CN117719420A - Driving early warning method, driving early warning device, computer equipment, storage medium and program product - Google Patents
Driving early warning method, driving early warning device, computer equipment, storage medium and program product Download PDFInfo
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Abstract
The application relates to a driving early warning method, a driving early warning device, computer equipment, a storage medium and a computer program product. The method comprises the following steps: acquiring road information based on the vehicle-mounted camera; carrying out lane line detection operation according to the road information to obtain lane line information of a road where the vehicle is located; obtaining the relative distance between a vehicle and a lane line where the vehicle is located according to the lane line information and the vehicle structure information; acquiring driving information of a vehicle; under the condition that the auxiliary module outside the vehicle is in an available state, determining whether to trigger external early warning according to the driving information and the relative distance; and under the condition that the triggering of the external early warning is determined, controlling the external warning lamp to be started. By adopting the method, the driving safety can be improved.
Description
Technical Field
The present application relates to the field of safe driving technologies for automobiles, and in particular, to a driving early warning method, apparatus, computer device, storage medium and computer program product.
Background
In the conventional technology, during driving of a vehicle, the driver is mainly involved in obtaining road information and traffic conditions around the vehicle by means of his/her own vision, hearing and other senses, and making decisions and operations. However, this method has a problem that the driver is not focused, and the traffic accident is liable to occur.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a driving warning method, apparatus, computer device, computer readable storage medium, and computer program product that can realize warning of an external vehicle, reduce probability of occurrence of driving accident, and improve driving safety.
In a first aspect, the present application provides a driving early warning method. The vehicle-mounted camera module is applied to a vehicle comprising a vehicle-mounted camera, an external auxiliary module and an external warning lamp; the method comprises the following steps:
acquiring road information based on the vehicle-mounted camera;
carrying out lane line detection operation according to the road information to obtain lane line information of a road where the vehicle is located;
obtaining the relative distance between a vehicle and a lane line where the vehicle is located according to the lane line information and the vehicle structure information;
Acquiring driving information of a vehicle;
under the condition that the auxiliary module outside the vehicle is in an available state, determining whether to trigger external early warning according to the driving information and the relative distance;
controlling the external warning lamp to be started under the condition that the triggering of external warning is determined; the external warning lamp comprises one of a steering lamp, a warning lamp or a projection lamp.
In one embodiment, the driving information includes vehicle speed information and gear information; determining whether to trigger external early warning according to the driving information and the relative distance comprises:
and determining to trigger external early warning under the condition that the vehicle speed information is greater than a vehicle speed threshold value, the gear information is a forward gear and the relative distance is not greater than a first distance threshold value.
In one embodiment, the driving information further includes yaw angle information, lateral speed information, and acceleration information; the method further comprises the steps of:
acquiring predicted line pressing time according to the vehicle speed information, the yaw angle information, the transverse speed information, the acceleration information and the relative distance;
and determining to trigger external early warning under the condition that the vehicle speed information is greater than a vehicle speed threshold value, the gear information is a forward gear and the predicted line pressing duration is not greater than a first preset safety duration.
In one embodiment, the vehicle further comprises an in-vehicle assistance module; a process of determining that the off-board auxiliary module is in an available state, comprising:
under the condition that the external auxiliary module is detected to continuously receive the relative distance sent by the internal auxiliary module according to a first preset period, the external auxiliary module is determined to be in an available state;
or,
and under the condition that the out-of-vehicle auxiliary module is detected to continuously receive the predicted line pressing time length sent by the in-vehicle auxiliary module according to a second preset period, determining that the out-of-vehicle auxiliary module is in an available state.
In one embodiment, the vehicle further comprises a human machine interface HMI system; the method further comprises the steps of:
determining whether a control signal exists in the vehicle under the condition that the preset wire pressing time length is smaller than a second preset safety time length or the relative distance is not larger than a second preset distance; the control signal comprises at least one of a vehicle gear signal, a steering wheel angle signal, a braking signal, an acceleration signal or a steering lamp control signal; the second preset safety duration is smaller than the first preset safety duration; the second preset distance is smaller than the first preset distance;
Determining to trigger an internal warning if the control signal is not present in the vehicle;
and under the condition that the triggering of the internal early warning is determined, the control HMI system sends out an alarm prompt.
In one embodiment, the road information includes image information of a road on which the vehicle is located; the step of carrying out lane line detection operation according to the road information to obtain lane line information of a road where the vehicle is located comprises the following steps:
extracting lane edge points according to the image information of the road where the vehicle is located;
and carrying out Hough transformation on the lane edge points to acquire lane line information of a road where the vehicle is located.
In a second aspect, the present application further provides a driving early warning device. The vehicle-mounted camera module is applied to a vehicle comprising a vehicle-mounted camera, an external auxiliary module and an external warning lamp; the device comprises:
the road information acquisition module is used for acquiring road information based on the vehicle-mounted camera;
the lane line acquisition module is used for carrying out lane line detection operation according to the road information to acquire lane line information of a road where the vehicle is located;
the relative distance obtaining module is used for obtaining the relative distance between the vehicle and the lane line where the vehicle is located according to the lane line information and the vehicle structure information;
The driving information acquisition module is used for acquiring driving information of the vehicle;
the external early warning determining module is used for determining whether to trigger external early warning according to the driving information and the relative distance under the condition that the external auxiliary module is in an available state;
the control module is used for controlling the external warning lamp to be started under the condition that the external warning is triggered; the external warning lamp comprises one of a steering lamp, a warning lamp or a projection lamp.
In a third aspect, the present application also provides a computer device. The computer device comprises a memory storing a computer program and a processor which when executing the computer program performs the steps of:
acquiring road information based on the vehicle-mounted camera;
carrying out lane line detection operation according to the road information to obtain lane line information of a road where the vehicle is located;
obtaining the relative distance between a vehicle and a lane line where the vehicle is located according to the lane line information and the vehicle structure information;
acquiring driving information of a vehicle;
under the condition that the auxiliary module outside the vehicle is in an available state, determining whether to trigger external early warning according to the driving information and the relative distance;
Controlling the external warning lamp to be started under the condition that the triggering of external warning is determined; the external warning lamp comprises one of a steering lamp, a warning lamp or a projection lamp.
In a fourth aspect, the present application also provides a computer-readable storage medium. The computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:
acquiring road information based on the vehicle-mounted camera;
carrying out lane line detection operation according to the road information to obtain lane line information of a road where the vehicle is located;
obtaining the relative distance between a vehicle and a lane line where the vehicle is located according to the lane line information and the vehicle structure information;
acquiring driving information of a vehicle;
under the condition that the auxiliary module outside the vehicle is in an available state, determining whether to trigger external early warning according to the driving information and the relative distance;
controlling the external warning lamp to be started under the condition that the triggering of external warning is determined; the external warning lamp comprises one of a steering lamp, a warning lamp or a projection lamp.
In a fifth aspect, the present application also provides a computer program product. The computer program product comprises a computer program which, when executed by a processor, implements the steps of:
Acquiring road information based on the vehicle-mounted camera;
carrying out lane line detection operation according to the road information to obtain lane line information of a road where the vehicle is located;
obtaining the relative distance between a vehicle and a lane line where the vehicle is located according to the lane line information and the vehicle structure information;
acquiring driving information of a vehicle;
under the condition that the auxiliary module outside the vehicle is in an available state, determining whether to trigger external early warning according to the driving information and the relative distance;
controlling the external warning lamp to be started under the condition that the triggering of external warning is determined; the external warning lamp comprises one of a steering lamp, a warning lamp or a projection lamp.
The driving early warning method, the driving early warning device, the computer equipment, the storage medium and the computer program product acquire road information based on the vehicle-mounted camera; according to the road information, carrying out lane line detection operation and obtaining lane line information of a road where a vehicle is located; according to the lane line information and the vehicle structure information, obtaining the relative distance between the vehicle and the lane line where the vehicle is located; acquiring driving information of a vehicle; under the condition that the auxiliary module outside the vehicle is in an available state, determining whether to trigger external early warning according to driving information and relative distance; and under the condition that the triggering of the external early warning is determined, controlling the external warning lamp to be started. Based on the road information acquired by the vehicle-mounted camera, lane line detection operation is performed, lane line information of a road where a vehicle is located can be accurately acquired, so that the relative distance between the vehicle and the lane line is monitored in real time, whether external early warning is triggered or not is determined according to the relative distance and vehicle driving information, the external vehicle is warned, the probability of driving accidents is reduced, and driving safety is improved.
Drawings
FIG. 1 is a flow chart of a driving pre-warning method according to an embodiment;
FIG. 2 is a schematic diagram of a driving warning including an in-vehicle assistance module and an out-of-vehicle assistance module in one embodiment;
FIG. 3 is a schematic diagram of logic determination of an off-board auxiliary module in one embodiment;
FIG. 4 is a flow chart of a driving pre-warning method according to another embodiment;
FIG. 5 is a block diagram of a driving warning device according to an embodiment;
fig. 6 is an internal structural diagram of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
In one embodiment, as shown in fig. 1, a driving early warning method is provided, which is applied to a vehicle including a vehicle-mounted camera, an external auxiliary module and an external warning lamp, and includes the following steps:
step 102, obtaining road information based on the vehicle-mounted camera.
The vehicle-mounted camera can comprise a front-view vehicle-mounted camera and a side-view vehicle-mounted camera. The front view vehicle-mounted cameras are generally installed at the upper part of a windshield of an automobile, and are generally classified into monocular and binocular cameras. Side view vehicle-mounted camera: the automobile traffic sign is usually arranged on two sides of an automobile, the viewing angle is generally 90 degrees, and the automobile traffic sign is used for achieving the functions of lane departure warning, traffic sign identification, vehicle lane changing assistance and the like. The side view vehicle-mounted camera is generally of a monocular type, and traffic conditions of the side of the vehicle can be monitored in real time.
The off-board assistance module may be used to determine whether the vehicle is capable of triggering an external warning. The external warning light may be used to alert an external driver or pedestrian after activation.
The road information may be road information in the vicinity of the vehicle acquired by an in-vehicle camera.
And 104, carrying out lane line detection operation according to the road information, and acquiring lane line information of a road where the vehicle is located.
The lane line information may include, but is not limited to, position information and shape information where the lane line is located.
The lane line detection operation may be to identify the position and shape of a lane line, and information such as color, width, and continuity of the lane line by analyzing a road image in front of the vehicle, thereby acquiring lane line information in which the vehicle is located. Specifically, in the case of lane line detection, image processing and computer vision techniques are generally used to acquire lane line information in which a vehicle is located.
And 106, obtaining the relative distance between the vehicle and the lane line where the vehicle is located according to the lane line information and the vehicle structure information.
Wherein, vehicle structure information can be obtained through sensors and control systems on the vehicle. Specifically, the information such as the length, width, height of the vehicle, and the posture of the vehicle in the vertical and horizontal directions is acquired mainly by sensors and control systems on the vehicle.
The relative distance is the distance between the vehicle and the lane line where the vehicle is located. Specifically, the distance of the vehicle relative to the lane line may be calculated by matching and comparing information such as the position and shape of the lane line with information such as the position and posture of the vehicle.
Step 108, obtaining driving information of the vehicle.
The driving information of the vehicle may be recorded state information of the vehicle when the vehicle is driving on a road. Specifically, driving information of the vehicle may be acquired by an in-vehicle sensor and a control system.
In particular practice, driving information may be used for navigation and control of automated driving and assisted driving systems to ensure safe driving of the vehicle on the road.
And step 110, determining whether to trigger external early warning according to the driving information and the relative distance under the condition that the auxiliary module outside the vehicle is in an available state.
For example, in the case where the outside-vehicle assistance module is in an available state, the running state and risk of the vehicle can be estimated by the driving information and the relative distance of the vehicle. For example: under the condition that the vehicle is driving on a road, the risk of vehicle deviation is estimated according to the driving information and the relative distance of the vehicle, and under the condition that a certain threshold value is exceeded, external early warning can be triggered to warn drivers or pedestrians of the external vehicle to pay attention to safety.
Step 112, under the condition that the triggering of external early warning is determined, controlling the external warning lamp to be started; the external warning lamp comprises one of a steering lamp, a warning lamp or a projection lamp.
Wherein, outside warning light can include one of a turn signal, a warning light or a projection light.
In an exemplary case, the external warning lamp is controlled to be started under the condition that the triggering of the external warning is determined.
In particular, it is generally preferred that the external warning light is a turn light. And turning on the steering lamp consistent with the vehicle deviation direction under the condition that the external warning is triggered and the external warning lamp is the steering lamp. That is, when the vehicle is driven, if the offset direction of the vehicle is left, turning on a left turn signal; if the offset direction of the vehicle is right, the right turn lamp is turned on.
In the case that the external warning is triggered and the external warning lamp is a projection lamp, the projection lamp can be started to project a warning image. In particular, the external warning light may be adapted to be a projection light in the event that the vehicle is in a night or low light condition.
In the driving early warning method, road information is acquired based on the vehicle-mounted camera; according to the road information, carrying out lane line detection operation and obtaining lane line information of a road where a vehicle is located; according to the lane line information and the vehicle structure information, obtaining the relative distance between the vehicle and the lane line where the vehicle is located; acquiring driving information of a vehicle; under the condition that the auxiliary module outside the vehicle is in an available state, determining whether to trigger external early warning according to driving information and relative distance; and under the condition that the triggering of the external early warning is determined, controlling the external warning lamp to be started. Based on the road information acquired by the vehicle-mounted camera, lane line detection operation is performed, lane line information of a road where a vehicle is located can be accurately acquired, so that the relative distance between the vehicle and the lane line is monitored in real time, whether external early warning is triggered or not is determined according to the relative distance and vehicle driving information, the external vehicle is warned, the probability of driving accidents is reduced, and driving safety is improved.
In one embodiment, the road information includes image information of a road on which the vehicle is located; step 104, including:
step 1042, extracting the lane edge point according to the image information of the road where the vehicle is located.
Illustratively, the lane edge points are extracted from the image information of the road on which the vehicle is located by an image processing technique. Specifically, the image of the road is subjected to preprocessing stages including denoising, contrast enhancement and the like, so that lane lines in the image are more obvious. And then extracting edge points of the lane lines in the preprocessed image through an edge detection algorithm.
Step 1044, performing hough transformation on the lane edge points, and obtaining lane line information of the road where the vehicle is located.
Wherein the hough transform can be used to detect shapes in the image such as straight lines, circles, etc.
Illustratively, hough transformation is performed on the lane edge points to detect a straight line where a lane line is located, so as to output a related parameter, such as a slope or an intercept, so as to obtain lane line information of a road where a vehicle is located.
In the embodiment, the lane edge points are extracted through the image information of the road where the vehicle is located, so that the lane line information of the road where the vehicle is located is obtained through Hough transformation, the position and the shape of the lane line are accurately detected, reliable reference information is provided for driving of the vehicle, and driving safety is improved.
In one embodiment, the driving information includes vehicle speed information and gear information; step 110, including: and determining to trigger external early warning under the condition that the vehicle speed information is greater than a vehicle speed threshold value, the gear information is a forward gear and the relative distance is not greater than a first distance threshold value.
The driving information may include vehicle speed information and gear information, among others. Specifically, the vehicle speed information may be obtained through a sensor of the vehicle or a GPS or the like, and the gear information may be obtained through a transmission system of the vehicle.
Specifically, the vehicle speed threshold value and the first distance threshold value are a safe vehicle speed threshold value and a safe distance threshold value set according to an empirical value.
In specific practice, if the vehicle speed information is greater than the vehicle speed threshold, it means that the speed of the vehicle has exceeded a preset safety threshold. And if the gear information is a forward gear, the vehicle is indicated to drive forward in a normal driving state.
For example, it is determined that the external warning is triggered when the vehicle speed information is greater than a vehicle speed threshold, the gear information is a forward gear, and the relative distance is not greater than a first distance threshold.
In the above embodiment, through the vehicle speed information, the gear information and the relative distance between the vehicle and the lane line where the vehicle is located, whether the external early warning needs to be triggered or not can be accurately judged, so that the driver or the pedestrian of the external vehicle is reminded of paying attention to safety through the external early warning, and the driving safety is improved.
In one embodiment, the driving information further includes yaw angle information, lateral speed information, and acceleration information; step 110, further includes:
acquiring predicted line pressing time according to the vehicle speed information, the yaw angle information, the transverse speed information, the acceleration information and the relative distance;
and determining to trigger external early warning under the condition that the vehicle speed information is greater than a vehicle speed threshold value, the gear information is a forward gear and the predicted line pressing duration is not greater than a first preset safety duration.
The driving information may further include yaw angle information, lateral speed information, and acceleration information, among others. The predicted line-pressing time period may be a time period required for predicting that the vehicle is pressed from the current position across the lane line. The yaw angle information refers to an angle between a driving direction of the vehicle and an actual road center line. It reflects whether the travel locus of the vehicle deviates from the expected center line of the roadway. Yaw angle information is typically obtained by sensors such as GPS, cameras, inertial Measurement Units (IMUs), etc.
Specifically, the predicted line pressing time length may be calculated based on a preset algorithm or model according to the vehicle speed information, the yaw angle information, the lateral speed information, the acceleration information, and the relative distance.
The external early warning is determined to be triggered under the conditions that the vehicle speed information is larger than a vehicle speed threshold value, the gear information is a forward gear, and the predicted line pressing duration is not larger than a first preset safety duration. Specifically, the second preset safety period may be determined based on a driving reaction time of the own vehicle driver.
In the embodiment, based on the vehicle speed information, the yaw angle information, the transverse speed information, the acceleration information and the relative distance, the predicted line pressing time length is obtained, so that the dynamic behavior and the state of the vehicle are comprehensively considered, the line pressing time length is predicted more accurately, and the accuracy and the timeliness of early warning are improved.
In one embodiment, the vehicle further comprises an in-vehicle assistance module; a process of determining that the off-board auxiliary module is in an available state, comprising:
under the condition that the external auxiliary module is detected to continuously receive the relative distance sent by the internal auxiliary module according to a first preset period, the external auxiliary module is determined to be in an available state;
or,
and under the condition that the out-of-vehicle auxiliary module is detected to continuously receive the predicted line pressing time length sent by the in-vehicle auxiliary module according to a second preset period, determining that the out-of-vehicle auxiliary module is in an available state.
The in-vehicle auxiliary module can be used for periodically sending the relative distance or the predicted line pressing duration to the out-vehicle auxiliary module through the wireless communication interface.
Specifically, the first preset period and the second preset period may be the same or different, and the corresponding sizes thereof may be determined based on actual situations, which is not limited herein.
For example, in a case where the outside-vehicle assistance module can continuously receive the relative distance transmitted by the inside-vehicle assistance module in the first preset period, it is determined that the outside-vehicle assistance module is available at this time. Or under the condition that the out-of-vehicle auxiliary module can continuously receive the predicted line pressing time length sent by the in-vehicle auxiliary module according to the second preset period, determining that the out-of-vehicle auxiliary module is available at the moment.
In particular practice, it is determined that an off-board auxiliary module is available, and it is also necessary to consider that the in-board auxiliary module and the off-board auxiliary module are fault-free. In particular, the two modules are generally subjected to diagnostic detection, and when no fault or abnormal condition is found, normal operation is determined.
In some embodiments, only one communication interface exists between the external auxiliary module and the internal auxiliary module, and only the relative distance or the predicted line pressing duration information can be transmitted to the external auxiliary module. By periodically and continuously receiving the relative distance or predicting the line pressing time length, the communication reliability is ensured.
In the above embodiment, by detecting whether the auxiliary module outside the vehicle can periodically and continuously receive the relative distance or the predicted line pressing duration information sent by the auxiliary module inside the vehicle, the communication reliability is ensured. And whether the auxiliary module outside the vehicle is available in the vehicle can be accurately judged, so that external early warning is realized under the condition that the auxiliary module outside the vehicle is available, and the driver or the pedestrian outside the vehicle is reminded to pay attention to safety, so that the driving safety is improved.
In one embodiment, the vehicle further comprises a human machine interface HMI system; the method further comprises the steps of:
determining whether a control signal exists in the vehicle under the condition that the preset wire pressing time length is smaller than a second preset safety time length or the relative distance is not larger than a second preset distance; the control signal comprises at least one of a vehicle gear signal, a steering wheel angle signal, a braking signal, an acceleration signal or a steering lamp control signal; the second preset safety duration is smaller than the first preset safety duration; the second preset distance is smaller than the first preset distance;
determining to trigger an internal warning if the control signal is not present in the vehicle;
And under the condition that the triggering of the internal early warning is determined, the control HMI system sends out an alarm prompt.
The control signals include, but are not limited to, a vehicle gear signal, a steering wheel angle signal, a brake signal, an acceleration signal, or a turn signal control signal. The control signal may be generated by an indication by a driver of the host vehicle during driving of the vehicle. The control signal is used to determine whether an unintended driving situation such as driving fatigue occurs to the driver of the host vehicle. The vehicle gear signal is generated by a driver shifting the vehicle. The steering wheel angle signal is generated by a driver turning a steering wheel in the vehicle. The brake signal is generated when the driver depresses the brake pedal. The acceleration signal is mainly generated by an accelerator pedal or an accelerator pedal. The turn signal is generated when the driver turns on the left or right turn signal.
In specific practice, whether control information exists in the vehicle in the preset duration is determined under the condition that the preset wire pressing duration is detected to be smaller than the second preset safety duration or the relative distance is detected to be not larger than the second preset distance. Detecting whether the vehicle generates a control signal in a preset time period, and determining to trigger internal early warning to control the HMI system to send out an alarm prompt under the condition that the vehicle does not produce the control signal in the preset time period. Specifically, the alert issued by the HMI system may be a visual alert, an audible alert, or a tactile alert. The magnitude of the preset time period can be determined according to an empirical value.
For example, if the preset wire pressing duration is less than the second preset safety duration or the relative distance is not greater than the second preset distance, determining whether the control signal exists in the vehicle; determining to trigger an internal warning if no control signal is present in the vehicle; and under the condition that the triggering of the internal early warning is determined, the control HMI system sends out an alarm prompt. Specifically, the second preset safety duration is smaller than the first preset safety duration; the second preset distance is smaller than the first preset distance. The second preset safety duration is determined based on the sum of time for stopping the intention of the driver of the external vehicle to change the lane after the driver finds that the driver of the external vehicle has the intention of changing the lane. The preset safety duration of the next day may include a recognition reaction duration of the driver of the other vehicle to the state of the vehicle, a decision duration of the driver of the other vehicle, an actual operation duration, and a response delay duration of the vehicle. The identification reaction time period, the decision time period, the actual operation time period, and the response delay time period may be determined based on an empirical value, thereby determining a second preset safety time period.
In the embodiment, the running state of the vehicle can be more comprehensively estimated by checking the preset line pressing time length and the preset relative distance and combining the detection of the control signal, so that more complete and timely early warning is provided. And through the HMI system, a driver can adjust the state of the vehicle in time after receiving the early warning, thereby improving the driving safety
For a better understanding of the driving warning process, an example is described with reference to fig. 2, which shows a schematic diagram of a driving warning comprising an in-vehicle assistance module and an out-of-vehicle assistance module.
Specifically, the vehicle includes an in-vehicle auxiliary module 22, an off-vehicle auxiliary module 24, and an external warning light 26. In the in-vehicle assistance module 22, road information is acquired based on the in-vehicle camera, and the road information is detected to calculate the relative distance between the vehicle and the lane line where the vehicle is located based on the detection result and the vehicle structure information. And acquiring vehicle speed information, yaw rate information, transverse speed information and acceleration information through a vehicle running system, and calculating predicted line pressing time according to the vehicle speed information, yaw rate information, transverse speed information, acceleration information and relative distance. And the relative distance or the preset line pressing time length is transmitted to the auxiliary module 24 outside the vehicle according to the corresponding period through the communication interface, and the vehicle body electronic system acquires the power state of the whole vehicle, the chassis system acquires the gear information of the vehicle and the power system acquires the vehicle speed information under the condition that the auxiliary module outside the vehicle is in a usable state. When the vehicle speed information is greater than the vehicle speed threshold, the gear information is a forward gear and the relative distance is not greater than the first distance threshold, or when the vehicle speed information is greater than the vehicle speed threshold, the gear information is a forward gear and the predicted line pressing time is not greater than the first preset safety time, the triggering of the external early warning is determined, and when the triggering of the external early warning is determined, a corresponding alarm signal is sent to the external alarm lamp 26 so as to control the external alarm lamp 26 to be started.
In particular, an alarm signal may also be sent to the HMI system to control the display of corresponding alarm information on the HMI system.
And under the condition that the preset wire pressing time length is smaller than the second preset safety time length or the relative distance is not larger than the second preset distance, determining whether a control signal exists or not through other systems. The control signal may include at least one of a vehicle gear signal, a steering wheel angle signal, a brake signal, an acceleration signal, or a turn signal control signal.
In the absence of a control signal, a corresponding alarm signal is generated to control the display of corresponding alarm information on the HMI system.
For a better understanding of the off-board auxiliary module, an example is illustrated with reference to FIG. 3, which shows a schematic diagram of a logic determination of the off-board auxiliary module.
Specifically, the off-board auxiliary module includes 6 states including: an initialization state 302, an end state 304, an error state 306, a standby state 308, an alarm determination state 310, and an alarm trigger state 312.
In the event that the wake condition of the vehicle is met, the off-board auxiliary module is in the initialized state 302. Specifically, the wake-up condition may be implemented by network wake-up or power-on wake-up. In the event that the wake condition is not satisfied, the off-board auxiliary module is in the end state 304. After detecting that the auxiliary module outside the vehicle is in the initialized state, detecting whether the whole vehicle is in the powered-on state, and if so, the auxiliary module outside the vehicle is in the standby state 308. If the external auxiliary module in the vehicle is detected to be in the standby state 308, if the relative distance sent by the internal auxiliary module and the predicted line pressing time length are continuously received periodically, the external auxiliary module is in the alarm judging state 310. In the case where the outside-vehicle auxiliary module is in the alarm determination state, if the alarm condition is satisfied, the outside-vehicle auxiliary module is in the alarm trigger state 312. Specifically, the alarm condition may be that the vehicle speed is greater than a vehicle speed threshold, and the vehicle gear is a forward gear, the relative distance is greater than a first preset distance, and the predicted line pressing time is greater than a first preset safety time.
In specific practice, in the case where the outside auxiliary module is in the initialized state 302, the standby state 308, and the alarm determination state 310, the outside auxiliary module in the vehicle is detected in a diagnosis manner, and if the diagnosis detection is not passed, it is determined that the outside auxiliary module is in the error state 306. If it is detected that the whole vehicle is in the power-down state, it is determined that the auxiliary module outside the vehicle is in the end state 304.
Specifically, in the above embodiment, the out-of-vehicle assistance module being in the available state corresponds to the out-of-vehicle assistance module being in the alarm determination state 310.
For a better understanding of the process of driving warning, an example is described, referring to fig. 4, which shows a schematic flow chart of another driving warning.
Step 402, based on a vehicle-mounted camera, acquiring image information of a road where a vehicle is located so as to extract lane edge points; and carrying out Hough transformation on the lane edge points to acquire lane line information of a road where the vehicle is located.
And step 404, obtaining the relative distance between the vehicle and the lane line where the vehicle is located according to the lane line information and the vehicle structure information.
Step 406, obtaining driving information of the vehicle.
In step 408, it is determined to trigger an external warning when the external assistance module is in an available state, the vehicle speed information is greater than a vehicle speed threshold, the gear information is a forward gear, and the relative distance is not greater than a first distance threshold.
Step 410, obtaining the predicted line pressing duration according to the vehicle speed information, the yaw angle information, the transverse speed information, the acceleration information and the relative distance.
And step 412, determining to trigger external early warning when the vehicle speed information is greater than the vehicle speed threshold, the gear information is a forward gear, and the predicted line pressing duration is not greater than the first preset safety duration.
And step 414, controlling the external warning lamp to be started under the condition that the external warning is triggered.
Step 416, determining whether a control signal exists in the vehicle if the preset wire pressing duration is less than the second preset safety duration or the relative distance is not greater than the second preset distance.
Step 418, determining to trigger an internal warning if no control signal is present in the vehicle; and under the condition that the triggering of the internal early warning is determined, the control HMI system sends out an alarm prompt.
In the embodiment, road information is acquired based on a vehicle-mounted camera; according to the road information, carrying out lane line detection operation and obtaining lane line information of a road where a vehicle is located; according to the lane line information and the vehicle structure information, obtaining the relative distance between the vehicle and the lane line where the vehicle is located; acquiring driving information of a vehicle; under the condition that the auxiliary module outside the vehicle is in an available state, determining whether to trigger external early warning according to driving information and relative distance; and under the condition that the triggering of the external early warning is determined, controlling the external warning lamp to be started. Based on the road information acquired by the vehicle-mounted camera, lane line detection operation is performed, lane line information of a road where a vehicle is located can be accurately acquired, so that the relative distance between the vehicle and the lane line is monitored in real time, whether external early warning is triggered or not is determined according to the relative distance and vehicle driving information, the external vehicle is warned, the probability of driving accidents is reduced, and driving safety is improved.
It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.
Based on the same inventive concept, the embodiment of the application also provides a driving early warning device for realizing the driving early warning method. The implementation scheme of the solution to the problem provided by the device is similar to that described in the above method, so the specific limitation in one or more embodiments of the driving early warning device provided below may refer to the limitation of the driving early warning method hereinabove, and will not be repeated here.
In one embodiment, as shown in fig. 5, a driving early warning device is provided, which is applied to a vehicle including a vehicle-mounted camera, an external auxiliary module and an external warning lamp; comprising the following steps: a road information acquisition module 502, a lane line acquisition module 504, a relative distance acquisition module 506, a driving information acquisition module 508, an external early warning determination module 510, and a control module 512, wherein
The road information acquisition module 502 is configured to acquire road information based on the vehicle-mounted camera;
the lane line obtaining module 504 is configured to perform a lane line detection operation according to the road information, and obtain lane line information of a road where the vehicle is located;
the relative distance obtaining module 506 is configured to obtain a relative distance between a vehicle and a lane line where the vehicle is located according to the lane line information and the vehicle structure information;
a driving information obtaining module 508, configured to obtain driving information of a vehicle;
the external early warning determining module 510 is configured to determine whether to trigger an external early warning according to the driving information and the relative distance when the external auxiliary module is in an available state;
the control module 512 is configured to control the external warning lamp to be turned on if the external warning is determined to be triggered; the external warning lamp comprises one of a steering lamp, a warning lamp or a projection lamp.
In some embodiments, the driving information includes vehicle speed information and gear information; an external early warning determination module 510, comprising:
the first external determining unit is used for determining to trigger external early warning when the vehicle speed information is larger than a vehicle speed threshold value, the gear information is a forward gear, and the relative distance is not larger than a first distance threshold value.
In some embodiments, the driving information further includes yaw angle information, lateral speed information, and acceleration information; the external early warning determination module 510 further includes:
the line pressing duration obtaining unit is used for obtaining predicted line pressing duration according to the vehicle speed information, the yaw angle information, the transverse speed information, the acceleration information and the relative distance;
the second external determining unit is used for determining to trigger external early warning when the vehicle speed information is greater than a vehicle speed threshold value, the gear information is a forward gear, and the predicted line pressing duration is not greater than a first preset safety duration.
In some embodiments, the vehicle further comprises an in-vehicle assistance module; the driving early warning device is specifically used for determining that the external auxiliary module is in an available state under the condition that the external auxiliary module is detected to continuously receive the relative distance sent by the internal auxiliary module according to a first preset period;
Or,
and under the condition that the out-of-vehicle auxiliary module is detected to continuously receive the predicted line pressing time length sent by the in-vehicle auxiliary module according to a second preset period, determining that the out-of-vehicle auxiliary module is in an available state.
In some embodiments, the vehicle further comprises a human machine interface HMI system; the driving early warning device further includes:
the signal determining module is used for determining whether a control signal exists in the vehicle or not under the condition that the preset wire pressing time length is smaller than a second preset safety time length or the relative distance is not larger than a second preset distance; the control signal comprises at least one of a vehicle gear signal, a steering wheel angle signal, a braking signal, an acceleration signal or a steering lamp control signal; the second preset safety duration is smaller than the first preset safety duration; the second preset distance is smaller than the first preset distance;
the internal early warning determining module is used for determining to trigger internal early warning under the condition that the control signal does not exist in the vehicle;
and the alarm reminding module is used for controlling the HMI system to send out alarm reminding under the condition of determining to trigger the internal early warning.
In some embodiments, the road information includes image information of a road on which the vehicle is located; lane line acquisition module 504 includes:
The edge point extraction unit is used for extracting lane edge points according to the image information of the road where the vehicle is located;
and the lane line acquisition unit is used for carrying out Hough transformation on the lane edge points and acquiring lane line information of the road where the vehicle is located.
The above-described respective modules in the driving early warning device may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a terminal, and the internal structure of which may be as shown in fig. 6. The computer device includes a processor, a memory, an input/output interface, a communication interface, a display unit, and an input means. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input/output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a driving warning method. The display unit of the computer device is used for forming a visual picture, and can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be a key, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the structure shown in fig. 6 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided comprising a memory and a processor, the memory having stored therein a computer program, the processor when executing the computer program performing the steps of:
acquiring road information based on the vehicle-mounted camera;
carrying out lane line detection operation according to the road information to obtain lane line information of a road where the vehicle is located;
obtaining the relative distance between a vehicle and a lane line where the vehicle is located according to the lane line information and the vehicle structure information;
acquiring driving information of a vehicle;
under the condition that the auxiliary module outside the vehicle is in an available state, determining whether to trigger external early warning according to the driving information and the relative distance;
controlling the external warning lamp to be started under the condition that the triggering of external warning is determined; the external warning lamp comprises one of a steering lamp, a warning lamp or a projection lamp.
Wherein the computer device may be a vehicle.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring road information based on the vehicle-mounted camera;
carrying out lane line detection operation according to the road information to obtain lane line information of a road where the vehicle is located;
obtaining the relative distance between a vehicle and a lane line where the vehicle is located according to the lane line information and the vehicle structure information;
acquiring driving information of a vehicle;
under the condition that the auxiliary module outside the vehicle is in an available state, determining whether to trigger external early warning according to the driving information and the relative distance;
controlling the external warning lamp to be started under the condition that the triggering of external warning is determined; the external warning lamp comprises one of a steering lamp, a warning lamp or a projection lamp.
In one embodiment, a computer program product is provided comprising a computer program which, when executed by a processor, performs the steps of:
acquiring road information based on the vehicle-mounted camera;
carrying out lane line detection operation according to the road information to obtain lane line information of a road where the vehicle is located;
Obtaining the relative distance between a vehicle and a lane line where the vehicle is located according to the lane line information and the vehicle structure information;
acquiring driving information of a vehicle;
under the condition that the auxiliary module outside the vehicle is in an available state, determining whether to trigger external early warning according to the driving information and the relative distance;
controlling the external warning lamp to be started under the condition that the triggering of external warning is determined; the external warning lamp comprises one of a steering lamp, a warning lamp or a projection lamp.
It should be noted that, the user information (including, but not limited to, user equipment information, user personal information, etc.) and the data (including, but not limited to, data for analysis, stored data, presented data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party, and the collection, use and processing of the related data are required to comply with the related laws and regulations and standards of the related countries and regions.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the various embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like. The databases referred to in the various embodiments provided herein may include at least one of relational databases and non-relational databases. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic units, quantum computing-based data processing logic units, etc., without being limited thereto.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application shall be subject to the appended claims.
Claims (10)
1. The driving early warning method is characterized by being applied to a vehicle comprising a vehicle-mounted camera, an external auxiliary module and an external warning lamp; the method comprises the following steps:
acquiring road information based on the vehicle-mounted camera;
carrying out lane line detection operation according to the road information to obtain lane line information of a road where the vehicle is located;
obtaining the relative distance between a vehicle and a lane line where the vehicle is located according to the lane line information and the vehicle structure information;
Acquiring driving information of a vehicle;
under the condition that the auxiliary module outside the vehicle is in an available state, determining whether to trigger external early warning according to the driving information and the relative distance;
controlling the external warning lamp to be started under the condition that the triggering of external warning is determined; the external warning lamp comprises one of a steering lamp, a warning lamp or a projection lamp.
2. The method of claim 1, wherein the driving information includes vehicle speed information and gear information; determining whether to trigger external early warning according to the driving information and the relative distance comprises:
and determining to trigger external early warning under the condition that the vehicle speed information is greater than a vehicle speed threshold value, the gear information is a forward gear and the relative distance is not greater than a first distance threshold value.
3. The method of claim 2, wherein the driving information further comprises yaw angle information, lateral speed information, and acceleration information; the method further comprises the steps of:
acquiring predicted line pressing time according to the vehicle speed information, the yaw angle information, the transverse speed information, the acceleration information and the relative distance;
and determining to trigger external early warning under the condition that the vehicle speed information is greater than a vehicle speed threshold value, the gear information is a forward gear and the predicted line pressing duration is not greater than a first preset safety duration.
4. The method of claim 3, wherein the vehicle further comprises an in-vehicle assistance module; a process of determining that the off-board auxiliary module is in an available state, comprising:
under the condition that the external auxiliary module is detected to continuously receive the relative distance sent by the internal auxiliary module according to a first preset period, the external auxiliary module is determined to be in an available state;
or,
and under the condition that the out-of-vehicle auxiliary module is detected to continuously receive the predicted line pressing time length sent by the in-vehicle auxiliary module according to a second preset period, determining that the out-of-vehicle auxiliary module is in an available state.
5. A method according to claim 3, wherein the vehicle further comprises a human machine interface HMI system; the method further comprises the steps of:
determining whether a control signal exists in the vehicle under the condition that the preset wire pressing time length is smaller than a second preset safety time length or the relative distance is not larger than a second preset distance; the control signal comprises at least one of a vehicle gear signal, a steering wheel angle signal, a braking signal, an acceleration signal or a steering lamp control signal; the second preset safety duration is smaller than the first preset safety duration; the second preset distance is smaller than the first preset distance;
Determining to trigger an internal warning if the control signal is not present in the vehicle;
and under the condition that the triggering of the internal early warning is determined, the control HMI system sends out an alarm prompt.
6. The method according to claim 1, wherein the road information includes image information of a road on which the vehicle is located; the step of carrying out lane line detection operation according to the road information to obtain lane line information of a road where the vehicle is located comprises the following steps:
extracting lane edge points according to the image information of the road where the vehicle is located;
and carrying out Hough transformation on the lane edge points to acquire lane line information of a road where the vehicle is located.
7. The driving early warning device is characterized by being applied to a vehicle comprising a vehicle-mounted camera, an external auxiliary module and an external warning lamp; the device comprises:
the road information acquisition module is used for acquiring road information based on the vehicle-mounted camera;
the lane line acquisition module is used for carrying out lane line detection operation according to the road information to acquire lane line information of a road where the vehicle is located;
the relative distance obtaining module is used for obtaining the relative distance between the vehicle and the lane line where the vehicle is located according to the lane line information and the vehicle structure information;
The driving information acquisition module is used for acquiring driving information of the vehicle;
the external early warning determining module is used for determining whether to trigger external early warning according to the driving information and the relative distance under the condition that the external auxiliary module is in an available state;
the control module is used for controlling the external warning lamp to be started under the condition that the external warning is triggered; the external warning lamp comprises one of a steering lamp, a warning lamp or a projection lamp.
8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 6 when the computer program is executed.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.
10. A computer program product comprising a computer program, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.
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| CN202311768818.3A CN117719420A (en) | 2023-12-21 | 2023-12-21 | Driving early warning method, driving early warning device, computer equipment, storage medium and program product |
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