Vehicle reversing control method, device, system and medium

Abstract

The present invention discloses a control method for vehicle reversing, comprising: if the current vehicle is in a reversing mode, obtaining a first obstacle distance and rear image information of the vehicle, and calculating a second obstacle distance according to the rear image information of the vehicle; judging whether there are pedestrians in the rear image information of the vehicle, and whether the first obstacle distance is not greater than a preset second dangerous distance; when the judgment results are both yes, determining a corresponding alarm mode according to the first obstacle distance and the second obstacle distance, and giving an alarm; when the first judgment result is yes and the second judgment result is no, if the second obstacle distance is in a second dangerous area, determining a corresponding alarm mode according to the second obstacle distance, and controlling a display system to display the position of pedestrians; if the second obstacle distance is not in the second dangerous area, controlling the current vehicle to continue to work in the current working mode. The embodiments of the present invention effectively solve the problem of poor safety of vehicles in the reversing process in the prior art.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a method, device, system and medium for controlling vehicle reversing. Background Art

[0002] With the trend of vehicle intelligence, assisted driving functions such as automatic emergency braking system (AEB), adaptive cruise control system (ACC), automatic parking system (APA) and other functions are increasingly installed in cars. Drivers and passengers also benefit from them, and experience higher safety and convenience while driving.

[0003] For the assisted driving system, its main components include perception, decision-making, and execution. Perception is to collect environmental information outside the vehicle through sensors such as optical cameras, optical radar (LiDAR), millimeter-wave radar, and navigation systems. Decision-making is to collect and analyze external information through perception, establish corresponding models, and formulate the most suitable vehicle alarm and control strategies through analysis. Execution is the underlying control system, which is responsible for executing specific operations such as braking, acceleration, steering, and alarming of the car. At present, in the field of assisted driving, the main research is on the accurate detection of obstacles, but the problem of poor safety of vehicles during reversing has not been considered. Summary of the invention

[0004] The embodiments of the present invention provide a method, device, system and medium for controlling vehicle reversing, which can effectively solve the problem of poor safety of vehicles during reversing in the prior art.

[0005] An embodiment of the present invention provides a method for controlling a vehicle to reverse, comprising:

[0006] If the current vehicle is in the reverse mode, obtain the first obstacle distance detected by the ultrasonic sensor and the rear image information of the vehicle captured by the camera, and calculate the second obstacle distance according to the rear image information of the vehicle;

[0007] Determining whether there is a pedestrian in the image information behind the vehicle and whether the first obstacle distance is not greater than a preset second danger distance;

[0008] When it is determined that there is a pedestrian in the image information behind the vehicle and the first obstacle distance is not greater than a preset second danger distance, a corresponding alarm mode is determined according to the first obstacle distance and the second obstacle distance, so as to issue an alarm according to the alarm mode;

[0009] When it is determined that there is a pedestrian in the image information behind the vehicle and the first obstacle distance is greater than a preset second danger distance, if the second obstacle distance is in a second danger zone, a corresponding alarm mode is determined according to the second obstacle distance, and a display system is controlled to display the position of the pedestrian in the image information behind the vehicle;

[0010] When it is determined that there is a pedestrian in the image information behind the vehicle and the first obstacle distance is greater than a preset second danger distance, if the second obstacle distance is not in the second danger zone, the current vehicle is controlled to continue to work in the current working mode;

[0011] Wherein, (S1, S2] represents the second dangerous area, S1 represents the first dangerous distance, and S2 represents the second dangerous distance.

[0012] As an improvement of the above solution, when it is determined that there is a pedestrian in the rear image information and the first obstacle distance is not greater than a preset second danger distance, a corresponding alarm mode is determined according to the first obstacle distance and the second obstacle distance to give an alarm according to the alarm mode, specifically including:

[0013] When it is determined that there is a pedestrian in the image information behind the vehicle and the first obstacle distance is not greater than the preset second danger distance, if the second obstacle distance is not in the second danger zone, the corresponding alarm mode is the first alarm mode; the corresponding sub-alarm mode in the first alarm mode is determined according to the first obstacle distance, and an alarm is performed according to the sub-alarm mode; wherein the first alarm mode includes: at least three sub-alarm modes;

[0014] When it is determined that there is a pedestrian in the image information behind the vehicle and the first obstacle distance is not greater than the preset second danger distance, if the second obstacle distance is in the second danger area, the corresponding alarm mode is the second alarm mode, and an alarm is issued according to the second alarm mode, and the display system is controlled to display the position of the pedestrian in the image information behind the vehicle.

[0015] As an improvement of the above solution, the method obtains the sub-alarm mode corresponding to the first obstacle distance through the following steps, specifically including:

[0016] When (S2-S1) / 2<first obstacle distance≤S2, the current sub-alarm mode is low-frequency beep alarm mode;

[0017] When S1<first obstacle distance≤(S2-S1) / 2, the current sub-alarm mode is high-frequency beep alarm mode;

[0018] When the first obstacle distance is ≤ S1, the current sub-alarm mode is the long-sound alarm mode.

[0019] As an improvement of the above solution, after determining whether there is a pedestrian in the image information behind the vehicle and whether the first obstacle distance is not greater than a preset second danger distance, the method further includes:

[0020] When the judgment result is that there is no pedestrian in the image information behind the vehicle and the first obstacle distance is not greater than the second danger distance, an alarm is issued according to the alarm mode corresponding to the first obstacle distance.

[0021] As an improvement of the above solution, after determining whether there is a pedestrian in the image information behind the vehicle and whether the first obstacle distance is not greater than a preset second danger distance, the method further includes:

[0022] When the judgment result is that there is no pedestrian in the image information behind the vehicle and the first obstacle distance is greater than the second danger distance, the current vehicle is controlled to continue to operate in the current working mode.

[0023] As an improvement of the above solution, if the current vehicle is in the reversing mode, after obtaining the first obstacle distance detected by the ultrasonic sensor and the image information of the rear of the vehicle captured by the camera, the method further includes:

[0024] Acquire a current distance between the current vehicle and the obstacle according to the first obstacle distance and the rear image information of the vehicle;

[0025] The emergency braking distance is calculated according to the current vehicle speed, the preset emergency braking deceleration, the reaction time and the braking time;

[0026] A corresponding control instruction is sent according to the current distance and the emergency braking distance, so that the current vehicle works according to the control instruction.

[0027] As an improvement of the above scheme,

[0028] The control instructions include: braking instructions and braking warning instructions;

[0029] Accordingly, sending a corresponding control instruction according to the current distance and the emergency braking distance so that the current vehicle works according to the control instruction specifically includes:

[0030] When Dstop=D-De≤the second safety distance, a brake warning instruction is sent so that the current vehicle performs a warning operation according to the brake warning instruction;

[0031] When Dstop=D-De≤first safety distance, a braking warning instruction is sent to make the current vehicle perform emergency braking according to the braking instruction;

[0032] When Dstop=D-De>the second safety distance, the current vehicle is controlled to continue to work in the current working mode;

[0033] Among them, Dstop represents the distance between the current vehicle and the obstacle from the time when the current vehicle starts braking to the time when the current vehicle stops, D represents the current distance between the current vehicle and the obstacle, De represents the emergency braking distance, and the second safety distance is greater than the first safety distance.

[0034] Another embodiment of the present invention provides a vehicle reversing control device, including:

[0035] an acquisition module, for acquiring, if the current vehicle is in a reversing mode, a first obstacle distance detected by the ultrasonic sensor and rear vehicle image information captured by a camera, and calculating a second obstacle distance based on the rear vehicle image information;

[0036] A judging module, used for judging whether there is a pedestrian in the image information behind the vehicle, and whether the first obstacle distance is not greater than a preset second danger distance;

[0037] a first response module, configured to determine a corresponding alarm mode according to the first obstacle distance and the second obstacle distance when it is determined that there is a pedestrian in the image information behind the vehicle and the first obstacle distance is not greater than a preset second danger distance, so as to issue an alarm according to the alarm mode;

[0038] A second response module is used for, when it is determined that there is a pedestrian in the image information behind the vehicle and the first obstacle distance is greater than a preset second danger distance, if the second obstacle distance is in a second danger zone, determining a corresponding alarm mode according to the second obstacle distance, and controlling a display system to display the position of the pedestrian in the image information behind the vehicle;

[0039] A third response module is used for, when it is determined that there is a pedestrian in the image information behind the vehicle and the first obstacle distance is greater than a preset second danger distance, if the second obstacle distance is not in a second danger zone, controlling the current vehicle to continue to work in the current working mode;

[0040] Wherein, (S1, S2] represents the second dangerous area, S1 represents the first dangerous distance, and S2 represents the second dangerous distance.

[0041] Another embodiment of the present invention provides a vehicle reversing control system, comprising an ultrasonic sensor, a camera, a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor implements the vehicle reversing control method described in the above-mentioned embodiment of the invention when executing the computer program;

[0042] The processor is connected to the ultrasonic sensor, the photographing device, and the memory respectively.

[0043] Another embodiment of the present invention provides a storage medium, wherein the computer-readable storage medium includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the vehicle reversing control method described in the above-mentioned embodiment of the invention.

[0044] method.

[0045] Compared with the prior art, the control method, device, system and medium for vehicle reversing disclosed in the embodiment of the present invention, when the vehicle is in the reversing mode, by obtaining the first obstacle distance detected by the ultrasonic sensor and the image information of the rear of the vehicle captured by the shooting device, the second obstacle distance is calculated according to the image information of the rear of the vehicle, and it is judged whether there is a pedestrian in the image information of the rear of the vehicle, and whether the first obstacle distance is not greater than the preset second dangerous distance. When there is a pedestrian in the image information of the rear of the vehicle and the first obstacle distance is not greater than the preset second dangerous distance, the corresponding alarm mode is determined according to the first obstacle distance and the second obstacle distance, and an alarm is issued. When there is a pedestrian in the image information of the rear of the vehicle and the first obstacle distance is greater than the preset second dangerous distance, if the second obstacle distance is in the second dangerous area, the corresponding alarm mode is determined according to the second obstacle distance, and the display system is controlled to display the position of the pedestrian in the image information of the rear of the vehicle. When there is a pedestrian in the image information of the rear of the vehicle and the first obstacle distance is greater than the preset second dangerous distance, if the second obstacle distance is not in the second dangerous area, the current vehicle is controlled to continue to work in the current working mode. From the above analysis, it can be seen that in the embodiment of the present invention, the distance of the first obstacle detected by the ultrasonic sensor and the image information behind the vehicle captured by the shooting device are combined to judge the position of the pedestrian behind the vehicle, so as to more accurately determine the situation behind the vehicle during the reversing process of the driver, determine the distance between the current vehicle and the pedestrian, and remind the driver according to different alarm modes, so as to avoid collision between the vehicle and the pedestrian, thereby improving the safety of the vehicle during reversing. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a flow chart of a method for controlling vehicle reversing provided by one embodiment of the present invention;

[0047] Figure 2is a schematic diagram of a vehicle reversing provided by an embodiment of the present invention;

[0048] Figure 3 This is a flow chart of step S30 of a method for controlling vehicle reversing provided by one embodiment of the present invention;

[0049] Figure 4 is a flow chart of another method for controlling vehicle reversing provided by one embodiment of the present invention;

[0050] Figure 5 It is a specific flow chart of a method for controlling vehicle reversing provided by one embodiment of the present invention;

[0051] Figure 6 It is a schematic diagram of a reverse braking process of a vehicle reverse control method provided by an embodiment of the present invention;

[0052] Figure 7 It is a structural schematic diagram of a vehicle reversing control device provided by one embodiment of the present invention;

[0053] Figure 8 It is a schematic diagram of a vehicle reversing control system provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0054] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0055] See also Figures 1 to 5 , is a flow chart of a vehicle reversing control method provided in an embodiment of the present invention.

[0056] The vehicle reversing control method provided in this embodiment can be executed by the vehicle reversing control terminal. In this embodiment, the vehicle reversing control terminal is preferably a vehicle reversing control system (or even a cloud server, etc.), and the control system can be implemented by software and / or hardware, and the control system can be composed of two or more physical entities, or one physical entity.

[0057] Furthermore, the control system is connected to the ultrasonic sensor 14, the camera 13, the vehicle's alarm system, the vehicle's display system, and the vehicle's drive system (the connection method may be a wired connection or a wireless connection, etc.). The control system obtains the first obstacle distance through the ultrasonic sensor 14, the control system obtains the captured image information of the rear of the vehicle through the camera 13, the control system calculates the second obstacle distance through the image information of the rear of the vehicle, the control system controls the alarm system to alarm according to different alarm modes, the control system displays pedestrians behind the vehicle to the driver by controlling the display system, and the control system controls the driving of the vehicle through the drive system. It should be noted that the above-mentioned various information can be sent directly to the control system, or it can be sent to other information processing devices first for corresponding information processing, and then the information processing device sends the processed information to the control system.

[0058] See also Figure 1-2 , is a flow chart of a vehicle reversing control method provided by an embodiment of the present invention.

[0059] An embodiment of the present invention provides a method for controlling a vehicle to reverse, comprising:

[0060] S10, if the current vehicle is in the reverse mode, obtain the first obstacle distance detected by the ultrasonic sensor 14 and the rear image information of the vehicle captured by the camera 13, and calculate the second obstacle distance according to the rear image information of the vehicle.

[0061] It should be noted that the shooting device 13 can be a camera, or other devices that can take photos or videos, which is not limited here. In this embodiment, the shooting device 13 is a surround view camera or a fisheye camera. At least one surround view camera is set on the vehicle, and the number of surround view cameras can be set as needed, which is not limited here. At the same time, the installation position, resolution, and frame rate of the camera can all be directly set at the factory.

[0062] Specifically, when the vehicle is reversing, the vehicle reversing control system starts working, and the control system obtains in real time the first obstacle distance collected by the ultrasonic sensor 14 and the image information of the rear of the vehicle taken in real time by the shooting device 13. It can be understood that in the prior art, the distance can be calculated through the image, so the second obstacle distance can be obtained through the image of the rear of the vehicle.

[0063] S20, determining whether there is a pedestrian in the image information behind the vehicle, and whether the first obstacle distance is not greater than a preset second danger distance.

[0064] Specifically, the control system can identify whether there are pedestrians in the image. The obstacle type can be identified by neural network, statistical analysis and other methods, which are not limited here. It should be noted that the preset second danger distance can be set when the vehicle leaves the factory, which is not limited here.

[0065] S30, when it is determined that there is a pedestrian in the image information behind the vehicle and the first obstacle distance is not greater than the preset second danger distance, a corresponding alarm mode is determined according to the first obstacle distance and the second obstacle distance, so as to issue an alarm according to the alarm mode.

[0066] Specifically, when a pedestrian is identified in the image behind the vehicle and the first obstacle distance is not greater than the preset second danger distance, the corresponding alarm mode is determined by the first obstacle distance according to whether the pedestrian identified in the second obstacle distance image is consistent with the obstacle position detected by the ultrasonic sensor 14. It should be noted that the alarm mode includes parameters such as alarm sound, alarm logic, and whether to display obstacles. It can be understood that the alarm sound of each alarm mode is different, and the same alarm mode can also include multiple alarm sounds. According to the alarm mode, the alarm system is controlled to emit a corresponding prompt sound, which is not limited to music, voice, etc., so as to remind the driver and improve the safety of the vehicle during reversing.

[0067] S40, when it is determined that there is a pedestrian in the image information behind the vehicle and the first obstacle distance is greater than the preset second danger distance, if the second obstacle distance is in the second danger area, the corresponding alarm mode is determined according to the second obstacle distance, and the display system is controlled to display the position of the pedestrian in the image information behind the vehicle.

[0068] For example, when a pedestrian is identified in the image behind the vehicle and the first obstacle distance is greater than the preset second danger distance, if S1<d2≤S2, d2 represents the second obstacle distance, a prompt sound different from the alarm mode in step S30 is used to give an alarm, and the display system (i.e., the central control or instrument interface) is controlled to display the position of the pedestrian. In this embodiment, the position of the pedestrian needs to be highlighted on the display interface, for example, marked in red, or marked with a shadow.

[0069] S50, when it is determined that there is a pedestrian in the image information behind the vehicle and the first obstacle distance is greater than the preset second danger distance, if the second obstacle distance is not in the second danger area, the current vehicle is controlled to continue to work in the current working mode; wherein (S1, S2] represents the second danger area, S1 represents the first danger distance, and S2 represents the second danger distance.

[0070] For example, when a pedestrian is identified in the image behind the vehicle, and the first obstacle distance is greater than the preset second dangerous distance, if d2≤S1, since the ultrasonic sensor 14 detects the distance to the obstacle more accurately, when d1 and d2 differ greatly, it may be a false alarm. At this time, the result of the ultrasonic sensor 14 shall prevail, because the ultrasonic sensor 14 does not detect the obstacle or the obstacle distance d1>S2, the control system remains in its original state. For another example, when a pedestrian is identified in the image behind the vehicle, and the first obstacle distance is greater than the preset second dangerous distance, if d2>S2, because the ultrasonic sensor 14 does not detect the obstacle or the obstacle distance d1>S2, the control system remains in its original state. d1 represents the first obstacle distance, and d2 represents the second obstacle distance.

[0071] In summary, when the vehicle is in the reverse mode, the first obstacle distance detected by the ultrasonic sensor 14 and the rear image information captured by the camera 13 are obtained, and the second obstacle distance is calculated according to the rear image information to determine whether there are pedestrians in the rear image information and whether the first obstacle distance is not greater than the preset second dangerous distance. When there are pedestrians in the rear image information and the first obstacle distance is not greater than the preset second dangerous distance, the corresponding alarm mode is determined according to the first obstacle distance and the second obstacle distance, and an alarm is issued. When there are pedestrians in the rear image information and the first obstacle distance is greater than the preset second dangerous distance, if the second obstacle distance is in the second dangerous area, the corresponding alarm mode is determined according to the second obstacle distance, and the display system is controlled to display the position of the pedestrian in the rear image information. When there are pedestrians in the rear image information and the first obstacle distance is greater than the preset second dangerous distance, if the second obstacle distance is not in the second dangerous area, the current vehicle is controlled to continue to work in the current working mode. From the above analysis, it can be seen that in the embodiment of the present invention, the distance of the first obstacle detected by the ultrasonic sensor 14 and the image information behind the vehicle captured by the shooting device 13 are combined to judge the position of the pedestrian behind the vehicle, so as to more accurately determine the situation behind the vehicle during the reversing process, determine the distance between the current vehicle and the pedestrian, and remind the driver according to different alarm modes, so as to avoid collision between the vehicle and the pedestrian, thereby improving the safety of the vehicle during the reversing process.

[0072] See also Figure 3 and 5 In one implementation, when it is determined that there is a pedestrian in the rear image information and the first obstacle distance is not greater than a preset second danger distance, a corresponding alarm mode is determined according to the first obstacle distance and the second obstacle distance, so as to give an alarm according to the alarm mode, and step S30 specifically includes:

[0073] S300, when it is judged that there is a pedestrian in the image information behind the vehicle and the first obstacle distance is not greater than the preset second danger distance, if the second obstacle distance is not in the second danger zone, the corresponding alarm mode is the first alarm mode; the corresponding sub-alarm mode in the first alarm mode is determined according to the first obstacle distance, and an alarm is issued according to the sub-alarm mode; wherein the first alarm mode includes: at least three sub-alarm modes.

[0074] Furthermore, the sub-alarm modes include: a low-frequency beeping alarm mode, a high-frequency beeping alarm mode, and a long beeping alarm mode;

[0075] When (S2-S1) / 2<d1≤S2, the current sub-alarm mode is the low-frequency beep alarm mode.

[0076] When S1<d1(S2-S1) / 2, the current sub-alarm mode is the high-frequency beep alarm mode.

[0077] When d1≤S1, the current sub-alarm mode is the long-sound alarm mode. d1 represents the first obstacle distance.

[0078] It should be noted that the pedestrian obtained through the image information behind the vehicle is not in the second danger zone. When the pedestrian is in the first danger zone (0, S1], the first obstacle distance detected by the ultrasonic sensor 14 is in the same range as the second obstacle distance, and the first danger zone indicates that the vehicle is very close to the pedestrian. When the pedestrian is in the third danger zone [S2, +∞]. It means that there is a certain gap between the first obstacle distance detected by the ultrasonic sensor 14 and the second obstacle distance. Therefore, the first obstacle distance detected by the ultrasonic sensor 14 is further judged to accurately determine the position of the pedestrian, thereby determining the corresponding alarm sub-mode, and issuing an alarm according to the corresponding alarm sub-mode, so that the driver can understand the situation behind the vehicle when reversing, and avoid collision between the vehicle and the pedestrian.

[0079] S301, when it is judged that there is a pedestrian in the image information behind the vehicle and the first obstacle distance is not greater than the preset second danger distance, if the second obstacle distance is in the second danger zone, the corresponding alarm mode is the second alarm mode, and an alarm is issued according to the second alarm mode, and the display system is controlled to display the position of the pedestrian in the image information behind the vehicle.

[0080] Specifically, the pedestrian obtained through the image information behind the vehicle is in the second danger zone, and the first obstacle distance detected by the ultrasonic sensor 14 coincides with the second danger zone. It can be understood that when the obstacle distance is less than S1, it means that the vehicle is very close to the pedestrian, and the second danger zone is (S1, S2], which is greater than S1. At this time, the position of the pedestrian needs to be displayed to the driver so that the driver can control the speed of the vehicle in time, avoid emergency braking, and increase the safety of vehicle driving.

[0081] See also Figure 4-5 In one implementation, after determining whether there is a pedestrian in the image information behind the vehicle and whether the first obstacle distance is not greater than a preset second danger distance, the method further includes:

[0082] S60: When the judgment result is that there is no pedestrian in the rear image information of the vehicle and the first obstacle distance is not greater than the second danger distance, an alarm is issued according to an alarm mode corresponding to the first obstacle distance and according to the alarm mode.

[0083] Exemplarily, when no pedestrian is detected in the image behind the vehicle taken by the camera 13, and the ultrasonic sensor 14 detects that the distance to the first obstacle is not greater than the second dangerous distance, that is, d1≤S2. Then the first alarm mode is directly adopted, and the distance to the first obstacle is judged. When (S2-S1) / 2<d1≤S2, the current sub-alarm mode is a low-frequency beep alarm mode; when S1<d1(S2-S1) / 2, the current sub-alarm mode is a high-frequency beep alarm mode; when d1≤S1, the current sub-alarm mode is a long beep alarm mode. The control system controls the alarm system to alarm according to different distances to remind the driver.

[0084] See also Figure 4-5 In one implementation, after determining whether there is a pedestrian in the image information behind the vehicle and whether the first obstacle distance is not greater than a preset second danger distance, the method further includes:

[0085] S70: When the judgment result is that there is no pedestrian in the image information behind the vehicle and the first obstacle distance is greater than the second danger distance, the current vehicle is controlled to continue to operate in the current operating mode.

[0086] Exemplarily, when no pedestrian is detected in the image captured by the camera 13 and the ultrasonic sensor 14 does not detect the presence of an obstacle or the first obstacle distance is greater than the second danger distance, it indicates that the current vehicle can continue to reverse in the original working state.

[0087] See also Figure 5-6In one implementation, if the current vehicle is in the reversing mode, after obtaining the first obstacle distance detected by the ultrasonic sensor 14 and the rear image information of the vehicle captured by the camera 13, the method further includes:

[0088] S20': acquiring a current distance between the current vehicle and the obstacle according to the first obstacle distance and the vehicle rear image information.

[0089] Specifically, according to the distance between the obstacle and the vehicle detected by the ultrasonic sensor 14, the image of the rear of the vehicle captured by the camera 13 is used to determine whether the difference between its position and the distance detected by the ultrasonic sensor 14 is within the allowable error range. If so, the distance between the obstacle and the vehicle detected by the ultrasonic sensor 14 is directly used as the current distance D between the current vehicle and the obstacle. If not, the image captured by the camera 13 is re-acquired and calculated again.

[0090] S30', calculating the emergency braking distance according to the current vehicle speed, the preset emergency braking deceleration, the reaction time and the braking time.

[0091] Specifically, the value of the emergency braking distance De can be calculated based on the vehicle speed V, the preset emergency braking deceleration a, the system reaction time T1 and the braking time T2. It should be noted that the reaction time is the time from when the static obstacle is identified to when the braking system begins to respond to the braking request issued by the control system; the braking time is the time from when the braking system responds to the braking request issued by the control system to when the vehicle stops.

[0092] S40', sending a corresponding control instruction according to the current distance and the emergency braking distance, so that the current vehicle works according to the control instruction.

[0093] Furthermore, the control instructions include: braking instructions, braking warning instructions;

[0094] Accordingly, sending a corresponding control instruction according to the current distance and the emergency braking distance so that the current vehicle works according to the control instruction specifically includes:

[0095] When Dstop=D-De≤E2, a brake warning instruction is sent so that the current vehicle performs a warning operation according to the brake warning instruction;

[0096] When Dstop=D-De≤E1, a braking warning instruction is sent to make the current vehicle perform emergency braking according to the braking instruction; in this embodiment, emergency braking is performed according to a preset deceleration, and the preset deceleration is set as required and is not limited here.

[0097] When Dstop=D-De>E2, the current vehicle is controlled to continue to operate in the current operating mode; in this embodiment, it is considered that driving is safe and the system remains in its original state.

[0098] Among them, Dstop represents the distance between the current vehicle and the obstacle from the time when the current vehicle starts braking to the time when the current vehicle stops, D represents the current distance between the current vehicle and the obstacle, De represents the emergency braking distance, the second safety distance is greater than the first safety distance, E1 represents the first safety distance, and E2 represents the second safety distance.

[0099] It should be noted that E1 is the safe distance between the vehicle and the obstacle when the vehicle brakes to a standstill. Therefore, E1 needs to be greater than 0 to ensure that the vehicle does not collide with the obstacle (i.e., E1+De≥D). Set E2+De as the distance between the vehicle and the obstacle when the system should issue a braking warning. The system needs to issue a braking warning a certain distance before braking, so E2 should be greater than E1. It can be seen that the position of the pedestrian is more accurately confirmed by combining the first obstacle distance with the second obstacle distance. At the same time, combined with the current vehicle speed, reaction time, and braking time, a safe braking strategy can be formulated to avoid collisions between the vehicle and obstacles.

[0100] See also Figure 7 , is a schematic structural diagram of a vehicle-based reversing control device provided by an embodiment of the present invention.

[0101] An embodiment of the present invention provides a vehicle reversing control device, including:

[0102] The acquisition module 10 is used to acquire the first obstacle distance detected by the ultrasonic sensor 14 and the rear image information of the vehicle captured by the camera 13 if the current vehicle is in the reverse mode, and calculate the second obstacle distance according to the rear image information of the vehicle.

[0103] The judgment module 20 is used to judge whether there is a pedestrian in the image information behind the vehicle, and whether the first obstacle distance is not greater than a preset second danger distance.

[0104] The first response module 30 is used to determine a corresponding alarm mode according to the first obstacle distance and the second obstacle distance when it is determined that there is a pedestrian in the image information behind the vehicle and the first obstacle distance is not greater than a preset second danger distance, so as to issue an alarm according to the alarm mode.

[0105] The second response module 40 is used to determine the corresponding alarm mode according to the second obstacle distance when it is determined that there is a pedestrian in the image information behind the vehicle and the first obstacle distance is greater than a preset second danger distance, if the second obstacle distance is in a second danger area, and control the display system to display the position of the pedestrian in the image information behind the vehicle.

[0106] The third response module 50 is used to control the current vehicle to continue to operate in the current working mode when it is determined that there is a pedestrian in the image information behind the vehicle and the first obstacle distance is greater than a preset second danger distance, if the second obstacle distance is not in the second danger area; wherein (S1, S2] represents the second danger area, S1 represents the first danger distance, and S2 represents the second danger distance.

[0107] In one implementation, the device further includes:

[0108] The fourth response module is used to issue an alarm according to the alarm mode corresponding to the first obstacle distance and according to the alarm mode when the judgment result is that there is no pedestrian in the image information behind the vehicle and the first obstacle distance is not greater than the second danger distance.

[0109] In one implementation, the device further includes:

[0110] The fifth response module is used to control the current vehicle to continue to operate in the current operating mode when the judgment result is that there is no pedestrian in the image information behind the vehicle and the first obstacle distance is greater than the second danger distance.

[0111] In one implementation, the device further includes:

[0112] The current distance acquisition module is used to acquire the current distance between the current vehicle and the obstacle according to the first obstacle distance and the rear image information of the vehicle.

[0113] The emergency braking distance calculation module is used to calculate the emergency braking distance according to the current vehicle speed, the preset emergency braking deceleration, the reaction time and the braking time.

[0114] The control module is used to send corresponding control instructions according to the current distance and the emergency braking distance, so that the current vehicle works according to the control instructions.

[0115] A vehicle reversing control device provided by an embodiment of the present invention obtains a first obstacle distance detected by an ultrasonic sensor 14 and rear image information of the vehicle captured by a camera 13, calculates a second obstacle distance according to the rear image information of the vehicle, and determines whether there is a pedestrian in the rear image information of the vehicle, and whether the first obstacle distance is not greater than the preset second dangerous distance. When there is a pedestrian in the rear image information of the vehicle and the first obstacle distance is not greater than the preset second dangerous distance, a corresponding alarm mode is determined according to the first obstacle distance and the second obstacle distance, and an alarm is issued. When there is a pedestrian in the rear image information of the vehicle and the first obstacle distance is greater than the preset second dangerous distance, if the second obstacle distance is in the second dangerous area, a corresponding alarm mode is determined according to the second obstacle distance, and a display system is controlled to display the position of the pedestrian in the rear image information of the vehicle. When there is a pedestrian in the rear image information of the vehicle and the first obstacle distance is greater than the preset second dangerous distance, if the second obstacle distance is not in the second dangerous area, the current vehicle is controlled to continue to work in the current working mode. From the above analysis, it can be seen that in the embodiment of the present invention, the distance of the first obstacle detected by the ultrasonic sensor 14 and the image information behind the vehicle captured by the shooting device 13 are combined to judge the position of the pedestrian behind the vehicle, so as to more accurately determine the situation behind the vehicle during the reversing process, determine the distance between the current vehicle and the pedestrian, and remind the driver according to different alarm modes, so as to avoid collision between the vehicle and the pedestrian, thereby improving the safety of the vehicle during the reversing process.

[0116] See also Figure 8 , is a schematic diagram of a vehicle reversing control system provided by an embodiment of the present invention.

[0117] The embodiment of the present invention provides a vehicle reversing control system, comprising an ultrasonic sensor 14, a camera 13, a processor 11, a memory 12, and a computer program stored in the memory 12 and configured to be executed by the processor 11. When the processor 11 executes the computer program, the steps in the above-mentioned vehicle reversing control method embodiments are implemented. Alternatively, when the processor 11 executes the computer program, the functions of the modules / units in the above-mentioned device embodiments are implemented.

[0118] The processor 11 is connected to the ultrasonic sensor 14 , the camera 13 , and the memory 12 respectively.

[0119] Furthermore, the vehicle control system further includes: a display system and an alarm system. The control system controls the alarm system and the display system of the vehicle according to the first obstacle distance detected by the ultrasonic sensor 14 and the rear image of the vehicle captured by the camera 13, so as to remind the driver and avoid collision between the vehicle and pedestrians.

[0120] An embodiment of the present invention provides a vehicle reversing control system, in which the distance of the first obstacle detected by the ultrasonic sensor 14 is combined with the image information of the rear of the vehicle captured by the shooting device 13 to judge the position of the pedestrian behind the vehicle, so as to more accurately determine the situation behind the vehicle during the reversing process of the driver, determine the current distance between the vehicle and the pedestrian, and remind the driver according to different alarm modes, so as to avoid collision between the vehicle and the pedestrian, thereby improving the safety of the vehicle during the reversing process.

[0121] Exemplarily, the computer program may be divided into one or more modules / units, which are stored in the memory and executed by the processor to implement the present invention. The one or more modules / units may be a series of computer program instruction segments capable of implementing specific functions, which are used to describe the execution process of the computer program in the vehicle reversing control system.

[0122] The vehicle reversing control system may be a computing device such as a desktop computer, a notebook, a PDA, and a cloud server. The vehicle reversing control system may include, but is not limited to, a processor 11 and a memory 12. Those skilled in the art may understand that the schematic diagram is only an example of a vehicle reversing control system and does not constitute a limitation on the vehicle reversing control system. The system may include more or fewer components than shown in the diagram, or may combine certain components, or different components. For example, the vehicle reversing control system may also include input and output devices, network access devices, buses, etc.

[0123] The processor 11 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the vehicle reversing control system, and uses various interfaces and lines to connect various parts of the entire vehicle reversing control system.

[0124] The memory 12 can be used to store the computer program and / or module. The processor realizes various functions of the vehicle reversing control system by running or executing the computer program and / or module stored in the memory and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0125] Wherein, if the module / unit integrated in the control system of the vehicle reversing is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0126] It should be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the accompanying drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines. A person of ordinary skill in the art may understand and implement it without paying any creative effort.

[0127] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A method for controlling vehicle reversing, characterized in that: include: If the current vehicle is in the reverse mode, obtain the first obstacle distance detected by the ultrasonic sensor and the rear image information of the vehicle captured by the camera, and calculate the second obstacle distance according to the rear image information of the vehicle; Determining whether there is a pedestrian in the image information behind the vehicle and whether the first obstacle distance is not greater than a preset second danger distance; When it is determined that there is a pedestrian in the image information behind the vehicle and the first obstacle distance is not greater than a preset second danger distance, a corresponding alarm mode is determined according to the first obstacle distance and the second obstacle distance, so as to issue an alarm according to the alarm mode; When it is determined that there is a pedestrian in the image information behind the vehicle and the first obstacle distance is greater than a preset second danger distance, if the second obstacle distance is in a second danger zone, a corresponding alarm mode is determined according to the second obstacle distance, and a display system is controlled to display the position of the pedestrian in the image information behind the vehicle; When it is determined that there is a pedestrian in the image information behind the vehicle and the first obstacle distance is greater than a preset second danger distance, if the second obstacle distance is not in the second danger zone, the current vehicle is controlled to continue to work in the current working mode; Wherein, (S1, S2] represents the second dangerous area, S1 represents the first dangerous distance, and S2 represents the second dangerous distance; When it is determined that there is a pedestrian in the rear image information and the first obstacle distance is not greater than a preset second danger distance, a corresponding alarm mode is determined according to the first obstacle distance and the second obstacle distance to give an alarm according to the alarm mode, specifically including: When it is determined that there is a pedestrian in the image information behind the vehicle and the first obstacle distance is not greater than the preset second danger distance, if the second obstacle distance is not in the second danger zone, the corresponding alarm mode is the first alarm mode; the corresponding sub-alarm mode in the first alarm mode is determined according to the first obstacle distance, and an alarm is performed according to the sub-alarm mode; wherein the first alarm mode includes: at least three sub-alarm modes; When it is determined that there is a pedestrian in the image information behind the vehicle and the first obstacle distance is not greater than a preset second danger distance, if the second obstacle distance is in a second danger zone, the corresponding alarm mode is the second alarm mode, and an alarm is given according to the second alarm mode, and the display system is controlled to display the position of the pedestrian in the image information behind the vehicle; The method obtains the sub-alarm mode corresponding to the first obstacle distance through the following steps, specifically including: When (S2-S1) / 2<first obstacle distance≤S2, the current sub-alarm mode is low-frequency beep alarm mode; When S1<first obstacle distance≤(S2-S1) / 2, the current sub-alarm mode is high-frequency beep alarm mode; When the first obstacle distance is ≤ S1, the current sub-alarm mode is the long-sound alarm mode.

2. The vehicle reversing control method according to claim 1, characterized in that: After determining whether there is a pedestrian in the rear image information of the vehicle and whether the first obstacle distance is not greater than a preset second danger distance, the method further includes: When the judgment result is that there is no pedestrian in the image information behind the vehicle and the first obstacle distance is not greater than the second danger distance, an alarm is issued according to the alarm mode corresponding to the first obstacle distance.

3. The vehicle reversing control method according to claim 1, characterized in that: After determining whether there is a pedestrian in the rear image information of the vehicle and whether the first obstacle distance is not greater than a preset second danger distance, the method further includes: When the judgment result is that there is no pedestrian in the image information behind the vehicle and the first obstacle distance is greater than the second danger distance, the current vehicle is controlled to continue to operate in the current working mode.

4. The vehicle reversing control method according to claim 1, characterized in that: If the current vehicle is in the reversing mode, after obtaining the first obstacle distance detected by the ultrasonic sensor and the image information of the rear of the vehicle captured by the camera, the method further includes: Acquire a current distance between the current vehicle and the obstacle according to the first obstacle distance and the rear image information of the vehicle; The emergency braking distance is calculated according to the current vehicle speed, the preset emergency braking deceleration, the reaction time and the braking time; A corresponding control instruction is sent according to the current distance and the emergency braking distance, so that the current vehicle works according to the control instruction.

5. The vehicle reversing control method according to claim 4, characterized in that: The control instructions include: braking instructions and braking warning instructions; Accordingly, sending a corresponding control instruction according to the current distance and the emergency braking distance so that the current vehicle works according to the control instruction specifically includes: When Dstop=D-De≤the second safety distance, a brake warning instruction is sent so that the current vehicle performs a warning operation according to the brake warning instruction; When Dstop=D-De≤the first safety distance, a braking warning command is sent to make the current vehicle perform emergency braking according to the braking command; When Dstop=D-De>the second safety distance, the current vehicle is controlled to continue to work in the current working mode; Among them, Dstop represents the distance between the current vehicle and the obstacle from the time when the current vehicle starts braking to the time when the current vehicle stops, D represents the current distance between the current vehicle and the obstacle, De represents the emergency braking distance, and the second safety distance is greater than the first safety distance.

6. A vehicle reversing control device, characterized in that: include: an acquisition module, for acquiring, if the current vehicle is in a reversing mode, a first obstacle distance detected by the ultrasonic sensor and rear vehicle image information captured by a camera, and calculating a second obstacle distance based on the rear vehicle image information; A judging module, used for judging whether there is a pedestrian in the image information behind the vehicle, and whether the first obstacle distance is not greater than a preset second danger distance; a first response module, configured to determine a corresponding alarm mode according to the first obstacle distance and the second obstacle distance when it is determined that there is a pedestrian in the image information behind the vehicle and the first obstacle distance is not greater than a preset second danger distance, so as to issue an alarm according to the alarm mode; A second response module is used for, when it is determined that there is a pedestrian in the image information behind the vehicle and the first obstacle distance is greater than a preset second danger distance, if the second obstacle distance is in a second danger zone, determining a corresponding alarm mode according to the second obstacle distance, and controlling a display system to display the position of the pedestrian in the image information behind the vehicle; A third response module is used for, when it is determined that there is a pedestrian in the image information behind the vehicle and the first obstacle distance is greater than a preset second danger distance, if the second obstacle distance is not in a second danger zone, controlling the current vehicle to continue to work in the current working mode; Wherein, (S1, S2] represents the second dangerous area, S1 represents the first dangerous distance, and S2 represents the second dangerous distance; The first response module specifically includes: When it is determined that there is a pedestrian in the image information behind the vehicle and the first obstacle distance is not greater than the preset second danger distance, if the second obstacle distance is not in the second danger zone, the corresponding alarm mode is the first alarm mode; the corresponding sub-alarm mode in the first alarm mode is determined according to the first obstacle distance, and an alarm is performed according to the sub-alarm mode; wherein the first alarm mode includes: at least three sub-alarm modes; When it is determined that there is a pedestrian in the image information behind the vehicle and the first obstacle distance is not greater than a preset second danger distance, if the second obstacle distance is in a second danger zone, the corresponding alarm mode is the second alarm mode, and an alarm is given according to the second alarm mode, and the display system is controlled to display the position of the pedestrian in the image information behind the vehicle; The sub-alarm mode corresponding to the first obstacle distance is obtained by the following steps, specifically including: When (S2-S1) / 2<first obstacle distance≤S2, the current sub-alarm mode is low-frequency beep alarm mode; When S1<first obstacle distance≤(S2-S1) / 2, the current sub-alarm mode is high-frequency beep alarm mode; When the first obstacle distance is ≤ S1, the current sub-alarm mode is the long-sound alarm mode.

7. A vehicle reversing control system, characterized in that: The device comprises an ultrasonic sensor, a camera, a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor implements the vehicle reversing control method according to any one of claims 1 to 5 when executing the computer program; The processor is connected to the ultrasonic sensor, the photographing device and the memory respectively.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored computer program, wherein when the computer program is executed, the device where the computer-readable storage medium is located is controlled to execute the vehicle reversing control method according to any one of claims 1 to 5.

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