CN111845560B - A warning system for a vehicle head overrunning an object - Google Patents

Abstract

The invention relates to a warning system for objects rushing out of a vehicle head, which comprises a camera, a mobile detection unit, an object rushing-out identification unit and an alarm unit, wherein the camera is arranged on a parked vehicle and is used for collecting a video image in front of the vehicle head of the parked vehicle; the mobile detection unit is connected with the camera and used for judging whether a moving object appears in front of the head of the parked vehicle or not and obtaining the mobile information of the moving object; the rushing object identification unit is connected with the mobile detection unit and used for identifying the category of a moving object in front of the head of the parked vehicle and judging whether the moving object is a rushing object or not so as to output alarm information; the alarm unit is respectively connected with the camera and the rushing-out object identification unit and used for reminding a running vehicle behind the parked vehicle to pay attention to the rushing-out object at the vehicle head. Compared with the prior art, the method and the device have the advantages that based on real-time object movement detection and rushing-out object identification, and combined with alarm prompt, a driver of a rear vehicle can be ensured to know accurate vehicle head rushing-out object information in advance.

Description

A warning system for a vehicle head overrunning an object

technical field

The invention relates to the technical field of vehicle driving safety warnings, in particular to a warning system for objects rushing out of the front of the vehicle.

Background technique

As the number of cars continues to increase, so does the demand for urban parking spaces. However, due to the shortage of urban land, the urban parking lot cannot meet the parking needs of all vehicles, so the roadside areas of some road sections have also been marked with parking spaces and become temporary parking areas. However, when the vehicle is parked on the roadside, especially when the roadside is full of vehicles, part of the vision of the driver of the vehicle behind will be blocked, and a blind spot will be formed in front of the front of the vehicle behind. For pedestrians, non-motor vehicles or animals crossing the road, the vehicles parked on the side of the road also block their sight, making them unable to observe the vehicles on the road, and forming a visual blind spot in front of them. . When a traverser and a moving vehicle suddenly appear from each other's blind spots, if the distance between the two sides is too close, so that neither side has enough space and reaction time to avoid, it will lead to the occurrence of traffic accidents.

Especially on urban roads, due to the heavy traffic volume and complicated driving conditions, many new drivers are often tired of dealing with vehicles on the road due to their lack of experience, and ignore the impending object that is about to appear in front of the parked vehicles on the roadside. Although some vehicles are currently equipped with driver assistance safety systems, which have the function of actively braking after detecting a pedestrian suddenly appearing ahead, in long-distance situations, once the weather conditions are relatively bad, the detection of the system will cause great damage. This will reduce the reliability of the system and lead to misrecognition or failure to recognize it. It cannot really enable the driver of the driving vehicle to perceive the possible outburst objects in front of the vehicle in advance, which may easily lead to traffic safety accidents.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a warning system for the front of the vehicle to run out of objects in order to overcome the above-mentioned defects of the prior art. The system operates on a vehicle parked on the side of the road, and can ensure that the driver of the vehicle driving behind the parked vehicle perceives the front of the vehicle in advance. The rushing object in front can know the corresponding category and movement information of the rushing object, so as to take timely countermeasures to avoid the occurrence of traffic safety accidents.

The object of the present invention can be achieved through the following technical solutions: a warning system for the front of the vehicle, including a camera installed on a parked vehicle, a motion detection unit, a recognition unit for an out-of-body object, and an alarm unit, and the camera is used for collecting Video image of the front of the parked vehicle;

The motion detection unit is connected with the camera, and is used for processing the video image to determine whether there is a moving object in front of the front of the parked vehicle, and obtain the movement information of the moving object;

The outgoing object identification unit is connected with the motion detection unit, and is used for identifying the type of the moving object in front of the front of the parked vehicle, and judging whether the moving object is an outgoing object, so as to output alarm information;

The alarm unit is respectively connected with the camera and the outgoing object identification unit, and is used for reminding the driving vehicle behind the parked vehicle to pay attention to the outgoing object.

Further, the movement information of the moving object includes a movement speed and a movement direction.

Further, the alarm unit includes a display screen, a voice player and an alarm lamp, the display screen is used to display the current video data in front of the front of the parked vehicle, the voice player is used to play the warning voice, and the alarm lamp is used for A flash signal corresponding to the moving speed of the object is sent out, that is, the frequency of the flash signal is proportional to the moving speed of the object.

Further, the camera is installed at the front right position of the front of the parked vehicle, and the warning light is installed at the rear of the parked vehicle. When the parked vehicle is a car or a passenger car, the display screen is covered on the rear windshield of the parked vehicle. ; When the parked vehicle is a truck, the display screen is installed on the tailgate of the cargo compartment.

Further, the specific working process of the motion detection unit is:

A1. Receive the video data of the front of the vehicle collected by the camera;

A2. According to the preset frame rate, compare the video frame image sequences in the preset frame rate range in turn. If an object that does not exist in the previous video frame image appears in the next video frame image, or the next video frame image appears If the position of the object in the middle changes relative to the previous video frame image, it is judged that the object is a moving object, and step A3 is performed, otherwise, return to step A1;

A3. Based on the video frame image sequence containing the moving object, the position of the parked vehicle is used as the coordinate origin, and the head coordinate system of the parked vehicle is established to calculate the moving speed and moving direction of the moving object. are the positive direction of X axis and the negative direction of X axis of the front coordinate system of the parked vehicle, and the right and left sides of the front of the parked vehicle are the positive direction of Y axis and the negative direction of Y axis of the front coordinate system of the parked vehicle;

A4. Transmit the video frame image including the moving object, the moving speed and the moving direction information of the moving object to the punching-out object identification unit.

Further, the specific working process of the punched out object identification unit is:

B1, based on the video frame image containing the moving object, using the image recognition algorithm, if the category of the moving object can be identified, then perform step B2, otherwise continue to receive data information from the motion detection unit;

B2. According to the moving speed and moving direction information of the moving object, if the moving speed of the moving object is greater than or equal to the preset speed value, and the angle between the moving direction of the moving object and the negative direction of the Y-axis of the front coordinate system of the parked vehicle is less than or equal to If the deviation value is preset, it is judged that the moving object is the front of the car rushing out of the object, and then the alarm information is output to the display screen, the voice player and the alarm light respectively, so that the display screen is lit and the video collected by the camera is displayed in real time, and the voice player plays the corresponding The warning voice information and the warning light emit a flashing signal corresponding to the moving speed of the moving object, otherwise, return to step B1.

Further, the categories of the moving objects include four types: "pedestrian", "motor vehicle", "non-motor vehicle", and "animal".

Further, the display screen is specifically a flexible OLED screen.

Compared with the prior art, the present invention has the following advantages:

1. The present invention can collect video data in front of the front of the vehicle in real time by setting a camera on the front of the parked vehicle. Based on the video data collected in real time, the principle of motion detection is used to determine whether there is a moving object in front of the front of the parked vehicle, and then the moving object is detected. Class identification and judging whether it is the front of the vehicle rushing out of the object, that is, the present invention only warns the object in motion in front of the front of the parked vehicle, the detection object is more targeted, and the probability of false alarm is reduced.

2. The present invention can more accurately determine whether the moving object belongs to the front of the vehicle by judging the type of the moving object and calculating the speed and direction of the moving object, and can give a clear voice reminder in advance to the car coming from behind according to different object types. , and the warning light can change the frequency of the flash signal according to the moving speed of the outgoing object, so that the driver of the car coming behind has a more accurate understanding of the state of the outgoing object, so that the driver has enough time and sufficient psychological preparation to avoid the upcoming The objects that appear are conducive to safe driving and avoid traffic accidents.

3. The entire warning system of the present invention is installed on a parked vehicle on the side of the road, and independently monitors the object rushing out of the front of the parked vehicle. Compared with the detection system installed on a moving vehicle, it has the advantages of being free from distance restrictions and subject to weather conditions. The advantage of less interference is that it is more conducive to the vehicle driving behind the parked vehicle to obtain accurate information about the object rushing out of the front of the vehicle in advance.

Description of drawings

Fig. 1 is the system connection schematic diagram of the present invention;

Fig. 2 is the working process schematic diagram of the motion detection unit in the present invention;

3 is a schematic diagram of the working process of the punched out object recognition unit in the present invention;

Description of the symbols in the figure: 1. Camera, 2. Motion detection unit, 3. Outgoing object recognition unit, 4. Alarm unit, 41, Display screen, 42, Voice player, 43, Alarm light.

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

Example

As shown in FIG. 1 , a warning system for a vehicle headed out of an object includes a camera 1, a motion detection unit 2, an out-of-object identification unit 3 and an alarm unit 4 connected in sequence through Bluetooth wireless communication, and the alarm unit 4 includes a display screen 41 , a voice player 42 and a warning light 43, the camera 1 is also connected to the display screen 41 separately, wherein, the camera 1 is installed on the front of the parked vehicle to shoot the scene in front of the front of the parked vehicle to obtain real-time monitoring of the scene in front of the front of the parked vehicle video;

The motion detection unit 2 is used to determine whether there is a moving object in front of the front of the parked vehicle, and to calculate the moving speed and moving direction of the moving object. The specific working process is shown in Figure 2: After receiving the video data collected by the camera 1 Then, according to the preset frame rate, the video frame image sequence is extracted, and the preceding and following video frame images in the video frame image sequence are compared in turn. the object is a moving object;

Extract the video frame image sequence containing the moving object from the video data collected by camera 1, and establish the coordinate system of the head of the parked vehicle. Taking the position of the parked vehicle as the origin, the front and rear of the vehicle as the Y axis, and the left and right sides of the head as the X axis, the calculated Movement speed and direction of movement;

The video frame image including the moving object, the moving speed and the moving direction of the moving object are transmitted to the punching-out object identification unit 3 .

The outgoing object identification unit 3 is used to analyze and identify the data signal output by the motion detection unit 2, determine the type of the moving object, and determine whether the moving object is an outgoing object according to the moving speed and moving direction of the moving object, so as to determine whether It is necessary to give an early warning to the outgoing object. The category of the object is preset in advance, including four types: "pedestrian", "motor vehicle", "non-motor vehicle", and "animal". The specific working process of the outgoing object recognition unit 3 is shown in the figure. 3, use the image recognition algorithm to identify the category of the moving object from the video frame image containing the moving object, if the moving object is identified as "pedestrian" or "motor vehicle" or "non-motor vehicle" or "animal" , then determine whether the moving speed of the moving object is greater than or equal to the preset speed value, and the angle between the moving direction of the moving object and the negative direction of the Y-axis of the front coordinate system of the parked vehicle is less than or equal to the preset deviation value, if it is determined to be yes, Then the moving object is the object rushing out from the front of the vehicle;

The alarm information is output to the display screen 41, the voice player 42 and the alarm light 43 respectively, the display screen 41 will be lit immediately and the monitoring video captured by the camera 1 will be displayed in real time; the voice player 42 will send out a preset voice to Warn the car coming from behind, and the content of the voice warning includes the category of the rushing object, such as "be careful of pedestrians", "be careful of non-motor vehicles", etc.; the warning light 43 sends a flashing signal to warn the car coming from behind, and the flashing signal It can reflect the speed of the object moving. The faster the flickering frequency, the faster the moving speed of the object.

In this embodiment, the display screen 41 adopts a flexible OLED screen, which is covered on the rear windshield of a car or passenger car, or is installed on the tailgate of the cargo compartment of a truck, and the voice player 42 is installed in the form of an external speaker of the vehicle , the warning light 43 is installed at the rear of the vehicle.

To sum up, the warning methods of the present invention are diverse: if the road traffic situation is relatively simple or the speed of the vehicle coming from behind is slow, the driver of the vehicle coming from behind can use the display screen 41 to carefully understand the specific situation of the object in front of the parked vehicle before making further actions. If the traffic situation is complicated or the speed of the vehicle coming from behind is too fast, the driver cannot be distracted to observe the display screen 41, he can quickly understand the general situation of the object rushing out of the blind spot through the voice warning and light warning, so as to quickly React;

The precision of the warning issued by the present invention is relatively high: the detection object of the present invention not only includes pedestrians, but also includes all objects that may suddenly rush out of the roadside. Judging the outgoing object, so that the driver of the car coming behind has a more accurate understanding of the state of the outgoing object, which is more important for the inexperienced new driver;

The present invention is especially suitable for large vehicles: under normal driving conditions, the large vehicle body is wider, the formed blind spot is larger, and the degree of danger is higher. The longer the warning time for the vehicles driving behind, the more sufficient time for the driver of the vehicles coming behind to react, so as to avoid the impending rushing object, which is more beneficial to exert the effect of the present invention.

Claims (6)

1. a vehicle head rushes out of the object warning system, it is characterized in that, comprise the camera that is installed on the parked vehicle, the motion detection unit, the rush out object recognition unit and the alarm unit, and the described camera head is used to collect the video in front of the parked vehicle head image; The motion detection unit is connected with the camera, and is used for processing the video image to determine whether there is a moving object in front of the front of the parked vehicle, and obtain the movement information of the moving object; The outgoing object identification unit is connected with the motion detection unit, and is used for identifying the type of the moving object in front of the front of the parked vehicle, and judging whether the moving object is an outgoing object, so as to output alarm information; The alarm unit is respectively connected with the camera and the outgoing object recognition unit, and is used for reminding the driving vehicle behind the parked vehicle to pay attention to the outgoing object; The specific working process of the motion detection unit is: A1. Receive the video data of the front of the vehicle collected by the camera; A2. According to the preset frame rate, compare the video frame image sequences in the preset frame rate range in turn. If an object that does not exist in the previous video frame image appears in the next video frame image, or the next video frame image appears If the position of the object in the middle changes relative to the previous video frame image, it is judged that the object is a moving object, and step A3 is performed, otherwise, return to step A1; A3. Based on the video frame image sequence containing the moving object, the position of the parked vehicle is used as the coordinate origin, and the head coordinate system of the parked vehicle is established to calculate the moving speed and moving direction of the moving object. are the positive direction of X axis and the negative direction of X axis of the front coordinate system of the parked vehicle, and the right and left sides of the front of the parked vehicle are the positive direction of Y axis and the negative direction of Y axis of the front coordinate system of the parked vehicle; A4. Transmit the video frame image containing the moving object, the moving speed and the moving direction information of the moving object to the outgoing object recognition unit; The specific working process of the punched out object recognition unit is as follows: B1, based on the video frame image containing the moving object, using the image recognition algorithm, if the category of the moving object can be identified, then perform step B2, otherwise continue to receive data information from the motion detection unit; B2. According to the moving speed and moving direction information of the moving object, if the moving speed of the moving object is greater than or equal to the preset speed value, and the angle between the moving direction of the moving object and the negative direction of the Y-axis of the front coordinate system of the parked vehicle is less than or equal to If the deviation value is preset, it is judged that the moving object is an object that the front of the car rushed out of, and then the alarm information is output to the display screen, the voice player and the alarm light respectively, so that the display screen is lit and the video collected by the camera is displayed in real time, and the voice player plays the corresponding The warning voice information and the warning light emit a flashing signal corresponding to the moving speed of the moving object, otherwise, return to step B1. 2 . The warning system for a vehicle head overrunning an object according to claim 1 , wherein the movement information of the moving object includes a moving speed and a moving direction. 3 . 3 . The system for warning the front of the vehicle to run out of objects according to claim 2 , wherein the alarm unit comprises a display screen, a voice player and an alarm light, and the display screen is used to display the current status in front of the front of the parked vehicle. 4 . Video data, the voice player is used to play the warning voice, and the warning light is used to send out a flash signal corresponding to the moving speed of the outgoing object, that is, the frequency of the flash signal is proportional to the moving speed of the outgoing object. 4. The system for warning the front of the vehicle to rush out of the object according to claim 3, wherein the camera is installed at the front right position of the parked vehicle, and the warning light is installed at the rear of the parked vehicle. When the parked vehicle is When the car or passenger car is used, the display screen is covered on the rear windshield of the parked vehicle; when the parked vehicle is a truck, the display screen is installed on the tailgate of the cargo compartment. 5 . The system for warning a vehicle headed out of an object according to claim 1 , wherein the moving objects are classified into four types: pedestrians, motor vehicles, non-motor vehicles, and animals. 6 . 6 . The system for warning the head of a vehicle to run out of objects according to claim 3 , wherein the display screen is a flexible OLED screen. 7 .

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