti-collision reminding; the human body pyroelectric device can only detect the movement of an object releasing infrared rays, can not detect the movement of an inanimate object, and can not detect the direction of biological movement; ultrasonic detection is easy to be interfered by complex environments to cause misjudgment; it can be seen that the methods for warning of collision at the multi-channel junction in the prior art have certain limitations, which can reduce the safety of objects passing through the multi-channel junction.
Disclosure of Invention
In view of this, the embodiments of the present application provide an anti-collision reminding method, device, apparatus and storage medium for a multi-channel junction, so as to solve the technical problem of low safety of the existing multi-channel junction.
In a first aspect, an embodiment of the present application provides an anti-collision reminding method for a multi-channel junction, including:
Monitoring the distance between an object which is led to the multi-channel junction and the multi-channel junction in each channel which is arranged at the multi-channel junction in real time;
if any one of the channels is detected to have a target object with a distance smaller than a first threshold value at the junction of the multiple channels, outputting anti-collision reminding information for indicating stopping moving to objects of other channels except the any one of the channels.
Optionally, the real-time monitoring of the distance between the object that is present and the multi-channel junction in each channel of the multi-channel junction includes:
for any object, acquiring a speed vector of the object from an initial moment of entering a specified detection area of a corresponding channel to each operation moment in the current moment;
calculating the total displacement of the object from the initial moment to the current moment according to the speed vector;
and calculating the distance between the object and the multi-channel junction according to the length of the specified detection area and the total displacement.
Optionally, a photoelectric detection module is disposed in the specified detection area, and the obtaining the velocity vector of the object from the initial time of entering the specified detection area of the corresponding channel to each operation time in the current time includes:
Transmitting detection light to the appointed detection area through the photoelectric detection module;
receiving reflected light generated after the object is irradiated by the detection light through the photoelectric detection module;
generating a plurality of dynamic images according to the reflected light rays, and processing the dynamic images by using a light flow algorithm to obtain the speed vector of the object.
Optionally, the calculating, according to the velocity vector, the total displacement of the object from the initial moment to the current moment includes:
according to the velocity vector corresponding to each operation time in the initial time to the current time, respectively calculating to obtain the acceleration corresponding to each operation time;
calculating displacement corresponding to each operation time according to the acceleration corresponding to each operation time and the speed vector corresponding to each operation time;
and superposing the displacement corresponding to each operation moment to obtain the total displacement of the object from the initial moment to the current moment.
Optionally, after said obtaining said velocity vector of said object, further comprises:
If the value of the speed vector of the object is larger than a first preset speed threshold value, the frequency of the photoelectric detection module for sending the detection light and receiving the reflection light is increased;
if the value of the velocity vector of the object is smaller than a second preset velocity threshold value, the frequency of the photoelectric detection module for sending the detection light and receiving the reflection light is reduced;
if the value of the velocity vector of the object is smaller than the first preset velocity threshold and larger than the second preset velocity threshold, the frequency of the photoelectric detection module for sending the detection light and receiving the reflection light is kept.
Optionally, the sending, by the photoelectric detection module, the detection light to the specified detection area includes:
the photoelectric detection module monitors the ambient light intensity of the appointed detection area in real time;
if the monitored intensity of the ambient light is greater than a first preset light intensity threshold, reducing the intensity of the detection light sent to the appointed detection area by the photoelectric detection module;
if the monitored intensity of the ambient light is smaller than a second preset light intensity threshold, increasing the intensity of the detection light sent to the appointed detection area by the photoelectric detection module;
If the monitored intensity of the ambient light is smaller than the first preset light intensity threshold and larger than the second preset light intensity threshold, the intensity of the detection light sent to the appointed detection area by the photoelectric detection module is maintained;
generating a plurality of dynamic images according to the reflected light, and processing the dynamic images by using a light flow algorithm to obtain the velocity vector of the object, wherein the method comprises the following steps:
determining an image value of the dynamic image;
if the determined image value is larger than a first preset image threshold value, carrying out image value attenuation on the dynamic image;
if the determined image value is smaller than a second preset image threshold value, performing image value compensation on the dynamic image;
and if the determined image value is smaller than the first preset image threshold value and larger than the second preset image threshold value, processing the plurality of dynamic images to obtain the speed vector of the object.
Optionally, the anti-collision reminding information comprises primary anti-collision reminding information, medium-level anti-collision reminding information and high-level anti-collision reminding information; the outputting, to the objects in the channels except for the any channel, anti-collision reminding information for indicating to stop moving, includes:
If the distances between the object of the other channel and the multi-channel junction are detected to be larger than a first preset distance threshold value, outputting the primary anti-collision reminding information to the object of the other channel;
if the distance between the object and the multi-channel junction in the other channels is detected to be smaller than the first preset distance threshold and larger than the second preset distance threshold, and the speed of the object is smaller than the third preset speed threshold, outputting the medium-level anti-collision reminding information to the object in the other channels;
if the distance between the object and the multi-channel junction in the other channels is detected to be smaller than the first preset distance threshold and larger than the second preset distance threshold, and the speed of the object is larger than a third preset speed threshold, outputting the advanced anti-collision reminding information to the object in the other channels;
and if the distance between the object and the multi-channel junction in the other channels is detected to be smaller than the second preset distance threshold, outputting the advanced anti-collision reminding information to the object in the other channels.
In a second aspect, embodiments of the present application provide an anti-collision reminding device at a multi-channel junction, including:
The monitoring unit is used for monitoring the distance between an object which is led to the multi-channel junction and the multi-channel junction in each channel of the multi-channel junction in real time;
and the output unit is used for outputting anti-collision reminding information for indicating stopping moving to the objects of the channels except any channel if any channel in the channels is detected to have the target object with the distance smaller than the first threshold value at the junction of the multiple channels.
In a third aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps in the method for collision avoidance alert at a multi-channel junction according to any one of the first aspect when the computer program is executed.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium storing a computer program, which when executed by a processor implements the steps of a method for anti-collision reminding at a multi-channel junction according to any one of the first aspect above.
In a fifth aspect, embodiments of the present application provide a computer program product which, when run on an electronic device, causes the electronic device to perform the steps of the method of anti-collision alert for a multi-channel junction as described in any of the first aspects above.
The anti-collision reminding method, device, equipment and medium for the multi-channel junction provided by the embodiment of the application have the following beneficial effects:
according to the anti-collision reminding method for the multi-channel junction, distances between objects which are led to the multi-channel junction and the multi-channel junction are monitored in real time in all channels of the multi-channel junction; if any one of the channels is detected to have a target object with a distance smaller than a first threshold value at the junction of the multiple channels, outputting anti-collision reminding information for indicating stopping moving to the objects of other channels except for any one of the channels. According to the anti-collision reminding method for the multi-channel junction, after the target object to be passed through the multi-channel junction is determined, anti-collision reminding information for indicating to stop moving can be output to objects in other channels except the channel where the target object is located, anti-collision reminding can not influence effects at the multi-channel junction and in the case that light is not beneficial, movement of inanimate objects can be detected, misjudgment is not caused due to interference of complex environments, and therefore safety of the objects passing through the multi-channel junction is improved.
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In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required for the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of an implementation of a method for reminding collision avoidance at a multi-channel junction according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a multi-channel junction and channels according to an embodiment of the present disclosure;
FIG. 3 is a flowchart of an implementation of obtaining distances between respective objects and a multi-channel junction according to an embodiment of the present application;
FIG. 4 is a flowchart of an implementation of acquiring a velocity vector of an object according to an embodiment of the present application;
FIG. 5 is a schematic diagram of a photoelectric detection module according to an embodiment of the present disclosure emitting and receiving detection light;
FIG. 6 is a flowchart of an implementation of obtaining a total displacement of an object according to an embodiment of the present application;
FIG. 7 is a schematic diagram of obtaining a total displacement of an object from an initial time to a current time according to an embodiment of the present application;
FIG. 8 is a flowchart illustrating an implementation of a method for reminding a collision avoidance at a multi-channel junction according to another embodiment of the present application;
fig. 9 is a schematic structural diagram of an anti-collision reminding device at a multi-channel junction according to an embodiment of the present application;
fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
It is noted that the terminology used in the embodiments of the present application is used for the purpose of explaining specific embodiments of the present application only and is not intended to limit the present application. In the description of the embodiments of the present application, unless otherwise indicated, "a plurality" means two or more, and "at least one", "one or more" means one, two or more. The terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a definition of "a first", "a second" feature may explicitly or implicitly include one or more of such features.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
The execution subject of the anti-collision reminding method at the multi-channel junction provided by the embodiment of the application can be electronic equipment. The electronic device can comprise an anti-collision reminding device, a mobile phone, a tablet personal computer, a notebook computer, a desktop computer and the like at the multi-channel junction.
When a user needs to carry out anti-collision reminding on objects which are present on all channels and lead to the multi-channel junction, all steps of the anti-collision reminding method for the multi-channel junction provided by the embodiment of the application can be executed through electronic equipment, so that the objects which are present on all channels and lead to the multi-channel junction can be carried out anti-collision reminding.
Referring to fig. 1, fig. 1 is a flowchart illustrating an implementation of a method for reminding a collision avoidance at a multi-channel junction according to an embodiment of the present application, where the method for reminding a collision avoidance may include S101 to S102, which are described in detail as follows:
in S101, the distances between the object that is present to the multi-channel junction and the multi-channel junction in each channel that the multi-channel junction has are monitored in real time.
In the embodiments of the present application, the specific number of channels that the multi-channel junction has is not limited. The multi-channel junction may have an object on a channel that leads to the multi-channel junction, which may include living organisms, including humans and animals, and non-living organisms, including vehicles, wheelchairs, robots, and the like.
Fig. 2 is a schematic diagram of a multi-channel junction and each channel according to an embodiment of the present application. Illustratively, as shown in FIG. 2, a multi-channel junction may have channel a, channel b, channel c, and channel d; in lane a, there are object a and object b that lead to the multi-lane junction; in lane b, there is an object c that leads to the multi-lane junction; in lane c, there is no object to the multi-lane junction; in channel d there is an object d that leads to the junction of the multiple channels.
In the embodiment of the application, the electronic equipment can monitor the distances between the object which is led to the multi-channel junction and the multi-channel junction in each channel of the multi-channel junction in real time. The distance between the object and the multi-channel junction can be the nearest distance between the foremost end of the object and the multi-channel junction. Illustratively, as shown in FIG. 2, object a may be a from the multi-channel junction, object b may be b from the multi-channel junction, and so on.
In one possible implementation, the distance between each object and the multi-channel junction may be obtained through S201-S203 shown in fig. 3. Fig. 3 is a flowchart of an implementation for obtaining a distance between each object and a multi-channel junction according to an embodiment of the present application.
In S201, for any one object, a velocity vector of the object from an initial time of entering a specified detection area of a corresponding channel to each operation time in the current time is acquired.
The designated detection area may be set according to practical applications, and is not limited herein. The moment when the object has just entered the specified detection area of the corresponding channel (i.e. reached the start point of the specified detection area) may be defined as the initial moment.
In this implementation manner, a photoelectric detection module may be disposed in a designated detection area, and the velocity vector of the object may be obtained through S301 to S303 shown in fig. 4. Fig. 4 is a flowchart of an implementation of acquiring a velocity vector of an object according to an embodiment of the present application.
In S301, detection light is sent to a specified detection area by a photodetection module.
Referring to fig. 5, fig. 5 is a schematic diagram of a photoelectric detection module for emitting and receiving detection light provided in an embodiment of the present application, and as shown in fig. 5, the photoelectric detection module may send the detection light to a specified detection area, and specifically, may control a detection light coverage area, so that the detection light coverage area covers the specified detection area.
In the embodiment of the present application, S301 may include steps a to d.
In step a, the photoelectric detection module monitors the ambient light intensity of the designated detection area in real time.
In this embodiment of the present application, since the intensity of the ambient light of the specified detection area may change, the intensity of the ambient light of the specified detection area may be monitored in real time by the photoelectric detection module.
In step b, if the monitored intensity of the ambient light is greater than the first preset light intensity threshold, the intensity of the detection light sent by the photoelectric detection module to the designated detection area is reduced.
In this embodiment of the present application, if the intensity of the detected ambient light is greater than the first preset light intensity threshold, the ambient light of the specified detection area may be considered too strong, and in order to obtain a better dynamic image, the intensity of the detected light sent by the photoelectric detection module to the specified detection area may be reduced by the photoelectric detection module.
In step c, if the monitored intensity of the ambient light is less than the second preset light intensity threshold, the intensity of the detection light sent by the photoelectric detection module to the designated detection area is increased.
In this embodiment of the present application, if the intensity of the detected ambient light is less than the second preset light intensity threshold, the ambient light of the specified detection area may be considered too weak, and in order to obtain a better dynamic image, the intensity of the detected light sent by the photoelectric detection module to the specified detection area may be enhanced by the photoelectric detection module.
In step d, if the monitored intensity of the ambient light is smaller than the first preset light intensity threshold and larger than the second preset light intensity threshold, the intensity of the detection light sent by the photoelectric detection module to the designated detection area is maintained.
In this embodiment of the present application, if the detected ambient light intensity is less than the first preset light intensity threshold and greater than the second preset light intensity threshold, the photoelectric detection module may maintain the intensity of the detection light sent by the photoelectric detection module to the specified detection area in order to obtain a better dynamic image.
In this embodiment of the present application, the first preset light intensity threshold and the second preset light intensity threshold may be set according to actual requirements, which is not limited herein.
In S302, reflected light generated after the object is irradiated with the detection light is received by the photodetection module.
As shown in fig. 5. When the detection light sent by the photoelectric detection module irradiates an object in a specified detection area, the object can generate reflected light, the reflected light can be reflected into the photoelectric detection module, and the photoelectric detection module can receive the reflected light according to a preset receiving frequency. Optionally, the time when the photoelectric detection module receives the reflected light may be used as an operation time, and based on this, each time when the photoelectric detection module receives the reflected light may be used as each operation time. The preset receiving frequency may be set based on practical applications, and is not limited herein.
In S303, a plurality of moving images are generated from the reflected light, and the moving images are processed using a light flow algorithm to obtain a velocity vector of the object.
After receiving the reflected light, the electronic device can obtain a plurality of dynamic images of the corresponding object from the initial time to the current time according to each reflected light from the initial time to the current time, and can process the plurality of dynamic images by using a light flow algorithm to obtain a speed vector of the object from the initial time entering the appointed detection area of the corresponding channel to each operation time in the current time.
In the embodiment of the present application, S303 may include steps e to h.
In step e, the image value of the moving image is determined.
In the embodiment of the application, after the electronic device generates a plurality of dynamic images according to the reflected light, the image value of the dynamic images can be determined.
In step f, if the determined image value is greater than the first preset image threshold, the image value of the moving image is attenuated.
In this embodiment of the present application, if it is determined that the image value of the moving image is greater than the first preset image threshold, the electronic device may attenuate the image value of the moving image.
In step g, if the determined image value is smaller than the second preset image threshold value, performing image value compensation on the dynamic image.
In the embodiment of the present application, if the electronic device determines that the image value of the dynamic image is smaller than the second preset image threshold, the electronic device may perform image value compensation on the dynamic image.
In step h, if the determined image value is smaller than the first preset image threshold and larger than the second preset image threshold, processing the plurality of dynamic images to obtain a speed vector of the object.
In the embodiment of the application, if the determined image value is smaller than the first preset image threshold and larger than the second preset image threshold, the electronic device may process the plurality of dynamic images to obtain the speed vector of the object.
In the embodiment of the application, after the speed vector of the object is obtained, the anti-collision reminding method may further include steps i to k.
In step i, if the value of the velocity vector of the object is greater than the first preset velocity threshold, the frequency of sending the detection light and receiving the reflected light by the photoelectric detection module is increased.
In this embodiment of the present application, after obtaining a speed vector of an object, the electronic device may compare a value of the speed vector of the object with a first preset speed threshold, and if the value of the speed vector of the obtained object is greater than the first preset speed threshold, this indicates that the object is moving rapidly at this time, so in order to improve timeliness of anti-collision reminding, the frequency of sending detected light and receiving reflected light by the photoelectric detection module may be improved.
In step j, if the value of the velocity vector of the object is smaller than the second preset velocity threshold, the frequency of the photoelectric detection module for sending the detection light and receiving the reflected light is reduced.
In this embodiment of the present application, after obtaining the velocity vector of the object, the electronic device may compare the value of the velocity vector of the object with the second preset velocity threshold, and if the value of the velocity vector of the obtained object is smaller than the first preset velocity threshold, this indicates that the object is moving slowly at this time, so in order to reduce the power consumption of the photodetection module, the frequency of sending the detection light and receiving the reflected light by the photodetection module may be reduced.
In step k, if the value of the velocity vector of the obtained object is smaller than the first preset velocity threshold and larger than the second preset velocity threshold, the frequency of the photoelectric detection module for sending the detection light and receiving the reflected light is kept.
In this embodiment of the present application, after obtaining a speed vector of an object, the electronic device may compare a value of the speed vector of the object with a first preset speed threshold and a second preset speed threshold, and if the value of the speed vector of the obtained object is smaller than the first preset speed threshold and larger than the second preset speed threshold, may keep the frequency of sending the detection light and receiving the reflected light by the photoelectric detection module.
The first preset speed threshold and the second preset speed threshold may be specifically set according to practical applications, which are not limited herein.
In S202, the total displacement of the object from the initial time to the current time is calculated from the velocity vector.
For each object, the total displacement of the object from the initial moment to the current moment can be calculated according to the velocity vector of the object from the initial moment to the current moment.
In this implementation, the total displacement of the object may be obtained through S401 to S403 shown in fig. 6. Fig. 6 is a flowchart of an implementation of obtaining a total displacement of an object according to an embodiment of the present application.
In S401, acceleration corresponding to each time is calculated from the velocity vector corresponding to each calculation time from the initial time to the current time.
The electronic device may calculate an acceleration corresponding to each operation time of the object after obtaining a velocity vector corresponding to each operation time of the object from the initial time to the current time.
Fig. 7 is a schematic diagram of obtaining a total displacement of an object from an initial moment to a current moment according to an embodiment of the present application. As shown in fig. 7, the calculation time of the object at the point a is the current time, the calculation time of the object at the point B is the first time, the calculation time of the object at the point C is the second time, and the calculation time of the object at the point D (the starting point of the designated detection area) is the initial time. The current time speed may be V When (when) The speed at the first moment may be V 1 The speed at the second time may be V 2， The speed at the initial time can be V Initially, the method comprises Based on this, the acceleration a at the current time can be obtained When (when) Is V (V) When- V 1， The acceleration a at the first moment can be obtained 1 Is V (V) 1- V 2， The acceleration a at the second moment can be obtained 2 Is V (V) 2- V Initially, the method comprises 。
In S402, a displacement corresponding to each operation time is calculated from the acceleration corresponding to each operation time and the velocity vector corresponding to each operation time.
After the electronic device obtains the acceleration corresponding to each operation time and the velocity vector corresponding to each operation time, the displacement corresponding to each operation time can be calculated according to a preset formula.
For example, the preset formula may be s=v 0 T+1/2 aT 2.S is the displacement corresponding to each operation moment, V 0 For the initial velocity corresponding to each calculation time, a is the acceleration corresponding to each calculation time, and T is the time interval between each calculation time and the corresponding previous calculation time.
Based on this, the displacement S corresponding to the current time When (when) Can be V 1 T When (when) +1/2*a When (when) T When (when) 2. Wherein T is When (when) The time interval between the current time and the first time is set; the corresponding displacement S at the first moment 1 Can be V 2 T 1 +1/2*a 1 T 1 2. Wherein T is 1 Is the time interval between the first time and the second time; the displacement S corresponding to the second moment 2 Can be V Initially, the method comprises T 2 +1/2*a 2 T 2 2. Wherein T is 2 Is the time interval between the second instant and the initial instant.
In S403, the displacements corresponding to the respective computation times are superimposed to obtain the total displacement of the object from the initial time to the current time.
After obtaining the displacement corresponding to each moment, the electronic device can superimpose the displacement corresponding to each moment to obtain the total displacement of the object from the initial moment to the current moment. Exemplary, as shown in FIG. 7, the total displacement S of the object from the initial time to the current time Total (S) Can be equal to S When + S 1+ S 2。
In S203, the distance between the object and the multi-channel junction is calculated according to the length and the total displacement of the designated detection area.
After the electronic equipment obtains the total displacement of the object from the initial moment to the current moment, the distance between the object and the multi-channel junction can be obtained through calculation according to the total displacement and the length of the designated detection area. The length of the specified detection area can be obtained according to the set specified detection area, and specifically, the length of the specified detection area is the distance from the starting point of the specified detection area to the intersection of the channels.
The length of the designated detection zone may be subtracted by the total displacement to obtain the distance at which the object meets the multiple channels. As shown in FIG. 7, the designated detection area may have a length S Zone(s) The distance between the object and the multi-channel junction is S Zone- S Total.
In S102, if it is detected that any one of the channels has a target object with a distance smaller than the first threshold value from the intersection of the multiple channels, collision avoidance reminding information for indicating that movement is stopped is output to objects of other channels except for any one of the channels.
The first threshold may be specifically set according to the actual application situation, which is not limited herein. For example, as shown in fig. 2, it may be assumed that a distance b at which the object b meets the multi-channel is less than a first threshold, and the electronic device may output collision avoidance alert information indicating that the movement is stopped to the channel b, the channel c, and the objects c and d in the channel d other than the channel a.
In a possible implementation manner, a corresponding information reminding device may be set in each channel, and when a target object with a distance smaller than a first threshold value at a junction of multiple channels exists in any channel, the electronic device may send a control instruction to the information reminding devices of other channels except any channel in each channel, so as to control the information reminding devices of other channels to output anti-collision reminding information in a preset manner.
The information reminding device may include a buzzer, a loudspeaker, a sound output device such as a sound box, and the preset mode may be a preset sound signal; the information reminding device can also comprise a light source such as a light emitting diode and the like, and the preset mode can be a preset light signal.
In this application embodiment, the anti-collision reminding information may include primary anti-collision reminding information, intermediate anti-collision reminding information, and advanced anti-collision reminding information. The primary anti-collision reminding information is used for reminding an object of collision risk, but the collision risk is low; the medium-level anti-collision reminding information is used for reminding an object of collision risk, and the collision risk is medium; the high-level anti-collision reminding information is used for reminding an object of collision risk, and the collision risk is higher.
In the embodiment of the application, the step l to the step o of outputting the anti-collision reminding information for indicating to stop moving to the objects in the channels except any channel can be achieved.
In step l, if the distances between the objects in other channels and the intersection of the multiple channels are detected to be larger than the first preset distance threshold, outputting primary anti-collision reminding information to the objects in other channels.
In the embodiment of the application, after the target object is determined, the electronic device can detect the distance between the object of the other channel and the intersection of the multiple channels, and if the distances between the object of the other channel and the intersection of the multiple channels are detected to be larger than the first preset distance threshold, the collision risk can be considered to be lower, and then primary anti-collision reminding information can be output to the object of the other channel.
In the step m, if the distance between the object and the intersection of the multiple channels in other channels is detected to be smaller than the first preset distance threshold and larger than the second preset distance threshold, and the speed of the object is smaller than the third speed threshold, outputting medium-level anti-collision reminding information to the objects in other channels.
In this embodiment of the present application, if the electronic device detects that the distance between at least one object and the intersection of the multiple channels in the other channels is smaller than the first preset distance threshold and greater than the second preset distance threshold, the speed of the object is compared with the third speed threshold, and if the speed of the object is smaller than the third speed threshold, the collision risk is considered to be medium, and then intermediate-level collision reminding information can be output to the objects of the other channels.
In step n, if it is detected that the distance between the intersection of the object and the multi-channel in the other channels is smaller than the first preset distance threshold and larger than the second preset distance threshold and the speed of the object is larger than the third preset speed threshold, outputting advanced anti-collision reminding information to the objects in the other channels.
In this embodiment of the present application, if the electronic device detects that the distance between at least one object and the intersection of the multiple channels in the other channels is smaller than the first preset distance threshold and greater than the second preset distance threshold, the speed of the object is compared with the third speed threshold, and if the speed of the object is greater than the third speed threshold, the collision risk is considered to be higher, and then advanced collision warning information can be output to the objects of the other channels.
In step o, if it is detected that the distance between the object in the other channels and the intersection of the multiple channels is smaller than the second preset distance threshold, outputting advanced anti-collision reminding information to the objects in the other channels.
In the embodiment of the application, if the electronic device detects that the distance between the object in the other channels and the intersection of the multiple channels is smaller than the second preset distance threshold, the electronic device can consider that the collision risk is higher, and can output advanced anti-collision reminding information to the object in the other channels.
In this embodiment of the present application, the threshold value greater than the first preset distance, the threshold value of the second preset distance, and the threshold value of the third preset speed may be set according to practical applications, which is not limited herein.
The above can be seen that, in the method for reminding the collision avoidance at the multi-channel junction provided by the embodiment of the application, the distances between the object leading to the multi-channel junction and the multi-channel junction are monitored in real time in each channel of the multi-channel junction; if any one of the channels is detected to have a target object with a distance smaller than a first threshold value at the junction of the multiple channels, outputting anti-collision reminding information for indicating stopping moving to the objects of other channels except for any one of the channels. According to the anti-collision reminding method for the multi-channel junction, after the target object is determined, anti-collision reminding information for indicating to stop moving can be output to objects of other channels except the channel where the target object is located, the effect can not be influenced due to the fact that anti-collision reminding is not good at the multi-channel junction and light rays, movement of inanimate objects can be detected, misjudgment is not easily caused due to interference of complex environments, and therefore safety of the objects passing through the multi-channel junction is improved.
Referring to fig. 8, fig. 8 is a flowchart illustrating an implementation of a method for reminding a collision avoidance at a multi-channel junction according to another embodiment of the present application. As shown in fig. 8, the difference between the present embodiment and the embodiment corresponding to fig. 1 is that the collision avoidance method at the multi-channel junction in the present embodiment may further include S501 and S502 after S102.
In S501, if it is detected that the moving direction of the target object changes and the distance between the target object and the intersection of the multiple channels is greater than or equal to the second threshold, outputting the anti-collision reminding information is stopped.
In this embodiment of the present application, after determining the target object, if it is monitored that the moving direction of the target object changes (i.e. turns around), and after the distance between the target object and the intersection of the multiple channels is greater than or equal to the second threshold, the electronic device may stop outputting the anti-collision reminding information. The second threshold may be set according to practical applications, and is not limited herein.
In S502, if it is detected that the target object has passed through the multi-channel junction, the outputting of the anti-collision reminding information is stopped.
In the embodiment of the application, if the electronic equipment monitors that the target object passes through the multi-channel junction, the output of the anti-collision reminding information can be stopped. Specifically, whether the target object passes through the multi-channel junction can be determined by detecting whether the target object exists at the multi-channel junction, if the target object does not exist at the multi-channel junction, the target object passes through the multi-channel junction, and if the target object exists at the multi-channel junction, the target object does not pass through the multi-channel junction.
Based on the method for reminding the collision avoidance at the multi-channel junction provided by the embodiment, the embodiment of the application further provides a device for reminding the collision avoidance at the multi-channel junction for realizing the embodiment of the method, please refer to fig. 9, and fig. 9 is a schematic structural diagram of the device for reminding the collision avoidance at the multi-channel junction provided by the embodiment of the application. As shown in fig. 9, the collision avoidance device 90 at the multi-channel junction may include a monitoring unit 91 and an output unit 92. Wherein:
the monitoring unit 91 is configured to monitor, in real time, a distance between an object that is present and that is connected to the multi-channel junction and the multi-channel junction, in each channel that the multi-channel junction has.
The output unit 92 is configured to output, if it is detected that any one of the channels has a target object whose distance from the intersection of the multiple channels is smaller than a first threshold, anti-collision alert information for indicating that movement is stopped to objects in other channels than the any one of the channels.
Alternatively, the monitoring unit 91 may include a first acquiring unit, a first calculating unit, and a second calculating unit. Wherein:
the first acquisition unit is used for acquiring a speed vector of any object from the initial moment of entering a specified detection area of a corresponding channel to each operation moment in the current moment;
The first calculation unit is used for calculating the total displacement of the object from the initial moment to the current moment according to the speed vector;
and the second calculation unit is used for calculating the distance between the object and the multi-channel junction according to the length of the specified detection area and the total displacement.
Optionally, the specified detection area is provided with a photoelectric detection module, and the first acquisition unit may include a sending unit, a receiving unit, and a first obtaining unit. Wherein:
the sending unit is used for sending detection light to the appointed detection area through the photoelectric detection module.
The receiving unit is used for receiving reflected light generated after the object is irradiated by the detection light according to a preset receiving frequency through the photoelectric detection module.
The first obtaining unit is used for generating a plurality of dynamic images according to the reflected light rays, and processing the dynamic images by using an optical flow algorithm to obtain the speed vector of the object.
Alternatively, the first calculation unit may include a third calculation unit, a fourth calculation unit, and a second obtaining unit. Wherein:
and the third calculation unit is used for calculating the acceleration corresponding to each operation time according to the speed vector corresponding to each operation time in the initial time to the current time.
And the fourth calculation unit is used for calculating and obtaining the displacement corresponding to each operation moment according to the acceleration corresponding to each operation moment and the speed vector corresponding to each operation moment.
And the second obtaining unit is used for superposing the displacement corresponding to each operation moment to obtain the total displacement of the object from the initial moment to the current moment.
Optionally, the anti-collision reminder 90 at the multi-channel junction may further include a first stop output unit. And the first stopping output unit is used for stopping outputting the anti-collision reminding information if the change of the moving direction of the target object is detected and the distance between the target object and the multi-channel junction is greater than or equal to a second threshold value.
Optionally, the anti-collision reminder 90 at the multi-channel junction may further include a second stop output unit. And the second stopping output unit is used for stopping outputting the anti-collision reminding information if the target object is detected to pass through the multi-channel junction.
Optionally, each channel is provided with a corresponding information reminding device, and the output unit 92 is specifically configured to send a control instruction to the information reminding devices of the channels except for any channel in the channels, so as to control the information reminding devices of the other channels to output the anti-collision reminding information in a preset manner.
It should be noted that, because the content of information interaction between the above units, execution process, and the like is based on the same concept as the method embodiment of the present application, specific functions and technical effects thereof may be referred to the method embodiment specifically, and will not be described herein again.
Referring to fig. 10, fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 10, the electronic device 10 provided in this embodiment may include: a processor 100, a memory 101, and a computer program 102 stored in the memory 101 and executable on the processor 100. For example, programs corresponding to the anti-collision reminding method at the multi-channel junction. The steps in the embodiment of the anti-collision reminding method applied to the multi-channel junction described above are implemented when the processor 100 executes the computer program 102, for example, S101 to S102 shown in fig. 1, S201 to S203 shown in fig. 3, S301 to S303 shown in fig. 4, S401 to S403 shown in fig. 6, and S101 to S502 shown in fig. 8. Alternatively, the processor 100 may implement the functions of the modules/units in the corresponding embodiment of the electronic device 10 when executing the computer program 102, for example, the functions of the units 91-92 shown in fig. 9.
By way of example, the computer program 102 may be partitioned into one or more modules/units that are stored in the memory 101 and executed by the processor 100 to complete the present application. One or more of the modules/units may be a series of computer program instruction segments capable of performing particular functions to describe the execution of the computer program 102 in the electronic device 10. For example, the computer program 102 may be divided into the monitoring unit 91 and the output unit 92, and the specific functions of each unit are described in the corresponding embodiment of fig. 9, which is not repeated here.
It will be appreciated by those skilled in the art that fig. 10 is merely an example of the electronic device 10 and is not limiting of the electronic device 10 and may include more or fewer components than shown, or certain components may be combined, or different components.
The processor 100 may be a central processing unit (central processing unit, CPU), but may also be other general purpose processors, digital signal processors (digital signal processor, DSP), application specific integrated circuits (application specific integrated circuit, ASIC), off-the-shelf programmable gate arrays (field-programmable gate array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 101 may be an internal storage unit of the electronic device 10, such as a hard disk or a memory of the electronic device 10. The memory 101 may also be an external storage device of the electronic device 10, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash card (flash card), or the like, which are provided on the electronic device 10. Further, the memory 101 may also include both internal storage units and external storage devices of the electronic device 10. The memory 101 is used to store computer programs and other programs and data required by the electronic device. The memory 101 may also be used to temporarily store data that has been output or is to be output.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of each functional unit is illustrated, and in practical application, the above-mentioned functional allocation may be performed by different functional units according to needs, that is, the internal structure of the anti-collision reminding device at the multi-channel junction is divided into different functional units, so as to complete all or part of the above-mentioned functions. The functional units in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present application. The specific working process of the units in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
Embodiments of the present application also provide a computer readable storage medium having a computer program stored therein, which when executed by a processor, can implement the steps of the respective method embodiments described above.
Embodiments of the present application provide a computer program product for causing an electronic device to carry out the steps of the method embodiments described above when the computer program product is run on the electronic device.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of each functional unit is illustrated, and in practical application, the above-mentioned functional allocation may be performed by different functional units according to needs, that is, the internal structure of the anti-collision reminding device at the multi-channel junction is divided into different functional units, so as to complete all or part of the above-mentioned functions. The functional units in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present application. The specific working process of the units in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
Embodiments of the present application also provide a computer readable storage medium having a computer program stored therein, which when executed by a processor, can implement the steps of the respective method embodiments described above.
Embodiments of the present application provide a computer program product for causing an electronic device to carry out the steps of the method embodiments described above when the computer program product is run on the electronic device.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference may be made to related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (10)
1. An anti-collision reminding method for a multi-channel junction is characterized by comprising the following steps of:
monitoring the distance between an object which is led to the multi-channel junction and the multi-channel junction in each channel which is arranged at the multi-channel junction in real time;
if any one of the channels is detected to have a target object with a distance smaller than a first threshold value at the junction of the multiple channels, outputting anti-collision reminding information for indicating stopping moving to objects of other channels except the any one of the channels.
2. The method of claim 1, wherein the real-time monitoring of the distance from the multi-channel junction to an object present in each channel of the multi-channel junction comprises:
For any object, acquiring a speed vector of the object from an initial moment of entering a specified detection area of a corresponding channel to each operation moment in the current moment;
calculating the total displacement of the object from the initial moment to the current moment according to the speed vector;
and calculating the distance between the object and the multi-channel junction according to the length of the specified detection area and the total displacement.
3. The anti-collision reminding method according to claim 2, wherein the specified detection area is provided with a photoelectric detection module, and the obtaining the velocity vector of each operation time from the initial time of entering the specified detection area of the corresponding channel to the current time of the object comprises:
transmitting detection light to the appointed detection area through the photoelectric detection module;
receiving reflected light generated after the object is irradiated by the detection light through the photoelectric detection module;
generating a plurality of dynamic images according to the reflected light rays, and processing the dynamic images by using a light flow algorithm to obtain the speed vector of the object.
4. The collision avoidance alert method of claim 2 wherein the calculating the total displacement of the object from the initial time to the current time from the velocity vector comprises:
According to the velocity vector corresponding to each operation time in the initial time to the current time, respectively calculating to obtain the acceleration corresponding to each operation time;
calculating displacement corresponding to each operation time according to the acceleration corresponding to each operation time and the speed vector corresponding to each operation time;
and superposing the displacement corresponding to each operation moment to obtain the total displacement of the object from the initial moment to the current moment.
5. A collision avoidance alert method according to claim 3, further comprising, after said deriving said velocity vector for said object:
if the value of the speed vector of the object is larger than a first preset speed threshold value, the frequency of the photoelectric detection module for sending the detection light and receiving the reflection light is increased;
if the value of the velocity vector of the object is smaller than a second preset velocity threshold value, the frequency of the photoelectric detection module for sending the detection light and receiving the reflection light is reduced;
if the value of the velocity vector of the object is smaller than the first preset velocity threshold and larger than the second preset velocity threshold, the frequency of the photoelectric detection module for sending the detection light and receiving the reflection light is kept.
6. The method of claim 5, wherein the sending, by the optoelectronic detection module, the detection light to the specified detection area comprises:
the photoelectric detection module monitors the ambient light intensity of the appointed detection area in real time;
if the monitored intensity of the ambient light is greater than a first preset light intensity threshold, reducing the intensity of the detection light sent to the appointed detection area by the photoelectric detection module;
if the monitored intensity of the ambient light is smaller than a second preset light intensity threshold, increasing the intensity of the detection light sent to the appointed detection area by the photoelectric detection module;
if the monitored intensity of the ambient light is smaller than the first preset light intensity threshold and larger than the second preset light intensity threshold, the intensity of the detection light sent to the appointed detection area by the photoelectric detection module is maintained;
generating a plurality of dynamic images according to the reflected light, and processing the dynamic images by using a light flow algorithm to obtain the velocity vector of the object, wherein the method comprises the following steps:
determining an image value of the dynamic image;
If the determined image value is larger than a first preset image threshold value, carrying out image value attenuation on the dynamic image;
if the determined image value is smaller than a second preset image threshold value, performing image value compensation on the dynamic image;
and if the determined image value is smaller than the first preset image threshold value and larger than the second preset image threshold value, processing the plurality of dynamic images to obtain the speed vector of the object.
7. The collision avoidance alert method according to any one of claims 1 to 6, wherein the collision avoidance alert information comprises primary collision avoidance alert information, intermediate collision avoidance alert information, and advanced collision avoidance alert information; the outputting, to the objects in the channels except for the any channel, anti-collision reminding information for indicating to stop moving, includes:
if the distances between the object of the other channel and the multi-channel junction are detected to be larger than a first preset distance threshold value, outputting the primary anti-collision reminding information to the object of the other channel;
if the distance between the object and the multi-channel junction in the other channels is detected to be smaller than the first preset distance threshold and larger than the second preset distance threshold, and the speed of the object is smaller than the third preset speed threshold, outputting the medium-level anti-collision reminding information to the object in the other channels;
If the distance between the object and the multi-channel junction in the other channels is detected to be smaller than the first preset distance threshold and larger than the second preset distance threshold, and the speed of the object is larger than a third preset speed threshold, outputting the advanced anti-collision reminding information to the object in the other channels;
and if the distance between the object and the multi-channel junction in the other channels is detected to be smaller than the second preset distance threshold, outputting the advanced anti-collision reminding information to the object in the other channels.
8. An anti-collision reminding device for a multi-channel junction, comprising:
the monitoring unit is used for monitoring the distance between an object which is led to the multi-channel junction and the multi-channel junction in each channel of the multi-channel junction in real time;
and the output unit is used for outputting anti-collision reminding information for indicating stopping moving to the objects of the channels except any channel if any channel in the channels is detected to have the target object with the distance smaller than the first threshold value at the junction of the multiple channels.
9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of the collision avoidance method of a multi-channel junction according to any of claims 1 to 7.
10. A computer readable storage medium storing a computer program, wherein the computer program when executed by a processor implements the steps of the collision avoidance method of a multi-channel junction according to any one of claims 1 to 7.
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