CN116160954A - Method and device for alarming dangerous objects around vehicle - Google Patents
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- CN116160954A CN116160954ACN202310004899.3ACN202310004899ACN116160954ACN 116160954 ACN116160954 ACN 116160954ACN 202310004899 ACN202310004899 ACN 202310004899ACN 116160954 ACN116160954 ACN 116160954A
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- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
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Abstract
Description
Translated fromChinese技术领域technical field
本申请涉及汽车主动安全技术领域，特别涉及一种车辆的本车周边危险目标报警方法及装置。The present application relates to the technical field of automobile active safety, and in particular to a method and device for alarming dangerous objects around the vehicle.
背景技术Background technique
随着汽车保有量的不断增加，给交通安全带来了巨大的压力和挑战。在行车过程中，由于长时间驾驶、睡眠质量、环境噪音、驾驶室内温度、道路环境等因素，导致驾驶员大脑过度劳累以及体力过度消耗，出现驾驶疲劳，此时驾驶员机体反应速度、注意力下降且驾驶技能变低，在自车周边出现车辆时，驾驶员无法及时做出响应，从而导致交通事故的发生。With the continuous increase of car ownership, traffic safety has brought enormous pressure and challenges. During the driving process, due to factors such as long-term driving, sleep quality, environmental noise, temperature in the cab, and road environment, the driver's brain is overworked and physical energy is exhausted, resulting in driving fatigue. At this time, the driver's body reaction speed, attention When the driving skill decreases and the driving skills become lower, the driver cannot respond in time when vehicles appear around the vehicle, which leads to traffic accidents.
相关技术中，可以在驾驶员行车过程中，对车辆周围障碍物进行探测，并对驾驶员进行报警，从而避免车辆与障碍物发生碰撞。In related technologies, obstacles around the vehicle can be detected while the driver is driving, and an alarm can be given to the driver, so as to prevent the vehicle from colliding with the obstacle.
然而，相关技术中未通过多传感器融合对车辆周边危险目标进行探测，与各智能驾驶系统兼容性较差，且对危险目标判断与处理的方法粗糙，因而降低了目标探测结果的准确性，导致误报警情况的发生，无法保障用户的驾驶体验，亟待解决。However, in related technologies, multi-sensor fusion is not used to detect dangerous targets around the vehicle, which is poorly compatible with various intelligent driving systems, and the method of judging and processing dangerous targets is rough, thus reducing the accuracy of target detection results, resulting in The occurrence of false alarms cannot guarantee the user's driving experience and needs to be resolved urgently.
发明内容Contents of the invention
本申请提供一种车辆的本车周边危险目标报警方法及装置，以解决相关技术中未通过多传感器融合对车辆周边危险目标进行探测，与各智能驾驶系统兼容性较差，且对危险目标判断与处理的方法粗糙，因而降低了目标探测结果的准确性，导致误报警情况的发生，无法保障用户的驾驶体验等问题。This application provides a method and device for alarming dangerous targets around the vehicle to solve the problem of detecting dangerous targets around the vehicle without multi-sensor fusion in the related art, poor compatibility with various intelligent driving systems, and the problem of judging dangerous targets. The method of processing and handling is rough, thus reducing the accuracy of the target detection results, leading to false alarms, and failing to guarantee the user's driving experience.
本申请第一方面实施例提供一种车辆的本车周边危险目标报警方法，包括以下步骤：根据多个目标到本车的横向距离选取出左右车道内的至少一个有效目标，获取每个有效目标的目标信息；根据所述每个有效目标的目标信息和目标类型判断所述每个有效目标是否满足预设风险报警条件；如果任一有效目标满足所述预设风险报警条件，则控制所述本车的提醒设备向用户进行声学、光学和/或触觉提醒。The embodiment of the first aspect of the present application provides a method for alerting dangerous targets around the vehicle, including the following steps: selecting at least one valid target in the left and right lanes according to the lateral distance from multiple targets to the vehicle, and obtaining each valid target according to the target information and target type of each valid target to determine whether each valid target meets the preset risk warning condition; if any valid target meets the preset risk warning condition, then control the The reminding device of this vehicle carries out acoustic, optical and/or tactile reminders to the user.
根据上述技术手段，本申请实施例可以对车周有效目标进行选取，并判断其是否满足预设风险报警条件，从而针对符合条件的目标向用户发出报警，通过对车辆周边危险目标进行筛选，使车周危险目标的探测更加准确，提升了用户的驾驶体验，保障了用户行车安全，更具实用性。According to the above technical means, the embodiment of the present application can select effective targets around the vehicle and judge whether they meet the preset risk alarm conditions, so as to send an alarm to the user for the targets that meet the conditions, and filter the dangerous targets around the vehicle. The detection of dangerous objects around the vehicle is more accurate, which improves the user's driving experience, ensures the user's driving safety, and is more practical.
可选地，在本申请的一个实施例中，所述根据所述每个有效目标的目标信息和目标类型判断所述每个有效目标是否满足预设风险报警条件，包括：在所述目标类型为相邻车道目标类型时，计算每个相邻车道目标的纵向预计碰撞时间、压线量和纵向距离；在所述本车到目标的纵向距离小于第一预设倍数的本车时距，或者所述本车快于所述目标且所述纵向距离小于第二预设倍数的本车时距，或者所述目标慢于所述本车预设速度以内且所述纵向距离小于第一预设纵向距离阈值，或者所述纵向距离小于第二预设纵向距离阈值的同时，所述纵向预计碰撞时间小于第一预设时间阈值且所述压线量达到预设条件，判定满足所述预设风险报警条件。Optionally, in an embodiment of the present application, the judging whether each valid target meets a preset risk warning condition according to the target information and target type of each valid target includes: When it is an adjacent lane target type, calculate the longitudinal expected collision time, line pressure and longitudinal distance of each adjacent lane target; when the longitudinal distance from the vehicle to the target is less than the vehicle time distance of the first preset multiple, or the host vehicle is faster than the target and the longitudinal distance is less than the second preset multiple of the host vehicle time distance, or the target is slower than the host vehicle within the preset speed and the longitudinal distance is smaller than the first preset Set the longitudinal distance threshold, or when the longitudinal distance is less than the second preset longitudinal distance threshold, the longitudinal expected collision time is less than the first preset time threshold and the line pressure amount reaches the preset condition, it is determined that the preset Set risk alarm conditions.
根据上述技术手段，本申请实施例可以计算每个相邻车道目标的纵向预计碰撞时间、压线量和纵向距离，通过判断三者是否满足所需条件，从而判定相邻车道目标是否满足预设风险报警条件，进而提升了相邻车道目标类型风险预警判断的可靠性。According to the above-mentioned technical means, the embodiments of the present application can calculate the longitudinal expected collision time, line pressure and longitudinal distance of each adjacent lane target, and determine whether the adjacent lane targets meet the preset requirements by judging whether the three meet the required conditions Risk warning conditions, thereby improving the reliability of the risk warning judgment of the target type in the adjacent lane.
可选地，在本申请的一个实施例中，所述根据所述每个有效目标的目标信息和目标类型判断所述每个有效目标是否满足预设风险报警条件，还包括：在所述目标类型为对向来车目标时，计算每个对向来车目标和所述本车的纵向预计碰撞时间和横向距离；在所述纵向预计碰撞时间小于第二预设时间阈值且所述横向距离小于第一预设横向距离阈值时，判定满足所述风险报警条件。Optionally, in an embodiment of the present application, the judging whether each valid target satisfies a preset risk warning condition according to the target information and target type of each valid target further includes: When the type is an oncoming vehicle target, calculate the longitudinal expected collision time and lateral distance between each oncoming vehicle target and the vehicle; when the longitudinal expected collision time is less than the second preset time threshold and the lateral distance is less than the first When a preset lateral distance threshold is reached, it is determined that the risk alarm condition is met.
根据上述技术手段，本申请实施例可以计算每个对向来车目标和本车的纵向预计碰撞时间和横向距离，通过判断纵向预计碰撞时间和横向距离是否满足所需条件，从而判定对向来车目标是否满足预设风险报警条件，进而使对向来车目标的判定结果更加准确。According to the above-mentioned technical means, the embodiment of the present application can calculate the longitudinal expected collision time and lateral distance between each oncoming vehicle target and the own vehicle, and judge the oncoming vehicle target by judging whether the longitudinal expected collision time and lateral distance meet the required conditions Whether the preset risk alarm conditions are met, so as to make the judgment result of the oncoming vehicle target more accurate.
可选地，在本申请的一个实施例中，所述根据所述每个有效目标的目标信息和目标类型判断所述每个有效目标是否满足预设风险报警条件，还包括：在所述目标类型为前向后向来车目标时，计算每个前向后向来车目标和所述本车的预计碰撞时间和横向距离；在所述预计碰撞时间小于第三预设时间阈值且所述横向距离小于第二预设横向距离阈值时，判定满足所述风险报警条件。Optionally, in an embodiment of the present application, the judging whether each valid target satisfies a preset risk warning condition according to the target information and target type of each valid target further includes: When the type is a forward and backward vehicle target, calculate the expected collision time and lateral distance between each forward and backward vehicle target and the vehicle; when the expected collision time is less than the third preset time threshold and the lateral distance When it is smaller than the second preset lateral distance threshold, it is determined that the risk alarm condition is met.
根据上述技术手段，本申请实施例可以计算每个前向后向来车目标和本车的预计碰撞时间和横向距离，通过判断所得数据是否满足所需条件，从而判定前向后向来车目标是否满足预设风险报警条件，提升了对与前向后向来车目标危险判断的准确性。According to the above-mentioned technical means, the embodiment of the present application can calculate the expected collision time and lateral distance between each forward and backward vehicle target and the own vehicle, and determine whether the forward and backward vehicle target meets the required conditions by judging whether the obtained data meet the required conditions. The preset risk alarm conditions improve the accuracy of judging the danger of the front and rear car targets.
可选地，在本申请的一个实施例中，所述控制所述本车的提醒设备向用户进行声学、光学和/或触觉提醒，包括：根据所述目标信息和所述目标类型匹配所述本车的最佳提醒方式；基于所述最佳提醒方式控制所述本车的提醒设备执行相应的提醒动作。Optionally, in an embodiment of the present application, the controlling the reminding device of the ego vehicle to provide an acoustic, optical and/or tactile reminder to the user includes: matching the The best reminder method of the vehicle; based on the best reminder method, the reminder device of the vehicle is controlled to perform corresponding reminder actions.
根据上述技术手段，本申请实施例可以根据目标信息和目标类型匹配本车的最佳提醒方式，并基于最佳提醒方式控制本车的提醒设备执行相应的提醒动作，从而进一步加强车辆在行驶过程中的安全防护。According to the above technical means, the embodiment of the present application can match the best reminder method of the vehicle according to the target information and the target type, and control the reminder device of the vehicle to perform corresponding reminder actions based on the best reminder method, thereby further strengthening the driving process of the vehicle. security protection in.
本申请第二方面实施例提供一种车辆的本车周边危险目标报警装置，包括：获取模块，用于根据多个目标到本车的横向距离选取出左右车道内的至少一个有效目标，获取每个有效目标的目标信息；判断模块，用于根据所述每个有效目标的目标信息和目标类型判断所述每个有效目标是否满足预设风险报警条件；报警模块，用于在任一有效目标满足所述预设风险报警条件时，控制所述本车的提醒设备向用户进行声学、光学和/或触觉提醒。The embodiment of the second aspect of the present application provides a warning device for dangerous targets around the vehicle, including: an acquisition module, which is used to select at least one valid target in the left and right lanes according to the lateral distance from multiple targets to the vehicle, and acquire each The target information of each effective target; the judging module is used to judge whether each valid target meets the preset risk alarm condition according to the target information and target type of each valid target; the alarm module is used to satisfy any valid target. When the preset risk alarm condition is met, the reminder device of the own vehicle is controlled to provide an acoustic, optical and/or tactile reminder to the user.
可选地，在本申请的一个实施例中，所述判断模块包括：第一计算单元，用于在所述目标类型为相邻车道目标类型时，计算每个相邻车道目标的纵向预计碰撞时间、压线量和纵向距离；第一判定单元，用于在所述本车到目标的纵向距离小于第一预设倍数的本车时距，或者所述本车快于所述目标且所述纵向距离小于第二预设倍数的本车时距，或者所述目标慢于所述本车预设速度以内且所述纵向距离小于第一预设纵向距离阈值，或者所述纵向距离小于第二预设纵向距离阈值的同时，所述纵向预计碰撞时间小于第一预设时间阈值且所述压线量达到预设条件，判定满足所述预设风险报警条件。Optionally, in an embodiment of the present application, the judging module includes: a first calculation unit, configured to calculate the longitudinal predicted collision of each adjacent lane object when the object type is an adjacent lane object type Time, line pressure and longitudinal distance; the first determination unit is used for when the longitudinal distance from the vehicle to the target is less than the vehicle time distance of the first preset multiple, or the vehicle is faster than the target and the The longitudinal distance is less than the time distance of the own vehicle that is a second preset multiple, or the target is slower than the preset speed of the own vehicle and the longitudinal distance is less than the first preset longitudinal distance threshold, or the longitudinal distance is less than the first preset longitudinal distance threshold At the same time as the preset longitudinal distance threshold, the estimated longitudinal collision time is less than the first preset time threshold and the line pressure reaches a preset condition, and it is determined that the preset risk alarm condition is satisfied.
可选地，在本申请的一个实施例中，所述判断模块还包括：第二计算单元，用于在所述目标类型为对向来车目标时，计算每个对向来车目标和所述本车的纵向预计碰撞时间和横向距离；第二判定单元，用于在所述纵向预计碰撞时间小于第二预设时间阈值且所述横向距离小于第一预设横向距离阈值时，判定满足所述风险报警条件。Optionally, in an embodiment of the present application, the judging module further includes: a second calculation unit, configured to calculate the sum of each oncoming vehicle target and the current target when the target type is an oncoming vehicle target. The longitudinal expected collision time and lateral distance of the vehicle; a second judging unit, configured to determine that the Risk alert conditions.
可选地，在本申请的一个实施例中，判断模块还包括：第三计算单元，用于在所述目标类型为前向后向来车目标时，计算每个前向后向来车目标和所述本车的预计碰撞时间和横向距离；第三判定单元，用于在所述预计碰撞时间小于第三预设时间阈值且所述横向距离小于第二预设横向距离阈值时，判定满足所述风险报警条件。Optionally, in an embodiment of the present application, the judging module further includes: a third calculation unit, configured to calculate each forward and backward vehicle target and all The estimated collision time and lateral distance of the vehicle; a third determining unit, configured to determine that the collision is satisfied when the estimated collision time is less than a third preset time threshold and the lateral distance is less than a second preset lateral distance threshold. Risk alert conditions.
可选地，在本申请的一个实施例中，所述报警模块包括：匹配单元，用于根据所述目标信息和所述目标类型匹配所述本车的最佳提醒方式；提醒单元，用于基于所述最佳提醒方式控制所述本车的提醒设备执行相应的提醒动作。Optionally, in an embodiment of the present application, the alarm module includes: a matching unit, configured to match the best reminder mode of the vehicle according to the target information and the target type; a reminder unit, configured to Based on the optimal reminder mode, the reminder device of the self-vehicle is controlled to perform a corresponding reminder action.
本申请第三方面实施例提供一种车辆，包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述程序，以实现如上述实施例所述的车辆的本车周边危险目标报警方法。The embodiment of the third aspect of the present application provides a vehicle, including: a memory, a processor, and a computer program stored on the memory and operable on the processor, and the processor executes the program to implement the following: The vehicle alarm method for dangerous objects around the vehicle described in the above embodiments.
本申请第四方面实施例提供一种计算机可读存储介质，所述计算机可读存储介质存储计算机程序，该程序被处理器执行时实现如上的车辆的本车周边危险目标报警方法。The embodiment of the fourth aspect of the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the program is executed by a processor, the above-mentioned method for alarming dangerous objects around the vehicle is realized.
本申请的有益效果：The beneficial effect of this application:
(1)本申请实施例可以对车周有效目标进行选取，并判断其是否满足预设风险报警条件，从而针对符合条件的目标向用户发出报警，通过对车辆周边危险目标进行筛选，使车周危险目标的探测更加准确，提升了用户的驾驶体验，保障了用户行车安全，更具实用性。(1) The embodiment of this application can select effective targets around the vehicle and judge whether they meet the preset risk alarm conditions, so as to send an alarm to the user for the targets that meet the conditions. By screening dangerous targets around the vehicle, the vehicle surrounding The detection of dangerous targets is more accurate, which improves the user's driving experience, ensures the user's driving safety, and is more practical.
(2)本申请实施例可以分别计算每个相邻车道目标、前向后向来车目标和对向来车目标的相关数据，通过判断相关数据是否满足所需条件，从而判定对应目标是否满足预设风险报警条件，进而提升了风险预警判断的可靠性。(2) The embodiment of the present application can separately calculate the related data of each adjacent lane target, the forward and backward vehicle target and the opposite vehicle target, and determine whether the corresponding target meets the preset by judging whether the relevant data meets the required conditions Risk warning conditions, thereby improving the reliability of risk warning judgments.
(3)本申请实施例可以本申请实施例可以根据目标信息和目标类型匹配本车的最佳提醒方式，并基于最佳提醒方式控制本车的提醒设备执行相应的提醒动作，从而进一步加强车辆在行驶过程中的安全防护。(3) The embodiment of the present application can match the best reminder method of the vehicle according to the target information and the target type, and control the reminder device of the vehicle to perform corresponding reminder actions based on the best reminder method, thereby further strengthening the vehicle Safety protection during driving.
本申请附加的方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实践了解到。Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.
附图说明Description of drawings
本申请上述的和/或附加的方面和优点从下面结合附图对实施例的描述中将变得明显和容易理解，其中：The above and/or additional aspects and advantages of the present application will become apparent and easy to understand from the following description of the embodiments in conjunction with the accompanying drawings, wherein:
图1为根据本申请实施例提供的一种车辆的本车周边危险目标报警方法的流程图；FIG. 1 is a flow chart of a method for alerting dangerous objects around the vehicle of a vehicle according to an embodiment of the present application;
图2为本申请一个实施例的一种车辆的本车周边危险目标报警过程示意图；FIG. 2 is a schematic diagram of an alarm process of dangerous targets around the vehicle of a vehicle according to an embodiment of the present application;
图3为根据本申请实施例的车辆的本车周边危险目标报警装置的结构示意图；3 is a schematic structural diagram of an alarm device for dangerous objects around the vehicle of the vehicle according to an embodiment of the present application;
图4为根据本申请实施例的车辆的结构示意图。Fig. 4 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
其中，10-车辆的本车周边危险目标报警装置；100-获取模块、200-判断模块和300-报警模块；401-存储器、402-处理器和403-通信接口。Among them, 10-an alarm device for dangerous targets around the vehicle; 100-acquisition module, 200-judgment module and 300-alarm module; 401-memory, 402-processor and 403-communication interface.
具体实施方式Detailed ways
下面详细描述本申请的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本申请，而不能理解为对本申请的限制。Embodiments of the present application are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary, and are intended to explain the present application, and should not be construed as limiting the present application.
下面参考附图描述本申请实施例的车辆的本车周边危险目标报警方法及装置。针对上述背景技术中心提到的相关技术中未通过多传感器融合对车辆周边危险目标进行探测，与各智能驾驶系统兼容性较差，且对危险目标判断与处理的方法粗糙，因而降低了目标探测结果的准确性，导致误报警情况的发生，无法保障用户的驾驶体验的问题，本申请提供了一种车辆的本车周边危险目标报警方法，通过根据多个目标到本车的横向距离选取出左右车道内的至少一个有效目标，获取每个有效目标的目标信息，根据每个有效目标的目标信息和目标类型判断每个有效目标是否满足预设风险报警条件，如果任一有效目标满足预设风险报警条件，则控制本车的提醒设备向用户进行声学、光学和/或触觉提醒，通过对车辆周边危险目标进行筛选，使车周危险目标的探测更加准确，提升了用户的驾驶体验，保障了用户行车安全，更具实用性。由此，解决了相关技术中未通过多传感器融合对车辆周边危险目标进行探测，与各智能驾驶系统兼容性较差，且对危险目标判断与处理的方法粗糙，因而降低了目标探测结果的准确性，导致误报警情况的发生，无法保障用户的驾驶体验等问题。The method and device for warning dangerous objects around the vehicle of the vehicle according to the embodiments of the present application will be described below with reference to the accompanying drawings. In the related technologies mentioned above, multi-sensor fusion is not used to detect dangerous targets around the vehicle, and the compatibility with various intelligent driving systems is poor, and the method of judging and processing dangerous targets is rough, thus reducing target detection. The accuracy of the results leads to the occurrence of false alarms, which cannot guarantee the user’s driving experience. This application provides a method for alarming dangerous targets around the vehicle, which is selected according to the lateral distance from multiple targets to the vehicle. At least one valid target in the left and right lanes, obtain the target information of each valid target, judge whether each valid target meets the preset risk alarm conditions according to the target information and target type of each valid target, if any valid target meets the preset If there is a risk alarm condition, the reminder equipment of the vehicle is controlled to provide acoustic, optical and/or tactile reminders to the user. By screening dangerous targets around the vehicle, the detection of dangerous targets around the vehicle is made more accurate, which improves the user's driving experience and ensures It improves the user's driving safety and is more practical. Thus, it solves the problem that in the related art, dangerous targets around the vehicle are not detected through multi-sensor fusion, the compatibility with various intelligent driving systems is poor, and the method of judging and processing dangerous targets is rough, thus reducing the accuracy of target detection results. Sexuality, leading to the occurrence of false alarms, unable to guarantee the user's driving experience and other issues.
具体而言，图1为本申请实施例所提供的一种车辆的本车周边危险目标报警方法的流程示意图。Specifically, FIG. 1 is a schematic flowchart of a method for alerting dangerous objects around the vehicle provided by an embodiment of the present application.
如图1所示，该车辆的本车周边危险目标报警方法包括以下步骤：As shown in Figure 1, the method for alarming dangerous objects around the vehicle includes the following steps:
在步骤S101中，根据多个目标到本车的横向距离选取出左右车道内的至少一个有效目标，获取每个有效目标的目标信息。In step S101, at least one valid target in the left and right lanes is selected according to the lateral distances from multiple targets to the own vehicle, and the target information of each valid target is acquired.
可以理解的是，本申请实施例中有效目标可以是位于本车左右两个车道内的障碍物，通过识别目标至本车的横向距离，从而判断该目标是否位于本车左右车道，并对筛选得到的有效目标的目标信息进行记录。It can be understood that the effective target in the embodiment of the present application can be an obstacle located in the left and right lanes of the vehicle, and by identifying the lateral distance from the target to the vehicle, it is judged whether the target is located in the left and right lanes of the vehicle, and the screening The target information of the obtained effective target is recorded.
在部分实施例中，可以基于车辆多传感器输出的目标信息，得到自车周边对自车存在潜在危险的车辆，并提供相关潜在危险车辆的信息，如，可通过车载雷达与摄像头相结合，通过雷达传感器与视觉传感器的信息融合获取车辆周边车道具有潜在危险的目标信息。In some embodiments, based on the target information output by the vehicle's multi-sensors, the vehicles around the vehicle that are potentially dangerous to the vehicle can be obtained, and information about the potentially dangerous vehicles can be provided, for example, through the combination of vehicle radar and camera, through The information fusion of the radar sensor and the vision sensor obtains the potentially dangerous target information in the surrounding lanes of the vehicle.
本申请实施例可以根据多个目标到本车的横向距离选取出左右车道内的至少一个有效目标，获取每个有效目标的目标信息，从而得到可能对车辆产生潜在危险的相关目标信息，以进一步针对相关危险目标进行分析。In the embodiment of the present application, at least one valid target in the left and right lanes can be selected according to the lateral distance from multiple targets to the vehicle, and the target information of each valid target can be obtained, so as to obtain relevant target information that may cause potential danger to the vehicle, so as to further Perform analysis on relevant dangerous targets.
在步骤S102中，根据每个有效目标的目标信息和目标类型判断每个有效目标是否满足预设风险报警条件。In step S102, it is judged according to the target information and target type of each valid target whether each valid target satisfies a preset risk warning condition.
可以理解的是，本申请实施例中满足预设风险报警条件的有效目标可以是对车辆存在碰撞风险的车辆目标，目标类型可以是根据有效目标与车辆之间不同位置关系所划分的不同类型。It can be understood that in the embodiment of the present application, the valid targets satisfying the preset risk warning conditions may be vehicle targets that pose a collision risk to the vehicle, and the target types may be classified according to different positional relationships between the valid targets and the vehicle.
需要说明的是，预设风险报警条件由本领域技术人员根据实际情况进行设置，在此不作具体限定。It should be noted that the preset risk alarm conditions are set by those skilled in the art according to actual conditions, and are not specifically limited here.
本申请实施例可以根据每个有效目标的目标信息和目标类型判断每个有效目标是否满足预设风险报警条件，通过针对不同目标的目标类型进行判断，使车辆对于周边危险目标的识别过程更细致化，从而提升了识别结果的准确性。The embodiment of the present application can judge whether each valid target meets the preset risk alarm condition according to the target information and target type of each valid target, and make the identification process of the vehicle for surrounding dangerous targets more detailed by judging the target types of different targets , thereby improving the accuracy of the recognition results.
可选地，在本申请的一个实施例中，根据每个有效目标的目标信息和目标类型判断每个有效目标是否满足预设风险报警条件，包括：在目标类型为相邻车道目标类型时，计算每个相邻车道目标的纵向预计碰撞时间、压线量和纵向距离；在本车到目标的纵向距离小于第一预设倍数的本车时距，或者本车快于目标且纵向距离小于第二预设倍数的本车时距，或者目标慢于本车预设速度以内且纵向距离小于第一预设纵向距离阈值，或者纵向距离小于第二预设纵向距离阈值的同时，纵向预计碰撞时间小于第一预设时间阈值且压线量达到预设条件，判定满足预设风险报警条件。Optionally, in an embodiment of the present application, judging whether each valid target satisfies a preset risk warning condition according to the target information and target type of each valid target includes: when the target type is an adjacent lane target type, Calculate the longitudinal expected collision time, line pressure and longitudinal distance of each adjacent lane target; when the longitudinal distance from the vehicle to the target is less than the first preset multiple of the vehicle time distance, or the vehicle is faster than the target and the longitudinal distance is less than The time distance of the own vehicle at the second preset multiple, or the target is slower than the preset speed of the own vehicle and the longitudinal distance is less than the first preset longitudinal distance threshold, or the longitudinal distance is less than the second preset longitudinal distance threshold at the same time, the longitudinal collision is expected If the time is less than the first preset time threshold and the line pressure reaches the preset condition, it is determined that the preset risk alarm condition is met.
可以理解的是，本申请实施例中判断相邻车道目标可以是判断位于相邻车道的车辆是否对自车存在潜在危险，所得相邻车道目标类型的纵向预计碰撞时间、压线量和纵向距离同时满足所需条件时，判定相邻车道目标类型满足预设风险报警条件。It can be understood that in the embodiment of the present application, judging the adjacent lane target can be to judge whether the vehicle in the adjacent lane is potentially dangerous to the own vehicle, and the obtained longitudinal estimated collision time, line pressure amount and longitudinal distance of the adjacent lane target type When the required conditions are met at the same time, it is determined that the target type of the adjacent lane meets the preset risk alarm condition.
需要说明的是，第一预设倍数、第二预设倍数、预设速度、第一预设纵向距离阈值、第二预设纵向距离阈值、第一预设时间阈值和压线量预设条件由本领域技术人员根据实际情况进行设置，在此不作具体限定。It should be noted that the first preset multiple, the second preset multiple, the preset speed, the first preset longitudinal distance threshold, the second preset longitudinal distance threshold, the first preset time threshold and the preset condition of the line pressure amount It is set by those skilled in the art according to the actual situation, and no specific limitation is made here.
举例而言，计算得到纵向预计碰撞时间、压线量和纵向距离后，可以将第一预设倍数取4，第二预设倍数取1.5，预设速度取1m/s，第一预设纵向距离阈值取15m，第二预设纵向距离阈值取5m，即判断纵向距离是否满足自车到目标的纵向距离小于4倍的本车时距，或者本车快于目标车，本车到目标的纵向距离小于1.5倍的本车时距，或者目标车慢本车1m/s以内且目标车在本车前方15m内，或者目标的纵向距离小于5m，满足上述任一条件判断纵向距离符合要求，且此时纵向预计碰撞时间小于第一预设时间阈值且压线量达到预设条件，则判断相邻车道目标类型满足预设风险报警条件。For example, after calculating the expected longitudinal collision time, line pressure and longitudinal distance, the first preset multiple can be taken as 4, the second preset multiple can be taken as 1.5, the preset speed can be taken as 1m/s, and the first preset longitudinal The distance threshold is taken as 15m, and the second preset longitudinal distance threshold is taken as 5m, that is, it is judged whether the longitudinal distance satisfies the time distance of the own vehicle which is less than 4 times the longitudinal distance from the vehicle to the target, or the vehicle is faster than the target vehicle, and the distance from the vehicle to the target is satisfied. If the longitudinal distance is less than 1.5 times the time distance of the own vehicle, or the target vehicle is slower than the own vehicle within 1m/s and the target vehicle is within 15m in front of the own vehicle, or the longitudinal distance of the target is less than 5m, if any of the above conditions are met, the longitudinal distance meets the requirements. And at this time, the estimated longitudinal collision time is less than the first preset time threshold and the line pressure reaches the preset condition, then it is determined that the target type of the adjacent lane meets the preset risk alarm condition.
本申请实施例可以计算每个相邻车道目标的纵向预计碰撞时间、压线量和纵向距离，通过判断三者是否满足所需条件，从而判定相邻车道目标是否满足预设风险报警条件，进而提升了相邻车道目标类型风险预警判断的可靠性。The embodiment of the present application can calculate the longitudinal expected collision time, line pressure and longitudinal distance of each adjacent lane target, and determine whether the adjacent lane targets meet the preset risk alarm conditions by judging whether the three meet the required conditions, and then Improve the reliability of the risk warning judgment of the target type in the adjacent lane.
可选地，在本申请的一个实施例中，根据每个有效目标的目标信息和目标类型判断每个有效目标是否满足预设风险报警条件，还包括：在目标类型为对向来车目标时，计算每个对向来车目标和本车的纵向预计碰撞时间和横向距离；在纵向预计碰撞时间小于第二预设时间阈值且横向距离小于第一预设横向距离阈值时，判定满足风险报警条件。Optionally, in one embodiment of the present application, judging whether each valid target meets the preset risk warning condition according to the target information and target type of each valid target, further includes: when the target type is an oncoming vehicle target, Calculate the longitudinal expected collision time and lateral distance of each oncoming vehicle target and the vehicle; when the longitudinal expected collision time is less than the second preset time threshold and the lateral distance is less than the first preset lateral distance threshold, it is determined that the risk alarm condition is met.
可以理解的是，本申请实施例中判断对向来车目标可以是判断相对本车对向行驶的车辆是否对自车存在潜在危险，得到对向来车目标与本车的纵向预计碰撞时间和横向距离，若此时纵向预计碰撞的时间值小于第二预设时间阈值，同时对向来车目标与本车的横向距离长度小于第一预设横向距离阈值所对应的长度值，则判定对向来车目标满足预设风险报警条件。It can be understood that, in the embodiment of the present application, judging the oncoming vehicle target may be to determine whether the vehicle traveling in the opposite direction relative to the own vehicle is potentially dangerous to the own vehicle, and obtain the longitudinal expected collision time and the lateral distance between the oncoming vehicle target and the own vehicle. , if the time value of the longitudinal expected collision at this time is less than the second preset time threshold, and at the same time, the lateral distance between the oncoming vehicle target and the own vehicle is less than the length corresponding to the first preset lateral distance threshold, then it is determined that the oncoming vehicle target Meet the preset risk alarm conditions.
需要说明的是，第二预设时间阈值和第一预设横向距离阈值由本领域技术人员根据实际情况进行设置，在此不作具体限定。It should be noted that the second preset time threshold and the first preset lateral distance threshold are set by those skilled in the art according to actual conditions, and are not specifically limited here.
本申请实施例可以计算每个对向来车目标和本车的纵向预计碰撞时间和横向距离，通过判断纵向预计碰撞时间和横向距离是否满足所需条件，从而判定对向来车目标是否满足预设风险报警条件，进而使对向来车目标的判定结果更加准确。The embodiment of the present application can calculate the longitudinal expected collision time and lateral distance between each oncoming vehicle target and the own vehicle, and determine whether the oncoming vehicle target meets the preset risk by judging whether the longitudinal expected collision time and lateral distance meet the required conditions alarm conditions, thereby making the determination of the oncoming vehicle target more accurate.
可选地，在本申请的一个实施例中，根据每个有效目标的目标信息和目标类型判断每个有效目标是否满足预设风险报警条件，还包括：在目标类型为前向后向来车目标时，计算每个前向后向来车目标和本车的预计碰撞时间和横向距离；在预计碰撞时间小于第三预设时间阈值且横向距离小于第二预设横向距离阈值时，判定满足风险报警条件。Optionally, in one embodiment of the present application, judging whether each valid target meets the preset risk warning condition according to the target information and target type of each valid target, further includes: , calculate the expected collision time and lateral distance between each forward and backward vehicle target and the vehicle; when the expected collision time is less than the third preset time threshold and the lateral distance is less than the second preset lateral distance threshold, it is determined that the risk alarm is met condition.
可以理解的是，本申请实施例中判断前向后向来车目标可以是判断相对本车前向或后向行驶的车辆是否对自车存在潜在危险，其中，前向来车目标满足目标车在前，自车速度高于目标车，后向来车目标满足目标车在后，目标速度高于自车。It can be understood that in the embodiment of the present application, judging the forward and backward vehicle target may be to determine whether a vehicle traveling forward or backward relative to the own vehicle is potentially dangerous to the own vehicle, wherein the forward vehicle target satisfies that the target vehicle is in the front , the speed of the self-vehicle is higher than that of the target car, and the target of the vehicle coming from behind is satisfied. The target car is behind, and the target speed is higher than that of the self-vehicle.
需要说明的是，第三预设时间阈值和第二预设横向距离阈值由本领域技术人员根据实际情况进行设置，在此不作具体限定。It should be noted that the third preset time threshold and the second preset lateral distance threshold are set by those skilled in the art according to actual conditions, and are not specifically limited here.
本申请实施例可以计算每个前向后向来车目标和本车的预计碰撞时间和横向距离，通过判断所得数据是否满足所需条件，从而判定前向后向来车目标是否满足预设风险报警条件，提升了对与前向后向来车目标危险判断的准确性。The embodiment of the present application can calculate the expected collision time and lateral distance between each forward and backward vehicle target and the own vehicle, and determine whether the forward and rearward vehicle target meets the preset risk alarm conditions by judging whether the obtained data meets the required conditions , which improves the accuracy of judging the danger of the forward and backward vehicle target.
在步骤S103中，如果任一有效目标满足预设风险报警条件，则控制本车的提醒设备向用户进行声学、光学和/或触觉提醒。In step S103, if any valid target satisfies the preset risk warning condition, the warning device of the own vehicle is controlled to give an acoustic, optical and/or tactile reminder to the user.
可以理解的是，本申请实施例中控制本车的提醒设备向用户进行声学、光学和/或触觉提醒可以是通过车载控制器向用户从听觉、视觉即触觉三个方面进行危险提醒，如通过车载语音系统发出声音警报，仪表盘闪烁或方向盘震动等对用户进行提醒。It can be understood that, in the embodiment of the present application, the reminder device controlling the vehicle can provide acoustic, optical and/or tactile reminders to the user through the on-board controller to provide danger reminders to the user from three aspects of hearing, vision and touch, such as through The on-board voice system sends out an audible alarm, and the instrument panel flashes or the steering wheel vibrates to remind the user.
本申请实施例可以在任一有效目标满足预设风险报警条件时，控制本车的提醒设备向用户进行声学、光学和/或触觉提醒，从而保障了用户行车过程中的安全性。In the embodiment of the present application, when any valid target meets the preset risk alarm condition, the reminder device of the own vehicle can be controlled to provide acoustic, optical and/or tactile reminders to the user, thereby ensuring the safety of the user during driving.
可选地，在本申请的一个实施例中，控制本车的提醒设备向用户进行声学、光学和/或触觉提醒，包括：根据目标信息和目标类型匹配本车的最佳提醒方式；基于最佳提醒方式控制本车的提醒设备执行相应的提醒动作。Optionally, in an embodiment of the present application, controlling the reminding device of the own vehicle to provide acoustic, optical and/or tactile reminders to the user includes: matching the best reminder method of the own vehicle according to the target information and target type; The optimal reminder mode controls the reminder device of the vehicle to perform corresponding reminder actions.
可以理解的是，本申请实施例中匹配本车的最佳提醒方式可以是根据当前车辆周边的危险目标的目标信息和目标类型，匹配适应当前行车状况的安全方案，使车辆执行相应的提醒动作，开启其他主动安全功能。It can be understood that in the embodiment of the present application, the best reminder method for matching the own vehicle can be based on the target information and target types of the dangerous targets around the current vehicle, matching the safety plan adapted to the current driving situation, and making the vehicle perform corresponding reminder actions to enable other active safety features.
在部分实施例中，可以根据车辆所得目标信息和目标类型匹配本车的最佳提醒方式，通过车载服务器所采集驾驶员疲劳信息，由后台管理人员针对驾驶员的疲劳状态进行判定及处理，在驾驶员处于疲劳状态时，根据危险目标的相关信息，强制开启主动安全功能，并降低主动安全功能的触发阈值，使车辆能够在自车存在危险且驾驶员处于疲劳状态时进行相应处理，如通过紧急车道保持系统ELK(Emergency Lane Keeping)和车道保持辅助系统LKA(Lane Keeping Assist)在车辆偏离车道时做出反应纠偏，保持自车在大车经过时处于本车道。In some embodiments, the optimal reminder method of the vehicle can be matched according to the target information and target type obtained by the vehicle, and the driver fatigue information collected by the vehicle-mounted server can be judged and processed by the background management personnel for the driver's fatigue state. When the driver is in a fatigue state, according to the relevant information of the dangerous target, the active safety function is forcibly turned on, and the trigger threshold of the active safety function is lowered, so that the vehicle can deal with the danger of the own car and the driver is in a fatigue state, such as through Emergency Lane Keeping System ELK (Emergency Lane Keeping) and Lane Keeping Assist System LKA (Lane Keeping Assist) react and correct when the vehicle deviates from the lane, and keep the own vehicle in its own lane when the large vehicle passes by.
本申请实施例可以根据目标信息和目标类型匹配本车的最佳提醒方式，并基于最佳提醒方式控制本车的提醒设备执行相应的提醒动作，从而进一步加强车辆在行驶过程中的安全防护。The embodiment of the present application can match the best reminder method of the vehicle according to the target information and target type, and control the reminder device of the vehicle to perform corresponding reminder actions based on the best reminder method, thereby further enhancing the safety protection of the vehicle during driving.
如图2所示，为本申请一个实施例的一种车辆的本车周边危险目标报警过程示意图。As shown in FIG. 2 , it is a schematic diagram of an alarm process of dangerous objects around the vehicle of a vehicle according to an embodiment of the present application.
如图所示，本申请实施例首先针对自车周边目标进行筛选，根据车辆的多传感器输出的目标信息，提取对自车周边对自车有潜在危险的车辆信息。根据目标的类型筛选出对自车有危险的目标类型。As shown in the figure, the embodiment of the present application first screens the surrounding targets of the own vehicle, and extracts the vehicle information that is potentially dangerous to the surrounding of the own vehicle according to the target information output by the vehicle's multi-sensors. According to the type of target, the target type that is dangerous to the self-vehicle is screened out.
其次，分别针对相邻车道目标、前向后向目标和对向来车目标进行判断，得到本车周边危险目标，其中，对向来车目标判断是计算对向来车和自车的纵向预计碰撞时间和横向距离，从而判断对向目标是否对自车的行驶是否有危险。前向后向来车目标判断是计算车辆的纵向预计碰撞时间相撞面的距离，从而判断前向或后向的目标对自车的行驶是否有危险。相邻车道的目标判断是计算预计碰撞时间，从而判断相邻车道是否有车辆对自车有潜在危险。Secondly, judging the adjacent lane targets, forward and backward targets, and oncoming vehicle targets respectively, to obtain dangerous targets around the vehicle. Among them, the oncoming vehicle target judgment is to calculate the longitudinal estimated collision time and Lateral distance, so as to judge whether the opposite target is dangerous to the driving of the own vehicle. Forward and backward vehicle target judgment is to calculate the distance of the vehicle's longitudinal estimated collision time collision surface, so as to judge whether the forward or backward target is dangerous to the driving of the own vehicle. The goal of judging the adjacent lanes is to calculate the expected collision time, so as to judge whether there are vehicles in the adjacent lanes that are potentially dangerous to the self-vehicle.
最终，通过车载控制器通过蜂鸣器、震动及显示屏等车载装置对驾驶员进行预警，并根据实际驾驶情况开启车辆的主动安全功能，由此实现车辆的本车周边危险目标报警。In the end, the on-board controller warns the driver through on-board devices such as buzzer, vibration and display, and activates the active safety function of the vehicle according to the actual driving situation, thereby realizing the alarm of the vehicle's surrounding dangerous targets.
根据本申请实施例提出的车辆的本车周边危险目标报警方法，可以通过根据多个目标到本车的横向距离选取出左右车道内的至少一个有效目标，获取每个有效目标的目标信息，根据每个有效目标的目标信息和目标类型判断每个有效目标是否满足预设风险报警条件，如果任一有效目标满足预设风险报警条件，则控制本车的提醒设备向用户进行声学、光学和/或触觉提醒，通过对车辆周边危险目标进行筛选，使车周危险目标的探测更加准确，提升了用户的驾驶体验，保障了用户行车安全，更具实用性。由此，解决了相关技术中未通过多传感器融合对车辆周边危险目标进行探测，与各智能驾驶系统兼容性较差，且对危险目标判断与处理的方法粗糙，因而降低了目标探测结果的准确性，导致误报警情况的发生，无法保障用户的驾驶体验等问题。According to the vehicle’s dangerous target alarm method around the vehicle proposed in the embodiment of the present application, at least one valid target in the left and right lanes can be selected according to the lateral distance from multiple targets to the vehicle, and the target information of each valid target can be obtained. The target information and target type of each valid target determine whether each valid target meets the preset risk alarm condition, if any valid target meets the preset risk alarm condition, then control the reminding equipment of the vehicle to give the user acoustic, optical and / Or tactile reminder, by screening dangerous objects around the vehicle, the detection of dangerous objects around the vehicle is more accurate, which improves the user's driving experience, ensures the user's driving safety, and is more practical. Thus, it solves the problem that in the related art, dangerous targets around the vehicle are not detected through multi-sensor fusion, the compatibility with various intelligent driving systems is poor, and the method of judging and processing dangerous targets is rough, thus reducing the accuracy of target detection results. Sexuality, leading to the occurrence of false alarms, unable to guarantee the user's driving experience and other issues.
其次参照附图描述根据本申请实施例提出的车辆的本车周边危险目标报警装置。Next, the warning device for dangerous objects around the vehicle proposed by the embodiment of the present application will be described with reference to the accompanying drawings.
图3是本申请实施例的车辆的本车周边危险目标报警装置的方框示意图。Fig. 3 is a schematic block diagram of an alarm device for dangerous objects around the vehicle of the vehicle according to the embodiment of the present application.
如图3所示，该车辆的本车周边危险目标报警装置10包括：获取模块100、判断模块200和报警模块300。As shown in FIG. 3 , the
其中，获取模块100，用于根据多个目标到本车的横向距离选取出左右车道内的至少一个有效目标，获取每个有效目标的目标信息。Wherein, the
判断模块200，用于根据每个有效目标的目标信息和目标类型判断每个有效目标是否满足预设风险报警条件。The judging
报警模块300，用于在任一有效目标满足预设风险报警条件时，控制本车的提醒设备向用户进行声学、光学和/或触觉提醒。The
可选地，在本申请的一个实施例中，判断模块200包括：Optionally, in one embodiment of the present application, the judging
第一计算单元，用于在目标类型为相邻车道目标类型时，计算每个相邻车道目标的纵向预计碰撞时间、压线量和纵向距离。The first calculation unit is configured to calculate the longitudinal expected collision time, line pressure amount and longitudinal distance of each adjacent lane object when the object type is the adjacent lane object type.
第一判定单元，用于在本车到目标的纵向距离小于第一预设倍数的本车时距，或者本车快于目标且纵向距离小于第二预设倍数的本车时距，或者目标慢于本车预设速度以内且纵向距离小于第一预设纵向距离阈值，或者纵向距离小于第二预设纵向距离阈值的同时，纵向预计碰撞时间小于第一预设时间阈值且压线量达到预设条件，判定满足预设风险报警条件。The first determination unit is used for when the longitudinal distance from the vehicle to the target is less than the vehicle time distance of the first preset multiple, or the vehicle time distance is faster than the target and the longitudinal distance is less than the second preset multiple, or the target Slower than the preset speed of the vehicle and the longitudinal distance is less than the first preset longitudinal distance threshold, or the longitudinal distance is smaller than the second preset longitudinal distance threshold, the longitudinal expected collision time is less than the first preset time threshold and the line pressure reaches The preset condition is determined to meet the preset risk alarm condition.
可选地，在本申请的一个实施例中，判断模块200还包括：Optionally, in one embodiment of the present application, the judging
第二计算单元，用于在目标类型为对向来车目标时，计算每个对向来车目标和本车的纵向预计碰撞时间和横向距离。The second calculation unit is configured to calculate the longitudinal expected collision time and lateral distance between each oncoming vehicle target and the own vehicle when the target type is an oncoming vehicle target.
第二判定单元，用于在纵向预计碰撞时间小于第二预设时间阈值且横向距离小于第一预设横向距离阈值时，判定满足风险报警条件。The second determining unit is configured to determine that the risk warning condition is satisfied when the longitudinal expected collision time is less than the second preset time threshold and the lateral distance is less than the first preset lateral distance threshold.
可选地，在本申请的一个实施例中，判断模块200还包括：Optionally, in one embodiment of the present application, the judging
第三计算单元，用于在目标类型为前向后向来车目标时，计算每个前向后向来车目标和本车的预计碰撞时间和横向距离。The third calculation unit is used to calculate the expected collision time and lateral distance between each forward and backward vehicle target and the own vehicle when the target type is the forward and rearward vehicle target.
第三判定单元，用于在预计碰撞时间小于第三预设时间阈值且横向距离小于第二预设横向距离阈值时，判定满足风险报警条件。The third determination unit is configured to determine that the risk alarm condition is met when the expected collision time is less than a third preset time threshold and the lateral distance is less than a second preset lateral distance threshold.
可选地，在本申请的一个实施例中，报警模块300包括：Optionally, in one embodiment of the present application, the
匹配单元，用于根据目标信息和目标类型匹配本车的最佳提醒方式。The matching unit is used to match the best reminder method of the vehicle according to the target information and target type.
提醒单元，用于基于最佳提醒方式控制本车的提醒设备执行相应的提醒动作。The reminder unit is used to control the reminder device of the own vehicle to perform corresponding reminder actions based on the best reminder method.
需要说明的是，前述对车辆的本车周边危险目标报警方法实施例的解释说明也适用于该实施例的车辆的本车周边危险目标报警装置，此处不再赘述。It should be noted that the foregoing explanations on the embodiment of the method for alarming dangerous objects around the vehicle are also applicable to the alarm device for dangerous objects around the vehicle in this embodiment, and will not be repeated here.
根据本申请实施例提出的车辆的本车周边危险目标报警装置，可以通过根据多个目标到本车的横向距离选取出左右车道内的至少一个有效目标，获取每个有效目标的目标信息，根据每个有效目标的目标信息和目标类型判断每个有效目标是否满足预设风险报警条件，如果任一有效目标满足预设风险报警条件，则控制本车的提醒设备向用户进行声学、光学和/或触觉提醒，通过对车辆周边危险目标进行筛选，使车周危险目标的探测更加准确，提升了用户的驾驶体验，保障了用户行车安全，更具实用性。由此，解决了相关技术中未通过多传感器融合对车辆周边危险目标进行探测，与各智能驾驶系统兼容性较差，且对危险目标判断与处理的方法粗糙，因而降低了目标探测结果的准确性，导致误报警情况的发生，无法保障用户的驾驶体验等问题。According to the vehicle’s dangerous target warning device around the vehicle proposed in the embodiment of the present application, at least one valid target in the left and right lanes can be selected according to the lateral distance from multiple targets to the vehicle, and the target information of each valid target can be obtained. The target information and target type of each valid target determine whether each valid target meets the preset risk alarm condition, if any valid target meets the preset risk alarm condition, then control the reminding equipment of the vehicle to give the user acoustic, optical and / Or tactile reminder, by screening dangerous objects around the vehicle, the detection of dangerous objects around the vehicle is more accurate, which improves the user's driving experience, ensures the user's driving safety, and is more practical. Thus, it solves the problem that in the related art, dangerous targets around the vehicle are not detected through multi-sensor fusion, the compatibility with various intelligent driving systems is poor, and the method of judging and processing dangerous targets is rough, thus reducing the accuracy of target detection results. Sexuality, leading to the occurrence of false alarms, unable to guarantee the user's driving experience and other issues.
图4为本申请实施例提供的车辆的结构示意图。该车辆可以包括：Fig. 4 is a schematic structural diagram of a vehicle provided in an embodiment of the present application. The vehicle can include:
存储器401、处理器402及存储在存储器401上并可在处理器402上运行的计算机程序。A
处理器402执行程序时实现上述实施例中提供的车辆的本车周边危险目标报警方法。When the
进一步地，车辆还包括：Further, the vehicle also includes:
通信接口403，用于存储器401和处理器402之间的通信。The
存储器401，用于存放可在处理器402上运行的计算机程序。The
存储器401可能包含高速RAM存储器，也可能还包括非易失性存储器(non-volatile memory)，例如至少一个磁盘存储器。The
如果存储器401、处理器402和通信接口403独立实现，则通信接口403、存储器401和处理器402可以通过总线相互连接并完成相互间的通信。总线可以是工业标准体系结构(Industry Standard Architecture，简称为ISA)总线、外部设备互连(PeripheralComponent，简称为PCI)总线或扩展工业标准体系结构(Extended Industry StandardArchitecture，简称为EISA)总线等。总线可以分为地址总线、数据总线、控制总线等。为便于表示，图4中仅用一条粗线表示，但并不表示仅有一根总线或一种类型的总线。If the
可选地，在具体实现上，如果存储器401、处理器402及通信接口403，集成在一块芯片上实现，则存储器401、处理器402及通信接口403可以通过内部接口完成相互间的通信。Optionally, in terms of specific implementation, if the
处理器402可能是一个中央处理器(Central Processing Unit，简称为CPU)，或者是特定集成电路(Application Specific Integrated Circuit，简称为ASIC)，或者是被配置成实施本申请实施例的一个或多个集成电路。The
本实施例还提供一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现如上的车辆的本车周边危险目标报警方法。This embodiment also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the above-mentioned method for alarming dangerous objects around the vehicle is realized.
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或N个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" mean that specific features described in connection with the embodiment or example , structure, material or characteristic is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or N embodiments or examples in an appropriate manner. In addition, those skilled in the art can combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without conflicting with each other.
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本申请的描述中，“N个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present application, "N" means at least two, such as two, three, etc., unless otherwise specifically defined.
流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为，表示包括一个或N个用于实现定制逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分，并且本申请的优选实施方式的范围包括另外的实现，其中可以不按所示出或讨论的顺序，包括根据所涉及的功能按基本同时的方式或按相反的顺序，来执行功能，这应被本申请的实施例所属技术领域的技术人员所理解。Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or N steps of executable instructions for implementing a custom logical function or process, Also, the scope of preferred embodiments of the present application includes additional implementations in which functions may be performed out of the order shown or discussed, including substantially concurrently or in reverse order depending on the functions involved, which should be considered Those skilled in the art to which the embodiments of the present application belong can understand.
在流程图中表示或在此以其他方式描述的逻辑和/或步骤，例如，可以被认为是用于实现逻辑功能的可执行指令的定序列表，可以具体实现在任何计算机可读介质中，以供指令执行系统、装置或设备(如基于计算机的系统、包括处理器的系统或其他可以从指令执行系统、装置或设备取指令并执行指令的系统)使用，或结合这些指令执行系统、装置或设备而使用。就本说明书而言，"计算机可读介质"可以是任何可以包含、存储、通信、传播或传输程序以供指令执行系统、装置或设备或结合这些指令执行系统、装置或设备而使用的装置。计算机可读介质的更具体的示例(非穷尽性列表)包括以下：具有一个或N个布线的电连接部(电子装置)，便携式计算机盘盒(磁装置)，随机存取存储器(RAM)，只读存储器(ROM)，可擦除可编辑只读存储器(EPROM或闪速存储器)，光纤装置，以及便携式光盘只读存储器(CDROM)。另外，计算机可读介质甚至可以是可在其上打印所述程序的纸或其他合适的介质，因为可以通过对纸或其他介质进行光学扫描，接着进行编辑、解译或必要时以其他合适方式进行处理来以电子方式获得所述程序，然后将其存储在计算机存储器中。The logic and/or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium, For use with instruction execution systems, devices, or devices (such as computer-based systems, systems including processors, or other systems that can fetch instructions from instruction execution systems, devices, or devices and execute instructions), or in conjunction with these instruction execution systems, devices or equipment for use. For the purposes of this specification, a "computer-readable medium" may be any device that can contain, store, communicate, propagate or transmit a program for use in or in conjunction with an instruction execution system, device or device. More specific examples (non-exhaustive list) of computer readable media include the following: electrical connection with one or N wires (electronic device), portable computer disk case (magnetic device), random access memory (RAM), Read Only Memory (ROM), Erasable and Editable Read Only Memory (EPROM or Flash Memory), Fiber Optic Devices, and Portable Compact Disc Read Only Memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program can be printed, since the paper or other medium can be optically scanned and subsequently edited, interpreted, or in other suitable manner as necessary Processing is performed to obtain the program electronically and then to store it in a computer memory.
应当理解，本申请的各部分可以用硬件、软件、固件或它们的组合来实现。在上述实施方式中，N个步骤或方法可以用存储在存储器中且由合适的指令执行系统执行的软件或固件来实现。如，如果用硬件来实现和在另一实施方式中一样，可用本领域公知的下列技术中的任一项或他们的组合来实现：具有用于对数据信号实现逻辑功能的逻辑门电路的离散逻辑电路，具有合适的组合逻辑门电路的专用集成电路，可编程门阵列(PGA)，现场可编程门阵列(FPGA)等。It should be understood that each part of the present application may be realized by hardware, software, firmware or a combination thereof. In the above embodiments, the N steps or methods may be implemented by software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented by any one or a combination of the following techniques known in the art: a discrete Logic circuits, ASICs with suitable combinational logic gates, Programmable Gate Arrays (PGA), Field Programmable Gate Arrays (FPGA), etc.
本技术领域的普通技术人员可以理解实现上述实施例方法携带的全部或部分步骤是可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，该程序在执行时，包括方法实施例的步骤之一或其组合。Those of ordinary skill in the art can understand that all or part of the steps carried by the methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. During execution, one or a combination of the steps of the method embodiments is included.
此外，在本申请各个实施例中的各功能单元可以集成在一个处理模块中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。所述集成的模块如果以软件功能模块的形式实现并作为独立的产品销售或使用时，也可以存储在一个计算机可读取存储介质中。In addition, each functional unit in each embodiment of the present application may be integrated into one processing module, each unit may exist separately physically, or two or more units may be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software function modules. If the integrated modules are implemented in the form of software function modules and sold or used as independent products, they can also be stored in a computer-readable storage medium.
上述提到的存储介质可以是只读存储器，磁盘或光盘等。尽管上面已经示出和描述了本申请的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本申请的限制，本领域的普通技术人员在本申请的范围内可以对上述实施例进行变化、修改、替换和变型。The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, and the like. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limitations on the present application, and those skilled in the art can make the above-mentioned The embodiments are subject to changes, modifications, substitutions and variations.
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