WO2020114298A1 - 停车警示系统 - Google Patents

停车警示系统 Download PDF

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Publication number
WO2020114298A1
WO2020114298A1 PCT/CN2019/121452 CN2019121452W WO2020114298A1 WO 2020114298 A1 WO2020114298 A1 WO 2020114298A1 CN 2019121452 W CN2019121452 W CN 2019121452W WO 2020114298 A1 WO2020114298 A1 WO 2020114298A1
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WIPO (PCT)
Prior art keywords
vehicle
warning sign
warning
controller
real
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Application number
PCT/CN2019/121452
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English (en)
French (fr)
Inventor
周末
Original Assignee
北京三快在线科技有限公司
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Publication of WO2020114298A1 publication Critical patent/WO2020114298A1/zh

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    • 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
    • B60Q7/00—Arrangement or adaptation of portable emergency signal devices on vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems

Definitions

  • This application relates to the field of vehicles, in particular to a parking warning system.
  • the present application provides a parking warning device, a vehicle, and a vehicle parking warning method.
  • a parking warning device includes a warning sign, the device further includes a drop device, an image acquisition device, and a first controller, the first controller and the drop device , The image acquisition devices are electrically connected separately;
  • the image acquisition device is used to acquire real-time images of road conditions around the vehicle and send the real-time images to the first controller;
  • the first controller detects a signal indicating an emergency stop of the vehicle, and determines that the road conditions around the vehicle satisfy a preset safe delivery condition based on the real-time image, and then controls the delivery device to perform delivery Operation of warning signs.
  • a vehicle including a parking warning device, the parking warning device includes a warning sign, a drop device, an image acquisition device, and a first controller, the first controller and the drop device , The image acquisition devices are electrically connected separately;
  • the image acquisition device is used to acquire real-time images of road conditions around the vehicle and send the real-time images to the first controller;
  • the first controller detects a signal indicating an emergency stop of the vehicle, and determines that the road conditions around the vehicle satisfy a preset safe delivery condition based on the real-time image, and then controls the delivery device to perform delivery Operation of warning signs.
  • a vehicle parking warning method includes:
  • the first controller guides the placement device to perform the placement of the warning sign based on the real-time image collected by the image acquisition device, which can ensure that the warning sign can be placed in a safe area without human intervention.
  • the automation of the warning sign placement has solved the problem that the warning sign cannot be placed in the case of emergency stop; and, through the image acquisition device to guide the placement of the warning sign, there is no need to install an image acquisition device on the warning sign, reducing the load of the warning sign, More flexible control and lower power consumption.
  • FIG. 1 is a structural block diagram of a parking warning device shown in an exemplary embodiment of the present application.
  • FIG. 2 is a schematic diagram of a specific structure of a parking warning device shown in an exemplary embodiment of the present application
  • FIG. 3 is a schematic diagram of another specific structure of a parking warning device shown in an exemplary embodiment of the present application.
  • FIG. 4 is a specific structural block diagram of a parking warning device shown in an exemplary embodiment of the present application.
  • FIG. 5 is another specific structural block diagram of a parking warning device shown in an exemplary embodiment of the present application.
  • FIG. 6 is another specific structural block diagram of a parking warning device shown in an exemplary embodiment of the present application.
  • FIG. 7 is a further specific structural block diagram of a parking warning device shown in an exemplary embodiment of the present application.
  • FIG. 8 is a flowchart of a vehicle parking warning method shown in an exemplary embodiment of the present application.
  • FIG. 9 is a specific flowchart of a vehicle parking warning method shown in an exemplary embodiment of the present application.
  • first, second, third, etc. may be used in this application to describe various information, the information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other.
  • first information may also be referred to as second information, and similarly, the second information may also be referred to as first information.
  • word “if” as used herein may be interpreted as "when” or “when” or “in response to a determination”.
  • FIG. 1 is a structural block diagram of a parking warning device shown in an exemplary embodiment of the present application
  • FIG. 2 is a schematic diagram of a specific structure of a parking warning device shown in an exemplary embodiment of the present application
  • FIG. 3 is a Apply for another specific structural schematic diagram of a parking warning device shown in an exemplary embodiment. 1 to FIG. 3, an embodiment of the present application provides a parking warning device 200.
  • the parking warning device 200 may include a warning sign 1, a dropping device 2, an image collecting device 3, and a first controller 4.
  • the warning sign 1 is provided on the vehicle, such as in the trunk of the vehicle, the side of the vehicle, and/or the rear of the vehicle, and so on.
  • the vehicle may be an unmanned vehicle, such as an unmanned delivery vehicle or a driverless passenger vehicle used to deliver items such as express delivery, catering, etc. Of course, the vehicle may also be a manned vehicle.
  • the delivery device 2 and the image acquisition device 3 are both fixed on the vehicle, and the first controller 4 is electrically connected to the delivery device 2 and the image acquisition device 3, respectively.
  • the position where the drop device 2 is provided on the vehicle corresponds to the position where the warning sign 1 is set on the vehicle.
  • the drop device 2 can be provided together with the warning sign 1 in the trunk of the vehicle, on the side of the vehicle and /Or the rear of the vehicle, etc.
  • the image acquisition device 3 is used to acquire real-time images of the road conditions around the vehicle, such as the ground image at the bottom of the vehicle, the road image at the side of the vehicle, and/or the road image at the rear of the vehicle. In addition, after collecting the real-time images of the road conditions around the vehicle, the image acquisition device 3 sends the real-time images to the first controller 4.
  • the image acquisition device 3 may be provided at the bottom, side, and/or rear of the vehicle.
  • the image acquisition device 3 may be a camera, a camera, or an image sensor.
  • the first controller 4 detects a signal for instructing an emergency stop of the vehicle, and judges the road conditions around the vehicle (ie, traffic conditions) based on the real-time image sent by the image acquisition device 3, when it is determined that the preset safety drop is satisfied If the conditions are met, the first controller 4 controls the dropping device 2 to perform the operation of placing the warning sign 1 so as to place the warning sign 1 on the vehicle onto the ground around the vehicle.
  • the warning sign 1 may be placed on the ground behind the vehicle, on the ground on the side of the vehicle, or on the ground on the bottom of the vehicle. In some embodiments, the warning sign 1 can also be placed on other ground areas around the vehicle.
  • the first controller 4 guides the delivery device 2 to perform the placement of the warning sign 1 based on the real-time image collected by the image acquisition device 3, which can ensure that the warning sign 1 is placed in a safe area without human intervention, and the warning is realized
  • the automation of card 1 placement solves the problem of placing warning signs 1 in an emergency stop situation.
  • the image acquisition device 3 may be an on-vehicle image acquisition device without installing an image acquisition device on the warning sign 1, which reduces the load of the warning sign 1 and provides more flexible control and lower power consumption.
  • the warning sign 1 is a triangle, which is not limited in this application.
  • the first controller 4 detects that the vehicle is in an abnormal state and needs an emergency stop signal.
  • the abnormal state may be a vehicle failure (abnormal parts of the vehicle, abnormal power supply, etc.), or Near obstacles (pedestrians and/or vehicles), or other emergencies.
  • the signal detected by the first controller 4 for indicating an emergency stop of the vehicle may include a signal indicating that the vehicle is in a fault state and/or indicating that the distance between the vehicle and an obstacle located in front of the vehicle is less than or equal to the first preset The signal of the distance threshold.
  • the first preset distance threshold can be set according to needs, such as 150 meters, 200 meters, or other distances.
  • the first controller 4 can recognize the real-time image based on the image recognition technology and determine the road conditions around the vehicle. If it is determined from the image recognition results that there are no obstacles on the ground around the vehicle, such as the bottom ground of the vehicle, the side ground of the vehicle, or the ground behind the vehicle; or that the obstacles are found on the ground around the vehicle, but the obstacles reach the vehicle When the distance is greater than or equal to the second preset distance threshold, it is determined that the road conditions around the vehicle satisfy the preset safe drop condition.
  • the first controller 4 determines that there is an obstacle on the ground behind the vehicle based on the image recognition result, but the distance from the obstacle to the rear of the vehicle (the minimum distance from the obstacle to the rear of the vehicle) (Horizontal distance) is greater than or equal to the second preset distance threshold, the first controller 4 may determine that the road conditions behind the vehicle satisfy the preset safe drop conditions, and then control the drop device 2 to drop the warning sign 1.
  • the second preset distance threshold can be set according to needs, for example, 150 meters, 200 meters or other distances.
  • the first controller 4 may include a VCU (Vehicle Control Unit, vehicle controller) of the vehicle.
  • VCU Vehicle Control Unit
  • the first controller 4 when detecting the emergency stop signal of the vehicle, controls the vehicle to decelerate, and at the same time controls the delivery device 2 to perform the operation of placing the warning sign 1.
  • the first controller 4 controls the vehicle to decelerate when the vehicle emergency stop signal is detected. During the deceleration of the vehicle, the first controller 4 controls the delivery device 2 to perform the operation of placing the warning sign 1.
  • the first controller 4 controls the vehicle to decelerate when it detects an emergency stop signal of the vehicle, and after the vehicle stops running, the first controller 4 controls the delivery device 2 to perform the operation of placing a warning sign.
  • the warning sign 1 may be dropped by the drop device 2 at a position closer to the vehicle, such as a ground position closer to the rear of the vehicle, a ground position closer to the side of the vehicle, or a ground located at the bottom of the vehicle. In some embodiments, the warning sign 1 needs to be farther away from the vehicle, such as farther away from the rear of the vehicle, to effectively warn other vehicles or pedestrians around the emergency stop vehicle and prevent other vehicles around the emergency stop vehicle Or pedestrians hit the emergency stop vehicle.
  • the first controller 4 controls the vehicle to decelerate when it detects the emergency stop signal of the vehicle, and at the same time controls the delivery device 2 to perform the operation of issuing warning signs, or the first controller 4 detects the emergency stop signal of the vehicle At this time, the vehicle is controlled to decelerate. During the deceleration of the vehicle, the first controller 4 controls the drop device 2 to perform the operation of dropping the warning sign. After the vehicle stops, the warning sign 1 is located at the designated position at the rear of the vehicle.
  • the first controller 4 controls the vehicle to decelerate when it detects the vehicle emergency stop signal, and at the same time controls the delivery device 2 to perform the operation of issuing warning signs, or the first controller 4 detects the vehicle emergency stop When the signal is signaled, the vehicle is controlled to decelerate. During the deceleration of the vehicle, the first controller 4 controls the delivery device 2 to perform the operation of placing a warning sign. Since the vehicle is close to the stop position when the first controller detects the emergency stop signal of the vehicle, after the emergency stop of the vehicle, the distance of the warning sign 1 from the rear of the vehicle is small, and the warning sign 1 needs to be moved.
  • the first controller 4 controls the vehicle to decelerate when it detects the emergency stop signal of the vehicle, and after the vehicle stops running, the first controller 4 controls the delivery device 2 to perform the operation of placing the warning sign 1, the warning sign The drop position of 1 is closer to the vehicle, and the warning sign 1 needs to be moved.
  • the first controller 4 can control the movement of the warning sign 1 so that the warning sign 1 moves to a designated position on the ground around the vehicle, to To achieve the purpose of warning to ensure road safety.
  • the parking warning device 200 may further include a driving wheel 5 provided at the bottom of the warning sign 1 and a control device 6 provided on the warning sign 1.
  • the control device 6 is used to control the movement of the driving wheel 5, and through the cooperation of the driving wheel 5 and the control device 6, the warning sign 1 has a self-moving function.
  • the control device 6 is in communication with the first controller 4.
  • the warning sign 1 is placed on the ground around the vehicle, and the first controller 4 determines that the road conditions around the vehicle satisfy the preset safe moving conditions based on the real-time image, then the first controller 4 generates a warning
  • the indication signal of the target placement position of the card 1 is sent to the control device 6.
  • the control device 6 controls the warning sign 1 to move to the target placement position based on the instruction signal. Specifically, after receiving the instruction signal, the control device 6 controls the drive wheel 5 to move to drive the warning sign 1 to the target placement position.
  • the target placement position may be a preset position.
  • the target placement position is determined by the first controller 4 according to the real-time image. Specifically, the first controller 4 recognizes the real-time image collected by the image acquisition device 3 based on the image recognition technology, and judges the current distance from the warning sign 1 to the vehicle and the rear of the warning sign 1 (the direction in which the warning sign 1 moves away from the vehicle). Set whether there is an obstacle within the distance threshold range. When there is no obstacle within the third preset distance threshold (for example, 200 meters) behind the warning sign 1, it is determined that the road conditions around the vehicle meet the preset safe movement conditions, and according to the Three preset distance threshold ranges and the current distance of the warning sign 1 to the vehicle calculate the moving distance of the warning sign 1 to the target placement position.
  • the third preset distance threshold for example, 200 meters
  • the distance from the target placement position to the vehicle is greater than the fourth preset distance and less than the fifth preset distance, for example, the distance from the target placement position to the vehicle is greater than 150 meters and less than 200 meters to ensure the warning sign 1 Place it in a suitable location to effectively warn the vehicles or pedestrians around the emergency stop vehicles and improve the traffic safety.
  • the first controller 4 guides the operation of the warning sign 1 based on the real-time image collected by the vehicle-mounted image acquisition device 3, and there is no need to install an image acquisition device on the warning sign 1, thereby reducing the load of the warning sign 1 and making the warning sign 1
  • the control is more flexible and the power consumption is lower.
  • the warning sign 1 can move by itself without calculating the throwing distance in advance, and is more suitable for emergency stop situations. At the same time, it reduces man-made misoperations, such as being unplaced and unreasonable, and improves traffic safety.
  • the driving wheel 5 of this embodiment is directly arranged at the bottom of the warning sign 1 without additional movable bearing structure, so that the warning sign 1 itself has a movable function.
  • other movable bearing structures may be combined to carry the warning sign 1 so as to realize the movement of the warning sign 1, which is not limited in this application.
  • One or more driving wheels 5 may be provided at the bottom of the warning sign 1.
  • two driving wheels 5 are provided at the bottom of the warning sign 1, and the two driving wheels 5 are spaced at the bottom of the warning sign 1.
  • the control device 6 can control the two driving wheels 5 to move at different rotation speeds, thereby driving the warning sign 1 to turn, so that the warning sign 1 can move in different directions in front, back, left, and right directions relative to the vehicle.
  • four driving wheels 5 may be provided at the bottom of the warning sign 1, and the four driving wheels 5 are arranged at intervals to form a group, and each group of driving wheels 5 is arranged at the bottom of the warning sign 1 at intervals.
  • the control device 6 can control the two sets of driving wheels 5 to move at different rotation speeds to drive the warning sign 1 to turn, and the warning sign 1 can move in different directions in front, back, left, and right directions relative to the vehicle.
  • the type of the driving wheel 5 can be selected according to needs.
  • the driving wheel 5 is a universal wheel, which can better drive the warning sign 1 to turn.
  • control device 6 includes a motor 61 for driving the driving wheel 5 to move, and a second controller 62 electrically connected to the motor 61.
  • the second controller 62 is in communication with the first controller 4.
  • the second controller 62 and the first controller 4 are communicatively connected based on wired communication.
  • a cable connection enables communication connection between the first controller 4 and the second controller 62.
  • the second controller 62 and the first controller 4 are communicatively connected based on wireless communication.
  • the parking warning device 200 may further include an inertial sensor 7 provided on the warning sign 1.
  • the inertial sensor 7 is used to detect the posture of the warning sign 1 and send the posture of the warning sign 1 to the first ⁇ Controller 62.
  • the second controller 62 controls the movement of the driving wheel 5 according to the posture of the warning sign 1 to ensure that the warning sign 1 is always upright.
  • the inertial sensor 7 may include a gyroscope and an accelerometer for detecting the inclination angle of the warning sign 1 (for example, the angle between the triangular surface of the warning sign 1 and the warning sign 1 to the ground between the warning sign 1 and the vehicle) and acceleration.
  • the second controller 62 controls the driving wheel 5 to decelerate when the inclination angle of the warning sign 1 is small and the warning sign 1 is accelerating, and controls the warning sign 1 to move at a constant speed when the inclination angle is 90 degrees or approximately 90 degrees. Prevent the warning sign 1 from tipping over; or, when the second controller 62 judges that the inclination angle is large and the warning sign 1 decelerates, it controls the drive wheel 5 to accelerate, and when the inclination angle is 90 degrees or approximately 90 degrees, controls the warning sign 1 Exercise at a constant speed to prevent the warning sign 1 from tipping over.
  • the parking warning device 200 may further include a box 8 provided at the bottom of the warning sign 1, and the control device 6 and the inertial sensor 7 are both accommodated in the box 8.
  • the box body 8 may be integrally formed on the bottom of the warning sign 1, or may be fixed on the bottom of the warning sign 1 by other fixing methods.
  • the box 8 is located between the two driving wheels 5, and the box 8 does not hinder the movement of the two driving wheels 5.
  • the implementation of the delivery device 2 may include a variety of methods.
  • the warning sign 1 is placed through the winch 22 and the rope 21, the warning sign 1 is placed through the intelligent manipulator 23, or the warning sign 1 is placed through other structures.
  • the delivery device 2 further includes a winch 22 and a rope 21.
  • the winch 22 is fixed at the rear of the vehicle or another location of the vehicle, and the winch 22 is electrically connected to the first controller 4.
  • the winch 22 may be A controller 4 is driven to rotate.
  • the rope 21 and the winch 22 are wound and matched. In this embodiment, the free end of the rope 21 is fixedly connected to the warning sign 1.
  • the first controller 4 controls the delivery device 2 to perform the operation of placing the warning sign
  • the first controller 4 controls the winch 22 to rotate in the first direction to drive the rope 21 to gradually come out of the winch 22, the longer the length of the rope 21 out of the winch 22 The longer it is, the warning sign 1 is dropped to the ground and continues to wind away from the winch 22 as the warning sign 1 moves.
  • the rope 21 may be the cable of the above embodiment.
  • the delivery device 2 may include an intelligent manipulator 23, and the intelligent manipulator 23 movably cooperates with the warning sign 1.
  • the first controller 4 controls the intelligent manipulator 23 to be separated from the warning sign 1.
  • the first controller 4 controls the movement of the intelligent manipulator 23 to control the warning sign 1 to move from the vehicle to the ground around the vehicle, and when the warning sign 1 is located on the ground around the vehicle, the intelligent manipulator 23 is separated from the warning sign 1 , So that the warning sign 1 is put on the ground around the vehicle.
  • the intelligent manipulator 23 includes a hook, which can flexibly hook the warning sign 1. Before the emergency stop of the vehicle, the hook activity hooks the warning sign 1.
  • the first controller 4 controls the hook to move from the vehicle toward the ground around the vehicle, thereby driving the warning sign 1 toward the ground around the vehicle.
  • the first controller 4 controls the hook to be separated from the warning sign 1 to realize the operation of placing the warning sign 1. If the warning plate needs to be further moved to a farther distance from the vehicle, the warning plate moves through the driving wheel 5.
  • the first controller 4 can also recover the warning sign 1 through the dropping device 2. Specifically, when the warning sign 1 moves to the ground around the vehicle (pulled by the cable to move around the vehicle or by driving the wheel 5 to move around the vehicle), the first controller 4 determines the surrounding of the vehicle based on the real-time image When the road condition satisfies the preset safety recovery condition, the control device 2 controls the operation of recovering the warning sign to recover the warning sign 1 to the vehicle.
  • the first controller 4 recognizes the real-time image based on the image recognition technology and judges the road conditions around the vehicle, if the tail of the vehicle and the warning are determined according to the recognition result If there are no obstacles between the license plates 1, it is determined that the road conditions around the vehicle meet the preset safety recovery conditions.
  • the warning sign 1 is recovered in two steps.
  • the first controller 4 controls the drop device 2 to move the warning sign 1 to the ground around the vehicle; in the second step, the first controller 4 controls the drop The device 2 moves the warning sign 1 from the ground around the vehicle to a designated position of the vehicle, such as the chassis and the trunk.
  • the need for human operation is reduced, especially in the case where the warning sign 1 falsely alarms or self-repairs (for example, the motor 61 is overheated, overcurrent and overvoltage, software bugs, etc.).
  • the first controller 4 controls the winch 22 to rotate around the second direction and drives the rope 21 to gradually wind around the winch 22 when controlling the delivery device 2 to perform the operation of recovering the warning sign.
  • the second direction is opposite to the first direction.
  • the first direction is clockwise and the second direction is counterclockwise. In another embodiment, the first direction is counterclockwise and the second direction is clockwise.
  • the first controller 4 controls the intelligent manipulator 23 to movably connect with the warning sign 1 when controlling the dropping device 2 to perform the operation of recovering the warning sign, and controls the intelligent manipulator 23 to move to move
  • the warning sign 1 moves from the ground around the vehicle to the vehicle.
  • the intelligent manipulator 23 includes a hook, and the hook can flexibly hook the warning sign 1.
  • the first controller 4 controls the hook to be movably connected to the warning sign 1, and then controls the hook to move toward the vehicle, thereby driving the warning sign 1 to move toward the vehicle, and realizing the operation of recovering the warning sign.
  • the VCU is used to detect whether the vehicle is in an emergency stop, and based on the real-time image to determine whether the road conditions around the vehicle meet the preset safe delivery conditions, preset safe movement conditions, or preset safe recovery conditions, and according to The judgment result instructs the dropping device 2 and/or the warning sign 1 to perform corresponding operations.
  • an image recognition module (not shown in the figure) may be provided between the image collection device 3 and the first controller 4 to perform image recognition on the real-time image collected by the image collection device 3 based on the image recognition module, and The image recognition result is sent to the first controller 4, and then the first controller 4 determines whether the road conditions around the vehicle satisfy the preset safe drop condition, the preset safe movement condition, or the preset safe recovery condition according to the image recognition result.
  • the parking warning device 200 may further include a sensor unit provided on the vehicle, such as a laser radar, a millimeter wave radar, etc.
  • the sensor unit is electrically connected to the first controller 4, and the first controller 4 may be based on the sensor
  • the road condition data collected by the unit (such as lane line, distance from obstacles to the rear of the vehicle, etc.) further confirms the road conditions around the vehicle, thereby verifying that the first controller 4 judges the accuracy of the road conditions around the vehicle based on the real-time image to ensure that warning signs are placed, Mobile security.
  • the parking warning device 200 may further include a battery 9, which is provided on the warning sign 1 and used to supply power to the control device 6.
  • the battery 9 may be provided in the case 8. After the warning sign 1 is recovered on the vehicle, the battery 9 can be charged by the power supply of the vehicle.
  • the parking warning device 200 may further include a warning light 10 provided on the vehicle, and the warning light 10 is electrically connected to the first controller 4.
  • the first controller 4 controls the warning light 10 to light up according to a preset rule. For example, after detecting the emergency stop signal of the vehicle, the first controller 4 controls the warning light 10 to display yellow and blink. When the vehicle stops normally, the warning light 10 is turned off or displayed in other ways.
  • the present application also provides a vehicle.
  • the vehicle may include the parking warning device 200 of the foregoing embodiment.
  • the vehicle may be an unmanned delivery vehicle, an unmanned passenger vehicle, etc. used for delivering items such as express delivery, catering, etc., or a manned vehicle.
  • an emergency situation such as a vehicle failure, an obstacle in front, etc.
  • the emergency stop is based on the real-time image of the road conditions around the vehicle obtained by the on-board image acquisition device 3 to guide the placement of the warning sign 1 without human intervention.
  • the automation of the warning sign 1 placement ensures that the warning sign 1 can be placed in a safe area, solves the problem of placing the warning sign 1 in an emergency stop situation, and improves traffic safety.
  • the vehicle of this embodiment may further include a body 100, the drop device 2 of the parking warning device 200, the image acquisition module 3, and the like are disposed on the body 100.
  • FIG. 8 is a flowchart of a vehicle parking warning method shown in an exemplary embodiment of the present application.
  • the vehicle may be an unmanned vehicle, such as an unmanned delivery vehicle for delivering express items, food and beverages, an unmanned passenger car, etc.
  • the vehicle may also be a manned vehicle.
  • the execution subject of the vehicle parking warning method in this embodiment may be a VCU, other processors, or a combination of VCU and other processors.
  • the following embodiment uses VCU as the main subject for further explanation.
  • the vehicle parking warning method may include the following steps:
  • Step 801 Determine whether a signal indicating an emergency stop of the vehicle is detected; if yes, perform step S802, otherwise the method ends;
  • the VCU generates a vehicle emergency stop signal when the vehicle needs an emergency stop.
  • the situation where the vehicle needs an emergency stop includes: the vehicle needs an emergency stop in an abnormal state, such as the vehicle due to a failure (abnormal parts of the vehicle, power supply Anomalies, etc.) require an emergency stop, or the vehicle needs an emergency stop due to the presence of nearby obstacles (pedestrians and/or vehicles), or the vehicle needs an emergency stop due to other unexpected conditions.
  • the VCU generates a vehicle emergency stop signal when it detects that the vehicle is in a fault state and/or detects that the distance between the vehicle and an obstacle located in front of the vehicle is less than or equal to the first preset distance threshold.
  • the first preset distance threshold can be set according to needs, such as 150 meters, 200 meters, or other distances.
  • Step 802 Obtain real-time images of road conditions around the vehicle
  • the real-time image of the road conditions around the vehicle may include a ground image at the bottom of the vehicle, a road condition image at the side of the vehicle, and/or a road condition image at the rear of the vehicle.
  • the vehicle is provided with the parking warning device 200 as described above, and step S802 is specifically based on the image acquisition device 3 on the vehicle to obtain a real-time image of the road conditions around the vehicle.
  • the image acquisition device 3 may be provided at the bottom, the side, and/or the rear of the vehicle, or at another location of the vehicle that can capture real-time images of road conditions around the vehicle.
  • the image acquisition device 3 may be a camera, a camera, or an image sensor.
  • Step 803 If it is determined based on the real-time image that the road conditions around the vehicle satisfy the preset safe delivery conditions, a warning sign is placed.
  • the warning device 1 on the vehicle is controlled by the dropping device 2 on the vehicle to place the warning sign 1 on the vehicle onto the ground around the vehicle.
  • the warning sign 1 is provided on the vehicle, such as in the trunk of the vehicle, the side of the vehicle, and/or the rear of the vehicle, and so on.
  • the position of the drop device 2 on the vehicle corresponds to the position of the warning sign 1 on the vehicle.
  • the drop device 2 and the warning sign 1 can be co-located in the trunk of the vehicle, on the side of the vehicle and /Or the rear of the vehicle, etc.
  • the VCU recognizes the real-time image based on the image recognition technology and judges the road conditions around the vehicle. If the VCU determines from the image recognition results that the ground around the vehicle, such as the ground at the bottom of the vehicle, the ground at the side of the vehicle, or the ground behind the vehicle, does not exist Obstacles; or VCU determines that there is an obstacle on the ground around the vehicle according to the image recognition result, but when the distance from the obstacle to the vehicle is greater than or equal to the second preset distance threshold, it is determined that the road conditions around the vehicle meet the preset safe drop conditions.
  • the second preset distance threshold can be set according to needs, for example, 150 meters, 200 meters or other distances.
  • the warning sign 1 may be located closer to the vehicle, such as a ground position closer to the rear of the vehicle, a ground position closer to the side of the vehicle, or a ground located at the bottom of the vehicle .
  • the warning sign 1 needs to be placed on a ground position far away from the vehicle, such as a ground position far away from the rear of the vehicle, in order to effectively warn other vehicles or pedestrians around the emergency stop vehicle to prevent the emergency stop Other vehicles or pedestrians around the vehicle hit the emergency stop vehicle.
  • the VCU controls the vehicle to decelerate when it detects the emergency stop signal of the vehicle, and at the same time controls the delivery device 2 to perform the operation of placing the warning sign 1, or the VCU controls the vehicle to decelerate when the emergency stop signal of the vehicle is detected.
  • the VCU controls the delivery device 2 to perform the operation of the delivery warning 1.
  • the warning sign 1 is located at the designated position at the rear of the vehicle.
  • the VCU controls the vehicle to decelerate when it detects the emergency stop signal of the vehicle, and at the same time controls the delivery device 2 to perform the operation of placing the warning sign 1; or the VCU controls the vehicle to decelerate when the emergency stop signal of the vehicle is detected, During the deceleration of the vehicle, the VCU controls the delivery device 2 to perform the operation of placing the warning sign 1.
  • the VCU since the vehicle is close to the stop position when the VCU detects the vehicle emergency stop signal, the distance between the warning sign 1 and the vehicle is small after the vehicle emergency stop, and the warning sign 1 needs to be moved.
  • the VCU controls the vehicle to decelerate when it detects the emergency stop signal of the vehicle, and after the vehicle stops running, the VCU controls the delivery device 2 to perform the operation of placing the warning sign 1, at which time the warning sign 1 is placed at a distance from the vehicle Closer, the warning sign 1 needs to be moved.
  • the VCU can control the movement of the warning sign 1 so that the warning sign 1 moves to a designated position on the ground around the vehicle to achieve the purpose of warning To ensure road safety.
  • the target placement position of the warning sign 1 is predetermined. After controlling the delivery device 2 to perform the operation of placing warning signs, the VCU performs image recognition on the real-time image based on the image recognition technology and judges the road conditions around the vehicle. The warning sign 1 is controlled to move to the preset target placement position according to the preset target placement position.
  • the VCU first determines the target placement position of the warning sign 1 based on the real-time image, and recognizes the real-time image based on the image technology to determine whether the road conditions around the vehicle meet the preset safe movement conditions.
  • the warning sign 1 is controlled to move to the target placement position of the warning sign 1 determined based on the real-time image according to the determined target placement position.
  • determining the target placement position of the warning sign 1 based on the real-time image fully considers the road conditions around the vehicle, ensures that the warning sign 1 moves in a safe area, and improves traffic safety.
  • the VCU recognizes real-time images based on image recognition technology to determine the distance from the current position of the warning sign 1 to the vehicle and whether there are obstacles within the third preset distance threshold behind the warning sign 1. If there are no obstacles within the distance threshold range (for example, 200 meters), it is determined that the road conditions around the vehicle meet the preset safe movement conditions, and the warning sign is calculated according to the third preset distance threshold range and the warning sign 1 current distance to the vehicle 1 The moving distance to the target placement position.
  • the distance threshold range for example, 200 meters
  • the distance from the target placement position to the vehicle is greater than the fourth preset distance and less than the fifth preset distance, for example, the distance from the target placement position to the rear of the vehicle is greater than 150 meters and less than 200 meters, to ensure that the warning sign 1 is placed In a suitable position, the vehicle or pedestrian behind the emergency stop vehicle is effectively warned to improve traffic safety.
  • the parking warning device 200 further includes an inertial sensor 7 provided on the warning sign 1. After the VCU control delivery device 2 performs the operation of placing the warning sign, the posture of the warning sign 1 is detected based on the inertial sensor 7, and the movement of the warning sign 1 is controlled according to the state of the warning sign 1, thereby ensuring that the warning sign 1 moves upright.
  • the VCU can also recover the warning sign 1 through the drop device 2. Specifically, after the VCU control delivery device 2 performs the operation of placing warning signs, it recognizes the real-time image based on the image recognition technology and judges the road conditions around the vehicle. If it is determined that the road conditions around the vehicle meet the preset safety recovery conditions based on the image recognition results The VCU controls the delivery device 2 to perform the operation of recovering the warning sign to recover the warning sign 1 to the vehicle. In an embodiment, the VCU determines based on the image that the specific area of the vehicle has no obstacles between the rear of the vehicle and the warning sign 1, and determines that the road conditions around the vehicle satisfy the preset safety recovery conditions.
  • the warning sign 1 is recovered in two steps.
  • the VCU controls the delivery device 2 to move the warning sign 1 to the ground around the vehicle; in the second step, the VCU controls the delivery device 2 to remove the warning sign 1 from the vehicle
  • the surrounding ground moves to the designated location of the vehicle, such as the chassis and trunk.
  • the parking warning device 200 further includes a warning light 10 provided on the vehicle. After detecting a signal for instructing an emergency stop of the vehicle, the warning light 10 is controlled to light up according to a preset rule. Optionally, after detecting the vehicle emergency stop signal, the VCU controls the warning light 10 to display yellow and flash. Further, when it is detected that the warning sign 1 is recovered on the vehicle, the warning light 10 is turned off to release the warning function.
  • the vehicle parking warning method may include the following steps:
  • Step 901 Detect the vehicle emergency stop signal
  • Step 902 Control the warning light 10 to warn
  • Step 903 Collect real-time images of road conditions around the vehicle based on the image acquisition device 3; in some embodiments, the execution order of step 903 and step 902 may be interchanged;
  • Step 904 Based on the real-time image collected in step 903, determine whether the road conditions around the vehicle meet the preset safe delivery conditions; if so, enter step 905, otherwise, return to step 903;
  • Step 905 Control the placement device 2 to perform the operation of placing the warning sign 1 and place the warning sign 1 on the ground around the vehicle;
  • Step 906 It is detected that the vehicle has completed parking
  • Step 907 Collect real-time images of road conditions around the vehicle based on the image acquisition device 3;
  • Step 908 Based on the real-time image collected in step 907, determine whether the road conditions around the vehicle meet the preset safe movement conditions; if yes, go to step 909, otherwise, return to step 907;
  • Step 909 Determine the placement position according to the real-time image collected in step 907, and control the warning sign 1 to move away from the vehicle; or according to the preset placement position, control the warning sign 1 to move away from the vehicle;
  • Step 910 determine whether the warning sign 1 has moved to the preset placement position or the placement position determined in step 909; if so, proceed to step 911: otherwise, return to step 909;
  • Step 911 The warning sign 1 stops moving (meaning that the warning sign 1 itself will not move);
  • Step 912 Collect real-time images of road conditions around the vehicle based on the image acquisition device 3;
  • Step 913 Based on the real-time image collected in step 912, determine whether the road conditions around the vehicle meet the preset safety recovery conditions; if so, proceed to step 914, otherwise, return to step 912;
  • Step 914 Control the warning sign 1 to move towards the vehicle, and collect real-time images of the road conditions around the vehicle based on the image acquisition device 3;
  • Step 915 determine whether the warning sign 1 has moved to the ground area around the vehicle based on the real-time image collected in step 914; if so, proceed to step 916, otherwise, return to step 914;
  • Step 916 the warning sign 1 stops moving (meaning that the warning sign 1 itself will not move), and after the warning sign 1 stops moving, the warning sign 1 is recovered to the vehicle based on the dropping device 2;
  • Step 917 determine whether the warning sign 1 is located at the designated position of the vehicle; if yes, proceed to step 918, otherwise, return to step 916;
  • Step 918 Turn off the warning light 10.
  • the vehicle parking warning method of this embodiment can be further described with reference to the above embodiment of the parking warning device 200.

Abstract

本申请提供停车警示系统，其包括设于车辆上的警示牌、投放装置、图像采集装置以及第一控制器，所述第一控制器与所述投放装置、所述图像采集装置分别电连接；其中，所述图像采集装置用于采集车辆周围路况的实时影像并将实时影像发送至所述第一控制器；所述第一控制器在检测到用于指示车辆急停的信号时，且基于所述实时影像确定出所述车辆周围路况满足预设的安全投放条件，则控制所述投放装置执行投放警示牌的操作。

Description

停车警示系统 技术领域
本申请涉及车辆领域，尤其涉及停车警示系统。
背景技术
对于在道路上行驶的车辆，其行驶安全性极为重要，尤其是在车辆遇到突发状况如交通事故或车辆故障而需要急停时，需要对后方车辆和/或行人进行警示，以免发生突发事故。
发明内容
有鉴于此，本申请提供一种停车警示装置、车辆及车辆停车警示方法。
具体地，本申请是通过如下技术方案实现的：
根据本申请的第一方面，提供一种停车警示装置，所述装置包括警示牌，所述装置还包括投放装置、图像采集装置以及第一控制器，所述第一控制器与所述投放装置、所述图像采集装置分别电连接；
其中，所述图像采集装置用于采集车辆周围路况的实时影像并将所述实时影像发送至所述第一控制器；
所述第一控制器检测到用于指示所述车辆急停的信号，且基于所述实时影像确定出所述车辆周围路况满足预设的安全投放条件，则控制所述投放装置执行投放所述警示牌的操作。
根据本申请的第二方面，提供一种车辆，包括停车警示装置，所述停车警示装置包括警示牌、投放装置、图像采集装置以及第一控制器，所述第一控制器与所述投放装置、所述图像采集装置分别电连接；
其中，所述图像采集装置用于采集车辆周围路况的实时影像并将所述实时影像发送至所述第一控制器；
所述第一控制器检测到用于指示所述车辆急停的信号，且基于所述实时影像确定出所述车辆周围路况满足预设的安全投放条件，则控制所述投放装置执行投放所述警示牌 的操作。
根据本申请的第三方面，提供一种车辆停车警示方法，所述方法包括：
检测用于指示车辆急停的信号；
获取所述车辆周围路况的实时影像；
若基于所述实时影像确定出所述车辆周围路况满足预设的安全投放条件时，则投放警示牌。
本申请的有益效果：在车辆急停时，第一控制器基于图像采集装置采集的实时影像指引投放装置执行警示牌的投放，能够确保警示牌能够被投放至安全区域，而无需人为干预，实现了警示牌投放的自动化，解决了急停情况下无法摆放警示牌的问题；并且，通过图像采集装置指引警示牌的投放，无需在警示牌上设置图像采集装置，减少了警示牌的负载，控制更灵活，功耗更低。
附图说明
图1是本申请一示例性实施例示出的一种停车警示装置的结构框图；
图2是本申请一示例性实施例示出的一种停车警示装置的其中一种具体结构示意图；
图3是本申请一示例性实施例示出的一种停车警示装置的另一种具体结构示意图；
图4是本申请一示例性实施例示出的一种停车警示装置一具体的结构框图；
图5是本申请一示例性实施例示出的一种停车警示装置另一具体的结构框图；
图6是本申请一示例性实施例示出的一种停车警示装置又一具体的结构框图；
图7是本申请一示例性实施例示出的一种停车警示装置还一具体的结构框图；
图8是本申请一示例性实施例示出的一种车辆停车警示方法的流程图；
图9是本申请一示例性实施例示出的一种车辆停车警示方法一具体流程图。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施 例中所描述的实施方式并不代表与本申请相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本申请的一些方面相一致的装置和方法的例子。
在本申请使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本申请。在本申请和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
应当理解，尽管在本申请可能采用术语第一、第二、第三等来描述各种信息，但这些信息不应限于这些术语。这些术语仅用来将同一类型的信息彼此区分开。例如，在不脱离本申请范围的情况下，第一信息也可以被称为第二信息，类似地，第二信息也可以被称为第一信息。取决于语境，如在此所使用的词语“如果”可以被解释成为“在……时”或“当……时”或“响应于确定”。
当车辆在行驶途中急停时，需要人为投放警示牌，再根据车辆上的多个传感器，控制警示牌移动，这种方式需要人为干预，不够智能化，成本较高；或者，在车辆急停时，根据提前计算的投放距离来投放警示牌，这种方式不适合车辆发生紧急状态无法移动足够距离的情况，并且，该方式未考虑车辆后方行人或车辆状况，存在安全隐患。
下面结合附图，对本申请的停车警示装置、车辆及车辆停止警示方法进行详细说明。在不冲突的情况下，下述的实施例及实施方式中的特征可以相互组合。
图1是本申请一示例性实施例示出的一种停车警示装置的结构框图，图2是本申请一示例性实施例示出的一种停车警示装置的其中一种具体结构示意图，图3是本申请一示例性实施例示出的一种停车警示装置的另一种具体结构示意图。结合图1至图3，本申请实施例提供一种停车警示装置200，该停车警示装置200可包括警示牌1、投放装置2、图像采集装置3和第一控制器4。在一实施例中，警示牌1设于车辆上，如车辆后备箱中、车辆侧部和/或车辆尾部等等。该车辆可以为无人车，如用于配送快递、餐饮等物品的无人配送车或无人驾驶载客汽车等，当然，该车辆也可以为有人驾驶的车辆。
在一实施例中，投放装置2以及图像采集装置3均固定在车辆上，第一控制器4与投放装置2、图像采集装置3分别电连接。在一实施例中，投放装置2设置在车辆上的位置与警示牌1设置在车辆上的位置相对应，例如，投放装置2可与警示牌1共同设置在车辆后备箱中、车辆侧部和/或车辆尾部等等。
在一实施例中，图像采集装置3用于采集车辆周围路况的实时影像，如车辆底部的 地面影像、车辆侧方的路况影像和/或车辆后方的路况影像。并且，图像采集装置3在采集到车辆周围路况的实时影像后，会将实时影像发送至第一控制器4。在一实施例中，图像采集装置3可设置车辆底部、侧部和/或车辆尾部。图像采集装置3可为摄像头，也可为相机，还可为图像传感器。
在一实施例中，第一控制器4检测到用于指示车辆急停的信号，且基于图像采集装置3发送的实时影像判断车辆周围路况(即交通状况)，当确定满足预设的安全投放条件，则第一控制器4控制投放装置2执行投放警示牌1的操作，从而将车辆上的警示牌1投放至车辆周围的地面上。在一实施例中，警示牌1可以被投放至车辆后方的地面上、车辆侧方的地面上或车辆底部地面上。在一些实施例中，警示牌1也可被投放至车辆周围的其他地面区域。
在车辆急停时，第一控制器4基于图像采集装置3采集的实时影像指引投放装置2执行警示牌1的投放，能够确保警示牌1被投放至安全区域，而无需人为干预，实现了警示牌1投放的自动化，解决了急停情况下摆放警示牌1的问题。在一实施例中，图像采集装置3可以为车载图像采集装置，而无需在警示牌1上设置图像采集装置，减少了警示牌1的负载，控制更灵活，功耗更低。在一实施例中，警示牌1为三角形，本申请对此不做限制。
在一实施例中，第一控制器4检测车辆处于非正常状态而需急停的信号，该非正常状态可以为车辆故障(车辆的零部件异常、供电异常等)，或者，车辆前方存在较近的障碍物(行人和/或车辆)，或者其他突发状况。具体的，第一控制器4检测到的用于指示车辆急停的信号可以包括指示车辆处于故障状态的信号和/或指示车辆与位于该车辆前方的障碍物的距离小于或者等于第一预设距离阈值的信号。其中，第一预设距离阈值可根据需要设定，例如150米、200米或者其他距离。
其中，第一控制器4可以基于图像识别技术对实时影像进行识别并判断车辆周围的路况。若根据图像识别结果确定出车辆周围的地面如车辆底部地面、车辆侧方地面或车辆后方地面等不存在障碍物；或者根据图像识别结果确定出车辆周围的地面存在障碍物，但障碍物至车辆的距离大于或者等于第二预设距离阈值时，则确定车辆周围路况满足预设的安全投放条件。例如，若需要将警示牌1投放至车辆尾部，则第一控制器4在基于图像识别结果确定出车辆后方的地面存在障碍物，但障碍物至车辆尾部的距离(障碍物至车辆尾部的最小水平距离)大于或者等于第二预设距离阈值时，第一控制器4可以确定车辆后方的路况满足预设的安全投放条件，进而控制投放装置2投放警示牌1。 其中，第二预设距离阈值可根据需要设定，例如150米、200米或者其他距离。
在一实施例中，第一控制器4可包括车辆的VCU(Vehicle Control Unit，整车控制器)。在一实施例中，第一控制器4在检测到车辆急停信号时，控制车辆减速，并同时控制投放装置2执行投放警示牌1的操作。在另一实施例中，第一控制器4在检测到车辆急停信号时，控制车辆减速，在车辆减速移动的过程中，第一控制器4控制投放装置2执行投放警示牌1的操作。在又一实施例中，第一控制器4在检测到车辆急停信号时，控制车辆减速，在车辆停止运行后，第一控制器4控制投放装置2执行投放警示牌的操作。
在一些实施例中，警示牌1可能被投放装置2投放在距离车辆较近的位置，如距离车辆尾部较近的地面位置、距离车辆侧部较近的地面位置或者位于车辆底部的地面。而在一些实施例中，警示牌1需要距离车辆较远的位置，如距离车辆尾部较远的位置，才能对急停车辆周围的其他车辆或行人进行有效警示，防止急停车辆周围的其他车辆或行人撞到该急停的车辆。
在一些实施例中，第一控制器4在检测到车辆急停信号时，控制车辆减速，并同时控制投放装置2执行投放警示牌的操作，或者第一控制器4在检测到车辆急停信号时，控制车辆减速，在车辆减速移动的过程中，第一控制器4控制投放装置2执行投放警示牌的操作。车辆急停后，警示牌1即位于车辆尾部的指定位置处。
在另一些实施例中，第一控制器4在检测到车辆急停信号时，控制车辆减速，并同时控制投放装置2执行投放警示牌的操作，或者第一控制器4在检测到车辆急停信号时，控制车辆减速，在车辆减速移动的过程中，第一控制器4控制投放装置2执行投放警示牌的操作。由于在第一控制器检测到车辆急停信号时，车辆距离停止位置已经较近，故在车辆急停后，警示牌1距离车辆尾部的距离较小，需要移动警示牌1。
在又一些实施例中，第一控制器4在检测到车辆急停信号时，控制车辆减速，在车辆停止运行后，第一控制器4控制投放装置2执行投放警示牌1的操作，警示牌1的投放位置距离车辆较近，需要移动警示牌1。
针对需要移动警示牌1的情况，警示牌1在被投放至车辆周围的地面上后，第一控制器4能够控制警示牌1移动，使得警示牌1移动至车辆周围地面的指定位置处，以达到警示的目的，确保道路行车安全性。
在一些实施例中，如图2至图4所示，停车警示装置200还可包括设于警示牌1底 部的驱动轮5以及设于警示牌1上的控制装置6。其中，控制装置6用于控制驱动轮5移动，通过驱动轮5与控制装置6的配合，使得警示牌1具有自移动功能。本实施例中，控制装置6与第一控制器4通信连接。
在一实施例中，警示牌1被投放于车辆周围的地面上，且第一控制器4基于实时影像确定出车辆周围路况满足预设的安全移动条件，则第一控制器4产生携带有警示牌1的目标摆放位置的指示信号并发送至控制装置6。控制装置6基于该指示信号控制警示牌1移动至目标摆放位置，具体的，控制装置6在接收到指示信号后，控制驱动轮5移动，带动警示牌1移动至目标摆放位置。
在一些实施例中，目标摆放位置可以为预设位置。
在另一些实施例中，目标摆放位置由第一控制器4根据实时影像确定。具体的，第一控制器4基于图像识别技术对图像采集装置3采集的实时影像进行识别，判断警示牌1当前至车辆的距离以及警示牌1后方(警示牌1远离车辆的方向)第三预设距离阈值范围内是否存在障碍物，当警示牌1后方第三预设距离阈值(例如，200米)范围内不存在障碍物，则确定车辆周围路况满足预设的安全移动条件，并根据第三预设距离阈值范围和警示牌1当前至车辆的距离计算出警示牌1至目标摆放位置的移动距离。在一实施例中，目标摆放位置至车辆的距离大于第四预设距离而小于第五预设距离，例如目标摆放位置至车辆的距离大于150米而小于200米，以确保警示牌1放置在适合的位置，对急停的车辆周围的车辆或行人进行有效警示，提高了交通安全性。
本实施例通过第一控制器4基于车载图像采集装置3采集的实时影像指引警示牌1的运行，无需在警示牌1上设置图像采集装置，从而减少了警示牌1的负载，使得警示牌1的控制更灵活，功耗更低。并且，警示牌1可以自移动，且不用提前计算投放距离，更适用于急停情况，同时减少了人为误操作，例如摆放不到位、不合理等，提高了交通安全性。
本实施例的驱动轮5直接设置在警示牌1的底部，无需再额外增加可移动承载结构，使得警示牌1自身具备可移动功能。在一些实施例中，还可以结合其他可移动承载结构来承载警示牌1，从而实现警示牌1的移动，本申请对此不做限制。
警示牌1底部可设置一个或多个驱动轮5。在一实施例中，结合图2和图3，警示牌1底部设置两个驱动轮5，两个驱动轮5间隔设于警示牌1底部。控制装置6能够控制两个驱动轮5以不同的转速移动，从而带动警示牌1进行转向，使得警示牌1可相对车 辆进行前后左右不同方向的移动。
在另一实施例中，警示牌1底部可设置四个驱动轮5，四个驱动轮5两两间隔设置形成一组，每组驱动轮5间隔设置在警示牌1底部。控制装置6能够控制两组驱动轮5以不同的转速移动，以带动警示牌1进行转向，警示牌1可相对车辆进行前后左右不同方向的移动。
驱动轮5的类型可根据需要选择，在一实施例中，驱动轮5为万向轮，可以更好的驱动警示牌1进行转向。
控制装置6的结构可根据需要设计，在一实施例中，参见图5，控制装置6包括用于驱动所述驱动轮5移动的电机61以及与电机61电连接的第二控制器62，第二控制器62与第一控制器4通信连接。
在一些实施例中，第二控制器62与第一控制器4基于有线通信方式通信连接。例如，通过线缆连接，使得第一控制器4与第二控制器62之间实现通信连接。在另一些实施例中，第二控制器62与第一控制器4基于无线通信方式通信连接。
在一实施例中，参见图6，停车警示装置200还可包括设于警示牌1上的惯性传感器7，惯性传感器7用于检测警示牌1的姿态，并将警示牌1的姿态发送至第二控制器62。第二控制器62根据警示牌1的姿态控制驱动轮5的运动，确保警示牌1始终处于直立状态。在一实施例中，惯性传感器7可包括陀螺仪和加速度计，用于检测警示牌1的倾角(例如警示牌1的三角表面与警示牌1至车辆之间地面的夹角)和加速度。第二控制器62在判断警示牌1的倾角较小、且警示牌1处于加速运动时，控制驱动轮5减速，并在倾角为90度或者近似90度时，控制警示牌1匀速运动，以防止警示牌1翻倒；或者，第二控制器62在判断倾角较大、且警示牌1减速运动时，控制驱动轮5加速，并在倾角为90度或者近似90度时，控制警示牌1匀速运动，以防止警示牌1翻倒。
在一实施例中，参见图2和图3，停车警示装置200还可包括设于警示牌1底部的盒体8，控制装置6和惯性传感器7均收容在盒体8内。在一实施例中，盒体8可一体成型于警示牌1的底部，也可采用其它固定方式固定在警示牌1的底部。在一实施例中，盒体8位于两个驱动轮5之间，并且，盒体8不妨碍两个驱动轮5的移动。
投放装置2的实现方式可包括多种，例如，通过绞盘22和绳索21配合的方式投放警示牌1、通过智能机械手23投放警示牌1或通过其他结构投放警示牌1。
在一实施例中，参见图2，投放装置2还包括绞盘22和绳索21，绞盘22固定在车 辆的尾部或车辆的其他位置，并且绞盘22与第一控制器4电连接，绞盘22可由第一控制器4驱动而转动。绳索21与绞盘22绕设配合，本实施例中，绳索21的自由端与警示牌1固定连接。第一控制器4在控制投放装置2执行投放警示牌的操作时，第一控制器4控制绞盘22绕第一方向转动，以带动绳索21从绞盘22逐渐脱出，绳索21脱出绞盘22的长度越来越长，从而使得警示牌1投放至地面并随着警示牌1的移动而继续绕离绞盘22。本实施例中，绳索21可为上述实施例的线缆。
在另一实施例中，参见图3，投放装置2可包括智能机械手23，智能机械手23与警示牌1活动配合。在控制投放装置2执行投放警示牌的操作时，第一控制器4控制智能机械手23与警示牌1相分离。具体的，第一控制器4控制智能机械手23移动，以控制警示牌1从车辆移动至车辆周围的地面，并在警示牌1位于车辆周围的地面时，控制智能机械手23与警示牌1相分离，从而将警示牌1投放至车辆周围的地面。可选的，智能机械手23包括挂钩，挂钩能够活动钩住警示牌1。在车辆急停前，挂钩活动钩住警示牌1。在车辆急停时，第一控制器4控制挂钩从车辆朝向车辆周围的地面移动，从而带动警示牌1朝向车辆周围的地面移动。当警示牌1位于车辆周围的地面时，第一控制器4控制挂钩与警示牌1分离，实现投放警示牌1的操作。后续若需要警示牌进一步移动至距离车辆较远的距离，则警示牌通过驱动轮5实现移动。
在一实施例中，第一控制器4还能通过投放装置2对警示牌1进行回收。具体的，当警示牌1移动至车辆周围的地面上时(由线缆拉动而移动至车辆周围或者通过驱动轮5而移动至车辆周围)，第一控制器4在基于实时影像确定出车辆周围路况满足预设的安全回收条件时，控制投放装置2执行回收警示牌的操作，以将警示牌1回收至车辆上。具体的，当警示牌1位于车辆周围的地面上时，第一控制器4基于图像识别技术对实时影像进行识别并判断车辆周围的路况，若根据识别结果确定出所述车辆尾部与所述警示牌1之间不存在障碍物，则确定车辆周围路况满足预设的安全回收条件。
在一实施例中，警示牌1回收分两步进行，第一步，第一控制器4控制投放装置2将警示牌1移动至车辆周围的地面；第二步，第一控制器4控制投放装置2将警示牌1由车辆周围的地面移动至车辆的指定位置，如底盘、后备箱。通过对警示牌1进行自动回收，减少了对人为操作的需求，尤其是在警示牌1误报警或自修复情况(例如，电机61过热、过流过压、软件bug等)下尤为重要。
在如图2所示的实施例中，第一控制器4在控制投放装置2执行回收警示牌的操作时，通过控制绞盘22绕第二方向转动并带动绳索21逐渐绕设在绞盘22上，以将警示 牌1回收至车辆上。在本实施例中，第二方向与第一方向相反。在一实施例中，第一方向为顺时针方向，第二方向为逆时针方向。在另一实施例中，第一方向为逆时针方向，第二方向为顺时针方向。
在如图3所示的实施例中，第一控制器4在控制投放装置2执行回收警示牌的操作时，通过控制智能机械手23与警示牌1活动连接，并控制智能机械手23移动，以将警示牌1从车辆周围的地面移动至车辆上。在一实施例中，智能机械手23包括挂钩，挂钩能够活动钩住警示牌1。当警示牌1移动至车辆周围的地面时，第一控制器4控制挂钩与警示牌1活动连接，再控制挂钩朝向车辆移动，从而带动警示牌1朝向车辆移动，实现回收警示牌的操作。
在本实施例中，VCU用于检测车辆是否急停，并根据该实时影像判断车辆周围路况是否满足预设的安全投放条件、预设的安全移动条件、或预设的安全回收条件，并根据判断结果来指示投放装置2和/或警示牌1执行相应的操作。
在一些实施例中，图像采集装置3和第一控制器4之间可以设置图像识别模块(图中未示)，基于该图像识别模块对图像采集装置3采集的实时影像进行图像识别，并将图像识别结果发送至第一控制器4，第一控制器4再根据图像识别结果判断车辆周围路况是否满足预设的安全投放条件、预设的安全移动条件、或预设的安全回收条件。
在一些实施例中，停车警示装置200还可包括设于车辆上的传感器单元，如激光雷达、毫米波雷达等，该传感器单元与第一控制器4电连接，第一控制器4可根据传感器单元采集的路况数据(如车道线、障碍物至车尾的距离等)进一步对车辆周围路况进行确认，从而验证第一控制器4基于实时影像判断车辆周围路况的准确性，确保警示牌投放、移动等的安全性。
在一实施例中，参见图7，停车警示装置200还可包括蓄电池9，该蓄电池9设于警示牌1上，并用于对控制装置6供电。在一实施例中，蓄电池9可以设于盒体8内。在警示牌1回收至车辆上后，可通过车辆的电源对该蓄电池9进行充电。
在一实施例中，参见图2和图3，所述停车警示装置200还可包括设于车辆上的警示灯10，警示灯10与第一控制器4电连接。第一控制器4在检测到车辆急停的信号后，控制警示灯10按照预设规则点亮。例如，第一控制器4在检测到车辆急停的信号后，控制警示灯10显示黄色并闪烁。而在车辆正常停车时，该警示灯10关闭或以其他方式显示。
本申请还提供一种车辆，结合图2和图3，该车辆可包括上述实施例的停车警示装置200。
在一实施例中，该车辆可以为用于配送快递、餐饮等物品的无人配送车、无人驾驶载客汽车等，也可以为有人驾驶的车辆。当车辆遇到突发状况(如车辆故障、前方存在障碍等)急停时，基于车载的图像采集装置3获取的车辆周围路况的实时影像来指引警示牌1的投放，无需人为干预，实现了警示牌1投放的自动化，并确保了警示牌1能够被投放至安全区域，解决了急停情况下摆放警示牌1的问题，提高了交通安全性。
在一实施例中，结合图2和图3，本实施例的车辆还可包括车身100，停车警示装置200的投放装置2、图像采集模块3等设置在车身100上。
本申请还提供一种停车警示方法，该停车警示方法可用于上述停车警示装置200。图8是本申请一示例性实施例示出的一种车辆停车警示方法的流程图。
在一实施例中，该车辆可以为无人车，如用于配送快递、餐饮等物品的无人配送车、无人驾驶载客汽车等，当然，该车辆也可以为有人驾驶的车辆。
本实施例的车辆停车警示方法的执行主体可为VCU，也可为其他处理器，或者VCU与其他处理器的结合。以下实施例以VCU为执行主体进一步说明。
参见图8，该车辆停车警示方法可包括如下步骤：
步骤801：判断是否检测到用于指示车辆急停的信号；若是，则执行步骤S802，否则方法结束；
本实施例中，VCU在车辆需急停时产生车辆急停信号，其中，车辆需急停的情况包括：车辆在非正常状态下需急停，如车辆因故障(车辆的零部件异常、供电异常等)而需急停，或者，车辆因前方存在较近的障碍物(行人和/或车辆)而需急停，或者车辆因其他突发状况而需急停。
在一实施例中，VCU在检测到车辆处于故障状态和/或检测到车辆与位于该车辆前方的障碍物的距离小于或者等于第一预设距离阈值时，产生车辆急停信号。其中，第一预设距离阈值可根据需要设定，例如150米、200米或者其他距离。
步骤802：获取车辆周围路况的实时影像；
车辆周围路况的实时影像可包括车辆底部的地面影像、车辆侧方的路况影像和/或车辆后方的路况影像。
在一实施例中，车辆设有如上所述的停车警示装置200，步骤S802具体基于车辆上的图像采集装置3获取车辆周围路况的实时影像。
在一实施例中，图像采集装置3可设置车辆底部、侧部和/或车辆尾部，也可设于车辆的其他能够拍摄到车辆周围路况的实时影像的位置。图像采集装置3可为摄像头，也可为相机，还可为图像传感器。
步骤803：若基于实时影像确定车辆周围路况满足预设的安全投放条件，则投放警示牌。
在一实施例中，通过控制车辆上的投放装置2执行投放警示牌的操作，从而将车辆上的警示牌1投放至车辆周围的地面上。在一实施例中，警示牌1设于车辆上，如车辆后备箱中、车辆侧部和/或车辆尾部等等。在一实施例中，投放装置2设置在车辆上的位置与警示牌1设置在车辆上的位置相对应，例如，投放装置2可与警示牌1共同设置在车辆后备箱中、车辆侧部和/或车辆尾部等等。
在步骤803中，VCU基于图像识别技术对实时影像进行识别并判断车辆周围的路况，若VCU根据图像识别结果确定出车辆周围的地面如车辆底部地面、车辆侧方地面或车辆后方地面等不存在障碍物；或者VCU根据图像识别结果确定出车辆周围的地面存在障碍物，但障碍物至车辆的距离大于或者等于第二预设距离阈值时，则确定车辆周围路况满足预设的安全投放条件。其中，第二预设距离阈值可根据需要设定，例如150米、200米或者其他距离。
投放装置2在执行完投放警示牌的操作后，警示牌1可能位于距离车辆较近的位置，如距离车辆尾部较近的地面位置、距离车辆侧部较近的地面位置或者位于车辆底部的地面。而在一些实施例中，警示牌1需要被投放于距离车辆较远的地面位置，如距离车辆尾部较远的地面位置，才能对急停车辆周围的其他车辆或行人进行有效警示，防止急停车辆周围的其他车辆或行人撞到该急停的车辆。
在一些实施例中，VCU在检测到车辆急停信号时，控制车辆减速，并同时控制投放装置2执行投放警示牌1的操作，或者VCU在检测到车辆急停信号时，控制车辆减速，在车辆减速移动的过程中，VCU控制投放装置2执行投放警示1的操作。车辆急停后，警示牌1即位于车辆尾部的指定位置处。
在另一些实施例中，VCU在检测到车辆急停信号时，控制车辆减速，并同时控制投放装置2执行投放警示牌1的操作；或者VCU在检测到车辆急停信号时，控制车辆减 速，在车辆减速移动的过程中，VCU控制投放装置2执行投放警示牌1的操作。本实施例中，由于在VCU检测到车辆急停信号时，车辆距离停止位置已经较近，故在车辆急停后，警示牌1距离车辆的距离较小，需要移动警示牌1。
在又一些实施例中，VCU在检测到车辆急停信号时，控制车辆减速，在车辆停止运行后，VCU控制投放装置2执行投放警示牌1的操作，此时警示牌1的投放位置距离车辆较近，需要移动警示牌1。
针对需要移动警示牌1的情况，警示牌1在被投放至车辆周围的地面上后，VCU能够控制警示牌1移动，使得警示牌1移动至车辆周围地面的指定位置处，以达到警示的目的，确保道路行车安全性。
在一实施例中，警示牌1的目标摆放位置是预先确定的。VCU在控制投放装置2执行投放警示牌的操作之后，基于图像识别技术对实时影像进行图像识别并判断车辆周围的路况，若根据图像识别结果确定出车辆周围路况满足预设的安全移动条件，则根据预设的目标摆放位置控制警示牌1移动至所述预设的目标摆放位置。
在另一实施例中，VCU先基于实时影像确定警示牌1的目标摆放位置，并基于图像技术对实时影像进行识别，判断车辆周围路况是否满足预设的安全移动条件，若满足预设的安全移动条件，则根据所确定的目标摆放位置控制警示牌1移动至基于实时影像确定的警示牌1的目标摆放位置。相比预先设定目标摆放位置的方式，基于实时影像确定警示牌1的目标摆放位置充分考虑了车辆周围的道路情况，确保了警示牌1在安全区域移动，提高了交通安全性。
具体的，VCU基于图像识别技术对实时影像进行识别，判断警示牌1当前位置至车辆的距离以及警示牌1后方第三预设距离阈值范围内是否存在障碍物，当警示牌1后方第三预设距离阈值范围(例如200米)内不存在障碍物，则确定车辆周围路况满足预设的安全移动条件，并根据第三预设距离阈值范围和警示牌1当前至车辆的距离计算出警示牌1至目标摆放位置的移动距离。可选的，目标摆放位置至车辆的距离大于第四预设距离而小于第五预设距离，例如目标摆放位置至车辆后方的距离大于150米而小于200米，以确保警示牌1放置在适合的位置，对急停的车辆后方的车辆或行人进行有效警示，提高了交通安全性。
在一些实施例中，停车警示装置200还包括设于警示牌1上的惯性传感器7。VCU控制投放装置2执行投放警示牌的操作之后，基于惯性传感器7检测警示牌1的姿态， 并根据警示牌1的状态控制警示牌1移动，从而确保警示牌1是直立移动的。
在一实施例中，VCU还能通过投放装置2对警示牌1进行回收。具体的，VCU控制投放装置2执行投放警示牌的操作之后，基于图像识别技术对实时影像进行识别并判断车辆周围的路况，若根据图像识别结果确定出车辆周围路况满足预设的安全回收条件时，VCU控制投放装置2执行回收警示牌的操作，以将警示牌1回收至车辆上。在一实施例中，VCU基于所述影像确定出所述车辆特定区域如车辆尾部与所述警示牌1之间不存在障碍物，则确定车辆周围路况满足预设的安全回收条件。
在一实施例中，警示牌1回收分两步进行，第一步，VCU控制投放装置2将警示牌1移动至车辆周围的地面；第二步，VCU控制投放装置2将警示牌1由车辆周围的地面移动至车辆的指定位置，如底盘、后备箱。通过对警示牌1进行自动回收，减少了对人为操作的需求，尤其是在警示牌1误报警或自修复情况(电机61过热、过流过压、软件bug等)下尤为重要。
在一些实施例中，停车警示装置200还包括设于车辆上的警示灯10。在检测到用于指示车辆急停的信号之后，控制警示灯10按照预设规则点亮。可选的，VCU在检测到车辆急停的信号后，控制警示灯10显示黄色并闪烁。进一步的，检测到警示牌1回收至车辆上时，关闭警示灯10，解除警示功能。
在一具体实现方式中，参见图9，车辆停车警示方法可包括如下步骤：
步骤901：检测到车辆急停信号；
步骤902：控制警示灯10示警；
步骤903：基于图像采集装置3采集车辆周围路况的实时影像；在一些实施例中，步骤903与步骤902的执行顺序可以互换；
步骤904：基于步骤903中采集的实时影像判断车辆周围路况是否满足预设的安全投放条件；若是，进入步骤905，否则，返回步骤903；
步骤905：控制投放装置2执行投放警示牌1的操作，将警示牌1投放至车辆周围的地面；
步骤906：检测到车辆完成停车；
步骤907：基于图像采集装置3采集车辆周围路况的实时影像；
步骤908：基于步骤907中采集的实时影像判断车辆周围路况是否满足预设的安 全移动条件；若是，进入步骤909，否则，返回步骤907；
步骤909：根据步骤907中采集的实时影像确定摆放位置，控制警示牌1远离车辆移动；或者根据预设的摆放位置，控制警示牌1远离车辆移动；
步骤910：判断警示牌1是否移动到预设的摆放位置或者步骤909中确定的摆放位置；若是，则进入步骤911：否则，返回步骤909；
步骤911：警示牌1停止移动(指警示牌1自身不会移动)；
步骤912：基于图像采集装置3采集车辆周围路况的实时影像；
步骤913：基于步骤912中采集的实时影像判断车辆周围路况是否满足预设的安全回收条件；若是，则进入步骤914，否则，返回步骤912；
步骤914：控制警示牌1朝向车辆移动，并基于图像采集装置3采集车辆周围路况的实时影像；
步骤915：基于步骤914中采集的实时影像判断警示牌1是否移动至车辆的周围地面区域；若是，则进入步骤916，否则，返回步骤914；
步骤916：警示牌1停止移动(指警示牌1自身不会移动)，并在警示牌1停止移动后，基于投放装置2将警示牌1回收至车辆上；
步骤917：判断警示牌1是否位于车辆的指定位置；若是，则进入步骤918，否则，返回步骤916；
步骤918：关闭警示灯10。
至此，整个车辆停车警示过程结束。
可参见上述停车警示装置200的实施例对本实施例的车辆停车警示方法进一步说明。
以上所述仅为本申请的较佳实施例而已，并不用以限制本申请，凡在本申请的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本申请保护的范围之内。

Claims (15)

  1. 一种停车警示装置，包括警示牌，
    所述装置还包括投放装置、图像采集装置以及第一控制器，所述第一控制器与所述投放装置、所述图像采集装置分别电连接；
    其中，所述图像采集装置用于采集车辆周围路况的实时影像并将所述实时影像发送至所述第一控制器；
    若所述第一控制器检测到用于指示所述车辆急停的信号，且基于所述实时影像确定出所述车辆周围路况满足预设的安全投放条件，则控制所述投放装置执行投放所述警示牌的操作。
  2. 根据权利要求1所述的停车警示装置，其特征在于，还包括设于所述警示牌底部的驱动轮以及设于所述警示牌上的控制装置，所述控制装置用于控制所述驱动轮移动，并与所述第一控制器通信连接；
    在所述警示牌位于地面上，且所述第一控制器基于所述实时影像确定出所述车辆周围路况满足预设的安全移动条件，则所述第一控制器产生携带有所述警示牌的目标摆放位置的指示信号并将所述指示信号发送至所述控制装置；
    所述控制装置基于所述指示信号控制所述警示牌移动至所述目标摆放位置。
  3. 根据权利要求2所述的停车警示装置，其特征在于，所述控制装置包括用于驱动所述驱动轮移动的电机以及与所述电机电连接的第二控制器，所述第二控制器与所述第一控制器通信连接。
  4. 根据权利要求3所述的停车警示装置，其特征在于，所述投放装置包括线缆，所述第一控制器与所述第二控制器基于所述线缆实现通信连接。
  5. 根据权利要求4所述的停车警示装置，其特征在于，所述投放装置还包括绞盘；
    所述第一控制器在控制所述投放装置执行投放操作时，控制所述绞盘绕第一方向转动，带动所述线缆从所述绞盘逐渐脱出。
  6. 根据权利要求5所述的停车警示装置，其特征在于，所述第一控制器在基于所述实时影像确定出所述车辆周围路况满足预设的安全回收条件时，控制所述绞盘绕第二方向转动，带动所述线缆逐渐绕设在所述绞盘上，以将所述警示牌回收，所述第二方向与所述第一方向相反。
  7. 根据权利要求3所述的停车警示装置，其特征在于，所述投放装置包括智能机械手，所述智能机械手与所述警示牌活动配合；
    所述第一控制器在控制所述投放装置执行投放所述警示牌的操作时，控制所述智能 机械手与所述警示牌相分离；
    所述第一控制器在基于所述实时影像确定出所述车辆周围路况满足预设的安全回收条件时，控制所述智能机械手与所述警示牌活动连接。
  8. 根据权利要求2-7任一所述的停车警示装置，其特征在于，还包括设于所述警示牌上的惯性传感器，所述惯性传感器用于检测所述警示牌的姿态，并将所述警示牌的姿态发送至所述控制装置；
    所述控制装置根据所述警示牌的姿态，控制所述警示牌移动，并控制所述警示牌保持直立状态。
  9. 根据权利要求1-7任一所述的停车警示装置，其特征在于，还包括设于所述车辆上的警示灯，所述警示灯与所述第一控制器电连接；
    所述第一控制器在检测到所述车辆急停的信号后，控制所述警示灯按照预设规则点亮。
  10. 一种车辆，包括如权利要求1至9任一项所述的停车警示装置。
  11. 一种车辆停车警示方法，包括：
    检测用于指示车辆急停的信号；
    获取所述车辆周围路况的实时影像；
    若基于所述实时影像确定出所述车辆周围路况满足预设的安全投放条件，则投放警示牌。
  12. 根据权利要求11所述的方法，其特征在于，所述用于指示车辆急停的信号，包括：
    指示所述车辆处于故障状态的信号；和/或
    指示所述车辆与位于该车辆前方的障碍物的距离小于或者等于第一预设距离阈值的信号。
  13. 根据权利要求12所述的方法，其特征在于，所述安全投放条件，包括：
    所述车辆周围的地面不存在障碍物；或者
    所述车辆周围的地面存在障碍物，但所述障碍物至所述车辆的距离大于或者等于第二预设距离阈值。
  14. 根据权利要求12所述的方法，其特征在于，所述投放警示牌之后，还包括：
    基于所述实时影像确定出所述车辆周围路况满足预设的安全移动条件，则根据预设的摆放位置控制所述警示牌移动；或者
    基于所述实时影像确定所述警示牌的摆放位置，且基于所述实时影像确定出所述车 辆后方的路况满足预设的安全移动条件，则根据所确定的摆放位置控制所述警示牌移动。
  15. 根据权利要求12所述的方法，其特征在于，所述投放警示牌之后，还包括：
    基于所述实时影像确定出所述车辆周围路况满足预设的安全回收条件时，回收所述警示牌。
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