Blind spot monitoring system and method

Abstract

The embodiment of the present application discloses a blind spot monitoring system and method, the system includes: a monitoring unit and a warning unit; the monitoring unit is configured to obtain in real time the target object that enters the blind spot within a preset range around the vehicle body, and determine the distance between the target object and the vehicle body; the warning unit is configured to initiate a visual warning message to the target object if the distance between the target object and the vehicle body is less than or equal to a preset distance threshold, wherein the display position of the warning message is within the line of sight of the target object. Through this implementation scheme, no matter what driving state the vehicle is in, it can help the target object in the visual blind spot know whether it is in the driver's visual blind spot to avoid accidents.

Description

Technical Field

[0001] The embodiments of the present application relate to vehicle blind spot monitoring technology, and more particularly to a blind spot monitoring system and method. Background Art

[0002] Due to the structure of the car, the driver has various blind spots in his vision and cannot see all the situations around the car. In addition, in complex road conditions, when the driver turns or changes lanes, moving targets (such as cars, motorcycles, bicycles, pedestrians) behind the blind spots of the inside and outside rearview mirrors cannot know whether they are in the blind spots of the driver's vision, which is very detrimental to the driver's own and road safety.

[0003] In the related art, there is no solution to the problem that the target object in the visual blind spot cannot know whether its position is in the driver's blind spot, which may pose a threat to its own safety. Summary of the invention

[0004] The embodiments of the present application provide a blind spot monitoring system and method, which can help the target object in the visual blind spot know whether it is in the driver's visual blind spot regardless of the driving state of the vehicle, thereby avoiding accidents.

[0005] The present application provides a blind spot monitoring system, which may include:

[0006] Monitoring unit and warning unit;

[0007] The monitoring unit is configured to acquire in real time a target object that enters a blind spot within a preset range around the vehicle body, and determine a distance between the target object and the vehicle body;

[0008] The warning unit is configured to initiate a visual warning message to the target object if the distance between the target object and the vehicle body is less than or equal to a preset distance threshold, wherein the display position of the warning message is within the sight range of the target object.

[0009] In an exemplary embodiment of the present application, the warning unit includes: a warning light control module and a warning light;

[0010] The warning light control module is configured to control the warning light to project preset image information as the warning information to warn the target object if the distance between the target object and the vehicle body is less than or equal to the distance threshold.

[0011] In an exemplary embodiment of the present application, the image information is displayed on the ground within the sight range of the target object, and the image information includes at least one of the following: light color, text, numbers, graphic codes, and animation.

[0012] In an exemplary embodiment of the present application, the blind spot monitoring system further includes a processing unit;

[0013] The processing unit is configured to predict the moving direction of the target object according to the motion image of the target object, wherein the motion image is acquired by the monitoring unit.

[0014] In an exemplary embodiment of the present application, the processing unit predicts the moving direction of the target object based on at least one frame of the motion image, and / or the processing unit predicts the moving direction of the target object based on direction indication information in the motion image.

[0015] In an exemplary embodiment of the present application, the monitoring unit includes a distance measuring device and a photographing device, the distance measuring device is used to determine the distance between the target object and the vehicle body, and the photographing device is used to obtain a moving image of the target object; or,

[0016] The monitoring unit includes a detection device, which is used to determine the distance between the target object and the vehicle body and obtain a moving image of the target object.

[0017] In an exemplary embodiment of the present application, the detection device includes a camera, and the camera is arranged at a position on the vehicle body corresponding to at least one of the blind spots.

[0018] In an exemplary embodiment of the present application, the distance measuring device includes a distance measuring sensor or a radar, and the photographing device includes a camera; the distance measuring device and the photographing device are arranged at at least one vehicle body position corresponding to the blind spot.

[0019] In an exemplary embodiment of the present application, the position of the monitoring unit or the position of the warning unit includes at least one of the following: a front position, a rear position, and a position on both sides of the vehicle body.

[0020] In an exemplary embodiment of the present application, the warning unit is further used to display different image information according to the distance between the target object and the vehicle body.

[0021] In an exemplary embodiment of the present application, the warning unit further includes: a sound alarm; the sound alarm is configured to emit a warning sound when the distance between the target object and the vehicle body is less than or equal to the distance threshold.

[0022] In an exemplary embodiment of the present application, the sound alarm emits warning sounds of different types and / or different decibels according to the distance between the target object and the vehicle body.

[0023] In an exemplary embodiment of the present application, the system further includes a display unit, and the display unit is used to display a moving image of the target object in the vehicle.

[0024] The embodiment of the present application further provides a blind spot monitoring method. Based on the blind spot monitoring system, the method may include:

[0025] Acquire in real time the target object that enters the blind spot within a preset range around the vehicle body, and determine the distance between the target object and the vehicle body;

[0026] If the distance between the target object and the vehicle body is less than or equal to a preset distance threshold, a visual warning message is sent to the target object, wherein the display position of the warning message is within the sight range of the target object.

[0027] Compared with the related art, the blind spot monitoring system of the embodiment of the present application may include: a monitoring unit and a warning unit; the monitoring unit is configured to obtain in real time the target object that enters the blind spot within a preset range around the vehicle body, and determine the distance between the target object and the vehicle body; the warning unit is configured to initiate a visual warning message to the target object if the distance between the target object and the vehicle body is less than or equal to a preset distance threshold, wherein the display position of the warning message is within the line of sight of the target object. Through this embodiment scheme, no matter what driving state the vehicle is in, it can help the target object in the visual blind spot know whether it is in the driver's visual blind spot to avoid accidents.

[0028] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or be understood by implementing the present application. Other advantages of the present application can be realized and obtained by the schemes described in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings are used to provide an understanding of the technical solution of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present application and do not constitute a limitation on the technical solution of the present application.

[0030] Figure 1 This is a block diagram of the blind spot monitoring system of an embodiment of the present application;

[0031] Figure 2 A connection diagram showing that the processing unit, the monitoring unit, the display unit and the warning light control module of the embodiment of the present application are all separately provided;

[0032] Figure 3 A connection diagram of a warning light control module in an embodiment of the present application disposed in a processing unit;

[0033] Figure 4 This is a connection diagram of a warning light control module in an embodiment of the present application disposed in a monitoring unit;

[0034] Figure 5 This is a connection diagram of a warning light control module in an embodiment of the present application disposed in a display unit.

[0035] Figure 6 This is a flow chart of the blind spot monitoring method according to an embodiment of the present application. DETAILED DESCRIPTION

[0036] The present application describes multiple embodiments, but the description is exemplary rather than restrictive, and it is obvious to those skilled in the art that there may be more embodiments and implementations within the scope of the embodiments described in the present application. Although many possible feature combinations are shown in the drawings and discussed in the specific embodiments, many other combinations of the disclosed features are also possible. Unless specifically limited, any feature or element of any embodiment may be used in combination with any other feature or element in any other embodiment, or may replace any other feature or element in any other embodiment.

[0037] The present application includes and contemplates combinations of features and elements known to those of ordinary skill in the art. The embodiments, features and elements disclosed in the present application may also be combined with any conventional features or elements to form a unique invention scheme defined by the claims. Any features or elements of any embodiment may also be combined with features or elements from other invention schemes to form another unique invention scheme defined by the claims. Therefore, it should be understood that any feature shown and / or discussed in the present application may be implemented individually or in any appropriate combination. Therefore, except for the limitations made according to the attached claims and their equivalents, the embodiments are not subject to other restrictions. In addition, various modifications and changes may be made within the scope of protection of the attached claims.

[0038] In addition, when describing representative embodiments, the specification may have presented the method and / or process as a specific sequence of steps. However, to the extent that the method or process does not rely on the specific order of the steps described herein, the method or process should not be limited to the steps of the specific order described. As will be understood by those of ordinary skill in the art, other sequences of steps are also possible. Therefore, the specific sequence of the steps set forth in the specification should not be interpreted as a limitation to the claims. In addition, the claims for the method and / or process should not be limited to the steps of performing them in the order written, and those skilled in the art can easily understand that these sequences can be changed and still remain within the spirit and scope of the embodiments of the present application.

[0039] The present application embodiment provides a blind spot monitoring system, such as Figure 1 As shown, the system may include: a monitoring unit 1 and an alarm unit 2;

[0040] A monitoring unit 1 is configured to obtain in real time a target object within a preset range around the vehicle body that enters a blind spot, and determine a distance between the target object and the vehicle body;

[0041] The warning unit 2 is configured to initiate a visual warning message to the target object if the distance between the target object and the vehicle body is less than or equal to a preset distance threshold, wherein the display position of the warning message is within the sight range of the target object.

[0042] In an exemplary embodiment of the present application, the preset range around the vehicle body can be determined based on the effective monitoring area of ​​the monitoring unit 1. The blind spot refers to the area around the vehicle that is not visible to the driver, for example, the area in front of the vehicle that is outside the driver's field of vision (such as the area below the field of vision), the area behind the vehicle that is outside the driver's field of vision (such as the area below the field of vision), and the area on the side of the vehicle that cannot be observed by the rearview mirror. Preferably, the target object that enters the blind spot within the preset range around the vehicle body can be obtained only during the driving of the vehicle.

[0043] In an exemplary embodiment of the present application, the distance between the target object and the vehicle body can be the distance between the target object and the geometric center of the vehicle body, or the distance between the target object and the monitoring unit itself. The preset distance threshold is related to the distance from the target object to the vehicle body, and can be determined based on experience, or calculated based on motion parameters such as the vehicle's driving speed and reaction time. Within the range corresponding to the distance threshold, the target object is in danger of friction or collision with the vehicle body.

[0044] In an exemplary embodiment of the present application, when the warning information is a visual warning information, the display position of the warning information is within the sight range of the target object, so that the target object can observe the warning information; preferably, the warning information can be initiated to the direction where the target object is located, so that the target object can receive the warning information. For example, if the warning unit 2 is located at the rear side of the vehicle, when the target object is located at the right rear of the vehicle, the warning unit initiates the warning information toward the right rear, and when the target object is located at the left rear of the vehicle, the warning unit 2 initiates the warning information toward the left rear. Further, when there are multiple warning units 2 on the vehicle body, if it is determined that the target object is on the left side of the vehicle, the warning unit 2 set on the left side of the vehicle is activated to initiate the warning information to the target object; if it is determined that the target object is on the rear side of the vehicle, the warning unit 2 set on the rear side of the vehicle is activated to initiate the warning information to the target object, so as to improve the pertinence of the warning information and improve the warning effect on the target object.

[0045] It should be noted that the target object in the present application may be a pedestrian, a motor vehicle, a non-motor vehicle, an animal or other obstacle, and the target object may be in a moving state or in a stationary state.

[0046] In an exemplary embodiment of the present application, the monitoring unit 1 is used to acquire in real time the target object that enters the blind spot within a preset range around the vehicle body, so that no matter what driving state the vehicle is in, the target object in the visual blind spot can be acquired in time, and the warning unit 2 initiates a visual warning message to the target object according to the distance between the target object and the vehicle body, thereby helping the target object in the visual blind spot to know whether it is in the driver's visual blind spot and avoiding accidents.

[0047] In an exemplary embodiment of the present application, the monitoring unit 1 may include a distance measuring device and a photographing device. The distance measuring device is used to determine the distance between the target object and the vehicle body, and the photographing device is used to obtain a moving image of the target object.

[0048] In an exemplary embodiment of the present application, the ranging device may include a ranging sensor or a radar, and the photographing device may include a camera; the ranging device and the photographing device are arranged at at least one vehicle body position corresponding to the blind spot.

[0049] In an exemplary embodiment of the present application, the monitoring unit 1 may also only include a detection device, which is used to determine the distance between the target object and the vehicle body and simultaneously acquire a moving image of the target object.

[0050] Preferably, the detection device may include a camera, which is arranged at a position of the vehicle body corresponding to at least one of the blind spots and captures a moving image of a target object in the corresponding blind spot. In this embodiment, if the camera has a ranging function, ranging and capturing can be completed independently.

[0051] Furthermore, the detection device can also be a monocular camera or a binocular camera, which can then use deep learning and other visual algorithms to determine the type of target object, such as pedestrians, non-motor vehicles, other obstacles, etc. In addition, based on a monocular camera or a binocular camera, the distance measurement function can be directly realized. Specifically, calibration is first performed to determine the relationship between the camera position and the physical distance of the determined point and the number of pixels in the image, and then the target object is detected based on the motion image, and the calibration information is used to determine the distance between the target object and the vehicle body. Furthermore, depth information can be added to improve the accuracy of distance measurement.

[0052] The position of the monitoring unit 1 or the position of the warning unit may include at least one of the following: the front position, the rear position and the positions on both sides of the vehicle body.

[0053] In an exemplary embodiment of the present application, these setting positions can enable the monitoring unit 1 to better detect the target object and enable the warning unit 2 to more prominently warn the detected target object, thereby improving the monitoring efficiency and monitoring effect of the blind spot.

[0054] In an exemplary embodiment of the present application, for example, the radar may include: a first radar located in front of the vehicle body, a second radar located behind the vehicle body, a third radar located on a first side of the vehicle body, and a fourth radar located on a second side of the vehicle body.

[0055] In an exemplary embodiment of the present application, the monitoring unit 1 may include multiple groups of ranging devices and shooting devices, wherein the ranging devices and the shooting devices are arranged correspondingly; for example, at least one group of ranging devices and shooting devices is arranged at a vehicle body position corresponding to each blind spot around the vehicle body, wherein the ranging device may be a ranging sensor or a radar, and the shooting device may include a camera.

[0056] In an exemplary embodiment of the present application, the multiple groups of ranging devices and shooting devices may include: a first group of ranging devices and shooting devices located in front of the vehicle body, a second group of ranging devices and shooting devices located behind the vehicle body, a third group of ranging devices and shooting devices located on the first side of the vehicle body, and a fourth group of ranging devices and shooting devices located on the second side of the vehicle body.

[0057] In an exemplary embodiment of the present application, in actual situations, the ranging sensor included in the monitoring unit 1 will detect all targets within the distance range, and the sensing ranges of each ranging sensor may overlap. Therefore, it is necessary to consider how to judge the distance and issue an alert when there are multiple target objects within the detection range of a certain ranging sensor, or when the same target object is detected by multiple sensors.

[0058] In response to the above problems, the monitoring unit 1 detects all target objects in the monitoring area including the blind spot, and then obtains the distance between each target object and the vehicle body through a preset algorithm. The geometric relationship between the monitoring unit 1 and the vehicle body can be determined by pre-calibration, so that the distance between the target object and the monitoring unit can be converted to obtain the distance between the target object and the vehicle body. When there are multiple target objects, it can be determined whether there is a risk of collision and whether a warning is needed based on the distance of the target object closest to the vehicle body. As long as there is a risk of collision with the closest target, a warning will be issued.

[0059] In an exemplary embodiment of the present application, the warning unit 2 may include: a warning light control module 21 and a warning light.

[0060] In an exemplary embodiment of the present application, the warning light is used to warn the target object detected in the blind spot. The warning light can be specially set or implemented by a projection light on the vehicle to reduce costs and save installation space on the vehicle.

[0061] In an exemplary embodiment of the present application, the warning light control module 21 can be configured to control the warning light to project preset image information as the warning information to warn the target object if the distance between the target object and the vehicle body is less than or equal to the distance threshold.

[0062] In an exemplary embodiment of the present application, a target object that is too close to the vehicle body can be detected in time through this embodiment scheme, and a warning can be issued to the target object in time, so that the target object can be warned to stay away from the vehicle body before the target object is in danger, effectively preventing the occurrence of traffic accidents.

[0063] Preferably, the warning light in this embodiment is a projection lamp, such as a car projection lamp, also known as a ground lamp. The pattern projected by the car projection lamp can not only help find the car and illuminate the road in front of the car, but the distinctive logo or pattern of the car projection lamp can also realize more functions such as signal indication and information interaction. Therefore, the image information in this application can be projected onto the ground by the projection lamp.

[0064] In an exemplary embodiment of the present application, the image information is displayed on the ground within the sight range of the target object. Specifically, the image information may include at least one of the following: light color, text, numbers, graphic codes, and animation. The light color may include: lights and / or images with specific display effects and / or colors (for example, colorful lights and shadows flashing at a set frequency). Through the reminder of the light image, the target object can be quickly alerted and serve as a reminder in the first time, especially in a scene with dim light; the text may be various languages ​​with warning significance, and the number may be the actual distance between the target object and the vehicle body, or the threshold of the distance between the target object and the vehicle body; the graphic code may include but is not limited to: warning pictures with preset patterns, geometric figures and / or logos (icons) with reminder information displayed to the target object, for example, pictures with car accident scenes, traffic signs that can instruct the target object to park, stay away or not approach, etc., through the display of graphic codes, the visual impact can be improved, the reminder effect can be improved, and timely reminders can be realized for specific people (such as deaf-mute people); the animation can be a video screen with a warning effect, which may include but is not limited to: video screens with traffic police stopping a certain behavior (such as approaching), simulated video screens of car accidents, etc., and the playback of animations can further enhance the visual and auditory impacts and serve as a reminder more intuitively and vividly. It can be understood that the image information includes various combinations of the above-mentioned light colors, texts, numbers, graphics and animations.

[0065] In an exemplary embodiment of the present application, the warning unit 2 may include: a plurality of warning lights; at least one warning light is provided at a vehicle body position corresponding to each blind spot around the vehicle body.

[0066] In an exemplary embodiment of the present application, the blind spot monitoring system may further include a processing unit 3 .

[0067] In an exemplary embodiment of the present application, when the processing unit 3 detects that the distance between the target object (for example, a person or a car) and the vehicle body is less than or equal to a distance threshold, a control command is sent to the warning light control module 21, and the warning light control module 21 controls the warning light to start according to the control command to issue a warning to the target object.

[0068] In an exemplary embodiment of the present application, the plurality of warning lights may include: a first warning light located in front of the vehicle body, a second warning light located behind the vehicle body, a third warning light located on a first side of the vehicle body, and a fourth warning light located on a second side of the vehicle body.

[0069] In an exemplary embodiment of the present application, the warning unit 2 is further configured to display different image information according to the distance between the target object and the vehicle body.

[0070] In an exemplary embodiment of the present application, the distance between the target object and the vehicle body may be divided into different distance levels in advance, and the image displayed by the warning unit may be divided into different image levels, and different distance levels may correspond to corresponding image levels.

[0071] In an exemplary embodiment of the present application, for example, when the distance is far, the distance level is low, and the image level is low at this time, and only low-frequency light flashing can be performed; when the distance decreases, the distance level increases, and the image level increases at this time, and high-frequency light flashing can be performed, and text and pattern display can be added, such as "Pay attention to the distance between cars"; when the distance further decreases, the distance level further increases, and the image level continues to increase, and high-frequency light flashing can be performed, and text and pattern display can be added, such as "A car accident is about to happen", and a collision simulation animation can be displayed to increase the visual impact.

[0072] In an exemplary embodiment of the present application, the system may further include a display unit 4, which may be used to display a moving image of the target object in the vehicle, so that the driver can timely understand the target object in the visual blind spot.

[0073] In an exemplary embodiment of the present application, the display of moving images can intuitively remind the driver of the presence of a target object in the blind spot, and enable the driver to timely predict the next action of the target object based on the movement of the target object, and timely control the vehicle to stop or evade when it is predicted that danger may occur, thereby further providing protection against traffic accidents and further improving driving safety.

[0074] In an exemplary embodiment of the present application, the warning light control module 21 can be set in the processing unit 3, or can be set separately, or can be set as one with the display unit 4, or can be set as one with the monitoring unit 1, or can be set as one with the warning unit 2.

[0075] In an exemplary embodiment of the present application, Figure 2 As shown, a connection diagram of the processing unit 3, the monitoring unit 1, the display unit 4 and the warning light control module 21 are provided separately, wherein the warning unit 2 includes a front projection lamp, a left projection lamp, a right projection lamp and a rear projection lamp, and the monitoring unit 1 includes a plurality of front cameras (or radars); Figure 3 As shown, a connection diagram of the warning light control module 21 disposed in the processing unit 3 is given; Figure 4 As shown, a connection diagram of the warning light control module 21 disposed in the monitoring unit 1 is given. At this time, each group of front cameras (or radars) can correspond to a warning light control module 21; Figure 5 As shown, a connection diagram of the warning light control module 21 arranged in the display unit 1 is given. Among them, the front projection lamp may refer to a projection lamp arranged in front of the vehicle body (such as the front of the vehicle), the rear projection lamp may refer to a projection lamp arranged at the rear of the vehicle body (such as the rear of the vehicle), the left projection lamp may refer to a projection lamp arranged at the first side of the vehicle body, and the right projection lamp may refer to a projection lamp arranged at the second side of the vehicle body.

[0076] In an exemplary embodiment of the present application, the warning unit 2 may further include: a sound alarm;

[0077] The sound alarm may be configured to emit a warning sound when the processing unit detects that the distance between the target object and the vehicle body is less than or equal to a distance threshold.

[0078] In an exemplary embodiment of the present application, a sound alarm is added to the warning light, which not only allows the target objects around the vehicle body to know that the area they are in is the driver's blind spot, but also allows them to know the degree of danger more clearly through the rapidity of the alarm sound.

[0079] In an exemplary embodiment of the present application, the processing unit 3 may also be configured to: control the sound alarm to emit warning sounds of different types and / or different decibels according to the distance between the target object and the vehicle body.

[0080] In an exemplary embodiment of the present application, the warning sound emitted by the warning unit 2 may be divided into different sound levels, and different distance levels may correspond to corresponding sound levels.

[0081] In an exemplary embodiment of the present application, for example, when the distance is far, the distance level is low, and the sound level is low at this time, and only low-speed and low-decibel sound playback can be performed; when the distance decreases, the distance level increases, and the sound level increases at this time, and high-speed and high-decibel sound playback can be performed, and voice prompts can be added, such as "Pay attention to the distance between cars"; when the distance further decreases, the distance level further increases, and the sound level continues to increase, and the lights can be flashed at a higher speed and higher decibels, and voice prompts can be added, such as "A car accident is about to happen", to attract the attention of people in the blind spot.

[0082] In an exemplary embodiment of the present application, the processing unit can be connected to each radar, display unit, monitoring unit 1 and warning unit 2 (for example, a vehicle light control module) via a data line. When the blind spot monitoring system is powered on, the processing unit obtains an image signal from a shooting device and a distance signal from a distance measuring device. Based on the image signal and the distance signal, the processing unit calculates the distance between the current vehicle body and the target object in the visual blind spot outside the vehicle (such as a car, motorcycle, bicycle, pedestrian), and connects the image captured by the shooting device set on the vehicle body at the location of the target object to the display unit that the driver can see, and triggers the warning unit 2 on the vehicle body at the location of the target object.

[0083] In the exemplary embodiments of the present application, several specific embodiments of the present application scheme are given below:

[0084] When the distance between the target object in front of the vehicle and the vehicle body is less than or equal to the set distance threshold, the processing unit accesses the video of the vehicle's forward camera, displays the image in front of the vehicle in real time on the display unit, and transmits a signal to the warning light control module to control the forward warning light to light up;

[0085] When the distance between the target object on the left side of the vehicle (i.e., the first side) and the vehicle body is less than or equal to the set distance threshold, the processing unit accesses the video of the camera on the left side of the vehicle, displays the image on the left side in real time on the display unit, and transmits a signal to the warning light control module to control the left warning light to light up;

[0086] When the distance between the target object on the right side of the vehicle (i.e., the second side) and the vehicle body is less than or equal to the set distance threshold, the processing unit accesses the video of the camera on the right side of the vehicle, displays the image of the right side of the vehicle on the display unit in real time, and transmits a signal to the warning light control module to control the right warning light to light up;

[0087] When the distance between the target object behind the vehicle and the vehicle body is less than or equal to the set distance threshold, the processing unit connects the video from the camera behind the vehicle, displays the image behind the vehicle in real time on the display unit, and outputs a signal to the warning light control module to control the rear warning light to light up.

[0088] In an exemplary embodiment of the present application, the processing unit can also be configured to predict the moving direction of the target object based on the motion image of the target object, and control the vehicle's braking system to brake when it is predicted that the moving direction points to the vehicle body, wherein the motion image can be obtained through the monitoring unit 1.

[0089] In an exemplary embodiment of the present application, in order to avoid the driver's failure to make accurate and timely judgments about an impending car accident, a function that can predict the movement trajectory of a target object around the vehicle body can be added to the processing unit. Based on the movement trajectory of the target object, when it is determined that the next moving direction of the target object may point to the vehicle body, the vehicle can be controlled to automatically stop in an emergency.

[0090] In an exemplary embodiment of the present application, the processing unit may predict the moving direction of the target object based on at least one frame of the motion image, and / or the processing unit may predict the moving direction of the target object based on direction indication information in the motion image.

[0091] In an exemplary embodiment of the present application, the processing unit predicting the moving direction of the target object according to the motion image may include:

[0092] Determining the type of the target object;

[0093] When the target object is a vehicle, a steering wheel image is acquired from a plurality of frames of motion images, and a steering wheel rotation direction is detected according to the steering wheel images of the plurality of frames, and a moving direction of the vehicle is predicted according to the steering wheel rotation direction;

[0094] When the target object is a pedestrian, a toe image is obtained from the motion image, and the pointing direction of the toe is detected, and the moving direction of the pedestrian is predicted according to the execution direction of the toe.

[0095] In an exemplary embodiment of the present application, the monitoring unit 1 may include an external camera, and may also include a camera inside the vehicle that can cover the driver and the steering wheel. Here, the camera covering the steering wheel can monitor the movement of the steering wheel in real time and determine the steering direction of the steering wheel through multiple frames of images.

[0096] In an exemplary embodiment of the present application, the method for obtaining the vehicle's movement direction is not limited to the steering wheel image, but may be obtained by connecting the monitoring unit 1 to the vehicle body data unit through a CAN (controller area network) bus or other communication lines, or the monitoring unit 1 may include a gyroscope or an inertial navigation chip and obtain the direction through the gyroscope or the inertial navigation chip.

[0097] In an exemplary embodiment of the present application, obtaining a steering wheel image from the motion image and obtaining a toe image from the motion image can also be achieved through a preset recognition model. For example, one or more frames of the acquired motion image are input into a preset recognition model. The recognition model may include a steering wheel image recognition model and a toe image recognition model that have been pre-established and trained. The steering wheel image is recognized by the steering wheel image recognition model, and the toe image is recognized by the toe image recognition model. The steering wheel image recognition model and the toe image recognition model may have a direction recognition function, so that the turning direction of the steering wheel and the execution direction of the toes can be determined.

[0098] In an exemplary embodiment of the present application, no matter what driving state the vehicle is in, the distance between the target objects in each direction and the vehicle body can be obtained in a timely manner through cameras and / or radars and other equipment. Based on this distance and the relevant distance threshold set in advance, the display function can be automatically turned on in the display unit, and the camera video image of the corresponding direction can be displayed in real time on the driver's screen. The headlight control module outputs a signal to control the relevant direction warning light to turn on, so as to help the target objects in the visual blind spot outside the vehicle (such as cars, motorcycles, bicycles, pedestrians) know whether they are in the driver's blind spot and avoid accidents.

[0099] In the exemplary embodiment of the present application, the embodiment does not require manual intervention, nor does it need to be triggered by actual operating actions such as turn signals; it realizes the automation and intelligence of blind spot detection and reminders, greatly improving driving safety.

[0100] The present application also provides a blind spot monitoring method based on the blind spot monitoring system. Figure 6 As shown, the method may include steps S101-S102:

[0101] S101, acquiring in real time a target object that enters a blind spot within a preset range around the vehicle body, and determining a distance between the target object and the vehicle body;

[0102] S102: If the distance between the target object and the vehicle body is less than or equal to a preset distance threshold, a visual warning message is sent to the target object, wherein a display position of the warning message is within the sight range of the target object.

[0103] In an exemplary embodiment of the present application, through the above-mentioned steps S101 and S102, the target object entering the blind spot within a preset range around the vehicle body can be acquired in real time, so that no matter what driving state the vehicle is in, the target object in the visual blind spot can be acquired in time, and a visual warning message can be sent to the target object according to the distance between the target object and the vehicle body, thereby helping the target object in the visual blind spot to know whether it is in the driver's visual blind spot and avoiding accidents.

[0104] In the exemplary embodiments of the present application, any embodiment of the aforementioned blind spot monitoring system can be applied to the blind spot monitoring method embodiment, and will not be described one by one here.

[0105] It will be appreciated by those skilled in the art that all or some of the steps, systems, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. In hardware implementations, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or temporary medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those of ordinary skill in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

Claims

1. A blind spot monitoring system, characterized in that: The system comprises: a monitoring unit, an alarm unit and a processing unit; The monitoring unit is configured to acquire in real time a target object that enters a blind spot within a preset range around the vehicle body, and determine a distance between the target object and the vehicle body; The warning unit is configured to initiate a visual warning message to the target object if the distance between the target object and the vehicle body is less than or equal to a preset distance threshold, wherein the display position of the warning message is within the sight range of the target object; The processing unit is configured to predict the moving direction of the target object according to the moving image of the target object, and control the vehicle to automatically perform emergency braking when it is predicted that the moving direction points to the vehicle body, wherein the moving image is obtained by the monitoring unit; Wherein, predicting the moving direction of the target object according to the moving image of the target object includes: Determining the type of the target object; When the target object is a vehicle, a steering wheel image is acquired from a plurality of frames of motion images, and a steering wheel rotation direction is detected according to the steering wheel images of the plurality of frames, and a moving direction of the vehicle is predicted according to the steering wheel rotation direction; When the target object is a pedestrian, a toe image is acquired from the motion image, and the pointing direction of the toe is detected, and the moving direction of the pedestrian is predicted according to the pointing direction of the toe.

2. The blind spot monitoring system according to claim 1, characterized in that: The warning unit includes: a warning light control module and a warning light; The warning light control module is configured to control the warning light to project preset image information as the warning information to warn the target object if the distance between the target object and the vehicle body is less than or equal to the distance threshold.

3. The blind spot monitoring system according to claim 2, characterized in that: The image information is displayed on the ground within the sight range of the target object, and the image information includes at least one of the following: light color, text, numbers, graphics and animation.

4. The blind spot monitoring system according to claim 1, characterized in that: The monitoring unit includes a distance measuring device and a photographing device, wherein the distance measuring device is used to determine the distance between the target object and the vehicle body, and the photographing device is used to obtain a moving image of the target object; or The monitoring unit includes a detection device, which is used to determine the distance between the target object and the vehicle body and obtain a moving image of the target object.

5. The blind spot monitoring system according to claim 4, characterized in that: The detection device comprises a camera, and the camera is arranged at a position of the vehicle body corresponding to at least one of the blind spots.

6. The blind spot monitoring system according to claim 4, characterized in that: The distance measuring device includes a distance measuring sensor or a radar, and the photographing device includes a camera; the distance measuring device and the photographing device are arranged at at least one vehicle body position corresponding to the blind spot.

7. The blind spot monitoring system according to any one of claims 1 to 6, characterized in that: The position of the monitoring unit or the position of the warning unit includes at least one of the following: the front position, the rear position and the positions on both sides of the vehicle body.

8. The blind spot monitoring system according to claim 1, characterized in that: The warning unit is also used to display different image information according to the distance between the target object and the vehicle body.

9. The blind spot monitoring system according to claim 1, characterized in that: The warning unit further includes: a sound alarm; the sound alarm is configured to emit a warning sound when the distance between the target object and the vehicle body is less than or equal to the distance threshold.

10. The blind spot monitoring system according to claim 9, characterized in that: The sound alarm emits warning sounds of different types and / or different decibels according to the distance between the target object and the vehicle body.

11. The blind spot monitoring system according to claim 1, characterized in that: The system further includes a display unit, which is used to display a moving image of the target object in the vehicle.

12. A blind spot monitoring method, characterized in that: Based on the blind spot monitoring system according to any one of claims 1 to 11, the method comprises: Acquire in real time the target object that enters the blind spot within a preset range around the vehicle body, and determine the distance between the target object and the vehicle body; If the distance between the target object and the vehicle body is less than or equal to a preset distance threshold, a visual warning message is sent to the target object, wherein the display position of the warning message is within the sight range of the target object; Predicting the moving direction of the target object according to the motion image of the target object: determining the type of the target object; when the target object is a vehicle, obtaining a steering wheel image from multiple frames of motion images, and detecting the turning direction of the steering wheel based on the multiple frames of steering wheel images, and predicting the moving direction of the vehicle according to the turning direction of the steering wheel; when the target object is a pedestrian, obtaining a toe image from the motion image, detecting the pointing direction of the toes, and predicting the moving direction of the pedestrian according to the execution direction of the toes.

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