CN112519797A - Vehicle safety distance early warning method, early warning system, automobile and storage medium - Google Patents
Vehicle safety distance early warning method, early warning system, automobile and storage medium Download PDFInfo
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- CN112519797A CN112519797A CN202011434815.2A CN202011434815A CN112519797A CN 112519797 A CN112519797 A CN 112519797A CN 202011434815 A CN202011434815 A CN 202011434815A CN 112519797 A CN112519797 A CN 112519797A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
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Abstract
The invention discloses a vehicle safety distance early warning method, an early warning system, an automobile and a storage medium, wherein the method comprises the following steps: detecting distance information between a side of a vehicle and an obstacle; establishing a vehicle coordinate system, and determining the coordinates of the obstacle in the vehicle coordinate system according to the distance information; converting coordinates of the obstacle in a vehicle coordinate system into coordinates in a world coordinate system; collecting motion data of a vehicle, and drawing a running track of the vehicle in a future preset time period in a world coordinate system; calculating the relative distance between the coordinates of the point closest to the obstacle in the driving track of the vehicle and the coordinates of the obstacle, and judging whether the relative distance is smaller than a first distance threshold value; if yes, determining that the scratch risk exists. The invention can early warn whether a scratch event occurs between the vehicle and the obstacle in the future preset time period, thereby enabling a driver to timely react and avoid the obstacle in the driving process and improving the driving safety.
Description
Technical Field
The invention relates to the technical field of safe driving of automobiles, in particular to a vehicle safe distance early warning method, an early warning system, an automobile and a storage medium.
Background
With the expansion of urban areas and the improvement of living standard of people, automobiles enter common families and become main vehicles in cities.
The scratch is a common traffic accident form in the driving process, and the main reason is that the driver does not concentrate on the obstacle on the side surface of the vehicle, or the driver inaccurately controls the distance between the obstacle and the vehicle, or the obstacle is positioned in the visual field blind area of the driver, so that the scratch accident occurs when the vehicle turns or approaches the obstacle.
Although ultrasonic radars are installed on the side faces of most of vehicles at present and can detect lateral obstacles, the design of the ultrasonic radars is originally designed for searching parking spaces, so the detection angles of the ultrasonic radars are generally smaller than those of the ultrasonic radars installed in front of and behind the vehicles, so that the time for the ultrasonic radars on the side faces to identify the obstacles close to the vehicles is short, namely in the whole driving process of the vehicles passing through the obstacles, the obstacles can be located in blind areas which cannot be detected by the ultrasonic radars on the side faces of the vehicles most of time, and further the ultrasonic radars on the side faces cannot provide scratch risks for drivers.
Therefore, how to effectively reduce the scratch and rub accidents between the side face of the vehicle and the obstacle becomes the problem to be improved urgently in the face of safe driving on the road.
Disclosure of Invention
The embodiment of the invention discloses a vehicle safety distance early warning method, an early warning system, an automobile and a storage medium, which can monitor the scratch and rub risk of the side surface of the vehicle and reduce the probability of scratch and rub events.
The embodiment of the invention discloses a vehicle safety distance early warning method in the first aspect;
as an alternative implementation, in the first aspect of the embodiment of the present invention, the method includes:
detecting distance information between a side of a vehicle and an obstacle;
establishing a vehicle coordinate system, and determining the coordinates of the obstacle in the vehicle coordinate system according to the distance information;
converting coordinates of the obstacle in the vehicle coordinate system into coordinates in a world coordinate system;
collecting motion data of the vehicle, and drawing a running track of the vehicle in a future preset time period in the world coordinate system;
calculating a relative distance between the coordinate of a point closest to the obstacle in the driving track of the vehicle and the coordinate of the obstacle, and judging whether the relative distance is smaller than a first distance threshold value;
if yes, determining that the scratch risk exists, and performing alarm reminding with insufficient safety distance;
if not, determining that the scratch risk does not exist.
As an optional implementation manner, in the vehicle safety distance warning method, the step of converting the coordinates of the obstacle in the vehicle coordinate system into the coordinates in the world coordinate system includes:
acquiring the absolute position of the vehicle in a world coordinate system and the relative position of the vehicle in the vehicle coordinate system;
determining a conversion relation between the world coordinate system and the vehicle coordinate system according to the absolute position and the relative position;
and converting the coordinates of the obstacle in the vehicle coordinate system into the coordinates in the world coordinate system according to the conversion relation.
As an optional implementation manner, in the vehicle safety distance warning method, before the step of detecting the distance information between the side surface of the vehicle and the obstacle, the method further includes:
detecting whether the vehicle is in a moving state;
if yes, executing the step of detecting the distance information between the side face of the vehicle and the obstacle;
if not, continuing to execute the operation of detecting whether the vehicle is in the motion state.
As an optional implementation manner, in the vehicle safety distance warning method, after the step of detecting the distance information between the side surface of the vehicle and the obstacle, the method further includes:
judging whether the distance information is larger than a second distance threshold value;
if so, rejecting the distance information;
and if not, establishing a vehicle coordinate system, and determining the coordinates of the obstacle in the vehicle coordinate system according to the distance information.
As an optional implementation manner, in the vehicle safety distance early warning method, the method further includes;
and eliminating the coordinates in the world coordinate system, wherein the distance between the coordinates and the vehicle is greater than a third distance threshold value.
As an optional implementation manner, in the vehicle safe distance warning method, after the step of converting the coordinates of the obstacle in the vehicle coordinate system into the coordinates in the world coordinate system, the method further includes:
judging whether the number of obstacles with coordinates falling into the ROI area of the vehicle in the world coordinate system is larger than a number threshold value or not;
if not, determining that the vehicle is not in a narrow environment, acquiring motion data of the vehicle, and drawing a running track of the vehicle in a future preset time period in the world coordinate system;
if yes, determining that the vehicle is in the narrow environment, and inquiring whether to start an intelligent auxiliary driving function or not to a driver;
if receiving a starting instruction sent by a driver, starting an intelligent auxiliary driving function so as to pass through the narrow environment;
and if the starting instruction sent by the driver is not received, the operation of collecting the motion data of the vehicle and drawing the running track of the vehicle in a future preset time period in the world coordinate system is executed.
As an optional implementation manner, in the vehicle safety distance early warning method, the motion data includes a motion speed and a motion direction;
then, the step of collecting the motion data of the vehicle and drawing the driving track of the vehicle in the world coordinate system within a future preset time period comprises:
collecting the movement speed and the movement direction of the vehicle;
determining position change information of the vehicle within a future preset time period according to the movement speed and the movement direction;
determining a plurality of discrete position points according to the position change information;
and recording a plurality of position points through the world coordinate system, and connecting the position points according to the time sequence to obtain the driving track of the vehicle in the future preset time period.
The second aspect of the embodiment of the invention discloses a vehicle safe distance early warning system;
as an alternative implementation, in the second aspect of the embodiment of the present invention, the system includes:
the distance detection module is used for detecting distance information between the side face of the vehicle and the obstacle;
the coordinate establishing module is used for establishing a vehicle coordinate system and determining the coordinates of the obstacle in the vehicle coordinate system according to the distance information;
the coordinate conversion module is used for converting the coordinates of the obstacle in the vehicle coordinate system into the coordinates in the world coordinate system;
the data acquisition module is used for acquiring the motion data of the vehicle and drawing the running track of the vehicle in a future preset time period in the world coordinate system;
the distance calculation module is used for calculating the relative distance between the coordinate of the point closest to the obstacle in the driving track of the vehicle and the coordinate of the obstacle and judging whether the relative distance is smaller than a first distance threshold value or not;
the risk reminding module is used for determining that the scratch risk exists and carrying out alarm reminding with insufficient safety distance if the relative distance is smaller than a first distance threshold; and if the relative distance is greater than or equal to the first distance threshold value, determining that the scratch risk does not exist.
As an optional implementation manner, in the vehicle safe distance early warning system, the coordinate conversion module is specifically configured to:
acquiring the absolute position of the vehicle in a world coordinate system and the relative position of the vehicle in the vehicle coordinate system;
determining a conversion relation between the world coordinate system and the vehicle coordinate system according to the absolute position and the relative position;
and converting the coordinates of the obstacle in the vehicle coordinate system into the coordinates in the world coordinate system according to the conversion relation.
As an optional implementation manner, in the vehicle safe distance early warning system, the system further includes:
a motion detection module for detecting whether the vehicle is in a motion state before the step of detecting the distance information between the side face of the vehicle and the obstacle;
if yes, executing the step of detecting the distance information between the side face of the vehicle and the obstacle;
if not, continuing to execute the operation of detecting whether the vehicle is in the motion state.
As an optional implementation manner, in the vehicle safe distance early warning system, the system further includes:
the information removing module is used for judging whether the distance information is larger than a second distance threshold value or not after the step of detecting the distance information between the side face of the vehicle and the obstacle;
if so, rejecting the distance information;
and if not, establishing a vehicle coordinate system, and determining the coordinates of the obstacle in the vehicle coordinate system according to the distance information.
As an optional implementation manner, in the vehicle safety distance early warning system, the information elimination module is further configured to eliminate the information;
and eliminating the coordinates in the world coordinate system, wherein the distance between the coordinates and the vehicle is greater than a third distance threshold value.
As an optional implementation manner, in the vehicle safe distance early warning system, the system further includes:
a number judgment module, configured to, after the step of converting the coordinates of the obstacle in the vehicle coordinate system into coordinates in a world coordinate system, judge whether the number of obstacles in the world coordinate system whose coordinates fall within the ROI area of the vehicle is greater than a number threshold;
the first execution module is used for determining that the vehicle is not in a narrow environment if the number of obstacles with coordinates falling into the ROI area of the vehicle in the world coordinate system is smaller than or equal to a number threshold, acquiring motion data of the vehicle, and drawing a running track of the vehicle in a future preset time period in the world coordinate system;
the function inquiry module is used for determining that the vehicle is in the narrow environment and inquiring whether to start an intelligent auxiliary driving function or not to a driver if the number of obstacles with coordinates falling into the ROI area of the vehicle in the world coordinate system is larger than a number threshold;
the function starting module is used for starting the intelligent auxiliary driving function to pass through the narrow environment if a starting instruction sent by a driver is received;
and the second execution module is used for acquiring the motion data of the vehicle and drawing the running track of the vehicle in a future preset time period in the world coordinate system if the starting instruction sent by the driver is not received.
In an optional embodiment, in the vehicle safety distance early warning system, the motion data includes a motion speed and a motion direction;
then, the data acquisition module is specifically configured to:
collecting the movement speed and the movement direction of the vehicle;
determining position change information of the vehicle within a future preset time period according to the movement speed and the movement direction;
determining a plurality of discrete position points according to the position change information;
and recording a plurality of position points through the world coordinate system, and connecting the position points according to the time sequence to obtain the driving track of the vehicle in the future preset time period.
A third aspect of the embodiment of the invention discloses an automobile;
as an optional implementation manner, in the third aspect of the embodiment of the present invention, the automobile includes a computer device, the computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the vehicle safe distance warning method according to any one of the above aspects when executing the computer program.
A fourth aspect of the embodiments of the present invention discloses a storage medium containing computer-executable instructions;
as an alternative implementation manner, in the fourth aspect of the embodiment of the present invention, the computer executable instructions are executed by a computer processor to implement the vehicle safe distance early warning method according to any one of the above aspects.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
the detected obstacle on the side of the vehicle body and the predicted motion trail of the vehicle in the future preset time period are put into a world coordinate system together for distance calculation, so that whether a scratch event happens to the vehicle and the obstacle in the future preset time period can be predicted and reminded, a driver can timely react and avoid the obstacle in the driving process, the driving safety is improved, and the driving experience of the driver is enhanced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a schematic flow chart of a vehicle safety distance warning method according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a vehicle safety distance warning method according to a second embodiment of the present invention;
fig. 3 is a schematic flow chart of a vehicle safety distance warning method according to a third embodiment of the present invention;
fig. 4 is a schematic flow chart of a vehicle safety distance warning method according to a fourth embodiment of the present invention;
fig. 5 is a schematic flow chart of a vehicle safety distance warning method according to a fifth embodiment of the present invention;
fig. 6 is a functional module schematic diagram of a vehicle safe distance early warning system according to a sixth embodiment of the present invention;
fig. 7 is a schematic structural diagram of a computer device according to a seventh embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is to be noted that the terms "first" and "second" and the like in the description and the claims of the present invention are used for distinguishing different objects, and are not used for describing a specific order. The terms "comprises," "comprising," and any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The embodiment of the invention discloses a vehicle safety distance early warning method, an early warning system, an automobile and a storage medium, which can effectively reduce the scraping and rubbing accidents between the side surface of the vehicle and an obstacle and improve the road safety driving problem.
Example one
In view of the defects in the prior art, the inventor of the invention actively researches and innovates based on abundant practical experience and professional knowledge in years of automobile industry and by matching with the application of theory, so as to create a feasible early warning technology for preventing the side face and the obstacle from rubbing, and the early warning technology is more practical. After continuous research, design and repeated trial and improvement, the invention with practical value is finally created.
Referring to fig. 1, fig. 1 is a schematic flow chart of a vehicle safety distance warning method according to an embodiment of the present invention, the method is applied to a scene where an obstacle exists on a side surface of a vehicle during driving, the method is executed by a vehicle safety distance warning system, and the system can be implemented by software and/or hardware and is integrated inside an automobile. As shown in fig. 1, the vehicle safety distance early warning method may include the steps of:
s101, detecting distance information between the side face of the vehicle and an obstacle.
It should be noted that, in this step, the distance information between the side surface of the vehicle and the obstacle is detected by an ultrasonic detection device mounted on the side surface of the vehicle body, where the ultrasonic detection device may be an ultrasonic sensor, an ultrasonic distance meter, or other devices that detect and measure an object by using an ultrasonic principle, and the ultrasonic sensor is preferably used in the embodiment of the present invention.
The relative distance between the ultrasonic sensor and the obstacle is obtained based on the ultrasonic distance measurement principle, namely, ultrasonic waves are transmitted outwards through an ultrasonic transmitter in the ultrasonic sensor, timing is started at the same time of transmitting time, the ultrasonic waves immediately return when encountering the obstacle during propagation in the air, the ultrasonic waves are called as reflected waves, then the ultrasonic receiver in the ultrasonic sensor immediately stops timing after receiving the reflected waves, the time spent by the counted ultrasonic waves is used, and the propagation path of the ultrasonic waves, namely the relative distance between the ultrasonic detection device and the obstacle can be calculated through the round-trip time.
S102, establishing a vehicle coordinate system, and determining the coordinates of the obstacle in the vehicle coordinate system according to the distance information.
It should be noted that the vehicle coordinate system in this embodiment is a coordinate system established based on the longitudinal direction and the width direction of the vehicle body, and when the distance between the vehicle and the obstacle is determined, the position of the obstacle can be represented in the form of coordinates in the vehicle coordinate system.
And S103, converting the coordinates of the obstacle in the vehicle coordinate system into the coordinates in the world coordinate system.
Further, step S103 specifically includes:
acquiring the absolute position of the vehicle in a world coordinate system and the relative position of the vehicle in the vehicle coordinate system;
determining a conversion relation between the world coordinate system and the vehicle coordinate system according to the absolute position and the relative position;
and converting the coordinates of the obstacle in the vehicle coordinate system into the coordinates in the world coordinate system according to the conversion relation.
The world coordinate system is an absolute coordinate system that can indicate absolute positions of the vehicle and the obstacle, and the vehicle coordinate system is a relative coordinate system that is established on the vehicle and moves along with the movement of the vehicle, and therefore can only indicate a relative position between the vehicle and the obstacle.
The vehicle can acquire the absolute position of the vehicle in the world coordinate system according to a GPS or the like, and then obtain the conversion relationship between the vehicle coordinate system and the world coordinate system according to the absolute position, so that the coordinates of the obstacle in the vehicle coordinate system can be converted into the coordinates in the world coordinate system. Thus, the absolute positions of the vehicle and the obstacle in the world coordinate system are obtained.
And S104, collecting the motion data of the vehicle, and drawing the running track of the vehicle in a future preset time period in the world coordinate system.
Further, the motion data includes a motion speed and a motion direction, and then, the step S103 specifically includes:
collecting the movement speed and the movement direction of the vehicle;
determining position change information of the vehicle within a future preset time period according to the movement speed and the movement direction;
determining a plurality of discrete position points according to the position change information;
and recording a plurality of position points through the world coordinate system, and connecting the position points according to the time sequence to obtain the driving track of the vehicle in the future preset time period.
The preset time period refers to a time period after the current time, and may be set by a technician at will according to experience and an actual application scenario, which is not limited in this embodiment.
S105, calculating a relative distance between the coordinate of a point closest to the obstacle in the driving track of the vehicle and the coordinate of the obstacle, and judging whether the relative distance is smaller than a first distance threshold value; if yes, step S106 is executed, and if no, step S107 is executed.
The first distance threshold may be set by a technician at will according to an empirical value and an actual application scenario, and this embodiment is not specifically limited herein.
It should be noted that, by performing distance judgment on the coordinate of the point closest to the obstacle in the driving track of the vehicle and the coordinate of the obstacle, it can be known whether a scratch risk exists before the vehicle drives away from the obstacle, and thus driving safety is ensured.
And S106, determining that scratch risk exists, and performing alarm reminding with insufficient safety distance.
And S107, determining that scratch risk does not exist.
The embodiment of the invention provides a vehicle safety distance early warning method, which is characterized in that a detected obstacle on the side surface of a vehicle body and a predicted movement track of the vehicle in a future preset time period are put into a world coordinate system together for distance calculation, so that whether a scratch event happens to the vehicle and the obstacle in the future preset time period can be predicted and reminded, a driver can timely react and avoid the obstacle in the driving process, the driving safety is improved, and the driving experience of the driver is enhanced.
Example two
Referring to fig. 2, fig. 2 is a schematic flow chart illustrating a vehicle safety distance warning method according to an embodiment of the present invention. On the basis of the technical solution provided by the first embodiment, the method is further optimized before the step S101 "detecting the distance information between the side surface of the vehicle and the obstacle". The explanation of the same or corresponding terms as those in the above embodiments is not repeated herein, and specifically, the method provided in this embodiment may further include the following steps:
detecting whether the vehicle is in a moving state;
if yes, executing the step of detecting the distance information between the side face of the vehicle and the obstacle;
if not, continuing to execute the operation of detecting whether the vehicle is in the motion state.
Based on the above optimization, as shown in fig. 2, the vehicle safety distance early warning method provided in this embodiment may specifically include the following steps:
s201, detecting whether the vehicle is in a motion state; if yes, executing step S202, otherwise, continuing to execute step S201;
it should be noted that, because the ultrasonic sensor on the side of the vehicle always detects the obstacle located on the side in the default setting, that is, if the vehicle is in a starting but stationary state, the ultrasonic sensor always detects the same obstacle, so that a lot of same obstacle distance information exists, and the processing efficiency is reduced because of too much information, in this embodiment, it is set that the ultrasonic sensor can detect the obstacle and determine the distance between the vehicle and the obstacle only when the vehicle is in a moving state, or, when the vehicle is detected to be stationary, only the first detected distance information is retained, and then the detected same distance information is not processed.
In addition, when the distance between two obstacles is too close, for example, the distance is less than 2 cm, the same obstacle is defaulted and is not distinguished, and only the distance information obtained by first detection is obtained and retained even if the vehicle is in a moving state.
S202, detecting distance information between the side face of the vehicle and the obstacle.
S203, establishing a vehicle coordinate system, and determining the coordinates of the obstacle in the vehicle coordinate system according to the distance information.
And S204, converting the coordinates of the obstacle in the vehicle coordinate system into the coordinates in the world coordinate system.
S205, collecting the motion data of the vehicle, and drawing the running track of the vehicle in a future preset time period in the world coordinate system.
S206, calculating a relative distance between the coordinate of a point closest to the obstacle in the driving track of the vehicle and the coordinate of the obstacle, and judging whether the relative distance is smaller than a first distance threshold value; if yes, go to step S207, otherwise go to step S208.
And S207, determining that scratch risks exist, and performing alarm reminding with insufficient safety distance.
And S208, determining that scratch risk does not exist.
The embodiment of the invention has the beneficial effects of the first embodiment, and the condition whether to detect the distance information between the vehicle and the obstacle is set, so that the detected distance information is not repeated, the calculation amount is reduced, and the processing efficiency is improved.
EXAMPLE III
Referring to fig. 3, fig. 3 is a schematic flow chart illustrating a vehicle safety distance warning method according to an embodiment of the present invention. On the basis of the technical solution provided by the first embodiment, after "detecting the distance information between the side surface of the vehicle and the obstacle" in step S101, the present embodiment further optimizes the method. The explanation of the same or corresponding terms as those in the above embodiments is not repeated herein, and specifically, the method provided in this embodiment may further include the following steps:
judging whether the distance information is larger than a second distance threshold value;
if so, rejecting the distance information;
and if not, establishing a vehicle coordinate system, and determining the coordinates of the obstacle in the vehicle coordinate system according to the distance information.
Based on the above optimization, as shown in fig. 3, the vehicle safety distance early warning method provided in this embodiment may specifically include the following steps:
s301, detecting distance information between the side face of the vehicle and the obstacle.
S302, judging whether the distance information is larger than a second distance threshold value; if yes, go to step S303, otherwise go to step S304.
The second distance threshold may be set by a technician at will according to an empirical value and an actual application scenario, and this embodiment is not specifically limited herein.
And S303, eliminating the distance information.
It should be noted that, as the vehicle travels, the distance information of the obstacle detected by the ultrasonic sensor gradually increases, and too much information causes more contents to be processed by the vehicle, and the load of the relevant module is too large, so that the processing efficiency is reduced, and therefore, the distance information between the vehicle and the obstacle detected by the ultrasonic sensor needs to be screened.
In this embodiment, for example, for an obstacle with a long distance, such as an obstacle beyond 3 meters, since the probability of scratch risk is very low, the obstacle is not considered, and should be removed.
If the vehicle does approach the obstacle, there is a new chance to detect the distance of the obstacle in a short distance.
S304, establishing a vehicle coordinate system, and determining the coordinates of the obstacle in the vehicle coordinate system according to the distance information.
And S305, converting the coordinates of the obstacle in the vehicle coordinate system into the coordinates in the world coordinate system.
S306, collecting the motion data of the vehicle, and drawing the running track of the vehicle in a future preset time period in the world coordinate system.
S307, calculating a relative distance between the coordinate of the point closest to the obstacle in the driving track of the vehicle and the coordinate of the obstacle, and judging whether the relative distance is smaller than a first distance threshold value; if yes, go to step S308, otherwise go to step S309.
And S308, determining that scratch risk exists, and performing alarm reminding with insufficient safety distance.
And S309, determining that scratch risk does not exist.
The embodiment of the invention has the beneficial effects of the first embodiment, and the distance information corresponding to the obstacle without the scratch risk is not subjected to subsequent processing by setting the screening rule of the distance information, so that the calculation amount is reduced, and the processing efficiency is improved.
Example four
Referring to fig. 4, fig. 4 is a schematic flow chart illustrating a vehicle safety distance warning method according to an embodiment of the present invention. On the basis of the technical scheme provided by the first embodiment, after determining that the scratch risk exists and the alarm reminding with insufficient safety distance is performed in step S106 and determining that the scratch risk does not exist in step S107, the method is further optimized. The explanation of the same or corresponding terms as those in the above embodiments is not repeated herein, and specifically, the method provided in this embodiment may further include the following steps:
and eliminating the coordinates in the world coordinate system, wherein the distance between the coordinates and the vehicle is greater than a third distance threshold value.
Based on the above optimization, as shown in fig. 4, the vehicle safety distance early warning method provided in this embodiment may specifically include the following steps:
s401, detecting distance information between the side face of the vehicle and the obstacle.
S402, establishing a vehicle coordinate system, and determining the coordinates of the obstacle in the vehicle coordinate system according to the distance information.
And S403, converting the coordinates of the obstacle in the vehicle coordinate system into coordinates in a world coordinate system.
S404, collecting the motion data of the vehicle, and drawing the running track of the vehicle in a future preset time period in the world coordinate system.
S405, calculating a relative distance between the coordinate of a point closest to the obstacle in the driving track of the vehicle and the coordinate of the obstacle, and judging whether the relative distance is smaller than a first distance threshold value; if yes, go to step S406, otherwise go to step S407.
And S406, determining that scratch risk exists, and performing alarm reminding with insufficient safety distance.
And S407, determining that scratch risk does not exist.
And S408, eliminating the coordinates in the world coordinate system, wherein the distance between the coordinates and the vehicle is greater than a third distance threshold value.
The third distance threshold may be set by a technician at will according to an empirical value and an actual application scenario, and this embodiment is not specifically limited herein.
It should be noted that, as the vehicle travels, the distance information of the obstacle detected by the ultrasonic sensor gradually increases, and too much information causes more contents to be processed by the vehicle, and the load of the relevant module is too large, so that the processing efficiency is reduced, and therefore, the distance information between the vehicle and the obstacle detected by the ultrasonic sensor needs to be screened.
In the present embodiment, distance information corresponding to an obstacle that the vehicle has traveled away should be eliminated, for example. However, we can specify that when a certain obstacle is more than 1 meter away from the tail of the vehicle, it means that the vehicle is away from the obstacle, and certainly, the distance is not limited to 1 meter, and may be other values.
The embodiment of the invention has the beneficial effects of the first embodiment, and the distance information corresponding to the obstacle without the scratch risk is not subjected to subsequent processing by setting the screening rule of the distance information, so that the calculation amount is reduced, and the processing efficiency is improved.
EXAMPLE five
Referring to fig. 5, fig. 5 is a schematic flow chart illustrating a vehicle safety distance warning method according to an embodiment of the present invention. On the basis of the technical solution provided by the first embodiment, after "converting the coordinates of the obstacle in the vehicle coordinate system into the coordinates in the world coordinate system" in step S103, the method is further optimized. The explanation of the same or corresponding terms as those in the above embodiments is not repeated herein, and specifically, the method provided in this embodiment may further include the following steps:
judging whether the distance information is larger than a second distance threshold value;
if so, rejecting the distance information;
and if not, establishing a vehicle coordinate system, and determining the coordinates of the obstacle in the vehicle coordinate system according to the distance information.
Based on the above optimization, as shown in fig. 5, the vehicle safety distance early warning method provided in this embodiment may specifically include the following steps:
s501, detecting distance information between the side face of the vehicle and the obstacle.
S502, establishing a vehicle coordinate system, and determining the coordinates of the obstacle in the vehicle coordinate system according to the distance information.
And S503, converting the coordinates of the obstacle in the vehicle coordinate system into coordinates in a world coordinate system.
S504, judging whether the number of obstacles with coordinates falling into the ROI area of the vehicle in the world coordinate system is larger than a number threshold value or not; if not, step S505 is executed, and if yes, step S506 is executed.
The number threshold may be set by a technician at will according to an empirical value and an actual application scenario, and this embodiment is not specifically limited herein.
Roi (region Of interest) region, also called region Of interest. In the embodiment, the specific range of the ROI area is a long and narrow rectangle on both sides of the vehicle, the width of the rectangle is sensitivity to the obstacle, and the width can be adjusted according to the expected control capability of different vehicle owners for the distance between the obstacles on both sides of the vehicle, and can be set to 50cm exemplarily; the length of the rectangle is the installation interval of two ultrasonic sensors at the side head position and the side tail position of the vehicle plus a detection distance, for example, the transverse detection distance of the detection envelope of the ultrasonic sensor can be 50 cm:
LROI＝LΔ2UssLoc+2d*tan(θ(d))
where the angle is a function of distance and is obtained by ultrasonic probing experiments, and where d is 50cm, the angle is about 20 °.
S505, determining that the vehicle is not in a narrow environment, and executing a step S508 downwards;
s506, determining that the vehicle is in the narrow environment, inquiring a driver whether to start an intelligent auxiliary driving function, and judging whether to receive a starting instruction sent by the driver; if yes, go to step S507, otherwise go to step S508.
S507, starting an intelligent auxiliary driving function to pass through the narrow environment;
and S508, collecting the motion data of the vehicle, and drawing the running track of the vehicle in a future preset time period in the world coordinate system.
S509, calculating a relative distance between a coordinate of a point closest to the obstacle in a driving track of the vehicle and the coordinate of the obstacle, and judging whether the relative distance is smaller than a first distance threshold value; if yes, go to step S510, otherwise go to step 511.
And S510, determining that scratch risks exist, and performing alarm reminding with insufficient safety distance.
And S511, determining that scratch risk does not exist.
It should be noted that, because the scratch risk is extremely high when the vehicle is in a narrow environment, the handling mode of the vehicle in such a scenario needs to be considered. In this embodiment, specifically, after determining that the vehicle is in a narrow environment according to the number of obstacles located in the ROI of the vehicle, an intelligent auxiliary driving function is started, where the intelligent auxiliary driving function may be automatic driving for automatically planning a route, and this function requires the vehicle itself to have the function, and a 360 ° panoramic camera may also be opened, so that a driver can observe the distance between the two sides of the vehicle and the obstacles in real time when passing through the narrow environment.
The embodiment of the invention has the beneficial effects of the first embodiment, and also makes corresponding counter measures by detecting whether the vehicle is in a narrow environment, perfects the consideration of various scratch conditions possibly existing in the vehicle and improves the reliability of vehicle operation.
EXAMPLE six
Referring to fig. 6, a functional module diagram of a vehicle safety distance early warning system according to a sixth embodiment of the present invention is shown, where the system is adapted to execute the vehicle safety distance early warning method according to the sixth embodiment of the present invention. The system specifically comprises the following modules:
a distance detection module 61 for detecting distance information between a side of the vehicle and an obstacle;
the coordinate establishing module 62 is configured to establish a vehicle coordinate system, and determine coordinates of the obstacle in the vehicle coordinate system according to the distance information;
a coordinate conversion module 63, configured to convert coordinates of the obstacle in the vehicle coordinate system into coordinates in a world coordinate system;
the data acquisition module 64 is used for acquiring the motion data of the vehicle and drawing the running track of the vehicle in a future preset time period in the world coordinate system;
a distance calculation module 65, configured to calculate a relative distance between a coordinate of a point closest to the obstacle in the driving trajectory of the vehicle and the coordinate of the obstacle, and determine whether the relative distance is smaller than a first distance threshold;
the risk reminding module 66 is used for determining that the scratch risk exists and carrying out alarm reminding for insufficient safety distance if the relative distance is smaller than a first distance threshold; and if the relative distance is greater than or equal to the first distance threshold value, determining that the scratch risk does not exist.
Preferably, the coordinate conversion module is specifically configured to:
acquiring the absolute position of the vehicle in a world coordinate system and the relative position of the vehicle in the vehicle coordinate system;
determining a conversion relation between the world coordinate system and the vehicle coordinate system according to the absolute position and the relative position;
and converting the coordinates of the obstacle in the vehicle coordinate system into the coordinates in the world coordinate system according to the conversion relation.
Preferably, the system further comprises:
a motion detection module for detecting whether the vehicle is in a motion state before the step of detecting the distance information between the side face of the vehicle and the obstacle;
if yes, executing the step of detecting the distance information between the side face of the vehicle and the obstacle;
if not, continuing to execute the operation of detecting whether the vehicle is in the motion state.
Preferably, the system further comprises:
the information removing module is used for judging whether the distance information is larger than a second distance threshold value or not after the step of detecting the distance information between the side face of the vehicle and the obstacle;
if so, rejecting the distance information;
and if not, establishing a vehicle coordinate system, and determining the coordinates of the obstacle in the vehicle coordinate system according to the distance information.
Preferably, the information eliminating module is further configured to eliminate the information;
and eliminating the coordinates in the world coordinate system, wherein the distance between the coordinates and the vehicle is greater than a third distance threshold value.
Preferably, the system further comprises:
a number judgment module, configured to, after the step of converting the coordinates of the obstacle in the vehicle coordinate system into coordinates in a world coordinate system, judge whether the number of obstacles in the world coordinate system whose coordinates fall within the ROI area of the vehicle is greater than a number threshold;
the first execution module is used for determining that the vehicle is not in a narrow environment if the number of obstacles with coordinates falling into the ROI area of the vehicle in the world coordinate system is smaller than or equal to a number threshold, acquiring motion data of the vehicle, and drawing a running track of the vehicle in a future preset time period in the world coordinate system;
the function inquiry module is used for determining that the vehicle is in the narrow environment and inquiring whether to start an intelligent auxiliary driving function or not to a driver if the number of obstacles with coordinates falling into the ROI area of the vehicle in the world coordinate system is larger than a number threshold;
the function starting module is used for starting the intelligent auxiliary driving function to pass through the narrow environment if a starting instruction sent by a driver is received;
and the second execution module is used for acquiring the motion data of the vehicle and drawing the running track of the vehicle in a future preset time period in the world coordinate system if the starting instruction sent by the driver is not received.
Preferably, the motion data includes a motion speed and a motion direction;
then, the data acquisition module is specifically configured to:
collecting the movement speed and the movement direction of the vehicle;
determining position change information of the vehicle within a future preset time period according to the movement speed and the movement direction;
determining a plurality of discrete position points according to the position change information;
and recording a plurality of position points through the world coordinate system, and connecting the position points according to the time sequence to obtain the driving track of the vehicle in the future preset time period.
The embodiment of the invention provides a vehicle safety distance early warning system, which is characterized in that a detected obstacle on the side surface of a vehicle body and a predicted movement track of the vehicle in a future preset time period are put into a world coordinate system together for distance calculation, so that whether a scratch event happens to the vehicle and the obstacle in the future preset time period can be predicted and reminded, a driver can timely react and avoid the obstacle in the driving process, the driving safety is improved, and the driving experience of the driver is enhanced.
The system can execute the method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
EXAMPLE seven
An embodiment of the invention provides an automobile comprising a computer device, and fig. 7 shows a block diagram of an exemplary computer device 12 suitable for implementing an embodiment of the invention. The computer device 12 shown in fig. 7 is only an example and should not bring any limitations to the functionality or scope of use of the embodiments of the present invention.
As shown in FIG. 7, computer device 12 is in the form of a general purpose computing device. The components of computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. Computer device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 7, and commonly referred to as a "hard drive"). Although not shown in FIG. 7, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
The processing unit 16 executes various functional applications and data processing by executing programs stored in the system memory 28, for example, to implement the vehicle safe distance warning method provided by the embodiment of the present invention.
That is, distance information between a side of the vehicle and the obstacle is detected; establishing a vehicle coordinate system, and determining the coordinates of the obstacle in the vehicle coordinate system according to the distance information; converting coordinates of the obstacle in the vehicle coordinate system into coordinates in a world coordinate system; collecting motion data of the vehicle, and drawing a running track of the vehicle in a future preset time period in the world coordinate system; calculating a relative distance between the coordinate of a point closest to the obstacle in the driving track of the vehicle and the coordinate of the obstacle, and judging whether the relative distance is smaller than a first distance threshold value; if yes, determining that the scratch risk exists, and performing alarm reminding with insufficient safety distance; if not, determining that the scratch risk does not exist.
Example eight
An eighth embodiment of the present invention provides a computer-readable storage medium, on which computer-executable instructions are stored, where the instructions, when executed by a processor, implement the vehicle safety distance early warning method provided in all the inventive embodiments of the present application:
that is, distance information between a side of the vehicle and the obstacle is detected; establishing a vehicle coordinate system, and determining the coordinates of the obstacle in the vehicle coordinate system according to the distance information; converting coordinates of the obstacle in the vehicle coordinate system into coordinates in a world coordinate system; collecting motion data of the vehicle, and drawing a running track of the vehicle in a future preset time period in the world coordinate system; calculating a relative distance between the coordinate of a point closest to the obstacle in the driving track of the vehicle and the coordinate of the obstacle, and judging whether the relative distance is smaller than a first distance threshold value; if yes, determining that the scratch risk exists, and performing alarm reminding with insufficient safety distance; if not, determining that the scratch risk does not exist.
Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. 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 server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A vehicle safety distance early warning method is characterized by comprising the following steps:
detecting distance information between a side of a vehicle and an obstacle;
establishing a vehicle coordinate system, and determining the coordinates of the obstacle in the vehicle coordinate system according to the distance information;
converting coordinates of the obstacle in the vehicle coordinate system into coordinates in a world coordinate system;
collecting motion data of the vehicle, and drawing a running track of the vehicle in a future preset time period in the world coordinate system;
calculating a relative distance between the coordinate of a point closest to the obstacle in the driving track of the vehicle and the coordinate of the obstacle, and judging whether the relative distance is smaller than a first distance threshold value;
if yes, determining that the scratch risk exists, and performing alarm reminding with insufficient safety distance;
if not, determining that the scratch risk does not exist.
2. The vehicle safe-distance warning method as claimed in claim 1, wherein the step of converting the coordinates of the obstacle in the vehicle coordinate system into coordinates in a world coordinate system comprises:
acquiring the absolute position of the vehicle in a world coordinate system and the relative position of the vehicle in the vehicle coordinate system;
determining a conversion relation between the world coordinate system and the vehicle coordinate system according to the absolute position and the relative position;
and converting the coordinates of the obstacle in the vehicle coordinate system into the coordinates in the world coordinate system according to the conversion relation.
3. The vehicle safe-distance warning method as claimed in claim 1, wherein, before the step of detecting the distance information between the side of the vehicle and the obstacle, the method further comprises:
detecting whether the vehicle is in a moving state;
if yes, executing the step of detecting the distance information between the side face of the vehicle and the obstacle;
if not, continuing to execute the operation of detecting whether the vehicle is in the motion state.
4. The vehicle safe-distance warning method as claimed in claim 1, wherein after the step of detecting the distance information between the side of the vehicle and the obstacle, the method further comprises:
judging whether the distance information is larger than a second distance threshold value;
if so, rejecting the distance information;
and if not, establishing a vehicle coordinate system, and determining the coordinates of the obstacle in the vehicle coordinate system according to the distance information.
5. The vehicle safe distance early warning method as claimed in claim 1, further comprising;
and eliminating the coordinates in the world coordinate system, wherein the distance between the coordinates and the vehicle is greater than a third distance threshold value.
6. The vehicle safe-distance warning method as claimed in claim 1, wherein after the step of converting the coordinates of the obstacle in the vehicle coordinate system into coordinates in a world coordinate system, the method further comprises:
judging whether the number of obstacles with coordinates falling into the ROI area of the vehicle in the world coordinate system is larger than a number threshold value or not;
if not, determining that the vehicle is not in a narrow environment, acquiring motion data of the vehicle, and drawing a running track of the vehicle in a future preset time period in the world coordinate system;
if yes, determining that the vehicle is in the narrow environment, and inquiring whether to start an intelligent auxiliary driving function or not to a driver;
if receiving a starting instruction sent by a driver, starting an intelligent auxiliary driving function so as to pass through the narrow environment;
and if the starting instruction sent by the driver is not received, the operation of collecting the motion data of the vehicle and drawing the running track of the vehicle in a future preset time period in the world coordinate system is executed.
7. The vehicle safety distance warning method as claimed in claim 1, wherein the motion data includes a motion speed and a motion direction;
then, the step of collecting the motion data of the vehicle and drawing the driving track of the vehicle in the world coordinate system within a future preset time period comprises:
collecting the movement speed and the movement direction of the vehicle;
determining position change information of the vehicle within a future preset time period according to the movement speed and the movement direction;
determining a plurality of discrete position points according to the position change information;
and recording a plurality of position points through the world coordinate system, and connecting the position points according to the time sequence to obtain the driving track of the vehicle in the future preset time period.
8. A vehicle safety distance warning system, the system comprising:
the distance detection module is used for detecting distance information between the side face of the vehicle and the obstacle;
the coordinate establishing module is used for establishing a vehicle coordinate system and determining the coordinates of the obstacle in the vehicle coordinate system according to the distance information;
the coordinate conversion module is used for converting the coordinates of the obstacle in the vehicle coordinate system into the coordinates in the world coordinate system;
the data acquisition module is used for acquiring the motion data of the vehicle and drawing the running track of the vehicle in a future preset time period in the world coordinate system;
the distance calculation module is used for calculating the relative distance between the coordinate of the point closest to the obstacle in the driving track of the vehicle and the coordinate of the obstacle and judging whether the relative distance is smaller than a first distance threshold value or not;
the risk reminding module is used for determining that the scratch risk exists and carrying out alarm reminding with insufficient safety distance if the relative distance is smaller than a first distance threshold; and if the relative distance is greater than or equal to the first distance threshold value, determining that the scratch risk does not exist.
9. An automobile comprising computer means including a memory and a processor, the memory storing a computer program, wherein the processor implements the vehicle safe distance warning method according to any one of claims 1 to 7 when executing the computer program.
10. A storage medium containing computer executable instructions for execution by a computer processor to implement a vehicle safe distance warning method as claimed in any one of claims 1 to 7.
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