CN117671904A - Front crossing target early warning method and device, electronic equipment and storage medium - Google Patents
Front crossing target early warning method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The invention relates to a front crossing target early warning method, a device, electronic equipment and a storage medium, comprising the following steps: under the condition that a target early warning function of a target vehicle is activated, detecting a target object to obtain a detection result corresponding to the target object; generating early warning prompt information under the condition that the detection result represents that the target object enters a preset fan-shaped detection area and the target collision time of the target object and the target vehicle is smaller than the preset collision time, so that the target vehicle enters an early warning state; and when the target vehicle is in an early warning state and the speed of the target vehicle is greater than the first preset speed and less than or equal to the second preset speed, maintaining the target early warning function in an activated state so as to enable the target vehicle to maintain the early warning state. The invention expands the detection range of the front crossing target into a sector area, and improves the stability and the driving safety of the front crossing target early warning function by adding the vehicle speed hysteresis processing to the vehicle which has entered the early warning state.
Description
Technical Field
The invention relates to the technical field of automobile auxiliary driving, in particular to a front crossing target early warning method, a front crossing target early warning device, electronic equipment and a storage medium.
Background
In recent years, as vehicles are more and more, various traffic accidents frequently occur, and in order to ensure driving safety, the front of the vehicle is necessary to traverse the early warning, and the early warning can enable a driver to have enough time to react, so that the collision between the vehicle and a target object suddenly appearing in front can be effectively avoided.
The front crossing target early warning (Front Cross Traffic Alert, FCTA) is an automobile auxiliary driving function, and when a target crosses in front of the automobile or the automobile is in collision risk, the FCTA can give out corresponding early warning prompt.
However, the detection range of the existing FCTA is generally limited to a fixed rectangular area, and the setting is very easy to cause omission of detection of the target object, and can not give an alarm in time, so that unnecessary accidents can be caused. In addition, the system activation speed of the existing FCTA is single when the FCTA is opened and closed, when the speed of the vehicle is just at a critical value, unstable switching between early warning and non-early warning states can be possibly caused, early warning prompt cannot be timely sent out, and a driver cannot take corresponding measures, so that collision accidents are caused.
Disclosure of Invention
In order to solve the technical problems, the invention discloses a front crossing target early warning method, which changes the detection range of a front crossing target early warning function from a traditional rectangular area to a fan-shaped area, and increases the hysteresis processing of the exiting speed of the early warning function for a vehicle which enters an early warning state, thereby expanding the detection range of the front crossing target and improving the stability and driving safety of the front crossing target early warning function.
In order to achieve the above object, the present invention provides a front crossing target early warning method, the method comprising:
under the condition that a target early warning function of a target vehicle is activated, detecting a target object to obtain a detection result corresponding to the target object;
generating early warning prompt information under the condition that the detection result represents that the target object enters a preset fan-shaped detection area and the target collision time of the target object and the target vehicle is smaller than the preset collision time, so that the target vehicle enters an early warning state; the preset fan-shaped detection areas are two fan-shaped areas at the left front and the right front of the target vehicle;
when the target vehicle is in the early warning state and the speed of the target vehicle is greater than a first preset speed and less than or equal to a second preset speed, maintaining the target early warning function in an activated state so that the target vehicle maintains the early warning state; the first preset speed is the upper limit activation speed of the target early warning function.
In an alternative embodiment, the method further comprises:
and under the condition that the target vehicle is not in an early warning state and the speed of the target vehicle is smaller than or equal to the first preset speed, maintaining the target early warning function in an activated state.
In an optional embodiment, before the detecting the target object in the case that the target early warning function of the target vehicle is activated, the method further includes:
acquiring a gear and a vehicle speed of the target vehicle in response to the activation operation of the target early warning function;
and activating the target early warning function under the condition that the gear and the vehicle speed of the target vehicle meet preset activation conditions.
In an optional embodiment, the activating the target early warning function when the gear and the vehicle speed of the target vehicle meet preset activation conditions includes:
and activating the target early warning function under the condition that the gear of the target vehicle is a preset gear and the speed of the target vehicle is smaller than or equal to the first preset speed.
In an optional embodiment, the generating the early warning prompt information when the detection result indicates that the target object enters a preset sector detection area and the target collision time of the target object and the target vehicle is less than a preset collision time includes:
Acquiring first driving information of the target vehicle, collision area boundary data of the target vehicle and second driving information of the target object under the condition that the target object is detected to enter the preset fan-shaped detection area;
determining a target collision time of the target object with the target vehicle based on the first travel information, the collision region boundary data, and the second travel information;
and generating the early warning prompt information under the condition that the target collision time is smaller than the preset collision time.
In an optional embodiment, the determining the target collision time of the target object with the target vehicle based on the first travel information, the collision region boundary data, and the second travel information includes:
determining intersection point information of a travel path of the target object and a collision area boundary of the target vehicle based on the collision area boundary data and the second travel information;
calculating collision time information of the target object traveling to the collision region boundary based on the first traveling information, the second traveling information, and the intersection information;
The target collision time is determined based on the collision time information.
In an optional embodiment, the early warning prompt information includes one or more of graphic early warning information, sound early warning information, light early warning information and seat vibration early warning information, and the generating early warning prompt information includes:
and generating one or more of image-text early warning information, sound early warning information, lamplight early warning information and seat vibration early warning information.
The invention also provides a front crossing target early warning device, which comprises:
the detection module is used for detecting a target object under the condition that a target early warning function of a target vehicle is activated, so as to obtain a detection result corresponding to the target object;
the early warning module is used for generating early warning prompt information when the detection result represents that the target object enters a preset sector detection area and the target collision time of the target object and the target vehicle is smaller than the preset collision time, so that the target vehicle enters an early warning state; the preset fan-shaped detection areas are two fan-shaped areas at the left front and the right front of the target vehicle;
The control module is used for maintaining the target early warning function in an activated state under the condition that the target vehicle is in the early warning state and the speed of the target vehicle is greater than a first preset speed and less than or equal to a second preset speed, so that the target vehicle maintains the early warning state; the first preset speed is the upper limit activation speed of the target early warning function.
The invention also provides an electronic device comprising a processor and a memory, wherein at least one instruction or at least one section of program is stored in the memory, and the at least one instruction or the at least one section of program is loaded and executed by the processor so as to realize the front crossing target early warning method.
The present invention also provides a computer readable storage medium having stored therein at least one instruction or at least one program loaded and executed by a processor to implement the front crossing target pre-warning method as described above.
The embodiment of the invention has the following beneficial effects:
according to the front crossing target early warning method disclosed by the invention, the detection range of the front crossing target early warning function is changed from the traditional rectangular area into the fan-shaped area, and the hysteresis processing of the exiting speed of the early warning function is added to the vehicle which enters the early warning state, so that the detection range of the front crossing target is enlarged, and the stability and the driving safety of the front crossing target early warning function are improved.
Drawings
In order to more clearly illustrate the electronic parking brake method, apparatus, electronic device and storage medium of the present invention, the drawings required for the embodiments will be briefly described below, and it will be apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person having ordinary skill in the art.
FIG. 1 is a schematic diagram of a system according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a method for pre-warning a front crossing target according to an embodiment of the present invention;
fig. 3 is a schematic view illustrating a range of a preset sector detection area according to an embodiment of the present invention;
FIG. 4 is a schematic view of a simplified collision model provided by an embodiment of the present invention;
FIG. 5 is a schematic diagram of a front-crossing target early warning device according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Referring to fig. 1, fig. 1 illustrates a system that may be used to implement an embodiment of the present invention, as shown in fig. 1, the system may include at least an acquisition end 01, a control end 02, and an output end 03;
the acquisition end 01 can at least comprise a gear sensor and a radar, and the radar can be a millimeter wave radar, because compared with a laser radar and a camera, the millimeter wave radar has the advantages of high precision, low cost and strong penetrating power; the control end 02 can be a central control controller or other vehicle-mounted controllers of the target vehicle; the output end 03 can comprise a display device, an audio output device, a lamplight device and a seat vibration motor;
The acquisition end 01 is used for acquiring the gear, the speed, the first driving information and the second driving information of the target object of the target vehicle;
the control end 02 is used for detecting a target object under the condition that a target early warning function of a target vehicle is activated, so as to obtain a detection result corresponding to the target object; generating early warning prompt information under the condition that the detection result represents that the target object enters a preset fan-shaped detection area and the target collision time of the target object and the target vehicle is smaller than the preset collision time, so that the target vehicle enters an early warning state; the preset fan-shaped detection areas are two fan-shaped areas at the left front and the right front of the target vehicle; when the target vehicle is in the early warning state and the speed of the target vehicle is greater than a first preset speed and less than or equal to a second preset speed, maintaining the target early warning function in an activated state so that the target vehicle maintains the early warning state; the first preset speed is the upper limit activation speed of the target early warning function;
the output end 03 is used for performing one or more of graphic and text early warning, sound early warning, light early warning and seat vibration early warning based on the instruction output by the control end 02.
The following describes, with reference to fig. 2, a front crossing target early warning method based on the system of the present invention, and the present embodiment is applied to a control end of the system.
Referring to fig. 2, a schematic flow chart of a front-crossing target early warning method according to an embodiment of the present invention is shown, and the present disclosure provides the method operation steps described in the examples or the flow chart, but may include more or fewer operation steps based on conventional or non-inventive labor. The sequence of steps recited in the embodiments is only one manner of a plurality of execution sequences of steps, does not represent a unique execution sequence, and may be executed in the order of execution of the method shown in the embodiments or the drawings when the system or the server product is actually executed. As shown in fig. 2, the method includes:
s201, detecting a target object under the condition that a target early warning function of a target vehicle is activated, and obtaining a detection result corresponding to the target object;
in the embodiment of the present specification, the target object may include a motor vehicle, a non-motor vehicle, and a pedestrian;
in the embodiment of the present specification, the target object is in a motion state.
In an embodiment of the present disclosure, before the detecting the target object in the case where the target early warning function of the target vehicle is activated, the method further includes:
Acquiring a gear and a vehicle speed of the target vehicle in response to the activation operation of the target early warning function;
activating the target early warning function under the condition that the gear and the vehicle speed of the target vehicle meet preset activation conditions;
in the embodiment of the present specification, the activation operation of the target early warning function may be that a driver turns on a switch of the target early warning function;
in the embodiment of the present specification, the gear of the target vehicle may be acquired by a gear sensor, the speed of the target vehicle may be acquired by a radar, and the radar may be a millimeter wave radar;
according to the technical means, the embodiment of the specification can activate the front crossing target early warning function under the condition that the gear and the vehicle speed of the target vehicle meet the preset activation conditions, and further early warn the target vehicle in time under the condition that the target object enters the preset fan-shaped detection area and the target collision time of the target object and the target vehicle is smaller than the preset collision time, so that the driving safety is improved.
In this embodiment of the present disclosure, activating the target early warning function when the gear and the vehicle speed of the target vehicle meet preset activation conditions includes:
Activating the target early warning function under the condition that the gear of the target vehicle is a preset gear and the speed of the target vehicle is smaller than or equal to the first preset speed;
in the embodiment of the present specification, the preset gear may be other gears than the P gear (parking gear) and the R gear (reverse gear);
in the embodiment of the present disclosure, the first preset speed is an upper limit activation speed of the target early warning function, and the first preset speed may be in a range of 1-15 km/h; for example, the first preset speed may be 15km/h;
for example, the target early warning function may be activated when the gear of the target vehicle is a non-P gear and a non-R gear, and the vehicle speed of the target vehicle is 15km/h or less;
in this embodiment of the present disclosure, the first preset speed and the preset gear may be adjusted according to different vehicle type requirements, driving environments, and driving requirements;
according to the technical means, the embodiment of the specification can activate the front crossing target early warning function under the condition that the gear and the vehicle speed of the target vehicle meet the preset activation conditions, and further early warn the target vehicle in time under the condition that the target object enters the preset fan-shaped detection area and the target collision time of the target object and the target vehicle is smaller than the preset collision time, so that the driving safety is improved.
S203, generating early warning prompt information when the detection result indicates that the target object enters a preset sector detection area and the target collision time of the target object and the target vehicle is smaller than the preset collision time, so that the target vehicle enters an early warning state; the preset fan-shaped detection areas are two fan-shaped areas at the left front and the right front of the target vehicle;
in the embodiment of the present disclosure, fig. 3 is a schematic view of a range of a preset fan-shaped detection area provided in the embodiment of the present disclosure, where a radius R of two fan-shaped areas included in the preset fan-shaped detection area is a preset detection radius, and a central angle θ of two fan-shaped areas included in the preset fan-shaped detection area is a preset detection angle;
in the embodiment of the present specification, the preset detection radius may be in a range of 25-40 m; for example, the preset detection radius may be 35m;
in the embodiment of the present specification, the preset detection angle may be in a range of 0 ° -120 °; for example, the preset detection angle may be 120 °;
for example, the preset sector detection area may be two sector areas with a radius of 35m and a central angle of 120 ° at the left front and the right front of the target vehicle;
In the embodiment of the present disclosure, the preset detection radius and the preset detection angle may be adjusted according to different vehicle type requirements, driving environments, and driving requirements;
in this embodiment of the present disclosure, when the detection result indicates that the target object enters a preset sector detection area and a target collision time between the target object and the target vehicle is less than a preset collision time, generating early warning prompt information includes:
acquiring first driving information of the target vehicle, collision area boundary data of the target vehicle and second driving information of the target object under the condition that the target object is detected to enter the preset fan-shaped detection area;
determining a target collision time of the target object with the target vehicle based on the first travel information, the collision region boundary data, and the second travel information;
generating the early warning prompt information under the condition that the target collision time is smaller than the preset collision time;
in the embodiment of the present specification, whether the target object enters the preset sector detection area may be detected by a millimeter wave radar mounted on the target vehicle;
In the embodiment of the present specification, the first driving information of the target vehicle may include at least a speed, a position, and a driving direction of the target vehicle; the second driving information of the target object may include at least a speed, a position, and a driving direction of the target object;
in the embodiment of the present specification, the collision area boundary data of the target vehicle is determined based on the size information of the target vehicle and preset collision safety distance information; the dimension information includes a lateral dimension, which is a longest dimension of the target vehicle in a lateral direction of the target vehicle, and a longitudinal dimension, which is a longest dimension of the target vehicle in a longitudinal direction of the target vehicle; the preset collision safety distance information is a distance extending around the target vehicle as a center, and when the target object is within a preset collision safety distance corresponding to the preset collision safety distance information, the target vehicle and the target object cannot avoid collision;
in an embodiment of the present disclosure, a collision region boundary corresponding to the collision region boundary data may be a rectangle, and the collision region boundary may include a first collision boundary, a second collision boundary, a third collision boundary, and a fourth collision boundary;
In the embodiment of the present specification, the preset collision time may be in the range of 1.5s to 5 s; the preset collision time can be adjusted according to different vehicle type requirements, driving environments and driving requirements;
in the embodiment of the present disclosure, if the target object travels to the collision region boundary within the preset collision time, the target object collides with the target vehicle, otherwise, no collision occurs;
according to the technical means, in the embodiment of the specification, when the target object enters the preset sector detection area and the target collision time of the target object and the target vehicle is smaller than the preset collision time, the target vehicle can be early warned in time, and the driving safety is improved; the detection range of the front crossing target early warning function is changed from the traditional rectangular area to a fan-shaped area, so that the detection range of the front crossing target is enlarged; based on the boundary data of the collision area corresponding to the target vehicle, whether the target object collides with the target vehicle in the preset collision time can be judged, and the accuracy of front crossing target early warning is improved.
In an embodiment of the present disclosure, the determining, based on the first traveling information, the collision region boundary data, and the second traveling information, a target collision time of the target object with the target vehicle includes:
Determining intersection point information of a travel path of the target object and a collision area boundary of the target vehicle based on the collision area boundary data and the second travel information;
calculating collision time information of the target object traveling to the collision region boundary based on the first traveling information, the second traveling information, and the intersection information;
determining the target collision time based on the collision time information;
in this embodiment of the present disclosure, the intersection information includes first intersection information of a straight line where a first collision boundary corresponding to the collision region boundary data is located on a travel path of the target object, second intersection information of a straight line where a second collision boundary corresponding to the collision region boundary data is located on a travel path of the target object, third intersection information of a straight line where a third collision boundary corresponding to the collision region boundary data is located on a travel path of the target object, and fourth intersection information of a straight line where a fourth collision boundary corresponding to the collision region boundary data is located on a travel path of the target object;
in the present embodiment, the relative speed of the target object with respect to the target vehicle may be determined based on the first travel information and the second travel information;
In the embodiment of the present specification, collision time information of the target object traveling to the collision region boundary may be calculated based on the position of the target object, the intersection information, and the relative speed;
in the embodiment of the present specification, the collision time information may include a first collision time, a second collision time, a third collision time, and a fourth collision time; the first collision time is the time required by the target object to travel to a first intersection point, the second collision time is the time required by the target object to travel to a second intersection point, the third collision time is the time required by the target object to travel to a third intersection point, and the fourth collision time is the time required by the target object to travel to a fourth intersection point;
in the present embodiment, a first minimum collision time, a first maximum collision time, a second minimum collision time, and a second maximum collision time may be determined based on the first collision time, the second collision time, the third collision time, and the fourth collision time; the first minimum collision time is a minimum value of the first collision time and the second collision time, the first maximum collision time is a maximum value of the first collision time and the second collision time, the second minimum collision time is a minimum value of the third collision time and the fourth collision time, and the second maximum collision time is a maximum value of the third collision time and the fourth collision time;
In this embodiment of the present disclosure, if the first minimum collision time is greater than the second maximum collision time or the first maximum collision time is less than the second minimum collision time, the target object and the target vehicle will not collide; if the first minimum collision time is less than or equal to the second maximum collision time and the first maximum collision time is greater than or equal to the second minimum collision time, the target object and the target vehicle are likely to collide;
in the present embodiment, the target collision time may be determined based on the first minimum collision time and the second minimum collision time; the target collision time is a maximum of the first minimum collision time and the second minimum collision time;
in this embodiment of the present disclosure, fig. 4 is a schematic diagram of a collision simplified model provided in the embodiment of the present disclosure, where the length of the target vehicle is L1, the width of the target vehicle is L2, the collision area is a rectangular area formed by four straight lines of x=xa, x=xc, y=ya, and y=yb, the straight line of the first collision boundary is x=xc, the straight line of the second collision boundary is x=xa, the straight line of the third collision boundary is y=ya, the straight line of the fourth collision boundary is y=yb, the first intersection is Z1 (Xc, yz 1), the second intersection is Z2 (Xa, yz 2), the third intersection is Z3 (Xz 3, ya), the fourth intersection is Z4 (Xz 4, yb), the target object is located at a point P (x 1, y 1) in a preset sector detection area, and travels from a relative speed (Vx 1, vy 1) to a point P' where Vx1 represents the relative speed of the target object along the x axis, and the relative speed of the target object along the y1; the time required for the target object to travel from point P to four intersection points is Tz1, tz2, tz3, and Tz4, respectively, wherein Tz 1= (Xc-x 1)/Vx 1, tz 2= (Xa-x 1)/Vx 1, tz 3= (Ya-y 1)/Vy 1, tz 4= (Yb-y 1)/Vy 1; the first minimum collision time may be expressed as min1 = min (Tz 1, tz 2), the first maximum collision time may be expressed as max1 = max (Tz 1, tz 2), the second minimum collision time may be expressed as min2 = min (Tz 3, tz 4), the second maximum collision time may be expressed as max2 = max (Tz 3, tz 4), and the target collision time may be expressed as max (min 1, min 2); if min (Tz 1, tz 2) is greater than or equal to min (Tz 3, tz 4), determining min (Tz 1, tz 2) as target collision time, and generating early warning prompt information under the condition that min (Tz 1, tz 2) is smaller than preset collision time; if min (Tz 3, tz 4) is greater than or equal to min (Tz 1, tz 2), determining min (Tz 3, tz 4) as target collision time, and generating early warning prompt information under the condition that min (Tz 3, tz 4) is smaller than preset collision time;
According to the technical means, in the embodiment of the specification, when the target object enters the preset sector detection area and the target collision time of the target object and the target vehicle is smaller than the preset collision time, the target vehicle can be early warned in time, and the driving safety is improved; the detection range of the front crossing target early warning function is changed from the traditional rectangular area to a fan-shaped area, so that the detection range of the front crossing target is enlarged; based on the boundary data of the collision area corresponding to the target vehicle, whether the target object collides with the target vehicle in the preset collision time can be judged, and the accuracy of front crossing target early warning is improved.
In this embodiment of the present disclosure, the early warning prompt information includes one or more of graphic and text early warning information, sound early warning information, light early warning information, and seat vibration early warning information, where the generating early warning prompt information includes:
generating one or more of image-text early warning information, sound early warning information, lamplight early warning information and seat vibration early warning information;
in this embodiment of the present disclosure, the graphic early warning information may be output by a display device of the target vehicle, where the graphic early warning information may include pictures, characters, and identifiers, and the display device may be a dashboard, a central control screen, or other vehicle-mounted screens; the sound warning information can be output by an audio output device of the target vehicle, and the audio output device can be a loudspeaker or other vehicle-mounted audio equipment; the light early warning information can be output by a light device of the target vehicle, and the light device can be an early warning lamp or other vehicle-mounted lamps; the seat vibration early warning information may be output by a seat vibration motor of the target vehicle;
According to the technical means, the method and the device can timely early warn the target vehicle under the condition that the target object enters the preset fan-shaped detection area and the target collision time of the target object and the target vehicle is smaller than the preset collision time, so that driving safety is improved.
S205, when the target vehicle is in the early warning state and the speed of the target vehicle is greater than a first preset speed and less than or equal to a second preset speed, maintaining the target early warning function in an activated state so that the target vehicle maintains the early warning state; the first preset speed is the upper limit activation speed of the target early warning function;
in the embodiment of the present specification, the first preset speed may be in a range of 1-15 km/h; for example, the first preset speed may be 15km/h;
in the embodiment of the present specification, the range of the second preset speed may be greater than 15km/h; for example, the second preset speed may be 20km/h;
for example, the target early warning function may be maintained in an activated state in a case where the target vehicle is in the early warning state and a vehicle speed of the target vehicle is greater than 15km/h and less than or equal to 20km/h, so that the target vehicle maintains the early warning state;
In this embodiment of the present disclosure, the first preset speed and the second preset speed may be adjusted according to different vehicle type requirements, driving environments, and driving requirements;
in the embodiment of the present disclosure, the target early warning function is turned off only when the target vehicle is in the early warning state and the vehicle speed of the target vehicle is greater than the second preset speed; for the FCTA function in the prior art, when the speed of the vehicle is slightly larger than the upper limit activation speed (for example, 15 km/h) of the FCTA function, the FCTA function is immediately closed, whether the vehicle is in an early warning state or not and whether the crossing collision risk exists or not, if the speed of the vehicle fluctuates up and down at the upper limit activation speed of the FCTA function and the vehicle in front of the FCTA function transversely occurs at the moment, the situation that the early warning is lost sometimes occurs is caused, the hysteresis processing of the FCTA function exiting the speed is added, if the vehicle enters the early warning state, a small speed fluctuation is allowed, the FCTA function is not satisfied, specifically, the target early warning function is maintained in the activation state when the target vehicle is in the early warning state and the speed of the target vehicle is larger than 15km/h and smaller than or equal to 20km/h, and the target early warning function is closed when the target vehicle is in the early warning state and the speed of the target vehicle is larger than 20 km/h.
In an embodiment of the present specification, the method further includes:
when the target vehicle is not in an early warning state and the speed of the target vehicle is smaller than or equal to the first preset speed, maintaining the target early warning function in an activated state;
in the embodiment of the present disclosure, the first preset speed is an upper limit activation speed of the target early warning function, and the first preset speed may be in a range of 1-15 km/h; for example, the first preset speed may be 15km/h;
in this embodiment of the present disclosure, the first preset speed may be adjusted according to different vehicle type requirements, driving environments, and driving requirements;
in the embodiment of the present disclosure, the target early warning function may be turned off when the target vehicle is not in an early warning state and the vehicle speed of the target vehicle is greater than the first preset speed;
for example, the target early-warning function may be maintained in an activated state when the target vehicle is not in an early-warning state and the vehicle speed of the target vehicle is 15km/h or less, and the target early-warning function may be turned off when the target vehicle is not in an early-warning state and the vehicle speed of the target vehicle is greater than 15km/h;
According to the technical means, the embodiment of the specification adds hysteresis processing of the exit speed of the early warning function to the target vehicle which enters the early warning state, if the target vehicle enters the early warning state, a small amount of speed fluctuation is allowed, and the front part of the target vehicle is exited to cross the early warning function without meeting the speed hysteresis; if the target vehicle does not enter the early warning state, the front crossing target early warning function can be exited under the condition that the speed of the target vehicle is larger than the upper limit activation speed of the front crossing target early warning function, so that the stability and driving safety of the front crossing target early warning function are improved, and the experience of a driver using the front crossing target early warning function is improved.
As can be seen from the embodiment of the front crossing target early warning method provided by the invention, the embodiment of the invention detects the target object under the condition that the target early warning function of the target vehicle is activated, and obtains the detection result corresponding to the target object; generating early warning prompt information under the condition that the detection result represents that the target object enters a preset fan-shaped detection area and the target collision time of the target object and the target vehicle is smaller than the preset collision time, so that the target vehicle enters an early warning state; the preset fan-shaped detection areas are two fan-shaped areas at the left front and the right front of the target vehicle; when the target vehicle is in the early warning state and the speed of the target vehicle is greater than a first preset speed and less than or equal to a second preset speed, maintaining the target early warning function in an activated state so that the target vehicle maintains the early warning state; the first preset speed is the upper limit activation speed of the target early warning function. According to the technical scheme provided by the embodiment of the specification, the detection range of the front crossing target early warning function is changed from a traditional rectangular area to a sector area, and the hysteresis processing of the exiting speed of the early warning function is added to the vehicle which enters the early warning state, so that the detection range of the front crossing target is enlarged, and the stability and the driving safety of the front crossing target early warning function are improved.
The embodiment of the invention also provides a front crossing target early warning device, as shown in fig. 5, which is a schematic structural diagram of the front crossing target early warning device provided by the embodiment of the invention; specifically, the device comprises:
the detection module 510 is configured to detect a target object under the condition that a target early warning function of a target vehicle is activated, so as to obtain a detection result corresponding to the target object;
the early warning module 520 is configured to generate early warning prompt information when the detection result indicates that the target object enters a preset sector detection area and the target collision time of the target object and the target vehicle is less than a preset collision time, so that the target vehicle enters an early warning state; the preset fan-shaped detection areas are two fan-shaped areas at the left front and the right front of the target vehicle;
a control module 530, configured to maintain the target early warning function in an activated state when the target vehicle is in the early warning state and a vehicle speed of the target vehicle is greater than a first preset speed and less than or equal to a second preset speed, so that the target vehicle maintains the early warning state; the first preset speed is the upper limit activation speed of the target early warning function.
In an embodiment of the present disclosure, the apparatus further includes:
the second control module is used for maintaining the target early warning function to be in an activated state under the condition that the target vehicle is not in an early warning state and the speed of the target vehicle is smaller than or equal to the first preset speed;
the acquisition module is used for responding to the activation operation of the target early warning function and acquiring the gear and the speed of the target vehicle;
and the activation module is used for activating the target early warning function under the condition that the gear and the vehicle speed of the target vehicle meet preset activation conditions.
In an embodiment of the present disclosure, the activation module includes:
the first activating unit is used for activating the target early warning function under the condition that the gear of the target vehicle is a preset gear and the speed of the target vehicle is smaller than or equal to the first preset speed.
In the embodiment of the present disclosure, the early warning module 520 includes:
a first acquiring unit configured to acquire, when it is detected that the target object enters the preset sector detection area, first traveling information of the target vehicle, collision area boundary data of the target vehicle, and second traveling information of the target object;
A target collision time determination unit configured to determine a target collision time of the target object with the target vehicle based on the first travel information, the collision region boundary data, and the second travel information;
the early warning unit is used for generating the early warning prompt information under the condition that the target collision time is smaller than the preset collision time;
and the early warning information generation unit is used for generating one or more of image-text early warning information, sound early warning information, lamplight early warning information and seat vibration early warning information.
In the embodiment of the present specification, the target collision time determination unit includes:
an intersection information determination subunit configured to determine intersection information of a travel path of the target object and a collision area boundary of the target vehicle based on the collision area boundary data and the second travel information;
a first calculation subunit configured to calculate collision time information for the target object to travel to the collision region boundary based on the first travel information, the second travel information, and the intersection information;
and a target collision time determination subunit configured to determine the target collision time based on the collision time information.
The embodiment of the invention also provides electronic equipment, which comprises a processor and a memory; the memory stores one or more instructions adapted to be loaded and executed by the processor to implement the front-crossing target pre-warning method as described in the method embodiments above.
The memory may be used to store software programs and modules that the processor executes to perform various functional applications and data processing by executing the software programs and modules stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, application programs required for functions, and the like; the storage data area may store data created according to the use of the device, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory may also include a memory controller to provide access to the memory by the processor.
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, where the internal structure of the electronic device may include, but is not limited to: processor 601, memory 602, and communication interface 603, wherein processor 601, memory 602, and communication interface 603 within the electronic device may be connected by a bus or other means, such as by a bus connection in fig. 5 of the present embodiment.
The processor 601 (or CPU (Central Processing Unit, central processing unit)) is a computing core and a control core of the electronic device. A communication interface 603 for communication between the memory 602 and the processor 601. A Memory 602 (Memory) for storing programs and data. It will be appreciated that the memory herein may be a high speed RAM memory device or a non-volatile memory device, such as at least one magnetic disk memory device; optionally, at least one memory device located remotely from the processor. The memory provides a storage space that stores an operating system of the electronic device, which may include, but is not limited to: windows system (an operating system), linux system (an operating system), etc., which is not limiting in this regard; also stored in the memory space is a computer program (including program code) adapted to be loaded and executed by the processor. In the present embodiment, the processor 601 loads and executes the computer program stored in the memory 602 to implement the front crossing target early warning method provided by the above embodiment of the method.
Embodiments of the present invention also provide a computer readable storage medium that may be disposed in an electronic device to store at least one instruction, at least one program, a set of codes, or a set of instructions related to implementing a front-crossing target pre-warning method in a method embodiment, where the at least one instruction, the at least one program, the set of codes, or the set of instructions may be loaded and executed by a processor of the electronic device to implement the front-crossing target pre-warning method provided in the method embodiment described above.
Alternatively, in the present embodiment, the storage medium may include, but is not limited to: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
It should be noted that: the foregoing sequence of embodiments of the present invention is for illustration only and does not represent the advantages or disadvantages of the embodiments, and the foregoing description of specific embodiments of the present invention is intended to be within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. Furthermore, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments in part.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program for instructing relevant hardware, where the program may be stored in a computer readable storage medium, and the storage medium may be a read-only memory, a magnetic disk, an optical disk, or the like.
The above disclosure is only a preferred embodiment of the present invention, and it is needless to say that the scope of the invention is not limited thereto, and therefore, the equivalent changes according to the claims of the present invention still fall within the scope of the present invention.
Claims (10)
1. A front crossing target early warning method, comprising:
under the condition that a target early warning function of a target vehicle is activated, detecting a target object to obtain a detection result corresponding to the target object;
generating early warning prompt information under the condition that the detection result represents that the target object enters a preset fan-shaped detection area and the target collision time of the target object and the target vehicle is smaller than the preset collision time, so that the target vehicle enters an early warning state; the preset fan-shaped detection areas are two fan-shaped areas at the left front and the right front of the target vehicle;
When the target vehicle is in the early warning state and the speed of the target vehicle is greater than a first preset speed and less than or equal to a second preset speed, maintaining the target early warning function in an activated state so that the target vehicle maintains the early warning state; the first preset speed is the upper limit activation speed of the target early warning function.
2. The front crossing target warning method according to claim 1, characterized in that the method further comprises:
and under the condition that the target vehicle is not in an early warning state and the speed of the target vehicle is smaller than or equal to the first preset speed, maintaining the target early warning function in an activated state.
3. The front-crossing target warning method according to claim 1, characterized in that the method further comprises, before the detection of the target object in the case where the target warning function of the target vehicle is activated:
acquiring a gear and a vehicle speed of the target vehicle in response to the activation operation of the target early warning function;
and activating the target early warning function under the condition that the gear and the vehicle speed of the target vehicle meet preset activation conditions.
4. The front crossing target early warning method according to claim 3, wherein the activating the target early warning function in the case where the gear position and the vehicle speed of the target vehicle satisfy a preset activation condition includes:
and activating the target early warning function under the condition that the gear of the target vehicle is a preset gear and the speed of the target vehicle is smaller than or equal to the first preset speed.
5. The front crossing target early warning method according to claim 1, wherein the generating early warning prompt information in a case where the detection result characterizes that the target object enters a preset sector detection area and a target collision time of the target object with the target vehicle is less than a preset collision time includes:
acquiring first driving information of the target vehicle, collision area boundary data of the target vehicle and second driving information of the target object under the condition that the target object is detected to enter the preset fan-shaped detection area;
determining a target collision time of the target object with the target vehicle based on the first travel information, the collision region boundary data, and the second travel information;
And generating the early warning prompt information under the condition that the target collision time is smaller than the preset collision time.
6. The front crossing target early warning method according to claim 5, characterized in that the determining a target collision time of the target object with the target vehicle based on the first travel information, the collision region boundary data, and the second travel information includes:
determining intersection point information of a travel path of the target object and a collision area boundary of the target vehicle based on the collision area boundary data and the second travel information;
calculating collision time information of the target object traveling to the collision region boundary based on the first traveling information, the second traveling information, and the intersection information;
the target collision time is determined based on the collision time information.
7. The front crossing target early warning method according to claim 1, wherein the early warning prompt information includes one or more of graphic early warning information, sound early warning information, light early warning information, and seat vibration early warning information, and the generating early warning prompt information includes:
And generating one or more of image-text early warning information, sound early warning information, lamplight early warning information and seat vibration early warning information.
8. A front crossing target warning device, comprising:
the detection module is used for detecting a target object under the condition that a target early warning function of a target vehicle is activated, so as to obtain a detection result corresponding to the target object;
the early warning module is used for generating early warning prompt information when the detection result represents that the target object enters a preset sector detection area and the target collision time of the target object and the target vehicle is smaller than the preset collision time, so that the target vehicle enters an early warning state; the preset fan-shaped detection areas are two fan-shaped areas at the left front and the right front of the target vehicle;
the control module is used for maintaining the target early warning function in an activated state under the condition that the target vehicle is in the early warning state and the speed of the target vehicle is greater than a first preset speed and less than or equal to a second preset speed, so that the target vehicle maintains the early warning state; the first preset speed is the upper limit activation speed of the target early warning function.
9. An electronic device comprising a processor and a memory, wherein the memory has stored therein at least one instruction or at least one program that is loaded and executed by the processor to implement the front-crossing target pre-warning method of any one of claims 1-7.
10. A computer readable storage medium having stored therein at least one instruction or at least one program loaded and executed by a processor to implement the front-traversing goal warning method according to any one of claims 1-7.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117995022A (en) * | 2024-04-07 | 2024-05-07 | 中国第一汽车股份有限公司 | Screening method and device for crossing vehicle targets, vehicle and storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117995022A (en) * | 2024-04-07 | 2024-05-07 | 中国第一汽车股份有限公司 | Screening method and device for crossing vehicle targets, vehicle and storage medium |
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