WO2022016730A1 - 车辆驾驶的安全预警方法、系统及相关装置 - Google Patents

车辆驾驶的安全预警方法、系统及相关装置 Download PDF

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Publication number
WO2022016730A1
WO2022016730A1 PCT/CN2020/125077 CN2020125077W WO2022016730A1 WO 2022016730 A1 WO2022016730 A1 WO 2022016730A1 CN 2020125077 W CN2020125077 W CN 2020125077W WO 2022016730 A1 WO2022016730 A1 WO 2022016730A1
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WIPO (PCT)
Prior art keywords
vehicle
image data
blind spot
moving object
data collected
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Application number
PCT/CN2020/125077
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English (en)
French (fr)
Inventor
林基业
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深圳市健创电子有限公司
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Publication of WO2022016730A1 publication Critical patent/WO2022016730A1/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
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/223—Analysis of motion using block-matching
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/188—Capturing isolated or intermittent images triggered by the occurrence of a predetermined event, e.g. an object reaching a predetermined position
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle

Definitions

  • the present application relates to the technical field of vehicle applications, and in particular, to a safety warning method, system and related device for vehicle driving.
  • some vehicles are equipped with a rear-view mirror blind spot warning system, which uses radar or microwave to detect whether there is an oncoming vehicle behind the vehicle and alerts the driver through a sound or warning light.
  • This method can only have the effect of a vague reminder.
  • the driver needs to turn his eyes to one side of the rearview mirror to notice it, and it is impossible to accurately judge the position of the car coming from behind, which easily distracts the driver's attention and makes it impossible to take into account the other
  • the road conditions of the side mirrors will bring new safety hazards.
  • the technical problem mainly solved by the present application is to provide a safety warning method, system and related device for vehicle driving, which can improve the safety of vehicle driving.
  • a technical solution adopted in the present application is to provide a safety warning method for vehicle driving, the method comprising: an image processing device acquiring image data collected in a blind spot of a vehicle; acquiring a first speed of a moving object in the image data; If the first speed of the moving object is greater than the current speed of the vehicle, the current image data collected in the blind spot of the vehicle is sent to the vehicle or a terminal device associated with the vehicle for safety warning.
  • the blind spot of the vehicle includes a first blind spot; wherein, the first blind spot is located on the rear side of the vehicle; acquiring image data collected in the blind spot of the vehicle includes: acquiring first image data collected in the first blind spot; acquiring moving objects in the image data
  • the first speed includes: obtaining the first distance between the first moving object in the first image data and the vehicle at the previous moment, and obtaining the second distance between the first moving object and the vehicle at the current moment; The second distance calculates the first velocity of the first moving object.
  • acquiring the first distance between the first moving object in the first image data and the vehicle at the previous moment, and acquiring the second distance between the first moving object and the vehicle at the current moment includes: detecting whether there is a presence in the first image data The first moving object; if yes, obtain the first distance between the first moving object in the first image data and the vehicle at the previous moment, and obtain the second distance between the first moving object and the vehicle at the current moment.
  • detecting whether there is a first moving object in the first image data includes: acquiring multiple consecutive image frames in the first image data; judging whether a target moving object exists in a reference area in the multiple continuous image frames; if so, then Confirm that the first moving object exists in the first image data.
  • judging whether a target moving object exists in a reference area in a plurality of consecutive image frames includes: determining a current image frame in the plurality of consecutive image frames, and determining a plurality of first target areas in the current image frame; obtaining a first The overlapping area of the target area and the reference area is used as the first effective area; obtain the first number of pixels whose gray value is greater than the preset gray value in the first effective area, and obtain the second number of pixels in the effective area; If the first ratio between the number of pixels and the second number of pixels is greater than the first reference threshold, it is determined that there is a target moving object in the reference area.
  • determining that there is a target moving object in the reference area including: if the first ratio between the first number of pixels and the second number of pixels is greater than the first reference threshold If the ratio is greater than the first reference threshold, then determine the next image frame in the multiple consecutive image frames, and determine multiple first target areas in the next image frame, and execute the acquisition of the overlapping area between the first target area and the reference area again, as the first effective area step.
  • determining that there is a target moving object in the reference area including: if the first ratio between the first number of pixels and the second number of pixels is greater than the first reference threshold If the ratio is greater than the first reference threshold, the first position information of the first target area in the current image frame is obtained; the second position information of the first target area in the next image frame is obtained; based on the first position information and the second position information
  • the first direction of the first target area relative to the vehicle is determined; if the first direction is the same as the second direction of the vehicle, it is determined that a target moving object exists in the reference area.
  • determining that there is a target moving object in the reference area includes: if the first direction is the same as the second direction of the vehicle, determining a plurality of second objects in the current image frame area; wherein, the second target area is an area composed of pixels representing unnatural edges in the current image frame; obtain multiple overlapping areas of the second target area and the reference area as the second effective area; obtain the second effective area The number of third pixels occupied by the region in the plurality of second target regions, and the number of fourth pixels obtained from the plurality of second target regions; if the second ratio between the number of third pixels and the number of fourth pixels is greater than the second With reference to the threshold, it is determined that there is a target moving object in the reference area.
  • the blind spot of the vehicle further includes a second blind spot and a third blind spot; wherein, the second blind spot and the third blind spot are located on the left and right sides of the vehicle respectively;
  • the reference area includes a first reference area, a second reference area and a third reference area; wherein , the first reference area is located directly behind the vehicle, the second reference area and the third reference area are located on both sides of the first reference area respectively; judging whether there is a target moving object in the reference area in multiple consecutive image frames, including: judging multiple Whether there is a first target moving object in the first reference area in the consecutive image frames, and if so, confirm that the first moving object exists in the first image data; and/or, determine the second reference area in the plurality of consecutive image frames Whether there is a second target moving object in the first image data; if so, confirm that the first moving object exists in the first image data, and obtain the second image data of the second blind area; and/or, determine the third reference in the multiple consecutive image frames Whether there is a third target moving
  • the first reference area includes a first reference sub-area, a second reference sub-area and a third reference sub-area, and the first reference sub-area, the second reference sub-area and the third reference sub-area correspond to the rear side area of the vehicle in sequence; Whether there is a first target moving object in the first reference area in the multiple consecutive image frames, and if so, confirming that the first moving object exists in the first image data, including: judging the first reference sub-area in the multiple consecutive image frames , whether there is a first target moving object in the second reference sub-region and the third reference sub-region, if there is a first target moving object in the third reference sub-region, then the first prompt tone and the current image collected in the first blind area
  • the data is sent to the vehicle or the terminal equipment associated with the vehicle for safety warning; if there is a first target moving object in the second reference sub-area, the second prompt tone and the current image data collected in the first blind area are sent to The vehicle or the terminal equipment associated with the vehicle is used for safety warning; if there
  • the method further includes: when the first steering data of the vehicle is acquired and the first steering data corresponds to the second blind area, acquiring the second speed of the second moving object in the second image data; if the second speed of the second moving object in the second image data is greater than the current speed of the vehicle, the current image data collected in the second blind spot is sent to The vehicle or the terminal equipment associated with the vehicle, so that the vehicle or the terminal equipment associated with the vehicle can display the current image data collected in the second blind spot, and perform screen recording; If the second speed is not greater than the current speed of the vehicle, the current image data collected in the second blind spot and the third blind spot will be sent to the vehicle or the terminal device associated with the vehicle, so that the vehicle or the terminal device associated with the vehicle can be displayed on the display screen.
  • the current image data collected in the second blind spot is sent to the vehicle or a terminal device associated with the vehicle, so that the vehicle or The terminal device associated with the vehicle displays the current image data collected in the second blind spot, and performs screen recording, including: if the second speed of the second moving object in the second image data is greater than the current speed of the vehicle, confirming the second speed.
  • the step includes: when the second steering data of the vehicle is acquired and the second steering data corresponds to the third blind spot, acquiring the third speed of the third moving object in the third image data; if the third speed of the third moving object in the third image data is greater than the current speed of the vehicle, send the current image data collected in the third blind spot to the vehicle or terminal equipment associated with the vehicle.
  • the current image data collected in the third blind spot is sent to the vehicle or a terminal device associated with the vehicle, including: If the third speed of the third moving object in the three image data is greater than the current speed of the vehicle, then confirm whether the distance between the third moving object and the vehicle is less than the preset distance, and if so, send the current image data collected in the third blind spot to the Vehicle or terminal equipment associated with the vehicle.
  • the blind spot of the vehicle includes a first blind spot, a second blind spot and a third blind spot; wherein, the first blind spot is located on the rear side of the vehicle, and the second blind spot and the third blind spot are respectively located on the left and right sides of the vehicle; the method further includes: after obtaining the vehicle When the door opening signal is received, confirm whether there is a fourth moving object in the second or third blind area corresponding to the door, and if so, send the fourth prompt tone and the current image data collected in the corresponding second or third blind area to the vehicle. Or a terminal device associated with the vehicle, so that the vehicle or terminal device can display the current image data on the corresponding display screen and control the speaker of the vehicle or terminal device to play the fourth prompt tone, so as to give an early warning to the personnel in the vehicle.
  • the method further includes: when the current gear of the vehicle is a preset gear, confirming whether there is a fifth moving object in the second blind spot and/or the third blind spot;
  • the current image data collected in the blind spot and/or the third blind spot is sent to the vehicle or the terminal device associated with the vehicle, so that the vehicle or terminal device can display the current image data on the corresponding display screen and control the speaker of the vehicle or terminal device to play the first image. Five beeps to warn people in the vehicle.
  • the method includes: an on-board device receives current image data collected in a blind spot of the vehicle and sent by an image processing device, wherein the blind spot of the vehicle includes a first blind spot and a blind spot of the vehicle. The second blind spot and the third blind spot.
  • the current image data collected in the blind spot of the vehicle is sent by the image processing device when it acquires the image data collected in the blind spot of the vehicle and confirms that the first speed of the moving object in the image data is greater than the current speed of the vehicle; if the current image collected in the blind spot of the vehicle is The data is the current image data collected in the first blind spot, and it will be displayed on the display screen of the vehicle-mounted device; if the current image data collected in the vehicle's blind spot is the current image data collected in the first and second blind spots, it will be displayed in the vehicle-mounted device.
  • the current image data collected in the first blind area and the second blind area are simultaneously displayed on the display screen of the device.
  • the method further includes: if the current image data collected in the blind spot of the vehicle is the current image data collected in the second blind spot, displaying it on the display screen of the vehicle-mounted device.
  • the method further includes: if the current image data collected in the blind spot of the vehicle is the current image data collected in the third blind spot, displaying it on the display screen of the vehicle-mounted device; if the current image data collected in the blind spot of the vehicle is the current image data collected in the first blind spot.
  • the current image data collected in the blind spot, the second blind spot, and the third blind spot are displayed on the display screen of the vehicle-mounted device at the same time as the current image data collected in the first blind spot, the second blind spot, and the third blind spot.
  • the method further includes: when the door opening signal of the vehicle is obtained, sending the opening signal to the image processing device, so that the image processing device confirms whether there is a sixth moving object in the second blind area or the third blind area corresponding to the vehicle door, If so, send the sixth prompt tone and the current image data collected in the corresponding second or third blind area to the vehicle-mounted device; after receiving the sixth prompt tone and the current image data collected in the corresponding second or third blind area, Display the current image data on the display screen of the vehicle-mounted device and control the speaker of the vehicle or the vehicle-mounted device to play the sixth prompt sound, so as to give an early warning to the personnel in the vehicle.
  • the method further includes: receiving a seventh prompt tone sent by the image processing device and current image data collected by the second blind spot and/or the third blind spot, wherein the seventh prompt tone is sent by the image processing device when the current gear of the vehicle is: When the gear is preset, it is generated when confirming whether there is a seventh moving object in the second blind spot and/or the third blind spot; the current image data and control collected in the second blind spot and/or the third blind spot are displayed on the display screen of the vehicle-mounted device
  • the speaker of the vehicle or the in-vehicle device plays the seventh prompt tone to give an early warning to the personnel in the vehicle.
  • the in-vehicle device receives the current image data collected in the blind spot of the vehicle sent by the image processing device, and further includes: the in-vehicle device receives the current image data and preset parameters collected in the blind spot of the vehicle sent by the image processing device; if the current image data collected in the blind spot of the vehicle is The image data is the current image data collected in the first blind area, and then displayed on the display screen of the vehicle-mounted device, including: if the current image data collected in the vehicle blind area is the current image data collected in the first blind area, based on preset parameters , display the current image data collected in the first blind spot on the display screen of the vehicle-mounted device, record the current image data, and store the recorded current image data to the server.
  • the vehicle-mounted device includes a pickup for collecting the ambient sound of the vehicle;
  • Displaying the current image data collected in the first blind spot on the display screen of the vehicle-mounted device, recording the current image data, and storing the recorded current image data to the server including: displaying the current image data in the first blind spot on the display screen of the vehicle-mounted device
  • the current image data collected in the blind area is recorded on the display screen, and the current ambient sound of the vehicle is collected through the pickup, and the recorded image data and current ambient sound are stored to the server.
  • Another technical solution adopted in the present application is to provide a safety early warning method for vehicle driving, the method comprising: a mobile terminal receiving current image data collected in a blind spot of a vehicle sent by an image processing device, wherein the blind spot of the vehicle includes a first blind spot and The second blind spot and the third blind spot.
  • the current image data collected in the blind spot of the vehicle is sent by the image processing device when it acquires the image data collected in the blind spot of the vehicle and confirms that the first speed of the moving object in the image data is greater than the current speed of the vehicle; if the current image collected in the blind spot of the vehicle is If the data is the current image data collected in the first blind spot, it will be displayed on the display screen of the mobile terminal; if the current image data collected in the vehicle blind spot is the current image data collected in the first blind spot and the second blind spot, it will be displayed on the mobile terminal.
  • the current image data collected in the first blind area and the second blind area are simultaneously displayed on the display screen of the terminal.
  • the method further includes: if the current image data collected in the blind spot of the vehicle is the current image data collected in the second blind spot, displaying on the display screen of the mobile terminal.
  • the method further includes: receiving the eighth prompt tone sent by the image processing device and the current image data collected in the second blind spot and/or the third blind spot; displaying the second blind spot or the third blind spot on the display screen of the mobile terminal
  • the collected current image data and the control speaker play the eighth prompt sound to give an early warning to the personnel in the vehicle; wherein, the eighth prompt sound is sent by the vehicle-mounted device to the image processing when the vehicle door opening signal is obtained.
  • the image processing device is generated when the image processing device confirms that there is an eighth moving object in the current image data collected in the second blind spot or the third blind spot.
  • the method further includes: if the current image data collected in the blind spot of the vehicle is the current image data collected in the third blind spot, displaying it on the display screen; if the current image data collected in the blind spot of the vehicle is the current image data collected in the first blind spot, The current image data collected in the second blind area and the third blind area are displayed on the display screen of the mobile terminal simultaneously with the current image data collected in the first blind area, the second blind area and the third blind area.
  • the mobile terminal receives the current image data collected in the blind spot of the vehicle sent by the image processing device, and further includes: the mobile terminal receives the current image data and preset parameters collected in the blind spot of the vehicle sent by the image processing device; if the current image data collected in the blind spot of the vehicle is The image data is the current image data collected in the first blind spot, and is displayed on the display screen of the mobile terminal, including: if the current image data collected in the vehicle blind spot is the current image data collected in the first blind spot, based on the preset parameters, display the current image data collected in the first blind spot on the display screen of the mobile terminal, record the current image data, and store the recorded current image data to the server.
  • displaying the current image data collected by the first blind spot on the display screen of the mobile terminal, recording the current image data, and storing the recorded current image data to the server includes: displaying the first image data on the display screen of the mobile terminal.
  • the current image data collected in the blind area is recorded on the display screen, and the current ambient sound of the vehicle is collected through the pickup of the vehicle-mounted device, and the recorded current image data and current ambient sound are stored in the server.
  • the method further includes: in response to the first touch command, sending a first setting parameter to the vehicle-mounted device and/or the image processing device, so that the vehicle-mounted device and/or the image processing device perform setting based on the first setting parameter.
  • the method further includes: in response to the second touch instruction, acquiring historical image data from a local storage or a server; and displaying the historical image data.
  • Another technical solution adopted in the present application is to provide an image processing device, the image processing device includes a processor and a memory connected to the processor; wherein the memory is used to store program data, and the processor is used to execute the program data to realize The method implemented by the image processing apparatus provided above.
  • vehicle-mounted device includes a processor and a memory connected to the processor; wherein, the memory is used for storing program data, and the processor is used for executing the program data, so as to realize the above-mentioned provision The method implemented by the in-vehicle device.
  • the mobile terminal includes a processor and a memory connected to the processor; wherein, the memory is used for storing program data, and the processor is used for executing the program data, so as to realize the above-mentioned provision The method implemented by the mobile terminal.
  • Another technical solution adopted in the present application is to provide a readable storage medium, where the readable storage medium is used to store program data, and when the program data is executed by a processor, the program data is used to implement the method provided by any of the above solutions.
  • the safety early warning system includes an image processing device, a vehicle-mounted device and a mobile terminal; wherein, the image processing device such as the above-mentioned image processing device, the vehicle-mounted device such as The above-mentioned vehicle-mounted device and mobile terminal are the same as the above-mentioned mobile terminal.
  • the beneficial effects of the present application are: different from the situation in the prior art, in the vehicle driving safety warning method of the present application, the image data collected in the blind spot of the vehicle is obtained by the image processing device; the first speed of the moving object in the image data is obtained; If the first speed of the moving object in the image data is greater than the current speed of the vehicle, the current image data collected in the blind spot of the vehicle is sent to the vehicle or a terminal device associated with the vehicle for safety warning.
  • FIG. 1 is a schematic flowchart of a first embodiment of a safety warning method for vehicle driving provided by the present application
  • Fig. 2 is the detailed schematic flow chart of step 12 in Fig. 1 provided by this application;
  • FIG. 3 is a schematic flowchart of a second embodiment of a safety warning method for vehicle driving provided by the present application
  • Fig. 4 is the specific flow chart of step 32 in Fig. 3 provided by this application;
  • Fig. 5 is the specific flow chart of step 322 in Fig. 4 provided by this application;
  • FIG. 6 is a schematic flowchart of a third embodiment of a safety warning method for vehicle driving provided by the present application.
  • FIG. 7 is a schematic flowchart of a fourth embodiment of a vehicle driving safety warning method provided by the present application.
  • FIG. 8 is a schematic flowchart of a fifth embodiment of a vehicle driving safety warning method provided by the present application.
  • FIG. 9 is a schematic display diagram of the display device provided by the present application.
  • FIG. 10 is another schematic display diagram of the display device provided by the present application.
  • FIG. 11 is a schematic flowchart of the sixth embodiment of the safety warning method for vehicle driving provided by the present application.
  • FIG. 12 is a schematic diagram of a first comparison of lane lines provided by the present application.
  • FIG. 13 is a second comparison schematic diagram of lane lines provided by the present application.
  • FIG. 14 is a schematic diagram of an application scenario of the vehicle driving safety warning method provided by the present application
  • FIG. 15 is a schematic flowchart of the seventh embodiment of the vehicle driving safety warning method provided by the present application.
  • 16 is a schematic flowchart of the eighth embodiment of the safety warning method for vehicle driving provided by the present application.
  • 17 is a schematic diagram of a first display interface of a mobile terminal in the safety warning method for vehicle driving provided by the present application;
  • 18 is a schematic diagram of the second display interface of the mobile terminal in the safety warning method for vehicle driving provided by the present application;
  • 19 is a schematic diagram of a third display interface of a mobile terminal in the safety warning method for vehicle driving provided by the present application.
  • FIG. 20 is a schematic structural diagram of an embodiment of an image processing apparatus provided by the present application.
  • 21 is a schematic structural diagram of an embodiment of a vehicle-mounted device provided by the present application.
  • 22 is a schematic structural diagram of an embodiment of a mobile terminal provided by the present application.
  • FIG. 23 is a schematic structural diagram of an embodiment of a readable storage medium provided by the present application.
  • FIG. 24 is a schematic structural diagram of an embodiment of a safety warning system for vehicle driving provided by the present application.
  • FIG. 1 is a schematic flowchart of a first embodiment of a safety warning method for vehicle driving provided by the present application. This embodiment is applied to an image processing apparatus, which is installed in a vehicle. The method includes:
  • Step 11 Acquire image data collected in the blind spot of the vehicle.
  • the vehicle driven by the driver includes a first blind spot, a second blind spot, and a third blind spot.
  • the first blind spot is located behind the vehicle.
  • the second blind spot and the third blind spot are respectively located on the left and right sides of the vehicle and along the rear area of the vehicle.
  • the image processing device includes an image acquisition device.
  • the image data is collected by the image acquisition device and transmitted to the image processing device.
  • a first image acquisition device is installed at the rear of the vehicle, such as near the rear license plate, to collect image data of the first blind spot
  • a second image acquisition device is installed on the left side of the vehicle, such as installed in the left rear view
  • a mirror is used to collect image data of the second blind spot
  • a third image capture device is installed on the right side of the vehicle, such as a right rearview mirror, to collect image data of the third blind spot.
  • Step 12 Acquire the first speed of the moving object in the image data.
  • image data is characterized to identify different classified objects in the image data.
  • the image data may include plants on the side of the road, street lights, pedestrians, and other vehicles on the road. Relatively speaking, vehicles and pedestrians can be identified as moving objects.
  • the moving object if the image data is from the first blind spot, the moving object is located behind the vehicle, and if the image data is from the second blind spot, the moving object is on the left side of the vehicle Rear, if the image data is from the third blind spot, the moving object is located behind the right side of the vehicle.
  • the first blind zone is taken as an example to illustrate:
  • Step 121 Obtain the first distance between the first moving object and the vehicle at the previous moment in the first image data, and obtain the second distance between the first moving object and the vehicle at the current moment.
  • step 121 the first image data collected in the first blind area needs to be acquired.
  • the first image data includes multiple image frames, and it is detected whether the first moving object exists in the multiple image frames, and if there is, it is confirmed that the image frame is a valid image frame. Therefore, multiple valid image frames will be obtained, the second distance to the vehicle when the valid image frame of the first moving object at the current moment is obtained, and the valid image frame of the first moving object at the previous moment of the valid image frame at the current moment The first distance from the vehicle.
  • Step 122 Calculate the first speed of the first moving object according to the first distance and the second distance.
  • the first speed of the first moving object can be calculated according to the first distance and the second distance, and then obtaining the current speed of the vehicle and the time difference between the above-mentioned two valid image frames.
  • the current speed of the vehicle is V 1
  • the first distance is L 1
  • the second distance is L 2
  • the time difference between the two valid image frames of the first distance and the second distance is t
  • the first speed of the moving object in the image data collected in the first blind spot and/or the second blind spot and/or the third blind spot can be acquired according to the above process.
  • Step 13 If the first speed of the moving object in the image data is greater than the current speed of the vehicle, send the current image data collected in the blind spot of the vehicle to the vehicle or a terminal device associated with the vehicle for safety warning.
  • the terminal device may be a vehicle-mounted device or a mobile terminal.
  • the moving object may overtake the vehicle, and a vehicle collision is likely to occur, and the safety of the vehicle is low. Therefore, the current image data collected in the blind spot of the vehicle is sent to the vehicle or a terminal device associated with the vehicle for safety warning.
  • the terminal device belongs to a vehicle-mounted device, and is connected to the vehicle through the built-in wireless or Bluetooth of the vehicle or the CAN bus of the vehicle.
  • the terminal device also includes a voice reminder function, which can perform a voice reminder when receiving the current image data collected in the blind spot of the vehicle, so as to play the role of safety warning.
  • the reminder content is "Please note that there are dangerous moving objects in the XX blind zone, please avoid them”.
  • the vehicle-mounted device includes a display screen, when receiving the current image data collected in the blind spot of the vehicle, the current image data is displayed on the display screen, and the driver can watch the displayed image data on the display screen when hearing the voice reminder.
  • Current image data real-time viewing of the relative position of the vehicle and moving objects, and timely countermeasures.
  • the terminal device belongs to a mobile terminal, and is connected to the vehicle through the built-in wireless or Bluetooth of the vehicle.
  • the reminder content is "please note that there are dangerous moving objects in the blind zone of XX, please avoid them", and the current image data is played on the display screen.
  • the driver hears the voice reminder, he can watch the current image data played on the display screen, check the relative position of the vehicle and the moving object in real time, and take timely countermeasures.
  • a voice reminder can be displayed and played on the display screen of the vehicle-mounted device and the display screen of the mobile terminal at the same time.
  • the image data collected in the blind spot of the vehicle is obtained; the first speed of the moving object in the image data is obtained; if the first speed of the moving object in the image data is greater than the current speed of the vehicle, the current image collected in the blind spot of the vehicle is
  • the data is sent to the vehicle or terminal equipment associated with the vehicle for safety warning.
  • FIG. 3 is a schematic flowchart of the second embodiment of the safety warning method for vehicle driving provided by the present application. This embodiment is applied to an image processing apparatus, which is installed in a vehicle. The method includes:
  • Step 31 Acquire the first image data collected in the first blind area.
  • Step 32 Detect whether there is a first moving object in the first image data.
  • step 32 may be the following steps:
  • Step 321 Acquire a plurality of consecutive image frames in the first image data.
  • the first image data is a video of a preset time length, so the first image data includes a plurality of consecutive image frames.
  • multiple consecutive image frames in the first image data are color images, and it is more convenient for subsequent operations to convert the color images into black and white images.
  • Step 322 Determine whether there is a target moving object in the reference area in the multiple consecutive image frames.
  • the reference region is identified by:
  • the image processing device includes an image acquisition device. After the image acquisition device for collecting image data in the first blind area is installed at the rear of the vehicle, debugging is performed based on its installation position to obtain the distribution of the reference area of the image acquisition device when collecting images.
  • the reference area is calculated according to the feature points of the calibration checkered cloth.
  • the feature points can be obtained according to the installation position of the image acquisition device (such as the distance between the image acquisition device and the right body), the distance between the calibration checkered cloth and the right side of the body, and the height of the body. There is body width to determine.
  • the calibration cloth is also generated using standard 4*3 black and white squares. The size of each black block and white block is 20CM*20CM, and the side uses a long strip of calibration cloth.
  • the acquisition angle of the image acquisition device is fixed, so the size of each image frame is the same, so the reference area can be set as a common feature of each image frame.
  • step 322 may be the following steps:
  • Step 3221 Determine a current image frame in the multiple consecutive image frames, and determine a plurality of first target areas in the current image frame.
  • step 3221 is to select an image from the multiple image frames as the current image frame, so as to execute subsequent steps.
  • the first target area is an area composed of pixels of any size area in the current image frame.
  • Step 3222 Obtain the overlapping area of the first target area and the reference area as the first effective area.
  • the overlapping area is used as the first effective area. It can be understood that there may be moving objects in the first target area located in the reference area.
  • Step 3223 Acquire the first number of pixels in the first effective area whose grayscale values are greater than the preset grayscale value, and acquire the second number of pixels in the effective area.
  • the color of the moving object and the road is almost never the same. If there is no moving object in the reference area, the reference area is mostly roads. Therefore, the gray value of the pixel point of the road in the reference area can be used as the preset gray value.
  • a preset gray value may also be set based on the gray value of the pixel point of the road.
  • Step 3224 If the first ratio between the first number of pixels and the second number of pixels is greater than the first reference threshold, determine that there is a target moving object in the reference area.
  • the first reference threshold may be sixty percent, seventy percent, eighty percent, ninety percent, and the like. The larger the first reference threshold, the smaller the distance between the target moving object and the vehicle when the first ratio is greater than the first reference threshold.
  • the first ratio between the first number of pixels and the second number of pixels is greater than the first reference threshold, it can be determined that there is an object on the road corresponding to the reference area. Therefore, it is determined that the target moving object exists in the reference area.
  • the first ratio between the number of first pixels and the number of second pixels is greater than the first reference threshold, obtain the first position information of the first target area in the current image frame; obtain the next image frame The second position information of the first target area in the There is a target moving object in the area. It can be understood that on some roads, the first vehicle and the second vehicle move towards each other, and when the first vehicle and the second vehicle encounter each other and then move in opposite directions, there will be a gap between the number of first pixels and the number of second pixels.
  • the first ratio of the number of pixels is greater than the first reference threshold, and there is no corresponding driving safety problem at this time, therefore, when the first ratio between the number of first pixels and the number of second pixels is greater than the first reference threshold, further Obtain first position information of the target area in the current image frame and obtain second position information of the target area in the next image frame; determine the first direction of the first target area relative to the vehicle based on the first position information and the second position information , if the first direction is the same as the second direction of the vehicle, it is determined that the target moving object and the vehicle are moving in the same direction, and it is determined that there is a target moving object in the reference area.
  • a plurality of second target areas are determined in the current image frame; wherein, the second target areas are those representing unnatural edges in the current image frame an area composed of pixels; obtaining the overlapping area of multiple second target areas and the reference area as the second effective area; obtaining the third number of pixels occupied by the second effective area in the multiple second target areas, and Obtain the number of fourth pixels in the plurality of second target areas; if the second ratio between the number of third pixels and the number of fourth pixels is greater than the second reference threshold, it is determined that there is a target moving object in the reference area.
  • moving objects will have edges on the road, and edge detection technology can be used to obtain pixels belonging to unnatural edges, or to obtain pixels with smooth sharpness to form the second target area. If the moving object is a car, there will be tire edges, bumper edges, and chassis edges. Through edge detection, the existence of target moving objects in the reference area can be more accurately confirmed.
  • step 3224 further includes determining the next image frame in the plurality of consecutive image frames if the first ratio between the first number of pixels and the second number of pixels is greater than the first reference threshold, and performing the following steps in the next step.
  • a plurality of first target regions are determined in an image frame, and step 3222 is performed again. In this way, multiple image frames can be processed to improve the recognition accuracy.
  • step 323 it is determined that the target moving object exists in the reference area in the multiple consecutive image frames, and then step 323 is performed.
  • Step 323 Confirm that the first moving object exists in the first image data.
  • step 32 may be applied as follows:
  • the blind spot of the vehicle includes a first blind spot, a second blind spot and a third blind spot; wherein the second blind spot and the third blind spot are located on the left and right sides of the vehicle, respectively.
  • the above-mentioned reference area includes a first reference area, a second reference area and a third reference area; wherein the first reference area is located directly behind the vehicle, and the second reference area and the third reference area are located on both sides of the first reference area, respectively.
  • first reference area there are a first reference area, a second reference area and a third reference area corresponding to the first blind area, the second blind area and the third blind area.
  • judging whether the target moving object exists in the reference area in the multiple consecutive image frames may be judging whether the first reference area in the multiple consecutive image frames exists the first reference area.
  • a target moving object if yes, confirm that the first moving object exists in the first image data. It can be understood that this method is suitable for the phenomenon that the first target moving object exists in the first reference area.
  • judging whether the target moving object exists in the reference area in the multiple consecutive image frames may be judging whether the second reference area in the multiple consecutive image frames exists the first Two target moving objects; if yes, confirm that the first moving object exists in the first image data, and acquire the second image data of the second blind area. It can be understood that this method is suitable for the phenomenon that the first target moving object exists in the second reference area.
  • judging whether the target moving object exists in the reference area in the multiple consecutive image frames may be judging whether the third reference area in the multiple consecutive image frames exists in the third reference area.
  • judging whether the target moving object exists in the reference area in the multiple consecutive image frames may be judging whether the first reference area in the multiple consecutive image frames exists the first reference area.
  • a target moving object if yes, then confirming that the first moving object exists in the first image data; and judging whether there is a second target moving object in the second reference area in a plurality of consecutive image frames; if so, confirming the first image data There is a first moving object in, and obtain the second image data of the second blind area; And judge whether there is a third target moving object in the third reference area in a plurality of consecutive image frames; if so, confirm that there is in the first image data the first moving object, and acquire the third image data of the third blind spot. It can be understood that this method is applicable to the phenomenon that the first target moving object exists in the first reference area, the second reference area and the third reference area.
  • the first reference region includes a first reference subregion, a second reference subregion and a third reference subregion, and the first reference subregion, the second reference subregion and the third reference subregion correspond in sequence The area behind the vehicle.
  • the first prompt tone and the current image data collected in the first blind area are sent to the vehicle or a terminal device associated with the vehicle for safety warning; if there is a first target moving object in the second reference sub-area, the second prompt will be sent to the vehicle.
  • the sound and the current image data collected in the first blind area are sent to the vehicle or the terminal equipment associated with the vehicle for safety warning; if there is a first target moving object in the first reference sub-area, the third prompt sound and the The current image data collected in the first blind spot is sent to the vehicle or a terminal device associated with the vehicle for safety warning.
  • the early warning level of the third prompt tone is higher than that of the second prompt tone, and the early warning level of the second prompt tone is higher than the early warning level of the first prompt tone.
  • the image acquisition device can collect image data within 22 meters behind the vehicle, then divide the area 22 meters behind the vehicle into a first reference sub-area, a second reference sub-area and a third reference sub-area, the first reference sub-area.
  • the area corresponds to the area within 7 meters behind the vehicle
  • the second reference sub-area corresponds to the area within 7-14 meters behind the vehicle
  • the third reference sub-region corresponds to the area within 14-22 meters behind the vehicle.
  • the second prompt tone and the current image data collected in the first blind spot are sent to the vehicle or the terminal device associated with the vehicle, for safety warning. If the user does not respond in time and the moving object is too fast and enters the first reference sub-area, the third prompt tone and the current image data collected in the first blind spot are sent to the vehicle or a terminal device associated with the vehicle.
  • the early warning level of the third prompt tone is higher than that of the second prompt tone, and the early warning level of the second prompt tone is higher than that of the first prompt tone.
  • the vehicle can be controlled to turn or accelerate by itself to avoid the moving object and avoid traffic accidents.
  • judging whether the target moving object exists in the reference area in the multiple consecutive image frames may be judging whether the first reference area in the multiple consecutive image frames exists the first reference area.
  • a target moving object if yes, then confirming that the first moving object exists in the first image data; and judging whether there is a second target moving object in the second reference area in a plurality of consecutive image frames; if so, confirming the first image data
  • There is a first moving object in the , and second image data of the second blind area is acquired. It can be understood that this method is suitable for the phenomenon that the first target moving object exists in both the first reference area and the second reference area.
  • judging whether the target moving object exists in the reference area in the multiple consecutive image frames may be judging whether the first reference area in the multiple consecutive image frames exists the first reference area.
  • a target moving object if yes, then confirming the existence of the first moving object in the first image data; and judging whether there is a third target moving object in the third reference area in the plurality of consecutive image frames; if so, confirming the first image data
  • There is a first moving object in the , and the third image data of the third blind area is acquired. It can be understood that this method is suitable for the phenomenon that the first target moving object exists in both the first reference area and the third reference area.
  • judging whether the target moving object exists in the reference area in the multiple consecutive image frames may be judging whether the second reference area in the multiple consecutive image frames exists the first Two target moving objects; if so, confirm that the first moving object exists in the first image data, and obtain the second image data of the second blind area; and determine whether there is a third target in the third reference area in the multiple consecutive image frames A moving object; if yes, confirm that the first moving object exists in the first image data, and acquire the third image data of the third blind area. It can be understood that this method is suitable for the phenomenon that the first target moving object exists in both the second reference area and the third reference area.
  • step 33 is performed.
  • Step 33 Acquire the first distance between the first moving object in the first image data and the vehicle at the previous moment, and obtain the second distance between the first moving object and the vehicle at the current moment.
  • Step 34 Calculate the first speed of the first moving object according to the first distance and the second distance.
  • Step 35 If the first speed of the moving object in the image data is greater than the current speed of the vehicle, send the current image data collected in the blind spot of the vehicle to the vehicle or a terminal device associated with the vehicle for safety warning.
  • steps 33-35 are the same as or similar to those of the above-mentioned embodiment, and are not repeated here.
  • the accuracy of judging the moving object in the blind spot image is improved. Moreover, it solves the problem that accurate reminders and multi-side coordination cannot be performed in the existing blind spot early warning solutions, and can also improve the driving safety of the vehicle and enhance the driver's experience.
  • FIG. 6 is a schematic flowchart of the third embodiment of the safety warning method for vehicle driving provided by the present application. The method includes:
  • Step 61 When the first steering data of the vehicle is acquired and the first steering data corresponds to the second blind spot, acquire the second speed of the second moving object in the second image data.
  • step 61 it can be understood that before step 61, it can be confirmed that there is a first moving object in the first image data collected from the first blind area, and the first moving object is located in the second reference area. Therefore, during driving, The first moving object may travel to the image capturing area of the second blind spot, so the second image data captured in the second blind spot should be acquired.
  • the first steering data of the vehicle is acquired and the first steering data corresponds to the second blind spot, it is determined whether there is a second moving object in the second image data, and if so, the second speed of the second moving object is acquired.
  • the first steering data may be a steering signal, such as a steering signal manually operated by a vehicle driver, or may be a steering angle of a steering wheel.
  • Step 62 If the second speed of the second moving object in the second image data is greater than the current speed of the vehicle, send the current image data collected in the second blind spot to the vehicle or a terminal device associated with the vehicle.
  • the vehicle or a terminal device associated with the vehicle displays the received current image data collected in the second blind spot in the current image data collected in the second blind spot, and performs screen recording. Further, the ambient sound is collected while the screen is recorded, and the recorded data and the collected ambient sound are uploaded to the server. It can be understood that if the second speed of the second moving object in the second image data is greater than the current speed of the vehicle, the second moving object may overtake the vehicle, and the steering operation is performed at this time, which is less safe. Then, the current image data collected in the second blind area is sent to the display device.
  • the second speed of the second moving object in the second image data is greater than the current speed of the vehicle, it is confirmed whether the distance between the second moving object and the vehicle is less than the preset distance, and if The current image data collected in the blind spot is sent to the vehicle or a terminal device associated with the vehicle, so that the vehicle or the terminal device associated with the vehicle displays the current image data collected in the second blind spot and performs screen recording.
  • the second moving object in the second image data is greater than the current speed of the vehicle, then the second moving object may overtake the vehicle, and if the distance between the vehicle and the moving object is less than the preset distance, If the steering operation is performed at this time, there is a high probability of a traffic accident, which increases the safety risk of the vehicle and the occupants in the vehicle. At this time, a safety warning can be carried out to avoid the driver from steering, and the current image data collected in the second blind spot is sent to the display device, so that the driver can respond in time and keep the vehicle at a safe distance from moving objects.
  • Step 63 If the second speed of the second moving object in the second image data is not greater than the current speed of the vehicle, send the current image data collected in the second blind spot and the third blind spot to the vehicle or a terminal associated with the vehicle equipment.
  • the vehicle or a terminal device associated with the vehicle displays the current image data collected in the second blind spot and the third blind spot in two divisions on the display screen, and records the current image data displayed in two divisions respectively. Further, the ambient sound is collected while the screen is recorded, and the recorded data and the collected ambient sound are uploaded to the server.
  • the current image data collected in the first blind spot, the second blind spot and the third blind spot are sent to the vehicle Or the terminal device associated with the vehicle, so that the vehicle or the terminal device associated with the vehicle can display the current image data collected in the first blind spot, the second blind spot and the third blind spot on the display screen in three divisions, and record the three divisions respectively. Displays the current image data. Further, the ambient sound is collected while the screen is recorded, and the recorded data and the collected ambient sound are uploaded to the server.
  • the continuous time of the first steering data is acquired, and if the continuous time of the first steering data is greater than the preset time, Then, the current image data collected in the second blind area and the first preset parameters are sent to the display device, so that the display device is configured according to the first preset parameters.
  • the display device is configured according to the first preset parameter.
  • the first preset parameters include voice broadcasting, recording current image data, zooming and playing the current image data on a display device, and uploading the recorded image data.
  • the display device responds to the first preset parameter, displays the current image data in a corresponding proportion, and records it, and uploads the recorded data to the server.
  • the display device can set the display device correspondingly through the preset parameters sent by the image processing device, so as to realize the self-adaptive configuration of the display device without manual adjustment.
  • the continuous time of the first steering data is acquired, if the continuous time of the first steering data is not greater than the preset time , the first difference between the second speed and the current speed is calculated, and if the first difference is greater than the preset difference, the current image data collected in the second blind area and the second preset parameters are sent to the display device to
  • the display device is configured according to the second preset parameter; wherein, the first preset parameter is the same as the second preset parameter.
  • the current image data collected in the second blind area and the third preset parameter are sent to the display device, so that the display device is configured according to the third preset parameter.
  • the third preset parameter includes recording the current image data, zooming and playing the current image data on the display device, and uploading the recorded image data. Taking the third preset data as recording the current image data, enlarging and playing the current image data on the display device, and uploading the recorded image data as an example to illustrate: when the display device receives the third preset parameter and the current image data, In response to the third preset parameter, the current image data is enlarged and displayed in a corresponding proportion, and is recorded, and the recorded data is uploaded to the server.
  • the display device can perform corresponding settings on the display device through the preset parameters sent by the image processing device, so as to realize the adaptive configuration of the display device without manual adjustment.
  • FIG. 7 is a schematic flowchart of the fourth embodiment of the safety warning method for vehicle driving provided by the present application. The method includes:
  • Step 71 When the second steering data of the vehicle is acquired and the second steering data corresponds to the third blind spot, acquire the third speed of the third moving object in the third image data.
  • step 71 it can be understood that before step 71, it can be confirmed that there is a first moving object in the first image data collected from the first blind spot, and the first moving object is located in the third reference area. Therefore, during driving, The first moving object may travel to the image capturing area of the third blind spot, so the third image data captured in the third blind spot needs to be acquired.
  • the first steering data of the vehicle is acquired and the first steering data corresponds to the third blind spot, it is determined whether there is a third moving object in the third image data, and if so, the third speed of the third moving object is acquired.
  • Step 72 If the third speed of the third moving object in the third image data is greater than the current speed of the vehicle, send the current image data collected in the third blind spot to the vehicle or a terminal device associated with the vehicle.
  • the third moving object in the third image data is greater than the current speed of the vehicle, the third moving object may overtake the vehicle, and the steering operation is performed at this time, and the safety is low. Then, the current image data collected in the third blind area is sent to the display device.
  • the third speed of the third moving object in the third image data is greater than the current speed of the vehicle, it is confirmed whether the distance between the third moving object and the vehicle is less than the preset distance, and if The current image data collected in the blind spot is sent to the vehicle or a terminal device associated with the vehicle, so that the vehicle or the terminal device associated with the vehicle displays the current image data collected in the third blind spot and performs screen recording.
  • the third moving object in the third image data is greater than the current speed of the vehicle, then the third moving object may overtake the vehicle, and if the distance between the vehicle and the moving object is less than the preset distance, If the steering operation is performed at this time, there is a high probability of a traffic accident, which increases the safety risk of the vehicle and the occupants in the vehicle. At this time, a safety warning can be carried out to avoid the driver's steering operation, and the current image data collected in the third blind spot can be sent to the display device, so that the driver can respond in time and keep the vehicle at a safe distance from moving objects.
  • the blind spot of the vehicle includes a first blind spot, a second blind spot and a third blind spot; wherein the first blind spot is located on the rear side of the vehicle, and the second blind spot and the third blind spot are located on the left and right sides of the vehicle respectively; the image processing device is acquiring When the door opening signal of the vehicle arrives, confirm whether there is a fourth moving object in the second or third blind area corresponding to the door. If so, send the fourth prompt tone and the current image data collected in the corresponding second or third blind area. Give the vehicle or the terminal equipment associated with the vehicle, so that the vehicle or terminal equipment can display the current image data on the corresponding display screen and control the speaker of the vehicle or terminal equipment to play the fourth prompt tone, so as to warn the personnel in the vehicle .
  • an early warning reminder is given when the door is opened, so as to improve the safety of the vehicle, the occupants in the vehicle and the moving objects, and reduce the occurrence of traffic accidents.
  • the image processing device when the current gear of the vehicle is the preset gear, the image processing device confirms whether there is a fifth moving object in the second blind spot and/or the third blind spot, and if so, sends the fifth prompt tone to the corresponding
  • the current image data collected in the second blind spot and/or the third blind spot is sent to the vehicle or the terminal device associated with the vehicle, so that the vehicle or the terminal device can display the current image data on the corresponding display screen and control the speaker of the vehicle or the terminal device Play the fifth tone to warn people in the vehicle.
  • the preset gear may be P gear, or if the current vehicle is parked on the side of the road, the people in the vehicle may get off the vehicle, and if there is a moving object driving at this time, there will be a potential safety hazard.
  • the moving objects in the corresponding blind spots can be confirmed in real time, the safety of the vehicle, the occupants in the vehicle and the moving objects can be improved, and the occurrence of traffic accidents can be reduced.
  • FIG. 8 is a schematic flowchart of a fifth embodiment of a vehicle driving safety warning method provided by the present application. The method includes:
  • Step 81 Acquire the first image data collected in the first blind area.
  • the blind spot of the vehicle further includes a first blind spot, and the first blind spot is disposed on the rear side of the vehicle.
  • Step 82 Acquire the first speed of the first moving object in the first image data.
  • Step 83 If the first speed of the first moving object in the first image data is greater than the current speed of the vehicle, send the current image data collected in the first blind spot to the display device.
  • the current steering data of the vehicle is acquired; if the current steering data of the vehicle is not acquired, the The current image data collected in the blind area is sent to the display device.
  • the current steering data of the vehicle is not obtained, it can be confirmed that the vehicle is driving in a straight line, and there is no possibility of steering, then the current image data collected in the first blind spot is sent to the display device to remind the vehicle driver to confirm Whether it is necessary to steer to avoid the third moving object to improve driving safety.
  • the image processing device acquires the image data of the first blind spot, the second blind spot and the third blind spot in real time, and sends it to the display device.
  • the display device according to the method shown in Figure 10, The display screen of the display device is divided into three display areas, and the image data of the first blind area, the second blind area and the third blind area are displayed.
  • the image processing device acquires the first steering data of the vehicle, if the first steering data corresponds to the second blind spot, the second image data collected in the second blind spot is acquired; the second image data of the second moving object in the second image data is acquired; speed; if the second speed of the second moving object in the second image data is greater than the current speed of the vehicle, the current image data collected in the second blind spot is sent to the display device, and the display device receives the current image of the second blind spot
  • the display mode of FIG. 10 is switched, and only the current image data of the second blind area received this time is displayed, and a voice reminder is given.
  • the image processing device will still acquire the real-time speed data of the second moving object in the current image data of the second blind spot.
  • the display device exits the current display mode and switches to the display mode shown in FIG. 10 .
  • the first turning data corresponds to the third blind spot
  • obtain the third image data collected in the third blind spot obtain the third speed of the third moving object in the third image data
  • obtain the third speed of the third moving object in the third image data if the third moving object in the third image data If the third speed is greater than the current speed of the vehicle, the current image data collected in the third blind spot will be sent to the display device, and when the display device receives the current image data of the third blind spot, it will switch to Display the current image data of the third blind spot received this time, and give a voice reminder.
  • the image processing device will still acquire the real-time speed data of the third moving object in the current image data of the third blind spot.
  • the display device exits the current display mode and switches to the display mode shown in FIG. 10 . If the first moving object is detected in the first image data of the first blind spot, and the first speed of the first moving object is greater than the current speed of the vehicle, the second steering data of the vehicle is obtained; if the second steering data of the vehicle is not obtained Turning to the data, the current image data collected in the first blind area is sent to the display device.
  • the display device When the display device receives the current image data of the first blind spot, it switches the display mode shown in Figure 10, only displays the current image data of the first blind spot received this time, and gives a prompt tone or voice reminder to remind the car There is a faster object behind the person.
  • screen recording of the display device is performed at the same time as the prompt tone or voice reminder is performed, and the recorded image data is uploaded to the server or sent to the mobile terminal.
  • the fourth speed of the first moving object in the second blind spot or the third blind spot is acquired; if the second blind spot or the third blind spot The fourth speed of the first moving object in the three blind spots is greater than the current speed of the vehicle, then the current image data collected in the second blind spot or the third blind spot is sent to the display device, so that the display device displays the received current image in the above manner , and record the current image.
  • the display device sends an instruction to switch the display device from the display mode of FIG. 10 to the display mode of FIG. 9 .
  • FIG. 11 is a schematic flowchart of the sixth embodiment of the safety warning method for vehicle driving provided by the present application. The method includes:
  • Step 111 Obtain fourth image data collected by the front camera of the vehicle.
  • this embodiment is applicable to when the vehicle is turning, the image processing device cannot obtain the turning data from the CAN line, or is used to further confirm whether the turning data is confirmed when the image processing device obtains the turning data.
  • Step 112 Obtain the first angle between the lane line and the vehicle in the fourth image data.
  • step 112 may be to identify the first lane line at the current moment and the second lane line at the previous moment in the fourth image; calculate the included angle formed between the first lane line and the second lane line , and take the angle of the included angle as the first angle.
  • the first lane lines at the current moment are B1 and B2; the second lane lines at the previous moment are A1 and A2, and the angle of the included angle formed between B1 and A1 is ⁇ .
  • the first lane lines at the current moment are B1 and B2; the second lane lines at the previous moment are A1 and A2, and the angle of the included angle formed between B1 and A1 is ⁇ .
  • Step 113 If the first angle is greater than the first preset angle, confirm that the first steering data corresponds to the second blind area.
  • the first angle is 10 degrees and the first preset angle is 5 degrees, if the first angle is greater than the first preset angle, it is confirmed that the first steering data corresponds to the second blind area.
  • Step 114 If the first angle is smaller than the second preset angle, confirm that the first steering data corresponds to the third blind area.
  • the first angle is -10 degrees and the second preset angle is -5 degrees, and the first angle is smaller than the second preset angle, it is confirmed that the first steering data corresponds to the third blind spot.
  • the second blind spot is located from the left side to the left rear side of the vehicle
  • the third blind spot is located from the right side to the right rear side of the vehicle.
  • the vehicle C in FIG. 14 uses the method in the above-mentioned embodiments.
  • the vehicle C is driving on a road with three lanes, wherein the three lanes are lane 1, lane 2, and lane 3 respectively.
  • vehicle C is in lane 2.
  • vehicle D in lane 1
  • vehicle F in lane 2 behind vehicle C
  • vehicle E in lane 3.
  • the visible area of the left rearview mirror of vehicle C is the ⁇ 1 area
  • the visible area of the right rearview mirror is the ⁇ 2 area
  • the visible area of the second blind spot is the ⁇ 1 area
  • the visible area of the third blind spot is the ⁇ 2 area.
  • the visible area of the first blind spot is the ⁇ 1 area.
  • the areas of the second blind spot and the third blind spot can collect all areas on the left and right sides of the vehicle, that is, a 180-degree range and a maximum distance of 22 meters.
  • the area of the first blind spot can capture a 110-degree wide-angle area within 22 meters behind the vehicle.
  • the second blind spot, the third blind spot and the first blind spot simultaneously collect image data of the corresponding areas and send them to the display device. If vehicle D appears in the visible area of the second blind spot of lane C at this time, vehicle D is identified to determine whether the speed of vehicle D is greater than the current speed of vehicle C, and if so, a reminder is given.
  • the display device is switched to display the image data of the second blind spot separately, and reminds and images The data is saved and uploaded to the server. If the vehicle E appears in the visible area of the third blind spot of the lane C at this time, the vehicle E is identified to determine whether the speed of the vehicle E is greater than the current speed of the vehicle C, and if so, a reminder is given.
  • the display device is switched to display the image data of the third blind spot separately, and reminds and images The data is saved and uploaded to the server. If the vehicle F appears in the visible area of the first blind spot of the lane C at this time, the vehicle F is identified to determine whether the speed of the vehicle F is greater than the current speed of the vehicle C, and if so, the display device is switched to display the first The image data of a blind area, and remind and save the image data, and upload it to the server.
  • the image acquisition in the second blind spot can be stopped at this time; if the vehicle C turns to drive in lane 3, the image acquisition in the third blind spot can be stopped at this time.
  • the display device can only display the image data of the remaining two blind areas.
  • the image acquisition device in the first blind area includes three cameras, and the data collected by the three cameras is synthesized and sent to a display device for display.
  • FIG. 15 is a schematic flowchart of the seventh embodiment of the safety warning method for vehicle driving provided by the present application. The method includes:
  • Step 151 The vehicle-mounted device receives the current image data collected in the blind spot of the vehicle and sent by the image processing device.
  • the vehicle blind spot includes a first blind spot, a second blind spot and a third blind spot.
  • the current image data collected in the blind spot of the vehicle is sent by the image processing device when it acquires the image data collected in the blind spot of the vehicle and confirms that the first speed of the moving object in the image data is greater than the current speed of the vehicle.
  • the image processing device responds to the steering data in any of the above embodiments, and when the speed of the moving object in the blind spot is greater than the current speed of the vehicle, obtains current image data corresponding to the blind spot and sends it to the vehicle-mounted device.
  • the in-vehicle device and the image processing device are connected through bluetooth or wireless or vehicle can bus.
  • Step 152 If the current image data collected in the blind spot of the vehicle is the current image data collected in the first blind spot, display it on the display screen of the vehicle-mounted device.
  • the vehicle-mounted device displays image data corresponding to multiple blind spots according to a preset configuration, and when receiving the current image data collected in the second blind spot, the display screen is switched, and the image data is played separately in the second blind spot. The current image data collected in the blind area will be reminded.
  • Step 153 If the current image data collected in the blind spot of the vehicle is the current image data collected in the first blind spot and the second blind spot, then simultaneously display the current image data collected in the first blind spot and the second blind spot on the display screen of the vehicle-mounted device .
  • step 153 it is confirmed that there are no dangerous moving objects in the current multiple blind spots.
  • the current image data collected in the blind spot of the vehicle is the current image data collected in the second blind spot, it is displayed on the display screen of the vehicle-mounted device.
  • the display screen is switched, the current image data collected in the second blind area is displayed separately, and a reminder, such as a voice reminder, is performed.
  • the current image data collected in the blind spot of the vehicle is the current image data collected in the third blind spot
  • it is displayed on the display screen of the vehicle-mounted device.
  • the display screen is switched, the current image data collected in the third blind area is played alone, and a reminder is given.
  • the display screen of the vehicle-mounted device will simultaneously display the image data in the first blind spot, the second blind spot, and the third blind spot. The current image data collected in the second blind spot and the third blind spot.
  • the in-vehicle device is also connected to the vehicle, and can obtain a corresponding signal from the CAN bus of the vehicle. If a door opening signal is obtained, it can be confirmed that the door of the vehicle is detected to be opened. Then, the opening signal is sent to the image processing device, so that the image processing device can confirm whether there is a sixth moving object in the second blind spot or the third blind spot corresponding to the door. The current image data collected in the third blind spot is sent to the vehicle-mounted device. After receiving the sixth prompt tone and the current image data collected by the corresponding second blind area or the third blind area, display the current image data on the display screen of the vehicle-mounted device and control the speaker of the vehicle or vehicle-mounted device to play the sixth tone. To warn people in the vehicle.
  • a first command is sent to the image processing device, and the image processing device determines whether there is a moving object in the second blind spot at the current moment according to the first command, and if so, generates a prompt sound to send the current image to the vehicle-mounted device, so that the vehicle-mounted device switches the display screen on the display screen, plays the current image data separately, and controls the speaker to play the sixth prompt sound, so as to give an early warning to the personnel in the vehicle.
  • a first command is sent to the image processing device, and the image processing device determines whether there is a moving object in the third blind spot at the current moment according to the first command, and if so, generates a prompt sound and sends the current image to the vehicle-mounted device , so that the vehicle-mounted device switches the display mode of the display screen on the display screen, plays the current image data separately, and controls the speaker to play the sixth prompt sound, so as to give an early warning to the personnel in the vehicle.
  • an early warning reminder is given when the door is opened, so as to improve the safety of the vehicle, the occupants in the vehicle and the moving objects, and reduce the occurrence of traffic accidents.
  • the seventh prompt tone sent by the image processing apparatus and the current image data collected in the second blind spot and/or the third blind area are received, wherein the seventh prompt tone is generated by the image processing apparatus in the current gear of the vehicle When it is the preset gear, it is generated when it is confirmed whether there is a seventh moving object in the second blind spot and/or the third blind spot; the current image data and data collected in the second blind spot and/or the third blind spot are displayed on the display screen of the vehicle-mounted device. Control the speaker of the vehicle or the vehicle-mounted device to play the seventh prompt tone, so as to give an early warning prompt to the personnel in the vehicle.
  • the preset gear may be P gear, or if the current vehicle is parked on the side of the road, the people in the vehicle may get off the vehicle, and if there is a moving object driving at this time, there will be a potential safety hazard.
  • the moving objects in the corresponding blind spots can be confirmed in real time, the safety of the vehicle, the occupants in the vehicle and the moving objects can be improved, and the occurrence of traffic accidents can be reduced.
  • the vehicle-mounted device is connected to the mobile terminal, such as a Bluetooth connection or a wireless connection.
  • the in-vehicle device receives the instructions sent by the mobile terminal, and performs corresponding configuration according to these instructions. For example, to set the reminder sound for the vehicle-mounted device, set the display mode, such as 2-split screen, 3-split screen, and 4-split screen.
  • the 2-split screen is used to display the image data of the two blind spots.
  • the 3-split screen is used to display the image data of the three blind spots.
  • the 4-split screen is used to display 4 image data, in addition to the image data of the three blind spots, it also includes the image data collected by the front camera of the vehicle.
  • the vehicle-mounted device receives the current image data and preset parameters collected in the blind spot of the vehicle sent by the image processing device; if the current image data collected in the blind spot of the vehicle is the current image data collected in the first blind spot, the preset parameters parameter, display the current image data collected in the first blind area on the display screen, record the current image data, and store the recorded current image data to the server.
  • the current image data collected in the blind spot of the vehicle is the current image data collected in the second blind spot or the third blind spot
  • the current image data collected in the second blind spot or the third blind spot will be displayed on the display screen based on preset parameters. , and record the current image data, and store the recorded current image data to the server.
  • the in-vehicle device includes a pickup for collecting ambient sound of the vehicle. Display the current image data collected in the first blind spot on the display screen, record the current image data, collect the current ambient sound of the vehicle through the pickup, and store the recorded current image data and current ambient sound to the server. Realize all-round sound collection, make the image data have ambient sound, and restore the scene during recording to the greatest extent when playing back the image data.
  • the in-vehicle device may include a plurality of pickups, and the ambient sound collection is performed by arranging the plurality of pickups at corresponding positions of the vehicle.
  • the pickup is an omnidirectional pickup, and an omnidirectional sound can be collected through an omnidirectional pickup.
  • the current image data collected in the second blind spot or the third blind spot is displayed on the display screen, the current image data is recorded, and the current ambient sound of the vehicle is collected through the pickup, and the recorded current image data and the current environment.
  • the sound is stored on the server.
  • the vehicle driving safety warning method receives the current image data collected in the blind spot of the vehicle sent by the image processing device through the on-board device, wherein the blind spot of the vehicle includes a first blind spot and a second blind spot. and the third blind spot.
  • the current image data collected in the blind spot of the vehicle is sent by the image processing device when it acquires the image data collected in the blind spot of the vehicle and confirms that the first speed of the moving object in the image data is greater than the current speed of the vehicle; if the current image collected in the blind spot of the vehicle is The data is the current image data collected in the first blind spot, and it will be displayed on the display screen of the vehicle-mounted device; if the current image data collected in the vehicle's blind spot is the current image data collected in the first and second blind spots, it will be displayed in the vehicle-mounted device.
  • the current image data collected in the first blind area and the second blind area are simultaneously displayed on the display screen of the device.
  • the existing blind spot early warning scheme cannot provide accurate reminders and multi-side coordination
  • the active configuration of the blind spot image system of each rearview mirror of the vehicle is realized. It can improve vehicle driving safety and improve user experience.
  • FIG. 16 is a schematic flowchart of the eighth embodiment of the safety warning method for vehicle driving provided by the present application. The method includes:
  • Step 161 The mobile terminal receives the current image data collected in the blind spot of the vehicle and sent by the image processing device.
  • the vehicle blind spot includes a first blind spot, a second blind spot and a third blind spot.
  • the current image data collected in the blind spot of the vehicle is sent by the image processing device when it acquires the image data collected in the blind spot of the vehicle and confirms that the first speed of the moving object in the image data is greater than the current speed of the vehicle.
  • the image processing apparatus responds to the steering data in any of the above embodiments, and when the speed of the moving object in the blind spot is greater than the current speed of the vehicle, obtains current image data corresponding to the blind spot, and sends it to the mobile terminal.
  • the vehicle further includes an on-board device, which is connected to the image processing device.
  • the image processing device obtains the current image data collected in the blind area of the vehicle and sends it to the on-board device and the mobile terminal, so that the display screen on the on-board device and the mobile terminal can be sent to the on-board device and the mobile terminal.
  • the display screen on the mobile terminal simultaneously displays in real time.
  • the mobile terminal and the image processing apparatus are connected through Bluetooth or wireless.
  • Step 162 If the current image data collected in the blind spot of the vehicle is the current image data collected in the first blind spot, display it on the display screen of the mobile terminal.
  • the mobile terminal displays the image data corresponding to multiple blind spots according to the preset configuration, when receiving the current image data collected in the second blind spot, it switches the display screen, and plays the current image data collected in the second blind spot separately , and remind.
  • Step 163 If the current image data collected in the blind spot of the vehicle is the current image data collected in the first blind spot and the second blind spot, then simultaneously display the current image data collected in the first blind spot and the second blind spot on the display screen of the mobile terminal. .
  • step 163 it is confirmed that there are no dangerous moving objects in the current multiple blind spots.
  • the current image data collected in the blind spot of the vehicle is the current image data collected in the second blind spot, it is displayed on the display screen of the mobile terminal.
  • the display screen is switched, the current image data collected in the second blind area is played independently, and a reminder is given.
  • the current image data collected in the blind spot of the vehicle is the current image data collected in the third blind spot, it is displayed on the display screen of the mobile terminal.
  • the display screen is switched, the current image data collected in the third blind spot is played independently, and a reminder is given.
  • the current image data collected in the blind spot of the vehicle is the current image data collected in the first blind spot, the second blind spot and the third blind spot, the first blind spot, the second blind spot and the second blind spot are simultaneously displayed on the display screen of the mobile terminal.
  • Current image data collected in the blind spot and the third blind spot are simultaneously displayed on the display screen of the mobile terminal.
  • the mobile terminal receives the eighth prompt tone sent by the image processing apparatus and the current image data collected in the second blind area and/or the third blind area; and displays it on the display screen of the mobile terminal in the second blind area or the third blind area.
  • the current image data collected in the blind area and the control speaker play the eighth prompt tone to warn the people in the vehicle; the eighth prompt tone is sent by the on-board device to the image when the vehicle's door opening signal is obtained.
  • the processing device or, when the current gear of the vehicle is a preset gear, the image processing device is generated when it confirms that the eighth moving object exists in the current image data collected in the second blind spot or the third blind spot.
  • an early warning reminder is given when the door is opened, so as to improve the safety of the vehicle, the occupants in the vehicle and the moving objects, and reduce the occurrence of traffic accidents.
  • the moving objects in the corresponding blind spots can be confirmed in real time, so as to improve the safety of vehicles, occupants and moving objects, and reduce the occurrence of traffic accidents.
  • the mobile terminal receives the current image data and preset parameters collected in the blind spot of the vehicle sent by the image processing device; if the current image data collected in the blind spot of the vehicle is the current image data collected in the second blind spot, based on the preset Set parameters, display the current image data collected in the first blind area on the display screen of the mobile terminal, record the current image data, and store the recorded current image data to the server.
  • the in-vehicle device can be controlled to pick up the ambient sound and upload it to the server synchronously.
  • the current image data collected in the first blind spot is displayed on the display screen of the mobile terminal, the screen is recorded on the display screen, and the current ambient sound of the vehicle is collected through the pickup of the vehicle-mounted device, and the recorded current image data and The current ambient sound is stored to the server.
  • the first setting parameter in response to the first touch command, is sent to the vehicle-mounted device and/or the image processing device, so that the vehicle-mounted device and/or the image processing device perform setting based on the first setting parameter.
  • the mobile terminal sends the first setting parameters to the vehicle-mounted device and/or the image processing device, so that the vehicle-mounted device and/or the image processing device perform settings based on the first setting parameters.
  • the mobile terminal and the vehicle-mounted device can be connected through a data line.
  • the user sets parameters on the mobile terminal, and the in-vehicle device can respond to the parameters synchronously, thereby completing the corresponding settings.
  • the historical image data in response to the second touch instruction, is acquired from the local storage or the server; the historical data is displayed. 18 and 19.
  • Figure 18 shows the image data recorded in different states, and divides it into local video and cloud video. Click on the local video, and multiple video files as shown in Figure 19 will appear. Users can delete, move, and delete source files after moving these video files.
  • historical image data can be played back and organized in this way, which can provide materials for subsequent system upgrades. The scene during recording can be restored to the greatest extent when playing back the image data.
  • the mobile terminal receives the ninth prompt tone sent by the image processing apparatus and the current image data collected in the second blind spot or the third blind spot, and plays the second blind spot or the third blind spot on the display screen of the mobile terminal
  • the collected current image data and the control speaker play the ninth prompt sound to give an early warning to the personnel in the vehicle; wherein, the ninth prompt sound is detected by the vehicle-mounted device to detect that the door of the vehicle is opened, and the image processing device confirms the current time. Generated when there is a fifth moving object in the second blind zone or the third blind zone. And record and upload the current image data to the server.
  • the vehicle driving safety warning method provided in this embodiment receives the current image data collected in the blind spot of the vehicle sent by the image processing device through the mobile terminal, wherein the blind spot of the vehicle includes the first blind spot and the second blind spot. and the third blind spot.
  • the current image data collected in the blind spot of the vehicle is sent by the image processing device when it acquires the image data collected in the blind spot of the vehicle and confirms that the first speed of the moving object in the image data is greater than the current speed of the vehicle; if the current image collected in the blind spot of the vehicle is If the data is the current image data collected in the first blind spot, it will be displayed on the display screen of the mobile terminal; if the current image data collected in the vehicle blind spot is the current image data collected in the first blind spot and the second blind spot, it will be displayed on the mobile terminal.
  • the current image data collected in the first blind area and the second blind area are simultaneously displayed on the display screen of the terminal.
  • FIG. 20 is a schematic structural diagram of an embodiment of an image processing apparatus provided by the present application.
  • the image processing apparatus 200 includes a processor 201 and a memory 202 connected to the processor 201; wherein, the memory 202 is used for storing program data, and the processor 201 is used for executing the program data to realize the following methods:
  • the image processing device obtains the image data collected in the blind spot of the vehicle; obtains the first speed of the moving object in the image data; if the first speed of the moving object in the image data is greater than the current speed of the vehicle, the current image collected in the blind spot of the vehicle will be The data is sent to the vehicle or terminal equipment associated with the vehicle for safety warning.
  • processor 201 is configured to execute program data, and also configured to implement the method executed by the image processing apparatus in any of the foregoing embodiments.
  • FIG. 21 is a schematic structural diagram of an embodiment of a vehicle-mounted device provided by the present application.
  • the in-vehicle device 210 includes a processor 211 and a memory 212 connected to the processor 211; wherein, the memory 212 is used to store program data, and the processor 211 is used to execute the program data to implement the following methods:
  • the vehicle-mounted device receives the current image data collected in the blind spot of the vehicle sent by the image processing device, wherein the blind spot of the vehicle includes a first blind spot, a second blind spot and a third blind spot.
  • the current image data collected in the blind spot of the vehicle is sent by the image processing device when it acquires the image data collected in the blind spot of the vehicle and confirms that the first speed of the moving object in the image data is greater than the current speed of the vehicle; if the current image collected in the blind spot of the vehicle is The data is the current image data collected in the first blind spot, and it will be displayed on the display screen of the vehicle-mounted device; if the current image data collected in the vehicle's blind spot is the current image data collected in the first and second blind spots, it will be displayed in the vehicle-mounted device.
  • the current image data collected in the first blind area and the second blind area are simultaneously displayed on the display screen of the device.
  • processor 211 is configured to execute program data, and also configured to implement the method executed by the vehicle-mounted device in any of the foregoing embodiments.
  • FIG. 22 is a schematic structural diagram of an embodiment of a mobile terminal provided by the present application.
  • the mobile terminal 220 includes a processor 221 and a memory 222 connected to the processor 221; wherein, the memory 222 is used to store program data, and the processor 221 is used to execute the program data to realize the following methods:
  • the mobile terminal receives the current image data collected in the blind spot of the vehicle sent by the image processing device, wherein the blind spot of the vehicle includes a first blind spot, a second blind spot and a third blind spot.
  • the current image data collected in the blind spot of the vehicle is sent by the image processing device when it acquires the image data collected in the blind spot of the vehicle and confirms that the first speed of the moving object in the image data is greater than the current speed of the vehicle; if the current image collected in the blind spot of the vehicle is If the data is the current image data collected in the first blind spot, it will be displayed on the display screen of the mobile terminal; if the current image data collected in the vehicle blind spot is the current image data collected in the first blind spot and the second blind spot, it will be displayed on the mobile terminal.
  • the current image data collected in the first blind area and the second blind area are simultaneously displayed on the display screen of the terminal.
  • processor 221 is configured to execute program data, and also configured to implement the method executed by the mobile terminal in any of the foregoing embodiments.
  • FIG. 23 is a schematic structural diagram of an embodiment of a readable storage medium provided by the present application.
  • the readable storage medium 230 is used to store program data 231, and when the program data 231 is executed by the processor, is used to implement the following methods:
  • the image processing device obtains the image data collected in the blind spot of the vehicle; obtains the first speed of the moving object in the image data; if the first speed of the moving object in the image data is greater than the current speed of the vehicle, the current image collected in the blind spot of the vehicle will be data sent to the vehicle or terminal equipment associated with the vehicle for safety alerts; or,
  • the vehicle-mounted device receives the current image data collected in the blind spot of the vehicle sent by the image processing device, wherein the blind spot of the vehicle includes a first blind spot, a second blind spot and a third blind spot.
  • the current image data collected in the blind spot of the vehicle is sent by the image processing device when it acquires the image data collected in the blind spot of the vehicle and confirms that the first speed of the moving object in the image data is greater than the current speed of the vehicle; if the current image collected in the blind spot of the vehicle is The data is the current image data collected in the first blind spot, and it will be displayed on the display screen of the vehicle-mounted device; if the current image data collected in the vehicle's blind spot is the current image data collected in the first and second blind spots, it will be displayed in the vehicle-mounted device.
  • the current image data collected in the first blind spot and the second blind spot are simultaneously displayed on the display screen of the device; or,
  • the mobile terminal receives the current image data collected in the blind spot of the vehicle sent by the image processing device, wherein the blind spot of the vehicle includes a first blind spot, a second blind spot and a third blind spot.
  • the current image data collected in the blind spot of the vehicle is sent by the image processing device when it acquires the image data collected in the blind spot of the vehicle and confirms that the first speed of the moving object in the image data is greater than the current speed of the vehicle; if the current image collected in the blind spot of the vehicle is If the data is the current image data collected in the first blind spot, it will be displayed on the display screen of the mobile terminal; if the current image data collected in the vehicle blind spot is the current image data collected in the first blind spot and the second blind spot, it will be displayed on the mobile terminal.
  • the current image data collected in the first blind area and the second blind area are simultaneously displayed on the display screen of the terminal.
  • program data 231 when executed by the processor, it is also used to implement the method of any of the foregoing embodiments.
  • FIG. 24 is a schematic structural diagram of an embodiment of a safety warning system for vehicle driving provided by the present application.
  • the security early warning system 240 includes an image processing device 241, a vehicle-mounted device 242 and a mobile terminal 243;
  • the image processing device 241 is the image processing device in any of the foregoing embodiments
  • the vehicle-mounted device 242 is the vehicle-mounted device in any of the foregoing embodiments
  • the mobile terminal 243 is the mobile terminal in any of the foregoing embodiments.
  • the image processing device 241 the vehicle-mounted device 242 and the mobile terminal 243 can be used to implement the method corresponding to any of the foregoing embodiments.
  • the disclosed method and device may be implemented in other manners.
  • the device implementations described above are only illustrative.
  • the division of the modules or units is only a logical function division. In actual implementation, there may be other divisions.
  • multiple units or components may be Incorporation may either be integrated into another system, or some features may be omitted, or not implemented.
  • the units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this implementation manner.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.
  • the above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.
  • the integrated units in the other embodiments described above are implemented in the form of software functional units and sold or used as independent products, they may be stored in a computer-readable storage medium.
  • the technical solutions of the present application can be embodied in the form of software products in essence, or the parts that contribute to the prior art, or all or part of the technical solutions, and the computer software products are stored in a storage medium , including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage medium includes: U disk, mobile hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes .
  • a safety warning method for vehicle driving comprising:
  • the image processing device acquires image data collected in the blind spot of the vehicle
  • the vehicle blind spot includes a first blind spot; wherein, the first blind spot is located at the rear side of the vehicle;
  • the obtaining of the image data collected in the blind spot of the vehicle includes:
  • the acquiring the first speed of the moving object in the image data includes:
  • a first speed of the first moving object is calculated according to the first distance and the second distance.
  • the acquiring the first distance between the first moving object in the first image data and the vehicle at the previous moment, and acquiring the second distance between the first moving object and the vehicle at the current moment includes:
  • the detecting whether there is a first moving object in the first image data includes:
  • the judging whether there is a target moving object in the reference area in the multiple consecutive image frames includes:
  • the first ratio between the first number of pixels and the second number of pixels is greater than a first reference threshold, it is determined that a target moving object exists in the reference area.
  • determining that there is a target moving object in the reference area including:
  • first ratio between the first number of pixels and the second number of pixels is greater than a first reference threshold, determine the next image frame in the plurality of consecutive image frames, and perform the next image frame in the next image frame.
  • a plurality of first target areas are determined in the process, and the step of acquiring the overlapping area of the first target area and the reference area as a first effective area is performed again.
  • determining that there is a target moving object in the reference area including:
  • the first direction is the same as the second direction of the vehicle, it is determined that a target moving object exists in the reference area.
  • determining that there is a target moving object in the reference area including:
  • a plurality of second target areas are determined in the current image frame; wherein, the second target areas are those in the current image frame that represent unnatural The area composed of edge pixels;
  • the second ratio between the third number of pixels and the fourth number of pixels is greater than a second reference threshold, it is determined that a target moving object exists in the reference area.
  • the vehicle blind spot further includes a second blind spot and a third blind spot; wherein, the second blind spot and the third blind spot are located on the left and right sides of the vehicle, respectively;
  • the reference area includes a first reference area, a second reference area and a third reference area; wherein the first reference area is located directly behind the vehicle, and the second reference area and the third reference area are respectively on both sides of the first reference area;
  • the judging whether there is a target moving object in the reference area in the multiple consecutive image frames includes:
  • the first reference region includes a first reference subregion, a second reference subregion, and a third reference subregion, and the first reference subregion, the second reference subregion, and the third reference subregion correspond in sequence the rear area of the vehicle;
  • the judging whether there is a first target moving object in the first reference area in the multiple consecutive image frames, and if so, confirming that there is a first moving object in the first image data including:
  • the first prompt tone and the current image data collected in the first blind area are sent to the vehicle or the terminal equipment associated with the vehicle for safety warning; if the If the first target moving object exists in the second reference sub-area, the second prompt tone and the current image data collected in the first blind area are sent to the vehicle or a terminal device associated with the vehicle for safety purposes.
  • Early warning if there is a first target moving object in the first reference sub-area, send a third prompt tone and current image data collected in the first blind area to the vehicle or a terminal associated with the vehicle equipment for security alerts;
  • the early warning level of the third prompt tone is higher than the early warning level of the second prompt tone, and the early warning level of the second prompt tone is higher than the early warning level of the first prompt tone.
  • the method further includes:
  • the second speed of the second moving object in the second image data is greater than the current speed of the vehicle, confirm whether the distance between the second moving object and the vehicle is less than the preset distance, and if so, then
  • the current image data collected in the second blind spot is sent to the vehicle or the terminal device associated with the vehicle, so that the vehicle or the terminal device associated with the vehicle displays the current image collected in the second blind spot data, and screen recording.
  • the method After confirming that the first moving object exists in the first image data and acquiring the third image data of the third blind area, the method includes:
  • the third speed of the third moving object in the third image data is greater than the current speed of the vehicle, confirm whether the distance between the third moving object and the vehicle is less than the preset distance, and if so, then The current image data collected in the third blind spot is sent to the vehicle or a terminal device associated with the vehicle.
  • the vehicle blind spot includes a first blind spot, a second blind spot and a third blind spot; wherein, the first blind spot is located on the rear side of the vehicle, and the second blind spot and the third blind spot are respectively located on the left and right sides of the vehicle ;
  • the method also includes:
  • the door opening signal of the vehicle When the door opening signal of the vehicle is obtained, confirm whether there is a fourth moving object in the second blind spot or the third blind spot corresponding to the door, and if so, combine the fourth prompt tone with the corresponding first
  • the current image data collected in the second blind spot or the third blind spot is sent to the vehicle or a terminal device associated with the vehicle, so that the vehicle or the terminal device displays the current image on the corresponding display screen data and control the vehicle or the speaker of the terminal device to play the fourth prompt sound, so as to give an early warning prompt to the personnel in the vehicle.
  • A16 The method according to A15, further comprising:
  • the current gear of the vehicle is a preset gear
  • the current image data collected in the second blind spot and/or the third blind spot is sent to the vehicle or a terminal device associated with the vehicle, so that the vehicle or the terminal device displays the image on the corresponding display screen.
  • the current image data and the speaker controlling the vehicle or the terminal device play the fifth prompt sound, so as to give an early warning prompt to the personnel in the vehicle.
  • a safety warning method for vehicle driving comprising:
  • the vehicle-mounted device receives the current image data collected in the blind spot of the vehicle sent by the image processing device, wherein the blind spot of the vehicle includes a first blind spot, a second blind spot and a third blind spot.
  • the current image data collected in the blind spot of the vehicle is sent by the image processing device when the image data collected in the blind spot of the vehicle is acquired and the first speed of the moving object in the image data is confirmed to be greater than the current speed of the vehicle of;
  • the current image data collected in the blind spot of the vehicle is the current image data collected in the first blind spot, display it on the display screen of the vehicle-mounted device;
  • the current image data collected in the blind spot of the vehicle is the current image data collected in the first blind spot and the second blind spot, it will be displayed on the display screen of the vehicle-mounted device at the same time in the first blind spot and the second blind spot. the current image data collected by the second blind spot;
  • the current image data collected in the blind spot of the vehicle is the current image data collected in the second blind spot, it is displayed on the display screen of the vehicle-mounted device.
  • the current image data collected in the blind spot of the vehicle is the current image data collected in the third blind spot, display it on the display screen of the vehicle-mounted device;
  • the current image data collected in the blind spot of the vehicle is the current image data collected in the first blind spot, the second blind spot, and the third blind spot, it will be displayed on the display screen of the vehicle-mounted device at the same time. current image data collected by the first blind area, the second blind area, and the third blind area.
  • the opening signal is sent to the image processing device, so that the image processing device can confirm the second blind area or the third blind area corresponding to the vehicle door Whether there is a sixth moving object, and if so, send the sixth prompt tone and the corresponding current image data collected in the second blind area or the third blind area to the vehicle-mounted device;
  • the vehicle-mounted device After receiving the sixth prompt tone and the corresponding current image data collected by the second blind area or the third blind area, display the current image data on the display screen of the vehicle-mounted device and control the vehicle or the The speaker of the vehicle-mounted device plays the sixth prompt sound, so as to give an early warning prompt to the personnel in the vehicle.
  • the seventh prompt tone sent by the image processing device and the current image data collected by the second blind spot and/or the third blind spot, wherein the seventh prompt tone is generated by the image processing device in the vehicle Generated when confirming whether there is a seventh moving object in the second blind zone and/or the third blind zone when the current gear is a preset gear;
  • the vehicle-mounted device receives the current image data collected in the blind spot of the vehicle sent by the image processing device, and further includes:
  • the vehicle-mounted device receives the current image data and preset parameters collected in the blind spot of the vehicle and sent by the image processing device;
  • the current image data collected in the blind spot of the vehicle is the current image data collected in the first blind spot, then display it on the display screen of the vehicle-mounted device, including:
  • the current image data collected in the blind spot of the vehicle is the current image data collected in the first blind spot
  • the current image data collected in the first blind spot is displayed on the display screen of the vehicle-mounted device , and record the current image data, and store the recorded current image data to the server.
  • the in-vehicle device includes a pickup for collecting ambient sound of the vehicle;
  • Display the current image data collected in the first blind spot on the display screen of the vehicle-mounted device perform screen recording on the display screen, collect the current ambient sound of the vehicle through the microphone, and record the recorded
  • the image data and the current ambient sound are stored to the server.
  • a safety warning method for vehicle driving comprising:
  • the mobile terminal receives the current image data collected in the blind spot of the vehicle sent by the image processing device, wherein the blind spot of the vehicle includes a first blind spot, a second blind spot and a third blind spot.
  • the current image data collected in the blind spot of the vehicle is sent by the image processing device when the image data collected in the blind spot of the vehicle is acquired and the first speed of the moving object in the image data is confirmed to be greater than the current speed of the vehicle of;
  • the current image data collected in the blind spot of the vehicle is the current image data collected in the first blind spot, display it on the display screen of the mobile terminal;
  • the current image data collected in the blind spot of the vehicle is the current image data collected in the first blind spot and the second blind spot, it will be displayed on the display screen of the mobile terminal in the first blind spot and the second blind spot at the same time.
  • the current image data collected in the second blind area is the current image data collected in the first blind spot and the second blind spot.
  • the current image data collected in the blind spot of the vehicle is the current image data collected in the second blind spot, it is displayed on the display screen of the mobile terminal.
  • the eighth prompt tone is sent by the vehicle-mounted device to the image processing device when the vehicle door opening signal is obtained, or the current gear of the vehicle is a preset gear
  • the image processing device confirms that there is an eighth moving object in the current image data collected by the second blind area or the third blind area.
  • the current image data collected in the blind spot of the vehicle is the current image data collected in the third blind spot, it is displayed on the display screen; if the current image data collected in the blind spot of the vehicle is the current image data collected in the third blind spot.
  • the current image data collected from a blind spot, the second blind spot and the third blind spot are simultaneously displayed on the display screen of the mobile terminal in the first blind spot, the second blind spot and the third blind spot The current image data acquired.
  • the mobile terminal receives the current image data collected in the blind spot of the vehicle sent by the image processing device, and further includes:
  • the mobile terminal receives the current image data and preset parameters collected in the blind spot of the vehicle and sent by the image processing device;
  • the current image data collected in the blind spot of the vehicle is the current image data collected in the first blind spot
  • display on the display screen of the mobile terminal including:
  • the current image data collected in the blind spot of the vehicle is the current image data collected in the first blind spot
  • the current image data collected in the first blind spot is displayed on the display screen of the mobile terminal based on preset parameters , and record the current image data, and store the recorded current image data to the server.
  • Display the current image data collected in the first blind spot on the display screen of the mobile terminal perform screen recording on the display screen, and collect the current ambient sound of the vehicle through the pickup of the vehicle-mounted device, and record the current ambient sound of the vehicle.
  • the recorded current image data and the current ambient sound are stored in the server.
  • a first setting parameter is sent to the vehicle-mounted device and/or the image processing device, so that the vehicle-mounted device and/or the image processing device perform setting based on the first setting parameter.
  • the historical image data is displayed.
  • An image processing device comprising a processor and a memory connected to the processor;
  • the memory is used for storing program data
  • the processor is used for executing the program data, so as to implement the method according to any one of A1-A16.
  • An in-vehicle device comprising a processor and a memory connected to the processor;
  • the memory is used for storing program data
  • the processor is used for executing the program data, so as to implement the method according to any one of B17-B23.
  • a mobile terminal comprising a processor and a memory connected to the processor;
  • the memory is used for storing program data
  • the processor is used for executing the program data, so as to implement the method according to any one of C24-C31.
  • a readable storage medium the readable storage medium is used for storing program data, when the program data is executed by a processor, for realizing any one of A1-A16, or B17-B23 or C24-C31 method described in item.
  • a safety early warning system for vehicle driving comprising an image processing device, a vehicle-mounted device and a mobile terminal;
  • the image processing device is the image processing device described in D32
  • the vehicle-mounted device is the vehicle-mounted device described in E33
  • the mobile terminal is the mobile terminal described in F34.

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Abstract

一种车辆驾驶的安全预警方法、系统及相关装置，安全预警方法包括：图像处理装置（200）获取在车辆盲区采集的图像数据；获取图像数据中的运动对象的第一速度；若图像数据中的运动对象的第一速度大于车辆的当前速度，则将在车辆盲区采集的当前图像数据发送给车辆或与车辆相关联的终端设备（210, 220），以进行安全预警。车辆驾驶的安全预警方法能够提高车辆驾驶安全性。

Description

车辆驾驶的安全预警方法、系统及相关装置 技术领域
本申请涉及车辆应用技术领域，特别是涉及一种车辆驾驶的安全预警方法、系统及相关装置。
背景技术
为了实现车辆在路上安全行驶，除了驾驶人员自身的操作经验以外，另外一个较大的隐患就是车辆后视镜的盲区和不能通过后视镜准确分辨身后车距。现在的汽车为了使行车更加的安全，设计了三个后视镜：车内后视镜、左后视镜、右后视镜，但是对于驾驶人员而言，由于人眼视角，后视镜角度以及车辆在行驶过程中速度以及方向变化等因素造成盲区始终存在，从而给驾驶人员和其他路上行驶车辆带来安全隐患。
目前已经有车辆搭载后视镜盲区预警系统，该系统是利用雷达或微波侦测车辆侧后方是否有来车并通过提示音或警示灯来提醒驾驶人员。这种方法只能起到一个模糊提醒的效果，驾驶人员需要把视线偏向一侧后视镜才能注意到，而且无法准确的判断后方来车的位置，这样容易分散驾驶人员注意力导致无法兼顾另外一侧后视镜的路况，又会带来新的安全隐患。
发明内容
本申请主要解决的技术问题是提供车辆驾驶的安全预警方法、系统及相关装置，能够提高车辆驾驶安全性。
本申请采用的一种技术方案是提供一种车辆驾驶的安全预警方法，该方法包括：图像处理装置获取在车辆盲区采集的图像数据；获取图像数据中的运动对象的第一速度；若图像数据中的运动对象的第一速度大于车辆的当前速度，则将在车辆盲区采集的当前图像数据发送给车辆或与车辆相关联的终端设备，以进行安全预警。
其中，车辆盲区包括第一盲区；其中，第一盲区位于车辆的后侧；获取在车辆盲区采集的图像数据，包括：获取在第一盲区采集的第一图像数据；获取图像数据中的运动对象的第一速度，包括：获取第一图像数据中的第一运动对象在前一时刻与车辆的第一距离，以及获取第一运动对象在当前时刻与车辆的第二距离；根据第一距离和第二距离计算出第一运动对象的第一速度。
其中，获取第一图像数据中的第一运动对象在前一时刻与车辆的第一距离，以及获取第一运动对象在当前时刻与车辆的第二距离，包括：检测第一图像数据中是否存在第一运动对象；若是，则获取第一图像数据中的第一运动对象在前一时刻与车辆的第一距离，以及获取第一运动对象在当前时刻与车辆的第二距离。
其中，检测第一图像数据中是否存在第一运动对象，包括：获取第一图像数据中的多个连续图像帧；判断多个连续图像帧中的参考区域中是否存在目标运动对象；若是，则确认第一图像数据中存在第一运动对象。
其中，判断多个连续图像帧中的参考区域中是否存在目标运动对象，包括：确定多个连续图像帧中的当前图像帧，并在当前图像帧中确定多个第一目标区域；获取第一目标区域与参考区域的重叠区域，以作为第一有效区域；获取第一有效区域中灰度值大于预设灰度值的第一像素数量，以及获取有效区域的第二像素数量；若第一像素数量与第二像素数量之间的第一比值大于第一参考阈值，则确定参考区域中存在目标运动对象。
其中，若第一像素数量与第二像素数量之间的第一比值大于第一参考阈值，则确定参考区域中存在目标运动对象，包括：若第一像素数量与第二像素数量之间的第一比值大于第一参考阈值，则确定多个连续图像帧中的下一图像帧，并在下一图像帧中确定多个第一目标区域，再次执行获取第一目标区域与参考区域的重叠区域，以作为第一有效区域的步骤。
其中，若第一像素数量与第二像素数量之间的第一比值大于第一参考阈值，则确定参考区域中存在目标运动对象，包括：若第一像素数量与第二像素数量之间的第一比值大于第一参考阈值，则获取当前图像帧中第一目标区域的第一位置信息；获取下一图像帧中第一目标区域的第二位置信息；基于第一位置信息和第二位置信息以确定第一目标区域相对于车辆的第一方向；若第一方向与车辆的第二方向相同，则确定参考区域中存在目标运动对象。
其中，若第一方向与车辆的第二方向相同，则确定参考区域中存在目标运动对象，包括：若第一方向与车辆的第二方向相同，则在当前图像帧中确定多个第二目标区域；其中，第二目标区域为当前图像帧中表示非自然边缘的像素点所组成的区域；获取多个第二目标区域与参考区域的重叠区域，以作为第二有效区域；获取第二有效区域在多个第二目标区域中所占的第三像素数量，以及获取多个第二目标区域的第四像素数量；若第三像素数量与第四像素数量之间的第二比值大于第二参考阈值，则确定参考区域中存在目标运动对象。
其中，车辆盲区还包括第二盲区和第三盲区；其中，第二盲区和 第三盲区分别位于车辆的左右两侧；参考区域包括第一参考区域、第二参考区域和第三参考区域；其中，第一参考区域位于车辆的正后方，第二参考区域和第三参考区域分别位于第一参考区域两侧；判断多个连续图像帧中的参考区域中是否存在目标运动对象，包括：判断多个连续图像帧中的第一参考区域中是否存在第一目标运动对象，若是，则确认第一图像数据中存在第一运动对象；和/或，判断多个连续图像帧中的第二参考区域中是否存在第二目标运动对象；若是，则确认第一图像数据中存在第一运动对象，并获取第二盲区的第二图像数据；和/或，判断多个连续图像帧中的第三参考区域中是否存在第三目标运动对象；若是，则确认第一图像数据中存在第一运动对象，并获取第三盲区的第三图像数据。
其中，第一参考区域包括第一参考子区域、第二参考子区域和第三参考子区域，第一参考子区域、第二参考子区域和第三参考子区域依次对应车辆后侧区域；判断多个连续图像帧中的第一参考区域中是否存在第一目标运动对象，若是，则确认第一图像数据中存在第一运动对象，包括：判断多个连续图像帧中的第一参考子区域、第二参考子区域和第三参考子区域中是否存在第一目标运动对象，若第三参考子区域中存在第一目标运动对象，则将第一提示音和在第一盲区采集的当前图像数据发送给车辆或与车辆相关联的终端设备，以进行安全预警；若第二参考子区域中存在第一目标运动对象，则将第二提示音和在第一盲区采集的当前图像数据发送给车辆或与车辆相关联的终端设备，以进行安全预警；若第一参考子区域中存在第一目标运动对象，则将第三提示音和在第一盲区采集的当前图像数据发送给车辆或与车辆相关联的终端设备，以进行安全预警；其中，第三提示音的预警等级高于第二提示音的预警等级，第二提示音的预警等级高于第一提示音的预警等级。
其中，确认第一图像数据中存在第一运动对象，并获取第二盲区的第二图像数据之后，还包括：在获取到车辆的第一转向数据且第一转向数据对应第二盲区时，获取在第二图像数据中的第二运动对象的第二速度；若第二图像数据中的第二运动对象的第二速度大于车辆的当前速度，则将在第二盲区采集的当前图像数据发送给车辆或与车辆相关联的终端设备，以使车辆或与车辆相关联的终端设备显示在第二盲区采集的当前图像数据，并进行屏幕录制；若第二图像数据中的第二运动对象的第二速度不大于车辆的当前速度，则将在第二盲区和第三盲区采集的当前图像数据发送给车辆或与车辆相关联的终端设备，以使车辆或与车辆相关联的终端设备在显示屏上二分割显示在第二盲区和第三盲区采集的当前图像数据，并分别录制二分割显示的当前图像数据；或，将在第一盲区、第二盲区和第三盲区采集的当前图像 数据发送给车辆或与车辆相关联的终端设备，以使车辆或与车辆相关联的终端设备在显示屏上三分割显示在第一盲区、第二盲区和第三盲区采集的当前图像数据，并分别录制三分割显示的当前图像数据。
其中，若第二图像数据中的第二运动对象的第二速度大于车辆的当前速度，则将在第二盲区采集的当前图像数据发送给车辆或与车辆相关联的终端设备，以使车辆或与车辆相关联的终端设备显示在第二盲区采集的当前图像数据，并进行屏幕录制，包括：若第二图像数据中的第二运动对象的第二速度大于车辆的当前速度，则确认第二运动对象与车辆的距离是否小于预设距离，若是，则将在第二盲区采集的当前图像数据发送给车辆或与车辆相关联的终端设备，以使车辆或与车辆相关联的终端设备显示在第二盲区采集的当前图像数据，并进行屏幕录制。
其中，确认第一图像数据中存在第一运动对象，并获取第三盲区的第三图像数据之后，包括：在获取到车辆的第二转向数据且第二转向数据对应第三盲区时，获取在第三图像数据中的第三运动对象的第三速度；若第三图像数据中的第三运动对象的第三速度大于车辆的当前速度，则将在第三盲区采集的当前图像数据发送给车辆或与车辆相关联的终端设备。
其中，若第三图像数据中的第三运动对象的第三速度大于车辆的当前速度，则将在第三盲区采集的当前图像数据发送给车辆或与车辆相关联的终端设备，包括：若第三图像数据中的第三运动对象的第三速度大于车辆的当前速度，则确认第三运动对象与车辆的距离是否小于预设距离，若是，则将在第三盲区采集的当前图像数据发送给车辆或与车辆相关联的终端设备。
其中，车辆盲区包括第一盲区、第二盲区和第三盲区；其中，第一盲区位于车辆后侧，第二盲区和第三盲区分别位于车辆左右两侧；该方法还包括：在获取到车辆的车门开启信号时，确认车门对应的第二盲区或第三盲区内是否存在第四运动对象，若是，将第四提示音和对应的第二盲区或第三盲区采集的当前图像数据发送给车辆或与车辆相关联的终端设备，以使车辆或终端设备在对应的显示屏上显示当前图像数据和控制车辆或终端设备的扬声器播放第四提示音，以对车辆内的人员进行预警提示。
其中，该方法还包括：在车辆的当前档位为预设档位时，确认第二盲区和/或第三盲区内是否存在第五运动对象，若是，将第五提示音和对应的第二盲区和/或第三盲区采集的当前图像数据发送给车辆或与车辆相关联的终端设备，以使车辆或终端设备在对应的显示屏上显示当前图像数据和控制车辆或终端设备的扬声器播放第五提示音，以对车辆内的人员进行预警提示。
本申请采用的另一种技术方案是提供一种车辆驾驶的安全预警方法，该方法包括：车载装置接收图像处理装置发送的在车辆盲区采集的当前图像数据，其中，车辆盲区包括第一盲区和第二盲区和第三盲区。车辆盲区采集的当前图像数据由图像处理装置在获取到在车辆盲区采集的图像数据以及确认图像数据中的运动对象的第一速度大于车辆的当前速度时发送的；若在车辆盲区采集的当前图像数据为在第一盲区采集的当前图像数据，则在车载装置的显示屏上进行显示；若在车辆盲区采集的当前图像数据为在第一盲区和第二盲区采集的当前图像数据，则在车载装置的显示屏上同时显示在第一盲区和第二盲区采集的当前图像数据。
其中，该方法还包括：若在车辆盲区采集的当前图像数据为在第二盲区采集的当前图像数据，则在车载装置的显示屏上进行显示。
其中，该还包括：若在车辆盲区采集的当前图像数据为在第三盲区采集的当前图像数据，则在车载装置的显示屏上进行显示；若在车辆盲区采集的当前图像数据为在第一盲区、第二盲区和第三盲区采集的当前图像数据，则在车载装置的显示屏上同时显示在第一盲区、第二盲区和第三盲区采集的当前图像数据。
其中，该方法还包括：在获取到车辆的车门开启信号时，将开启信号发送至图像处理装置，以使图像处理装置确认车门对应的第二盲区或第三盲区内是否存在第六运动对象，若是，将第六提示音和对应的第二盲区或第三盲区采集的当前图像数据发送至车载装置；接收到第六提示音和对应的第二盲区或第三盲区采集的当前图像数据后，在车载装置的显示屏上显示当前图像数据和控制车辆或车载装置的扬声器播放第六提示音，以对车辆内的人员进行预警提示。
其中，该方法还包括：接收图像处理装置发送的第七提示音和第二盲区和/或第三盲区采集的当前图像数据，其中，第七提示音由图像处理装置在车辆的当前档位为预设档位时，确认第二盲区和/或第三盲区内是否存在第七运动对象时生成；在车载装置的显示屏上显示第二盲区和/或第三盲区采集的当前图像数据和控制车辆或车载装置的扬声器播放第七提示音，以对车辆内的人员进行预警提示。
其中，车载装置接收图像处理装置发送的在车辆盲区采集的当前图像数据，还包括：车载装置接收图像处理装置发送的在车辆盲区采集的当前图像数据和预设参数；若在车辆盲区采集的当前图像数据为在第一盲区采集的当前图像数据，则在车载装置的显示屏上进行显示，包括：若在车辆盲区采集的当前图像数据为第一盲区采集的当前图像数据，则基于预设参数，在车载装置的显示屏上显示在第一盲区采集的当前图像数据，并将当前图像数据进行录制，并将录制的当前图像数据存储至服务器。
其中，车载装置包括拾音器，用于收集车辆的环境音；
在车载装置的显示屏上显示在第一盲区采集的当前图像数据，并将当前图像数据进行录制，并将录制的当前图像数据存储至服务器，包括：在车载装置的显示屏上显示在第一盲区采集的当前图像数据，并对显示屏进行屏幕录制，以及通过拾音器收集车辆的当前环境音，并将录制的图像数据和当前环境音存储至服务器。
本申请采用的另一种技术方案是提供一种车辆驾驶的安全预警方法，该方法包括：移动终端接收图像处理装置发送的在车辆盲区采集的当前图像数据，其中，车辆盲区包括第一盲区和第二盲区和第三盲区。车辆盲区采集的当前图像数据由图像处理装置在获取到在车辆盲区采集的图像数据以及确认图像数据中的运动对象的第一速度大于车辆的当前速度时发送的；若在车辆盲区采集的当前图像数据为在第一盲区采集的当前图像数据，则在移动终端的显示屏上进行显示；若在车辆盲区采集的当前图像数据为在第一盲区和第二盲区采集的当前图像数据，则在移动终端的显示屏上同时显示在第一盲区和第二盲区采集的当前图像数据。
其中，该方法还包括：若在车辆盲区采集的当前图像数据为在第二盲区采集的当前图像数据，则在移动终端的显示屏上进行显示。
其中，该方法还包括：接收图像处理装置发送的第八提示音和在第二盲区和/或第三盲区采集的当前图像数据；在移动终端的显示屏上显示在第二盲区或第三盲区采集的当前图像数据和控制扬声器播放第八提示音，以对车辆内的人员进行预警提示；其中，第八提示音由车载装置在获取到车辆的车门开启信号时，将开启信号发送至图像处理装置，或，在车辆的当前档位为预设档位时，图像处理装置确认第二盲区或第三盲区采集的当前图像数据内存在第八运动对象时产生。
其中，该方法还包括：若在车辆盲区采集的当前图像数据为在第三盲区采集的当前图像数据，则在显示屏上进行显示；若在车辆盲区采集的当前图像数据为在第一盲区、第二盲区和第三盲区采集的当前图像数据，则在移动终端的显示屏上同时显示在第一盲区、第二盲区和第三盲区采集的当前图像数据。
其中，移动终端接收图像处理装置发送的在车辆盲区采集的当前图像数据，还包括：移动终端接收图像处理装置发送的在车辆盲区采集的当前图像数据和预设参数；若在车辆盲区采集的当前图像数据为在第一盲区采集的当前图像数据，则在移动终端的显示屏上进行显示，包括：若在车辆盲区采集的当前图像数据为在第一盲区采集的当前图像数据，则基于预设参数，在移动终端的显示屏上显示第一盲区采集的当前图像数据，并将当前图像数据进行录制，并将录制的当前图像 数据存储至服务器。
其中，在移动终端的显示屏上显示第一盲区采集的当前图像数据，并将当前图像数据进行录制，并将录制的当前图像数据存储至服务器，包括：在移动终端的显示屏上显示第一盲区采集的当前图像数据，并对显示屏进行屏幕录制，以及通过车载设备的拾音器收集车辆的当前环境音，并将录制的当前图像数据和当前环境音存储至服务器。
其中，该方法还包括：响应于第一触控指令，发送第一设置参数至车载装置和/或图像处理装置，以使车载装置和/或图像处理装置基于第一设置参数进行设置。
其中，该方法还包括：响应于第二触控指令，从本地存储或服务器中获取历史图像数据；对历史图像数据进行显示。
本申请采用的另一种技术方案是提供一种图像处理装置，该图像处理装置包括处理器以及与处理器连接的存储器；其中，存储器用于存储程序数据，处理器用于执行程序数据，以实现上述提供的图像处理装置实施的方法。
本申请采用的另一种技术方案是提供一种车载装置，该车载装置包括处理器以及与处理器连接的存储器；其中，存储器用于存储程序数据，处理器用于执行程序数据，以实现上述提供的车载装置实施的方法。
本申请采用的另一种技术方案是提供一种移动终端，该移动终端包括处理器以及与处理器连接的存储器；其中，存储器用于存储程序数据，处理器用于执行程序数据，以实现上述提供的移动终端实施的方法。
本申请采用的另一种技术方案是提供一种可读存储介质，该可读存储介质用于存储程序数据，程序数据在被处理器执行时，用于实现上述任一方案提供的方法。
本申请采用的另一种技术方案是提供一种车辆驾驶的安全预警系统，该安全预警系统包括图像处理装置、车载装置和移动终端；其中，图像处理装置如上述的图像处理装置、车载装置如上述的车载装置和移动终端如上述的移动终端。
本申请的有益效果是：区别于现有技术的情况，本申请的车辆驾驶的安全预警方法，通过图像处理装置获取在车辆盲区采集的图像数据；获取图像数据中的运动对象的第一速度；若图像数据中的运动对象的第一速度大于车辆的当前速度，则将在车辆盲区采集的当前图像数据发送给车辆或与车辆相关联的终端设备，以进行安全预警。通过上述方式，一方面解决了现有盲区预警方案中无法进行精准提醒、多侧协同的问题，另一方面能够提高车辆驾驶安全性，提升驾驶人员的使用体验。
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的前提下，还可以根据这些附图获得其他的附图。其中：
图1是本申请提供的车辆驾驶的安全预警方法第一实施例的流程示意图；
图2是本申请提供的图1中步骤12的详细流程示意图；
图3是本申请提供的车辆驾驶的安全预警方法第二实施例的流程示意图；
图4是本申请提供的图3中步骤32的具体流程示意图；
图5是本申请提供的图4中步骤322的具体流程示意图；
图6是本申请提供的车辆驾驶的安全预警方法第三实施例的流程示意图；
图7是本申请提供的车辆驾驶的安全预警方法第四实施例的流程示意图；
图8是本申请提供的车辆驾驶的安全预警方法第五实施例的流程示意图；
图9是本申请提供的显示设备的一显示示意图；
图10是本申请提供的显示设备的又一显示示意图；
图11是本申请提供的车辆驾驶的安全预警方法第六实施例的流程示意图；
图12是本申请提供的车道线第一比较示意图；
图13是本申请提供的车道线第二比较示意图；
图14是本申请提供的车辆驾驶的安全预警方法的应用场景示意图；图15是本申请提供的车辆驾驶的安全预警方法第七实施例的流程示意图；
图16是本申请提供的车辆驾驶的安全预警方法第八实施例的流程示意图；
图17是本申请提供的车辆驾驶的安全预警方法中移动终端的第一显示界面示意图；
图18是本申请提供的车辆驾驶的安全预警方法中移动终端的第二显示界面示意图；
图19是本申请提供的车辆驾驶的安全预警方法中移动终端的第三显示界面示意图；
图20是本申请提供的图像处理装置一实施例的结构示意图；
图21是本申请提供的车载装置一实施例的结构示意图；
图22是本申请提供的移动终端一实施例的结构示意图；
图23是本申请提供的可读存储介质一实施例的结构示意图；
图24是本申请提供的车辆驾驶的安全预警系统一实施例的结构示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述。可以理解的是，此处所描述的具体实施例仅用于解释本申请，而非对本申请的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本申请相关的部分而非全部结构。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
在本文中提及“实施例”意味着，结合实施例描述的特定特征、结构或特性可以包含在本申请的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例，也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是，本文所描述的实施例可以与其它实施例相结合。
参阅图1，图1是本申请提供的车辆驾驶的安全预警方法第一实施例的流程示意图。本实施例应用于图像处理装置，该图像处理装置设置于车辆中。该方法包括：
步骤11：获取在车辆盲区采集的图像数据。
在一些实施例中，驾驶人员驾驶的车辆包括第一盲区、第二盲区和第三盲区。其中，第一盲区位于该车辆的后方。第二盲区和第三盲区分别位于该车辆的左右两侧且沿车辆后方区域。
图像处理装置包括图像采集装置。图像数据通过图像采集装置进行采集，并传送至图像处理装置。如在该车辆的后方安装第一图像采集装置，如安装于后方车牌附近，用于采集第一盲区的图像数据；在该车辆的左侧安装第二图像采集装置，如安装于左侧后视镜，用于采集第二盲区的图像数据；在该车辆的右侧安装第三图像采集装置，如安装于右侧后视镜，用于采集第三盲区的图像数据。
步骤12：获取图像数据中的运动对象的第一速度。
在一些实施例中，对图像数据进行特征识别，以识别出图像数据中的不同分类对象。如，当车辆驾驶在马路上，图像数据中可以包括马路边上的植物、路灯、行人和马路上的其他车辆等。相对来说，车辆和行人可以确认为运动对象。
在一些实施例中，若该图像数据为从第一盲区的图像数据，则运动对象位于该车辆的后方，若该图像数据为从第二盲区的图像数据， 则运动对象位于该车辆的左侧后方，若该图像数据为从第三盲区的图像数据，则运动对象位于该车辆的右侧后方。
参阅图2，以第一盲区为例进行说明：
步骤121：获取第一图像数据中的第一运动对象在前一时刻与车辆的第一距离，以及获取第一运动对象在当前时刻与车辆的第二距离。
在步骤121之前，需要获取在第一盲区采集的第一图像数据。
可选的，第一图像数据包括多个图像帧，检测多个图像帧中是否存在第一运动对象，若存在，则确认该图像帧为有效图像帧。因此会得到多个有效图像帧，获取第一运动对象在当前时刻的有效图像帧时，与车辆的第二距离，以及第一运动对象在当前时刻的有效图像帧的前一时刻的有效图像帧与车辆的第一距离。
步骤122：根据第一距离和第二距离计算出第一运动对象的第一速度。
可以理解，根据第一距离和第二距离，然后获取车辆的当前速度，以及上述两个有效图像帧之间的时间差值，可以计算出第一运动对象的第一速度。如，车辆的当前速度为V 1，第一距离为L 1，第二距离为L 2，第一距离与第二距离两个有效图像帧之间的时间差值为t,则第一速度
Figure PCTCN2020125077-appb-000001
可以理解，在一些实施例中，可按照上述流程获取在第一盲区和/或第二盲区和/或第三盲区采集的图像数据中的运动对象的第一速度。
步骤13：若图像数据中的运动对象的第一速度大于车辆的当前速度，则将车辆盲区采集的当前图像数据发送给车辆或与车辆相关联的终端设备，以进行安全预警。
在一些实施例中，终端设备可以是车载装置，也可以是移动终端。
可以理解，若图像数据中的运动对象的第一速度大于车辆的当前速度，则运动对象存在超越该车辆的情况，则易发生车辆碰撞，此时该车辆的安全性较低。因此将在车辆盲区采集的当前图像数据发送给车辆或与车辆相关联的终端设备，以进行安全预警。
进一步，在一些实施例中，该终端设备属于车载装置，通过车辆内置无线或者蓝牙或者该车辆的CAN总线与该车辆连接。该终端设备还包括语音提醒功能，可在接收到车辆盲区采集的当前图像数据时，进行语音提醒，以起到安全预警的作用。如，提醒内容为“请注意，XX盲区内有危险的运动对象，请注意避让”。
进一步，车载装置包括一显示屏，在接收到在车辆盲区采集的当前图像数据时，在显示屏上对该当前图像数据进行显示，驾驶人员在听到语音提醒时，可观看显示屏上显示的当前图像数据，实时查看本车辆与运动对象的相对位置，及时做出应对措施。
在一些实施例中，该终端设备属于移动终端，通过车辆内置无线或者蓝牙与该车辆连接。在接收到车辆盲区采集的当前图像数据时，进行语音提醒。如，提醒内容为“请注意，XX盲区内有危险的运动对象，请注意避让”，并在显示屏上对该当前图像数据进行播放。驾驶人员在听到语音提醒时，可观看显示屏上播放的当前图像数据，实时查看本车辆与运动对象的相对位置，及时做出应对措施。
进一步，可同时在车载装置的显示屏和移动终端的显示屏同时显示以及播放语音提醒。
本实施例通过获取在车辆盲区采集的图像数据；获取图像数据中的运动对象的第一速度；若图像数据中的运动对象的第一速度大于车辆的当前速度，则将车辆盲区采集的当前图像数据发送给车辆或与车辆相关联的终端设备，以进行安全预警。通过上述方式，一方面解决了现有盲区预警方案中无法进行精准提醒、多侧协同的问题，另一方面能够提高车辆驾驶安全性，提升驾驶人员的使用体验。
参阅图3，图3是本申请提供的车辆驾驶的安全预警方法第二实施例的流程示意图。本实施例应用于图像处理装置，该图像处理装置设置于车辆中。该方法包括：
步骤31：获取在第一盲区采集的第一图像数据。
步骤32：检测第一图像数据中是否存在第一运动对象。
在一些实施例中，参阅图4，步骤32可以是如下步骤：
步骤321：获取第一图像数据中的多个连续图像帧。
可以理解，第一图像数据为预设时间长度的视频，因此第一图像数据包括多个连续图像帧。
在一些实施例中，第一图像数据中的多个连续图像帧为彩色图像，要将彩色图像转换为黑白图像，更利于后续操作。
步骤322：判断多个连续图像帧中的参考区域中是否存在目标运动对象。
在一些实施例中，该参考区域通过以下方式确认：
图像处理装置包括图像采集装置。在用于采集第一盲区内图像数据的图像采集装置安装于车辆后方后，基于其安装位置进行调试，以得到该图像采集装置在采集图像时的参考区域的分布。
如，根据校正方格布的特征点计算出参考区域，特征点的取得可以根据图像采集装置的安装位置(如图像采集装置距离右边车身距离)及校正方格布距离车身右边距离，车身高度还有车身宽度来确定。校正布也是使用标准规范的4*3黑白方格生成，每个黑块与白块的大小为20CM*20CM，侧边则使用长条形校正布。
可以理解，图像采集装置的采集角度固定，因此每个图像帧的尺寸是相同的，所以可以设置参考区域作为每个图像帧的共同特征。
在一些实施例中，参阅图5，步骤322可以是如下步骤：
步骤3221：确定多个连续图像帧中的当前图像帧，并在当前图像帧中确定多个第一目标区域。
可以理解，步骤3221为从多个图像帧中选定一个图像为当前图像帧，以执行后需步骤。第一目标区域为当前图像帧中任意尺寸区域的像素点组成的区域。
步骤3222：获取第一目标区域与参考区域的重叠区域，以作为第一有效区域。
在一些实施例中，第一目标区域与参考区域存在重叠，则将重叠区域作为第一有效区域。可以理解，位于参考区域的第一目标区域可能存在运动对象。
步骤3223：获取第一有效区域中灰度值大于预设灰度值的第一像素数量，以及获取有效区域的第二像素数量。
可以理解，运动对象与马路的颜色几乎不会存在一模一样的现象。若参考区域中不存在运动对象，则参考区域大部分是马路。所以参考区域中马路的像素点的灰度值可以作为预设灰度值。
在一些实施例中，也可以以马路的像素点的灰度值为基准，设置一预设灰度值。
步骤3224：若第一像素数量与第二像素数量之间的第一比值大于第一参考阈值，则确定参考区域中存在目标运动对象。
在一些实施例中，第一参考阈值可以为百分之六十，百分之七十、百分之八十和百分之九十等。第一参考阈值越大，则在第一比值大于第一参考阈值时，表示该目标运动对象与该车辆之间的距离越小。
可以理解，若第一像素数量与第二像素数量之间的第一比值大于第一参考阈值，则可以确定在参考区域对应的马路上存在一物体。因此确定参考区域中存在目标运动对象。
进一步，在一些实施例，若第一像素数量与第二像素数量之间的第一比值大于第一参考阈值，则获取当前图像帧中第一目标区域的第一位置信息；获取下一图像帧中第一目标区域的第二位置信息；基于第一位置信息和第二位置信息以确定第一目标区域相对于车辆的第一方向；若第一方向与车辆的第二方向相同，则确定参考区域中存在目标运动对象。可以理解，在一些马路上，存在第一车辆与第二车辆相向而行，当第一车辆与第二车辆相遇后又相背而行时，会存在第一像素数量与第二像素数量之间的第一比值大于第一参考阈值的情况，而此时并没有相应的驾驶安全的问题，因此，在第一像素数量与第二像素数量之间的第一比值大于第一参考阈值时，进一步获取当前图像帧中目标区域的第一位置信息以及获取下一图像帧中目标区域的第二位置信息；基于第一位置信息和第二位置信息以确定第一目标区域 相对于车辆的第一方向，若第一方向与车辆的第二方向相同，则确定目标运动对象与该车辆朝同一方向前进，则确定参考区域中存在目标运动对象。
进一步，在一些实施例中，若第一方向与车辆的第二方向相同，则在当前图像帧中确定多个第二目标区域；其中，第二目标区域为当前图像帧中表示非自然边缘的像素点所组成的区域；获取多个第二目标区域与参考区域的重叠区域，以作为第二有效区域；获取第二有效区域在多个第二目标区域中所占的第三像素数量，以及获取多个第二目标区域的第四像素数量；若第三像素数量与第四像素数量之间的第二比值大于第二参考阈值，则确定参考区域中存在目标运动对象。可以理解，运动对象在马路上会存在边缘，可以通过边缘检测技术来获取属于非自然边缘的像素点，或者获取锐利度平滑的像素点，以此组成第二目标区域。如运动对象为汽车则会存在轮胎边缘、保险杠边缘和底盘边缘等。通过边缘检测，能更加准确的确认参考区域中存在目标运动对象。
在一些实施例中例中，步骤3224还包括若第一像素数量与第二像素数量之间的第一比值大于第一参考阈值，则确定多个连续图像帧中的下一图像帧，并在下一图像帧中确定多个第一目标区域，再次执行步骤3222。通过这种方式，可对多个图像帧进行处理，提高识别准确率。
在一些实施例中，判断多个连续图像帧中的参考区域中存在目标运动对象，则执行步骤323。
步骤323：确认第一图像数据中存在第一运动对象。
在一些实施例中，步骤32可以按照如下应用：
车辆盲区包括第第一盲区、二盲区和第三盲区；其中，第二盲区和第三盲区分别位于车辆的左右两侧。上述的参考区域包括第一参考区域、第二参考区域和第三参考区域；其中，第一参考区域位于车辆的正后方，第二参考区域和第三参考区域分别位于第一参考区域两侧。
可以理解，第一盲区、二盲区和第三盲区对应的存在第一参考区域、第二参考区域和第三参考区域。
在一些实施例中，以第一盲区的图像数据为例，判断多个连续图像帧中的参考区域中是否存在目标运动对象可以是判断多个连续图像帧中的第一参考区域中是否存在第一目标运动对象，若是，则确认第一图像数据中存在第一运动对象。可以理解，此方式适用于第一参考区域中存在第一目标运动对象的现象。
在一些实施例中，以第一盲区的图像数据为例，判断多个连续图像帧中的参考区域中是否存在目标运动对象可以是判断多个连续图像帧中的第二参考区域中是否存在第二目标运动对象；若是，则确认 第一图像数据中存在第一运动对象，并获取第二盲区的第二图像数据。可以理解，此方式适用于第二参考区域中存在第一目标运动对象的现象。
在一些实施例中，以第一盲区的图像数据为例，判断多个连续图像帧中的参考区域中是否存在目标运动对象可以是判断多个连续图像帧中的第三参考区域中是否存在第三目标运动对象；若是，则确认第一图像数据中存在第一运动对象，并获取第三盲区的第三图像数据。可以理解，此方式适用于第三参考区域中存在第一目标运动对象的现象。
在一些实施例中，以第一盲区的图像数据为例，判断多个连续图像帧中的参考区域中是否存在目标运动对象可以是判断多个连续图像帧中的第一参考区域中是否存在第一目标运动对象，若是，则确认第一图像数据中存在第一运动对象；以及判断多个连续图像帧中的第二参考区域中是否存在第二目标运动对象；若是，则确认第一图像数据中存在第一运动对象，并获取第二盲区的第二图像数据；以及判断多个连续图像帧中的第三参考区域中是否存在第三目标运动对象；若是，则确认第一图像数据中存在第一运动对象，并获取第三盲区的第三图像数据。可以理解，此方式适用于第一参考区域、第二参考区域和第三参考区域中均存在第一目标运动对象的现象。
进一步，在一些实施例中，第一参考区域包括第一参考子区域、第二参考子区域和第三参考子区域，第一参考子区域、第二参考子区域和第三参考子区域依次对应车辆后侧区域。
判断多个连续图像帧中的第一参考子区域、第二参考子区域和第三参考子区域中是否存在第一目标运动对象，若第三参考子区域中存在第一目标运动对象，则将第一提示音和在第一盲区采集的当前图像数据发送给车辆或与车辆相关联的终端设备，以进行安全预警；若第二参考子区域中存在第一目标运动对象，则将第二提示音和在第一盲区采集的当前图像数据发送给车辆或与车辆相关联的终端设备，以进行安全预警；若第一参考子区域中存在第一目标运动对象，则将第三提示音和在第一盲区采集的当前图像数据发送给车辆或与车辆相关联的终端设备，以进行安全预警。
其中，第三提示音的预警等级高于第二提示音的预警等级，第二提示音的预警等级高于第一提示音的预警等级。
如，图像采集装装置可采集车辆后方22米内的图像数据，则将车辆后方22米进行区域划分，分为第一参考子区域、第二参考子区域和第三参考子区域，第一参考子区域对应车辆后方7米内区域，第二参考子区域对应车辆后方7-14米内区域和第三参考子区域对应车辆后方14-22米内区域。当运动对象进行入到第一盲区区域时，首先 进入第三参考子区域，则将第一提示音和在第一盲区采集的当前图像数据发送给车辆或与车辆相关联的终端设备，以进行安全预警。若用户没有及时响应，且运动对象速度太快，会进入到第二参考子区域，则将第二提示音和在第一盲区采集的当前图像数据发送给车辆或与车辆相关联的终端设备，以进行安全预警。若用户没有及时响应，且运动对象速度太快，会进入到第一参考子区域，则将第三提示音和在第一盲区采集的当前图像数据发送给车辆或与车辆相关联的终端设备。
第三提示音的预警等级高于第二提示音的预警等级，第二提示音的预警等级高于第一提示音的预警等级。
可以理解，在播放第一提示音时，用户可根据查看车辆或与车辆相关联的终端设备显示的第一盲区的当前图像数据来做出反应。在播放第二提示音时，用户可根据查看车辆或与车辆相关联的终端设备显示的第一盲区的当前图像数据来做出反应。在播放第三提示音时，可自行控制车辆转向或者加速来避让该运动对象，避免发生交通事故。
在一些实施例中，以第一盲区的图像数据为例，判断多个连续图像帧中的参考区域中是否存在目标运动对象可以是判断多个连续图像帧中的第一参考区域中是否存在第一目标运动对象，若是，则确认第一图像数据中存在第一运动对象；以及判断多个连续图像帧中的第二参考区域中是否存在第二目标运动对象；若是，则确认第一图像数据中存在第一运动对象，并获取第二盲区的第二图像数据。可以理解，此方式适用于第一参考区域和第二参考区域中均存在第一目标运动对象的现象。
在一些实施例中，以第一盲区的图像数据为例，判断多个连续图像帧中的参考区域中是否存在目标运动对象可以是判断多个连续图像帧中的第一参考区域中是否存在第一目标运动对象，若是，则确认第一图像数据中存在第一运动对象；以及判断多个连续图像帧中的第三参考区域中是否存在第三目标运动对象；若是，则确认第一图像数据中存在第一运动对象，并获取第三盲区的第三图像数据。可以理解，此方式适用于第一参考区域和第三参考区域中均存在第一目标运动对象的现象。
在一些实施例中，以第一盲区的图像数据为例，判断多个连续图像帧中的参考区域中是否存在目标运动对象可以是判断多个连续图像帧中的第二参考区域中是否存在第二目标运动对象；若是，则确认第一图像数据中存在第一运动对象，并获取第二盲区的第二图像数据；以及判断多个连续图像帧中的第三参考区域中是否存在第三目标运动对象；若是，则确认第一图像数据中存在第一运动对象，并获取第三盲区的第三图像数据。可以理解，此方式适用于第二参考区域和第 三参考区域中均存在第一目标运动对象的现象。
在确认第一图像数据中存在第一运动对象时，执行步骤33。
步骤33：获取第一图像数据中的第一运动对象在前一时刻与车辆的第一距离，以及获取第一运动对象在当前时刻与车辆的第二距离。
步骤34：根据第一距离和第二距离计算出第一运动对象的第一速度。
步骤35：若图像数据中的运动对象的第一速度大于车辆的当前速度，则将车辆盲区采集的当前图像数据发送给车辆或与车辆相关联的终端设备，以进行安全预警。
可以理解，步骤33-35与上述实施例相同或相似的技术方案，这里不再赘述。
通过上述方式，提高判断盲区图像中运动对象的准确性。并且解决了现有盲区预警方案中无法进行精准提醒、多侧协同的问题，还能够提高车辆驾驶安全性，提升驾驶人员的使用体验。
参阅图6，图6是本申请提供的车辆驾驶的安全预警方法第三实施例的流程示意图。该方法包括：
步骤61：在获取到车辆的第一转向数据且第一转向数据对应第二盲区时，获取在第二图像数据中的第二运动对象的第二速度。
结合上述实施例中，可以理解，步骤61之前，可以确认从第一盲区采集的第一图像数据中存在第一运动对象，且该第一运动对象位于第二参考区域，因此在行驶过程中，第一运动对象可能行驶到第二盲区的图像采集区域，所以要获取在第二盲区采集的第二图像数据。在获取到车辆的第一转向数据且第一转向数据对应第二盲区时，判断在第二图像数据中的是否存在第二运动对象，若存在则获取第二运动对象的第二速度。
可选地，第一转向数据可以是转向信号如车辆驾驶人员人为操作的转向信号，也可以是方向盘的转向角度。
步骤62：若第二图像数据中的第二运动对象的第二速度大于车辆的当前速度，则将在第二盲区采集的当前图像数据发送给车辆或与车辆相关联的终端设备。
车辆或与车辆相关联的终端设备将接收的第二盲区采集的当前图像数据显示在第二盲区采集的当前图像数据，并进行屏幕录制。进一步，在屏幕录制的同时进行环境音采集，并将录制的数据和采集的环境音上传至服务器。可以理解，若第二图像数据中的第二运动对象的第二速度大于车辆的当前速度，则第二运动对象存在超越该车辆的情况，则此时进行转向操作，安全性较低。则将第二盲区采集的当前图像数据发送给显示设备。
在一些实施例中，若第二图像数据中的第二运动对象的第二速度 大于车辆的当前速度，则确认第二运动对象与车辆的距离是否小于预设距离，若是，则将在第二盲区采集的当前图像数据发送给车辆或与车辆相关联的终端设备，以使车辆或与车辆相关联的终端设备显示在第二盲区采集的当前图像数据，并进行屏幕录制。
可以理解，若第二图像数据中的第二运动对象的第二速度大于车辆的当前速度，则第二运动对象存在超越该车辆的情况，若车辆与运动对象之间的距离小于预设距离，此时进行转向操作，大概率会出现交通事故，增加车辆与车内人员的安全风险。可在此时进行安全预警，以避免驾驶人员进行转向操作，并将第二盲区采集的当前图像数据发送给显示设备，以使驾驶人员及时应对，使车辆与运动对象保持安全距离。
步骤63：若第二图像数据中的第二运动对象的第二速度不大于车辆的当前速度，则将在第二盲区和第三盲区采集的当前图像数据发送给车辆或与车辆相关联的终端设备。
可选地，车辆或与车辆相关联的终端设备在显示屏上二分割显示在第二盲区和第三盲区采集的当前图像数据，并分别录制二分割显示的当前图像数据。进一步，在屏幕录制的同时进行环境音采集，并将录制的数据和采集的环境音上传至服务器。
在一些实施例中，若第二图像数据中的第二运动对象的第二速度不大于车辆的当前速度，则将在第一盲区、第二盲区和第三盲区采集的当前图像数据发送给车辆或与车辆相关联的终端设备，以使车辆或与车辆相关联的终端设备在显示屏上三分割显示在第一盲区、第二盲区和第三盲区采集的当前图像数据，并分别录制三分割显示的当前图像数据。进一步，在屏幕录制的同时进行环境音采集，并将录制的数据和采集的环境音上传至服务器。
在一些实施例中，若第二图像数据中的第二运动对象的第二速度大于车辆的当前速度，则获取第一转向数据的连续时间，若第一转向数据的连续时间大于预设时间，则将在第二盲区采集的当前图像数据和第一预设参数发送给显示设备，以使显示设备按照第一预设参数进行配置。
可以理解，若第一转向数据的连续时间大于预设时间则可确认该车辆会进行转向驾驶，则将在第二盲区采集的当前图像数据和第一预设参数发送给显示设备，以使显示设备按照第一预设参数进行配置。如第一预设参数包括语音播报、录制当前图像数据、对当前图像数据在显示设备上进行放大播放、上传录制的图像数据。显示设备在接收到第一预设参数和当前图像数据时，响应第一预设参数，对当前图像数据进行相应比例的放大显示，并对其进行录制，且上传录制的数据至服务器。通过上述方式，显示设备可通过图像处理装置发送的预设 参数对显示设备进行相应设置，实现显示设备自适应配置，无需人为调节。
在一些实施例中，若第二图像数据中的第二运动对象的第二速度大于车辆的当前速度，则获取第一转向数据的连续时间，若第一转向数据的连续时间不大于预设时间，则计算出第二速度与当前速度的第一差值，若第一差值大于预设差值，则将在第二盲区采集的当前图像数据和第二预设参数发送给显示设备，以使显示设备按照第二预设参数进行配置；其中，第一预设参数与第二预设参数相同。若第一差值不大于预设差值，则将第二盲区采集的当前图像数据和第三预设参数发送给显示设备，以使显示设备按照第三预设参数进行配置。如第三预设参数包括录制当前图像数据、对当前图像数据在显示设备上进行放大播放、上传录制的图像数据。以第三预设数据为录制当前图像数据、对当前图像数据在显示设备上进行放大播放、上传录制的图像数据为例进行说明：显示设备在接收到第三预设参数和当前图像数据时，响应第三预设参数，对当前图像数据进行相应比例的放大显示，并对其进行录制，且上传录制的数据至服务器。通过上述方式，显示设备可通过图像处理装置发送的预设参数对显示设备进行相应设置，实现显示设备自适应配置，无需人为调节。
参阅图7，图7是本申请提供的车辆驾驶的安全预警方法第四实施例的流程示意图。该方法包括：
步骤71：在获取到车辆的第二转向数据且第二转向数据对应第三盲区时，获取在第三图像数据中的第三运动对象的第三速度。
结合上述实施例中，可以理解，步骤71之前，可以确认从第一盲区采集的第一图像数据中存在第一运动对象，且该第一运动对象位于第三参考区域，因此在行驶过程中，第一运动对象可能行驶到第三盲区的图像采集区域，所以要获取在第三盲区采集的第三图像数据。在获取到车辆的第一转向数据且第一转向数据对应第三盲区时，判断在第三图像数据中的是否存在第三运动对象，若存在则获取第三运动对象的第三速度。
步骤72：若第三图像数据中的第三运动对象的第三速度大于车辆的当前速度，则将在第三盲区采集的当前图像数据发送给车辆或与车辆相关联的终端设备。
可以理解，若第三图像数据中的第三运动对象的第三速度大于车辆的当前速度，则第三运动对象存在超越该车辆的情况，则此时进行转向操作，安全性较低。则将第三盲区采集的当前图像数据发送给显示设备。
在一些实施例中，若第三图像数据中的第三运动对象的第三速度大于车辆的当前速度，则确认第三运动对象与车辆的距离是否小于预 设距离，若是，则将在第三盲区采集的当前图像数据发送给车辆或与车辆相关联的终端设备，以使车辆或与车辆相关联的终端设备显示在第三盲区采集的当前图像数据，并进行屏幕录制。
可以理解，若第三图像数据中的第三运动对象的第三速度大于车辆的当前速度，则第三运动对象存在超越该车辆的情况，若车辆与运动对象之间的距离小于预设距离，此时进行转向操作，大概率会出现交通事故，增加车辆与车内人员的安全风险。可在此时进行安全预警，以避免驾驶人员进行转向操作，并将第三盲区采集的当前图像数据发送给显示设备，以使驾驶人员及时应对，使车辆与运动对象保持安全距离。
在一些实施例中，车辆盲区包括第一盲区、第二盲区和第三盲区；其中，第一盲区位于车辆后侧，第二盲区和第三盲区分别位于车辆左右两侧；图像处理装置在获取到车辆的车门开启信号时，确认车门对应的第二盲区或第三盲区内是否存在第四运动对象，若是，将第四提示音和对应的第二盲区或第三盲区采集的当前图像数据发送给车辆或与车辆相关联的终端设备，以使车辆或终端设备在对应的显示屏上显示当前图像数据和控制车辆或终端设备的扬声器播放第四提示音，以对车辆内的人员进行预警提示。通过上述方式，在车辆行驶过程中，出现车门开启的情况进行预警提醒，提高车辆、车内人员以及运动对象的安全，减少交通事故的发生。
在一些实施例中，在车辆的当前档位为预设档位时，图像处理装置确认第二盲区和/或第三盲区内是否存在第五运动对象，若是，将第五提示音和对应的第二盲区和/或第三盲区采集的当前图像数据发送给车辆或与车辆相关联的终端设备，以使车辆或终端设备在对应的显示屏上显示当前图像数据和控制车辆或终端设备的扬声器播放第五提示音，以对车辆内的人员进行预警提示。在一些实施例中，预设档位可以是P档，或当前车辆停在路边，则会出现车内人员下车的情况，若此时有运动对象行驶而来，则会出现安全隐患。通过上述方式，实时确认相应盲区的运动对象，提高车辆、车内人员以及运动对象的安全，减少交通事故的发生。
参阅图8，图8是本申请提供的车辆驾驶的安全预警方法第五实施例的流程示意图。该方法包括：
步骤81：获取在第一盲区采集的第一图像数据。
在本实施例中，车辆盲区还包括第一盲区，第一盲区设置于该车辆的后侧。
步骤82：获取第一图像数据中的第一运动对象的第一速度。
步骤83：若第一图像数据中的第一运动对象的第一速度大于车辆的当前速度，则将在第一盲区采集的当前图像数据发送给显示设备。
在一些实施例中，若第一图像数据中的第一运动对象的第一速度大于车辆的当前速度，则获取车辆的当前转向数据；若未获取到车辆的当前转向数据，则将在第一盲区采集的当前图像数据发送给显示设备。
可以理解，若未获取到车辆的当前转向数据，则可确认该车辆在直线行驶，则暂无转向可能，则在将第一盲区采集的当前图像数据发送给显示设备，以提醒车辆驾驶人员确认是否需要转向对第三运动对象进行避让，以提高驾驶安全性。
在一应用场景中，车辆在行驶过程中，图像处理装置中的实时获取第一盲区、第二盲区和第三盲区的图像数据，并发送给显示设备，显示设备根据图10所示的方式，将显示设备的显示屏分为三个显示区域，对第一盲区、第二盲区和第三盲区的图像数据进行显示。在图像处理装置获取车辆的第一转向数据时，若第一转向数据对应第二盲区，则获取在第二盲区采集的第二图像数据；获取第二图像数据中的第二运动对象的第二速度；若第二图像数据中的第二运动对象的第二速度大于车辆的当前速度，则将在第二盲区采集的当前图像数据发送给显示设备，显示设备在接收到第二盲区的当前图像数据时，将图10的显示方式进行切换，只显示此次接收到的第二盲区的当前图像数据，并进行语音提醒。在显示过程中，图像处理装置仍会实时获取第二盲区的当前图像数据中第二运动对象的实时速度数据，在该速度数据小于车辆的当前速度，或第二运动对象已在第二盲区中消失(如已超过本车辆或因第二运动对象速度太小，远离了第二盲区的采集范围)时，显示设备退出当前显示模式，转换为图10所示的显示模式。若第一转向数据对应第三盲区，则获取在第三盲区采集的第三图像数据；获取第三图像数据中的第三运动对象的第三速度；若第三图像数据中的第三运动对象的第三速度大于车辆的当前速度，则将在第三盲区采集的当前图像数据发送给显示设备，显示设备在接收到第三盲区的当前图像数据时，将图10的显示方式进行切换，只显示此次接收到的第三盲区的当前图像数据，并进行语音提醒。在显示过程中，图像处理装置仍会实时获取第三盲区的当前图像数据中第三运动对象的实时速度数据，在该速度数据小于车辆的当前速度或第三运动对象已在第三盲区中消失(如已超过本车辆或因第三运动对象速度太小远离了第三盲区的采集范围)时，显示设备退出当前显示模式，转换为图10所示的显示模式。若在第一盲区的第一图像数据中检测到第一运动对象，且第一运动对象的第一速度大于车辆的当前速度，则获取车辆的第二转向数据；若未获取到车辆的第二转向数据，则将在第一盲区采集的当前图像数据发送给显示设备。显示设备在接收到第一盲区的当前图像数据时，将图10的显示方式进行切换，只显示此次接 收到的第一盲区的当前图像数据，并进行提示音或语音提醒，以提醒车内人员后方存在速度较快的对象。在一些实施例中，进行提示音或语音提醒的同时进行显示设备屏幕录制，并将录制的图像数据上传至服务器或发送至移动终端。
在一些实施例中，若第一盲区的第一运动对象移动至第二盲区或第三盲区，则获取第二盲区或第三盲区中第一运动对象的第四速度；若第二盲区或第三盲区中第一运动对象的第四速度大于车辆的当前速度，则将第二盲区或第三盲区采集的当前图像数据发送给显示设备，以使显示设备按照上述方式进行显示接收到的当前图像，并对该当前图像进行录制。
可以理解，根据第一盲区中第一运动对象的移动，可以判断该与第一运动对象是否转向，若第一运动对象转向，且第一运动对象转向后第一盲区无运动对象，则可以向显示设备发送指令，使显示设备由图10的显示方式切换为图9的显示方式。
参阅图11，图11是本申请提供的车辆驾驶的安全预警方法第六实施例的流程示意图。该方法包括：
步骤111：获取车辆的前置摄像头采集的第四图像数据。
可以理解，本实施例适用于当车辆转向时，图像处理装置无法从CAN线上获取到转向数据，或者用于在图像处理装置获取到转向数据时，进行进一步确认转向数据是否确认。
步骤112：获取第四图像数据中车道线与车辆的第一角度。
在一些实施例中，步骤112可以是识别第四图像中的当前时刻的第一车道线以及前一时刻的第二车道线；计算第一车道线与第二车道线之间所形成的夹角的角度，并将夹角的角度作为第一角度。
如图12所示，当前时刻的第一车道线为B1和B2；前一时刻的第二车道线为A1和A2，B1和A1之间所形成的夹角的角度为α。
如图13所示，当前时刻的第一车道线为B1和B2；前一时刻的第二车道线为A1和A2，B1和A1之间所形成的夹角的角度为β。
步骤113：若第一角度大于第一预设角度，则确认第一转向数据对应第二盲区。
结合图12和图13进行理解，将前一时刻的第二车道线为基准，当前时刻的第一车道线位于第二车道线的右侧，则他们之间的夹角的角度为正，则第一角度大于第一预设角度，则确认第一转向数据对应第二盲区。
如，第一角度为10度，第一预设角度为5度，则第一角度大于第一预设角度，则确认第一转向数据对应第二盲区。
步骤114：若第一角度小于第二预设角度，则确认第一转向数据对应第三盲区。
结合图12和图13进行理解，将前一时刻的第二车道线为基准，当前时刻的第一车道线位于第二车道线的左侧，则他们之间的夹角的角度为负，则第一角度小于第二预设角度，则确认第一转向数据对应第三盲区。
如，第一角度为-10度，第二预设角度为-5度，则第一角度小于第二预设角度，则确认第一转向数据对应第三盲区。
可以理解，第二盲区位于该车辆左侧至左后侧，第三盲区位于该车辆右侧至右后侧。在确认该车辆的转向数据后，根据转向数据对应的车辆盲区，按照上述其他实施例的方法进行工作。
参阅图14，对上述几个实施例进行说明：图14中的车辆C使用上述实施例中的方法。其中，车辆C行驶在3个车道的道路上，其中，3个车道分别为车道1，车道2，车道3。此时车辆C位于车道2。车道1上有车辆D，车道2上车辆C后还有车辆F，车道3上有车辆E。其中，车辆C左侧后视镜的可视区域为δ1区域，右侧后视镜的可视区域为δ2区域，第二盲区的可视区域为γ1区域，第三盲区的可视区域为γ2区域,第一盲区的可视区域为ε1区域。其中，第二盲区和第三盲区的区域可采集车辆对应左右两侧的所有区域，即180度范围，最远距离22米。第一盲区的区域可采集车辆后侧22米范围内的110度广角区域。当车辆C位于车道2时，第二盲区、第三盲区和第一盲区同时采集相应区域的图像数据，并发送至显示设备。若此时在车道C的第二盲区的可视区域出现了车辆D，则对车辆D进行识别，以判断车辆D的速度是否大于车辆C当前速度，若是进行提醒。若在此时获取到车辆C转向车道1的转向数据时，判断车辆D的速度是否大于车辆C当前速度，若是则在显示设备上切换为单独显示第二盲区的图像数据，并进行提醒和图像数据保存，并上传至服务器。若此时在车道C的第三盲区的可视区域出现了车辆E，则对车辆E进行识别，以判断车辆E的速度是否大于车辆C当前速度，若是进行提醒。若在此时获取到车辆C转向车道3的转向数据时，判断车辆E的速度是否大于车辆C当前速度，若是则在显示设备上切换为单独显示第三盲区的图像数据，并进行提醒和图像数据保存，并上传至服务器。若此时在车道C的第一盲区的可视区域出现了车辆F，则对车辆F进行识别，以判断车辆F的速度是否大于车辆C当前速度，若是则在显示设备上切换为单独显示第一盲区的图像数据，并进行提醒和图像数据保存，并上传至服务器。
进一步，若车辆C在车道1行驶，则此时可停止第二盲区的图像采集；若车辆C转向车道3行驶，则此时可停止第三盲区的图像采集。显示设备则可只显示其余两个盲区的图像数据。
进一步，第一盲区的图像采集装置包括三个摄像头，将三个摄像 头采集的数据合成发送至显示设备进行显示。
参阅图15，图15是本申请提供的车辆驾驶的安全预警方法第七实施例的流程示意图。该方法包括：
步骤151：车载装置接收图像处理装置发送的在车辆盲区采集的当前图像数据。
其中，车辆盲区包括第一盲区和第二盲区和第三盲区。车辆盲区采集的当前图像数据由图像处理装置在获取到在车辆盲区采集的图像数据以及确认图像数据中的运动对象的第一速度大于车辆的当前速度时发送的。
在一些实施例中，图像处理装置响应上述任一实施例中的转向数据，并在盲区中的运动对象的速度大于该车辆的当前速度时，获取对应盲区的当前图像数据，发送至车载装置。
其中，车载装置与图像处理装置通过蓝牙或无线或车辆can总线连接。
步骤152：若在车辆盲区采集的当前图像数据为在第一盲区采集的当前图像数据，则在车载装置的显示屏上进行显示。
在一些实施例中，在步骤152之前，车载装置按照预设配置显示对应多个盲区的图像数据，当接收到在第二盲区采集的当前图像数据时，则切换显示画面，单独播放在第二盲区采集的当前图像数据，并进行提醒。
步骤153：若在车辆盲区采集的当前图像数据为在第一盲区和第二盲区采集的当前图像数据，则在车载装置的显示屏上同时显示在第一盲区和第二盲区采集的当前图像数据。
可以理解，若执行步骤153，则确认当前多个盲区中并无危险的运动对象。
在一些实施例中，若在车辆盲区采集的当前图像数据为在第二盲区采集的当前图像数据，则在车载装置的显示屏上进行显示。当接收到在第二盲区采集的当前图像数据时，则切换显示画面，单独显示在第二盲区采集的当前图像数据，并进行提醒，如语音提醒。
在一些实施例中，若在车辆盲区采集的当前图像数据为在第三盲区采集的当前图像数据，则在车载装置的显示屏上进行显示。当接收到在第三盲区采集的当前图像数据时，则切换显示画面，单独播放在第三盲区采集的当前图像数据，并进行提醒。在一些实施例中，若在车辆盲区采集的当前图像数据为在第一盲区、第二盲区和第三盲区采集的当前图像数据，则在车载装置的显示屏上同时显示在第一盲区、第二盲区和第三盲区采集的当前图像数据。
在一些实施例中，车载装置还与车辆连接，可从车辆的CAN总线上获取相应信号，若获取到车门开启信号，则可确认检测到车辆的车 门打开。则将开启信号发送至图像处理装置，以使图像处理装置确认车门对应的第二盲区或所述第三盲区内是否存在第六运动对象，若是，将第六提示音和对应的第二盲区或第三盲区采集的当前图像数据发送至所述车载装置。接收到第六提示音和对应的第二盲区或第三盲区采集的当前图像数据后，在车载装置的显示屏上显示当前图像数据和控制车辆或车载装置的扬声器播放所述第六提示音，以对车辆内的人员进行预警提示。举例说明：若车辆左侧的车门打开，向图像处理装置发送第一指令，图像处理装置根据第一指令判断当前时刻第二盲区中是否有运动对象，若有，则生成提示音将当前图像发送至车载装置，以使车载装置在显示屏上切换显示屏，单独播放当前图像数据和控制扬声器播放第六提示音，以对车辆内的人员进行预警提示。若车辆右侧的车门打开，向图像处理装置发送第一指令，图像处理装置根据第一指令判断当前时刻第三盲区中是否有运动对象，若有，则生成提示音将当前图像发送至车载装置，以使车载装置在显示屏上切换显示屏的显示方式，单独播放当前图像数据和控制扬声器播放第六提示音，以对车辆内的人员进行预警提示。通过上述方式，在车辆行驶过程中，出现车门开启的情况进行预警提醒，提高车辆、车内人员以及运动对象的安全，减少交通事故的发生。
进一步，在一些实施例中，接收图像处理装置发送的第七提示音和第二盲区和/或第三盲区采集的当前图像数据，其中，第七提示音由图像处理装置在车辆的当前档位为预设档位时，确认第二盲区和/或第三盲区内是否存在第七运动对象时生成；在车载装置的显示屏上显示第二盲区和/或第三盲区采集的当前图像数据和控制车辆或车载装置的扬声器播放第七提示音，以对车辆内的人员进行预警提示。在一些实施例中，预设档位可以是P档，或当前车辆停在路边，则会出现车内人员下车的情况，若此时有运动对象行驶而来，则会出现安全隐患。通过上述方式，实时确认相应盲区的运动对象，提高车辆、车内人员以及运动对象的安全，减少交通事故的发生。
在一些实施例中，车载装置与移动终端连接，如蓝牙连接、无线连接。车载装置接收移动终端的发送的指令，根据这些指令进行相应配置。如为车载装置设置提醒提示音，设置显示模式，如2分屏、3分屏、4分屏。其中，2分屏用于显示两个盲区的图像数据。3分屏用于显示三个盲区的图像数据。4分屏用于显示4个图像数据，除了三个盲区的图像数据，还包括车辆前置摄像头采集前方的图像数据。
在一些实施例中，车载装置接收图像处理装置发送的在车辆盲区采集的当前图像数据和预设参数；若在车辆盲区采集的当前图像数据为第一盲区采集的当前图像数据，则基于预设参数，在显示屏上显示在第一盲区采集的当前图像数据，并将当前图像数据进行录制，并将 录制的当前图像数据存储至服务器。
可以理解，若在车辆盲区采集的当前图像数据为第二盲区或第三盲区采集的当前图像数据，则基于预设参数，在显示屏上显示在第二盲区或第三盲区采集的当前图像数据，并将当前图像数据进行录制，并将录制的当前图像数据存储至服务器。
进一步，车载装置包括拾音器，用于收集车辆的环境音。在显示屏上显示在第一盲区采集的当前图像数据，并将当前图像数据进行录制，以及通过拾音器收集车辆的当前环境音，并将录制的当前图像数据和当前环境音存储至服务器。实现全方位的声音采集，使图像数据具有环境音，能够在回放图像数据时最大程度的还原录制时的场景。例如，车载装置可以包括多个拾音器，通过将多个拾音器分别设置于车辆的相应位置上进行环境音采集。又例如，该拾音器为全方位拾音器，通过一个全方位拾音器可以进行全方位的声音采集。
可以理解，在显示屏上显示在第二盲区或第三盲区采集的当前图像数据，并将当前图像数据进行录制，以及通过拾音器收集车辆的当前环境音，并将录制的当前图像数据和当前环境音存储至服务器。
区别于现有技术的情况，本实施例中提供的车辆驾驶的安全预警方法通过车载装置接收图像处理装置发送的在车辆盲区采集的当前图像数据，其中，车辆盲区包括第一盲区和第二盲区和第三盲区。车辆盲区采集的当前图像数据由图像处理装置在获取到在车辆盲区采集的图像数据以及确认图像数据中的运动对象的第一速度大于车辆的当前速度时发送的；若在车辆盲区采集的当前图像数据为在第一盲区采集的当前图像数据，则在车载装置的显示屏上进行显示；若在车辆盲区采集的当前图像数据为在第一盲区和第二盲区采集的当前图像数据，则在车载装置的显示屏上同时显示在第一盲区和第二盲区采集的当前图像数据。通过上述方式，一方面解决了现有盲区预警方案中无法进行精准提醒、多侧协同的问题，另一方面在人机交互的基础上实现了对车辆各后视镜盲区图像系统的主动配置，能够提高车辆驾驶安全性，并提高用户体验。
参阅图16，图16是本申请提供的车辆驾驶的安全预警方法第八实施例的流程示意图。该方法包括：
步骤161：移动终端接收图像处理装置发送的在车辆盲区采集的当前图像数据。
其中，车辆盲区包括第一盲区和第二盲区和第三盲区。车辆盲区采集的当前图像数据由图像处理装置在获取到在车辆盲区采集的图像数据以及确认图像数据中的运动对象的第一速度大于车辆的当前速度时发送的。
在一些实施例中，图像处理装置响应上述任一实施例中的转向数 据，并在盲区中的运动对象的速度大于该车辆的当前速度时，获取对应盲区的当前图像数据，发送至移动终端。
在一些实施例中，该车辆还包括一车载装置，与图像处理装置连接，图像处理装置获取在车辆盲区采集的当前图像数据可发给车载装置和移动终端，以使车载装置上的显示屏和移动终端上的显示屏同时实时显示。
其中，移动终端与图像处理装置通过蓝牙或无线连接。
步骤162：若在车辆盲区采集的当前图像数据为在第一盲区采集的当前图像数据，则在移动终端的显示屏上进行显示。
在步骤162之前，移动终端按照预设配置显示对应多个盲区的图像数据，当接收到在第二盲区采集的当前图像数据时，则切换显示画面，单独播放在第二盲区采集的当前图像数据，并进行提醒。
步骤163：若在车辆盲区采集的当前图像数据为在第一盲区和第二盲区采集的当前图像数据，则在移动终端的显示屏上同时显示在第一盲区和第二盲区采集的当前图像数据。
可以理解，若执行步骤163，则确认当前多个盲区中并无危险的运动对象。
在一些实施例中，若在车辆盲区采集的当前图像数据为在第二盲区采集的当前图像数据，则在移动终端的显示屏上进行显示。当接收到在第二盲区采集的当前图像数据时，则切换显示画面，单独播放在第二盲区采集的当前图像数据，并进行提醒。
在一些实施例中，若在车辆盲区采集的当前图像数据为在第三盲区采集的当前图像数据，则在移动终端的显示屏上进行显示。当接收到在第三盲区采集的当前图像数据时，则切换显示画面，单独播放第三盲区采集的当前图像数据，并进行提醒。
在一些实施例中，若在车辆盲区采集的当前图像数据为在第一盲区、第二盲区和第三盲区采集的当前图像数据，则在移动终端的显示屏上同时显示第一盲区、第二盲区和第三盲区采集的当前图像数据。
在一些实施例中，移动终端接收图像处理装置发送的第八提示音和在第二盲区和/或第三盲区采集的当前图像数据；在移动终端的显示屏上显示在第二盲区或第三盲区采集的当前图像数据和控制扬声器播放第八提示音，以对车辆内的人员进行预警提示；其中，第八提示音由车载装置在获取到车辆的车门开启信号时，将开启信号发送至图像处理装置，或，在车辆的当前档位为预设档位时，图像处理装置确认第二盲区或第三盲区采集的当前图像数据内存在第八运动对象时产生。通过上述方式，在车辆行驶过程中，出现车门开启的情况进行预警提醒，提高车辆、车内人员以及运动对象的安全，减少交通事故的发生。以及通过上述方式，实时确认相应盲区的运动对象，提高 车辆、车内人员以及运动对象的安全，减少交通事故的发生。
在一些实施例中，移动终端接收图像处理装置发送的在车辆盲区采集的当前图像数据和预设参数；若在车辆盲区采集的当前图像数据为在第二盲区采集的当前图像数据，则基于预设参数，在移动终端的显示屏上显示在第一盲区采集的当前图像数据，并将当前图像数据进行录制，并将录制的当前图像数据存储至服务器。进一步，可控制控制车载装置进行环境音拾取，并同步上传至服务器。如，在移动终端的显示屏上显示第一盲区采集的当前图像数据，并对显示屏进行屏幕录制，以及通过车载设备的拾音器收集所述车辆的当前环境音，并将录制的当前图像数据和当前环境音存储至服务器。
在一些实施例中，响应于第一触控指令，发送第一设置参数至车载装置和/或图像处理装置，以使车载装置和/或图像处理装置基于第一设置参数进行设置。结合图17进行说明：如图17，可在移动终端设置进行选择，如录音是否开启，音量的调节、警告声音的选择、警告提示级别、前摄像头是否开启、车道偏移提醒等多种功能的设置。移动终端响应于第一触控指令，发送这些第一设置参数至车载装置和/或图像处理装置，以使车载装置和/或图像处理装置基于第一设置参数进行设置。
其中，移动终端与车载装置可通过数据线连接。用户在移动终端上进行参数设置，车载装置可同步响应该参数，进而完成相应设置。
在一些实施例中，响应于第二触控指令，从本地存储或服务器中获取历史图像数据；对历史数据进行显示。结合图18和图19进行说明：如图18展示了不同状态下录制的图像数据，并将其分为本地视频和云端视频。点击本地视频，则会出现如图19所示的多个视频文件。用户可对这些视频文件进行删除、移动、移动后删除源文件等操作。在移动终端中将通过这个方式，可回放历史图像数据以及对历史图像数据进行整理，可为后续的系统升级提供素材。能够在回放图像数据时最大程度的还原录制时的场景。
在一些实施例中，移动终端接收图像处理装置发送的第九提示音和在第二盲区或第三盲区采集的当前图像数据，并在移动终端的显示屏上播放在第二盲区或第三盲区采集的当前图像数据和控制扬声器播放第九提示音，以对车辆内的人员进行预警提示；其中，第九提示音由车载装置检测车辆的车门打开，且图像处理装置确认当前时间车门对应的第二盲区或第三盲区内存在第五运动对象时产生。并对当前图像数据进行录制上传服务器。这些图像数据可在发生交通事故时作为资料示出，有助于交通事故的责任划分。
区别于现有技术的情况，本实施例中提供的车辆驾驶的安全预警方法通过移动终端接收图像处理装置发送的在车辆盲区采集的当前 图像数据，其中，车辆盲区包括第一盲区和第二盲区和第三盲区。车辆盲区采集的当前图像数据由图像处理装置在获取到在车辆盲区采集的图像数据以及确认图像数据中的运动对象的第一速度大于车辆的当前速度时发送的；若在车辆盲区采集的当前图像数据为在第一盲区采集的当前图像数据，则在移动终端的显示屏上进行显示；若在车辆盲区采集的当前图像数据为在第一盲区和第二盲区采集的当前图像数据，则在移动终端的显示屏上同时显示在第一盲区和第二盲区采集的当前图像数据。通过上述方式，一方面解决了现有盲区预警方案中无法进行精准提醒、多侧协同的问题，另一方面在人机交互的基础上实现了对车辆各后视镜盲区图像系统的主动配置，能够提高车辆驾驶安全性，并提高用户体验。
参阅图20，图20是本申请提供的图像处理装置一实施例的结构示意图。该图像处理装置200包括处理器201以及与处理器201连接的存储器202；其中，存储器202用于存储程序数据，处理器201用于执行程序数据，以实现以下方法：
图像处理装置获取在车辆盲区采集的图像数据；获取图像数据中的运动对象的第一速度；若图像数据中的运动对象的第一速度大于车辆的当前速度，则将在车辆盲区采集的当前图像数据发送给车辆或与车辆相关联的终端设备，以进行安全预警。
可以理解，处理器201用于执行程序数据，还用于实现上述任一实施例中图像处理装置执行的方法。
参阅图21，图21是本申请提供的车载装置一实施例的结构示意图。该车载装置210包括处理器211以及与处理器211连接的存储器212；其中，存储器212用于存储程序数据，处理器211用于执行程序数据，以实现以下方法：
车载装置接收图像处理装置发送的在车辆盲区采集的当前图像数据，其中，车辆盲区包括第一盲区和第二盲区和第三盲区。车辆盲区采集的当前图像数据由图像处理装置在获取到在车辆盲区采集的图像数据以及确认图像数据中的运动对象的第一速度大于车辆的当前速度时发送的；若在车辆盲区采集的当前图像数据为在第一盲区采集的当前图像数据，则在车载装置的显示屏上进行显示；若在车辆盲区采集的当前图像数据为在第一盲区和第二盲区采集的当前图像数据，则在车载装置的显示屏上同时显示在第一盲区和第二盲区采集的当前图像数据。
可以理解，处理器211用于执行程序数据，还用于实现上述任一实施例中车载装置执行的方法。
参阅图22，图22是本申请提供的移动终端一实施例的结构示意图。该移动终端220包括处理器221以及与处理器221连接的存储器 222；其中，存储器222用于存储程序数据，处理器221用于执行程序数据，以实现以下方法：
移动终端接收图像处理装置发送的在车辆盲区采集的当前图像数据，其中，车辆盲区包括第一盲区和第二盲区和第三盲区。车辆盲区采集的当前图像数据由图像处理装置在获取到在车辆盲区采集的图像数据以及确认图像数据中的运动对象的第一速度大于车辆的当前速度时发送的；若在车辆盲区采集的当前图像数据为在第一盲区采集的当前图像数据，则在移动终端的显示屏上进行显示；若在车辆盲区采集的当前图像数据为在第一盲区和第二盲区采集的当前图像数据，则在移动终端的显示屏上同时显示在第一盲区和第二盲区采集的当前图像数据。
可以理解，处理器221用于执行程序数据，还用于实现上述任一实施例中移动终端执行的方法。
参阅图23，图23是本申请提供的可读存储介质一实施例的结构示意图。该可读存储介质230用于存储程序数据231，程序数据231在被处理器执行时，用于实现以下方法：
图像处理装置获取在车辆盲区采集的图像数据；获取图像数据中的运动对象的第一速度；若图像数据中的运动对象的第一速度大于车辆的当前速度，则将在车辆盲区采集的当前图像数据发送给车辆或与车辆相关联的终端设备，以进行安全预警；或，
车载装置接收图像处理装置发送的在车辆盲区采集的当前图像数据，其中，车辆盲区包括第一盲区和第二盲区和第三盲区。车辆盲区采集的当前图像数据由图像处理装置在获取到在车辆盲区采集的图像数据以及确认图像数据中的运动对象的第一速度大于车辆的当前速度时发送的；若在车辆盲区采集的当前图像数据为在第一盲区采集的当前图像数据，则在车载装置的显示屏上进行显示；若在车辆盲区采集的当前图像数据为在第一盲区和第二盲区采集的当前图像数据，则在车载装置的显示屏上同时显示在第一盲区和第二盲区采集的当前图像数据；或，
移动终端接收图像处理装置发送的在车辆盲区采集的当前图像数据，其中，车辆盲区包括第一盲区和第二盲区和第三盲区。车辆盲区采集的当前图像数据由图像处理装置在获取到在车辆盲区采集的图像数据以及确认图像数据中的运动对象的第一速度大于车辆的当前速度时发送的；若在车辆盲区采集的当前图像数据为在第一盲区采集的当前图像数据，则在移动终端的显示屏上进行显示；若在车辆盲区采集的当前图像数据为在第一盲区和第二盲区采集的当前图像数据，则在移动终端的显示屏上同时显示在第一盲区和第二盲区采集的当前图像数据。
可以理解，程序数据231在被处理器执行时，还用于实现上述任一实施例方法。
参阅图24，图24是本申请提供的车辆驾驶的安全预警系统一实施例的结构示意图。该安全预警系统240包括图像处理装置241、车载装置242和移动终端243；
其中，图像处理装置241如上述任一实施例中的图像处理装置、车载装置242如上述任一实施例中的车载装置和移动终端243如上述任一实施例中的移动终端。
可以理解，图像处理装置241、车载装置242和移动终端243可用于实现上述任一实施例对应的方法。
在本申请所提供的几个实施方式中，应该理解到，所揭露的方法以及设备，可以通过其它的方式实现。例如，以上所描述的设备实施方式仅仅是示意性的，例如，所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。
所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实施方式方案的目的。
另外，在本申请各个实施方式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。
上述其他实施方式中的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，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(processor)执行本申请各个实施方式所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
以上仅为本申请的实施方式，并非因此限制本申请的专利范围，凡是利用本申请说明书及附图内容所作的等效结构或等效流程变换， 或直接或间接运用在其他相关的技术领域，均同理包括在本申请的专利保护范围内。
本申请实施例还揭示了：
A1.一种车辆驾驶的安全预警方法，所述方法包括：
图像处理装置获取在车辆盲区采集的图像数据；
获取所述图像数据中的运动对象的第一速度；
若所述图像数据中的运动对象的第一速度大于所述车辆的当前速度，则将在所述车辆盲区采集的当前图像数据发送给所述车辆或与所述车辆相关联的终端设备，以进行安全预警。
A2.根据A1所述的方法，
所述车辆盲区包括第一盲区；其中，所述第一盲区位于所述车辆的后侧；
所述获取在车辆盲区采集的图像数据，包括：
获取在所述第一盲区采集的第一图像数据；
所述获取所述图像数据中的运动对象的第一速度，包括：
获取所述第一图像数据中的第一运动对象在前一时刻与所述车辆的第一距离，以及获取所述第一运动对象在当前时刻与所述车辆的第二距离；
根据所述第一距离和所述第二距离计算出所述第一运动对象的第一速度。
A3.根据A2所述的方法，
所述获取所述第一图像数据中的第一运动对象在前一时刻与所述车辆的第一距离，以及获取所述第一运动对象在当前时刻与所述车辆的第二距离，包括：
检测所述第一图像数据中是否存在第一运动对象；
若是，则获取所述第一图像数据中的第一运动对象在前一时刻与所述车辆的第一距离，以及获取所述第一运动对象在当前时刻与所述车辆的第二距离。
A4.根据A3所述的方法，
所述检测所述第一图像数据中是否存在第一运动对象，包括：
获取所述第一图像数据中的多个连续图像帧；
判断多个所述连续图像帧中的参考区域中是否存在目标运动对象；
若是，则确认所述第一图像数据中存在第一运动对象。
A5.根据A4所述的方法，
所述判断多个所述连续图像帧中的参考区域中是否存在目标运动对象，包括：
确定所述多个连续图像帧中的当前图像帧，并在所述当前图像帧 中确定多个第一目标区域；
获取所述第一目标区域与所述参考区域的重叠区域，以作为第一有效区域；
获取所述第一有效区域中灰度值大于预设灰度值的第一像素数量，以及获取所述有效区域的第二像素数量；
若所述第一像素数量与所述第二像素数量之间的第一比值大于第一参考阈值，则确定所述参考区域中存在目标运动对象。
A6.根据A5所述的方法，
所述若所述第一像素数量与所述第二像素数量之间的第一比值大于第一参考阈值，则确定所述参考区域中存在目标运动对象，包括：
若所述第一像素数量与所述第二像素数量之间的第一比值大于第一参考阈值，则确定所述多个连续图像帧中的下一图像帧，并在所述下一图像帧中确定多个第一目标区域，再次执行所述获取所述第一目标区域与所述参考区域的重叠区域，以作为第一有效区域的步骤。
A7.根据A5所述的方法，
所述若所述第一像素数量与所述第二像素数量之间的第一比值大于第一参考阈值，则确定所述参考区域中存在目标运动对象，包括：
若所述第一像素数量与所述第二像素数量之间的第一比值大于第一参考阈值，则获取所述当前图像帧中所述第一目标区域的第一位置信息；
获取下一图像帧中所述第一目标区域的第二位置信息；
基于所述第一位置信息和所述第二位置信息以确定所述第一目标区域相对于所述车辆的第一方向；
若所述第一方向与所述车辆的第二方向相同，则确定所述参考区域中存在目标运动对象。
A8.根据A7所述的方法，
所述若所述第一方向与所述车辆的第二方向相同，则确定所述参考区域中存在目标运动对象，包括：
若所述第一方向与所述车辆的第二方向相同，则在所述当前图像帧中确定多个第二目标区域；其中，所述第二目标区域为所述当前图像帧中表示非自然边缘的像素点所组成的区域；
获取所述多个第二目标区域与所述参考区域的重叠区域，以作为第二有效区域；
获取所述第二有效区域在所述多个第二目标区域中所占的第三像素数量，以及获取所述多个第二目标区域的第四像素数量；
若所述第三像素数量与所述第四像素数量之间的第二比值大于第二参考阈值，则确定所述参考区域中存在目标运动对象。
A9.根据A4所述的方法，
所述车辆盲区还包括第二盲区和第三盲区；其中，所述第二盲区和所述第三盲区分别位于所述车辆的左右两侧；
所述参考区域包括第一参考区域、第二参考区域和第三参考区域；其中，所述第一参考区域位于所述车辆的正后方，所述第二参考区域和所述第三参考区域分别位于所述第一参考区域两侧；
所述判断多个所述连续图像帧中的参考区域中是否存在目标运动对象，包括：
判断多个所述连续图像帧中的第一参考区域中是否存在第一目标运动对象，若是，则确认所述第一图像数据中存在第一运动对象；和/或，
判断多个所述连续图像帧中的第二参考区域中是否存在第二目标运动对象；若是，则确认所述第一图像数据中存在第一运动对象，并获取所述第二盲区的第二图像数据；和/或，
判断多个所述连续图像帧中的第三参考区域中是否存在第三目标运动对象；若是，则确认所述第一图像数据中存在第一运动对象，并获取所述第三盲区的第三图像数据。
A10.根据A9所述的方法，
所述第一参考区域包括第一参考子区域、第二参考子区域和第三参考子区域，所述第一参考子区域、所述第二参考子区域和所述第三参考子区域依次对应所述车辆后侧区域；
所述判断多个所述连续图像帧中的第一参考区域中是否存在第一目标运动对象，若是，则确认所述第一图像数据中存在第一运动对象，包括：
判断多个所述连续图像帧中的所述第一参考子区域、所述第二参考子区域和所述第三参考子区域中是否存在第一目标运动对象，若所述第三参考子区域中存在第一目标运动对象，则将第一提示音和在所述第一盲区采集的当前图像数据发送给所述车辆或与所述车辆相关联的终端设备，以进行安全预警；若所述第二参考子区域中存在第一目标运动对象，则将第二提示音和在所述第一盲区采集的当前图像数据发送给所述车辆或与所述车辆相关联的终端设备，以进行安全预警；若所述第一参考子区域中存在第一目标运动对象，则将第三提示音和在所述第一盲区采集的当前图像数据发送给所述车辆或与所述车辆相关联的终端设备，以进行安全预警；
其中，所述第三提示音的预警等级高于所述第二提示音的预警等级，所述第二提示音的预警等级高于所述第一提示音的预警等级。
A11.根据A9所述的方法，
所述确认所述第一图像数据中存在第一运动对象，并获取所述第二盲区的第二图像数据之后，还包括：
在获取到所述车辆的第一转向数据且所述第一转向数据对应所述第二盲区时，获取在第二图像数据中的第二运动对象的第二速度；
若所述第二图像数据中的第二运动对象的第二速度大于所述车辆的当前速度，则将在第二盲区采集的当前图像数据发送给所述车辆或与所述车辆相关联的终端设备，以使所述车辆或与所述车辆相关联的终端设备显示在所述第二盲区采集的当前图像数据，并进行屏幕录制；
若所述第二图像数据中的第二运动对象的第二速度不大于所述车辆的当前速度，则将在所述第二盲区和所述第三盲区采集的当前图像数据发送给所述车辆或与所述车辆相关联的终端设备，以使所述车辆或与所述车辆相关联的终端设备在显示屏上二分割显示在所述第二盲区和所述第三盲区采集的当前图像数据，并分别录制二分割显示的当前图像数据；或，将在所述第一盲区、所述第二盲区和所述第三盲区采集的当前图像数据发送给所述车辆或与所述车辆相关联的终端设备，以使所述车辆或与所述车辆相关联的终端设备在显示屏上三分割显示在所述第一盲区、所述第二盲区和所述第三盲区采集的当前图像数据，并分别录制三分割显示的当前图像数据。
A12.根据A11所述的方法，
所述若所述第二图像数据中的第二运动对象的第二速度大于所述车辆的当前速度，则将在第二盲区采集的当前图像数据发送给所述车辆或与所述车辆相关联的终端设备，以使所述车辆或与所述车辆相关联的终端设备显示在所述第二盲区采集的当前图像数据，并进行屏幕录制，包括：
若所述第二图像数据中的第二运动对象的第二速度大于所述车辆的当前速度，则确认所述第二运动对象与所述车辆的距离是否小于预设距离，若是，则将在第二盲区采集的当前图像数据发送给所述车辆或与所述车辆相关联的终端设备，以使所述车辆或与所述车辆相关联的终端设备显示在所述第二盲区采集的当前图像数据，并进行屏幕录制。
A13.根据A9所述的方法，
所述确认所述第一图像数据中存在第一运动对象，并获取所述第三盲区的第三图像数据之后，包括：
在获取到所述车辆的第二转向数据且所述第二转向数据对应所述第三盲区时，获取在第三图像数据中的第三运动对象的第三速度；
若所述第三图像数据中的第三运动对象的第三速度大于所述车辆的当前速度，则将在第三盲区采集的当前图像数据发送给所述车辆或与所述车辆相关联的终端设备。
A14.根据A13所述的方法，
所述若所述第三图像数据中的第三运动对象的第三速度大于所述车辆的当前速度，则将在第三盲区采集的当前图像数据发送给所述车辆或与所述车辆相关联的终端设备，包括：
若所述第三图像数据中的第三运动对象的第三速度大于所述车辆的当前速度，则确认所述第三运动对象与所述车辆的距离是否小于预设距离，若是，则将在第三盲区采集的当前图像数据发送给所述车辆或与所述车辆相关联的终端设备。
A15.根据权利A1所述的方法，
所述车辆盲区包括第一盲区、第二盲区和第三盲区；其中，所述第一盲区位于所述车辆后侧，所述第二盲区和所述第三盲区分别位于所述车辆左右两侧；
所述方法还包括：
在获取到所述车辆的车门开启信号时，确认所述车门对应的所述第二盲区或所述第三盲区内是否存在第四运动对象，若是，将第四提示音和对应的所述第二盲区或所述第三盲区采集的当前图像数据发送给所述车辆或与所述车辆相关联的终端设备，以使所述车辆或所述终端设备在对应的显示屏上显示所述当前图像数据和控制所述车辆或所述终端设备的扬声器播放所述第四提示音，以对所述车辆内的人员进行预警提示。
A16.根据A15所述的方法，所述方法还包括：
在所述车辆的当前档位为预设档位时，确认所述第二盲区和/或所述第三盲区内是否存在第五运动对象，若是，将第五提示音和对应的所述第二盲区和/或所述第三盲区采集的当前图像数据发送给所述车辆或与所述车辆相关联的终端设备，以使所述车辆或所述终端设备在对应的显示屏上显示所述当前图像数据和控制所述车辆或所述终端设备的扬声器播放所述第五提示音，以对所述车辆内的人员进行预警提示。
B17.一种车辆驾驶的安全预警方法，所述方法包括：
车载装置接收图像处理装置发送的在所述车辆盲区采集的当前图像数据，其中，所述车辆盲区包括第一盲区和第二盲区和第三盲区。所述车辆盲区采集的当前图像数据由所述图像处理装置在获取到在所述车辆盲区采集的图像数据以及确认所述图像数据中的运动对象的第一速度大于所述车辆的当前速度时发送的；
若在所述车辆盲区采集的当前图像数据为在所述第一盲区采集的当前图像数据，则在所述车载装置的显示屏上进行显示；
若在所述车辆盲区采集的当前图像数据为在所述第一盲区和所述第二盲区采集的当前图像数据，则在所述车载装置的显示屏上同时显示在所述第一盲区和所述第二盲区采集的当前图像数据；
B18.根据B17所述的方法，所述方法还包括：
若在所述车辆盲区采集的当前图像数据为在所述第二盲区采集的当前图像数据，则在所述车载装置的显示屏上进行显示。
B19.根据B17所述的方法，所述方法还包括：
若在所述车辆盲区采集的当前图像数据为在所述第三盲区采集的当前图像数据，则在所述车载装置的显示屏上进行显示；
若在所述车辆盲区采集的当前图像数据为在所述第一盲区、所述第二盲区和所述第三盲区采集的当前图像数据，则在所述车载装置的显示屏上同时显示在所述第一盲区、所述第二盲区和所述第三盲区采集的当前图像数据。
B20.根据B17所述的方法，所述方法还包括：
在获取到所述车辆的车门开启信号时，将所述开启信号发送至所述图像处理装置，以使所述图像处理装置确认所述车门对应的所述第二盲区或所述第三盲区内是否存在第六运动对象，若是，将第六提示音和对应的所述第二盲区或所述第三盲区采集的当前图像数据发送至所述车载装置；
接收到第六提示音和对应的所述第二盲区或所述第三盲区采集的当前图像数据后，在所述车载装置的显示屏上显示所述当前图像数据和控制所述车辆或所述车载装置的扬声器播放所述第六提示音，以对所述车辆内的人员进行预警提示。
B21.根据权利B20所述的方法，所述方法还包括：
接收所述图像处理装置发送的第七提示音和所述第二盲区和/或所述第三盲区采集的当前图像数据，其中，所述第七提示音由所述图像处理装置在所述车辆的当前档位为预设档位时，确认所述第二盲区和/或所述第三盲区内是否存在第七运动对象时生成；
在所述车载装置的显示屏上显示所述第二盲区和/或所述第三盲区采集的当前图像数据和控制所述车辆或所述车载装置的扬声器播放所述第七提示音，以对所述车辆内的人员进行预警提示。
B22.根据B17所述的方法，
所述车载装置接收图像处理装置发送的在所述车辆盲区采集的当前图像数据，还包括：
车载装置接收图像处理装置发送的在所述车辆盲区采集的当前图像数据和预设参数；
所述若在所述车辆盲区采集的当前图像数据为在所述第一盲区采集的当前图像数据，则在所述车载装置的显示屏上进行显示，包括：
若在所述车辆盲区采集的当前图像数据为所述第一盲区采集的当前图像数据，则基于预设参数，在所述车载装置的显示屏上显示在所述第一盲区采集的当前图像数据，并将所述当前图像数据进行录制， 并将录制的当前图像数据存储至服务器。
B23.根据B22所述的方法，
所述车载装置包括拾音器，用于收集所述车辆的环境音；
所述在所述车载装置的显示屏上显示在所述第一盲区采集的当前图像数据，并将所述当前图像数据进行录制，并将录制的当前图像数据存储至服务器，包括：
在所述车载装置的显示屏上显示在所述第一盲区采集的当前图像数据，并对所述显示屏进行屏幕录制，以及通过所述拾音器收集所述车辆的当前环境音，并将录制的图像数据和所述当前环境音存储至服务器。
C24.一种车辆驾驶的安全预警方法，所述方法包括：
移动终端接收图像处理装置发送的在所述车辆盲区采集的当前图像数据，其中，所述车辆盲区包括第一盲区和第二盲区和第三盲区。所述车辆盲区采集的当前图像数据由所述图像处理装置在获取到在所述车辆盲区采集的图像数据以及确认所述图像数据中的运动对象的第一速度大于所述车辆的当前速度时发送的；
若在所述车辆盲区采集的当前图像数据为在所述第一盲区采集的当前图像数据，则在所述移动终端的显示屏上进行显示；
若在所述车辆盲区采集的当前图像数据为在所述第一盲区和所述第二盲区采集的当前图像数据，则在所述移动终端的显示屏上同时显示在所述第一盲区和所述第二盲区采集的当前图像数据。
C25.根据C24所述的方法，所述方法还包括：
若在所述车辆盲区采集的当前图像数据为在所述第二盲区采集的当前图像数据，则在所述移动终端的显示屏上进行显示。
C26.根据C24所述的方法，所述方法还包括：
接收图像处理装置发送的第八提示音和在所述第二盲区和/或所述第三盲区采集的当前图像数据；
在所述移动终端的显示屏上显示在所述第二盲区或所述第三盲区采集的当前图像数据和控制扬声器播放所述第八提示音，以对所述车辆内的人员进行预警提示；其中，所述第八提示音由车载装置在获取到所述车辆的车门开启信号时，将所述开启信号发送至所述图像处理装置，或，在所述车辆的当前档位为预设档位时，所述图像处理装置确认所述第二盲区或所述第三盲区采集的当前图像数据内存在第八运动对象时产生。
C27.根据C24所述的方法，所述方法还包括：
若在所述车辆盲区采集的当前图像数据为在所述第三盲区采集的当前图像数据，则在所述显示屏上进行显示；若在所述车辆盲区采集的当前图像数据为在所述第一盲区、所述第二盲区和所述第三盲区 采集的当前图像数据，则在所述移动终端的显示屏上同时显示在所述第一盲区、所述第二盲区和所述第三盲区采集的当前图像数据。
C28.根据C24所述的方法，
所述移动终端接收图像处理装置发送的在所述车辆盲区采集的当前图像数据，还包括：
移动终端接收图像处理装置发送的在所述车辆盲区采集的当前图像数据和预设参数；
所述若在所述车辆盲区采集的当前图像数据为在所述第一盲区采集的当前图像数据，则在所述移动终端的显示屏上进行显示，包括：
若在所述车辆盲区采集的当前图像数据为在所述第一盲区采集的当前图像数据，则基于预设参数，在所述移动终端的显示屏上显示所述第一盲区采集的当前图像数据，并将所述当前图像数据进行录制，并将录制的当前图像数据存储至服务器。
C29.根据C28所述的方法，
所述在所述移动终端的显示屏上显示所述第一盲区采集的当前图像数据，并将所述当前图像数据进行录制，并将录制的当前图像数据存储至服务器，包括：
在所述移动终端的显示屏上显示所述第一盲区采集的当前图像数据，并对所述显示屏进行屏幕录制，以及通过车载设备的所述拾音器收集所述车辆的当前环境音，并将录制的当前图像数据和所述当前环境音存储至服务器。
C30.根据C24所述的方法，所述方法还包括：
响应于第一触控指令，发送第一设置参数至车载装置和/或图像处理装置，以使所述车载装置和/或所述图像处理装置基于所述第一设置参数进行设置。
C31.根据C24所述的方法，所述方法还包括：
响应于第二触控指令，从本地存储或服务器中获取历史图像数据；
对所述历史图像数据进行显示。
D32.一种图像处理装置，所述图像处理装置包括处理器以及与所述处理器连接的存储器；
其中，所述存储器用于存储程序数据，所述处理器用于执行所述程序数据，以实现如A1-A16任一项所述的方法。
E33.一种车载装置，所述车载装置包括处理器以及与所述处理器连接的存储器；
其中，所述存储器用于存储程序数据，所述处理器用于执行所述程序数据，以实现如B17-B23任一项所述的方法。
F34.一种移动终端，所述移动终端包括处理器以及与所述处理器连接的存储器；
其中，所述存储器用于存储程序数据，所述处理器用于执行所述程序数据，以实现如C24-C31任一项所述的方法。
G35.一种可读存储介质，所述可读存储介质用于存储程序数据，所述程序数据在被处理器执行时，用于实现如A1-A16、或B17-B23或C24-C31任一项所述的方法。
H36.一种车辆驾驶的安全预警系统，所述安全预警系统包括图像处理装置、车载装置和移动终端；
其中，所述图像处理装置如D32所述的图像处理装置、所述车载装置如E33所述的车载装置和所述移动终端如F34所述的移动终端。

Claims (10)

  1. 一种车辆驾驶的安全预警方法，其特征在于，所述方法包括：
    图像处理装置获取在车辆盲区采集的图像数据；
    获取所述图像数据中的运动对象的第一速度；
    若所述图像数据中的运动对象的第一速度大于所述车辆的当前速度，则将在所述车辆盲区采集的当前图像数据发送给所述车辆或与所述车辆相关联的终端设备，以进行安全预警。
  2. 根据权利要求1所述的方法，其特征在于，
    所述车辆盲区包括第一盲区；其中，所述第一盲区位于所述车辆的后侧；
    所述获取在车辆盲区采集的图像数据，包括：
    获取在所述第一盲区采集的第一图像数据；
    所述获取所述图像数据中的运动对象的第一速度，包括：
    获取所述第一图像数据中的第一运动对象在前一时刻与所述车辆的第一距离，以及获取所述第一运动对象在当前时刻与所述车辆的第二距离；
    根据所述第一距离和所述第二距离计算出所述第一运动对象的第一速度。
  3. 根据权利要求2所述的方法，其特征在于，
    所述获取所述第一图像数据中的第一运动对象在前一时刻与所述车辆的第一距离，以及获取所述第一运动对象在当前时刻与所述车辆的第二距离，包括：
    检测所述第一图像数据中是否存在第一运动对象；
    若是，则获取所述第一图像数据中的第一运动对象在前一时刻与所述车辆的第一距离，以及获取所述第一运动对象在当前时刻与所述车辆的第二距离。
  4. 一种车辆驾驶的安全预警方法，其特征在于，所述方法包括：
    车载装置接收图像处理装置发送的在所述车辆盲区采集的当前图像数据，其中，所述车辆盲区包括第一盲区和第二盲区和第三盲区。所述车辆盲区采集的当前图像数据由所述图像处理装置在获取到在所述车辆盲区采集的图像数据以及确认所述图像数据中的运动对象的第一速度大于所述车辆的当前速度时发送的；
    若在所述车辆盲区采集的当前图像数据为在所述第一盲区采集的当前图像数据，则在所述车载装置的显示屏上进行显示；
    若在所述车辆盲区采集的当前图像数据为在所述第一盲区和所述第二盲区采集的当前图像数据，则在所述车载装置的显示屏上同时 显示在所述第一盲区和所述第二盲区采集的当前图像数据；
  5. 一种车辆驾驶的安全预警方法，其特征在于，所述方法包括：
    移动终端接收图像处理装置发送的在所述车辆盲区采集的当前图像数据，其中，所述车辆盲区包括第一盲区和第二盲区和第三盲区。所述车辆盲区采集的当前图像数据由所述图像处理装置在获取到在所述车辆盲区采集的图像数据以及确认所述图像数据中的运动对象的第一速度大于所述车辆的当前速度时发送的；
    若在所述车辆盲区采集的当前图像数据为在所述第一盲区采集的当前图像数据，则在所述移动终端的显示屏上进行显示；
    若在所述车辆盲区采集的当前图像数据为在所述第一盲区和所述第二盲区采集的当前图像数据，则在所述移动终端的显示屏上同时显示在所述第一盲区和所述第二盲区采集的当前图像数据。
  6. 一种图像处理装置，其特征在于，所述图像处理装置包括处理器以及与所述处理器连接的存储器；
    其中，所述存储器用于存储程序数据，所述处理器用于执行所述程序数据，以实现如权利要求1-3任一项所述的方法。
  7. 一种车载装置，其特征在于，所述车载装置包括处理器以及与所述处理器连接的存储器；
    其中，所述存储器用于存储程序数据，所述处理器用于执行所述程序数据，以实现如权利要求4所述的方法。
  8. 一种移动终端，其特征在于，所述移动终端包括处理器以及与所述处理器连接的存储器；
    其中，所述存储器用于存储程序数据，所述处理器用于执行所述程序数据，以实现如权利要求5所述的方法。
  9. 一种可读存储介质，其特征在于，所述可读存储介质用于存储程序数据，所述程序数据在被处理器执行时，用于实现如权利要求1-3、或权利要求4或权利要求5任一项所述的方法。
  10. 一种车辆驾驶的安全预警系统，其特征在于，所述安全预警系统包括图像处理装置、车载装置和移动终端；
    其中，所述图像处理装置如权利要求6所述的图像处理装置、所述车载装置如权利要求7所述的车载装置和所述移动终端如权利要求8所述的移动终端。
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