WO2020037604A1 - 一种汽车盲区的监测报警方法、装置、设备及存储介质 - Google Patents

一种汽车盲区的监测报警方法、装置、设备及存储介质 Download PDF

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Publication number
WO2020037604A1
WO2020037604A1 PCT/CN2018/101961 CN2018101961W WO2020037604A1 WO 2020037604 A1 WO2020037604 A1 WO 2020037604A1 CN 2018101961 W CN2018101961 W CN 2018101961W WO 2020037604 A1 WO2020037604 A1 WO 2020037604A1
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WO
WIPO (PCT)
Prior art keywords
alarm
target object
car
image frame
position information
Prior art date
Application number
PCT/CN2018/101961
Other languages
English (en)
French (fr)
Inventor
李恒
孙彦龙
Original Assignee
深圳市锐明技术股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市锐明技术股份有限公司 filed Critical 深圳市锐明技术股份有限公司
Priority to CN201880001103.6A priority Critical patent/CN109311425A/zh
Priority to PCT/CN2018/101961 priority patent/WO2020037604A1/zh
Publication of WO2020037604A1 publication Critical patent/WO2020037604A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; 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
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/18—Status alarms
    • G08B21/24—Reminder alarms, e.g. anti-loss alarms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views

Definitions

  • the present application belongs to the technical field of vehicle safety, and particularly relates to a method, a device, a device, and a storage medium for monitoring and alarming a blind spot of a car.
  • embodiments of the present application provide a method, a device, a device, and a storage medium for monitoring and alarming a blind spot of a car.
  • the purpose is to solve the problem of single alarm mode and low safety during the driving process.
  • a first aspect of the embodiments of the present application provides a method for monitoring and alarming a blind spot of a vehicle, where the method for monitoring and alarming includes:
  • the running state is a preset running state
  • a video captured by a right-side camera and / or a left-side camera is obtained; wherein the right-side camera is installed at the rear of the right side of the car for shooting the car The blind spot on the right side; the left camera is installed at the rear of the left side of the car and is used to photograph the blind spot on the left side of the car;
  • controlling the alarm screen and the sound and light alarm to perform a corresponding level of alarm according to the position information of the target object in the image frame includes:
  • the alarm screen and the sound and light alarm are controlled to perform a three-level alarm.
  • determining position information of the target object in the image frame includes:
  • the image frame in which the target object is detected is used as the current reference frame, and position information of the target object in the reference frame is determined.
  • controlling the alarm screen and the sound and light alarm to perform a corresponding level of alarm according to the position information of the target object in the image frame further includes:
  • a corresponding alarm time interval is determined according to the motion trajectory, and the alarm screen and the sound and light alarm are controlled to perform alarms at a corresponding level every the alarm time interval.
  • determining a corresponding alarm time interval according to the motion trajectory, and controlling the alarm screen and the sound and light alarm to perform an alarm at a corresponding level every time the alarm time interval includes:
  • a corresponding alarm time interval is determined according to the movement direction and speed, and the alarm screen and the sound and light alarm are controlled to perform alarms at a corresponding level every the alarm time interval.
  • the detecting a running state of the car and determining whether the running state is a preset running state includes:
  • a second aspect of the present application provides a monitoring and alarm device for a blind spot of an automobile, where the monitoring and alarm device includes:
  • a first detection module configured to obtain a running state of a car detected by a sensor of the car, and determine whether the running state is a preset running state
  • a first obtaining module configured to obtain a video shot by a right camera and / or a left camera when the running state is a preset running state; wherein the camera is installed at the rear of the right side of the vehicle, and Photographing a blind spot on the right side of the car; the left camera is installed at the rear of the left side of the car and is used to photograph the blind spot on the left side of the car;
  • a second detection module configured to detect whether a target object exists in an image frame of the video
  • a first determining module configured to determine position information of the target object in the image frame if the target object is detected in an image frame of the video
  • a first alarm module configured to control an alarm screen and an acousto-optic alarm to perform a corresponding level of alarm according to the position information of the target object in the image frame; wherein the alarm screen is installed in the cabin of the car The sound and light alarm is installed outside the car.
  • the first alarm module includes:
  • a first determining unit configured to determine distance information of the target object relative to the car according to position information of the target object in the image frame
  • a first alarm unit configured to control the alarm screen and the sound and light alarm to perform a first-level alarm if the distance information is within a first preset distance range
  • a second alarm unit configured to control the alarm screen and the sound and light alarm to perform a secondary alarm if the distance information is within a second preset distance range
  • a third alarm unit is configured to control the alarm screen and the sound and light alarm to perform a three-level alarm if the distance information is within a third preset distance range.
  • a third aspect of the embodiments of the present application provides a monitoring alarm device, including a memory, a processor, and a computer program stored in the memory and executable on the processor.
  • the processor executes the computer program, Steps to implement the above method.
  • a fourth aspect of the embodiments of the present application provides a computer-readable storage medium.
  • the computer-readable storage medium stores a computer program.
  • the steps of the foregoing method are implemented.
  • the running state of the car detected by the sensor of the car is obtained, and whether the running state is a preset running state is determined; when the running state is a preset running state To obtain a video shot by the right camera and / or the left camera; wherein the right camera is installed at the rear of the right side of the car and is used to shoot the blind area on the right side of the car; the left camera is installed At the rear of the left side of the car, used to photograph the blind area on the left side of the car; detecting whether a target object exists in the image frame of the video; if the target object is detected in the image frame of the video, determining Position information of the target object in the image frame; controlling an alarm screen and an audible and visual alarm to perform a corresponding level of alarm according to the position information of the target object in the image frame; wherein the alarm screen is installed In the cabin of the car, the sound and light alarm is installed outside the car.
  • the alarm screen installed in the car cabin can be controlled to alert the driver at the corresponding level, and the audible and visual alarm installed outside the car can be controlled to alert the pedestrian at the corresponding level.
  • Vehicle distance so as to intelligently remind drivers and pedestrians to pay attention to vehicle distance, improving the driving safety of the car.
  • FIG. 1 is a schematic flowchart of a method for monitoring and alarming a blind spot of a vehicle provided in Embodiment 1 of the present application;
  • FIG. 1 is a schematic flowchart of a method for monitoring and alarming a blind spot of a vehicle provided in Embodiment 1 of the present application;
  • FIG. 2 is a schematic flowchart of a method for monitoring and alarming a blind spot of a vehicle provided in Embodiment 2 of the present application;
  • FIG. 3 is a schematic structural diagram of a monitoring and alarm device for a blind spot of a vehicle provided in Embodiment 3 of the present application;
  • FIG. 4 is a schematic structural diagram of a monitoring alarm device according to a fourth embodiment of the present application.
  • Embodiment 1 of the present application provides a method for monitoring and alarming a blind spot of a car. As shown in FIG. 1, the method includes:
  • Step S101 Obtain a running state of a car detected by a sensor of the car, and determine whether the running state is a preset running state;
  • the state information of the car detected by the sensor of the car itself may be acquired, or the running state information of the car may be detected by the relevant sensor set on the car in advance.
  • the running state information of the automobile may be running state information of the automobile or whether the automobile is started.
  • the above determining whether the running state is a preset running state may be determining whether the running speed of the car is within a preset speed range, or may also be determining whether the car is in a starting state.
  • the detecting the running state of the car and determining whether the running state is a preset running state includes: acquiring a running speed of the car through a vehicle speed sensor, and determining whether the running speed is in a preset running state.
  • Speed range In specific applications, the running speed of the car can be detected by a relevant sensor (such as a speed sensor), or the running speed of the car can be calculated from the position where the car moves within a certain time.
  • Preset speed range can be set to a car speed greater than 0 (indicating that there is a speed), or greater than 10km / h (indicating when the speed reaches a certain speed), of course, it can also be set to other values, according to actual needs. It is set without limitation. After obtaining the running speed of the car, determine whether it is within the range of the preset running speed.
  • Step S102 When the running state is a preset running state, obtain a video shot by the right camera and / or the left camera; wherein the right camera is installed at the rear of the right side of the car for shooting The blind area on the right side of the car; the left camera is installed at the rear of the left side of the car and is used to photograph the blind area on the left side of the car.
  • the above-mentioned running state being a preset running state can be understood as: when the running speed of the car is within a preset speed range, or the car is in a started state.
  • the video captured by the right camera and / or the left camera is acquired.
  • the above right camera can be installed at the rear of the right side of the car to capture the blind spot on the right side of the car.
  • the right-side camera is installed at the rear of the right side of the car, and the blind area on the right side of the driver's eyes can be photographed while the left-side camera is installed at the rear of the left-hand side of the car. Dead zone.
  • the right camera can be installed at a height of about 1.5 meters to 2 meters at the rear of the right side of the vehicle. At the height of 1.5 meters to 2 meters at the rear of the left side of the vehicle, a video of the left side of the car is taken from the back to the front.
  • the positions where the right camera and / or the left camera are installed may be installed according to the type of the actual application vehicle, which is not limited.
  • Step S103 Detect whether a target object exists in an image frame of the video
  • the video captured by the right camera and / or the left camera when the video captured by the right camera and / or the left camera is acquired, it is detected whether there is a target object in the image frame in the video.
  • the target object may be a person or another car, of course.
  • Other targets such as animals or other items.
  • a machine vision algorithm can be used to detect whether a target object exists in an image frame in a video.
  • Step S104 if it is detected that the target object exists in an image frame of the video, determine position information of the target object in the image frame;
  • the image frames in the video captured by the right camera and / or the left camera are actually a process of projecting a real-world scene into a camera imaging screen.
  • the mapping relationship between the object points in the real world and the pixels of the image captured by the right camera and / or the left camera is established in advance, that is, a camera calibration technology is used to establish a coordinate system in advance and determine each pixel in the coordinate system. Location relative to the true location relationship between cars. Therefore, if a target object is detected in the image frame of the video, the position information in the coordinate system where the pixels of the target object are located may be determined, that is, the position information of the target object in the image frame is determined.
  • determining the position information of the target object in the image frame includes: if the image frame of the video is detected If the target object exists, the image frame in which the target object is detected is used as the current reference frame, and position information of the target object in the reference frame is determined.
  • Step S105 According to the position information of the target object in the image frame, control an alarm screen and an acousto-optic alarm to perform a corresponding level of alarm; wherein the alarm screen is installed in the cabin of the car, A light alarm is mounted on the outside of the car.
  • the foregoing according to the position information of the target object in the image frame may be understood as controlling the control alarm screen and the sound and light alarm to corresponding levels according to the distance of the vehicle from the target object. If the position of the target object in the image frame corresponds to a long distance, control the alarm screen and the sound and light alarm to perform a low-level alarm; when the position of the target object in the image frame Corresponds to a relatively short distance, then control the alarm screen and / or sound and light alarm for high-level alarm.
  • the controlling an alarm screen and an acousto-optic alarm to perform a corresponding level of alarm according to the position information of the target object in the image frame includes: according to the target object in the image frame The position information of the target object determines the distance information of the target object relative to the car; if the distance information is within a first preset distance range, controlling the alarm screen and the sound and light alarm to perform a first-level alarm; if the If the distance information is within the second preset distance range, the alarm screen and the sound and light alarm are controlled to perform a secondary alarm; if the distance information is within the third preset distance range, the alarm screen and sound and light are controlled The siren performs a three-level alarm.
  • the position information in the coordinate system where the pixels of the target object are located can be determined, that is, the position information of the target object in the image frame is determined, and the target object's relative to the car can be determined.
  • the first preset distance is greater than the second preset distance, and the second preset distance is greater than the third preset distance.
  • the first preset distance, the second preset distance, and the third preset distance may be preset according to actual needs. Make settings.
  • the alarm forms of the above-mentioned first-level alarm, second-level alarm, and third-level alarm can also be set in advance, which is not limited.
  • the distance information of the pedestrian relative to the car is determined according to the position information of the pedestrian in the image frame, and an alarm is generated according to the relative position of the vehicle and the pedestrian.
  • the first preset distance, the second preset distance, and the third preset distance may be preset to 3m, 2m, and 1m, respectively.
  • the distance between the pedestrian and the car is 3m, 2m and 1m, different levels of alarms are generated.
  • a first-level alarm can be set.
  • the first-level alarm can be set to display a green pedestrian icon and a beep on the car alarm screen, and the sound and light alarm outside the car does not work;
  • the distance is 2 meters when a secondary alarm is generated.
  • the secondary alarm can be set to display a yellow pedestrian icon in the car alarm screen and beep twice in succession.
  • the sound and light alarm outside the car plays the voice "Please stay away from the vehicle” and The light starts flashing for 5s; when the distance between the pedestrian and the car is 1m, a three-level alarm is generated.
  • the three-level alarm can be set to display a red pedestrian icon on the alarm screen in the cab and beeps 3 times continuously, and the sound and light alarm outside the car plays the voice "Please stay away from the vehicle” and the lights start blinking for 5s.
  • the above-mentioned first-level alarm corresponds to a low-level alarm
  • the above-mentioned second-level alarm and third-level alarm correspond to a high-level alarm
  • the third-level alarm is a high-level alarm level higher than the second-level alarm level.
  • the controlling the alarm screen and the sound and light alarm to perform a corresponding level of alarm according to the position information of the target object in the image frame further includes: detecting an image frame acquired within a preset time Whether the target object exists in the target; if the target object exists, determining position information of the target object in the image frame acquired within the preset time; according to the position of the target object in the reference frame The information and the position information of the target object in the image frame acquired within the preset time, determine the motion trajectory of the target object relative to the car; determine the corresponding alarm time interval according to the motion trajectory, and control The alarm screen and the acousto-optic alarm perform alarms at a corresponding level every alarm interval.
  • the running state of the car detected by the sensor of the car is obtained, and whether the running state is a preset running state is determined; when the running state is a preset running state To obtain a video shot by the right camera and / or the left camera; wherein the right camera is installed at the rear of the right side of the car and is used to shoot the blind area on the right side of the car; the left camera is installed At the rear of the left side of the car, used to photograph the blind area on the left side of the car; detecting whether a target object exists in the image frame of the video; if the target object is detected in the image frame of the video, determining Position information of the target object in the image frame; controlling an alarm screen and an audible and visual alarm to perform a corresponding level of alarm according to the position information of the target object in the image frame; wherein the alarm screen is installed In the cabin of the car, the sound and light alarm is installed outside the car.
  • the alarm screen installed in the car cabin can be controlled to alert the driver at the corresponding level, and the audible and visual alarm installed outside the car can be controlled to alert the pedestrian at the corresponding level.
  • Vehicle distance so as to intelligently remind drivers and pedestrians to pay attention to vehicle distance, improving the driving safety of the car.
  • step S103 the method includes:
  • Step S201 if the target object is detected in the image frame of the video, use the image frame in which the target object is detected as the current reference frame, and determine the position of the target object in the reference frame information.
  • the image frame in which the target object exists is detected for the first time.
  • the reference frame and determine the position information of the target object in the reference frame, and record the shooting time of the reference frame at the same time, so that the position information of the target object in the image frame of the subsequent video and the position information in the reference frame Determine the moving direction and speed of the target object.
  • An alarm of a corresponding level is performed according to the position information of the target object in the image frame.
  • Step S202 detecting whether the target object exists in an image frame acquired within a preset time
  • the preset time is detected. Whether the above target object exists in the obtained image frame.
  • Step S203 if the target object exists, determine position information of the target object in an image frame acquired within the preset time;
  • the position information of the target object in the reference frame is determined, and the shooting time of the image frame acquired within the preset time is determined.
  • the image frames acquired within the preset time may be single or multiple images. If the images are multiple images, the position information of the target object in the multiple image frames and the time of shooting the multiple image frames may be determined separately.
  • Step S204 Determine the movement of the target object relative to the car according to the position information of the target object in the reference frame and the position information of the image frame acquired by the target object within the preset time.
  • the position information of the target object in the reference frame and the position information of the image frame obtained by the target object within the preset time may be combined with the time of shooting the reference frame and the shooting of the pre-
  • the movement trajectory of the target object relative to the car at a preset time can be determined, and the movement trajectory includes the movement direction and speed of the relative car.
  • the moving direction and speed of the target object with respect to the car at a preset time can be determined, that is, how fast the target object moves with respect to the car from near to far or near to far.
  • Step S205 Determine a corresponding alarm time interval according to the motion trajectory, and control the alarm screen and the acousto-optic alarm to perform alarms at a corresponding level every the alarm time interval.
  • the above-mentioned determination of the corresponding alarm time interval according to the motion trajectory may be a preset motion direction and a speed of the motion trajectory and a corresponding alarm time interval, and control the alarm screen and the alarm screen.
  • the audible and visual alarm performs an alarm of a corresponding level every said alarm time interval.
  • determining a corresponding alarm time interval according to the motion trajectory, and controlling the alarm screen and the acousto-optic alarm to perform a corresponding level of alarm at each alarm time interval includes: The movement trajectory determines the movement direction and speed of the target object relative to the car; determines the corresponding alarm time interval according to the movement direction and speed, and controls the alarm screen and the sound and light alarm every alarm Alarms of corresponding levels are performed at time intervals.
  • presetting the direction of motion and the speed of the motion trajectory and presetting the corresponding alarm time interval may be: when the preset direction of movement of the target object relative to the car is from far to near, When the distance between the target object and the car is within the corresponding distance range of the above-mentioned first-level alarm, second-level alarm, or third-level alarm, the alarm time interval is not preset, and the correspondence is performed according to the position information of the target object relative to the car. Alarm level alarm and continuous alarm.
  • a first alarm time interval is set in advance, and the first alarm time interval is set to 0; when the movement direction of the target object with respect to the car is set from near to far, and the speed of movement with respect to the car is less than a preset Speed, the second alarm time interval is set in advance, and the second alarm time interval is longer (such as 5s or other time); when the movement direction of the target object with respect to the car is set from near to far, and When the relative movement speed of the car is greater than a preset speed, a third alarm time interval is set in advance, and the third alarm time interval is long (such as 10s or other time) or the time is infinite (that is, no alarm); When the moving direction of the target object relative to the car remains unchanged, that is, the moving speed relative to the car is zero, the alarm time can be set according to the position information of the target object in the image frame, such as at a third preset distance Within the range (such as within 1 meter or other distance range), then set the fourth alarm time interval (such as 2s or
  • Shorter interval alarm time within the second preset distance range (such as within 2 meters or other distance range), then set the fifth alarm interval (such as 5s or other time), which means that the distance between pedestrians and vehicles has always been at two In the interval of the level alarm, set the alarm time relative to the medium interval; within the first preset distance range (such as within 3 meters or other distance range), set the sixth alarm interval (such as 10s or other time), This means that the distance between pedestrians and vehicles has always been in the first-level alarm interval, and a relatively long interval alarm time is set, or no alarm is set.
  • the fifth alarm interval such as 5s or other time
  • the alarm screen installed in the cabin of the car can be controlled to perform a corresponding level of alarm according to the position information of the target object, the driver can be reminded to pay attention to the pedestrian, and can be controlled to be installed in the car.
  • the external audible and visual alarms alert the pedestrians by paying attention to the distance between them, so as to intelligently remind the driver and pedestrians to pay attention to the distance between the vehicles, and improve the driving safety of the car; on the other hand, the corresponding Alarm time interval, and control the alarm screen and the acousto-optic alarm to alarm at the corresponding level every alarm time interval, so as to further intelligently alarm through the alarm screen and the acousto-optic alarm to reduce the driver and The target object's interference alarm improves the driving safety of the car at the same time.
  • the embodiment of the present application provides a schematic structural diagram of a monitoring and alarm device for a blind area of a car.
  • the monitoring and alarm device 300 includes:
  • a first detection module 301 configured to obtain a running state of a car detected by a sensor of the car, and determine whether the running state is a preset running state;
  • the first detection module is specifically configured to acquire a running speed of a car detected by a vehicle speed sensor, and determine whether the running speed is within a preset running speed range.
  • a first obtaining module 302 configured to obtain a video shot by a right camera and / or a left camera when the running state is a preset running state; wherein the camera is installed at the rear of the right side of the vehicle, Used to photograph the blind spot on the right side of the car; the left camera is installed at the rear of the left side of the car and used to photograph the blind spot on the left side of the car;
  • a second detection module 303 configured to detect whether a target object exists in an image frame of the video
  • a first determining module 304 configured to determine position information of the target object in the image frame if the target object is detected in an image frame of the video;
  • the first determining module is configured to: if the target object is detected in the image frame of the video, use the image frame in which the target object is detected as the current reference frame, and determine the target frame. The position information of the target object in the reference frame.
  • a first alarm module 305 configured to control an alarm screen and an acousto-optic alarm to perform a corresponding level of alarm according to the position information of the target object in the image frame; wherein the alarm screen is installed in the driving of the car Indoor, the sound and light alarm is installed outside the car.
  • the first alarm module 305 specifically includes:
  • a first determining unit configured to determine distance information of the target object relative to the car according to position information of the target object in the image frame
  • a first alarm unit configured to control the alarm screen and the sound and light alarm to perform a first-level alarm if the distance information is within a first preset distance range
  • a second alarm unit configured to control the alarm screen and the sound and light alarm to perform a secondary alarm if the distance information is within a second preset distance range
  • a third alarm unit is configured to control the alarm screen and the sound and light alarm to perform a three-level alarm if the distance information is within a third preset distance range.
  • the first alarm module 305 further includes:
  • a first detection unit configured to detect whether the target object exists in an image frame acquired within a preset time
  • a first obtaining unit configured to determine position information in an image frame obtained by the target object within the preset time if the target object exists
  • a second determining unit configured to determine, based on the position information of the target object in the reference frame and the position information of the image frame obtained by the target object in the preset time, relative to the target object The car's motion trajectory;
  • a fourth alarm unit is configured to determine a corresponding alarm time interval according to the motion trajectory, and control the alarm screen and the acousto-optic alarm to perform alarms at a corresponding level every the alarm time interval.
  • the fourth alarm unit is specifically configured to determine a movement direction and speed of the target object relative to the car according to the movement trajectory; determine a corresponding alarm time interval according to the movement direction and speed, and Controlling the alarm screen and the audible and visual alarm to perform alarms at a corresponding level every alarm interval.
  • the running state of the car detected by the sensor of the car is obtained, and it is determined whether the running state is a preset running state; when the running state is a preset running state, the right side is obtained.
  • a video shot by a camera and / or a left camera wherein the right camera is installed at the rear of the right side of the car and is used to capture a blind spot on the right side of the car; the left camera is installed in the car At the rear of the left side, it is used to photograph the blind area on the left side of the car; detect whether a target object exists in the image frame of the video; if the target object is detected in the image frame of the video, determine the target object Position information in the image frame; controlling an alarm screen and an audible and visual alarm to perform a corresponding level of alarm according to the position information of the target object in the image frame; wherein the alarm screen is installed in the car In the cabin of the vehicle, the sound and light alarm is installed outside the car.
  • the alarm screen installed in the car cabin can be controlled to alert the driver at the corresponding level, and the audible and visual alarm installed outside the car can be controlled to alert the pedestrian at the corresponding level.
  • Vehicle distance so as to intelligently remind drivers and pedestrians to pay attention to vehicle distance, improving the driving safety of the car.
  • An embodiment of the present application provides a blind spot monitoring system for an automobile.
  • the monitoring system includes a monitoring alarm device, a sensor, an alarm screen, an acousto-optic alarm and a camera.
  • the sound and light alarm is connected to the camera; the camera may include a right camera and / or a left camera, and the right camera is installed at the rear of the right side of the car and is used to photograph the right side of the car.
  • the blind zone on the side; the left camera is installed at the rear of the left side of the car, used to photograph the blind zone on the left side of the car; the alarm screen is installed in the cabin of the car, and the sound and light alarm is installed On the outside of the car.
  • FIG. 4 it is a schematic structural diagram of a monitoring alarm device according to an embodiment of the present application.
  • the monitoring and alarming device 400 includes a processor 401, a memory 402, and a computer program 403 stored in the memory 402 and executable on the processor 401.
  • the processor 401 executes the computer program 403 the steps in the embodiment of the method for monitoring and alarming a blind spot of an automobile are implemented, such as steps 101 to 105 shown in FIG. 1 and / or steps 201 to 205 shown in FIG. 2.
  • the computer program 403 may be divided into one or more units / modules, and the one or more units / modules are stored in the memory 402 and executed by the processor 401 to complete the present application.
  • the one or more units / modules may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program 403 in the monitoring and alarm device 400.
  • the computer program 403 can be divided into a first detection module, a first acquisition module, a second detection module, a first determination module, and a first alarm module. The specific functions of each module have been described in the third embodiment. I won't go into details here.
  • the monitoring and alarm device 400 may include, but is not limited to, a processor 401 and a memory 402. Those skilled in the art can understand that FIG. 4 is only an example of the monitoring and alarming device 400, and does not constitute a limitation on the monitoring and alarming device 400. It may include more or fewer components than shown in the figure, or combine some components, or be different The components, such as the monitoring and alarm device 400 described above, may also include input / output devices, network access devices, and buses.
  • the so-called processor 401 may be a central processing unit (Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), and application specific integrated circuits (Application Specific Integrated Circuit (ASIC), off-the-shelf Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • CPU Central Processing Unit
  • DSP digital signal processor
  • ASIC Application Specific Integrated Circuit
  • FPGA off-the-shelf Programmable Gate Array
  • a general-purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
  • the above memory 402 may be an internal storage unit of the monitoring alarm device 400, such as a hard disk or a memory of the monitoring alarm device 400.
  • the memory 402 may also be an external storage device of the monitoring and alarm device 400, for example, a plug-in hard disk, a smart media card (SMC), and a secure digital (SD) card provided on the monitoring and alarm device 400. Flash card Card) and so on.
  • the memory 402 may further include both the internal storage unit of the monitoring alarm device 400 and an external storage device.
  • the memory 402 is used to store the computer program and other programs and data required by the monitoring alarm device 400.
  • the memory 402 may also be used to temporarily store data that has been output or is to be output.
  • the disclosed apparatus and method may be implemented in other ways.
  • the device embodiments described above are only schematic.
  • the division of the above modules or units is only a logical function division.
  • multiple units or components may be combined.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, which may be electrical, mechanical or other forms.
  • the units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, which may be located in one place, or may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions in the embodiments of the present application.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, or each of the units may exist separately physically, or two or more units may be integrated into one unit.
  • the above integrated unit may be implemented in the form of hardware or in the form of software functional unit.
  • the above integrated unit When the above integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-readable storage medium. Based on this understanding, this application implements all or part of the processes in the methods of the above embodiments, and can also be completed by a computer program instructing related hardware.
  • the above computer program can be stored in a computer-readable storage medium.
  • the computer program When executed by a processor, the steps of the foregoing method embodiments may be implemented.
  • the computer program includes computer program code, and the computer program code may be in a source code form, an object code form, an executable file, or some intermediate form.
  • the above computer-readable medium may include: any entity or device capable of carrying the above computer program code, a recording medium, a U disk, a mobile hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signals, telecommunication signals, and software distribution media.
  • ROM Read-Only Memory
  • RAM Random Access Memory
  • electric carrier signals telecommunication signals
  • software distribution media any entity or device capable of carrying the above computer program code
  • a recording medium a U disk, a mobile hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signals, telecommunication signals, and software distribution media.

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Abstract

一种汽车盲区的监测报警方法，包括：获取右侧摄像头和/或左侧摄像头拍摄的视频；检测视频的图像帧是否存在目标对象（S103）；若检测到视频的图像帧存在所述目标对象，则确定目标对象在图像帧中的位置信息(S104)；根据目标对象在所述图像帧中的位置信息，控制报警屏和声光报警器进行对应级别的报警；其中，报警屏安装在汽车的驾驶室内，声光报警器安装在所述汽车的外部(S105)。还公开了使用该报警方法的装置、设备及存储介质。由于可根据目标对象的位置信息，控制安装在汽车驾驶室中的报警屏和安装在汽车外部的声光报警器进行对应级别的报警提醒驾驶员和行人注意车距，提高了汽车的行车安全。

Description

一种汽车盲区的监测报警方法、装置、设备及存储介质 技术领域
本申请属于车辆安全技术领域，尤其涉及一种汽车盲区的监测报警方法、装置、设备及存储介质。
 背景技术
随着社会经济的发展，人们的生活水平不断提高，越来越多的汽车进入人们的生活，然而汽车给人们的生活带来便利的同时，也增加了安全隐患。
据统计表明在交通事故中，由于人眼生理结构和汽车设计等因素，汽车盲区造成的意外事故在中国约占百分之三十，在美国的交通事故中约占百分之二十，从而使得汽车的行驶安全较低。目前主要是对汽车变道进行报警，报警方式单一，安全性低。
 技术问题
有鉴于此，本申请实施例提供了一种汽车盲区的监测报警方法、装置、设备及存储介质。旨在解决汽车在行驶过程中报警方式单一，安全性不高的问题。
 技术解决方案
本申请实施例的第一方面提供了一种汽车盲区的监测报警方法，所述监测报警方法包括：
获取所述汽车的传感器检测到的汽车的运行状态，并判断所述运行状态是否为预设运行状态；
当所述运行状态为预设运行状态时，获取右侧摄像头和/或左侧摄像头拍摄的视频；其中，所述右侧摄像头安装在所述汽车右侧车尾处，用于拍摄所述汽车右侧的盲区；所述左侧摄像头安装在所述汽车左侧车尾处，用于拍摄所述汽车左侧的盲区；
检测所述视频的图像帧是否存在目标对象；
若检测到所述视频的图像帧存在所述目标对象，则确定所述目标对象在所述图像帧中的位置信息；
根据所述目标对象在所述图像帧中的位置信息，控制报警屏和声光报警器进行对应级别的报警；其中，所述报警屏安装在所述汽车的驾驶室内，所述声光报警器安装在所述汽车的外部。
在一个实施例中，所述根据所述目标对象在所述图像帧中的位置信息，控制报警屏和声光报警器进行对应级别的报警，包括：
根据所述目标对象在所述图像帧中的位置信息确定所述目标对象相对于所述汽车的距离信息；
若所述距离信息在第一预设距离范围内，则控制所述报警屏和声光报警器进行一级报警；
若所述距离信息在第二预设距离范围内，则控制所述报警屏和声光报警器进行二级报警；
若所述距离信息在第三预设距离范围内，则控制所述报警屏和声光报警器进行三级报警。
在一个实施例中，所述若检测到所述视频的图像帧存在所述目标对象，则确定所述目标对象在所述图像帧中的位置信息，包括；
若检测到所述视频的图像帧存在所述目标对象，则将检测到存在所述目标对象的图像帧作为当前的参考帧，并确定所述目标对象在所述参考帧中的位置信息。
在一个实施例中，所述根据所述目标对象在所述图像帧中的位置信息，控制报警屏和声光报警器进行对应级别的报警，还包括：
检测在预设时间内获取的图像帧中是否存在所述目标对象；
若存在所述目标对象，则确定所述目标对象在所述预设时间内获取的图像帧中的位置信息；
根据所述目标对象在所述参考帧中的位置信息与所述目标对象在所述预设时间内获取的图像帧中的位置信息，确定所述目标对象相对于所述汽车的运动轨迹；
根据所述运动轨迹确定对应的报警时间间隔，并控制所述报警屏和所述声光报警器每隔所述报警时间间隔进行对应级别的报警。
在一个实施例中，所述根据所述运动轨迹确定对应的报警时间间隔，并控制所述报警屏和所述声光报警器每隔所述报警时间间隔进行对应级别的报警，包括：
根据所述运动轨迹确定所述目标对象相对所述汽车的运动方向和速度；
根据所述运动方向和速度确定对应的报警时间间隔，并控制所述报警屏和所述声光报警器每隔所述报警时间间隔进行对应级别的报警。
在一个实施例中，所述检测汽车的运行状态，并判断所述运行状态是否为预设运行状态，包括：
获取通过车速传感器检测汽车的运行速度，并判断所述运行速度是否在预设运行速度范围内。
本申请第二方面提供了一种汽车盲区的监测报警装置，所述监测报警装置包括：
第一检测模块，用于获取所述汽车的传感器检测到的汽车的运行状态，并判断所述运行状态是否为预设运行状态；
第一获取模块，用于当所述运行状态为预设运行状态时，获取右侧摄像头和/或左侧摄像头拍摄的视频；其中，所述摄像头安装在所述汽车右侧车尾处，用于拍摄所述汽车右侧的盲区；所述左侧摄像头安装在所述汽车左侧车尾处，用于拍摄所述汽车左侧的盲区；
第二检测模块，用于检测所述视频的图像帧是否存在目标对象；
第一确定模块，用于若检测到所述视频的图像帧存在所述目标对象，则确定所述目标对象在所述图像帧中的位置信息；
第一报警模块，用于根据所述目标对象在所述图像帧中的位置信息，控制报警屏和声光报警器进行对应级别的报警；其中，所述报警屏安装在所述汽车的驾驶室内，所述声光报警器安装在所述汽车的外部。
在一个实施例中，所述第一报警模块包括：
第一确定单元，用于根据所述目标对象在所述图像帧中的位置信息确定所述目标对象相对于所述汽车的距离信息；
第一报警单元，用于若所述距离信息在第一预设距离范围内，则控制所述报警屏和声光报警器进行一级报警；
第二报警单元，用于若所述距离信息在第二预设距离范围内，则控制所述报警屏和声光报警器进行二级报警；
第三报警单元，用于若所述距离信息在第三预设距离范围内，则控制所述报警屏和声光报警器进行三级报警。
本申请实施例的第三方面提供一种监测报警设备，包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现上述方法的步骤。
本申请实施例的第四方面提供一种计算机可读存储介质，计算机可读存储介质存储有计算机程序，上述计算机程序被处理器执行时实现上述方法的步骤。
 有益效果
由上可见，在本申请实施例中，通过获取所述汽车的传感器检测到的汽车的运行状态，并判断所述运行状态是否为预设运行状态；当所述运行状态为预设运行状态时，获取右侧摄像头和/或左侧摄像头拍摄的视频；其中，所述右侧摄像头安装在所述汽车右侧车尾处，用于拍摄所述汽车右侧的盲区；所述左侧摄像头安装在所述汽车左侧车尾处，用于拍摄所述汽车左侧的盲区；检测所述视频的图像帧是否存在目标对象；若检测到所述视频的图像帧存在所述目标对象，则确定所述目标对象在所述图像帧中的位置信息；根据所述目标对象在所述图像帧中的位置信息，控制报警屏和声光报警器进行对应级别的报警；其中，所述报警屏安装在所述汽车的驾驶室内，所述声光报警器安装在所述汽车的外部。由于可根据目标对象的位置信息，控制安装在汽车驾驶室中的报警屏进行对应级别的报警，提醒驾驶员注意行人，可控制安装在汽车外部的声光报警器进行对应级别的报警提醒行人注意车距，从而智能的提醒驾驶员和行人注意车距，提高了汽车的行车安全。
 附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其它的附图。
图1是本申请实施例一提供的汽车盲区的监测报警方法的流程示意图；
图2是本申请实施例二提供的汽车盲区的监测报警方法的流程示意图；
图3是本申请实施例三提供的汽车盲区的监测报警装置的结构示意图；
图4是本申请实施例四提供的监测报警设备的结构示意图。
 本发明的实施方式
以下描述中，为了说明而不是为了限定，提出了诸如特定系统结构、技术之类的具体细节，以便透彻理解本申请实施例。然而，本领域的技术人员应当清楚，在没有这些具体细节的其它实施例中也可以实现本申请。在其它情况中，省略对众所周知的系统、装置、电路以及方法的详细说明，以免不必要的细节妨碍本申请的描述。
应理解，下述方法实施例中各步骤的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对各实施例的实施过程构成任何限定。
为了说明本申请所述的技术方案，下面通过具体实施例来进行说明。
实施例1
本申请实施例一提供一种汽车盲区的监测报警方法，如图1所示，所述方法包括：
步骤S101、获取所述汽车的传感器检测到的汽车的运行状态，并判断所述运行状态是否为预设运行状态；
在本申请实施例中，可获取通过汽车本身的传感器检测的汽车的状态信息，或者通过预先设置在汽车上的相关传感器检测到汽车的运行状态信息。上述汽车的运行状态信息可以是汽车的运行速度或汽车是否启动的状态信息。上述判断所述运行状态是否为预设运行状态可以是判断汽车的运行速度是否在预设的速度范围内，或者也可以是判断汽车是否处于的启动状态。
在一个实施例中，所述检测汽车的运行状态，并判断所述运行状态是否为预设运行状态，包括：获取通过车速传感器检测汽车的运行速度，并判断所述运行速度是否在预设运行速度范围内。在具体应用中，可获取通过相关传感器检测(如速度传感器)汽车的运行速度，或者也可以通过汽车在一定时间内移动的位置，计算出汽车的运行速度。预设速度范围，如预设速度范围可以是设置汽车速度大于0（表示有速度）、或者大于10km/h(表示当速度达到一定时)，当然也可设置成其它数值，具体可根据实际需求进行设定，对此不做限定。当获取汽车的运行速度后，判断是否在预设运行速度的范围内。
步骤S102、当所述运行状态为预设运行状态时，获取右侧摄像头和/或左侧摄像头拍摄的视频；其中，所述右侧摄像头安装在所述汽车右侧车尾处，用于拍摄所述汽车右侧的盲区；所述左侧摄像头安装在所述汽车左侧车尾处，用于拍摄所述汽车左侧的盲区。
在本申请实施例中，上述运行状态为预设运行状态可以理解为：在上述汽车的运行速度在预设的速度范围内，或者上述汽车处于启动的状态。当运行速度在预设的速度范围内，或者是检测到汽车处于启动状态时，获取右侧摄像头和/或左侧摄像头拍摄的视频。上述右侧摄像头可安装在汽车右侧车尾处，用于拍摄汽车右侧的盲区。具体地，上述右侧摄像头安装在汽车右侧的车尾处向前拍摄可拍摄到汽车右侧驾驶员视线的盲区；上述左侧摄像头安装在汽车左侧的车尾处向前拍摄汽车左侧的盲区。例如，当上述汽车是大型商用汽车时，上述右侧摄像头可安装在车身右侧车尾部1.5米至2米左右的高度处，从后向前拍摄汽车右侧的视频，上述左侧摄像头可安装在车身左侧车尾部1.5米至2米左右的高度处，从后向前拍摄汽车左侧的视频。当然，上述右摄像头和/或上述左侧摄像头安装的位置可根据实际应用的汽车类型进行安装，对此不做限定。
步骤S103、检测所述视频的图像帧是否存在目标对象；
在本申请实施例中，当获取上述右侧摄像头和/或左侧摄像头拍摄到的视频时，检测视频中的图像帧是否存在目标对象，上述目标对象可以是人，或者是其它汽车，当然可以是其它目标（如动物或其它物品）。具体地，可通过机器视觉算法检测视频中的图像帧中是否存在目标对象。
步骤S104、若检测到所述视频的图像帧存在所述目标对象，则确定所述目标对象在所述图像帧中的位置信息；
在本申请实施例中，上述右侧摄像头和/或左侧摄像头拍摄的视频中的图像帧实际上是将真实世界的场景投影到摄像机成像画面中的过程。预先建立真实世界中的物点与上述右侧摄像头和/或左侧摄像头拍摄的图像的像素点之间的映射关系，即通过摄像机标定技术，预先建立坐标系，并确定坐标系中的各像素位置相对于汽车间的真实位置关系。因此，若检测到上述视频的图像帧存在目标对象时，可确定目标对象的像素点所在坐标系中的位置信息，即确定了目标对象在图像帧中的位置信息。
在一个实施例中，所述若检测到所述视频的图像帧存在所述目标对象，则确定所述目标对象在所述图像帧中的位置信息，包括：若检测到所述视频的图像帧存在所述目标对象，则将检测到存在所述目标对象的图像帧作为当前的参考帧，并确定所述目标对象在所述参考帧中的位置信息。
步骤S105、根据所述目标对象在所述图像帧中的位置信息，控制报警屏和声光报警器进行对应级别的报警；其中，所述报警屏安装在所述汽车的驾驶室内，所述声光报警器安装在所述汽车的外部。
在本申请实施例中，上述根据所述目标对象在所述图像帧中的位置信息，可理解为根据目标对象所述汽车距离的远近，控制所述控制报警屏和声光报警器进行对应级别的报警；如所述目标对象在所述图像帧中的位置是对应较远距离的位置，则控制报警屏和声光报警器进行低级别的报警；当目标对象在所述图像帧中的位置是对应较近距离的位置，则控制报警屏和/或声光报警器进行高级别的报警。
在一个实施例中，所述根据所述目标对象在所述图像帧中的位置信息，控制报警屏和声光报警器进行对应级别的报警，包括：根据所述目标对象在所述图像帧中的位置信息确定所述目标对象相对于所述汽车的距离信息；若所述距离信息在第一预设距离范围内，则控制所述报警屏和声光报警器进行一级报警；若所述距离信息在第二预设距离范围内，则控制所述报警屏和声光报警器进行二级报警；若所述距离信息在第三预设距离范围内，则控制所述报警屏和声光报警器进行三级报警。若检测到上述视频的图像帧存在目标对象时，可确定目标对象的像素点所在坐标系中的位置信息，即确定了目标对象在图像帧中的位置信息，进而可确定目标对象相对于汽车的距离信息。预设上述第一预设距离大于第二预设距离，第二预设距离大于第三预设距离，上述第一预设距离、第二预设距离和第三预设距离可根据实际需要预先进行设定。上述一级报警、二级报警和三级报警的报警形式也可预先进行设定，对此不做限定。
在具体应用中，当上述目标对象为行人时，根据所行人在所述图像帧中的位置信息确定所述行人相对于所述汽车的距离信息，根据车辆与行人的相对位置产生报警。如上述第一预设距离、第二预设距离和第三预设距离可分别预设为3m、2m和1m。当行人与上述汽车间的距离为3m、2m和1m时产生不同级别的报警。当行人与汽车间的距离是3m时产生一级报警，所述一级报警可设置为车内报警屏显示绿色行人图标并且蜂鸣一声，车外声光报警器不工作；当行人与汽车间的距离是距离2米时产生二级报警，所述二级报警可设置为车内报警屏显示黄色行人图标并且连续蜂鸣两声，车外声光报警器播放语音“请注意远离车辆”并且灯光开始闪烁5s；当行人与汽车间的距离1m时产生三级报警，所述三级报警可设置为驾驶室内报警屏显示红色行人图标并且连续蜂鸣3声，车外声光报警器播放语音“请注意远离车辆”并且灯光开始闪烁5s。需要说明的是上述一级报警对应为低级别报警，上述二级报警和三级报警对应为高级别报警，且三级报警为比二级报警级别高一级的高级报警级别。
在一个实施例中，所述根据所述目标对象在所述图像帧中的位置信息，控制报警屏和声光报警器进行对应级别的报警，还包括：检测在预设时间内获取的图像帧中是否存在所述目标对象；若存在所述目标对象，则确定所述目标对象在所述预设时间内获取的图像帧中的位置信息；根据所述目标对象在所述参考帧中的位置信息与所述目标对象在所述预设时间内获取的图像帧中的位置信息，确定所述目标对象相对于所述汽车的运动轨迹；根据所述运动轨迹确定对应的报警时间间隔，并控制所述报警屏和所述声光报警器每隔所述报警时间间隔进行对应级别的报警。
由此可见，在本申请实施例中，通过获取所述汽车的传感器检测到的汽车的运行状态，并判断所述运行状态是否为预设运行状态；当所述运行状态为预设运行状态时，获取右侧摄像头和/或左侧摄像头拍摄的视频；其中，所述右侧摄像头安装在所述汽车右侧车尾处，用于拍摄所述汽车右侧的盲区；所述左侧摄像头安装在所述汽车左侧车尾处，用于拍摄所述汽车左侧的盲区；检测所述视频的图像帧是否存在目标对象；若检测到所述视频的图像帧存在所述目标对象，则确定所述目标对象在所述图像帧中的位置信息；根据所述目标对象在所述图像帧中的位置信息，控制报警屏和声光报警器进行对应级别的报警；其中，所述报警屏安装在所述汽车的驾驶室内，所述声光报警器安装在所述汽车的外部。由于可根据目标对象的位置信息，控制安装在汽车驾驶室中的报警屏进行对应级别的报警，提醒驾驶员注意行人，可控制安装在汽车外部的声光报警器进行对应级别的报警提醒行人注意车距，从而智能的提醒驾驶员和行人注意车距，提高了汽车的行车安全。
实施例2
本实施例是对实施例一中的方法步骤的进一步说明，与上述实施例一相同或相似的地方，具体可参见实施例一的相关描述，此处不再赘述。如图2所示，在本实施例中，上述步骤S103之后，包括：
步骤S201，若检测到所述视频的图像帧存在所述目标对象，则将检测到存在所述目标对象的图像帧作为当前的参考帧，并确定所述目标对象在所述参考帧中的位置信息。
在本申请实施例中，若检测到所述视频的图像帧存在所述目标对象，当在上述视频的图像帧中检测到目标对象，则将第一次检测到存在所述目标对象的图像帧作为参考帧，并确定所述目标对象在参考帧中的位置信息，同时记录所述参考帧拍摄的时间，以便根据该目标对象在后续视频的图像帧中的位置信息和参考帧中的位置信息确定目标对象的运动方向和运动速度。并根据所述目标对象在所述图像帧中的位置信息进行对应级别的报警。
步骤S202，检测在预设时间内获取的图像帧中是否存在所述目标对象；
在本申请实施例中，当在步骤S201将检测到存在所述目标对象的图像帧作为当前的参考帧，并确定所述目标对象在所述参考帧中的位置信息后，检测预设时间内获取的图像帧中是否存在上述目标对象。
步骤S203，若存在所述目标对象，则确定所述目标对象在所述预设时间内获取的图像帧中的位置信息；
在本申请实施例中，若在预设时间内获取的图像帧中存在上述目标对象，则确定所述目标对象在参考帧中的位置信息，同时预设时间内获取的图像帧的拍摄时间。预设时间内获取的图像帧可以是单张或多张图像，如是多张图像，可分别确定多张图像帧中上述目标对象的位置信息和拍摄所述多张图像帧的时间。
步骤S204，根据所述目标对象在所述参考帧中的位置信息与所述目标对象在所述预设时间内获取的图像帧中的位置信息，确定所述目标对象相对于所述汽车的运动轨迹；
在本申请实施例中，可根据目标对象在上述参考帧中的位置信息与所述目标对象在所述预设时间内获取的图像帧中的位置信息，结合拍摄参考帧的时间和拍摄上述预设时间内获取的图像帧的时间，可确定出目标对象相对于汽车在预设时间的运动轨迹，上述运动轨迹包括相对汽车的运动方向和运动速度。如可确定目标对象相对于汽车在预设时间的运动方向和运动速度，即目标对象相对于所述汽车是由远到近还是由近到远以多大速度进行运动。
步骤S205，根据所述运动轨迹确定对应的报警时间间隔，并控制所述报警屏和所述声光报警器每隔所述报警时间间隔进行对应级别的报警。
在本申请实施例中，上述根据运动轨迹确定对应的报警时间间隔，可以是预先设定运动轨迹的运动方向和运动速度大小预先设定对应的报警时间间隔，并控制所述报警屏和所述声光报警器每隔所述报警时间间隔进行对应级别的报警。
在一个实施例中，所述根据所述运动轨迹确定对应的报警时间间隔，并控制所述报警屏和所述声光报警器每隔所述报警时间间隔进行对应级别的报警，包括：根据所述运动轨迹确定所述目标对象相对所述汽车的运动方向和速度；根据所述运动方向和速度确定对应的报警时间间隔，并控制所述报警屏和所述声光报警器每隔所述报警时间间隔进行对应级别的报警。
例如，在一种应用场景中，预先设定运动轨迹的运动方向和运动速度大小预先设定对应的报警时间间隔可以是：当预先设定目标对象相对于汽车的运动方向是从远到近，且目标对象与汽车的距离处于上述一级报警、二级报警或三级报警的对应的距离范围内时，则不预设报警时间间隔，根据所述目标对象相对于汽车的位置信息，进行对应报警级别的报警，且连续报警。即预先设定第一报警时间间隔，所述第一报警时间间隔设定为0；当预先设定目标对象相对于汽车的运动方向是从近到远，且相对于汽车的运动速度小于预设的速度时，则预先设定第二报警时间间隔，所述第二报警时间间隔较长（如5s或其它时间）；当预先设定目标对象相对于汽车的运动方向是从近到远，且相对于汽车的运动速度大于预设的速度时，则预先设定第三报警时间间隔，所述第三报警时间间隔较长（如10s或其它时间）或者时间为无穷大(即不报警）；当目标对象相对于汽车的运动方向是保持不变时，即相对于汽车的运动速度为零，则可根据目标对象在所述图像帧中的位置信息设定报警时间，如在第三预设距离范围内(如1米内或其他距离范围内)，则设定第四报警时间间隔（如2s或其它时间），即表示行人与车距一直处于三级报警的间距中，设置较短间隔报警时间；在第二预设距离范围内(如2米内或其他距离范围内)，则设定第五报警时间间隔（如5s或其它时间），即表示行人与车距一直处于二级报警的间距中，设置相对于中等的间隔报警时间；在第一预设距离范围内(如3米内或其他距离范围内)，则设定第六报警时间间隔（如10s或其它时间），即表示行人与车距一直处于一级报警的间距中，设置相对于较长的间隔报警时间，或者设置不报警。
由此可见，在本申请实施例中，一方面，由于可根据目标对象的位置信息，控制安装在汽车驾驶室中的报警屏进行对应级别的报警，提醒驾驶员注意行人，可控制安装在汽车外部的声光报警器进行对应级别的报警提醒行人注意车距，从而智能的提醒驾驶员和行人注意车距，提高了汽车的行车安全；另一方面，可根据目标对象的运动轨迹确定对应的报警时间间隔，并控制所述报警屏和所述声光报警器每隔所述报警时间间隔进行对应级别的报警，从而进一步通过报警屏和声光报警器进行智能的报警，减少对驾驶员和目标对象的干扰报警的同时提高了汽车的行车安全。
实施例3
本申请实施例提供一种汽车盲区的监测报警装置的结构示意图，如图3所示，所述监测报警装置300包括：
第一检测模块301，用于获取所述汽车的传感器检测到的汽车的运行状态，并判断所述运行状态是否为预设运行状态；
在一个实施例中，所述第一检测模块具体用于获取通过车速传感器检测汽车的运行速度，并判断所述运行速度是否在预设运行速度范围内。
第一获取模块302，用于当所述运行状态为预设运行状态时，获取右侧摄像头和/或左侧摄像头拍摄的视频；其中，所述摄像头安装在所述汽车右侧车尾处，用于拍摄所述汽车右侧的盲区；所述左侧摄像头安装在所述汽车左侧车尾处，用于拍摄所述汽车左侧的盲区；
第二检测模块303，用于检测所述视频的图像帧是否存在目标对象；
第一确定模块304，用于若检测到所述视频的图像帧存在所述目标对象，则确定所述目标对象在所述图像帧中的位置信息；
在一个实施例中，所述第一确定模块用于若检测到所述视频的图像帧存在所述目标对象，则将检测到存在所述目标对象的图像帧作为当前的参考帧，并确定所述目标对象在所述参考帧中的位置信息。
第一报警模块305，用于根据所述目标对象在所述图像帧中的位置信息，控制报警屏和声光报警器进行对应级别的报警；其中，所述报警屏安装在所述汽车的驾驶室内，所述声光报警器安装在所述汽车的外部。
在一个实施例中，所述第一报警模块305具体包括：
第一确定单元，用于根据所述目标对象在所述图像帧中的位置信息确定所述目标对象相对于所述汽车的距离信息；
第一报警单元，用于若所述距离信息在第一预设距离范围内，则控制所述报警屏和声光报警器进行一级报警；
第二报警单元，用于若所述距离信息在第二预设距离范围内，则控制所述报警屏和声光报警器进行二级报警；
第三报警单元，用于若所述距离信息在第三预设距离范围内，则控制所述报警屏和声光报警器进行三级报警。
在一个实施例中，所述第一报警模块305具体还包括：
第一检测单元，用于检测在预设时间内获取的图像帧中是否存在所述目标对象；
第一获取单元，用于若存在所述目标对象，则确定所述目标对象在所述预设时间内获取的图像帧中的位置信息；
第二确定单元，用于根据所述目标对象在所述参考帧中的位置信息与所述目标对象在所述预设时间内获取的图像帧中的位置信息，确定所述目标对象相对于所述汽车的运动轨迹；
第四报警单元，用于根据所述运动轨迹确定对应的报警时间间隔，并控制所述报警屏和所述声光报警器每隔所述报警时间间隔进行对应级别的报警。
在一个实施例中，所述第四报警单元具体用于根据所述运动轨迹确定所述目标对象相对所述汽车的运动方向和速度；根据所述运动方向和速度确定对应的报警时间间隔，并控制所述报警屏和所述声光报警器每隔所述报警时间间隔进行对应级别的报警。
在本申请实施例中，通过获取所述汽车的传感器检测到的汽车的运行状态，并判断所述运行状态是否为预设运行状态；当所述运行状态为预设运行状态时，获取右侧摄像头和/或左侧摄像头拍摄的视频；其中，所述右侧摄像头安装在所述汽车右侧车尾处，用于拍摄所述汽车右侧的盲区；所述左侧摄像头安装在所述汽车左侧车尾处，用于拍摄所述汽车左侧的盲区；检测所述视频的图像帧是否存在目标对象；若检测到所述视频的图像帧存在所述目标对象，则确定所述目标对象在所述图像帧中的位置信息；根据所述目标对象在所述图像帧中的位置信息，控制报警屏和声光报警器进行对应级别的报警；其中，所述报警屏安装在所述汽车的驾驶室内，所述声光报警器安装在所述汽车的外部。由于可根据目标对象的位置信息，控制安装在汽车驾驶室中的报警屏进行对应级别的报警，提醒驾驶员注意行人，可控制安装在汽车外部的声光报警器进行对应级别的报警提醒行人注意车距，从而智能的提醒驾驶员和行人注意车距，提高了汽车的行车安全。
实施例4
本申请实施例提供一种汽车盲区的监测系统，所述监测系统包括监测报警设备，传感器、报警屏、声光报警器和摄像头，所述监测报警设备分别与所述传感器、所述报警屏、所述声光报警器和所述摄像头连接；所述摄像头可包括右侧摄像头和/或左侧摄像头，所述右侧摄像头安装在所述汽车右侧车尾处，用于拍摄所述汽车右侧的盲区；所述左侧摄像头安装在所述汽车左侧车尾处，用于拍摄所述汽车左侧的盲区；所述报警屏安装在所述汽车驾驶室内，所述声光报警器安装在所述汽车的外部。
如图4所示，是本申请实施例提供的监测报警设备的结构示意图。所述监测报警设备400包括：处理器401、存储器402以及存储在上述存储器402中并可在上述处理器401上运行的计算机程序403。上述处理器401执行上述计算机程序403时实现上述汽车盲区的监测报警方法实施例中的步骤，例如图1所示的步骤101至105，和/或图2所示的步骤201至205。
示例性的，上述计算机程序403可以被分割成一个或多个单元/模块，上述一个或者多个单元/模块被存储在上述存储器402中，并由上述处理器401执行，以完成本申请。上述一个或多个单元/模块可以是能够完成特定功能的一系列计算机程序指令段，该指令段用于描述上述计算机程序403在上述监测报警设备400中的执行过程。例如，上述计算机程序403可以被分割成第一检测模块、第一获取模块、第二检测模块、第一确定模块、第一报警模块，各模块具体功能在上述实施例三中已有描述，此处不在赘述。
上述监测报警设备400可包括，但不仅限于，处理器401、存储器402。本领域技术人员可以理解，图4仅仅是监测报警设备400的示例，并不构成对监测报警设备400的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件，例如上述监测报警设备400还可以包括输入输出设备、网络接入设备、总线等。
所称处理器401可以是中央处理单元(Central Processing Unit，CPU)，还可以是其它通用处理器、数字信号处理器 (Digital Signal Processor，DSP)、专用集成电路 (Application Specific Integrated Circuit，ASIC)、现成可编程门阵列 (Field-Programmable Gate Array，FPGA) 或者其它可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
上述存储器402可以是监测报警设备400的内部存储单元，例如监测报警设备400的硬盘或内存。上述存储器402也可以是上述监测报警设备400的外部存储设备，例如上述监测报警设备400上配备的插接式硬盘，智能存储卡（Smart Media Card, SMC），安全数字（Secure Digital, SD）卡，闪存卡（Flash Card）等。进一步地，上述存储器402还可以既包括上述监测报警设备400的内部存储单元也包括外部存储设备。上述存储器402用于存储上述计算机程序以及上述监测报警设备400所需的其它程序和数据。上述存储器402还可以用于暂时地存储已经输出或者将要输出的数据。
所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，仅以上述各功能单元、模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能单元、模块完成，即将上述装置的内部结构划分成不同的功能单元或模块，以完成以上描述的全部或者部分功能。实施例中的各功能单元、模块可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中，上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。另外，各功能单元、模块的具体名称也只是为了便于相互区分，并不用于限制本申请的保护范围。上述智能终端中单元、模块的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述或记载的部分，可以参见其它实施例的相关描述。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以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。专业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申请的范围。
在本申请所提供的实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，上述模块或单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通讯连接可以是通过一些接口，装置或单元的间接耦合或通讯连接，可以是电性，机械或其它的形式。
上述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本申请实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
上述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请实现上述实施例方法中的全部或部分流程，也可以通过计算机程序来指令相关的硬件来完成，上述的计算机程序可存储于一计算机可读存储介质中，该计算机程序在被处理器执行时，可实现上述各个方法实施例的步骤。其中，上述计算机程序包括计算机程序代码，上述计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。上述计算机可读介质可以包括：能够携带上述计算机程序代码的任何实体或装置、记录介质、U盘、移动硬盘、磁碟、光盘、计算机存储器、只读存储器（ROM，Read-Only Memory）、随机存取存储器（RAM，Random Access Memory）、电载波信号、电信信号以及软件分发介质等。需要说明的是，上述计算机可读介质包含的内容可以根据司法管辖区内立法和专利实践的要求进行适当的增减，例如在某些司法管辖区，根据立法和专利实践，计算机可读介质不包括是电载波信号和电信信号。
以上所述实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，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申请各实施例技术方案的精神和范围，均应包含在本申请的保护范围之内。

Claims (10)

  1. 一种汽车盲区的监测报警方法，其特征在于，所述监测报警方法包括：
    获取所述汽车的传感器检测到的汽车的运行状态，并判断所述运行状态是否为预设运行状态；
    当所述运行状态为预设运行状态时，获取右侧摄像头和/或左侧摄像头拍摄的视频；其中，所述右侧摄像头安装在所述汽车右侧车尾处，用于拍摄所述汽车右侧的盲区；所述左侧摄像头安装在所述汽车左侧车尾处，用于拍摄所述汽车左侧的盲区；
    检测所述视频的图像帧是否存在目标对象；
    若检测到所述视频的图像帧存在所述目标对象，则确定所述目标对象在所述图像帧中的位置信息；
    根据所述目标对象在所述图像帧中的位置信息，控制报警屏和声光报警器进行对应级别的报警；其中，所述报警屏安装在所述汽车的驾驶室内，所述声光报警器安装在所述汽车的外部。
  2. 如权利要求1所述的监测报警方法，其特征在于，所述根据所述目标对象在所述图像帧中的位置信息，控制报警屏和声光报警器进行对应级别的报警，包括：
    根据所述目标对象在所述图像帧中的位置信息确定所述目标对象相对于所述汽车的距离信息；
    若所述距离信息在第一预设距离范围内，则控制所述报警屏和声光报警器进行一级报警；
    若所述距离信息在第二预设距离范围内，则控制所述报警屏和声光报警器进行二级报警；
    若所述距离信息在第三预设距离范围内，则控制所述报警屏和声光报警器进行三级报警。
  3. 如权利要求1所述的监测报警方法，其特征在于，所述若检测到所述视频的图像帧存在所述目标对象，则确定所述目标对象在所述图像帧中的位置信息，包括：
    若检测到所述视频的图像帧存在所述目标对象，则将检测到存在所述目标对象的图像帧作为当前的参考帧，并确定所述目标对象在所述参考帧中的位置信息。
  4. 如权利要求3所述的监测报警方法，其特征在于，所述根据所述目标对象在所述图像帧中的位置信息，控制报警屏和声光报警器进行对应级别的报警，还包括：
    检测在预设时间内获取的图像帧中是否存在所述目标对象；
    若存在所述目标对象，则确定所述目标对象在所述预设时间内获取的图像帧中的位置信息；
    根据所述目标对象在所述参考帧中的位置信息与所述目标对象在所述预设时间内获取的图像帧中的位置信息，确定所述目标对象相对于所述汽车的运动轨迹；
    根据所述运动轨迹确定对应的报警时间间隔，并控制所述报警屏和所述声光报警器每隔所述报警时间间隔进行对应级别的报警。
  5. 如权利要求4所述的监测报警方法，其特征在于，所述根据所述运动轨迹确定对应的报警时间间隔，并控制所述报警屏和所述声光报警器每隔所述报警时间间隔进行对应级别的报警，包括：
    根据所述运动轨迹确定所述目标对象相对所述汽车的运动方向和速度；
    根据所述运动方向和速度确定对应的报警时间间隔，并控制所述报警屏和所述声光报警器每隔所述报警时间间隔进行对应级别的报警。
  6. 如权利要求1至5任一项所述的监测报警方法，其特征在于，所述检测汽车的运行状态，并判断所述运行状态是否为预设运行状态，包括：
    获取通过车速传感器检测汽车的运行速度，并判断所述运行速度是否在预设运行速度范围内。
  7. 一种汽车盲区的监测报警装置，其特征在于，所述监测报警装置包括：
    第一检测模块，用于获取所述汽车的传感器检测到的汽车的运行状态，并判断所述运行状态是否为预设运行状态；
    第一获取模块，用于当所述运行状态为预设运行状态时，获取右侧摄像头和/或左侧摄像头拍摄的视频；其中，所述右侧摄像头安装在所述汽车右侧车尾处，用于拍摄所述汽车右侧的盲区；所述左侧摄像头安装在所述汽车左侧车尾处，用于拍摄所述汽车左侧的盲区；
    第二检测模块，用于检测所述视频的图像帧是否存在目标对象；
    第一确定模块，用于若检测到所述视频的图像帧存在所述目标对象，则确定所述目标对象在所述图像帧中的位置信息；
    第一报警模块，用于根据所述目标对象在所述图像帧中的位置信息，控制报警屏和声光报警器进行对应级别的报警；其中，所述报警屏安装在所述汽车的驾驶室内，所述声光报警器安装在所述汽车的外部。
  8. 如权利要求7所述的监测报警装置，其特征在于，所述第一报警模块包括：
    第一确定单元，用于根据所述目标对象在所述图像帧中的位置信息确定所述目标对象相对于所述汽车的距离信息；
    第一报警单元，用于若所述距离信息在第一预设距离范围内，则控制所述报警屏和声光报警器进行一级报警；
    第二报警单元，用于若所述距离信息在第二预设距离范围内，则控制所述报警屏和声光报警器进行二级报警；
    第三报警单元，用于若所述距离信息在第三预设距离范围内，则控制所述报警屏和声光报警器进行三级报警。
  9. 一种监测报警设备，其特征在于，包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现如权利要求1至6任一项所述方法的步骤。
  10. 一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求1至6任一项所述方法的步骤。
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