WO2018076850A1 - 车辆超越动作自动提醒方法和装置 - Google Patents

车辆超越动作自动提醒方法和装置 Download PDF

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Publication number
WO2018076850A1
WO2018076850A1 PCT/CN2017/095034 CN2017095034W WO2018076850A1 WO 2018076850 A1 WO2018076850 A1 WO 2018076850A1 CN 2017095034 W CN2017095034 W CN 2017095034W WO 2018076850 A1 WO2018076850 A1 WO 2018076850A1
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vehicle
overridden
overtaking
state
reminding
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PCT/CN2017/095034
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English (en)
French (fr)
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齐磊
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蔚来汽车有限公司
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • 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
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • 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
    • B60Q5/00—Arrangement or adaptation of acoustic signal devices

Definitions

  • the invention relates to the technical field of vehicle driving assistance, and particularly relates to a method and device for automatically reminding a vehicle overtaking action.
  • the present invention proposes a vehicle overtaking action automatic reminding method and device, which realizes that the vehicle actively reminds before the overtaking action The front is overtaken by the object's function, thus avoiding side collisions as much as possible.
  • a method for automatically alerting a vehicle overtaking motion including the following steps:
  • Step 1 collecting an image of the front side of the vehicle
  • Step 2 determining, by the image recognition method, whether the captured vehicle side front image includes the object to be overridden
  • step 3 if the result of the determination in step 2 is that the object to be overridden is included, the overtaking reminder is performed.
  • step 2 further comprises the step of identifying the category of the object being overridden.
  • the categories of the objects to be surpassed include motor vehicles and other categories.
  • the method further includes a data measuring step, the step being disposed between step 2 and step 3;
  • the data measurement steps include:
  • Measuring the approach speed of the vehicle and the object to be surpassed when the category of the object to be surpassed is a motor vehicle
  • the distance between the vehicle and the object being overridden is measured.
  • the method for performing the override reminder described in step 3 is:
  • the relative state of the vehicle and the object to be overridden is an overtaking state, or an opposite driving state, or an overtaking non-motor vehicle state;
  • the overtaking state is judged according to: the object to be surpassed is a motor vehicle, and the traveling speed of the vehicle is greater than or equal to the approach speed in the data measuring step;
  • the judgment of the opposite driving state is based on: the object to be overridden is a motor vehicle, and the traveling speed of the vehicle is smaller than the approach speed in the data measuring step;
  • the judgment of the state of exceeding the non-motor vehicle is based on the fact that the category of the object to be surpassed is a non-motor vehicle, and the distance between the vehicle and the object to be surpassed is less than a set threshold.
  • the reminding strategy is an overtaking reminding strategy, or a facing reminding strategy, or a non-motorized reminding strategy, corresponding to an overtaking state, a facing driving state, and a passing non-motorized state;
  • the overtaking reminding strategy is to make the vehicle headlights flash twice by switching the vehicle far and low beam lights;
  • the opposite reminding strategy is to maintain the current headlight state of the vehicle, and can switch the headlight state according to the manual switching command of the far and low beam lights;
  • the vehicle remote and low beam lights are switched, specifically, the target vehicle side vehicle far and low beam lights are switched.
  • an opening determination step is provided before step 1;
  • the step of determining the opening includes: determining whether to perform the steps of step 1 to step 3 by identifying the input signal;
  • the input signal allowing the steps 1 to 3 to be performed is an opening command or a vehicle start signal input through the human-machine interaction system.
  • the other categories include non-motor vehicles and pedestrians.
  • a distance threshold step is provided before the determination of the relative state of the vehicle and the object to be overridden, and when the distance between the vehicle and the object to be overridden is less than a set threshold, the determination of the relative state of the vehicle and the object to be over is started.
  • a vehicle overtaking motion automatic reminding device including an image collecting unit, an image processing unit, and a central processing unit;
  • the image acquisition unit is configured to collect an image of the front side of the vehicle
  • the image processing unit is configured to determine whether the image of the front side of the vehicle acquired by the image acquisition unit includes the object to be overridden;
  • the central processing unit is configured to determine, according to the recognition result of the image processing unit, whether the captured image includes the object to be overridden, and if so, output a warning device that exceeds the alert command to the vehicle.
  • the image processing unit includes an object class library that is overridden, and an image recognition unit;
  • the overridden object category library is used to store the overridden object category feature
  • the image recognition unit is configured to recognize the overridden object in the image acquired by the image acquisition unit based on the overridden object category library.
  • the categories in the category of transcended object categories include motor vehicles and other categories; other categories include non-motor vehicles and pedestrians.
  • a data measurement unit is further included; the data measurement unit is configured to measure the approach speed of the vehicle to the object being overridden and/or the distance of the vehicle from the object being overridden.
  • the central processing unit includes an input module, a vehicle state library, a reminder policy library, a data processing module, and an output module;
  • the input module is configured to receive data output by the image processing unit and the data measurement unit;
  • the vehicle state library is configured to store a relative state of the vehicle and the object to be overridden; the relative state of the vehicle and the object to be overridden is an overtaking state, or a facing driving state, or a non-motorized state; the overtaking state is characterized by The object to be surpassed is a motor vehicle, and the traveling speed of the vehicle is greater than or equal to the approach speed in the data measuring step; the characteristic of the opposite driving state is that the object to be overridden is a motor vehicle, and the traveling speed of the vehicle is smaller than the approach in the data measuring step.
  • Speed the characteristic of the overtaking non-motor vehicle state is: the category of the object to be surpassed is a non-motor vehicle, and the distance between the vehicle and the object to be surpassed is less than a set threshold;
  • the reminder policy library is configured to store a reminder policy;
  • the reminder policy is an overtaking reminding strategy, or a facing reminding strategy, or a non-motorized reminding strategy;
  • the overtaking reminding strategy is to make the vehicle headlights blink by switching the vehicle far and low beam lights Two times;
  • the opposite reminding strategy is to maintain the current headlight status of the vehicle, and can switch the headlight status according to the remote and low beam manual switching instructions;
  • the overtaking non-motor vehicle reminding strategy is to use the buzzer or the woofer for sound reminding ;
  • the vehicle remote and low beam lights are switched, specifically, the target vehicle side vehicle far and low beam lights are switched.
  • the data processing module is configured to determine a relative state of the vehicle and the object to be exceeded according to the information input by the input module, and match the reminding policy stored in the alert policy library to form a reminder instruction;
  • the output module is configured to send a reminder instruction formed by the data processing module to the reminding device.
  • a startup module is further included, the module being configured to initiate the device.
  • the startup module is a human-computer interaction system or a vehicle activation signal recognition module.
  • the reminding device is a vehicle headlight and/or a car horn.
  • the data measuring unit is a millimeter wave radar or a laser radar.
  • the invention realizes that when the vehicle exceeds the object to be overtaked, the sound and light reminder are automatically performed to attract the attention of the object to be surpassed, thereby indirectly reducing the probability of a traffic accident caused by the obscured object being obscured.
  • the vehicle state is automatically recognized, and the vehicle is alerted, thereby reducing the probability of the front-line accident caused by the obsolete observation;
  • the pedestrian or non-machine in the vehicle beyond the side Use a special sound when driving It automatically reminds pedestrians and non-motor vehicles to have cars close to each other, thus reducing the probability of a pedestrian accident caused by neglect of observation by pedestrians or non-motor vehicles.
  • 1 is a schematic flow chart of an automatic reminding method for a vehicle overtaking action in the embodiment.
  • the idea of the present invention is to automatically issue a reminder message in advance when the vehicle overtakes the object to be surpassed (motor vehicle, non-motor vehicle or pedestrian, etc.) to cause the attention of the object to be surpassed, thereby reducing the obscurity of the overtaked object.
  • the probability of a traffic accident is to automatically issue a reminder message in advance when the vehicle overtakes the object to be surpassed (motor vehicle, non-motor vehicle or pedestrian, etc.) to cause the attention of the object to be surpassed, thereby reducing the obscurity of the overtaked object.
  • the following vehicles are vehicles for carrying out the method of the present invention or installing the device of the present invention, and other vehicles are respectively expressed by motor vehicles and non-motor vehicles to avoid confusion of concepts.
  • the vehicle automatic override method for vehicle overtaking action proposed by the present invention includes the following steps:
  • step S1 the judgment is turned on.
  • step S2 Acquiring an input signal, identifying the input signal, determining whether the signal is a start signal, and if so, executing step S2.
  • the input signal in this embodiment is an open command input through a human-machine interaction system, or a vehicle start signal, or a power-on signal.
  • step S2 an image of the front side of the vehicle is collected.
  • step S1 If the input signal acquired in step S1 is the start signal, the image on the front side of the vehicle is collected by the camera or other image acquisition device.
  • Step S3 the analysis of the object being exceeded.
  • the vehicle side front image acquired in step S2 is processed by the image recognition method, and it is determined whether or not the captured vehicle side front image includes the object to be overridden and identifies the category of the object to be overridden.
  • the categories of objects to be surpassed include motor vehicles and other categories; the other categories include non-motor vehicles and pedestrians.
  • Step S4 data measurement.
  • the differentiated data measurement is performed according to the category of the object to be exceeded identified in step S3: when the category of the object to be surpassed is a motor vehicle, the vehicle and the object to be surpassed are measured. Proximity speed; measures the distance between the vehicle and the object being overridden when the category of the object being surpassed is other categories.
  • Data measurement can be achieved by millimeter wave radar or laser radar.
  • Step S5 beyond the reminder.
  • step S3 Determining the relative state of the vehicle and the object to be surpassed according to the category of the object to be exceeded identified in step S3 and the measurement data acquired in step S4, selecting a corresponding reminding strategy from the preset reminding strategy, and according to the selected reminder The strategy goes beyond the reminder.
  • the relative state of the vehicle and the object to be overridden is an overtaking state, or a facing driving state, or a non-motorized state.
  • the overtaking state is judged according to the fact that the object to be surpassed is a motor vehicle, and the traveling speed of the vehicle is greater than or equal to the approach speed in the data measuring step; the judgment of the opposite driving state is: the vehicle being overtaken is a motor vehicle, and the vehicle The traveling speed is less than the approach speed in the data measuring step; the judging over the non-motor vehicle state is based on the fact that the category of the object to be surpassed is a non-motor vehicle, and the distance between the vehicle and the object to be overridden is less than a set threshold.
  • the reminder strategy is an overtaking reminding strategy, or a facing reminding strategy, or a non-motorized reminding strategy, corresponding to the overtaking state, the opposite driving state, and the overtaking non-motorized state.
  • the overtaking reminding strategy is to make the vehicle headlights flash twice by switching the vehicle far and low beam lights; the opposite reminding strategy is to maintain the current vehicle headlight status, and can switch the headlight status according to the far and low beam manual switching instructions.
  • the over-motor vehicle reminder strategy is to use a buzzer or a woofer for sound reminders.
  • the vehicle far and low beam lights are switched, and the target vehicle side remote and low beam lights may be further switched, and the target vehicle side is the side of the object to be surpassed in the current vehicle position. At this time, a headlight of the side is separately switched to the low beam and low beam.
  • the distance threshold step may be added before the determination of the relative state of the vehicle and the object to be overridden, and when the distance between the vehicle and the object to be overridden is less than the set threshold, the determination of the relative state of the vehicle and the object to be over is started. This reduces the amount of data that is calculated, and the reminder of the vehicle's proximity is more meaningful and reduces the probability of false alarms.
  • the category of the object to be surpassed is a motor vehicle in step S4
  • the invention can set the independent distance threshold for the relative state of different vehicles and the object to be surpassed, and can also set the uniform distance threshold.
  • a uniform distance threshold is set, and the set distance threshold is 10 meters.
  • Step S5 can be specifically described as:
  • the relative state is determined according to the approach speed of the measured vehicle and the object to be overtaked, and the current vehicle speed of the vehicle.
  • the vehicle state is the overtaking state; otherwise, it is judged as the opposite driving state; if the vehicle state is the overtaking state, the overtaking reminding strategy is executed, and the vehicle front and the low beam are switched to make the vehicle front view
  • the remote and low beam switching operations are manually performed, and the vehicle switches the headlight state according to the manual switching command of the far and low beam lights.
  • the category of the object being surpassed is other categories, and the distance between the vehicle and the object being overtaked is less than the set threshold, the relative state is beyond the non-motorized state, and the overtaking non-motor vehicle reminding strategy is used, with a buzzer or bass.
  • the speaker makes a sound reminder.
  • the vehicle overtaking action automatic reminding method of the present invention can also be simplified as follows: collecting a vehicle side front image; determining, by an image recognition method, whether the collected vehicle side front image contains an object to be overridden; if the collected vehicle side front image is included Beyond the object, then go beyond the reminder. This simplified method also enables the automatic reminder of the object being overridden.
  • the invention also provides an automatic reminding device for vehicle overtaking action, comprising an image collecting unit, an image processing unit and a central processing unit; in order to achieve the purpose of reminding differently different objects to be intelligently distinguished, the vehicle overtaking action of the present invention
  • the automatic reminder device also includes a data measurement unit; in order to increase the availability of the system, a startup module is also included.
  • the image acquisition unit is configured to collect an image of the front side of the vehicle
  • the image processing unit is configured to determine whether the image of the front side of the vehicle acquired by the image acquisition unit includes the object to be overridden;
  • the central processing unit is configured to determine, according to the recognition result of the image processing unit, whether the captured image includes the object to be overridden, and if so, output a warning device that exceeds the alert command to the vehicle.
  • the data measurement unit is configured to measure the approach speed of the vehicle to the object being overridden and/or the distance of the vehicle from the object being overridden, which may be a millimeter wave radar or a lidar.
  • the startup module is configured to start the vehicle overtaking action automatic reminding device, and can be implemented by means of power control or signal control.
  • the commonly used methods are as follows: the control button inputs the start signal; the human-computer interaction system inputs the start command, and the start command can be a voice input signal, a touch screen input signal, etc.; The module detects if the vehicle is started to achieve synchronized start with the vehicle.
  • the image processing unit includes an object class that is overridden, and an image recognition unit.
  • the overridden object category library is configured to store the overridden object category feature;
  • the image recognition unit is configured to identify the overridden object in the image acquired by the image acquisition unit based on the overridden object category library.
  • the categories in the overridden object category library in this embodiment include motor vehicles and other categories; other categories include non-motor vehicles and pedestrians.
  • the central processing unit includes an input module, a vehicle state library, a reminder policy library, a data processing module, and an output module;
  • the input module is configured to receive data output by the image processing unit and the data measurement unit;
  • the vehicle state library is configured to store a relative state of the vehicle and the object to be overridden; the relative state of the vehicle and the object to be overridden is an overtaking state, or a facing driving state, or a non-motorized state; the overtaking state is characterized by The object to be surpassed is a motor vehicle, and the traveling speed of the vehicle is greater than or equal to the approach speed in the data measuring step; the characteristic of the opposite driving state is that the object to be overridden is a motor vehicle, and the traveling speed of the vehicle is smaller than the approach in the data measuring step.
  • Speed the characteristic of the overtaking non-motor vehicle state is: the category of the object to be surpassed is a non-motor vehicle, and the distance between the vehicle and the object to be surpassed is less than a set threshold;
  • the reminder policy library is configured to store a reminder policy; the reminder policy is an overtaking reminding strategy, or a facing reminding strategy, or a non-motorized reminding strategy; the overtaking reminding strategy is to make the vehicle headlights blink by switching the vehicle far and low beam lights Two times; the opposite reminding strategy is to maintain the current headlight status of the vehicle, and can switch the headlight status according to the remote and low beam manual switching instructions; the overtaking non-motor vehicle reminding strategy is to use the buzzer or the woofer to make a sound reminder.
  • the overtaking reminding strategy the vehicle far and low beam lights are switched, and the far side and low beam lights of the target vehicle side may be further switched.
  • the data processing module is configured to determine a relative state of the vehicle and the object to be exceeded according to the information input by the input module, and match the reminding policy stored in the alert policy library to form a reminder instruction;
  • the output module is configured to send a reminder instruction formed by the data processing module to the reminding device.
  • the reminding device is a vehicle headlight and/or a car horn.
  • the image processing unit and the central processing unit can be separately set, which is more advantageous for improving the processing speed of the central processing unit, and can also design a corresponding algorithm, which is uniformly processed by the central processing unit.
  • modules, units and method steps of the various examples described in connection with the embodiments disclosed herein can be implemented in electronic hardware, computer software or a combination of both, in order to clearly illustrate electronic hardware.
  • Interchangeability with software, the components and steps of the various examples have been generally described in terms of functionality in the above description. Whether these functions are performed in electronic hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each particular application, but such implementation should not be considered to be beyond the scope of the present invention.

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Abstract

一种车辆超越动作自动提醒方法和车辆超越动作自动提醒装置，所述方法包括以下步骤：步骤1，采集车辆侧前方图像；步骤2，通过图像识别方法分析所采集的车辆侧前方图像中是否包含被超越对象；步骤3，若步骤2的分析结果为包含被超越对象，则进行超越提醒。实现了车辆在超越被超越对象时，自动进行声、光提醒，以引起被超越对象的注意，从而间接降低由于被超越对象疏于观察而造成的交通事故的机率。

Description

车辆超越动作自动提醒方法和装置 技术领域
本发明涉及车辆行驶辅助技术领域，具体涉及一种车辆超越动作自动提醒方法和装置。
背景技术
随着汽车保有量的增加，快速增长的驾驶员人群中操纵不熟练的新手也逐年增多，这也使得当前车辆行驶辅助技术得到广泛应用。
经调查发现由于在行车过程中未能及时的发出警示信号造成的意外事故频繁发生，特别是如下两种情况：1、高速公路上在超车时由于前车突然变道(没有盲区预警、驾驶员疏于观察)而造成的碰撞事故；2、城市道路上非机动车和行人由于很难注意到机动车(特别是行驶非常安静的电动车)靠近而突然闯入机动车道造成意外事故。
由于很多路上车辆不具备变道盲区提醒功能，而且现有ADAS功能很难对侧面较近距离发生的碰撞做出预判和反应，因此现有技术无法解决车辆超越被超越对象(机动车、超越非机动车或行人)时，自动的、智能的进行提醒的问题，从而造成被超越对象无法预判和躲避来自侧面的近距离的碰撞事故，从而造成被超越对象无法预判和躲避来自侧面的近距离的碰撞事故。
发明内容
为了解决现有技术中的上述问题，即为了解决车辆自动判断路面状况并进行警示提醒的问题，本发明提出了一种车辆超越动作自动提醒方法和装置，实现了车辆在超越动作前，主动提醒前方被超越对象的功能，从而尽可能避免侧面碰撞。
为了实现上述目的，根据本发明的一个方面，提出的一种车辆超越动作自动提醒方法，包括以下步骤：
步骤1，采集车辆侧前方图像；
步骤2，通过图像识别方法判断所采集的车辆侧前方图像中是否包含被超越对象；
步骤3，若步骤2的判断结果为包含被超越对象，则进行超越提醒。
优选的，步骤2还包括识别被超越对象的类别的步骤。
优选的，所述的被超越对象的类别包括机动车和其他类别。
优选的，还包括数据测量步骤，该步骤设置于步骤2和步骤3之间；
数据测量步骤包括：
当被超越对象的类别为机动车时，测量车辆与被超越对象的接近速度；
当被超越对象的类别为其他类别时，测量车辆与被超越对象的距离。
优选的，步骤3所述进行超越提醒的方法为：
依据所述被超越对象的类别和/或所述数据测量步骤中的所测量的数据，判断车辆与被超越对象的相对状态，从预设的提醒策略中选择对应的提醒策略，并依据所选择的提醒策略进行超越提醒。
优选的，所述车辆与被超越对象的相对状态为超车状态、或相向行驶状态、或超越非机动车状态；
所述超车状态的判断依据为：被超越对象为机动车，且车辆行驶速度大于或等于数据测量步骤中的接近速度；
所述相向行驶状态的判断依据为：被超越对象为机动车，且车辆行驶速度小于数据测量步骤中的接近速度；
所述超越非机动车状态的判断依据为：被超越对象的类别为非机动车，且车辆与被超越对象的距离小于设定阈值。
优选的，所述的提醒策略为超车提醒策略、或相向提醒策略、或超越非机动车提醒策略，分别与超车状态、相向行驶状态、超越非机动车状态相对应；
超车提醒策略为通过切换车辆远、近光灯，使车辆前照灯闪烁两次；
相向提醒策略为保持当前车辆前照灯状态，并可以按照远、近光灯手动切换指令切换前照灯状态；
超越非机动车提醒策略为用过蜂鸣器或低音喇叭进行声音提醒。
优选的，超车提醒策略中所述切换车辆远、近光灯，具体为切换目标车侧车辆远、近光灯。
优选的，在步骤1之前设置有开启判断步骤；
所述开启判断步骤包括：通过对输入信号的识别，判断是否执行步骤1至步骤3各步骤；
优选的，所述开启判断步骤中，允许执行步骤1至步骤3各步骤的输入信号为通过人机交互系统输入的开启指令或车辆启动信号。
优选的，被超越对象的类别中，所述其他类别包括非机动车和行人。
优选的，车辆与被超越对象的相对状态的判断前设置有距离阈值步骤，在车辆与被超越对象之间的距离小于设定阈值时，开始进行车辆与被超越对象的相对状态的判断。
为了实现上述目的，根据本发明的另一个方面，还提出了一种车辆超越动作自动提醒装置，包括图像采集单元、图像处理单元、中央处理器单元；
所述图像采集单元配置为车辆侧前方图像的采集；
所述图像处理单元配置为用于判断图像采集单元所采集的车辆侧前方图像中是否包含被超越对象；
所述中央处理器单元配置为依据图像处理单元的识别结果判断所采集图像是否包含被超越对象，若包含则输出超越提醒指令至车辆上的提醒设备。
优选的，图像处理单元包括被超越对象类别库、图像识别单元；
所述被超越对象类别库用于存储被超越对象类别特征；
所述图像识别单元配置为基于被超越对象类别库，对图像采集单元所采集图像中被超越对象的识别。
优选的，被超越对象类别库中的类别包括机动车和其他类别；其他类别包括非机动车和行人。
优选的，还包括数据测量单元；数据测量单元配置为测量车辆与被超越对象的接近速度和/或车辆与被超越对象的距离。
优选的，所述中央处理器单元包括输入模块、车辆状态库、提醒策略库、数据处理模块、输出模块；
所述输入模块配置为接收图像处理单元、数据测量单元输出的数据；
所述车辆状态库配置为存储车辆与被超越对象的相对状态；所述车辆与被超越对象的相对状态为超车状态、或相向行驶状态、或超越非机动车状态；所述超车状态的特征为：被超越对象为机动车，且车辆行驶速度大于或等于数据测量步骤中的接近速度；所述相向行驶状态的特征为：被超越对象为机动车，且车辆行驶速度小于数据测量步骤中的接近速度；所述超越非机动车状态的特征为：被超越对象的类别为非机动车，且车辆与被超越对象的距离小于设定阈值；
所述提醒策略库配置为存储提醒策略；提醒策略为超车提醒策略、或相向提醒策略、或超越非机动车提醒策略；超车提醒策略为通过切换车辆远、近光灯，使车辆前照灯闪烁两次；相向提醒策略为保持当前车辆前照灯状态，并可以按照远、近光灯手动切换指令切换前照灯状态；超越非机动车提醒策略为用过蜂鸣器或低音喇叭进行声音提醒；
优选的，超车提醒策略中所述切换车辆远、近光灯，具体为切换目标车侧车辆远、近光灯。
所述数据处理模块配置为依据输入模块所输入的信息，判断车辆与被超越对象的相对状态，并与提醒策略库所存储的提醒策略进行匹配后形成提醒指令；
所述输出模块用于将所述数据处理模块形成的提醒指令发送至提醒设备。
优选的，还包括启动模块，该模块配置为该装置的启动。
优选的，所述启动模块为人机交互系统或车辆启动信号识别模块。
优选的，所述的提醒设备为车辆前照灯和/或汽车喇叭。
优选的，所述数据测量单元为毫米波雷达或激光雷达。
本发明实现了车辆在超越被超越对象时，自动的进行声、光提醒，以引起被超越对象的注意，从而间接降低由于被超越对象疏于观察而造成的交通事故的机率。具体的，在车辆超越机动车时，自动识别车辆状态，并向前车发出提醒，从而降低了前车由于疏于观察而造成的并线事故的机率；在车辆超越侧方的行人或非机动车时，用特殊的声音 来自动提醒行人和非机动车有车靠近，从而降低了行人或非机动车由于疏于观察而造成的并线事故的机率。
附图说明
图1是本实施例中车辆超越动作自动提醒方法流程示意图。
具体实施方式
下面参照附图来描述本发明的优选实施方式。本领域技术人员应当理解的是，这些实施方式仅仅用于解释本发明的技术原理，并非旨在限制本发明的保护范围。
本发明的构思是在车辆超越被超越对象(机动车、非机动车或行人等)时，提前自动发出提醒信息，以引起被超越对象的注意，从而降低由于被超越对象疏于观察而造成的交通事故的机率。
为了便于更清地进行技术方案的描述，下述车辆为实施本发明所述方法或安装本发明所述装置的车辆，其他车辆分别用机动车、非机动车表述，以避免造成概念的混淆。
为此，本发明提出的一种车辆超越动作自动提醒方法，如图1所示，包括以下步骤：
步骤S1，开启判断。
获取输入信号，对输入信号进行识别，判断该信号是否为启动信号，若是则执行步骤S2。
本实施例中的输入信号为通过人机交互系统输入的开启指令、或车辆启动信号、或电源接通信号。
步骤S2，采集车辆侧前方图像。
若步骤S1获取的输入信号为启动信号时，通过摄像头或其他图像采集装置对车辆侧前方的图像进行采集。
步骤S3，被超越对象的分析。
通过图像识别方法对步骤S2所采集的车辆侧前方图像进行处理，判断所采集的车辆侧前方图像中是否包含被超越对象、并识别被超越对象的类别。
所述的被超越对象的类别包括机动车和其他类别；所述其他类别包括非机动车和行人。
步骤S4，数据测量。
在步骤S3的判断结果为包含被超越对象时，依据步骤S3识别得到的被超越对象的类别，进行区别化的数据测量：当被超越对象的类别为机动车时，测量车辆与被超越对象的接近速度；当被超越对象的类别为其他类别时，测量车辆与被超越对象的距离。
数据测量可以通过毫米波雷达或激光雷达来实现。
步骤S5，超越提醒。
依据步骤S3识别得到的被超越对象的类别、以及步骤S4中获取的测量数据，判断车辆与被超越对象的相对状态，从预设的提醒策略中选择对应的提醒策略，并依据所选择的提醒策略进行超越提醒。
所述车辆与被超越对象的相对状态为超车状态、或相向行驶状态、或超越非机动车状态。所述超车状态的判断依据为：被超越对象为机动车，且车辆行驶速度大于或等于数据测量步骤中的接近速度；所述相向行驶状态的判断依据为：被超越对象为机动车，且车辆行驶速度小于数据测量步骤中的接近速度；所述超越非机动车状态的判断依据为：被超越对象的类别为非机动车，且车辆与被超越对象的距离小于设定阈值。
提醒策略为超车提醒策略、或相向提醒策略、或超越非机动车提醒策略，分别与超车状态、相向行驶状态、超越非机动车状态相对应。超车提醒策略为通过切换车辆远、近光灯，使车辆前照灯闪烁两次；相向提醒策略为保持当前车辆前照灯状态，并可以按照远、近光灯手动切换指令切换前照灯状态；超越非机动车提醒策略为用过蜂鸣器或低音喇叭进行声音提醒。本实施例中超车提醒策略中所述切换车辆远、近光灯，可以进一步为切换目标车侧车辆远、近光灯，所述的目标车侧为当前车辆位置情况下被超越对象所在侧，此时单独对该侧的一个前照灯进行远、近光灯切换操作。
本实施例中车辆与被超越对象的相对状态的判断前可以增加距离阈值步骤，在车辆与被超越对象之间的距离小于设定阈值时，开始进行车辆与被超越对象的相对状态的判断，这样减少了计算的数据量，并且车辆临近状态的提醒更有意义，且降低了误提醒的概率。此时步骤S4中当被超越对象的类别为机动车时，需要增加车辆与被超越对象之间距离的测量步骤。
本发明可以对不同车辆与被超越对象的相对状态进行独立的距离阈值的设置，也可以采用统一的距离阈值的设置。本实施例采用统一的距离阈值的设置，所设置的距离阈值为10米。
步骤S5可以具体描述为：
若被超越对象的类别为机动车时，且车辆与被超越对象之间的距离小于设定阈值时，依据所测量车辆与被超越对象的接近速度、以及车辆的当前的车速，来判断相对状态：若车辆的当前车速大于或等于接近速度则判断为超车状态，否则判断为相向行驶状态；若车辆状态为超车状态，则执行超车提醒策略，通过切换车辆远、近光灯，使车辆前照灯闪烁两次；若车辆状态为相向行驶状态，则执行相向提醒策略，不对车辆前照灯进行自动操作，即维持当前车辆前照灯状态，如驾驶员有车辆前照灯状态切换需求，可以手动进行远、近光灯切换操作，车辆按照远、近光灯手动切换指令切换前照灯状态。
若被超越对象的类别为其他类别时，且车辆与被超越对象之间的距离小于设定阈值时，相对状态为超越非机动车状态，执行超越非机动车提醒策略，用蜂鸣器或低音喇叭进行声音提醒。
本发明车辆超越动作自动提醒方法也可以简化为如下步骤：采集车辆侧前方图像；通过图像识别方法判断所采集的车辆侧前方图像中是否包含被超越对象；若所采集的车辆侧前方图像中包含被超越对象，则进行超越提醒。该简化方法同样能够实现自动提醒被超越对象的目的。
本发明还提出了一种车辆超越动作自动提醒装置，包括图像采集单元、图像处理单元、中央处理器单元；为了达到对不同被超越对象进行智能化区别的进行提醒的目的，本发明车辆超越动作自动提醒装置还包括数据测量单元；为了增加系统的可用性，还包括启动模块。
所述图像采集单元配置为车辆侧前方图像的采集；
所述图像处理单元配置为用于判断图像采集单元所采集的车辆侧前方图像中是否包含被超越对象；
所述中央处理器单元配置为依据图像处理单元的识别结果判断所采集图像是否包含被超越对象，若包含则输出超越提醒指令至车辆上的提醒设备。
数据测量单元配置为测量车辆与被超越对象的接近速度和/或车辆与被超越对象的距离，可以为毫米波雷达或激光雷达。
启动模块配置为车辆超越动作自动提醒装置的启动，可以通过电源控制的方式或信号控制的方式来实现。通过信号控制来实现时，常用的方式有如下几种：控制按键的方式输入启动信号；通过人机交互系统输入启动指令，启动指令可以为语音输入信号、触摸屏输入信号等；通过车辆启动信号识别模块来检测车辆是否启动来实现与车辆的同步启动。
本实施例中图像处理单元包括被超越对象类别库、图像识别单元。所述被超越对象类别库用于存储被超越对象类别特征；所述图像识别单元配置为基于被超越对象类别库，对图像采集单元所采集图像中被超越对象的识别。
本实施例中被超越对象类别库中的类别包括机动车和其他类别；其他类别包括非机动车和行人。
本实施例中中央处理器单元包括输入模块、车辆状态库、提醒策略库、数据处理模块、输出模块；
所述输入模块配置为接收图像处理单元、数据测量单元输出的数据；
所述车辆状态库配置为存储车辆与被超越对象的相对状态；所述车辆与被超越对象的相对状态为超车状态、或相向行驶状态、或超越非机动车状态；所述超车状态的特征为：被超越对象为机动车，且车辆行驶速度大于或等于数据测量步骤中的接近速度；所述相向行驶状态的特征为：被超越对象为机动车，且车辆行驶速度小于数据测量步骤中的接近速度；所述超越非机动车状态的特征为：被超越对象的类别为非机动车，且车辆与被超越对象的距离小于设定阈值；
所述提醒策略库配置为存储提醒策略；提醒策略为超车提醒策略、或相向提醒策略、或超越非机动车提醒策略；超车提醒策略为通过切换车辆远、近光灯，使车辆前照灯闪烁两次；相向提醒策略为保持当前车辆前照灯状态，并可以按照远、近光灯手动切换指令切换前照灯状态；超越非机动车提醒策略为用蜂鸣器或低音喇叭进行声音提醒。本实施例中超车提醒策略中所述切换车辆远、近光灯，可以进一步为切换目标车侧车辆远、近光灯。
所述数据处理模块配置为依据输入模块所输入的信息，判断车辆与被超越对象的相对状态，并与提醒策略库所存储的提醒策略进行匹配后形成提醒指令；
所述输出模块用于将所述数据处理模块形成的提醒指令发送至提醒设备。
所述的提醒设备为车辆前照灯和/或汽车喇叭。
在具体实施中，图像处理单元与中央处理器单元可以单独设置，这样更有利于提升中央处理器的处理速度，也可以设计相应的算法，由中央处理器单元统一处理。
本领域技术人员应该能够意识到，结合本文中所公开的实施例描述的各示例的模块、单元及方法步骤，能够以电子硬件、计算机软件或者二者的结合来实现，为了清楚地说明电子硬件和软件的可互换性，在上述说明中已经按照功能一般性地描述了各示例的组成及步骤。这些功能究竟以电子硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。本领域技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本发明的范围。
至此，已经结合附图所示的优选实施方式描述了本发明的技术方案，但是，本领域技术人员容易理解的是，本发明的保护范围显然不局限于这些具体实施方式。在不偏离本发明的原理的前提下，本领域技术人员可以对相关技术特征作出等同的更改或替换，这些更改或替换之后的技术方案都将落入本发明的保护范围之内。

Claims (22)

  1. 一种车辆超越动作自动提醒方法，其特征在于，包括以下步骤：
    步骤1，采集车辆侧前方图像；
    步骤2，通过图像识别方法判断所采集的车辆侧前方图像中是否包含被超越对象；
    步骤3，若步骤2的判断结果为包含被超越对象，则进行超越提醒。
  2. 根据权利要求1所述的方法，其特征在于，步骤2还包括识别被超越对象的类别的步骤。
  3. 根据权利要求2所述的方法，其特征在于，所述的被超越对象的类别包括机动车和其他类别。
  4. 根据权利要求3所述的方法，其特征在于，还包括数据测量步骤，该步骤设置于步骤2和步骤3之间；
    数据测量步骤包括：
    当被超越对象的类别为机动车时，测量车辆与被超越对象的接近速度；
    当被超越对象的类别为其他类别时，测量车辆与被超越对象的距离。
  5. 根据权利要求4所述的方法，其特征在于，步骤3所述进行超越提醒的方法为：
    依据所述被超越对象的类别和/或所述数据测量步骤中的所测量的数据，判断车辆与被超越对象的相对状态，从预设的提醒策略中选择对应的提醒策略，并依据所选择的提醒策略进行超越提醒。
  6. 根据权利要求5所述的方法，其特征在于，所述车辆与被超越对象的相对状态为超车状态、或相向行驶状态、或超越非机动车状态；
    所述超车状态的判断依据为：被超越对象为机动车，且车辆行驶速度大于或等于数据测量步骤中的接近速度；
    所述相向行驶状态的判断依据为：被超越对象为机动车，且车辆行 驶速度小于数据测量步骤中的接近速度；
    所述超越非机动车状态的判断依据为：被超越对象的类别为非机动车，且车辆与被超越对象的距离小于设定阈值。
  7. 根据权利要求5所述的方法，其特征在于，所述的提醒策略为超车提醒策略、或相向提醒策略、或超越非机动车提醒策略，分别与超车状态、相向行驶状态、超越非机动车状态相对应；
    超车提醒策略为通过切换车辆远、近光灯，使车辆前照灯闪烁两次；
    相向提醒策略为保持当前车辆前照灯状态，并可以按照远、近光灯手动切换指令切换前照灯状态；
    超越非机动车提醒策略为用过蜂鸣器或低音喇叭进行声音提醒。
  8. 根据权利要求7所述的方法，其特征在于，超车提醒策略中所述切换车辆远、近光灯，具体为切换目标车侧车辆远、近光灯。
  9. 根据权利要求1～8任一项所述的方法，其特征在于，在步骤1之前设置有开启判断步骤；
    所述开启判断步骤包括：通过对输入信号的识别，判断是否执行步骤1至步骤3各步骤；
  10. 根据权利要求9所述的方法，其特征在于，所述开启判断步骤中，允许执行步骤1至步骤3各步骤的输入信号为通过人机交互系统输入的开启指令或车辆启动信号。
  11. 根据权利要求3～8任一项所述的方法，其特征在于，被超越对象的类别中，所述其他类别包括非机动车和行人。
  12. 根据权利要求5～8任一项所述的方法，其特征在于，车辆与被超越对象的相对状态的判断前设置有距离阈值步骤，在车辆与被超越对象之间的距离小于设定阈值时，开始进行车辆与被超越对象的相对状态的判断。
  13. 一种车辆超越动作自动提醒装置，其特征在于，包括图像采集单元、图像处理单元、中央处理器单元；
    所述图像采集单元配置为车辆侧前方图像的采集；
    所述图像处理单元配置为用于判断图像采集单元所采集的车辆侧前方图像中是否包含被超越对象；
    所述中央处理器单元配置为依据图像处理单元的识别结果判断所采集图像是否包含被超越对象，若包含则输出超越提醒指令至车辆上的提醒设备。
  14. 根据权利要求13所述的装置，其特征在于，图像处理单元包括被超越对象类别库、图像识别单元；
    所述被超越对象类别库用于存储被超越对象类别特征；
    所述图像识别单元配置为基于被超越对象类别库，对图像采集单元所采集图像中被超越对象的识别。
  15. 根据权利要求14所述的装置，其特征在于，被超越对象类别库中的类别包括机动车和其他类别；其他类别包括非机动车和行人。
  16. 根据权利要求15所述的装置，其特征在于，还包括数据测量单元；
    数据测量单元配置为测量车辆与被超越对象的接近速度和/或车辆与被超越对象的距离。
  17. 根据权利要求16所述的装置，其特征在于，所述中央处理器单元包括输入模块、车辆状态库、提醒策略库、数据处理模块、输出模块；
    所述输入模块配置为接收图像处理单元、数据测量单元输出的数据；
    所述车辆状态库配置为存储车辆与被超越对象的相对状态；所述车辆与被超越对象的相对状态为超车状态、或相向行驶状态、或超越非机动车状态；所述超车状态的特征为：被超越对象为机动车，且车辆行驶速度大于或等于数据测量步骤中的接近速度；所述相向行驶状态的特征为：被超越对象为机动车，且车辆行驶速度小于数据测量步骤中的接近速度；所述超越非机动车状态的特征为：被超越对象的类别为非机动车， 且车辆与被超越对象的距离小于设定阈值；
    所述提醒策略库配置为存储提醒策略；提醒策略为超车提醒策略、或相向提醒策略、或超越非机动车提醒策略；超车提醒策略为通过切换车辆远、近光灯，使车辆前照灯闪烁两次；相向提醒策略为保持当前车辆前照灯状态，并可以按照远、近光灯手动切换指令切换前照灯状态；超越非机动车提醒策略为用过蜂鸣器或低音喇叭进行声音提醒；
    所述数据处理模块配置为依据输入模块所输入的信息，判断车辆与被超越对象的相对状态，并与提醒策略库所存储的提醒策略进行匹配后形成提醒指令；
    所述输出模块用于将所述数据处理模块形成的提醒指令发送至提醒设备。
  18. 根据权利要求17所述的装置，其特征在于，超车提醒策略中所述切换车辆远、近光灯，具体为切换目标车侧车辆远、近光灯。
  19. 根据权利要求13～18中任一项所述的装置，其特征在于，还包括启动模块，该模块配置为该装置的启动。
  20. 根据权利要求19所述的方法，其特征在于，所述启动模块为人机交互系统或车辆启动信号识别模块。
  21. 根据权利要求13～18中任一项所述的装置，其特征在于，所述的提醒设备为车辆前照和/或汽车喇叭。
  22. 根据权利要求13～18中任一项所述的装置，其特征在于，所述数据测量单元为毫米波雷达或激光雷达。
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