CN114627678A

Movatterモバイル変換

Info

Publication number: CN114627678A
Application number: CN202011353883.6A
Authority: CN
Inventors: 肖传鹏
Original assignee: Shanghai Pateo Network Technology Service Co Ltd
Current assignee: Shanghai Pateo Network Technology Service Co Ltd
Priority date: 2020-11-26
Filing date: 2020-11-26
Publication date: 2022-06-14

Abstract

Description

Safety monitoring method, medium, monitoring equipment and monitoring system for inner wheel difference area

Technical Field

The invention belongs to the technical field of safety monitoring, relates to a safety monitoring method for vehicle running, and particularly relates to a safety monitoring method, medium, monitoring equipment and a monitoring system for an inner wheel difference area.

Background

The inside wheel Difference (Difference of Radius Between Inner Wheels) is the Difference Between the turning Radius of the inside front Wheels and the turning Radius of the inside rear Wheels when the vehicle turns. Due to the difference of the inner wheels, the motion tracks of the front wheels and the rear wheels are not coincident when the vehicle turns. If only the front wheels can pass through the vehicle and the difference between the inner wheels is forgotten, the rear inner wheels can be driven out of the road surface or collide with other objects.

However, most people do not have the concept of the inner wheel difference of the large vehicle and do not know that the large vehicle has the inner wheel difference area in the turning process, and secondly, most people cannot accurately calculate the range of the inner wheel difference area, and further are uncertain whether the position of the people is safe or not.

On the other hand, the reminding or the operation is only carried out on the aspect of the vehicle aiming at the difference of the inner wheels. In a large vehicle, a driver often does not prompt the vehicle for a prompt due to factors such as fatigue driving. Even the driver may ignore the warning given by the vehicle and thus the impending accident. Automatic driving is widely applied to large commercial vehicles such as trucks in the future, and people injury caused by sudden entering of pedestrians into an inner wheel difference area cannot be basically avoided. In addition, in order to avoid colliding with pedestrians, if a large vehicle is directly braked and stopped during turning, the gravity center may shift due to some goods transportation problems, and the like, and a larger traffic accident may be caused by an event such as rollover.

Therefore, how to provide a safety monitoring method, medium, monitoring device and monitoring system for an inner wheel differential area to solve the defect that the prior art cannot warn and process the change of the inner wheel differential area in the driving process of a vehicle in various ways so as to prevent traffic accidents and the like caused by the inner wheel differential area to the maximum extent becomes a technical problem to be solved by the technical personnel in the field.

Disclosure of Invention

In view of the above-mentioned shortcomings of the prior art, the present invention provides a method, a medium, a monitoring device and a monitoring system for monitoring the safety of an inner wheel differential area, which are advantageous in that the change of the inner wheel differential area during the driving of a vehicle can be warned and processed in various ways to prevent traffic accidents caused by the inner wheel differential area to the maximum extent.

Another object of the present invention is to provide a method, a medium, a monitoring device and a monitoring system for safety monitoring of an inner wheel differential area, which have the advantages that the inner wheel differential area can be projected to a road surface through a road safety monitoring device to prompt passing pedestrians, and vehicles do not need to be modified.

Another object of the present invention is to provide a safety monitoring method, medium, monitoring device and monitoring system for an inner wheel differential area, which are advantageous in that a projected inner wheel differential area generated during a vehicle driving process can be calculated in real time according to a vehicle position obtained in real time.

Another object of the present invention is to provide a method, a medium, a monitoring device and a monitoring system for monitoring safety of an inner wheel differential area, which can determine the situation in the inner wheel differential area through image recognition, and further perform safety determination and prompt.

Another object of the present invention is to provide a method, a medium, a monitoring device and a monitoring system for monitoring the safety of an inner wheel differential area, which can determine the situation in the inner wheel differential area by means of dynamic map analysis, and further perform safety determination and prompt.

Another object of the present invention is to provide a safety monitoring method, medium, monitoring device and monitoring system for an inner wheel difference region, which are advantageous in that an internet of things communication system is formed between a road safety monitoring device and a vehicle generating the inner wheel difference region and between a pedestrian and a vehicle-related client, and the vehicle generating the inner wheel difference region and the driver client are prompted and processed from multiple angles in response to an abnormal condition.

Another object of the present invention is to provide a safety monitoring method, medium, monitoring device and monitoring system for an inner wheel difference area, which are advantageous in that danger prompt messages can be sent to different clients carried by a driver, and the danger prompt messages can be directly transmitted to the driver, so as to remind or stop the driver when the driver approaches or enters the inner wheel difference area. Therefore, the early warning of possible accident risks is provided for the pedestrians, the originally unknown dangerous area is provided for the pedestrians, the warning and the driving away are provided in a targeted manner, and the possibility of accidents is reduced from the perspective of both vehicles and travelers in the inner wheel difference area.

To achieve the above and other related objects, an aspect of the present invention provides a safety monitoring method for an inner wheel differential area, including: acquiring an inner wheel difference area of a vehicle; monitoring conditions in the inner wheel differential area to generate an anomaly monitoring result when an anomaly exists in the inner wheel differential area; and sending an intervention processing instruction to the vehicle and the driver in the abnormal monitoring result based on the abnormal monitoring result so as to reduce the scratch risk of the vehicle to the driver in the inner wheel difference area through the change of the motion state of the vehicle and the driver in the process of being intervened.

To achieve the above and other related objects, another aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, where the computer program is executed by a processor to implement the method for monitoring safety of an inner wheel differential area.

To achieve the above and other related objects, according to another aspect of the present invention, there is provided a road safety monitoring apparatus including: a processor and a memory; the memory is used for storing a computer program, and the processor is used for executing the computer program stored by the memory so as to enable the road safety monitoring equipment to execute the safety monitoring method of the inner wheel difference area.

To achieve the above and other related objects, according to another aspect of the present invention, there is provided an inner wheel differential area safety monitoring system, including: the system comprises a vehicle, the road safety monitoring equipment and a driver client; the vehicle is used for sending an inner wheel difference area of the vehicle to the road safety monitoring equipment and receiving an intervention processing instruction sent by the road safety monitoring equipment based on an abnormal monitoring result; the road safety monitoring equipment is used for acquiring an inner wheel difference area of the vehicle; sending a safety warning aiming at the inner wheel difference area; monitoring conditions in the inner wheel differential area to generate an anomaly monitoring result when an anomaly exists in the inner wheel differential area; sending the intervention processing instruction to the vehicle and the driver in the abnormal monitoring result based on the abnormal monitoring result so as to reduce the risk of scratching the driver in the inner wheel difference area by the vehicle and the driver through the change of the self motion state in the process of the intervention of the vehicle and the driver; and the driver client is used for receiving an intervention processing instruction sent by the road safety monitoring equipment based on an abnormal monitoring result.

Drawings

Fig. 1 is a schematic flow chart illustrating a safety monitoring method for an inner wheel differential area according to an embodiment of the present invention.

Fig. 2 is a flow chart illustrating an abnormality detection method for monitoring the safety of the inner wheel differential area according to an embodiment of the present invention.

Fig. 3 is a flow chart illustrating an abnormality detection in another embodiment of the safety monitoring method for an inner wheel differential area according to the present invention.

Fig. 4 is a schematic view illustrating an intervention processing command of the safety monitoring method for an inner wheel differential area according to an embodiment of the present invention.

Fig. 5 is a flowchart illustrating an inner wheel differential area road surface warning method according to an embodiment of the present invention.

Fig. 6 is a flowchart illustrating a projection range determination method of the safety monitoring method for an inner wheel difference area according to an embodiment of the present invention.

Fig. 7 is a schematic structural connection diagram of a road safety monitoring device according to an embodiment of the invention.

Fig. 8 is a communication diagram of the safety monitoring system for the inner wheel differential area according to an embodiment of the present invention.

Fig. 9 is a communication schematic diagram of the safety monitoring system for the inner wheel differential area according to an embodiment of the present invention.

Fig. 10 is a schematic view illustrating an application scenario of the safety monitoring system for an inner wheel differential area according to an embodiment of the present invention.

Description of the element reference

7 road safety monitoring equipment

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.

It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.

The safety monitoring method, medium, monitoring equipment and monitoring system for the inner wheel difference area can warn and process the inner wheel difference area in the running process of a vehicle in various ways, and prevent traffic accidents caused by the inner wheel difference area to the maximum extent.

The principle and implementation of the method, medium, monitoring device and monitoring system for monitoring the inner wheel differential area according to the present embodiment will be described in detail below with reference to fig. 1 to 10, so that those skilled in the art can understand the method, medium, monitoring device and monitoring system for monitoring the inner wheel differential area without creative work.

Referring to fig. 1, a schematic flow chart of a safety monitoring method for an inner wheel differential area according to an embodiment of the present invention is shown. As shown in fig. 1, the safety monitoring method for the inner wheel differential area specifically includes the following steps:

and S11, acquiring an inner wheel difference area of the vehicle.

Specifically, the inner wheel difference region may be obtained by obtaining geometric information about the inner wheel difference region sent by the vehicle, or obtaining a vehicle size, a turning state, and a speed estimate corresponding to the vehicle type under the condition that the vehicle type of the vehicle is known, and determining the inner wheel difference region of the vehicle type by using a geometric operation method in the prior art. The vehicle type information of the vehicle can be acquired by vehicle type information sent by the vehicle, or by image recognition of the picture or video through the shot picture or video, so as to recognize the vehicle type of the vehicle, and further, estimation of the vehicle turning state and the speed information can be performed according to the continuously shot picture or video.

S12, monitoring conditions in the inner differential area to generate an anomaly monitoring result when there is an anomaly in the inner differential area. In different embodiments, the monitoring of the condition in the inner wheel differential area can be realized in different ways, and can be steps in embodiment a shown in fig. 2 or steps in embodiment B shown in fig. 3.

Please refer to fig. 2, which is a flowchart illustrating an anomaly detection method for a safety monitoring method of an inner wheel differential area according to an embodiment of the present invention. As shown in fig. 2, in the embodiment a, S12 includes the following steps:

S121A, acquiring an image in the inner wheel difference region.

In particular, the image may be a picture or video, for example, a picture of a certain pedestrian entering the inner wheel difference region is acquired.

S122A, it is determined whether or not there is a driver in the image.

Specifically, a pedestrian is in the inner wheel difference area in the picture through image recognition. In different cases, the rider may be a pedestrian walking, a rider of a bicycle, an electric vehicle, or a motorcycle, or another vehicle other than a vehicle generating an inside wheel difference region. The specific image recognition may be training in advance through pictures of the vehicle in a large number of inner wheel difference regions to obtain a machine learning model, and then inputting the pictures obtained in practical application into the machine learning model for recognition to obtain a recognition result of whether the vehicle exists in the image.

S123A, in response to the presence of the driver in the image, generating the abnormality monitoring result.

Specifically, in combination with the above example, it is determined through image recognition that there is a pedestrian in the inner wheel difference region in the picture, and thus, an abnormality monitoring result is generated. In another embodiment, the abnormality monitoring result may be any identification information that can be recognized by a computer, for example, a value of the abnormality monitoring result is given to a variable result, and the value of the abnormality monitoring result may be 1 to indicate that there is an abnormality in the inner wheel difference area and the value of the abnormality monitoring result may be 0 to indicate that there is no abnormality in the inner wheel difference area; it is also possible to indicate that there is an abnormality in the inner wheel difference region by result ═ Y, and indicate that there is no abnormality in the inner wheel difference region by result ═ N.

In another embodiment, the radar detection device may be used to determine that the vehicle, the pedestrian, or the like enters the inner wheel difference region, or the radar detection device and the camera device may be combined to determine that the vehicle, the pedestrian, or the like enters the inner wheel difference region.

Furthermore, a traffic supervision department is provided with a supervision way for whether the pedestrian complies with the warning or not through the camera device. For example, if it has been determined that there is a danger zone at the intersection as indicated by the projection range, and that a pedestrian is still a hard break or an intentional accident, the regulatory authorities may therefore reduce the liability of the in-wheel vehicle driver in the event of a resulting accident.

Please refer to fig. 3, which is a flowchart illustrating an abnormality detection method for a safety monitoring method of an inner wheel differential area according to another embodiment of the present invention. As shown in fig. 3, in embodiment B, S12 includes the following steps:

and S121B, acquiring the position information of the vehicle and acquiring the position information of the driver.

Specifically, the position information of the vehicle is represented by a, and the position information of the driver is represented by B. In practical applications, the location information may be geographical coordinate information such as latitude and longitude information. The position information a and the position information B are constantly changed as the vehicle and the driver move.

In practical application, the position information of the vehicle may be obtained by the vehicle sending its own positioning information; the electronic equipment executing the safety monitoring method of the inner wheel difference area can also acquire an image of the vehicle through the camera device, and the distance of the vehicle in the image is converted from the actual size by combining the camera parameters of the camera device, so that the distance of the vehicle relative to the electronic equipment is obtained; the position data of all vehicles coming and going can be uploaded to a server for centralized management to form a data network of the Internet of things, and the server forwards the position information of the vehicles to the electronic equipment executing the safety monitoring method of the inner wheel difference area. The position information of the driver can be acquired in a mode that the electronic equipment client carried by the driver sends self positioning information; the electronic equipment executing the safety monitoring method of the inner wheel difference area can also acquire an image of a driver through the camera device, and the distance of the driver in the image and the actual size are converted by combining the camera parameters of the camera device, so that the distance of the driver relative to the electronic equipment is obtained; the position data of all the clients of the pedestrians can be uploaded to a server for centralized management to form a data network of the Internet of things, and the server forwards the position information of the travelers to the electronic equipment executing the safety monitoring method of the inner wheel difference area. The electronic device used by the traveller can be a smart phone, a tablet computer, or various electronic devices capable of performing network communication, such as smart glasses, smart watches, and smart earphones, and further comprises a bicycle, an electric vehicle, or a motorcycle and other riding vehicles with a positioning function and a network communication function. The client used by the driver can also be the corresponding vehicle end of other motor vehicles of the non-inner wheel differential area vehicle.

S122B, generating a dynamic map based on the position information of the vehicle, the position information of the driver client, and the in-wheel difference region.

Specifically, the position information a of the vehicle and the position information B of the driver are identified on the map, and may be, for example, a movable dot or an arrow or other icon that can be recognized on the map. The method comprises the steps of continuously moving an icon on a map along with the continuous change of the positions of a vehicle and a driver client, drawing an inner wheel differential area range by taking the position information A of the vehicle as a reference point, and measuring and calculating the real-time distance between the position information B of the driver and the inner wheel differential area boundary in real time. In practical applications, the real-time distance may be a positive value, such as 0.5m, when B does not enter the inner wheel differential region; the time distance may be negative when B enters the inner differential area, e.g., -0.5 m.

S123B, monitoring whether the position information of the driver client falls into the inner wheel difference region in the dynamic map.

Specifically, a distance threshold value is set, for example, the distance threshold value is 0m or-0.5 m, and when the measured real-time distance is-1.5 m, the-1.5 m is smaller than 0m or-0.5 m, it is determined that the position information B of the driver client falls within the inner wheel difference region.

S124B, in response to the position information of the driver client falling into the inside wheel difference region, generating the abnormality monitoring result.

Specifically, the abnormality monitoring result may be set to 1 in accordance with the position information B of the driver client falling into the inside wheel difference region.

And S13, sending an intervention processing instruction to the vehicle and the driver in the abnormity monitoring result based on the abnormity monitoring result, so that the scratch risk of the vehicle to the driver in the inner wheel difference area is reduced through the change of the self motion state in the process that the vehicle and the driver are intervened.

Please refer to fig. 4, which is a schematic diagram illustrating an intervention command in an embodiment of the method for monitoring the safety of the inner wheel differential area according to the present invention. As shown in fig. 4, the issued intervention processing instruction may perform multi-party intervention on the anomaly detection result in a direct or indirect manner.

On one hand, the abnormal monitoring result is displayed, and an audible and visual alarm signal is sent according to the abnormal monitoring result. Therefore, attention of a driver driving the vehicle, a driver riding the vehicle and pedestrians in the inner wheel difference area is brought to the outside in an acousto-optic alarm mode, so that danger possibly caused by the inner wheel difference area is avoided in time. For example, the electronic device executing the safety monitoring method for the inner wheel difference area is provided with an audible and visual alarm device, and can flash a red light and be accompanied by a prompting sound such as 'do not approach the dangerous area' and the like according to an abnormal monitoring result.

On the other hand, an abnormality processing instruction is sent to the vehicle so that the vehicle brakes the vehicle according to the abnormality processing instruction. Therefore, a braking command of the vehicle is sent according to the abnormality monitoring result so as to stop further change of the running state of the vehicle and reduce the danger possibly caused by the inner wheel difference area to the minimum. The vehicle that receives the abnormality processing command may be a vehicle that generates an inner wheel difference region, or may be another traveling vehicle that enters or approaches the inner wheel difference region.

In yet another aspect, a danger prompting message is sent to a driver client, so that the driver client transmits the danger prompting message to the driver. Therefore, the prompt instruction is directly sent to the client carried by the pedestrian.

And S14, sending out safety warning aiming at the inner wheel difference area. It should be noted that step S14 may be executed before any step of S12 and S13, may be executed after any step of S12 and S13, or may be executed simultaneously with any step of S12 and S13, and the present invention is not limited thereto.

Please refer to fig. 5, which is a flowchart illustrating an inner wheel differential area road surface warning method according to an embodiment of the present invention. As shown in fig. 5, S14 includes the steps of:

and S141, determining the projection range of the road surface based on the inner wheel difference area.

Specifically, the implementation manner of the projection range may be an AR (Augmented Reality) projection, a projector projection, a laser lamp projection, or a holographic projection. The holographic projection imaging needs a medium, and can be: water curtains, smoke, semi-permeable abrasives, special glasses, plastics, and even rotating blades, which can be imaged. For example, the electronic device for implementing the method for monitoring the safety of the inner wheel difference area comprises a holographic projection device which projects a determined projection range onto the road surface, wherein the range of the special glass on the road surface is always larger than the projection range, so that the projection range which changes at any time can be smoothly projected and displayed.

S141A, acquiring the position information of the vehicle during the driving process of the vehicle.

Particularly, the safety monitoring method of the inner wheel difference area is applied to road safety monitoring equipment. S141A includes the steps of:

(1) and respectively acquiring the geographic position coordinates of the road safety monitoring equipment and the geographic position coordinates of the vehicle.

(2) And determining the relative position of the vehicle relative to the road safety monitoring equipment according to the geographical position coordinates of the road safety monitoring equipment and the geographical position coordinates of the vehicle.

(3) And determining the position information of the vehicle relative to the fixed reference point at different moments by taking the geographic position coordinates of the road safety monitoring equipment as the fixed reference point in combination with the change of the relative position.

And S141B, taking the position information as a reference, butting the projection range with the inner contour of the vehicle, and determining the projection range of the vehicle on the road surface at different times according to the driving state of the vehicle.

Specifically, if the vehicle turns right, the inner wheel differential area is generated on the right side of the vehicle, and the connecting line between two or more wheels on the right side is the inner contour of the vehicle, so that the outer convex edge of the inner wheel differential area is tangent to the inner contour of the vehicle.

S142, carrying out optical projection in the projection range to remind the driver not to approach the projection range.

The protection scope of the safety monitoring method for the inner wheel differential area is not limited to the execution sequence of the steps listed in the embodiment, and all the schemes of adding, subtracting and replacing the steps in the prior art according to the principle of the invention are included in the protection scope of the invention.

The present embodiment provides a computer-readable storage medium on which a computer program is stored, which, when executed by a processor, implements the safety monitoring method of the inner wheel differential area.

Those of ordinary skill in the art will understand that: all or part of the steps for implementing the above method embodiments may be performed by hardware associated with a computer program. The aforementioned computer program may be stored in a computer readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned computer-readable storage media comprise: various computer storage media that can store program codes, such as ROM, RAM, magnetic or optical disks.

Please refer to fig. 7, which is a schematic structural connection diagram of a road safety monitoring apparatus according to an embodiment of the present invention. As shown in fig. 7, the present embodiment provides a roadsafety monitoring device 7, which specifically includes: aprocessor 71 and amemory 72; thememory 72 is used for storing a computer program, and theprocessor 71 is used for executing the computer program stored in the memory, so that the road safety monitoring device executes the steps of the safety monitoring method of the inner wheel difference area.

TheProcessor 71 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware component.

TheMemory 72 may include a Random Access Memory (RAM), and may further include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory.

In practical applications, the road safety monitoring device may be a computer including components such as a memory, a memory controller, one or more processing units (CPUs), a peripheral interface, RF circuitry, audio circuitry, speakers, a microphone, an input/output (I/O) subsystem, a display screen, other output or control devices, and an external port.

Please refer to fig. 8, which is a communication diagram of an inner wheel differential area safety monitoring system according to an embodiment of the present invention. As shown in fig. 8, the safety monitoring system for the inner wheel difference area includes: the vehicle, the road safety monitoring device and the driver client are used for executing the safety monitoring method of the inner wheel difference area.

The vehicle is used for sending the inner wheel difference area of the vehicle to the road safety monitoring equipment and receiving an intervention processing instruction sent by the road safety monitoring equipment based on an abnormity monitoring result.

The road safety monitoring equipment is used for acquiring an inner wheel difference area of the vehicle; sending a safety warning aiming at the inner wheel difference area; monitoring conditions in the inner wheel differential area to generate an anomaly monitoring result when an anomaly exists in the inner wheel differential area; and sending the intervention processing instruction to the vehicle and the driver in the abnormal monitoring result based on the abnormal monitoring result so as to reduce the scratch risk of the vehicle to the driver in the inner wheel difference area through the change of the motion state of the vehicle and the driver in the process of being intervened.

And the driver client is used for receiving an intervention processing instruction sent by the road safety monitoring equipment based on an abnormal monitoring result.

The safety monitoring system for the inner wheel differential area provided in the present embodiment will be described in detail below with reference to fig. 9. It should be noted that the division of the modules of the following system is only a logical division, and the actual implementation may be wholly or partially integrated into one physical entity or may be physically separated. And the modules can be realized in a form that all software is called by the processing element, or in a form that all the modules are realized in a form that all the modules are called by the processing element, or in a form that part of the modules are called by the hardware. For example: a module may be a separate processing element, or may be integrated into a chip of the system described below. Further, a certain module may be stored in the memory of the following system in the form of program code, and a certain processing element of the following system may call and execute the function of the following certain module. Other modules are implemented similarly. All or part of the modules can be integrated together or can be independently realized. The processing element described herein may be an integrated circuit having signal processing capabilities. In implementation, the steps of the above method or the following modules may be implemented by hardware integrated logic circuits in a processor element or instructions in software.

The following modules may be one or more integrated circuits configured to implement the above methods, for example: one or more Application Specific Integrated Circuits (ASICs), one or more Digital Signal Processors (DSPs), one or more Field Programmable Gate Arrays (FPGAs), etc. When some of the following modules are implemented in the form of a program code called by a Processing element, the Processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling the program code. These modules may be integrated together and implemented in the form of a System-on-a-chip (SOC).

Please refer to fig. 9, which is a communication schematic diagram of the safety monitoring system for the inner wheel differential area according to an embodiment of the present invention. As shown in fig. 9, V2X (Vehicle to occupant/Vehicle to X) communication is preferably provided between the Vehicle, the road safety monitoring device and the driver client. V2X is the key technology of the future intelligent transportation system. It enables communication between cars, between cars and base stations, and between base stations. Therefore, a series of traffic information such as real-time road conditions, road information, pedestrian information and the like is obtained, so that the driving safety is improved, the congestion is reduced, the traffic efficiency is improved, and the vehicle-mounted entertainment information is provided. The road safety monitoring equipment acquires an inner wheel difference area of the vehicle and sends an exception handling instruction generated based on an exception monitoring result to the vehicle; on the other hand, the road safety monitoring equipment acquires the position information of the driver client and sends danger prompt information generated based on the abnormal monitoring result to the driver client. For example, the road safety monitoring device may be a device improved in the existing road devices such as a vertical traffic light, and the like, so that the road safety monitoring device has each function module thereof and performs the safety monitoring method of the inner wheel difference region.

(1) The vehicle includes: the vehicle driving assisting system comprises a driving assisting module, a vehicle control module and a vehicle-mounted machine communication module.

The auxiliary driving module is used for carrying out abnormity monitoring on an inner wheel difference area generated by the vehicle so as to further assist the road safety monitoring equipment in monitoring the condition in the inner wheel difference area; the vehicle control module is used for executing braking according to the exception handling instruction sent by the road safety monitoring equipment; the vehicle-mounted machine communication module is used for sending the inner wheel difference area of the vehicle to the road safety monitoring equipment and receiving an exception handling instruction sent by the road safety monitoring equipment based on an exception monitoring result.

Specifically, when the wheel difference vehicle itself carries out the judgement of abnormal conditions in the wheel difference vehicle, the driver assistance module includes radar sensor and camera, through radar sensor and camera image acquisition, cooperates the gear information of vehicle control module to judge whether there is the barrier in the wheel difference region in the vehicle.

Further, the vehicle control module may execute braking according to an exception handling instruction sent by the road safety monitoring device, may execute braking or related operations according to an exception condition monitored by the vehicle driving assisting module, and may execute braking and other operations by combining a monitoring result of the vehicle driving assisting module with an exception monitoring result of the road safety monitoring device.

The vehicle self abnormity monitoring process comprises the following steps: when the vehicle control module judges that the wheel steering angle does not go straight in a certain direction, namely turns, the maximum inner wheel difference of the vehicle is judged according to the front wheel track, the rear wheel track and the vehicle wheel base (the data of the specific vehicle is a fixed value, and the data can be directly replaced by the fixed value). And calculating whether an object such as an obstacle or a pedestrian exists in the maximum inner wheel difference range when the current point is steered according to the inner wheel difference. If an object exists, the driver is warned or the vehicle is actively braked directly through a vehicle braking part of the vehicle control module, so that accidents are avoided. When the vehicle control module detects that the steering angle of the wheels does not return to a straight-ahead state, the radar sensor and the camera on the inner side of the advancing direction and the vehicle steering are both in an opening state for detecting whether an object such as an obstacle or a pedestrian actively enters an inner wheel difference area, if the object entering is judged, a driver is warned in the form of sound-light alarm or interface popup window or the vehicle is actively braked directly through a vehicle braking part of the vehicle control module to avoid accidents. And when the vehicle control module detects that the steering angle of the wheel returns to the straight-going state, stopping judging the difference of the inner wheels.

(2) The road safety monitoring apparatus includes: the device comprises a road communication module, a video acquisition module, a projection display module and a sound output module.

The road communication module is used for determining an inner wheel difference area of the vehicle, position information of the vehicle and position information of the driver client; sending an exception handling instruction to the vehicle and sending danger prompt information to a driver client based on the exception monitoring result; the video acquisition module is used for acquiring images in the inner wheel difference region to monitor the condition in the inner wheel difference region and generate an abnormal monitoring result when abnormality exists in the inner wheel difference region; the projection display module is used for carrying out optical projection in a projection range so as to remind the driver not to approach the projection range; the sound output module is used for sending out sound and light alarm signals according to the abnormal monitoring result.

(3) The driver client comprises a positioning module, a driving communication module and a warning output module.

The positioning module is used for acquiring the position information of the driver client; the driving communication module is used for sending the position information of the driver client to the road safety monitoring equipment and receiving danger prompt information sent by the road safety monitoring equipment; and the warning output module is used for outputting images and buzzing sound according to the danger prompt information.

With reference to fig. 9, the safety monitoring system for the inner wheel differential area is implemented according to the following principle: the vehicle sends the inner wheel difference region information to the road communication module through the vehicle-mounted machine communication module or the road communication module calculates and obtains the inner wheel difference region information according to the vehicle type and other information, and the driver client sends the position information of the driver client to the road communication module through the driving communication module. The road safety monitoring equipment performs projection of an inner wheel difference area on a road surface through a projection display module, detects whether a driver exists in the inner wheel difference area through a video acquisition module, and when the fact that the driver breaks into the inner wheel difference area is monitored, abnormal monitoring results are respectively sent to a road communication module and a sound output module, so that the road communication module generates an abnormal processing instruction according to the abnormal monitoring results and sends the abnormal processing instruction to a vehicle-mounted machine communication module of a vehicle, the vehicle control module is further enabled to execute relevant operations such as braking, danger prompt information is generated according to the abnormal monitoring results and sent to the driving communication module of a client of the driver, and the warning output module is further enabled to output prompts such as sound, interface information and the like.

In one embodiment, the determination of the inner wheel differential area of the vehicle at least comprises: acquiring an inner wheel difference region sent by the vehicle and estimating one of the inner wheel difference regions according to the vehicle size, the turning state and the speed.

In one embodiment, the driver client comprises: one of mobile unit, intelligent electronic equipment, intelligent wearing equipment. The vehicle-mounted equipment is a vehicle end corresponding to a running vehicle except for a vehicle in an inner wheel difference area, the intelligent electronic equipment is mobile terminal equipment such as a smart phone and a tablet personal computer which can be positioned and has a network communication function, and the intelligent electronic equipment can also be electronic equipment which is arranged in a riding vehicle such as a bicycle, an electric vehicle or a motorcycle and can be positioned and has a network communication function; the intelligent wearable device can be a smart watch, a smart bracelet, smart glasses, a smart headset and other devices.

Please refer to fig. 10, which is a schematic view illustrating an application scenario of the safety monitoring system for an inner wheel differential area according to an embodiment of the present invention. As shown in fig. 10, the road safety monitoring device is a vertical traffic light device, the vertical traffic light device can display traffic lights, the attached display screen can display road traffic information, prompt information of people running red lights in violation of traffic rules, and capture images, and the device is provided with a projection device, as shown in the range indicated by two dotted lines in fig. 10. An example of a pedestrian entering the inner wheel differential area is given in fig. 10, the pedestrian carrying a cell phone with him. The vertical traffic light equipment monitors pedestrians intruding into the inner wheel difference area, and therefore an abnormal processing instruction is sent to a turning vehicle to control the vehicle to stop running or reduce the running speed of the vehicle; and sending danger prompt information to the mobile phone of the pedestrian, prompting the mobile phone of the pedestrian through a preset application program, for example, starting a ring and/or vibration of the mobile phone, and popping up a prompt window on a mobile phone interface to display text information such as 'you have entered a dangerous area'. If the pedestrian wears the Bluetooth headset in the walking process, the prompt voice of 'you enter a dangerous area' can be sent to the Bluetooth headset, and the pedestrian can know dangerous information in a more direct and rapid mode.

Further, as shown in fig. 10, when the vehicle turns at the intersection, the vehicle may send an inner wheel difference area to the road safety monitoring device, determine whether the inner wheel difference area and the zebra crossing area intersect or not by the road safety monitoring device, and remind pedestrians in the intersecting area by sending a danger prompting message, for example, remind pedestrians not to stay in the zebra crossing area or go forward or return to a non-intersecting position.

The safety monitoring system for the inner wheel differential area can realize the safety monitoring method for the inner wheel differential area, but the realization device of the safety monitoring method for the inner wheel differential area comprises but is not limited to the structure of the safety monitoring system for the inner wheel differential area, and all structural modifications and substitutions in the prior art made according to the principle of the invention are included in the protection scope of the invention.

The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims

1. The safety monitoring method for the inner wheel differential area is characterized by comprising the following steps of:

acquiring an inner wheel difference area of a vehicle;

monitoring conditions in the inner wheel differential area to generate an anomaly monitoring result when an anomaly exists in the inner wheel differential area;

and sending an intervention processing instruction to the vehicle and the driver in the abnormal monitoring result based on the abnormal monitoring result so as to reduce the scratch risk of the vehicle to the driver in the inner wheel difference area through the change of the motion state of the vehicle and the driver in the process of being intervened.

2. The inner wheel differential area safety monitoring method of claim 1, further comprising the steps of: and sending out safety warning aiming at the inner wheel difference area.

3. The inner wheel differential area safety monitoring method of claim 2, wherein the step of issuing a safety alert for the inner wheel differential area comprises the steps of:

determining a projection range of a road surface based on the inner wheel difference area;

and carrying out optical projection in the projection range to remind the driver not to approach the projection range.

4. The safety monitoring method for the inner wheel differential area according to claim 3, wherein the step of determining the projection range of the road surface based on the inner wheel differential area comprises the following steps:

acquiring the position information of the vehicle in the driving process of the vehicle;

and butting the projection range with the inner contour of the vehicle by taking the position information as a reference so as to determine the projection range of the vehicle on the road surface at different moments according to the driving state of the vehicle.

5. The safety monitoring method of the inner wheel difference area according to claim 4, which is applied to a road safety monitoring device; in the driving process of the vehicle, the step of acquiring the position information of the vehicle comprises the following steps:

respectively acquiring the geographic position coordinates of the road safety monitoring equipment and the geographic position coordinates of the vehicle;

determining the relative position of the vehicle relative to the road safety monitoring equipment according to the geographical position coordinates of the road safety monitoring equipment and the geographical position coordinates of the vehicle;

and determining the position information of the vehicle relative to the fixed reference point at different moments by taking the geographic position coordinates of the road safety monitoring equipment as the fixed reference point in combination with the change of the relative position.

6. The inner wheel differential area safety monitoring method of claim 1, wherein the monitoring of conditions in the inner wheel differential area to generate an anomaly monitoring result when an anomaly exists in the inner wheel differential area comprises the steps of:

acquiring an image in the inner wheel difference region;

judging whether a driver exists in the image or not;

generating the anomaly monitoring result in response to a presence of a driver in the image.

7. The inner wheel differential area safety monitoring method of claim 1, wherein the monitoring of conditions in the inner wheel differential area to generate an anomaly monitoring result when an anomaly exists in the inner wheel differential area comprises the steps of:

acquiring the position information of the vehicle and acquiring the position information of a driver;

generating a dynamic map based on the location information of the vehicle, the location information of the driver client, and the in-wheel difference region;

monitoring whether the position information of the driver client falls into the inner wheel difference area or not in the dynamic map;

generating the anomaly monitoring result in response to the position information of the driver client falling into the inner wheel difference region.

8. The inside wheel difference region safety monitoring method according to claim 1, wherein the issuing of the intervention processing instruction to the vehicle and the driver in the abnormality monitoring result based on the abnormality monitoring result includes the steps of:

displaying the abnormal monitoring result, and sending an audible and visual alarm signal aiming at the abnormal monitoring result;

sending an exception handling instruction to the vehicle so that the vehicle brakes the vehicle according to the exception handling instruction;

and sending danger prompt information to a driver client so that the driver client transmits the danger prompt information to the driver.

9. A computer-readable storage medium on which a computer program is stored, the computer program, when being executed by a processor, implementing the method for safety monitoring of an inner wheel differential area according to any one of claims 1 to 8.

10. A road safety monitoring device, comprising: a processor and a memory;

the memory is used for storing a computer program, and the processor is used for executing the computer program stored by the memory so as to enable the road safety monitoring device to execute the safety monitoring method of the inner wheel difference area according to any one of claims 1 to 8.

11. An interior wheel differential area safety monitoring system, comprising: a vehicle, a road safety monitoring device according to claim 10 and a driver client;

the vehicle is used for sending an inner wheel difference area of the vehicle to the road safety monitoring equipment and receiving an intervention processing instruction sent by the road safety monitoring equipment based on an abnormal monitoring result;

the road safety monitoring equipment is used for acquiring an inner wheel difference area of the vehicle; sending a safety warning aiming at the inner wheel difference area; monitoring conditions in the inner wheel differential area to generate an anomaly monitoring result when an anomaly exists in the inner wheel differential area; sending the intervention processing instruction to the vehicle and the driver in the abnormal monitoring result based on the abnormal monitoring result so as to reduce the risk of scratching the driver in the inner wheel difference area by the vehicle and the driver through the change of the self motion state in the process of the intervention of the vehicle and the driver;

12. The interior wheel differential area security monitoring system of claim 11,

the vehicle includes: the system comprises an auxiliary driving module, a vehicle control module and a vehicle-mounted machine communication module;

the auxiliary driving module is used for carrying out abnormity monitoring on an inner wheel difference area generated by the vehicle so as to further assist the road safety monitoring equipment in monitoring the condition in the inner wheel difference area; the vehicle control module is used for executing braking according to the exception handling instruction sent by the road safety monitoring equipment; the vehicle-mounted machine communication module is used for sending an inner wheel difference area of the vehicle to the road safety monitoring equipment and receiving an exception handling instruction sent by the road safety monitoring equipment based on an exception monitoring result;

the road safety monitoring apparatus includes: the system comprises a road communication module, a video acquisition module, a projection display module and a sound output module;

the road communication module is used for determining an inner wheel difference area of the vehicle, position information of the vehicle and position information of the driver client; sending an exception handling instruction to the vehicle and sending danger prompt information to a driver client based on the exception monitoring result; the video acquisition module is used for acquiring images in the inner wheel difference region to monitor the condition in the inner wheel difference region and generate an abnormal monitoring result when abnormality exists in the inner wheel difference region; the projection display module is used for carrying out optical projection in a projection range to remind a driver of not approaching the projection range; the sound output module is used for sending out sound and light alarm signals aiming at the abnormal monitoring result;

the driver client comprises a positioning module, a driving communication module and a warning output module;

13. The interior wheel differential area safety monitoring system of claim 12, the interior wheel differential area of the vehicle being determined in a manner comprising at least: acquiring an inner wheel difference region sent by the vehicle and estimating one of the inner wheel difference regions according to the vehicle size, the turning state and the speed.

14. The in-wheel differential area safety monitoring system of claim 11, the rider client comprising at least: one of mobile unit, intelligent electronic equipment, intelligent wearing equipment.