WO2022017385A1 - 一种车辆监控方法、装置、车辆及存储介质 - Google Patents

一种车辆监控方法、装置、车辆及存储介质 Download PDF

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Publication number
WO2022017385A1
WO2022017385A1 PCT/CN2021/107382 CN2021107382W WO2022017385A1 WO 2022017385 A1 WO2022017385 A1 WO 2022017385A1 CN 2021107382 W CN2021107382 W CN 2021107382W WO 2022017385 A1 WO2022017385 A1 WO 2022017385A1
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WIPO (PCT)
Prior art keywords
current vehicle
panoramic
vehicle
target
monitoring
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Ceased
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PCT/CN2021/107382
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English (en)
French (fr)
Inventor
连桂有
孙连明
李兵
王丽丽
赵秀栋
闫力博
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FAW Group Corp
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FAW Group Corp
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/52004—Means for monitoring or calibrating

Definitions

  • the embodiments of the present application relate to the field of vehicle monitoring, for example, to a vehicle monitoring method, device, vehicle, and storage medium.
  • the present application provides a vehicle monitoring method, device, vehicle and storage medium. By viewing the stored panoramic data, dangerous image data can be obtained, and the damage party of the damaged vehicle can be found in time.
  • an embodiment of the present application provides a vehicle monitoring method, including:
  • the panoramic data collected by the panoramic system is backed up and stored.
  • an embodiment of the present application further provides a vehicle monitoring device, the device comprising:
  • a target monitoring module configured to perform target monitoring on the preset dangerous range of the current vehicle based on the radar system of the current vehicle in response to the current vehicle being in a target monitoring state;
  • a request message module configured to generate a panorama system request message in response to monitoring that a target exists within the preset danger range
  • a panorama acquisition module configured to trigger the panorama system to perform panorama acquisition on the current vehicle based on the panorama system request message
  • the data storage module is configured to backup and store the panoramic data collected by the panoramic system.
  • an embodiment of the present application further provides a vehicle, the vehicle comprising:
  • the vehicle also includes:
  • storage means arranged to store at least one program
  • the at least one processor When the at least one program is executed by the at least one processor, the at least one processor implements the vehicle monitoring method provided by any embodiment of the present application.
  • an embodiment of the present application further provides a storage medium containing vehicle executable instructions, and a computer program is stored thereon, and the computer program implements the vehicle monitoring method provided by any embodiment of the present application when the computer program is executed by a processor.
  • FIG. 1 is a flowchart of a vehicle monitoring method provided in Embodiment 1 of the present application.
  • FIG. 2 is a flowchart of a vehicle monitoring method provided in Embodiment 2 of the present application.
  • FIG. 3 is a schematic structural diagram of a vehicle monitoring device provided in Embodiment 3 of the present application.
  • FIG. 4 is a schematic structural diagram of a vehicle according to Embodiment 4 of the present application.
  • FIG. 1 is a flowchart of a vehicle monitoring method in Embodiment 1 of the present application. This embodiment can be applied to the situation of monitoring the environment in a preset range of the vehicle after the vehicle sleeps.
  • the method can be implemented by the vehicle monitoring device provided by the embodiment of the present application.
  • the vehicle monitoring device may be implemented in software and/or hardware.
  • the vehicle monitoring device may be jointly implemented by an ultrasonic radar system and a panoramic system.
  • the method includes S110 to S140.
  • the current vehicle includes a working state (ie, working mode) and a sleep monitoring state (ie, sleep mode).
  • the working state is the state when the current vehicle is in the normal driving mode;
  • the sleep monitoring state is the state when the current vehicle is in the parking mode and the driver is not in the current vehicle.
  • the current state of the vehicle is monitored, and the target monitoring state is entered when the vehicle sleep monitoring conditions are met, and the target monitoring is performed on the preset dangerous range of the current vehicle based on the radar system of the current vehicle.
  • the radar system in the current vehicle may be composed of a radar controller and several ultrasonic radars.
  • the ultrasonic radar is usually installed at the position of the front and rear bumper assemblies and the position of the side body of the vehicle body, and is parallel to the horizontal plane.
  • the composition and installation position of the above-mentioned radar system are only optional embodiments, and can also be set according to actual needs, and the composition and installation position of the radar system are not limited in this embodiment.
  • the target monitoring is carried out within the preset dangerous range of the current vehicle.
  • the ultrasonic radar starts timing by sending the ultrasonic wave. When the ultrasonic wave propagates in the air and encounters obstacles, it will be reflected back. When the probe receives the rebound sound wave, it records Feedback interruption time.
  • the radar controller calculates the obstacle information based on the propagation speed of the ultrasonic wave in the air and the interruption time of the feedback through the interruption time of the probe feedback at different positions, so as to determine the distance between the target object and the current vehicle, and determine whether the current vehicle is in advance.
  • the preset danger range may be within 60 cm of the current vehicle circumference.
  • the target object may include but not limited to other objects such as people, vehicles, rocks, etc.
  • the above-mentioned preset danger range can also be set as required, and this implementation does not limit the setting of the preset danger range.
  • the panoramic system when the radar monitors the current vehicle according to the preset danger range, and detects that the current vehicle enters the target object within the preset danger range, a panoramic system request message is generated.
  • the panoramic system can be composed of a controller and several wide-angle cameras.
  • the cameras are generally arranged in the front grille, left and right exterior mirrors, rear doors, etc.
  • the real-time image picked up by the wide-angle camera is corrected and stitched by the controller distortion.
  • the panoramic top view reflects the real environment around the vehicle, making it a 360-degree top view of the vehicle around the vehicle, enabling panoramic monitoring of the current vehicle’s preset danger range.
  • the request message may be a panorama request instruction triggered by the target object.
  • the radar system detects that the target object has entered the preset dangerous range of the current vehicle, it sends a request message to the panoramic system to activate the panoramic system, and the message contains the target object that has entered the preset dangerous range of the current vehicle. , requesting the panorama system to activate the data collected by the panorama image, and then transmit the data to the panorama system.
  • the panoramic system triggers the panoramic system to collect panoramic views of the current vehicle according to the received request message for activating the panoramic system (ie, the panoramic system request message in step 130 ).
  • a pre-placed wide-angle camera can be used for panoramic capture of the current vehicle.
  • the time for panorama system capture can be preset, and when the preset capture time is reached, the panorama system is automatically turned off to stop capture; it can also be detected when the distance between the target object and the current vehicle is greater than the preset time.
  • the panoramic system is automatically turned off to stop the acquisition.
  • the radar system detects that the distance between the other vehicles and the current vehicle is less than the distance of the preset danger range, Send a request message to activate the panoramic system, and the panoramic system will start the panoramic collection accordingly.
  • the preset collection time is reached or when the distance between other vehicles and the current vehicle is greater than the preset dangerous range, the panoramic system will be automatically turned off to stop the collection.
  • the above-mentioned conditions for stopping collection are only optional embodiments, and may also be set according to actual conditions, and the conditions for stopping collection are not limited in this embodiment.
  • the obtained original panoramic data (original images that have not undergone data processing such as distortion correction have legal effect) are backed up and stored.
  • the collected panoramic data can be backed up and stored in the panoramic system, or uploaded to a cloud server for backup storage through the panoramic system.
  • a vehicle monitoring method when a current vehicle is in a target monitoring state, target monitoring is performed on a preset dangerous range of the current vehicle based on a radar system of the current vehicle; When the target is reached, a panorama system request message is generated; based on the panorama system request message, the panorama system is triggered to perform panorama acquisition of the current vehicle; the panorama data collected by the panorama system is backed up and stored.
  • the panoramic system is activated to collect and store the panoramic view of the vehicle, which is convenient for viewing the panoramic information in the sleep state of the vehicle. By viewing the stored panoramic data, Find out and find the information of the harming party in time.
  • FIG. 2 is a flowchart of a vehicle monitoring method in Embodiment 2 of the present application, which is refined on the basis of the foregoing embodiment. As shown in FIG. 2 , the method includes S210 to S260.
  • the current vehicle includes a radar system and a panoramic acquisition system.
  • the radar system consists of a radar controller and several ultrasonic radars.
  • the setting positions of the multiple ultrasonic radars are determined according to the detection parameters of the ultrasonic radars, and the detection angle calibration and detection accuracy calibration of the multiple ultrasonic radars in the radar system are performed according to the detection parameters. .
  • the first one is installed on the front and rear bumpers of the car and is set to measure the obstacles in the front and rear of the car; the second is installed on the side of the car and is set to measure the obstacles on the side.
  • the detection range and detection area of the two ultrasonic radars are different. Among them, the detection distance of the ultrasonic radar that measures the obstacles in the front and rear of the car is generally between 15-250cm, and the detection distance of the ultrasonic radar that measures the obstacles on the side is generally in Between 30-500cm.
  • the number and positions of the ultrasonic radars set on the vehicle are limited, and the ultrasonic radars are set according to the performance parameters such as the detection distance and detection angle of the multiple ultrasonic radars, so that the radar system can perform a 360-degree measurement of the current vehicle.
  • the whole vehicle can be monitored.
  • a left front ultrasonic radar, a left rear ultrasonic radar, a right front ultrasonic radar, a right rear ultrasonic radar, a front ultrasonic radar, and a front rear ultrasonic radar are set in the current vehicle.
  • the front ultrasonic radar and the front ultrasonic radar are the first ultrasonic radar; the left front ultrasonic radar, the left rear ultrasonic radar, the right front ultrasonic radar and the right rear ultrasonic radar are the second ultrasonic radar.
  • the setting of the above ultrasonic radar is only an optional embodiment, and it can also be set according to actual needs, and the setting of the ultrasonic wave is not limited in this embodiment.
  • the detection angle calibration and detection accuracy calibration are carried out according to the set ultrasonic radar.
  • the ultrasonic radar performs multiple detections on the same detection target in the process of moving with the current vehicle movement. Detect and record the detected position data; the ultrasonic radar calculates the detected position data to obtain the deviation between the actual installation angle and the preset installation angle, and completes the calibration of the detection angle through correction.
  • the detection accuracy is calibrated according to the difference between the actual timing of the bounced sound waves received by the radar controller probe in the radar system and the calculated timing.
  • the above-mentioned calibration method for the detection angle and detection accuracy of the ultrasonic radar is only an optional embodiment. In fact, other settings may be performed as required, and the calibration method is not limited in the embodiment of the present application.
  • S240 Trigger the panoramic system to collect panoramic views of the current vehicle based on the panoramic system request message.
  • the panoramic raw data is the panoramic data.
  • the cloud server can perform danger identification on the panoramic data based on the stored panoramic original data, and cut the panoramic data based on the danger identification result to obtain dangerous image data, and transmit the dangerous image data to the current vehicle or the current vehicle.
  • the associated terminal of prompts the owner of the current vehicle.
  • the hazard identification for the panoramic data may be image data or video data that damages the current vehicle from the panoramic data.
  • the cloud server can call the danger identification model, which has the function of identifying danger, and inputs the obtained panoramic data into the danger identification model, and the output result is the dangerous image data with the danger level.
  • the risk identification model can be trained based on historical risk image data of different levels.
  • the panoramic data is cut out according to the obtained dangerous image data, and then the dangerous image data obtained after the cut processing is transmitted to the current vehicle or the associated terminal of the current vehicle.
  • the dangerous image data in the current vehicle is the image data collected by the camera of the tailgate
  • the image data of the tailgate is cut and transmitted as the dangerous image data.
  • the dangerous image data is image data collected when a target object collides with the current vehicle.
  • the hazard level may be determined according to the damage area and deformation degree of the current vehicle in the panoramic data, and the damage of the current vehicle may be graded based on the damage area and deformation degree corresponding to multiple hazard levels.
  • the identified hazard levels may be classified as minor, moderate, and severe.
  • the minor danger is a slight collision between the target and the vehicle, the appearance of the current vehicle is slightly damaged, and does not affect the driving of the current vehicle; the medium danger is a slight collision between the target and the current vehicle, and the appearance of the current vehicle is affected.
  • the damage is more serious and affects the driving of the current vehicle; the serious danger is the excessive collision between the target object and the current vehicle, the appearance of the current vehicle is severely damaged, and the current vehicle cannot be driven; according to the output results of the danger recognition model Different levels of reminders can be made to the owner.
  • the panorama data whose distance between the target object and the vehicle is less than the danger threshold may also be clipped as danger image data.
  • the risk threshold may be, for example, 10 cm.
  • the time when the target object enters the range where the distance from the vehicle is less than the danger threshold is used as the starting point of the dangerous image data, and the time when the target object leaves the range where the distance from the vehicle is less than the danger threshold is used as the end point of the dangerous image data, based on the starting point Cut the panoramic data with the end point to obtain the dangerous image data.
  • the above-mentioned danger identification method and cutting method are only optional embodiments.
  • the identification method and the cutting method can be set according to actual needs, and this embodiment does not limit the identification method and the cutting method.
  • the dangerous image data can be transmitted to the current vehicle or the associated terminal of the current vehicle; when it is identified as a medium danger, it can be Automatically transmit the dangerous image data to the current vehicle or the associated terminal of the current vehicle; when a serious danger is identified, the dangerous image data can be automatically transmitted to the current vehicle or the associated terminal of the current vehicle, the current vehicle or the
  • the display device in the associated terminal of the current vehicle makes a mandatory reminder of the page pop-up; of course, the above-mentioned classification and reminder methods are only optional embodiments, which can actually be set according to actual needs, which are not limited in this embodiment.
  • the embodiment of the present application performs target monitoring on the preset dangerous range of the current vehicle based on the radar system of the current vehicle by setting the radar system; when a target is detected in the preset dangerous range, a panoramic system request message is generated ;Trigger the panoramic system to collect panoramic views of the current vehicle based on the panoramic system request message; upload the panoramic data collected by the panoramic system to the cloud server for storage, and perform danger identification on the collected panoramic data, and based on the danger identification results
  • the data is cut to obtain dangerous image data, and the dangerous image data is transmitted to the current vehicle or an associated terminal of the current vehicle, so as to prompt the owner of the current vehicle.
  • the vehicle owner can obtain dangerous image data conveniently and quickly, and discover and find the damage party in time, thereby avoiding the owner's property loss.
  • FIG. 3 is a schematic structural diagram of a traffic data processing apparatus in Embodiment 3 of the present application. As shown in Figure 3, the device includes:
  • the target monitoring module 310 is configured to perform target monitoring on the preset dangerous range of the current vehicle based on the radar system of the current vehicle when the current vehicle is in a target monitoring state;
  • the request message module 320 is configured to generate a panoramic system request message if a target is detected within the preset danger range;
  • the panorama acquisition module 330 is configured to trigger the panorama system to perform panorama acquisition on the current vehicle based on the panorama system request message;
  • the data storage module 340 is configured to backup and store the panoramic data collected by the panoramic system.
  • the target monitoring module 310 includes:
  • a distance calculation unit configured to calculate the distance between the target and the current vehicle according to the interruption of the target feedback received by the radar system
  • a distance judging unit configured to judge whether the distance between the target and the current vehicle is within the preset danger range of the current vehicle.
  • the panoramic collecting module 330 includes a first panoramic collecting unit or a second panoramic collecting unit;
  • the first panorama acquisition unit is configured to control the panorama system to perform panorama acquisition in a preset time period
  • the second panorama acquisition unit is configured to control the panorama system to perform panorama acquisition until the target within the preset danger range leaves the preset danger range.
  • the data storage module 340 includes:
  • the data transmission unit is configured to transmit the panoramic data collected by the panoramic system to a cloud server, wherein the cloud server is configured to perform backup processing on the panoramic data.
  • the cloud server is further configured to perform danger identification on the panoramic data, and cut the panoramic data based on the danger identification result to obtain dangerous image data, and transmit the dangerous image data to the current vehicle or other vehicle. the associated terminal of the current vehicle.
  • the device further includes:
  • a working mode monitoring module configured to monitor the working mode of the current vehicle, wherein the working mode of the current vehicle includes a normal mode and a sleep mode;
  • the current vehicle circumferential direction is provided with a plurality of ultrasonic radars, and the plurality of ultrasonic radars form the radar system, wherein the setting position of each ultrasonic radar is determined according to the detection parameter of each ultrasonic radar;
  • the device also includes:
  • the calibration module is configured to perform detection angle calibration and detection accuracy calibration for each ultrasonic radar in the radar system.
  • a vehicle monitoring device when a current vehicle is in a target monitoring state, target monitoring is performed on a preset dangerous range of the current vehicle based on a radar system of the current vehicle; when the preset dangerous range is monitored When there is a target in the memory, a panorama system request message is generated; based on the panorama system request message, the panorama system is triggered to perform panorama acquisition of the current vehicle; the panorama data collected by the panorama system is backed up and stored.
  • the panoramic system is activated to collect and store the panoramic view of the vehicle, which is convenient for viewing the panoramic information in the vehicle sleep monitoring state, and timely discovering and finding the information of the damage party .
  • FIG. 4 is a schematic structural diagram of a vehicle in Embodiment 4 of the present application.
  • FIG. 4 shows a block diagram of an exemplary vehicle 412 suitable for use in implementing embodiments of the present application.
  • the vehicle 412 shown in FIG. 4 is only an example, and should not impose any limitations on the functions and scope of use of the embodiments of the present application.
  • vehicle 412 takes the form of a general purpose computing device.
  • Components of vehicle 412 may include, but are not limited to, radar system 410, panoramic system 411, at least one processor or processing unit 416, system memory 428, bus 418 connecting various system components including system memory 428 and processing unit 416.
  • the bus 418 represents at least one of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of a variety of bus structures.
  • these architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MCA) bus, enhanced ISA bus, Video Electronics Standards Association (Video Electronics Standards) Association, VESA) local bus and Peripheral Component Interconnect (PCI) bus.
  • Vehicle 412 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the vehicle 412, including volatile and non-volatile media, removable and non-removable media.
  • System memory 428 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 430 and/or cache memory 432 .
  • Vehicle 412 may include other removable/non-removable, volatile/non-volatile computer system storage media.
  • storage system 434 may be used to read and write to non-removable, non-volatile magnetic media (not shown in FIG. 4, commonly referred to as a "hard drive”).
  • a magnetic disk drive for reading and writing to removable non-volatile magnetic disks (eg "floppy disks") and removable non-volatile optical disks (eg Compact Disc-Read only) may be provided.
  • Memory 428 may include at least one program product having a set (eg, at least one) of program modules configured to perform the functions of various embodiments of the present application.
  • a program/utility 440 having a set (at least one) of program modules 442, which may be stored, for example, in memory 428, such program modules 442 including, but not limited to, an operating system, at least one application program, other program modules, and program data, which An implementation of a network environment may be included in each or some combination of the examples.
  • Program modules 442 generally perform the functions and/or methods of the embodiments described herein.
  • the vehicle 412 may also communicate with at least one external device 414 (eg, a keyboard, pointing device, display 424, etc.), may also communicate with at least one device that enables a user to interact with the vehicle 412, and/or communicate with the vehicle 412. Any device (eg, network card, modem, etc.) that communicates with at least one other computing device. Such communication may take place through Input/Output (I/O) interface 422 . Also, the vehicle 412 may communicate with at least one network (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet) via a network adapter 420. As shown, network adapter 420 communicates with other modules of vehicle 412 via bus 418 .
  • LAN Local Area Network
  • WAN Wide Area Network
  • public network such as the Internet
  • vehicle 412 may be used in conjunction with vehicle 412, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, Redundant Arrays of Independent Disks, RAID) systems, tape drives, and data backup storage systems.
  • the processing unit 416 executes various functional applications and data processing by running the programs stored in the system memory 428, for example, to implement the vehicle monitoring method provided by the embodiments of the present application, and the method includes:
  • the panoramic data collected by the panoramic system is backed up and stored.
  • the fifth embodiment of the present application also provides a computer-readable storage medium containing vehicle executable instructions, and a computer program is stored thereon.
  • a computer program is stored thereon.
  • the program is executed by a processor, the vehicle monitoring method provided by the embodiment of the present application is implemented.
  • Methods include:
  • the panoramic data collected by the panoramic system is backed up and stored.
  • the computer storage medium containing the vehicle-executable instructions of the embodiments of the present application may adopt any combination of at least one computer-readable medium.
  • the computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium.
  • the computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or a combination of any of the above.
  • a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.
  • a computer-readable signal medium may include a propagated data signal in baseband or as part of a carrier wave, with computer-readable program code embodied thereon. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • a computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device .
  • Program code embodied on a computer readable medium may be transmitted using any suitable medium, including but not limited to wireless, wire, optical fiber cable, radio frequency (RF), etc., or any suitable combination of the foregoing.
  • RF radio frequency
  • Computer program code for carrying out the operations of the present application may be written in at least one programming language, including object-oriented programming languages—such as Java, Smalltalk, C++, but also conventional procedural languages, or a combination thereof.
  • Programming Language - such as "C" language or similar programming language.
  • the program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or vehicle.
  • the remote computer may be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (eg, using an Internet service provider through Internet connection).
  • LAN local area network
  • WAN wide area network

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Abstract

提供了一种车辆监控方法、装置、车辆及存储介质。方法包括：响应于当前车辆（412）处于目标监测状态，基于当前车辆（412）的雷达系统（410）对当前车辆（412）预设危险范围进行目标监测（S110）；响应于监测到预设危险范围内存在目标，生成全景系统请求报文（S120）；基于全景系统请求报文触发全景系统（411）对当前车辆（412）进行全景采集（S130）；将全景系统（411）采集的全景数据进行备份存储（S140）。

Description

一种车辆监控方法、装置、车辆及存储介质
本申请要求在2020年7月20日提交中国专利局、申请号为202010697851.1的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及汽车监控领域，例如涉及一种车辆监控方法、装置、车辆及存储介质。
背景技术
随着中国的经济发展汽车拥有辆不断增多，停车难的问题已经非常突出，私有车位和带监控区域已经无法满足人们的停车需求，人们经常不得不将车辆停放在路边和小区周边等没有监控区域，车辆遭到剐蹭和碰撞而造成财产损失风险在不断加大。
汽车上目前没有可以记录遭受损害时汽车周边环境的功能，已经无法满足人们对车辆安全存放的需求。
发明内容
本申请提供一种车辆监控方法、装置、车辆及存储介质，通过对存储的全景数据进行查看，获取危险影像数据，及时找到损毁车辆的损害方。
第一方面，本申请实施例提供了一种车辆监控方法，包括：
响应于当前车辆处于目标监测状态，基于所述当前车辆的雷达系统对所述当前车辆预设危险范围进行目标监测；
响应于监测到所述预设危险范围内存在目标，生成全景系统请求报文；
基于所述全景系统请求报文触发全景系统对所述当前车辆进行全景采集；
将所述全景系统采集的全景数据进行备份存储。
第二方面，本申请实施例还提供了一种车辆监控装置，该装置包括：
目标监测模块，设置为响应于当前车辆处于目标监测状态，基于所述当前车辆的雷达系统对所述当前车辆预设危险范围进行目标监测；
请求报文模块，设置为响应于监测到所述预设危险范围内存在目标，生成全景系统请求报文；
全景采集模块，设置为基于所述全景系统请求报文触发全景系统对所述当前车辆进行全景采集；
数据存储模块，设置为将所述全景系统采集的全景数据进行备份存储。
第三方面，本申请实施例还提供了一种车辆，所述车辆包括：
雷达系统、全景系统；
所述车辆还包括：
至少一个处理器；
存储装置，设置为存储至少一个程序，
当所述至少一个程序被所述至少一个处理器执行，使得所述至少一个处理器实现如本申请任意实施例提供的车辆监控方法。
第四方面，本申请实施例还提供了一种包含车辆可执行指令的存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现本申请任意实施例提供的车辆监控方法。
附图说明
图1为本申请实施例一提供的车辆监控方法的流程图；
图2为本申请实施例二提供的车辆监控方法的流程图；
图3为本申请实施例三提供的车辆监控装置的结构示意图；
图4为本申请实施例四提供的车辆的结构示意图。
具体实施方式
下面结合附图和实施例对本申请作详细说明。
实施例一
图1为本申请实施例一中的车辆监控方法的流程图，本实施例可以适用于当车辆睡眠后对车预设范围进行环境监控的情况，该方法可以由本申请实施例提供的车辆监控装置执行，该车辆监控装置可以采用软件和/或硬件的方式实现，例如，本实施例中该车辆监控装置可以由超声波雷达系统和全景系统共同实现。如图1所示，该方法包括S110至S140。
S110、在当前车辆处于目标监测状态时，基于所述当前车辆的雷达系统对所述当前车辆预设危险范围进行目标监测。
在本申请实施例中，当前车辆包含有工作状态(即工作模式)和睡眠监测状态(即睡眠模式)。其中，工作状态为当前车辆处于正常驾驶模式时的状态；睡眠监测状态为当前车辆处于驻车模式且驾驶人不在当前车辆内时的状态。监测车辆当前状态，当满足车辆睡眠监测条件后进入目标监测状态，基于当前车辆的雷达系统对当前车辆预设危险范围进行目标监测。其中，当前车辆中的雷达系统可以由雷达控制器和若干个超声波雷达组成。示例性的，超声波雷达通常安装在车身的前、后保险杠总成位置和侧边车身位置，并与水平面平行。上述雷达系统的组成和安装位置只作为可选实施例，也可以根据实际需要进行设置，本实施例对雷达系统的组成和安装位置不加以限制。基于雷达系统对当前车辆预设危险范围内进行目标监测，其中超声波雷达通过发送超声波的同时开始计时，超声波在空气中传播遇到障碍物时便会反射回来，当探头接到反弹声波时，记录反馈中断时间。雷达控制器通过不同位置的探头反馈的中断时间，基于超声波在空气中的传播速度以及反馈的中断时间计算出障碍物信息，以此确定目标物体与当前车辆的距离，并判断是否在当前车辆预设危险范围的距离以内。示例性的，预设危险范围可以为当前车辆周向60cm以内。其中，目标物体可以包括但不限于人、车辆、石块等其他物体。上述预设危险范围也可以根据需要进行设置，本实施对预设危险范围的设置不加以限制。
S120、若监测到所述预设危险范围内存在目标时，生成全景系统请求报文。
在本申请实施例中，当雷达系根据预设危险范围对当前车辆进行监测，监测到当前车辆预设危险范围内进入了目标物体时，生成全景系统请求报文。其中，全景系统可以由控制器和若干个广角摄像头组成，摄像头一般布置在前格栅、左右外视镜、后背门等位置，经过广角度摄像头拾取的实时影像经过控制器畸变校正拼接后的全景俯视图反映车身周围真实环境，使之成为一幅车辆周边360度的车身俯视图，实现对当前车辆预设危险范围进行全景监测。上述全景系统的组成和摄像头的安装位置只作为可选实施例，也可以根据实际需要进行设置，本实施例对全景系统的组成和摄像头的安装位置不加以限制。示例性的，请求报文可以是基于目标物体触发的全景请求指令。示例性的，当雷达系统监测到当前车辆预设的危险范围内进入了目标物体，则向全景系统发送激活全景系统请求报文，报文内包含有当前车辆预设危险范围内进入了目标物体，请求全景系统激活以进行全景影像采集的数据，进而将数据传输向全景系统。
S130、基于所述全景系统请求报文触发全景系统对所述当前车辆进行全景采集。
在本实施例中，全景系统根据接收到的激活全景系统请求报文(即步骤130中的所述全景系统请求报文)，触发全景系统对当前车辆进行全景采集。其中，可以通过预先放置好的广角摄像头对当前车辆进行全景采集。当开启全景系统后进行全景采集，可以预先设定全景系统采集的时间，当到达预设的采集时间之后自动关闭全景系统停止采集；也可以是当检测到目标物体与当前车辆的距离大于预设危险范围的距离时，自动关闭全景系统停止采集。示例性的，当所述当前车辆驻车在当前位置时，有其他车辆行驶路过所述当前位置，在此过程中，雷达系统监测到其他车辆距离当前车辆的距离小于预设危险范围的距离，发送激活全景系统请求报文，全景系统相应的开启全景采集，当到达预设的采集时间或者当其他车辆与当前车辆之间距离大于预设危险范围的距离时，自动关闭全景系统停止采集。当然，上述停止采集条件只是作为可选实施例，也可以根据实际情况进行设置，本实施例对停止采集条件不加以限制。
S140、将所述全景系统采集的全景数据进行备份存储。
在本实施例中，当全景系统进行全景采集后，将获得的原始的全景数据(未经过畸变矫正等数据处理的原始影像具有法律效力)进行备份存储。其中，可以将采集到的全景数据备份存储于全景系统中，也可以通过全景系统上传至云端服务器进行备份存储。
本申请实施例提供的一种车辆监控方法，当前车辆处于目标监测状态时，基于当前车辆的雷达系统对所述当前车辆预设危险范围进行目标监测；当监测到所述预设危险范围内存在目标时，生成全景系统请求报文；基于全景系统请求报文触发全景系统对当前车辆进行全景采集；将全景系统采集的全景数据进行备份存储。通过在当前车辆中雷达系统检测到其他物体接近当前车辆达到危险距离时，启动全景系统对车辆进行全景采集并存储，便于对车辆休眠状态下全景信息进行查看，通过对存储的全景数据进行查看，及时发现并找到损害方的信息。
实施例二
图2为本申请实施例二中的车辆监控方法的流程图，本实施例在上述实施例的基础上进行细化。如图2所示，所述方法包括S210至S260。
S210、依据超声波雷达参数设置当前车辆雷达系统。
在本申请实施例中，当前车辆包含有雷达系统和全景采集系统。其中，雷达系统由雷达控制器和若干超声波雷达组成，多个超声波雷达的设置位置根据超声波雷达的探测参数确定，并依据探测参数对雷达系统中的多个超声波雷达进行探测角度标定和探测精度标定。
超声波雷达包括有两种：第一种是安装在汽车前后保险杠上的，设置为测量汽车前后障碍物；第二种是安装在汽车侧面的，设置为测量侧方障碍物。两种超声波雷达的探测范围和探测区域都不相同，其中，测量汽车前后方的障碍物的超声波雷达的探测距离一般在15-250cm之间，测量侧方障碍物的超声波雷 达的探测距离一般在30-500cm之间。本实施例中，对车辆上设置的超声波雷达的数量和位置进行限定，依据多个超声波雷达的探测距离和探测角度等性能参数进行超声波雷达的设置，以使雷达系统可以对当前车辆进行360度全车监测即可。示例性的，在当前车辆中设置左前超声波雷达、左后超声波雷达、右前超声波雷达、右后超声波雷达、正前超声波雷达和正后超声波雷达。正前超声波雷达和正后超声波雷达为第一种超声波雷达；左前超声波雷达、左后超声波雷达、右前超声波雷达和右后超声波雷达为第二种超声波雷达。上述超声波雷达的设置只是作为可选实施例，也可以根据实际需要进行设置，本实施例对超声波的设置不加以限制。
根据设置好的超声波雷达进行探测角度标定和探测精度标定。示例性的，当装有超声波雷达的车辆在选取的标定场地上沿着标定场地的长度方向匀速直线运动，超声波雷达在随着当前车辆运动而运动的过程中，分别对同一个探测目标进行多次探测并记录下探测出的位置数据；超声波雷达将探测出的位置数据通过计算得到实际安装角度与预设的安装角度之间的偏差值，通过修正完成探测角度的标订。示例性的，在对探测目标进行探测的过程中，根据雷达系统中的雷达控制器探头接收到的反弹声波的实际计时与计算计时之间的差距对探测精度进行标定。上述对超声波雷达探测角度和探测精度的标定方法只作为可选实施例，实际上可以根据需要进行其他设置，本申请实施例对标定方法不加以限制。
S220、在当前车辆处于目标监测状态时，基于所述当前车辆的雷达系统对所述当前车辆预设危险范围进行目标监测。
S230、若监测到所述预设危险范围内存在目标时，生成全景系统请求报文。
S240、基于所述全景系统请求报文触发全景系统对所述当前车辆进行全景采集。
S250、将所述全景系统采集的全景数据进行备份存储。
S260、基于存储的全景原始数据获取危险影像数据，并进行传输。
在本申请实施例中，全景原始数据即为全景数据。云端服务器可以基于存储的全景原始数据，对所述全景数据进行危险识别，并基于危险识别结果对全景数据进行剪切处理，得到危险影像数据，将危险影像数据传输至当前车辆或所述当前车辆的关联终端，提示当前车辆的车主。示例性的，对所述全景数据进行危险识别，可以是从全景数据中识别对当前车辆进行损害的图像数据或视频数据。云端服务器可以调用危险识别模型，该危险识别模型具有识别危险功能，将获取到的全景数据输入至该危险识别模型中，输出结果为带有危险等级的危险影像数据。其中，危险识别模型可以基于历史不同等级的危险影像数据训练得到。根据获取到的危险影像数据对全景数据进行剪切处理，然后将剪切处理后得到的危险影像数据传输至当前车辆或当前车辆的关联终端。示例性的，当识别到当前车辆中的危险影像数据为后背门的摄像头采集到的影像数据，则将后背门的影像数据进行剪切作为危险影像数据进行传输。
其中，危险影像数据为有目标物体与当前车辆碰撞时采集到的影像数据。可根据全景数据中当前车辆的损伤面积和变形程度确定危险等级，可以是基于多个危险等级对应的损伤面积和变形程度对当前车辆的损伤进行等级划分。示例性的，识别到的危险等级可以分为轻微危险、中等危险和严重危险。其中轻微危险为目标物与车辆之间为轻微擦碰，当前车辆外观受损较小，并且不影响当前车辆驾驶的情况；中等危险为目标物与当前车辆之间为轻微碰撞，当前车辆外观受损较为严重，并且影响当前车辆驾驶的情况；严重危险为目标物与当前车辆之间为过度碰撞，当前车辆外观受损较十分严重，并且当前车辆不能驾驶的情况；根据危险识别模型的输出结果可以对车主做出不同程度的提示。
在一些实施例中，还可以是将目标物体与车辆距离小于危险阈值的全景数据进行剪切，作为危险影像数据。其中，危险阈值例如可以是10cm。示例性的，将目标物体进入与车辆距离小于危险阈值的范围时刻，作为危险影像数据的起点，将目标物体离开与车辆距离小于危险阈值的范围时刻，作为危险影像数据的结束点，基于该起点和结束点对全景数据进行剪切，得到危险影像数据。
需要说明的是，上述危险识别方式和剪切方式只是作为可选实施例，实际上可以根据实际需要对识别方式和剪切方式进行设置，本实施例对识别方式和剪切方式不加以限制。
例如，当识别到的危险等级为轻微危险时，可以在云端服务器接收到危险影像数据之后，将危险影像数据传输至当前车辆或所述当前车辆的关联终端；当识别到为中等危险时，可以将危险影像数据自动传输至当前车辆或所述当前车辆的关联终端；当识别到为严重危险时，可以将危险影像数据自动传输至当前车辆或所述当前车辆的关联终端，当前车辆或所述当前车辆的关联终端中显示装置作出页面弹出的强制提醒；当然，上述等级划分和提示方式只是作为可选实施例，实际上可以根据实际需要进行设置，本实施例对此不加以限制。
本申请实施例通过对雷达系统进行设置，基于当前车辆的雷达系统对所述当前车辆预设危险范围进行目标监测；当监测到所述预设危险范围内存在目标时，生成全景系统请求报文；基于全景系统请求报文触发全景系统对当前车辆进行全景采集；将全景系统采集的全景数据通过系统上传至云端服务器进行存储，并且对采集的全景数据进行危险识别，并基于危险识别结果对全景数据进行剪切处理，得到危险影像数据，将危险影像数据传输至当前车辆或所述当前车辆的关联终端，提示当前车辆的车主。通过对车辆睡眠监测状态下全景信息进行查看，可以使车主方便快捷的获取危险影像数据，以及时发现并找到损害方，进而免除车主的财产损失。
实施例三
图3是本申请实施例三中的交通数据处理装置的结构示意图。如图3所示，所述装置包括：
目标监测模块310，设置为在当前车辆处于目标监测状态时，基于所述当前车辆的雷达系统对所述当前车辆预设危险范围进行目标监测；
请求报文模块320，设置为若监测到所述预设危险范围内存在目标时，生成 全景系统请求报文；
全景采集模块330，设置为基于所述全景系统请求报文触发全景系统对所述当前车辆进行全景采集；
数据存储模块340，设置为将所述全景系统采集的全景数据进行备份存储。
可选的，所述目标监测模块310包括：
距离计算单元，设置为根据所述雷达系统接收的目标反馈的中断，计算所述目标与当前车辆的距离；
距离判断单元，设置为判断所述目标与当前车辆的距离是否处于所述当前车辆预设危险范围内。
可选的，全景采集模块330包括第一全景采集单元或者第二全景采集单元；
其中，第一全景采集单元，设置为控制所述全景系统进行预设时间段的全景采集；
第二全景采集单元，设置为控制所述全景系统进行全景采集，直到所述预设危险范围内的目标离开所述预设危险范围。
可选的，数据存储模块340包括：
数据传输单元，设置为将所述全景系统采集的全景数据传输至云端服务器，其中，所述云端服务器设置为对所述全景数据进行备份处理。
所述云端服务器还设置为对所述全景数据进行危险识别，并基于危险识别结果对所述全景数据进行剪切处理，得到危险影像数据，将所述危险影像数据传输至所述当前车辆或所述当前车辆的关联终端。
可选的，该装置还包括：
工作模式监测模块，设置为监测所述当前车辆的工作模式，其中，所述当前车辆的工作模式包括正常模式和睡眠模式；
当所述当前车辆的工作模式切换为睡眠模式时，确定是否进入目标监测状态。
可选的，所述当前车辆周向设置有多个超声波雷达，所述多个超声波雷达 形成所述雷达系统，其中，每个超声波雷达的设置位置根据所述每个超声波雷达的探测参数确定；
所述装置还包括：
标定模块，设置为对所述雷达系统中的每个超声波雷达进行探测角度标定和探测精度标定。
本申请实施例提供的一种车辆监控装置，当前车辆处于目标监测状态时，基于所述当前车辆的雷达系统对所述当前车辆预设危险范围进行目标监测；当监测到所述预设危险范围内存在目标时，生成全景系统请求报文；基于全景系统请求报文触发全景系统对当前车辆进行全景采集；将全景系统采集的全景数据进行备份存储。通过在当前车辆中雷达系统检测到其他物体接近当前车辆达到危险距离时，启动全景系统对车辆进行全景采集并存储，便于对车辆睡眠监测状态下全景信息进行查看，及时发现并找到损害方的信息。
实施例四
图4是本申请实施例四中的车辆的结构示意图。图4示出了适于用来实现本申请实施方式的示例性车辆412的框图。图4显示的车辆412仅仅是一个示例，不应对本申请实施例的功能和使用范围带来任何限制。
如图4所示，车辆412以通用计算设备的形式表现。车辆412的组件可以包括但不限于：雷达系统410，全景系统411，至少一个处理器或者处理单元416，系统存储器428，连接不同系统组件(包括系统存储器428和处理单元416)的总线418。
总线418表示几类总线结构中的至少一种，包括存储器总线或者存储器控制器，外围总线，图形加速端口，处理器或者使用多种总线结构中的任意总线结构的局域总线。举例来说，这些体系结构包括但不限于工业标准体系结构(Industry Standard Architecture，ISA)总线，微通道体系结构(Micro Channel Architecture，MCA)总线，增强型ISA总线、视频电子标准协会(Video Electronics  Standards Association，VESA)局域总线以及外围组件互连(Peripheral Component Interconnect，PCI)总线。
车辆412典型地包括多种计算机系统可读介质。这些介质可以是任何能够被车辆412访问的可用介质，包括易失性和非易失性介质，可移动的和不可移动的介质。
系统存储器428可以包括易失性存储器形式的计算机系统可读介质，例如随机存取存储器(Random Access Memory，RAM)430和/或高速缓存存储器432。车辆412可以包括其它可移动/不可移动的、易失性/非易失性计算机系统存储介质。仅作为举例，存储系统434可以用于读写不可移动的、非易失性磁介质(图4未显示，通常称为“硬盘驱动器”)。尽管图4中未示出，可以提供用于对可移动非易失性磁盘(例如“软盘”)读写的磁盘驱动器，以及对可移动非易失性光盘(例如只读光盘(Compact Disc-Read Only Memory，CD-ROM),数字视盘(Digital Video Disc-Read Only Memory，DVD-ROM)或者其它光介质)读写的光盘驱动器。在这些情况下，每个驱动器可以通过至少一个数据介质接口与总线418相连。存储器428可以包括至少一个程序产品，该程序产品具有一组(例如至少一个)程序模块，这些程序模块被配置以执行本申请各实施例的功能。
具有一组(至少一个)程序模块442的程序/实用工具440，可以存储在例如存储器428中，这样的程序模块442包括但不限于操作系统、至少一个应用程序、其它程序模块以及程序数据，这些示例中的每一个或某种组合中可能包括网络环境的实现。程序模块442通常执行本申请所描述的实施例中的功能和/或方法。
车辆412也可以与至少一个外部设备414(例如键盘、指向设备、显示器424等)通信，还可与至少一个使得用户能与该车辆412交互的设备通信，和/或与使得该车辆412能与至少一个其它计算设备进行通信的任何设备(例如网卡，调制解调器等等)通信。这种通信可以通过输入/输出(Input/Output，I/O)接口422进行。并且，车辆412还可以通过网络适配器420与至少一个网络(例 如局域网(Local Area Network，LAN)，广域网(Wide Area Network，WAN)和/或公共网络，例如因特网)通信。如图所示，网络适配器420通过总线418与车辆412的其它模块通信。应当明白，尽管图4中未示出，可以结合车辆412使用其它硬件和/或软件模块，包括但不限于：微代码、设备驱动器、冗余处理单元、外部磁盘驱动阵列、磁盘阵列(Redundant Arrays of Independent Disks，RAID)系统、磁带驱动器以及数据备份存储系统等。
处理单元416通过运行存储在系统存储器428中的程序，从而执行各种功能应用以及数据处理，例如实现本申请实施例所提供的车辆监控方法，该方法包括：
在当前车辆处于目标监测状态时，基于所述当前车辆的雷达系统对所述当前车辆预设危险范围进行目标监测；
若监测到所述预设危险范围内存在目标时，生成全景系统请求报文；
基于所述全景系统请求报文触发全景系统对所述当前车辆进行全景采集；
将所述全景系统采集的全景数据进行备份存储。
实施例五
本申请实施例五还提供了一种包含车辆可执行指令的计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现如本申请实施例所提供的车辆监控方法，该方法包括：
在当前车辆处于目标监测状态时，基于所述当前车辆的雷达系统对所述当前车辆预设危险范围进行目标监测；
若监测到所述预设危险范围内存在目标时，生成全景系统请求报文；
基于所述全景系统请求报文触发全景系统对所述当前车辆进行全景采集；
将所述全景系统采集的全景数据进行备份存储。
本申请实施例的包含车辆可执行指令的计算机存储介质，可以采用至少一个计算机可读的介质的任意组合。计算机可读介质可以是计算机可读信号介质 或者计算机可读存储介质。计算机可读存储介质例如可以是——但不限于——电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子(非穷举的列表)包括：具有至少一个导线的电连接、便携式计算机磁盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器((Erasable Programmable Read-Only Memory，EPROM)或闪存)、光纤、便携式紧凑磁盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本文件中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。
计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。
计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括——但不限于无线、电线、光缆、射频(Radio Frequency，RF)等等，或者上述的任意合适的组合。
可以以至少一种程序设计语言或其组合来编写用于执行本申请操作的计算机程序代码，所述程序设计语言包括面向对象的程序设计语言—诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言—诸如”C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或车辆上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络——包括局域网(LAN)或广域网(WAN)—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供 商来通过因特网连接)。

Claims (10)

  1. 一种车辆监控方法，包括：
    响应于当前车辆处于目标监测状态，基于所述当前车辆的雷达系统对所述当前车辆预设危险范围进行目标监测；
    响应于监测到所述预设危险范围内存在目标，生成全景系统请求报文；
    基于所述全景系统请求报文触发全景系统对所述当前车辆进行全景采集；
    将所述全景系统采集的全景数据进行备份存储。
  2. 根据权利要求1所述的方法，还包括：
    监测所述当前车辆的工作模式，其中，所述当前车辆的工作模式包括正常模式和睡眠模式；
    响应于所述当前车辆的工作模式切换为睡眠模式，确定是否进入目标监测状态。
  3. 根据权利要求1所述的方法，其中，所述当前车辆周向设置有多个超声波雷达，所述多个超声波雷达形成所述雷达系统，其中，每个超声波雷达的设置位置根据所述每个超声波雷达的探测参数确定；
    所述方法还包括：
    对所述雷达系统中的每个超声波雷达进行探测角度标定和探测精度标定。
  4. 根据权利要求1所述的方法，其中，所述基于所述当前车辆的雷达系统对所述当前车辆预设危险范围进行目标监测，包括：
    根据所述雷达系统接收的目标反馈的中断，计算所述目标与当前车辆的距离；
    判断所述目标与当前车辆的距离是否处于所述当前车辆预设危险范围内。
  5. 根据权利要求1所述的方法，其中，基于所述全景系统请求报文触发全景系统对所述当前车辆进行全景采集，包括：
    控制所述全景系统进行预设时间段的全景采集；
    或者，
    控制所述全景系统进行全景采集，直到所述预设危险范围内的目标离开所 述预设危险范围。
  6. 根据权利要求1所述的方法，其中，所述将所述全景系统采集的全景数据进行备份存储，包括：
    将所述全景系统采集的全景数据传输至云端服务器，其中，所述云端服务器设置为对所述全景数据进行备份处理。
  7. 根据权利要求6所述的方法，其中，所述云端服务器还设置为对所述全景数据进行危险识别，并基于危险识别结果对所述全景数据进行剪切处理，得到危险影像数据，将所述危险影像数据传输至所述当前车辆或所述当前车辆的关联终端。
  8. 一种车辆监控装置，包括：
    目标监测模块，设置为响应于当前车辆处于目标监测状态，基于所述当前车辆的雷达系统对所述当前车辆预设危险范围进行目标监测；
    请求报文模块，设置为响应于监测到所述预设危险范围内存在目标，生成全景系统请求报文；
    全景采集模块，设置为基于所述全景系统请求报文触发全景系统对所述当前车辆进行全景采集；
    数据存储模块，设置为将所述全景系统采集的全景数据进行备份存储。
  9. 一种车辆，包括雷达系统、全景系统；
    所述车辆还包括：
    至少一个处理器；
    存储装置，设置为存储至少一个程序，
    当所述至少一个程序被所述至少一个处理器执行，使得所述至少一个处理器实现如权利要求1-7中任一所述的车辆监控方法。
  10. 一种包含车辆可执行指令的存储介质，所述存储介质上存储有计算机程序，所述计算机程序被处理器执行时实现如权利要求1-7中任一所述的车辆监控方法。
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CN111856475A (zh) * 2020-07-20 2020-10-30 中国第一汽车股份有限公司 一种车辆监控方法、装置、车辆及存储介质

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CN114866701A (zh) * 2022-06-08 2022-08-05 江铃汽车股份有限公司 一种540°全景影像下线配置系统及方法
CN115169923A (zh) * 2022-07-19 2022-10-11 华能核能技术研究院有限公司 用于核电厂的数据检测方法、装置、电子设备及存储介质
CN116311583A (zh) * 2022-09-08 2023-06-23 合众新能源汽车股份有限公司 车辆监控方法、装置及系统
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