CN117841832A

CN117841832A - Driving early warning method, device, equipment, storage medium and program product

Info

Publication number: CN117841832A
Application number: CN202311442800.4A
Authority: CN
Inventors: 柳广照; 朱显明; 赵伟
Original assignee: FAW Jiefang Automotive Co Ltd
Current assignee: FAW Jiefang Automotive Co Ltd
Priority date: 2023-11-01
Filing date: 2023-11-01
Publication date: 2024-04-09

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 current obstacle information and current road lane information based on a forward camera; acquiring current running information of a vehicle; determining whether to trigger early warning based on the current obstacle information, the current road lane information and the current running information; acquiring a current driver image shot by a monitoring camera; determining a driving state of the current driver based on the current driver image; after determining to trigger the pre-warning, determining a triggered alert mode based on the current driver status. By adopting the method, a more reasonable alarm mode can be arranged for the driver.

Description

Driving early warning method, device, equipment, storage medium and program product

Technical Field

The present application relates to the technical field of intelligent vehicles, and in particular, to a driving early warning method, a driving early warning device, a computer device, a storage medium and a computer program product.

Background

With the development of economy, vehicles have become an important ring in modern traffic systems, and with the increase of the number of vehicles, the number of drivers has also increased, and the following traffic accidents have also increased.

In order to reduce frequent traffic accidents, in the prior art, in the driving process of a vehicle, by acquiring distance information of a front vehicle and a self vehicle, a loud alarm is directly sent out under the condition that the distance information of the front vehicle and the self vehicle is smaller than a preset distance.

However, this approach only considers the distance between the preceding vehicle and the own vehicle, i.e. gives an alarm, resulting in an inability to reasonably provide driving warnings for the driver.

Disclosure of Invention

In view of the foregoing, it is desirable to provide a driving early warning method, apparatus, computer device, computer readable storage medium, and computer program product that can arrange a more reasonable warning manner for a driver.

In a first aspect, the present application provides a driving early warning method. Applied to a vehicle, the vehicle including a forward facing camera for acquiring road images ahead of the vehicle and a monitoring camera for acquiring driver images, the method comprising:

acquiring current obstacle information and current road lane information based on the forward camera;

acquiring current running information of a vehicle;

determining whether to trigger an early warning based on the current obstacle information, the current road lane information and the current operation information, wherein the early warning comprises at least one of lane departure early warning or forward collision early warning;

Acquiring a current driver image shot by a monitoring camera;

determining a driving state of the current driver based on the current driver image;

after determining to trigger the early warning, determining a triggered alarm mode based on the state of the current driver, wherein the alarm mode comprises one of a high-frequency high-volume alarm mode or a low-frequency low-volume alarm mode.

In one embodiment, the current running information includes a current running speed, a current running lane, and current turn signal information; the determining whether to trigger the early warning based on the current obstacle information, the current road lane information and the current operation information includes:

determining whether to trigger the forward collision early warning according to the current obstacle information and the current running speed;

and determining whether to trigger the lane departure warning according to the current road lane information, the current running lane and the current turn signal lamp information.

In one embodiment, the determining whether to trigger the forward collision early warning according to the current obstacle information and the current running speed includes:

determining a target obstacle and running information of the target obstacle based on current obstacle information, wherein the target obstacle is the obstacle which is the same lane as a vehicle and has the nearest distance; the running information of the target obstacle comprises the distance between the target obstacle and the vehicle and the relative speed between the target obstacle and the vehicle;

Calculating a relative collision duration based on a distance of the target obstacle from the vehicle and a relative speed of the target obstacle from the vehicle;

determining to trigger forward collision early warning under the condition that the relative collision duration is not greater than a first time threshold;

and under the condition that the relative collision time is longer than the first time threshold, determining that forward collision early warning is not triggered.

In one embodiment, the determining whether to trigger the lane departure warning according to the current road lane information, the current running lane and the current turn signal information includes:

determining the relative distance between the vehicle and the lane line of the current lane according to the current road lane information and the current running lane information of the vehicle;

determining to trigger the lane departure warning when the relative distance between the vehicle and the lane line of the current lane is smaller than a first distance threshold and the current turn signal information of the vehicle is off;

and under the condition that the current turn signal information of the vehicle is on, determining not to trigger the lane departure warning.

In one embodiment, the determining the driving state of the current driver based on the current driver image includes:

inputting the current driver image into the trained image recognition model to obtain an image recognition result;

And determining the driving state of the current driver based on the image recognition result, wherein the driving state comprises one of a normal driving state, a dangerous action driving state and a fatigue driving state.

In one embodiment, the determining the triggered alert mode based on the driving state of the current driver includes:

determining to trigger a low-frequency low-volume alarm mode under the condition that the triggered early warning is forward collision early warning and the driving state of the current driver is a normal driving state;

determining to trigger a high-frequency high-volume alarm mode under the condition that the triggered early warning is forward collision early warning and the driving state of the current driver is dangerous action driving state or fatigue driving state;

determining to trigger a low-frequency low-volume alarm mode under the condition that the triggered early warning is lane departure early warning and the driving state of the current driver is a normal driving state;

and determining to trigger a high-frequency high-volume alarm mode under the condition that the triggered early warning is lane departure early warning and the driving state of the current driver is dangerous action driving state or fatigue driving state.

In a second aspect, the present application further provides a driving early warning device. The device comprises:

Be applied to the vehicle, the vehicle includes forward camera and surveillance camera, forward camera is used for gathering the road image in front of the vehicle, surveillance camera is used for gathering driver's image, the device includes:

the obstacle and road lane information acquisition module is used for acquiring current obstacle information and current road lane information based on the forward camera;

the current running information acquisition module is used for acquiring the current running information of the vehicle;

the triggering early warning determining module is used for determining whether to trigger early warning based on the current obstacle information, the current road lane information and the current running information, wherein the early warning comprises at least one of lane departure early warning or forward collision early warning;

the current driver image acquisition module is used for acquiring a current driver image shot by the monitoring camera;

the driving state determining module is used for determining the driving state of the current driver based on the current driver image;

and the alarm mode determining module is used for determining a triggered alarm mode based on the state of the current driver after determining to trigger early warning, wherein the alarm mode comprises one of a high-frequency high-volume alarm mode or a low-frequency low-volume alarm mode.

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 current running information of a vehicle;

acquiring a current driver image shot by a monitoring camera;

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 current running information of a vehicle;

acquiring a current driver image shot by a monitoring camera;

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 current running information of a vehicle;

Acquiring a current driver image shot by a monitoring camera;

The driving early warning method, the driving early warning device, the computer equipment, the storage medium and the computer program product acquire current obstacle information and current road lane information based on the forward camera; acquiring current running information of a vehicle; determining whether to trigger early warning based on the current obstacle information, the current road lane information and the current running information; acquiring a current driver image shot by a monitoring camera; determining a driving state of the current driver based on the current driver image; after determining to trigger the pre-warning, determining a triggered alert mode based on the current driver status. Compared with the prior art, the method is adopted, based on the current obstacle information, the current road lane information and the current running information, whether forward collision early warning or lane departure early warning occurs or not is determined, and after the triggering early warning is determined, a more reasonable warning mode is arranged for the driver based on the current driving state of the driver, so that the driving safety of the driver is improved, and the occurrence rate of traffic accidents is reduced.

Drawings

FIG. 1 is a flow chart of a driving pre-warning method according to an embodiment;

FIG. 2 is a flow chart illustrating a determination of forward collision warning in one embodiment;

FIG. 3 is a flow chart illustrating a method for determining lane departure warning in one embodiment;

FIG. 4 is a block diagram of driving warning in one embodiment;

FIG. 5 is a flow chart of a driving pre-warning method according to another embodiment;

FIG. 6 is a block diagram of a driving warning device according to an embodiment;

fig. 7 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, and is applied to a vehicle, wherein the vehicle comprises a forward camera and a monitoring camera, the forward camera is used for collecting road images in front of the vehicle, and the monitoring camera is used for collecting driver images, and the driving early warning method comprises the following steps:

102, acquiring current obstacle information and current road lane information based on the forward camera;

Wherein, the vehicle may include a plurality of cameras, and the plurality of cameras may include a forward facing camera and a monitoring camera. The forward camera can be used for collecting road images in front of the vehicle during running of the vehicle, and the forward camera is also called a forward-looking camera. The monitoring camera can be used for collecting images of a driver at a driving position during running of the vehicle.

The current obstacle information may be the currently acquired obstacle information in front of and at the sides of the vehicle. The obstacle may comprise a person, a vehicle, or a stationary object such as a street light or the like. The obstacle information may include the type of obstacle, the size of the obstacle, and the like.

The current road lane information may include position information of a lane line on the current driving road.

In particular practice, the vehicle may also include radar to acquire obstacle information and lane line information with a radar-assisted forward-facing camera. The radar may be a 4D millimeter wave radar.

Illustratively, while the vehicle is driving, current obstacle information and current road lane information may be acquired by a forward facing camera of the vehicle.

Step 104, current running information of the vehicle is obtained.

The current running information of the vehicle is a series of information when the vehicle runs currently. The current operating information of the vehicle includes, but is not limited to, a current speed of the vehicle, a current turn signal status, and a current brake status.

And step 106, determining whether to trigger early warning based on the current obstacle information, the current road lane information and the current operation information, wherein the early warning comprises at least one of lane departure early warning or forward collision early warning.

The lane departure warning can be used for judging whether the automobile departure from the original lane belongs to the unconscious behavior of the driver or not so as to remind the driver of timely correction. Forward collision warning may be used to determine that an automobile is about to collide with a forward obstacle.

For example, it may be determined whether to trigger a lane departure warning and/or a forward collision warning based on the front obstacle information, the current road lane information, and the current operation information.

Step 108, acquiring a current driver image shot by the monitoring camera.

Wherein, the position that the surveillance camera was disposed on the vehicle satisfies and can shoot the driver image, and the driver image is not only the image that exists the driver face.

Step 110, determining the driving state of the current driver based on the current driver image.

Wherein the driving state of the current driver is determined based on the current driver image captured by the monitoring camera. Specifically, the driving state of the current driver may be identified through artificial intelligence techniques.

In specific practice, the current driver image shot by the monitoring camera can be acquired before determining whether to trigger the early warning, and the driving state of the driver can be recognized in time.

Step 112, after determining to trigger the early warning, determining a triggered alarm mode based on the state of the current driver, wherein the alarm mode comprises one of a high-frequency high-volume alarm mode or a low-frequency low-volume alarm mode.

The alarm mode can be a high-frequency high-volume alarm mode or a low-frequency low-volume alarm mode. The high-frequency loud-volume alarm mode is a loud-sound alarm mode with high frequency. The low-frequency low-volume alarm mode is a low-frequency alarm mode with low sound

In the driving early warning method, current obstacle information and current road lane information are acquired based on the forward camera; acquiring current running information of a vehicle; determining whether to trigger early warning based on the current obstacle information, the current road lane information and the current running information; acquiring a current driver image shot by a monitoring camera; determining a driving state of the current driver based on the current driver image; after determining to trigger the pre-warning, determining a triggered alert mode based on the current driver status. Compared with the prior art, the method is adopted, based on the current obstacle information, the current road lane information and the current running information, whether forward collision early warning or lane departure early warning occurs or not is determined, and after the triggering early warning is determined, a more reasonable warning mode is arranged for the driver based on the current driving state of the driver, so that the driving safety of the driver is improved, and the occurrence rate of traffic accidents is reduced.

In one embodiment, the current running information includes a current running speed, a current running lane, and current turn signal information; step 106 includes:

step 1062, determining whether to trigger the forward collision early warning according to the current obstacle information and the current running speed.

And step 1064, determining whether to trigger the lane departure warning according to the current road lane information, the current running lane and the current turn signal lamp information.

The current running information comprises, but is not limited to, the current running speed, the current running lane and the current turn signal information. The current running speed is a driving speed of the vehicle. The current running lane is the lane in which the vehicle is currently driving in the road. The current turn signal lamp information is whether the current turn signal lamp of the vehicle is turned on, and if the current turn signal lamp is turned on, the corresponding turn direction of the turn signal lamp is turned on.

Forward collision warning is determined whether to trigger based on the current obstacle information and the current operating speed. Specifically, forward collision warning may be used to determine that an automobile is about to collide with a forward obstacle. Based on the current obstacle information and the current travel speed, it may be determined how much time the forward obstacle and the own vehicle may collide after to determine whether to trigger forward collision early warning.

The lane departure warning is based on current road lane information, current running lane, and current turn signal information to determine whether to trigger. Specifically, the lane departure warning is used for judging whether the automobile departure from the original lane belongs to the unconscious behavior of the driver.

In the above embodiment, whether to trigger forward collision early warning is determined according to the current obstacle information and the current running speed; according to the current road lane information, the current running lane and the current turn signal lamp information, whether lane departure warning is triggered is determined, so that after the triggering warning is determined, a more reasonable warning mode is arranged for a driver based on the current driving state of the driver, the driving safety of the driver is improved, and the occurrence rate of traffic accidents is reduced.

In one embodiment, as shown in fig. 2, a flow chart illustrating a determination of forward collision warning is shown, step 1062 includes:

step 202, determining a target obstacle and running information of the target obstacle based on current obstacle information, wherein the target obstacle is the obstacle which is the same lane as a vehicle and has the nearest distance; the operation information of the target obstacle includes a distance of the target obstacle from the vehicle and a relative speed of the target obstacle from the vehicle.

The target obstacle may be the same lane as the vehicle and the closest obstacle. In general, the target obstacle may be a person in the same lane as the vehicle and closest to the vehicle, or a front vehicle of the vehicle, or another obstacle such as a road block.

The travel information of the target obstacle includes a distance of the target obstacle from the vehicle and a relative speed of the target obstacle from the vehicle. Wherein the relative speed of the target obstacle and the vehicle may be calculated based on the speed of the target obstacle and the speed of the own vehicle.

Step 204, calculating a relative collision duration based on the distance between the target obstacle and the vehicle and the relative speed between the target obstacle and the vehicle.

The relative collision duration may be how much later the target obstacle and the vehicle may collide. The calculation is performed by the distance of the target obstacle from the vehicle, and the relative speed between the target obstacle and the vehicle.

Step 206, determining to trigger forward collision early warning if the relative collision duration is not greater than the first time threshold.

Step 208, determining not to trigger forward collision early warning if the relative collision time is greater than the first time threshold.

In particular, the magnitude of the first time threshold may be determined based on empirical values. Specifically, the magnitude of the first time threshold may be determined based on a reaction period of the driver, a reaction period of the braking of the vehicle, a period of time required for stopping the vehicle, and the like.

In the above embodiment, the relative collision duration is obtained by the distance between the target obstacle and the vehicle and the relative speed between the target obstacle and the vehicle, so that the more accurate calculation of how much time the target obstacle and the vehicle may collide after is realized. And when the forward collision early warning is determined to be triggered, a more reasonable warning mode is arranged for the driver based on the current driving state of the driver, so that the driving safety of the driver is improved, and the occurrence rate of traffic accidents is reduced.

In one embodiment, as shown in fig. 3, a flow chart of a decision for lane departure warning is shown. Step 1064, including:

step 302, determining the relative distance between the vehicle and the lane line of the current lane according to the current road lane information and the current running lane information of the vehicle.

And step 304, determining to trigger the lane departure warning when the relative distance between the vehicle and the lane line of the current lane is smaller than a first distance threshold and the current turn signal information of the vehicle is off.

And 306, determining not to trigger the lane departure warning under the condition that the current turn signal information of the vehicle is on.

The current road lane information is a plurality of lane information existing in the current road section. The current running lane information of the vehicle is the lane where the current vehicle runs.

The relative distance between the vehicle and the lane line of the current lane is determined through the current road lane information and the lane where the current vehicle runs, and specifically, the relative distance between the lane line and the lane line comprises the corresponding distances between a plurality of wheels and the lane line.

The current turn signal information of the vehicle may include whether the current turn signal is on or off, and the direction of the corresponding turn signal when the current turn signal is on.

In an exemplary embodiment, the lane departure warning is determined to be triggered when the relative distance between the vehicle and the lane line of the current lane is less than a first distance threshold and the current turn signal of the vehicle is off. And under the condition that the current turn signal information of the vehicle is on, determining not to trigger lane departure warning.

Specifically, the magnitude of the first distance threshold may be set based on an empirical value, which is not limited herein.

In the embodiment, the determination of the lane departure warning is realized through the relative distance between the vehicle and the lane line of the current lane, the first distance threshold value and the current turn signal lamp information. And in addition, when the triggering lane departure warning is determined, a more reasonable warning mode is arranged for the driver based on the current driving state of the driver, so that the driving safety of the driver is improved, and the occurrence rate of traffic accidents is reduced.

In one embodiment, step 110 includes:

step 1102, inputting the current driver image into the trained image recognition model to obtain an image recognition result.

Step 1104, determining a driving state of the current driver based on the image recognition result, wherein the driving state comprises one of a normal driving state, a dangerous action driving state and a fatigue driving state.

The image recognition model can be trained based on the collected driving information of the driver when the traffic accident occurs. Specifically, information such as the driver's body movements, hand movements, and facial expressions may be included.

The image recognition model can be obtained by training an artificial intelligence model. Specifically, the driving information of the driver acquired when the traffic accident occurs may be acquired in advance, and the driving information may be classified into a normal driving state, a dangerous action driving state, and a fatigue driving state to train the image recognition model, so as to obtain a trained image recognition model.

The dangerous action driving state may be a state corresponding to the situation that the driver dials or receives a call, drinks water, does not look ahead, etc. during driving. The fatigue driving state may be a state corresponding to the situation that the driver is yawned during driving, whether the eyes are too long, and the like.

In the above embodiment, the current driver image is input to the trained image recognition model to obtain the image recognition result; based on the image recognition result, the driving state of the current driver is determined, and the driving state of the current driver is determined more accurately through the trained image recognition model, so that after the triggering early warning is determined, a more reasonable warning mode is arranged for the driver based on the current driving state of the driver, the driving safety of the driver is improved, and the occurrence rate of traffic accidents is reduced.

In one embodiment, step 112 comprises:

The vehicle may include an alarm device, which may be a PWM (Pulse Width Modulation, abbreviated as pulse width modulation) controlled alarm device. Specifically, referring to FIG. 4, another block diagram of driving warning is shown, including a forward facing camera 402, a surveillance camera 404, an AI controller 406, and a PWM control alarm 408. Wherein,

the forward camera 402 is used for acquiring a vehicle front road image signal and transmitting the vehicle front road image signal to the AI controller to determine whether to trigger forward collision warning or lane departure warning.

The monitoring camera 404 is used for collecting the image signal of the driver and sending the image of the driver to the AI controller to determine the driving state of the driver.

The AI controller 406 is configured to receive the road image signal in front of the vehicle and the driver image signal, determine whether to trigger forward collision warning or lane departure warning, and determine a driving state of the driver, thereby determining whether to trigger an alarm currently, and if it is determined to trigger an alarm, convert the corresponding alarm mode into a PWM signal, and send the PWM signal to the PWM control alarm device.

And the PWM control alarm device is used for receiving the PWM signal sent by the AI controller so as to output audio according to the amplitude and frequency of the corresponding PWM signal.

In specific practice, in the low frequency low volume alert mode, the PWM amplitude is set to 3.5v and the frequency is set to 20Hz. In the high frequency high volume alarm mode, the PWM amplitude is set to 5v and the frequency is set to 50Hz.

In the above embodiment, when the triggered early warning is a forward collision early warning and the driving state of the current driver is a normal driving state, the low-frequency low-volume alarm mode is determined to be triggered; determining to trigger a high-frequency high-volume alarm mode under the condition that the triggered early warning is forward collision early warning and the driving state of the current driver is dangerous action driving state or fatigue driving state; determining to trigger a low-frequency low-volume alarm mode under the condition that the triggered early warning is lane departure early warning and the driving state of the current driver is a normal driving state; under the conditions that the triggered early warning is lane departure early warning and the driving state of the current driver is dangerous action driving state or fatigue driving state, the high-frequency high-volume alarm mode is determined to be triggered, the more reasonable alarm mode is arranged for the driver based on the current triggered early warning type and the driving state of the current driver, the driving safety of the driver is improved, and therefore the occurrence rate of traffic accidents is reduced.

For a better understanding of the driving warning process, an example will be described below, referring to fig. 5, which shows a schematic flow chart of another driving warning method.

Step 502, based on the forward camera, obtaining current obstacle information and current road lane information.

Step 504, current running information of the vehicle is acquired.

Step 506, determining the target obstacle and the operation information of the target obstacle based on the current obstacle information; the relative collision duration is calculated based on the distance of the target obstacle from the vehicle and the relative speed of the target obstacle from the vehicle.

Wherein the target obstacle is the obstacle which is the same lane as the vehicle and has the nearest distance; the travel information of the target obstacle includes a distance of the target obstacle from the vehicle and a relative speed of the target obstacle from the vehicle.

Step 508, determining to trigger forward collision early warning if the relative collision duration is not greater than the first time threshold; and under the condition that the relative collision time is longer than the first time threshold, determining that forward collision early warning is not triggered.

Step 510, determining the relative distance between the vehicle and the lane line of the current lane according to the current road lane information and the current running lane information of the vehicle.

Step 512, determining to trigger lane departure warning if the relative distance between the vehicle and the lane line of the current lane is smaller than the first distance threshold and the current turn signal information of the vehicle is off; and under the condition that the current turn signal information of the vehicle is on, determining not to trigger lane departure warning.

Step 514, acquiring a current driver image shot by a monitoring camera; inputting the current driver image into the trained image recognition model to obtain an image recognition result; based on the image recognition result, the driving state of the current driver is determined.

Step 516, determining to trigger a low-frequency low-volume alarm mode when the triggered early warning is a forward collision early warning and the driving state of the current driver is a normal driving state; and determining to trigger a high-frequency high-volume alarm mode under the condition that the triggered early warning is forward collision early warning and the driving state of the current driver is dangerous action driving state or fatigue driving state.

Step 518, determining to trigger a low-frequency low-volume alarm mode when the triggered early warning is a lane departure early warning and the driving state of the current driver is a normal driving state; and determining to trigger a high-frequency high-volume alarm mode under the condition that the triggered early warning is lane departure early warning and the driving state of the current driver is dangerous action driving state or fatigue driving state.

In the embodiment, based on a forward camera, current obstacle information and current road lane information are acquired; acquiring current running information of a vehicle; determining whether to trigger early warning based on the current obstacle information, the current road lane information and the current running information; acquiring a current driver image shot by a monitoring camera; determining a driving state of the current driver based on the current driver image; after determining to trigger the pre-warning, determining a triggered alert mode based on the current driver status. Compared with the prior art, the method is adopted, based on the current obstacle information, the current road lane information and the current running information, whether forward collision early warning or lane departure early warning occurs or not is determined, and after the triggering early warning is determined, a more reasonable warning mode is arranged for the driver based on the current driving state of the driver, so that the driving safety of the driver is improved, and the occurrence rate of traffic accidents is reduced.

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. 6, there is provided a driving early warning device applied to a vehicle including a forward camera for collecting road images in front of the vehicle and a monitoring camera for collecting driver images, including: an obstacle and roadway lane information acquisition module 602, a current operation information acquisition module 604, a trigger pre-warning determination module 606, a current driver image acquisition module 608, a driving state determination module 610, and an alert mode determination module 612, wherein:

an obstacle and road lane information acquisition module 602, configured to acquire current obstacle information and current road lane information based on the forward camera;

A current operation information obtaining module 604, configured to obtain current operation information of the vehicle;

a trigger pre-warning determining module 606, configured to determine whether to trigger a pre-warning based on the current obstacle information, the current road lane information, and the current operation information, where the pre-warning includes at least one of a lane departure pre-warning or a forward collision pre-warning;

a current driver image acquisition module 608, configured to acquire a current driver image captured by the monitoring camera;

a driving state determining module 610, configured to determine a driving state of a current driver based on the current driver image;

an alert mode determining module 612, configured to determine, after determining to trigger the early warning, a triggered alert mode based on the state of the current driver, where the alert mode includes one of a high frequency high volume alert mode or a low frequency low volume alert mode.

In some embodiments, the current operating information includes a current operating speed, a current operating lane, and current turn signal information; the trigger early warning determination module 606 includes:

the forward collision early warning determining submodule is used for determining whether to trigger the forward collision early warning according to the current obstacle information and the current running speed;

And the lane departure early warning determining sub-module is used for determining whether the lane departure early warning is triggered according to the current road lane information, the current running lane and the current turn signal lamp information.

In some embodiments, the forward collision warning determination sub-module includes:

a target obstacle determining unit configured to determine a target obstacle, which is the same lane as a vehicle and is closest to the vehicle, and running information of the target obstacle based on current obstacle information; the running information of the target obstacle comprises the distance between the target obstacle and the vehicle and the relative speed between the target obstacle and the vehicle;

a relative collision time length calculation unit for calculating a relative collision time length based on a distance between the target obstacle and the vehicle and a relative speed between the target obstacle and the vehicle;

the first forward collision early warning determining unit is used for determining to trigger forward collision early warning under the condition that the relative collision duration is not more than a first time threshold value;

and the second forward collision early warning determining unit is used for determining that forward collision early warning is not triggered under the condition that the relative collision time length is larger than the first time threshold value.

In some embodiments, the lane departure warning determination submodule includes:

The relative distance determining unit is used for determining the relative distance between the vehicle and the lane line of the current lane according to the current road lane information and the current running lane information of the vehicle;

the first lane departure early warning determining unit is used for determining to trigger the lane departure early warning when the relative distance between the vehicle and the lane line of the current lane is smaller than a first distance threshold value and the current turn signal information of the vehicle is off;

and the second lane departure early warning determining unit is used for determining not to trigger the lane departure early warning under the condition that the current turn signal information of the vehicle is on.

In some embodiments, the driving state determination module 610 includes:

the image recognition result acquisition sub-module is used for inputting the current driver image into the trained image recognition model to obtain an image recognition result;

and the driving state determining sub-module is used for determining the driving state of the current driver based on the image recognition result, wherein the driving state comprises one of a normal driving state, a dangerous action driving state and a fatigue driving state.

In some embodiments, the alert mode determination module 612 includes:

the first alarm mode determining submodule is used for determining to trigger a low-frequency small-volume alarm mode under the condition that the triggered early warning is forward collision early warning and the driving state of the current driver is a normal driving state;

The second alarm mode determining submodule is used for determining to trigger a high-frequency high-volume alarm mode under the condition that the triggered early warning is forward collision early warning and the driving state of the current driver is dangerous action driving state or fatigue driving state;

the third alarm mode determining submodule is used for determining to trigger a low-frequency low-volume alarm mode under the condition that the triggered early warning is lane departure early warning and the driving state of the current driver is a normal driving state;

and the fourth alarm mode determining sub-module is used for determining to trigger the high-frequency high-volume alarm mode under the condition that the triggered early warning is lane departure early warning and the driving state of the current driver is dangerous action driving state or fatigue driving state.

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. 7. 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. 7 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 current running information of a vehicle;

acquiring a current driver image shot by a monitoring camera;

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 current running information of a vehicle;

acquiring a current driver image shot by a monitoring camera;

In one embodiment, a computer program product is provided comprising a computer program which, when executed by a processor, performs the steps of:

acquiring current running information of a vehicle;

acquiring a current driver image shot by a monitoring camera;

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

1. A driving early warning method, characterized in that it is applied to a vehicle, the vehicle includes a forward camera and a monitoring camera, the forward camera is used for collecting road images in front of the vehicle, and the monitoring camera is used for collecting driver images, the method includes:

Acquiring current running information of a vehicle;

acquiring a current driver image shot by a monitoring camera;

2. The method of claim 1, wherein the current operating information includes a current operating speed, a current operating lane, and current turn signal information; the determining whether to trigger the early warning based on the current obstacle information, the current road lane information and the current operation information includes:

3. The method of claim 2, wherein the determining whether to trigger the forward collision warning based on the current obstacle information and the current operating speed comprises:

4. The method of claim 3, wherein the determining whether to trigger the lane departure warning based on the current road lane information, the current operating lane, and the current turn signal information comprises:

5. The method of claim 4, wherein the determining the driving state of the current driver based on the current driver image comprises:

6. The method of claim 5, wherein the determining a triggered alert mode based on the current driver's driving state comprises:

7. A driving early warning device, characterized in that is applied to the vehicle, the vehicle includes forward direction camera and surveillance camera, forward direction camera is used for gathering vehicle the place ahead road image, surveillance camera is used for gathering driver's image, the device includes:

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.