CN114373335A - Vehicle collision early warning method and device, electronic equipment and storage medium - Google Patents
Vehicle collision early warning method and device, electronic equipment and storage medium Download PDFInfo
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- CN114373335A CN114373335A CN202111576692.0A CN202111576692A CN114373335A CN 114373335 A CN114373335 A CN 114373335A CN 202111576692 A CN202111576692 A CN 202111576692A CN 114373335 A CN114373335 A CN 114373335A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The embodiment of the application discloses a collision early warning method and device for a vehicle, electronic equipment and a storage medium, and relates to the technical field of intelligent driving. Wherein, the method comprises the following steps: receiving alarm data of an obstacle sent by a vehicle; determining the area where the barrier is located from the plurality of areas according to the alarm data to obtain a target area; and determining collision early warning information according to the target area and the warning data, and displaying the collision early warning information. The technical scheme that this application embodiment provided has solved prior art and has needed to rely on driver's driving experience just can avoid the shortcoming that the collision accident takes place, has shortened the processing reaction time of driver to the place ahead barrier collision accident, promotes and uses car security.
Description
Technical Field
The embodiment of the application relates to the technical field of intelligent driving, in particular to a collision early warning method and device for a vehicle, electronic equipment and a storage medium.
Background
With the development of the auto-driving automobile industry, more and more automobile factories are beginning to develop and produce auto-driving automobiles. Therefore, the safety factor of the automatic driving vehicle is directly influenced by judging whether the driven vehicle collides with the front vehicle or not in the driving process of the driving vehicle by the driver.
The common practice in the prior art is: an Advanced Driving Assistance System (ADAS) determines warning information of a preceding vehicle collision and sends the warning information to a vehicle-mounted screen, and after the vehicle-mounted screen receives the warning information, the position of the possible preceding vehicle collision is checked through a vehicle top view or in a Virtual Reality (VR) or Mixed Reality (MR) mode. However, in this method, the warning information is displayed on the vehicle-mounted screen by the warning sound or the vehicle screen text, and therefore, the driver needs to look down at the warning information on the vehicle-mounted screen, evaluate the collision event through experience of the driver, and trigger the collision accident avoiding action. Therefore, the prior art needs to rely on the driver's own skilled driving experience to avoid the collision accident, and the driver reaction time is long.
Disclosure of Invention
The embodiment of the application provides a collision early warning method and device for a vehicle, electronic equipment and a storage medium, shortens the processing reaction time of a driver on a front obstacle collision accident, and improves the vehicle using safety.
In a first aspect, an embodiment of the present application provides a collision warning method for a vehicle, where the method includes:
receiving alarm data of an obstacle sent by the vehicle;
determining the area where the barrier is located from the plurality of areas according to the alarm data to obtain a target area;
and determining collision early warning information according to the target area and the warning data, and displaying the collision early warning information.
In a second aspect, an embodiment of the present application provides a collision warning apparatus for a vehicle, including:
the warning data receiving module is used for receiving warning data of the obstacles sent by the vehicle;
the target area determining module is used for determining the area where the barrier is located from the plurality of areas according to the alarm data to obtain a target area;
and the early warning information display module is used for determining collision early warning information according to the target area and the warning data and displaying the collision early warning information.
In a third aspect, an embodiment of the present application provides an electronic device, including:
one or more processors;
storage means for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors implement the collision warning method for a vehicle according to any embodiment of the present application.
In a fourth aspect, the embodiments of the present application provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a collision warning method for a vehicle according to any of the embodiments of the present application.
The embodiment of the application provides a collision early warning method and device for a vehicle, electronic equipment and a storage medium, wherein the method comprises the following steps: receiving alarm data of an obstacle sent by a vehicle; determining the area where the barrier is located from the plurality of areas according to the alarm data to obtain a target area; and determining collision early warning information according to the target area and the warning data, and displaying the collision early warning information. This application divides into a plurality of regions to vehicle place ahead field of vision in advance, confirm the target area at barrier place from a plurality of regions according to the distance between barrier and the vehicle, according to the different crash early warning information that formulate of target area again, carry out safe driving according to this crash early warning information with instructing the driver, the shortcoming that prior art need rely on driver's driving experience just can avoid the collision accident to take place has been solved, the processing reaction time of driver to the place ahead barrier collision accident has been shortened, promote and use car security.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present application, nor do they limit the scope of the present application. Other features of the present application will become apparent from the following description.
Drawings
The drawings are included to provide a better understanding of the present solution and are not intended to limit the present application. Wherein:
fig. 1 is a first flowchart of a collision warning method for a vehicle according to an embodiment of the present disclosure;
FIG. 2 is a schematic view of a field of view in front of a vehicle provided by an embodiment of the present application;
fig. 3 is a second flowchart of a collision warning method for a vehicle according to an embodiment of the present disclosure;
fig. 4A is a schematic diagram of warning identification information provided in an embodiment of the present application;
FIG. 4B is a diagram illustrating emergency alert identification information provided in accordance with an embodiment of the present application;
FIG. 4C is a schematic diagram of the automatic brake warning identification information provided by the embodiment of the present application;
fig. 5 is a schematic structural diagram of a collision warning device of a vehicle according to an embodiment of the present disclosure;
fig. 6 is a block diagram of an electronic device for implementing a collision warning method for a vehicle according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all 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 application.
Example one
Fig. 1 is a first flowchart of a collision warning method for a vehicle according to an embodiment of the present disclosure;
fig. 2 is a schematic view of a vehicle front view provided in an embodiment of the present application. The embodiment is applicable to the situation that collision early warning information is displayed to a driver when the vehicle possibly collides with an obstacle in front of the vehicle. The collision warning method for the vehicle provided by the embodiment of the present application may be implemented by the collision warning apparatus for the vehicle provided by the embodiment of the present application, and the apparatus may be implemented in a software and/or hardware manner and integrated into an electronic device for implementing the method. Preferably, the electronic device in the embodiment of the present application may be a head-up display, and the method is performed by the head-up display. The vehicle in the embodiment of the application has a head-up display, and the front view of the vehicle comprises a plurality of areas divided according to the angle of view of the head-up display.
Referring to fig. 1, the method of the present embodiment includes, but is not limited to, the following steps:
and S110, receiving the alarm data of the obstacle sent by the vehicle.
In the present embodiment, the vehicle further includes a driving assistance device, and the driving assistance device may be equipped with ADAS or other driving assistance systems. The obstacle is a front object that may cause an obstacle to the travel of the vehicle driven by the driver, and includes a preceding vehicle, a road block, a pedestrian, and the like. The warning data refers to data related to when the vehicle may collide with the obstacle, and includes a collision probability.
In the embodiment of the present application, the driving assistance apparatus detects, in real time, attribute information (such as the type and the outer shape size of an obstacle) of an obstacle in front of the vehicle and travel information (such as a speed difference) of the obstacle with respect to the vehicle through the data acquisition apparatus. The driving assistance apparatus determines when a collision is likely to occur between the vehicle and the obstacle based on the attribute information and the travel information, and further determines a probability of collision between the vehicle and the obstacle.
In the embodiment of the application, after determining the collision probability between the vehicle and the obstacle, the driving assistance device processes the collision probability to obtain the alarm data, for example, packages the collision probability and other data to obtain the alarm data of the obstacle; and finally, sending the alarm data to a head-up display, wherein the head-up display receives the alarm data of the obstacle sent by the driving auxiliary equipment. The head-up display is a head-up display of an augmented reality technology, and projects important driving information onto a windshield of a vehicle through an optical projection technology, so that a driver can see the important driving information without lowering or turning the head.
And S120, determining the area where the obstacle is located from the plurality of areas according to the alarm data to obtain a target area.
In the embodiment of the application, the front view of the vehicle is divided into a plurality of areas according to the field angle of the head-up display in advance, and then the area where the obstacle is located is determined from the plurality of areas according to the alarm data to obtain the target area.
Firstly, the process of determining the viewing angle of the head-up display is as follows: and determining the field angle of the head-up display according to the driving eyepoint, the head data and the imaging boundary point of the vehicle. The driving eyepoint refers to the position where the eyes of the driver are located. The imaging boundary point is the farthest point that the heads-up display can image in the field of view in front of the vehicle. The vehicle head data refers to the length of the driving eyepoint from the engine cover and the height of the driving eyepoint from the ground. The viewing angle of the head-up display is an included angle between the edge of an observable range of the head-up display at the driving eyepoint and a connecting line of the driving eyepoint. As shown in fig. 2, which is a schematic view of the front view of the vehicle, as can be seen from fig. 2, the driving eyepoint is the point O, the vehicle head data includes the length x and the height y, and the imaging boundary point is the point a.
Specifically, determining the viewing angle of the head-up display according to the driving eyepoint, the head data and the imaging boundary point of the vehicle comprises the following steps: determining a semi-imaging boundary point according to the driving eyepoint and the vehicle head data; and determining the viewing angle of the head-up display according to the driving eyepoint, the semi-imaging boundary point and the imaging boundary point. The semi-imaging boundary point is a critical point of whether the head-up display can show the front ground in the front view of the vehicle. As can be seen from fig. 2, the half-imaging boundary point is the point C, and the viewing angle of the head-up display (i.e., the angle AOC) is determined according to the driving eye point (i.e., the point O) and the half-imaging boundary point (i.e., the point C) and the imaging boundary point (i.e., the point a).
Secondly, the dividing process of the plurality of areas is as follows: firstly, determining an area covered by a viewing angle of a head-up display, namely an area covered by an angle AOC; then determining an imaging identification boundary point in an area covered by the field angle of the head-up display, namely a point B in the graph 2; finally, determining a semi-imaging Area, namely Area1 in FIG. 2, from the Area between the head of the vehicle and the semi-imaging boundary point; determining an Area between the semi-imaging boundary point and the imaging identification boundary point as an imaging identifiable Area, namely Area2 in fig. 2; determining an Area between the imaging recognition boundary point and the imaging boundary point as an imaging unrecognizable Area, namely Area3 in fig. 2; the Area beyond the imaging boundary point is determined as the imaged outer Area, Area4 in fig. 2.
In the embodiment of the application, in order to improve the user experience, the obstacle displayed on the display screen has the effect of being small and large, that is, when the obstacle is far away from the vehicle, the pattern corresponding to the obstacle imaged on the display screen is small, and when the obstacle is close to the vehicle, the pattern corresponding to the obstacle imaged on the display screen is large, but when the pattern displayed on the display screen is very small, the user cannot see the shape of the pattern. Thus, the imaged recognition interface point within the area covered by the head-up display viewing angle is determined according to whether the pattern presented on the display screen can be recognized.
Illustratively, in the front field of view of the vehicle, the distance between the imaging boundary and the vehicle is 100 meters, the distance between the semi-imaging boundary and the vehicle is 10 meters, and the distance between the imaging recognition boundary and the vehicle is 50 meters. Then a half imaging area is arranged between 0 meter and 10 meters in front of the vehicle, an imaging identifiable area is arranged between 10 meters and 50 meters in front of the vehicle, an imaging unidentifiable area is arranged between 50 meters and 100 meters in front of the vehicle, and an imaging outer area is arranged outside 100 meters in front of the vehicle.
Finally, the step determines the region where the obstacle is located from the multiple regions according to the alarm data, and the specific process of obtaining the target region can be realized through the following two substeps:
(1) the distance of the obstacle from the vehicle is determined from the position data.
Wherein, the alarm data also comprises the position data of the obstacle.
In the embodiment of the application, after the head-up display receives the warning data sent by the driving assistance device, the position data is called from the warning data, and the position data is subjected to data processing to obtain the distance between the obstacle and the vehicle. Wherein the process of the driving assistance apparatus determining the position data may be: acquiring azimuth information and coordinate information of the obstacle through data acquisition equipment, and further performing data processing on the azimuth information and the coordinate information to obtain position data of the obstacle; the data acquisition equipment can be a laser radar sensor, a millimeter wave radar sensor, an ultrasonic radar sensor, a visual sensor or the like.
(2) And determining the area where the obstacle is located from the plurality of areas according to the distance to obtain the target area.
In the embodiment of the application, the front view of the vehicle is divided into four areas, namely a semi-imaging area, an imaging recognizable area, an imaging unrecognizable area and an imaging outer area. After the distance between the obstacle and the vehicle is determined, the area where the obstacle is located is determined from the four areas according to the distance, and the determined area is used as a target area.
And S130, determining collision early warning information according to the target area and the warning data, and displaying the collision early warning information.
Wherein, the alarm data includes attribute information of the obstacle.
In the embodiment of the application, after the head-up display receives the warning data sent by the driving assistance device, the attribute information of the obstacle is called from the warning data, the collision early warning information corresponding to the obstacle is determined by combining the determined target area where the obstacle is located, and the collision early warning information is displayed on the display screen so as to guide a driver to carry out safe driving according to the collision early warning information. Optionally, the display screen may be a display screen of the vehicle-mounted terminal; preferably, the display screen may also be arranged on the windshield in front of the vehicle.
Optionally, the alarm data further includes attribute information of the obstacle, that is, overall dimension information of the obstacle, such as width and height.
Specifically, determining collision warning information according to the target area and the warning data includes: when the target area is a driving blind area, determining collision early warning information as an early warning identification pattern, and determining the size of the early warning identification pattern according to the attribute information; when the target area is an imaging identifiable area, determining collision early warning information as an early warning identification pattern and a ground marking line, and respectively determining the sizes of the early warning identification pattern and the ground marking line according to the attribute information; and when the target area is an imaging unrecognizable area or an imaging outer area, determining the collision early warning information as a ground marking line, and determining the size of the ground marking line according to the attribute information. Wherein the pre-warning identification pattern and the ground-attached marking line are pre-warning identification information.
In the embodiment of the application, when the obstacle is in the driving blind area, the driver cannot see the road surface of the driving blind area, so that the low end of the obstacle cannot be seen, the ground marking line does not need to be marked on the obstacle, and only the early warning identification pattern needs to be marked on the body of the obstacle. And determines the size of the pre-warning logo pattern according to the outer shape size of the obstacle. The advantage of setting up like this lies in, when the barrier is nearer apart from the vehicle, shows that the collision probability is great, and the overall dimension of the barrier that the sensor was gathered at present is also bigger, should report the bigger of sign pattern size mark according to the overall dimension with the early warning to the driver is according to the sign pattern size judgement of early warning and the preceding barrier emergence collision probability. When the target area is an imaging unrecognizable area or an imaging outer area, the obstacle is far away from the vehicle and exceeds an imaging recognition boundary point, so that the overall dimension of the obstacle acquired by the sensor at present is small, and if the body of the obstacle is marked with the early warning sign pattern, the driver cannot recognize the pattern because the early warning sign pattern is small, so that the body of the obstacle is not required to be marked with the early warning sign pattern, and the obstacle is only required to be marked with the ground mark line.
According to the technical scheme provided by the embodiment, the alarm data of the obstacle sent by the vehicle is received; determining the area where the barrier is located from the plurality of areas according to the alarm data to obtain a target area; and determining collision early warning information according to the target area and the warning data, and displaying the collision early warning information. This application divides into a plurality of regions to vehicle place ahead field of vision in advance, confirm the target area at barrier place from a plurality of regions according to the distance between barrier and the vehicle, according to the different crash early warning information that formulate of target area again, carry out safe driving according to this crash early warning information with instructing the driver, the shortcoming that prior art need rely on driver's driving experience just can avoid the collision accident to take place has been solved, the processing reaction time of driver to the place ahead barrier collision accident has been shortened, promote and use car security.
Example two
Fig. 3 is a second flowchart of a collision warning method for a vehicle according to an embodiment of the present disclosure;
fig. 4A is a schematic diagram of warning identification information provided in an embodiment of the present application; FIG. 4B is a diagram illustrating emergency alert identification information provided in accordance with an embodiment of the present application; fig. 4C is a schematic diagram of the automatic braking warning identification information provided in the embodiment of the present application. The embodiment of the application is optimized on the basis of the embodiment, and specifically optimized as follows: the embodiment explains the determination process of the collision warning information and the determination process of the imaging position corresponding to different warning types in detail.
Referring to fig. 3, the method of the present embodiment includes, but is not limited to, the following steps:
and S210, receiving the alarm data of the obstacle sent by the vehicle.
The driving assistance device in the present embodiment may be equipped with ADAS, and may be equipped with another driving assistance system. The obstacle is a front object that may cause an obstacle to the travel of the vehicle driven by the driver, and includes a preceding vehicle, a road block, a pedestrian, and the like. The warning data refers to data related to when the vehicle may collide with the obstacle, and includes a collision probability.
In the embodiment of the present application, the driving assistance apparatus detects, in real time, attribute information (such as the type and the outer shape size of an obstacle) of an obstacle in front of the vehicle and travel information (such as a speed difference) of the obstacle with respect to the vehicle through the data acquisition apparatus. The driving assistance apparatus determines when a collision is likely to occur between the vehicle and the obstacle based on the attribute information and the travel information, and further determines a probability of collision between the vehicle and the obstacle.
Preferably, the process of the driving assistance apparatus determining the probability of collision may be further: if the obstacle is a front vehicle, the injuries caused between collisions when the front vehicle is a truck or a tricycle will be different. Therefore, the collision weight of the obstacle can be determined according to the attribute information of the vehicle, and then the collision probability between the vehicle and the obstacle can be determined according to the collision weight and the running information.
In the embodiment of the application, after determining the collision probability between the vehicle and the obstacle, the driving assistance device processes the collision probability to obtain the alarm data, for example, packages the collision probability and other data to obtain the alarm data of the obstacle; and finally, sending the alarm data to a head-up display, wherein the head-up display receives the alarm data of the obstacle sent by the driving auxiliary equipment. The head-up display is a head-up display of an augmented reality technology, and projects important driving information onto a windshield of a vehicle through an optical projection technology, so that a driver can see the important driving information without lowering or turning the head.
And S220, when the alarm type is the early warning, determining the area where the obstacle is located from the multiple areas according to the alarm data to obtain a target area.
In the embodiment of the application, the alarm data further includes an alarm type. The head-up display receives alarm data sent by the driving assistance device, calls an alarm type from the alarm data, determines an area where an obstacle is located from four areas, namely a semi-imaging area, an imaging identifiable area, an imaging unrecognizable area and an imaging outer area, which are divided in advance according to the alarm data when the alarm type is an early warning, and takes the determined area as a target area. Fig. 4A is a schematic diagram of the warning sign information, which shows an image recognizable region where the obstacle is in the field of view in front of the vehicle, and the obstacle is marked with a warning sign pattern and a ground mark line.
Optionally, when the alarm type is an emergency alarm, the emergency alarm identification information is displayed.
In the embodiment of the application, after the head-up display receives the alarm data sent by the driving assistance device, the alarm type is called from the alarm data, when the alarm type is an emergency alarm, the vehicle controller determines the braking measure that the driver needs to take for the vehicle, and sends the braking measure to the head-up display, the head-up display receives the braking measure, determines the corresponding emergency alarm identification information according to the braking measure, and displays the emergency alarm identification information, wherein the braking measure can comprise deceleration, braking or half braking. Fig. 4B is a diagram illustrating emergency alert identification information.
Optionally, when the alarm type is an automatic braking alarm, displaying the automatic braking alarm identification information.
In this embodiment, after the head-up display receives the warning data sent by the driving assistance device, the warning type is called from the warning data, when the warning type is an automatic braking warning, the vehicle controller automatically controls the vehicle to perform an emergency braking state, and sends information that the vehicle enters the emergency braking state to the head-up display, and the head-up display receives the information, determines automatic braking warning identification information corresponding to the actual emergency braking state, and displays the automatic braking warning identification information. Fig. 4C is a schematic diagram of the automatic braking warning flag information.
It should be noted that, in terms of the warning urgency, the autobrake warning is higher than the emergency warning, and the emergency warning is higher than the warning.
The color and shape of the corresponding pattern in the pre-warning identification information, the emergency warning identification information, and the automatic braking warning identification information are not specifically limited in the present application.
And S230, determining collision early warning information according to the target area and the warning data, and displaying the collision early warning information.
Wherein, the alarm data includes attribute information of the obstacle.
In the embodiment of the application, after the head-up display receives the warning data sent by the driving assistance device, the attribute information of the obstacle is called from the warning data, the collision early warning information corresponding to the obstacle is determined by combining the determined target area where the obstacle is located, and the collision early warning information is displayed on the windshield of the vehicle so as to guide the driver to drive safely according to the collision early warning information.
Optionally, the displaying of the collision warning information may be: and projecting the collision early warning information to the windshield of the vehicle for display.
Preferably, before displaying the collision warning information, the method further comprises: determining the corresponding imaging position of the obstacle in the information viewing area of the windshield according to the position data; correspondingly, show collision early warning information, include: and projecting the collision early warning information to an imaging position in an information viewing area for displaying.
In the embodiment of the application, in order to improve the use experience of a driver, when an obstacle is far away from a vehicle, collision warning information is displayed at the lower end part of an information viewing area, and as the distance between the obstacle and the vehicle becomes shorter, the imaging position of the collision warning information on the information viewing area moves from the lower end part to the middle part. Therefore, it is necessary to determine the imaging position of the obstacle in the information viewing area of the windshield according to the position data, and the imaging position is determined by the following process: if the obstacle is in the imaging outer zone of the field of view in front of the vehicle, determining the corresponding position of the imaging boundary point (namely, the point A in the figure 2) in the information viewing zone as an imaging position, namely, the lower end part of the information viewing zone; besides, the position where the obstacle is determined to correspond in the information viewing area is determined as the imaging position, it should be noted that the imaging position is moved gradually from the lower end portion toward the middle portion as the distance between the obstacle and the vehicle, and if a moving height is set, the moving height is equal to the distance between the obstacle and the vehicle multiplied by a moving coefficient.
Optionally, besides displaying the collision warning information, the recommended vehicle speed of the vehicle may be determined according to the warning data, and the head-up display displays the recommended vehicle speed, so that the driver changes the current vehicle speed of the vehicle according to the recommended vehicle speed.
According to the technical scheme provided by the embodiment, the alarm data of the obstacle sent by the vehicle is received; when the alarm type is early warning, determining the area where the obstacle is located from the multiple areas according to the alarm data to obtain a target area; and determining collision early warning information according to the target area and the warning data, and projecting the collision early warning information to a windshield of the vehicle for display. The collision early warning information corresponding to different warning types is determined by the method and the device, so that the driver is guided to carry out safe driving according to the collision early warning information, the defect that the collision accident can be avoided only by depending on the driving experience of the driver in the prior art is overcome, the processing reaction time of the driver on the collision accident of the front obstacle is shortened, and the vehicle safety is improved.
EXAMPLE III
Fig. 5 is a schematic structural diagram of a collision warning apparatus for a vehicle according to an embodiment of the present disclosure, and as shown in fig. 5, the apparatus 400 may include:
optionally, the vehicle has a head-up display, the front view of the vehicle includes a plurality of regions divided according to the field angle of the head-up display, and the apparatus is integrated with the head-up display.
And the warning data receiving module 410 is used for receiving warning data of the obstacles sent by the vehicle.
And a target area determining module 420, configured to determine, according to the alarm data, an area where the obstacle is located from the multiple areas, so as to obtain a target area.
And an early warning information display module 430, configured to determine collision early warning information according to the target area and the warning data, and display the collision early warning information.
Optionally, the alarm data includes position data of the obstacle.
Further, the target area determining module 420 may be specifically configured to: determining a distance of the obstacle from the vehicle from the position data; and determining the area where the obstacle is located from the plurality of areas according to the distance to obtain the target area.
Further, the collision warning apparatus for a vehicle may further include: a field angle determining module;
the viewing angle determining module is used for determining the viewing angle of the head-up display according to the driving eyepoint, the head data and the imaging boundary point of the vehicle.
Further, the viewing angle determining module may be specifically configured to: determining a semi-imaging boundary point according to the driving eyepoint and the vehicle head data; and determining the field angle of the head-up display according to the driving eyepoint, the semi-imaging boundary point and the imaging boundary point.
Further, the collision warning apparatus for a vehicle may further include: a region determination module;
the area determining module is used for determining an area covered by the field angle of the head-up display and determining an imaging identification boundary point in the area covered by the field angle of the head-up display; determining a semi-imaging area in an area between the head of the vehicle and the semi-imaging boundary point, determining an area between the semi-imaging boundary point and the imaging identification boundary point as an imaging identifiable area, determining an area between the imaging identification boundary point and the imaging boundary point as an imaging unrecognizable area, and determining an area beyond the imaging boundary point as an imaging outer area.
Optionally, the alarm data includes attribute information of the obstacle.
Further, the aforementioned early warning information display module 430 may be specifically configured to: when the target area is the driving blind area, determining the collision early warning information as an early warning identification pattern, and determining the size of the early warning identification pattern according to the attribute information; when the target area is the imaging identifiable area, determining the collision early warning information as the early warning identification pattern and the ground marking line, and respectively determining the sizes of the early warning identification pattern and the ground marking line according to the attribute information; and when the target area is the imaging unrecognizable area or the imaging outer area, determining the collision early warning information as the ground marking line, and determining the size of the ground marking line according to the attribute information.
Optionally, the alarm data includes an alarm type.
Further, the target area determining module 420 may be specifically configured to: and when the alarm type is early warning, determining the area where the obstacle is located from the plurality of areas according to the alarm data to obtain the target area.
Further, the aforementioned early warning information display module 430 may be further specifically configured to: when the alarm type is emergency alarm, displaying emergency alarm identification information; and when the alarm type is automatic brake alarm, displaying the automatic brake alarm identification information.
Further, the collision warning apparatus for a vehicle may further include: an imaging position determination module;
the imaging position determining module is used for determining the corresponding imaging position of the obstacle in the information viewing area of the windshield according to the position data before displaying the collision early warning information;
correspondingly, the aforementioned early warning information display module 430 may be further specifically configured to: and projecting the collision early warning information to the imaging position in the information viewing area for displaying.
The vehicle collision early warning device provided by the embodiment can be applied to the vehicle collision early warning method provided by any embodiment, and has corresponding functions and beneficial effects.
Example four
Fig. 6 is a block diagram of an electronic device for implementing a collision warning method for a vehicle according to an embodiment of the present application, and fig. 6 shows a block diagram of an exemplary electronic device suitable for implementing an embodiment of the present application. The electronic device shown in fig. 6 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application. The electronic device can be a smart phone, a tablet computer, a notebook computer, a vehicle-mounted terminal, a wearable device and the like. Preferably, the electronic device in the embodiment of the present application may be a head-up display.
As shown in fig. 6, the electronic device 500 is embodied in the form of a general purpose computing device. The components of the electronic device 500 may include, but are not limited to: one or more processors or processing units 516, a memory 528, and a bus 518 that couples the various system components including the memory 528 and the processing unit 516.
A program/utility 540 having a set (at least one) of program modules 542, including but not limited to an operating system, one or more application programs, other program modules, and program data, may be stored in, for example, the memory 528, each of which examples or some combination may include an implementation of a network environment. The program modules 542 generally perform the functions and/or methods described in embodiments herein.
The electronic device 500 may also communicate with one or more external devices 514 (e.g., keyboard, pointing device, display 524, etc.), with one or more devices that enable a user to interact with the electronic device 500, and/or with any devices (e.g., network card, modem, etc.) that enable the electronic device 500 to communicate with one or more other computing devices. Such communication may occur via input/output (I/O) interfaces 522. Also, the electronic device 500 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), an in-vehicle Ethernet network, and/or a public network, such as the Internet) via the network adapter 520. As shown in FIG. 6, the network adapter 520 communicates with the other modules of the electronic device 500 via the bus 518. It should be appreciated that although not shown in FIG. 6, other hardware and/or software modules may be used in conjunction with the electronic device 500, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processing unit 516 executes various functional applications and data processing by executing programs stored in the memory 528, for example, to implement the collision warning method for a vehicle provided in any embodiment of the present application.
EXAMPLE five
Embodiments of the present application further provide a computer-readable storage medium, on which a computer program (or referred to as computer-executable instructions) is stored, where the computer program, when executed by a processor, can be used to execute the collision warning method for a vehicle provided in any of the embodiments of the present application. A
The computer storage media of the embodiments of the present application may take any combination of one or more computer-readable media. 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 embodiments of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, 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).
Claims (12)
1. A collision warning method for a vehicle having a head-up display, the vehicle including a plurality of regions divided according to a head-up display field angle in a front view of the vehicle, the method being performed by the head-up display, the method comprising:
receiving alarm data of an obstacle sent by the vehicle;
determining the area where the barrier is located from the plurality of areas according to the alarm data to obtain a target area;
and determining collision early warning information according to the target area and the warning data, and displaying the collision early warning information.
2. The vehicle collision warning method according to claim 1, wherein the warning data includes position data of the obstacle, and the determining, from the plurality of regions, a region where the obstacle is located according to the warning data to obtain a target region includes:
determining a distance of the obstacle from the vehicle from the position data;
and determining the area where the obstacle is located from the plurality of areas according to the distance to obtain the target area.
3. The vehicle collision warning method according to claim 1, wherein the head-up display viewing angle is determined by:
and determining the field angle of the head-up display according to the driving eyepoint, the head data and the imaging boundary point of the vehicle.
4. The vehicle collision warning method according to claim 3, wherein the determining the head-up display viewing angle according to the driving eyepoint, the head data and the imaging boundary point of the vehicle comprises:
determining a semi-imaging boundary point according to the driving eyepoint and the vehicle head data;
and determining the field angle of the head-up display according to the driving eyepoint, the semi-imaging boundary point and the imaging boundary point.
5. The collision warning method of a vehicle according to claim 4, wherein the plurality of regions are divided as follows:
determining an area covered by the viewing angle of the head-up display, and determining an imaging identification boundary point in the area covered by the viewing angle of the head-up display;
determining a semi-imaging area in an area between the head of the vehicle and the semi-imaging boundary point, determining an area between the semi-imaging boundary point and the imaging identification boundary point as an imaging identifiable area, determining an area between the imaging identification boundary point and the imaging boundary point as an imaging unrecognizable area, and determining an area beyond the imaging boundary point as an imaging outer area.
6. The collision warning method of a vehicle according to claim 5, wherein the warning data includes attribute information of the obstacle; the determining collision early warning information according to the target area and the warning data comprises:
when the target area is the driving blind area, determining the collision early warning information as an early warning identification pattern, and determining the size of the early warning identification pattern according to the attribute information;
when the target area is the imaging identifiable area, determining the collision early warning information as the early warning identification pattern and the ground marking line, and respectively determining the sizes of the early warning identification pattern and the ground marking line according to the attribute information;
and when the target area is the imaging unrecognizable area or the imaging outer area, determining the collision early warning information as the ground marking line, and determining the size of the ground marking line according to the attribute information.
7. The vehicle collision warning method according to claim 1, wherein the warning data includes a warning type, and the determining, from the plurality of regions, a region where the obstacle is located according to the warning data to obtain a target region includes:
and when the alarm type is early warning, determining the area where the obstacle is located from the plurality of areas according to the alarm data to obtain the target area.
8. The collision warning method of a vehicle according to claim 7, further comprising:
when the alarm type is emergency alarm, displaying emergency alarm identification information;
and when the alarm type is automatic brake alarm, displaying the automatic brake alarm identification information.
9. The collision warning method for a vehicle according to claim 2, further comprising, before presenting the collision warning information:
determining the imaging position of the obstacle corresponding to the information viewing area of the windshield according to the position data;
correspondingly, the displaying the collision warning information includes:
and projecting the collision early warning information to the imaging position in the information viewing area for displaying.
10. A collision warning apparatus for a vehicle having a head-up display, the vehicle having a front view including a plurality of regions divided according to a head-up display viewing angle, the apparatus being integrated with the head-up display, the apparatus comprising:
the warning data receiving module is used for receiving warning data of the obstacles sent by the vehicle;
the target area determining module is used for determining the area where the barrier is located from the plurality of areas according to the alarm data to obtain a target area;
and the early warning information display module is used for determining collision early warning information according to the target area and the warning data and displaying the collision early warning information.
11. An electronic device, characterized in that the electronic device comprises:
one or more processors;
storage means for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors implement the collision warning method of the vehicle according to any one of claims 1 to 9.
12. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a collision warning method for a vehicle according to any one of claims 1 to 9.
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