Warning method, system and vehicle

Abstract

A warning method, system and vehicle, the method comprising: an image acquisition device acquires an environmental image of a vehicle in real time; multiple objects are identified from the environmental image, and a target object is marked from the multiple objects; the direction and position of the target object relative to the vehicle are confirmed, and a warning device is adjusted according to the direction and position of the target object relative to the vehicle; the warning device performs a directional warning on the target object, and directional warning can be implemented to warn or drive away the target object, reduce the possibility of collision between the target object and the vehicle, and improve the safety of vehicle driving.

Description

Technical Field

[0001] The present invention relates to the field of intelligent vehicle control, and in particular to an alarm method, system and vehicle. Background Art

[0002] With the improvement of living standards, cars have become an indispensable means of transportation in people's lives, and traffic safety has become increasingly important to humans. When a car is driving, if there are other vehicles or moving objects such as animals approaching the car from behind, it may cause a collision, leading to an accident, increasing the risk of driving. Summary of the invention

[0003] The main purpose of the present invention is to provide a warning method and a vehicle, aiming to solve the problem in the prior art that a directional warning cannot be given to an object approaching from behind.

[0004] A warning method, the warning method is applied to a vehicle; the vehicle has a warning device and at least one camera; the warning method comprises:

[0005] Acquire the environment image of the vehicle in real time through the camera;

[0006] Identify a plurality of the objects from the environment image, and mark a target object from the plurality of the objects;

[0007] Determining the direction and position of the target object relative to the vehicle;

[0008] adjusting the warning device according to the direction and position of the target object relative to the vehicle; and

[0009] The warning device performs a directional warning on the target object.

[0010] In addition, in order to achieve the above-mentioned object, the present invention further proposes a collision warning system, the warning system comprising a processor, a memory, a warning device and at least one camera, the processor is used to implement the following steps when executing the computer program stored in the memory:

[0011] Acquire the environment image of the vehicle in real time through the camera;

[0012] Identify a plurality of objects from the environment image, and mark a target object from the plurality of objects;

[0013] confirming the direction and position of the target object relative to the vehicle, and adjusting the warning device according to the direction and position of the target object relative to the vehicle; and

[0014] The warning device performs a directional warning on the target object.

[0015] In addition, in order to achieve the above-mentioned object, the present invention further proposes a vehicle, the vehicle having a warning device and at least one camera; the vehicle comprising a memory and at least one processor; the memory storing at least one instruction, the at least one instruction being executable by the at least one processor to implement a corresponding function, the memory further comprising:

[0016] An image acquisition module, used to acquire an environmental image of the vehicle in real time through the camera;

[0017] an image recognition module, configured to recognize a plurality of objects from the environment image and mark a target object from the plurality of objects; and

[0018] The control module is used to confirm the direction and position of the target object relative to the vehicle, adjust the warning device according to the direction and position of the target object relative to the vehicle, and control the warning device to provide a directional warning to the target object.

[0019] The above-mentioned warning method, system and vehicle can generate a directional warning when a target object behind approaches the vehicle by identifying the target object in the environmental image of the vehicle obtained by the camera, so as to drive away the target object, reduce the possibility of collision between the target object and the vehicle, and improve the safety of vehicle driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0021] Figure 1 It is a functional module diagram of the vehicle of the present invention.

[0022] Figure 2 for Figure 1 Functional module diagram of the warning system described in .

[0023] Figure 3 The figure is a flow chart of the warning method of the present invention.

[0024] Figure 4 for Figure 3 Detailed flowchart of step S19 in FIG.

[0025] Main component symbols

[0026] Transportation 100

[0027] Memory 102

[0028] Processor 103

[0029] Communication bus 104

[0030] Warning equipment 105

[0031] Camera 106

[0032] Warning system 1

[0033] Operating System 2

[0034] High-precision map 3

[0035] Image acquisition module 10

[0036] Image recognition module 20

[0037] Control module 30

[0038] Detection module 40

[0039] Timing module 50

[0040] Extraction module 60

[0041] Prompt module 70

[0042] Steps S10 to S19

[0043] The following specific implementation manner will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0044] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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 should fall within the scope of protection of the present invention.

[0045] The terms "first", "second", and "third" in the specification of the present invention and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the term "comprising" and any variation thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or modules is not limited to the listed steps or modules, but may optionally include steps or modules that are not listed, or may optionally include other steps or modules that are inherent to these processes, methods, products, or devices.

[0046] The specific implementation methods of the warning method, system and vehicle of the present invention are described below with reference to the accompanying drawings.

[0047] Please refer to Figure 1 The present invention provides a vehicle 100. The vehicle 100 includes a memory 102, a processor 103, a communication bus 104, a warning device 105, and at least one camera 106. In at least one embodiment of the present invention, the vehicle 100 can be a car, a bus, a bicycle, a ship, etc., but is not limited thereto.

[0048] The memory 102 is used to store program codes. The memory 102 can be a circuit with storage function in an integrated circuit without a physical form, such as a memory stick, a TF card (Trans-flash Card), a smart media card (smart media card), a secure digital card (secure digital card), a flash memory card (flash card) and other storage devices. The memory 102 can communicate data with the processor 103 through the communication bus 104. The memory 102 may include an alarm system 1 and an operating system 2. Further, a white list is also stored in the memory 102. The white list stores multiple pre-stored feature information and corresponding personal information. The white list is the information of other vehicles familiar to the user. For example, the white list can store multiple license plate numbers, corresponding owner names and corresponding owner contact information. In other embodiments, a black list can also be set in the memory 102. The black list is the information of other vehicles that have collided with the vehicle 100 or threatened the travel of the vehicle 100.

[0049] The warning system 1 acquires the environment image of the vehicle 100 through the camera 106, identifies multiple objects from the environment image, marks a target object from the multiple objects, and controls the warning device 105 to provide a directional warning to the target object.

[0050] The operating system 2 is a program for managing and controlling the hardware and software resources of the vehicle 100 , and supports the operation of the warning system 1 and other software and / or programs.

[0051] The processor 103 may include one or more microprocessors or digital processors. The processor 103 may call the program code stored in the memory 102 to execute related functions. For example, Figure 2 The modules 10-70 are program codes stored in the memory 102 and executed by the processor 103 to implement an alarm method. The processor 103 is also called a central processing unit (CPU), which is a large-scale integrated circuit and a computing core (Core) and a control core (Control Unit).

[0052] The communication bus 104 performs data communication with the memory 102 and the processor 103 .

[0053] The warning device 105 is used to provide directional warning to the target object located behind the vehicle 100. The warning device 105 has an aiming area. The aiming area is used to locate the direction of the warning operation. The warning device 105 is arranged at the tail of the vehicle 100. The warning device 105 can be arranged inside the vehicle 100, such as in the trunk, or outside the vehicle 100, such as near the exhaust pipe. In at least one embodiment of the present invention, the warning device 105 can provide directional warning by emitting an object that does not interfere with driving behavior to the non-driving position, such as a paintball. In other alternative embodiments, the warning device 105 can provide directional warning by emitting a strong light beam that does not interfere with driving behavior to the non-driving position, such as emitting a laser to the non-driving position of other vehicles. In at least one embodiment of the present invention, the warning device 105 can have a sighting function, and the sighting function is used to adjust the angle and position between the warning device 105 and the target object so that the aiming area of ​​the warning device 105 is opposite to the target object. In other alternative embodiments, the warning device 105 may not have the aiming function.

[0054] The camera 106 is used to capture images or record driving. In at least one embodiment of the present invention, the vehicle 100 may include a plurality of cameras 106. The cameras 106 may be respectively arranged inside and outside the vehicle 100. For example, the camera 106 may include a driving recorder arranged inside the vehicle 100 and a camera 106 arranged on a rearview mirror of the vehicle 100. In other embodiments, the camera 106 may also include a camera arranged at the rear of the vehicle 100, for example, at a button of the trunk of the vehicle 100 or at the middle of the rear windshield of the vehicle 100, but is not limited thereto.

[0055] Please also read Figure 2 , the warning system 1 comprises:

[0056] The image acquisition module 10 is used to acquire an environmental image of the vehicle 100. In at least one embodiment of the present invention, the image acquisition module 10 acquires the environmental image through the camera 106. The environmental image may be a rear image of the vehicle 100 or a side image of the vehicle 100, but is not limited thereto.

[0057] In at least one embodiment of the present invention, the environment image may include multiple objects, such as vehicles, pedestrians, animals, and buildings, etc., but is not limited thereto.

[0058] The image recognition module 20 is used to recognize multiple objects from the environment image and mark a target object from the multiple objects.

[0059] In at least one embodiment of the present invention, the target object may be a movable object, such as a motor vehicle, a non-motor vehicle, a pedestrian, an aircraft, or an animal, etc., but is not limited thereto.

[0060] Further, the image recognition module 20 cuts out the target object through the object detection algorithm. Optionally, the image recognition module 20 cuts out multiple objects through the object detection algorithm, detects the image size of the cut-out designated object, and identifies the object whose image size is greater than a lower limit threshold as the target object. The lower limit threshold indicates that the distance between the object and the vehicle 100 is less than a safe distance.

[0061] When it is recognized that there are a plurality of objects whose image sizes are larger than the lower threshold, the image recognition module 20 recognizes the object with the largest image size as the target object.

[0062] Optionally, in at least one embodiment of the present invention, the image recognition module 20 may further classify the objects and set different lower thresholds for different categories. For example, the vehicle category corresponds to the first lower threshold, the animal category corresponds to the second lower threshold, and the aircraft category corresponds to the third lower threshold.

[0063] The control module 30 is used to confirm the direction and position of the target object relative to the vehicle 100, adjust the warning device 105 according to the direction and position of the target object relative to the vehicle 100, and control the warning device 105 to provide a directional warning to the target object.

[0064] Furthermore, the control module 30 adjusts the aiming area of ​​the warning device 105 to cover at least a portion of the target object.

[0065] The detection module 40 is used to detect whether the size of the target object is smaller than an upper threshold. When the image size of the target object is smaller than the upper threshold, it is recognized that the target object will not threaten the travel of the vehicle 100, and the control module 30 controls the warning device 105 not to work. When the image size of the target object is greater than or equal to the upper threshold, it is recognized that the target object may collide with the vehicle 100, and the control module 30 controls the warning device 105 to provide a directional warning to the target object. In at least one embodiment of the present invention, the upper threshold is greater than the lower threshold.

[0066] The timing module 50 is used to accumulate the duration of the target object being behind the vehicle 100. When the duration is greater than a preset time threshold, the target object is identified as a possible tracker. When the duration is less than or equal to the preset time threshold, the target object is identified as another vehicle traveling normally.

[0067] The extraction module 60 is used to extract the characteristic information of the target object when the duration is greater than a preset time threshold. In at least one embodiment of the present invention, the characteristic information may be a license plate number or facial information. In other embodiments, the characteristic information may also be the contour information of the vehicle 100, but is not limited thereto.

[0068] Furthermore, the extraction module 60 is further configured to compare the feature information of the target object with a plurality of pre-stored feature information in the whitelist.

[0069] The prompt module 70 is used to generate prompt information when the characteristic information of the target object is inconsistent with the plurality of pre-stored characteristic information in the whitelist, so as to prompt the user whether to perform the adding operation.

[0070] In at least one embodiment of the present invention, the prompt information may be displayed in the form of a pop-up window on the display screen of the vehicle 100 or a terminal device connected to the vehicle 100. In other alternative embodiments, the prompt information may also be displayed in full screen or in a notification bar. The terminal device may be a mobile phone, a wearable device, a driving recorder, etc., but is not limited thereto.

[0071] Furthermore, when no adding operation of the user is detected within a preset detection time or a rejection of the adding operation is detected, the target object is identified as a tracker, and the control module 30 controls the warning device 105 to issue a directional warning to the target object.

[0072] In at least one embodiment of the present invention, the adding operation and the rejecting adding operation may be implemented by performing a touch operation or a gesture operation on a display screen of the vehicle 100 or the terminal device connected to the vehicle 100 .

[0073] In at least one embodiment of the present invention, the upper threshold, the lower threshold, the duration and the preset detection time can be set according to user needs. At the same time, the alignment area can also be adaptively adjusted according to the different alarm devices 105.

[0074] The above-mentioned vehicle 100 can generate a directional warning when a target object behind approaches the vehicle 100 by identifying the target object in the environmental image of the vehicle obtained by the camera, so as to drive away the target object, reduce the possibility of collision between the target object and the vehicle 100, and improve the safety of vehicle driving.

[0075] Figure 3 The flowchart of the warning method according to the present invention is shown. The vehicle 100 executes the warning method based on the processor 103 executing the image acquisition module 10, the image recognition module 20, the control module 30, the detection module 40, the timing module 50, the extraction module 60 and the prompt module 70 stored in the memory 102 and being communicatively coupled with the warning device 105 and at least one camera 106.

[0076] S10 , the image acquisition module 10 acquires an environmental image of the vehicle 100 in real time.

[0077] In at least one embodiment of the present invention, the image acquisition module 10 acquires the environment image through the camera 106. The environment image may be a rear image of the vehicle 100 or a side image of the vehicle 100, but is not limited thereto.

[0078] In at least one embodiment of the present invention, the environment image may include multiple objects, such as vehicles, pedestrians, animals, and buildings, etc., but is not limited thereto.

[0079] S11, the image recognition module 20 recognizes multiple objects from the environment image, and marks a target object from the multiple objects.

[0080] In at least one embodiment of the present invention, the target object may be a movable object, such as a motor vehicle, a non-motor vehicle, a pedestrian, an aircraft, or an animal, etc., but is not limited thereto.

[0081] Further, the image recognition module 20 cuts out the target object through the object detection algorithm. Optionally, the image recognition module 20 cuts out multiple objects through the object detection algorithm, detects the image size of the cut objects, and identifies the object whose image size is greater than a lower limit threshold as the target object. The lower limit threshold indicates that the distance between the designated object and the vehicle 100 is less than the safe distance.

[0082] When it is recognized that there are a plurality of objects whose image sizes are larger than the lower threshold, the image recognition module 20 recognizes the object with the largest image size as the target object.

[0083] Optionally, in at least one embodiment of the present invention, the image recognition module 20 may further classify the objects and set different lower thresholds for different categories. For example, the vehicle category corresponds to a first lower threshold, the animal category corresponds to a second lower threshold, and the aircraft category corresponds to a third lower threshold.

[0084] S12 : The control module 30 confirms the direction and position of the target object relative to the vehicle 100 .

[0085] S13 , the control module 30 adjusts the warning device 105 according to the direction and position of the target object relative to the vehicle 100 .

[0086] In at least one embodiment of the present invention, the control module 30 covers at least a portion of the target object by adjusting the aiming area of ​​the warning device 105 .

[0087] S14 , the timing module 50 accumulates the duration that the target object is located behind the vehicle 100 .

[0088] S15. The extraction module 60 extracts feature information of the target object when the duration is greater than a preset time threshold.

[0089] In at least one embodiment of the present invention, the characteristic information may be a license plate number or facial information. In other embodiments, the characteristic information may also be contour information of the vehicle 100, but is not limited thereto.

[0090] When the duration is less than or equal to the preset time threshold, the target object is identified as other vehicles traveling normally.

[0091] S16. The extraction module 60 compares the feature information of the target object with a plurality of pre-stored feature information in the white list.

[0092] S17 . The prompt module 70 generates prompt information when the feature information of the target object is inconsistent with any pre-stored feature information in the whitelist, so as to prompt whether the target object is an acquaintance.

[0093] In at least one embodiment of the present invention, the prompt information can be displayed in the form of a pop-up window on the display screen of the vehicle 100 or a terminal device connected to the vehicle 100. In other alternative embodiments, the prompt information can also be displayed in full screen or in a notification bar. The terminal device can be a mobile phone, a wearable device, a driving recorder and other devices, but is not limited to this. The prompt information may include an add button and a reject button. In at least one embodiment of the present invention, the add operation and the reject add operation can be implemented by performing a touch operation or a gesture operation on the display screen of the vehicle 100 or the terminal device connected to the vehicle 100. For example, the add button and the reject button can be virtual buttons or physical buttons on the terminal device.

[0094] S18: Whether the prompt module 70 detects an adding operation within a preset detection time.

[0095] S19: When no adding operation is detected or a rejecting operation is detected within the preset detection time, the control module 30 controls the warning device 105 to issue a directional warning to the target object.

[0096] Please also read Figure 4 The step of the control module 30 controlling the warning device 105 to provide a directional warning to the target object may further include the following steps:

[0097] S191 . The detection module 40 detects whether the image size of the target object is smaller than an upper threshold.

[0098] S192: When the image size of the target object is smaller than the upper threshold, it is recognized that the target object is far away from the vehicle 100, and the control module 30 controls the warning device 105 to stop working.

[0099] S193: When the image size of the target object is greater than or equal to the upper threshold, it is recognized that the target object may collide with the vehicle 100, and the control module 30 controls the warning device 105 to issue a directional warning to the target object.

[0100] The above-mentioned warning method, by identifying the target object in the environmental image of the vehicle 100 obtained by the camera, can generate a directional warning when the target object behind approaches the vehicle 100, so as to drive away the target object, reduce the possibility of collision between the target object and the vehicle, and improve the driving safety of the vehicle 100.

[0101] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence, because according to the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0102] In the several embodiments provided in the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the modules, which is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the device or module can be electrical or other forms.

[0103] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0104] In addition, each functional module in each embodiment of the present invention may be integrated into one processor, or each module may exist physically separately, or two or more modules may be integrated into one module. The above integrated modules may be implemented in the form of hardware or in the form of software functional modules.

[0105] If the integrated module is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the whole or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention.

[0106] It should also be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of more restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0107] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A warning method, used in transportation; The vehicle has a warning device and at least one camera; the warning method includes: Acquire the environment image of the vehicle in real time through the camera; the environment image is the rear image of the vehicle; Identify a plurality of objects from the environment image, and mark a target object from the plurality of objects; Determining the direction and position of the target object relative to the vehicle; Adjusting the aiming area of ​​the warning device to cover at least a portion of the target object according to the direction and position of the target object relative to the vehicle; and The warning device performs a directional warning on the target object located behind the vehicle; The vehicle also stores a white list of multiple pre-stored characteristic information; the warning method also includes: accumulating a duration that the target object is located behind the vehicle; When the duration is greater than a preset time threshold, extracting feature information of the target object; Comparing the extracted feature information of the target object with a plurality of pre-stored feature information in the whitelist; generating a prompt message when the characteristic information of the target object is inconsistent with a plurality of pre-stored characteristic information in the whitelist; Determine whether to issue an alarm for the target object according to the user operation.

2. The warning method according to claim 1, characterized in that: The step of identifying a target object from a plurality of the objects further comprises: Detecting an image size of the object; When the image size of the object is greater than a lower threshold, the object is identified as the target object.

3. The warning method according to claim 1, characterized in that: The warning device performs a directional warning by emitting an object that does not interfere with driving behavior toward a non-driving position.

4. The warning method according to claim 1, characterized in that: The step of adjusting the warning device according to the direction and position of the target object relative to the vehicle comprises: Determine whether the image size of the target object is smaller than an upper threshold; When the image size of the target object is greater than or equal to the upper threshold, the warning device is controlled to provide a directional warning to the target object according to the direction and position of the target object relative to the vehicle.

5. An alarm system, comprising a processor, a memory, an alarm device and at least one camera, wherein the processor is used to implement the alarm method as described in any one of claims 1 to 4 when executing the computer program stored in the memory.

6. A vehicle having a warning device and at least one camera; the vehicle comprising a memory and at least one processor; The memory stores at least one instruction, and the at least one instruction can be executed by the at least one processor to implement a corresponding function. The memory also includes: An image acquisition module, used to acquire an environmental image of the vehicle in real time through the camera; an image recognition module, configured to recognize a plurality of objects from the environment image and mark a target object from the plurality of objects; the environment image is an image of the rear of the vehicle; and a control module, configured to confirm the direction and position of the target object relative to the vehicle, adjust the aiming area of ​​the warning device to cover at least a portion of the target object according to the direction and position of the target object relative to the vehicle, and control the warning device to provide a directional warning to the target object located behind the vehicle; The memory also includes: A timing module, used for accumulating the duration that the target object is located behind the vehicle; An extraction module, configured to extract feature information of the target object and compare the feature information of the target object with a plurality of pre-stored feature information in a whitelist when the duration is greater than a preset time threshold; a prompt module, configured to generate prompt information when the characteristic information of the target object is inconsistent with a plurality of pre-stored characteristic information in the whitelist; and Determine whether to issue an alarm for the target object according to the user operation.

7. The vehicle according to claim 6, characterized in that: The image recognition module further detects the image size of the object; when the image size of the object is greater than a lower threshold, the image recognition module recognizes the object as the target object.

8. The vehicle according to claim 6, characterized in that: The memory also includes: A detection module, used to detect whether the image size of the target object is smaller than an upper threshold; When the image size of the target object is greater than or equal to the upper threshold, the control module controls the warning device to provide a directional warning to the target object according to the direction and position of the target object relative to the vehicle.

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