WO2017080180A1 - 车辆碰撞预警方法、装置和车辆 - Google Patents

车辆碰撞预警方法、装置和车辆 Download PDF

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Publication number
WO2017080180A1
WO2017080180A1 PCT/CN2016/083369 CN2016083369W WO2017080180A1 WO 2017080180 A1 WO2017080180 A1 WO 2017080180A1 CN 2016083369 W CN2016083369 W CN 2016083369W WO 2017080180 A1 WO2017080180 A1 WO 2017080180A1
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Prior art keywords
vehicle
distance
collision warning
vehicle collision
camera devices
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PCT/CN2016/083369
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English (en)
French (fr)
Inventor
冯冰凛
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乐视控股（北京）有限公司
乐卡汽车智能科技（北京）有限公司
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Publication of WO2017080180A1 publication Critical patent/WO2017080180A1/zh

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    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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    • B60K35/26—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using acoustic output
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/26—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view to the rear of the vehicle
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    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/16—Type of output information
    • B60K2360/168—Target or limit values
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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Definitions

  • the invention relates to vehicle engineering technology, in particular to a vehicle collision warning method, device and vehicle.
  • Driving safety has always been one of the focuses of the automotive industry.
  • collision warning has also developed rapidly.
  • an anti-collision radar system can be installed on some high-end vehicles to realize an early warning of vehicle collision.
  • the anti-collision radar system consists of several sensors and a microcomputer controller and buzzer.
  • the principle is that the sensor transmits and receives the ultrasonic signal, and is calculated by the microcomputer according to the ultrasonic signal transmitted and received, the folding time of the ultrasonic signal is obtained to measure the distance of the obstacle, and then the buzzer issues an alarm.
  • the anti-collision radar system in the prior art has a high cost, which makes it difficult to popularize.
  • the embodiment of the invention provides a vehicle collision early warning method, device and vehicle, which are used for solving the technical problem of high cost and popularization of using the anti-collision radar system to realize the vehicle collision warning in the prior art.
  • a vehicle collision warning method including:
  • the two camera devices Acquiring and obtaining two images obtained by the two camera devices for capturing obstacles; the two camera devices are installed at the tail of the vehicle and form an angle with each other; the hardware parameters of the two camera devices are the same;
  • a vehicle collision warning device including:
  • the acquisition module is configured to obtain two images obtained by the two camera devices for capturing obstacles; the two camera devices are installed at the tail of the vehicle and form an angle with each other; the hardware parameters of the two camera devices are the same;
  • a calculation module configured to calculate, according to the close-range photogrammetry, the distance between the obstacle and the tail of the vehicle
  • the warning module is configured to issue a vehicle collision warning when the distance is less than a preset threshold.
  • a vehicle comprising the vehicle collision warning device and the two cameras as described above; the two camera devices have the same hardware parameters, are installed at the tail of the vehicle, and form an angle with each other;
  • the two camera devices are configured to provide the collision warning device with an image obtained by capturing an obstacle.
  • the vehicle collision warning method, device and vehicle provided by the embodiments of the present invention obtain two images obtained by capturing the obstacles by the two camera devices by collecting, and calculating the two images based on the close-range photogrammetry, thereby obtaining the obstacle and the tail of the vehicle.
  • the distance between the two when the distance is less than the preset threshold, the vehicle collision warning is issued. Since the camera device can utilize the original reversing camera of the vehicle, the additional installation of the radar collision avoidance system is avoided, and the prior art anti-collision radar is solved.
  • the system realizes the high cost of vehicle collision warning and the technical problems that are difficult to popularize.
  • FIG. 1 is a schematic flow chart of a vehicle collision early warning method according to Embodiment 1 of the present invention.
  • Figure 2 provides a schematic diagram of close-range photogrammetry
  • FIG. 3 is a schematic flowchart diagram of another vehicle collision early warning method according to Embodiment 2 of the present invention.
  • FIG. 4 is a schematic structural diagram of a vehicle collision early warning device according to Embodiment 3 of the present invention.
  • FIG. 5 is a schematic structural diagram of another vehicle collision early warning device according to Embodiment 4 of the present invention.
  • Figure 6 is a schematic view of a vehicle.
  • FIG. 1 is a schematic flowchart of a vehicle collision early warning method according to Embodiment 1 of the present invention. As shown in FIG. 1 , the method includes:
  • Step 101 Acquire two images obtained by capturing the obstacles by the two camera devices.
  • the two camera devices are installed at the tail of the vehicle and form an angle with each other.
  • the hardware parameters of the two camera devices are the same, and the hardware parameters include the aperture and/or the focal length.
  • Step 102 Calculate the two images based on the close-range photogrammetry to obtain the distance between the obstacle and the tail of the vehicle.
  • close-range photogrammetry refers to photogrammetry using a stereo pair of images taken by a target having an object distance of not more than 300 m.
  • close-range photogrammetry was made to improve the production efficiency and product quality of the rolling production line.
  • Figure 2 provides a schematic diagram of close-range photogrammetry.
  • the specific close-range photogrammetry method is to install a measurement camera, measure the size and shape of the object to be processed in real time, and guide the equipment to process and process the billet. Therefore, at a short distance, generally within 100 m, the target image is taken and processed to determine its size, shape and geometric position.
  • the specific calculation process refers to the description in the related books of the measurement principle, and will not be described in detail in this embodiment.
  • Step 103 When the distance is less than a preset threshold, issue a vehicle collision warning.
  • the close-range photogrammetry is used to measure the distance.
  • the hardware used is two camera devices.
  • the two camera devices can be two ordinary reversing cameras of the same model, that is, no professional measuring camera is needed, which greatly reduces the number of cameras. Cost can be accepted by most users.
  • the two images obtained by the two camera devices for capturing the obstacle are obtained by the acquisition, and the two images are calculated based on the close-range photogrammetry, thereby obtaining the distance between the obstacle and the tail of the vehicle, when the distance is less than the preset threshold.
  • the vehicle collision warning is issued. Since the camera device can utilize the original reversing camera of the vehicle, the additional installation of the radar collision avoidance system is avoided, and the cost of using the anti-collision radar system to realize the vehicle collision warning in the prior art is solved. Difficult technical problems.
  • FIG. 3 is a schematic flowchart of another vehicle collision early warning method according to Embodiment 2 of the present invention. As shown in FIG. 3, the method includes:
  • Step 201 Acquire a running state of the vehicle through a controller area network (CAN) bus of the vehicle.
  • CAN controller area network
  • the driving state is forward or backward.
  • the current driving state of the vehicle is acquired through the CAN bus of the vehicle.
  • Step 202 Determine whether the running state of the vehicle is forward, if yes, execute step 203, otherwise perform step 204.
  • Step 203 A prompt for setting a vehicle collision warning is a rear-end collision.
  • a warning of setting a vehicle collision warning is a rear-end collision.
  • Step 204 A prompt for setting a vehicle collision warning is to stop the reverse.
  • the set prompt may be an audible prompt, or may be a prompt identifier or a text.
  • Step 205 Real-time acquisition obtains two images obtained by the two camera devices for capturing obstacles, and calculates the two images based on the close-range photogrammetry to obtain the distance between the obstacle and the tail of the vehicle.
  • the reversing camera or the driving recorder camera of the vehicle as the imaging device acquires two images obtained by capturing the obstacle in real time, and then calculates the two images based on the close-range photogrammetry to obtain an obstacle between the obstacle and the tail of the vehicle. distance.
  • Step 206 When the distance is less than the preset threshold, the warning is issued according to the preset vehicle collision warning prompt.
  • a prompt for rear-end collision is issued
  • a prompt to stop the reverse is issued.
  • Step 207 Display two images obtained by the two camera devices for capturing obstacles.
  • two images are displayed on the display inside the vehicle for user reference.
  • two images obtained by capturing the obstacles by the two camera devices are obtained by the acquisition, and the two images are calculated based on the close-range photogrammetry, thereby obtaining the obstacle and the tail of the vehicle.
  • the distance between the two when the distance is less than the preset threshold, the vehicle collision warning is issued. Since the camera device can utilize the original reversing camera of the vehicle, the additional installation of the radar collision avoidance system is avoided, and the prior art anti-collision radar is solved.
  • the system realizes the high cost of vehicle collision warning and the technical problems that are difficult to popularize.
  • FIG. 4 is a schematic structural diagram of a vehicle collision early warning device according to Embodiment 3 of the present invention. As shown in FIG. 4, the method includes: an acquisition module 31, a calculation module 32, and an early warning module 33.
  • the acquisition module 31 is configured to obtain two images obtained by the two camera devices for capturing obstacles.
  • the two camera devices are installed at the tail of the vehicle and form an angle with each other; the hardware parameters of the two camera devices are the same.
  • the calculation module 32 is connected to the acquisition module 31 for calculating the two images based on the close-range photogrammetry to obtain the distance between the obstacle and the tail of the vehicle.
  • the warning module 33 is connected to the calculation module 32 for issuing a vehicle collision warning when the distance is less than a preset threshold.
  • the two images obtained by the two camera devices for capturing the obstacle are obtained by the acquisition, and the two images are calculated based on the close-range photogrammetry, thereby obtaining the distance between the obstacle and the tail of the vehicle, when the distance is less than the preset threshold.
  • the vehicle collision warning is issued. Since the camera device can utilize the original reversing camera of the vehicle, the additional installation of the radar collision avoidance system is avoided, and the cost of using the anti-collision radar system to realize the vehicle collision warning in the prior art is solved. Difficult technical problems.
  • FIG. 5 is a schematic structural diagram of another vehicle collision early warning device according to Embodiment 4 of the present invention. As shown in FIG. 5, the vehicle collision early warning device in this embodiment further includes: an acquisition module. 34.
  • the acquisition module 34 is connected to the early warning module 33 for acquiring the driving state of the vehicle through the CAN bus of the vehicle.
  • the driving state is forward or backward.
  • the early warning module 33 includes: a first early warning unit 331 and a second early warning unit 332.
  • the first early warning unit 331 is configured to send a prompt for the rear chase of the vehicle to the user if the running state is forward and the distance is less than a preset threshold.
  • the second early warning unit 332 is connected to the first early warning unit 331 for prompting the user to stop the reverse driving if the running state is backward and the distance is less than a preset threshold.
  • the vehicle collision warning device further includes: a display module 35.
  • the display module 35 is connected to the acquisition module 31 and the early warning module 33 for displaying two images obtained by the two camera devices for capturing obstacles.
  • the embodiment further provides a vehicle comprising the vehicle collision warning device provided in the third embodiment or the fourth embodiment.
  • the vehicle also includes two cameras. 6 is a schematic view of the vehicle. As shown in FIG. 6 , the two sector regions in the figure are the shooting regions of the two cameras respectively, and the overlapping portions of the two shooting regions, that is, the dotted line filling region is an effective region, when the obstacle is in the effective region. , can achieve collision warning.
  • the two camera devices have the same hardware parameters, are installed at the tail of the vehicle, and form an angle with each other.
  • the hardware parameter can be an aperture and/or a focal length.
  • Two camera devices for providing an image obtained by capturing an obstacle to the collision warning device.
  • the two camera devices may be the original reversing camera of the vehicle.
  • Existing radar collision avoidance systems are expensive and generally only available on high-end vehicles, while mid- and low-end vehicles are difficult to install.
  • the close-range photogrammetry is used to measure the distance.
  • the hardware used is two camera devices.
  • the two camera devices can be two ordinary reversing cameras of the same model, that is, no professional measuring camera is needed, which greatly reduces the number of cameras. Cost can be accepted by most users.
  • the two images obtained by the two camera devices for capturing the obstacle are obtained by the acquisition, and the two images are calculated based on the close-range photogrammetry, thereby obtaining the distance between the obstacle and the tail of the vehicle, when the distance is less than the preset threshold.
  • the vehicle collision warning is issued. Since the camera device can utilize the original reversing camera of the vehicle, the additional installation of the radar collision avoidance system is avoided, and the cost of using the anti-collision radar system to realize the vehicle collision warning in the prior art is solved. Difficult technical problems.
  • the aforementioned program can be stored in a computer readable storage medium.
  • the program when executed, performs the steps including the foregoing method embodiments; and the foregoing storage medium includes: ROM, RAM, disk, or optical disk, etc.

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  • Physics & Mathematics (AREA)
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Abstract

一种车辆碰撞预警方法、装置和车辆，通过采集获得两摄像装置对障碍物拍摄所获得的两图像，对两图像基于近景摄影测量进行计算，从而获得障碍物与车辆尾部之间的距离，当距离小于预设阈值时，则发出车辆碰撞预警，由于该摄像装置可以利用车辆原有的倒车摄像头，避免了额外安装雷达防撞系统，解决了现有技术中利用防撞雷达系统实现车辆碰撞预警的成本较高，普及难度较大的技术问题。

Description

车辆碰撞预警方法、装置和车辆
本专利申请要求申请日为2015年11月13日、申请号为2015107784052的中国专利申请的优先权，并将上述专利申请以引用的方式全文引入本文中。
技术领域
本发明涉及车辆工程技术，尤其涉及一种车辆碰撞预警方法、装置和车辆。
背景技术
驾驶安全一直以来都是汽车产业所关注的重点之一。在驾驶安全方面，随着电子技术的不断发展，碰撞预警也得到了快速发展。现有技术中，在一些高端车辆上已经可以安装防撞雷达系统，从而实现对车辆碰撞的预警。
防撞雷达系统是由数个感应器与微电脑控制器及蜂鸣器所组成。其原理是感应器发射和接收超声波信号，并经由微电脑根据发射和接收的超声波信号进行计算，获得超声波信号的折返时间而测量出障碍物的距离，然后由蜂鸣器发出报警。但现有技术中的防撞雷达系统成本较高，导致普及难度较大。
发明内容
本发明实施例提供一种车辆碰撞预警方法、装置和车辆，用于解决现有技术中利用防撞雷达系统实现车辆碰撞预警的成本较高，普及难度较大的技术问题。
为达到上述目的，本发明实施例采用如下技术方案：
第一方面，提供了一种车辆碰撞预警方法，包括：
采集获得两摄像装置对障碍物拍摄所获得的两图像；所述两摄像装置安装于车辆尾部，且互成一夹角；所述两摄像装置的硬件参数相同；
对所述两图像基于近景摄影测量进行计算，获得所述障碍物与所述车辆尾部之间的距离；
当所述距离小于预设阈值时，发出车辆碰撞预警。
第二方面，提供了一种车辆碰撞预警装置，包括：
采集模块，用于获得两摄像装置对障碍物拍摄所获得的两图像；所述两摄像装置安装于车辆尾部，且互成一夹角；所述两摄像装置的硬件参数相同；
计算模块，用于对所述两图像基于近景摄影测量进行计算，获得所述障碍物与所述车辆尾部之间的距离；
预警模块，用于当所述距离小于预设阈值时，发出车辆碰撞预警。
第三方面，提供了一种车辆，包括如上所述的车辆碰撞预警装置和两摄像头；所述两摄像装置具有相同的硬件参数，安装于车辆尾部，且互成一夹角；
所述两摄像装置，用于向所述碰撞预警装置提供对障碍物拍摄所获得的图像。
本发明实施例提供的车辆碰撞预警方法、装置和车辆，，通过采集获得两摄像装置对障碍物拍摄所获得的两图像，对两图像基于近景摄影测量进行计算，从而获得障碍物与车辆尾部之间的距离，当距离小于预设阈值时，则发出车辆碰撞预警，由于该摄像装置可以利用车辆原有的倒车摄像头，避免了额外安装雷达防撞系统，解决了现有技术中利用防撞雷达系统实现车辆碰撞预警的成本较高，普及难度较大的技术问题。
附图说明
图1为本发明实施例一提供的一种车辆碰撞预警方法的流程示意图；
图2提供了近景摄影测量的原理图；
图3为本发明实施例二提供的另一种车辆碰撞预警方法的流程示意图；
图4为本发明实施例三提供的一种车辆碰撞预警装置的结构示意图；
图5为本发明实施例四提供的另一种车辆碰撞预警装置的结构示意图；
图6为车辆的示意图。
具体实施方式
下面结合附图对本发明实施例提供的车辆碰撞预警方法、装置和车辆进行详细描述。
实施例一
图1为本发明实施例一提供的一种车辆碰撞预警方法的流程示意图，如图1所示，包括：
步骤101、采集获得两摄像装置对障碍物拍摄所获得的两图像。
其中，两摄像装置安装于车辆尾部，且互成一夹角。且两摄像装置的硬件参数相同，硬件参数包括光圈和/或焦距。
步骤102、对两图像基于近景摄影测量进行计算，获得障碍物与车辆尾部之间的距离。
具体的，近景摄影测量是指利用对物距不大于300m的目标物摄取的立体像对进行的摄影测量。近景摄影测量在发明之初，是为了提高轧钢生产流水线上的生产效率和产品质量。图2提供了近景摄影测量的原理图，如图2所示，具体的近景摄影测量方法是安装量测摄影机，实时地量测被加工物体的大小和形状，引导设备对钢坯进行加工和处理。从而在近距离，一般指100m以内，拍摄目标图像，经过加工处理，确定其大小、形状和几何位置。具体计算过程参考测量原理相关书籍中的描述，本实施例中对此不再赘述。
步骤103、当距离小于预设阈值时，发出车辆碰撞预警。
现有的雷达防撞系统价格昂贵，一般只有在高端车辆上可以配备，而中低端车辆难以安装。而使用近景摄影测量来进行距离测定，使用的硬件是两个摄像装置，这两个摄像装置可以是两个相同型号的普通倒车摄像头，也就是说，不需要专业的测量相机，大大地降低了成本，可以被大多数用户接受。
本实施例中，通过采集获得两摄像装置对障碍物拍摄所获得的两图像，对两图像基于近景摄影测量进行计算，从而获得障碍物与车辆尾部之间的距离，当距离小于预设阈值时，则发出车辆碰撞预警，由于该摄像装置可以利用车辆原有的倒车摄像头，避免了额外安装雷达防撞系统，解决了现有技术中利用防撞雷达系统实现车辆碰撞预警的成本较高，普及难度较大的技术问题。
实施例二
图3为本发明实施例二提供的另一种车辆碰撞预警方法的流程示意图，如图3所示，包括：
步骤201、通过车辆的控制器局域网络(Controller Area Network,CAN)总线获取车辆的行驶状态。
其中，行驶状态为前进或倒退。
具体的，当车辆变换行驶状态时，通过车辆的CAN总线获取车辆当前的行驶状态。
步骤202、判断车辆的行驶状态是否为前进，若是，则执行步骤203，否则执行步骤204。
步骤203、设置车辆碰撞预警的提示为后车追尾。
具体的，若行驶状态为前进，后方出现障碍物，则确定为车辆将发生追尾事故，因而，在车辆前进时设置车辆碰撞预警的提示为后车追尾。
步骤204、设置车辆碰撞预警的提示为停止倒车。
具体的，所设置的提示可以为声音提示，还可以为显示提示标识或文字。
步骤205、实时采集获得两摄像装置对障碍物拍摄所获得的两图像，对两图像基于近景摄影测量进行计算，获得障碍物与车辆尾部之间的距离。
具体的，作为摄像装置的车辆的倒车摄像头或者行车记录仪摄像头，实时采集获得对障碍物拍摄所获得的两图像，进而对两图像基于近景摄影测量进行计算，获得障碍物与车辆尾部之间的距离。
步骤206、当距离小于预设阈值时，按照预设的车辆碰撞预警提示发出预警。
具体的，在行驶状态为前进且与障碍物之间的距离小于预设阈值，则发出后车追尾的提示，在行驶状态为倒退且距离小于预设阈值，则发出停止倒车的提示。
步骤207、显示两摄像装置对障碍物拍摄所获得的两图像。
具体的，在车辆内部的显示器上显示两图像，以备用户参考。
本实施例中，通过采集获得两摄像装置对障碍物拍摄所获得的两图像，对两图像基于近景摄影测量进行计算，从而获得障碍物与车辆尾部之 间的距离，当距离小于预设阈值时，则发出车辆碰撞预警，由于该摄像装置可以利用车辆原有的倒车摄像头，避免了额外安装雷达防撞系统，解决了现有技术中利用防撞雷达系统实现车辆碰撞预警的成本较高，普及难度较大的技术问题。
实施例三
图4为本发明实施例三提供的一种车辆碰撞预警装置的结构示意图，如图4所示，包括：采集模块31、计算模块32和预警模块33。
采集模块31，用于获得两摄像装置对障碍物拍摄所获得的两图像。
其中，两摄像装置安装于车辆尾部，且互成一夹角；所述两摄像装置的硬件参数相同。
计算模块32，与采集模块31连接，用于对所述两图像基于近景摄影测量进行计算，获得所述障碍物与所述车辆尾部之间的距离。
预警模块33，与计算模块32连接，用于当所述距离小于预设阈值时，发出车辆碰撞预警。
本实施例中，通过采集获得两摄像装置对障碍物拍摄所获得的两图像，对两图像基于近景摄影测量进行计算，从而获得障碍物与车辆尾部之间的距离，当距离小于预设阈值时，则发出车辆碰撞预警，由于该摄像装置可以利用车辆原有的倒车摄像头，避免了额外安装雷达防撞系统，解决了现有技术中利用防撞雷达系统实现车辆碰撞预警的成本较高，普及难度较大的技术问题。
实施例四
图5为本发明实施例四提供的另一种车辆碰撞预警装置的结构示意图，如图5所示，在上一实施例的基础上，本实施例中的车辆碰撞预警装置进一步包括：获取模块34。
获取模块34，与预警模块33连接，用于通过车辆的CAN总线获取车辆的行驶状态。
其中，行驶状态为前进或倒退。
基于此，预警模块33，包括：第一预警单元331和第二预警单元332。
第一预警单元331，用于若所述行驶状态为前进，且所述距离小于预设阈值，则向用户发出后车追尾的提示。
第二预警单元332，与第一预警单元331连接，用于若所述行驶状态为倒退，且所述距离小于预设阈值，则向用户发出停止倒车的提示。
进一步，车辆碰撞预警装置还包括：显示模块35。
显示模块35，与采集模块31和预警模块33连接，用于显示所述两摄像装置对障碍物拍摄所获得的两图像。
本实施例还提供了一种车辆，包括如实施例三或实施例四所提供的车辆碰撞预警装置。该车辆还包括两摄像头。图6为车辆的示意图，如图6所示，图中两扇形区域分别为两摄像头的拍摄区域，两拍摄区域的交叠处，即虚线填充区域为有效区域，当障碍物处于有效区域内时，可实现碰撞预警。
其中，两摄像装置具有相同的硬件参数，安装于车辆尾部，且互成一夹角。例如，该硬件参数可以是光圈和/或焦距。
两摄像装置，用于向碰撞预警装置提供对障碍物拍摄所获得的图像。
具体的，两摄像装置可以是车辆原有的倒车摄像头。现有的雷达防撞系统价格昂贵，一般只有在高端车辆上可以配备，而中低端车辆难以安装。而使用近景摄影测量来进行距离测定，使用的硬件是两个摄像装置，这两个摄像装置可以是两个相同型号的普通倒车摄像头，也就是说，不需要专业的测量相机，大大地降低了成本，可以被大多数用户接受。
本实施例中，通过采集获得两摄像装置对障碍物拍摄所获得的两图像，对两图像基于近景摄影测量进行计算，从而获得障碍物与车辆尾部之间的距离，当距离小于预设阈值时，则发出车辆碰撞预警，由于该摄像装置可以利用车辆原有的倒车摄像头，避免了额外安装雷达防撞系统，解决了现有技术中利用防撞雷达系统实现车辆碰撞预警的成本较高，普及难度较大的技术问题。
本领域普通技术人员可以理解：实现上述各方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成。前述的程序可以存储于一计算机可读取存储介质中。该程序在执行时，执行包括上述各方法实施例的步骤；而前述的存储介质包括：ROM、RAM、磁碟或者光盘等各种可以存 储程序代码的介质。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (9)

  1. 一种车辆碰撞预警方法，其特征在于，包括：
    采集获得两摄像装置对障碍物拍摄所获得的两图像；所述两摄像装置安装于车辆尾部，且互成一夹角；所述两摄像装置的硬件参数相同；
    对所述两图像基于近景摄影测量进行计算，获得所述障碍物与所述车辆尾部之间的距离；
    当所述距离小于预设阈值时，发出车辆碰撞预警。
  2. 根据权利要求1所述的车辆碰撞预警方法，其特征在于，所述当距离小于预设阈值时，发出车辆碰撞预警之前，还包括：
    通过车辆的CAN总线获取车辆的行驶状态；所述行驶状态为前进或倒退；
    则所述当距离小于预设阈值时，发出车辆碰撞预警，包括：
    若所述行驶状态为前进，且所述距离小于预设阈值，则向用户发出后车追尾的提示；
    若所述行驶状态为倒退，且所述距离小于预设阈值，则向用户发出停止倒车的提示。
  3. 根据权利要求1或2所述的车辆碰撞预警方法，其特征在于，所述当所述距离小于预设阈值时，发出车辆碰撞预警之后，还包括：
    显示所述两摄像装置对障碍物拍摄所获得的两图像。
  4. 根据权利要求1或2所述的车辆碰撞预警方法，其特征在于，所述硬件参数包括光圈和/或焦距；所述摄像装置为车辆的倒车摄像头。
  5. 一种车辆碰撞预警装置，其特征在于，包括：
    采集模块，用于获得两摄像装置对障碍物拍摄所获得的两图像；所述两摄像装置安装于车辆尾部，且互成一夹角；所述两摄像装置的硬件参数相同；
    计算模块，用于对所述两图像基于近景摄影测量进行计算，获得所述障碍物与所述车辆尾部之间的距离；
    预警模块，用于当所述距离小于预设阈值时，发出车辆碰撞预警。
  6. 根据权利要求5所述的车辆碰撞预警装置，其特征在于，还包括：
    获取模块，用于通过车辆的CAN总线获取车辆的行驶状态；所述行 驶状态为前进或倒退；
    则所述预警模块，包括：
    第一预警单元，用于若所述行驶状态为前进，且所述距离小于预设阈值，则向用户发出后车追尾的提示；
    第二预警单元，用于若所述行驶状态为倒退，且所述距离小于预设阈值，则向用户发出停止倒车的提示。
  7. 根据权利要求5或6所述的车辆碰撞预警装置，其特征在于，还包括：
    显示模块，用于显示所述两摄像装置对障碍物拍摄所获得的两图像。
  8. 根据权利要求5或6所述的车辆碰撞预警装置，其特征在于，所述硬件参数包括光圈和/或焦距；所述摄像装置为车辆的倒车摄像头。
  9. 一种车辆，其特征在于，包括如权利要求5-8任一项所述的车辆碰撞预警装置和两摄像头；所述两摄像装置具有相同的硬件参数，安装于车辆尾部，且互成一夹角；
    所述两摄像装置，用于向所述碰撞预警装置提供对障碍物拍摄所获得的图像。
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