Method, device, vehicle and storage medium for hub warning

Abstract

The present application provides a method, a device, a vehicle and a storage medium for wheel hub warning. The present application obtains a proximal environment image around the vehicle; and uses the proximal environment image to identify at least one reference object and an obstacle; when the target wheel of the vehicle approaches the obstacle, determines the position of at least one reference object through a distal environment image; based on the future driving trajectory (multiple predicted positions) of the target wheel, the position of at least one reference object, and the relative position between at least one reference object and the obstacle, accurately predicts the shortest distance between the target wheel (multiple predicted positions) and the obstacle, avoiding the situation in the related art that when the target vehicle approaches the obstacle, the first acquisition device cannot detect the shortest distance between the target wheel and the obstacle. When the shortest distance is less than a second preset distance, an alarm signal is sent to prompt the driver that the distance between the wheel hub of the target wheel and the obstacle is too close, enabling the driver to take corresponding collision avoidance measures to avoid collision between the wheel hub and the obstacle.

Description

Technical Field

[0001] The present application relates to the field of vehicle safety, and more specifically, to a method, device, vehicle, and storage medium for hub warning in the field of vehicle safety. Background Art

[0002] With the development of China's economic level and the vehicle industry, people's living standards have gradually improved, and vehicles have become an important means of transportation for people to travel. During the driving process of a vehicle, due to certain vision blind spots of the driver, the wheels of the vehicle may rub against various obstacles (for example, curbs), which may cause irreparable damage to the wheels and bring economic losses to the driver.

[0003] In the related art, the environmental information around the wheels during the driving process of the vehicle is mainly monitored by multiple cameras on the vehicle. When the wheels are relatively close to an obstacle, the hub alarm device will send an alarm signal.

[0004] In the above manner of the hub alarm device to achieve alarm, when multiple cameras monitor all obstacles near the vehicle, the edges of the obstacle images collected may be relatively blurred. Therefore, some obstacles cannot be detected by the surround-view cameras. In this regard, the above manner of the hub alarm device to achieve alarm may have the situation that the wheels are very close to an obstacle, but the hub alarm device does not alarm, and the wheels of the vehicle are damaged. Summary of the Invention

[0005] The present application provides a method, device, vehicle, and storage medium for hub warning, and this method can avoid the collision between the wheels of the vehicle and obstacles.

[0006] In a first aspect, a method for hub warning is provided. The method includes: obtaining a proximal environment image around the vehicle, where the proximal environment image is collected by a first acquisition device within a preset range from a target wheel of the vehicle; identifying the proximal environment image to determine obstacles and at least one reference object around the target wheel; when the distance between the target wheel and the obstacle is less than a first preset distance, determining the position of the at least one reference object based on a distal environment image, where the distal environment image is collected by a second acquisition device on the vehicle outside the preset range from the target wheel; determining the shortest distance between the target wheel and the obstacle based on multiple predicted positions of the target wheel, the position of the at least one reference object, and the relative position between the at least one reference object and the obstacle, where the multiple predicted positions are positions that the target wheel will move to within a preset time period; when the shortest distance is less than a second preset distance, sending an alarm signal, where the alarm signal is used to prompt the driver of the vehicle that there is a collision risk between the hub of the target wheel and the obstacle.

[0007] In the above technical solution, the first acquisition device can be used to obtain the proximal environment image around the vehicle in advance (that is, when the distance between the target wheel and the obstacle is not less than the first preset distance, the proximal environment image is obtained); the obstacle and at least one reference object can be accurately identified through the proximal environment image; when the target wheel of the vehicle approaches the obstacle (the distance between the target wheel and the obstacle is less than the first preset distance), since the first acquisition device is relatively close to the obstacle at this time and there is a field of view blind area for the first acquisition device, the second acquisition device can be used to acquire the distal environment image; the position of at least one reference object is determined based on the distal environment image; based on the current position of the vehicle, multiple positions (multiple predicted positions) that the target wheel will move to can be predicted, that is, the future driving trajectory of the target wheel; based on the multiple predicted positions, the positions of at least one reference object, and the relative positions between at least one reference object and the obstacle, the shortest distance between the target wheel (multiple predicted positions) and the obstacle can be accurately predicted, and it can be avoided that in the related art, when the target wheel is relatively close to the obstacle, the first acquisition device cannot detect the shortest distance between the target wheel and the obstacle. In this application, when the shortest distance between the target wheel and the obstacle is less than the second preset distance, an alarm signal is generated to prompt the driver of the vehicle that the distance between the hub of the target wheel and the obstacle is too close and there may be a collision risk. In this way, the driver can take corresponding collision avoidance measures to avoid the collision between the hub of the target wheel and the obstacle.

[0008] It should be understood that a reference object can be understood as an object that plays a reference role during the driving of the vehicle to prevent the device on the vehicle from colliding with a certain object. For example, knowing the relative positions of the curb and the street lamp, in the scenario of reversing the vehicle into the garage, in order to avoid the vehicle wheels from colliding with the curb on the side of the road, the driver can refer to the position of the street lamp and park the vehicle in the garage. Among them, the reference object is the street lamp; the obstacle can be understood as an object that the device on the vehicle collides with during the driving of the vehicle and has a damaging effect on the device. For example, the curb, the guardrail, etc.

[0009] It should also be understood that there is no clear division standard between the reference object and the obstacle. In some cases, the obstacle can also be used as a reference object; and in some cases, the reference object can also be used as an obstacle.

[0010] Combined with the first aspect, in some possible implementation manners, the method further includes: determining the relative position between the at least one reference object and the first acquisition device based on the proximal environment image; determining the relative position between the obstacle and the first acquisition device based on the proximal environment image; determining the relative position between the at least one reference object and the obstacle based on the relative position between the at least one reference object and the first acquisition device and the relative position between the obstacle and the first acquisition device.

[0011] It should be understood that the first acquisition device can be a device with acquisition or shooting functions. The first acquisition device can be a camera or a camera.

[0012] In the above technical solution, the first acquisition device can obtain the relative position between the obstacle and the first acquisition device based on the ranging principle; obtain the relative position between the at least one reference object and the first acquisition device. Since the installation position of the first acquisition device on the vehicle is determined, the relative position between the at least one reference object and the obstacle can be determined based on the relative position between the obstacle and the first acquisition device and the relative position between the at least one reference object and the first acquisition device. That is to say, the relative position between the at least one reference object and the obstacle can be accurately determined by the first acquisition device originally installed on the vehicle without adding additional sensors on the vehicle, which can save costs.

[0013] Combined with the first aspect and the above implementation manners, in some possible implementation manners, determining the shortest distance between the target wheel and the obstacle based on the multiple predicted positions of the target wheel, the position of the at least one reference object, and the relative position between the at least one reference object and the obstacle includes: determining the relative position between the multiple predicted positions and the at least one reference object based on the multiple predicted positions and the position of the at least one reference object; determining the relative position between the multiple predicted positions and the obstacle based on the relative position between the multiple predicted positions and the at least one reference object and the relative position between the at least one reference object and the obstacle; and determining the shortest distance based on the relative position between the multiple predicted positions and the obstacle.

[0014] In the above technical solution, based on the current position of the vehicle, based on the multiple positions that the target wheel is about to move (i.e., multiple predicted positions), that is, the future driving trajectory of the target wheel and the position of the at least one reference object, the relative position between the multiple predicted positions and the at least one reference object can be determined; based on the relative position between the multiple predicted positions and the at least one reference object and the relative position between the at least one reference object and the obstacle, the relative position between the multiple predicted positions of the target wheel and the obstacle can be accurately calculated, so that the shortest distance between the target wheel and the obstacle can be accurately obtained.

[0015] Combined with the first aspect and the above implementation manners, in some possible implementation manners, the method further includes: obtaining the current steering wheel angle of the vehicle, determining the angle of the target wheel; and determining the multiple predicted positions based on the angle of the target wheel, the current position of the target wheel, the current driving speed of the vehicle, and the current gear of the vehicle.

[0016] In the above technical solution, based on various driving parameters of the vehicle (steering wheel angle, driving speed, and gear) at the current position of the vehicle, the future trajectory of the target wheel, that is, multiple predicted positions of the target wheel, can be determined. Thus, it can be predicted whether the shortest distance between the target wheel and an obstacle is less than a preset distance. In the case where the shortest distance between the target wheel and the obstacle is less than the preset distance, an alarm can be given in advance, so that the situation of the hub of the target wheel rubbing against the obstacle can be reduced.

[0017] Combined with the first aspect and the above implementation manners, in some possible implementation manners, after sending the alarm signal, the method further includes: displaying, on the main display screen of the vehicle, information corresponding to the alarm signal, where the information is used to indicate that when the vehicle travels based on adjustment parameters, the hub of the target wheel is away from the obstacle; and / or, controlling the steering wheel of the vehicle to vibrate based on the alarm signal; and / or, controlling the seat of the vehicle to vibrate based on the alarm signal.

[0018] In the above technical solution, after sending the alarm signal, the collision between the hub and the obstacle can be further avoided. It may be to display the adjustment parameters for the vehicle to travel on the main display screen, and the adjustment parameters can keep the hub away from the obstacle when the vehicle travels; the alarm signals of the vibrating steering wheel and the vibrating seat can increase the probability that the driver notices that the hub may collide with the obstacle, so that the driver can take corresponding collision avoidance measures, which is more conducive to safe driving.

[0019] Combined with the first aspect and the above implementation manners, in some possible implementation manners, obtaining the proximal environment image around the vehicle includes: when the driving speed of the vehicle is less than a preset speed, obtaining the proximal environment image around the vehicle.

[0020] In the above technical solution, when the driving speed of the vehicle is less than the preset speed, the proximal environment image around the vehicle is collected by the first collection device. This can avoid the situation that when the driving speed of the vehicle is relatively high, the proximal environment image obtained by the first collection device is relatively blurred, and thus the proximal environment image cannot be used for subsequent operations, such as identifying obstacles around the vehicle and at least one reference object matching the obstacle based on the obtained proximal environment image.

[0021] Combined with the first aspect and the above implementation manners, in some possible implementation manners, sending the alarm signal includes: sending the alarm signal by means of voice broadcast.

[0022] In the above technical solution, the alarm signal can be sent by means of voice broadcast, which can prompt the driver of the vehicle that the distance between the hub of the target wheel and the obstacle is too close and the position of the target wheel needs to be adjusted.

[0023] In summary, the present application proposes a method for wheel hub warning, which can use the first acquisition device to obtain the proximal environment image around the vehicle in advance (that is, when the distance between the target wheel and the obstacle is not less than the first preset distance, the proximal environment image is obtained); the obstacle and at least one reference object can be accurately identified through the proximal environment image; when the target wheel of the vehicle approaches the obstacle (the distance between the target wheel and the obstacle is less than the first preset distance), since the first acquisition device is relatively close to the obstacle at this time and there is a visual blind area for the first acquisition device, the second acquisition device can be used to acquire the distal environment image; the position of at least one reference object is determined based on the distal environment image; based on the current position of the vehicle, multiple positions (multiple predicted positions) that the target wheel will move to can be predicted, that is, the future driving trajectory of the target wheel; based on the multiple predicted positions, the position of at least one reference object, and the relative position between at least one reference object and the obstacle, the shortest distance between the target wheel (multiple predicted positions) and the obstacle can be accurately predicted, which can avoid the situation in the related art where when the target wheel is relatively close to the obstacle, the first acquisition device cannot detect the shortest distance between the target wheel and the obstacle. The present application can generate an alarm signal when the shortest distance between the target wheel and the obstacle is less than the second preset distance to prompt the driver of the vehicle that the wheel hub of the target wheel is too close to the obstacle and there may be a collision risk.

[0024] In addition, the first acquisition device can, based on the ranging principle, obtain the relative position between the obstacle and the first acquisition device; obtain the relative position between the at least one reference object and the first acquisition device. Since the installation position of the first acquisition device on the vehicle is determined, the relative position between at least one reference object and the obstacle can be determined based on the relative position between the obstacle and the first acquisition device and the relative position between the at least one reference object and the first acquisition device. That is, the relative position between at least one reference object and the obstacle can be accurately determined by the first acquisition device originally installed on the vehicle without adding additional sensors on the vehicle, which can save costs.

[0025] Furthermore, based on the current position of the vehicle, based on the multiple positions (i.e., multiple predicted positions) that the target wheel will move to, that is, the future driving trajectory of the target wheel and the position of at least one reference object, the relative position between the multiple predicted positions and the at least one reference object can be determined; based on the relative position between the multiple predicted positions and the at least one reference object and the relative position between the at least one reference object and the obstacle, the relative position between the multiple predicted positions of the target wheel and the obstacle can be accurately calculated, so that the shortest distance between the target wheel and the obstacle can be accurately obtained.

[0026] Finally, when the shortest distance between the target wheel and the obstacle is less than the second preset distance, an alarm signal can be sent; that is, when the target wheel approaches the obstacle, the driver of the vehicle can be prompted that the hub of the target wheel may collide with the obstacle, and thus the driver can take corresponding collision avoidance measures, etc.

[0027] In a second aspect, a hub warning device is provided. The device includes: an acquisition module, configured to acquire a proximal environment image around the vehicle, where the proximal environment image is acquired by a first acquisition device within a preset range from the target wheel of the vehicle; a determination module, configured to: identify the proximal environment image to determine obstacles and at least one reference object around the target wheel; when the distance between the target wheel and the obstacle is less than a first preset distance, based on a distal environment image, determine the position of the at least one reference object, where the distal environment image is acquired by a second acquisition device outside the preset range from the target wheel on the vehicle; based on multiple predicted positions of the target wheel, the position of the at least one reference object, and the relative position between the at least one reference object and the obstacle, determine the shortest distance between the target wheel and the obstacle, where the multiple predicted positions are positions that the target wheel will move to within a preset time period; a sending module, configured to send an alarm signal when the shortest distance is less than a second preset distance, where the alarm signal is used to prompt the driver of the vehicle that there is a potential collision risk between the hub of the target wheel and the obstacle.

[0028] In combination with the second aspect, in some possible implementation manners, the determination module is further configured to: determine the relative position between the at least one reference object and the first acquisition device based on the proximal environment image; determine the relative position between the obstacle and the first acquisition device based on the proximal environment image; determine the relative position between the at least one reference object and the obstacle based on the relative position between the at least one reference object and the first acquisition device and the relative position between the obstacle and the first acquisition device.

[0029] In combination with the second aspect and the above implementation manners, in some possible implementation manners, the determination module is specifically configured to determine the relative position between the multiple predicted positions and the at least one reference object based on the multiple predicted positions and the position of the at least one reference object; determine the relative position between the multiple predicted positions and the obstacle based on the relative position between the multiple predicted positions and the at least one reference object and the relative position between the at least one reference object and the obstacle; determine the shortest distance based on the relative position between the multiple predicted positions and the obstacle.

[0030] Combined with the second aspect and the above implementation manners, in some possible implementation manners, the obtaining module is further configured to obtain the current steering wheel angle of the vehicle and determine the angle of the target wheel; the determining module is further configured to determine the multiple predicted positions based on the angle of the target wheel, the current position of the target wheel, the current driving speed of the vehicle, and the current gear of the vehicle.

[0031] Combined with the second aspect and the above implementation manners, in some possible implementation manners, the apparatus further includes: a control module, configured to: display, on the host display screen of the vehicle, information corresponding to the alarm signal, where the information is used to indicate that when the vehicle travels based on the adjustment parameter, the hub of the target wheel is away from the obstacle; and / or, control the steering wheel of the vehicle to vibrate based on the alarm signal; and / or, control the seat of the vehicle to vibrate based on the alarm signal.

[0032] Combined with the second aspect and the above implementation manners, in some possible implementation manners, the obtaining module is specifically configured to obtain a proximal environment image around the vehicle when the driving speed of the vehicle is less than a preset speed.

[0033] Combined with the second aspect and the above implementation manners, in some possible implementation manners, the sending module is specifically configured to send the alarm signal in a voice broadcast manner.

[0034] In a third aspect, a vehicle is provided, including a memory, a processor, and a computer program stored in the memory and running on the processor, where when the processor executes the computer program, the device for managing message partitions is caused to execute the method in the first aspect or any one of the possible implementation manners of the first aspect.

[0035] In a fourth aspect, a computer-readable storage medium is provided, where instructions are stored in the computer-readable storage medium, and when the instructions are run on a computer or a processor, the computer or the processor is caused to execute the method in the first aspect or any one of the possible implementation manners of the first aspect. Description of the Drawings

[0036] Figure 1 is a scenario diagram of a vehicle traveling provided by an embodiment of the present application;

[0037] Figure 2 is a schematic flowchart of a method for hub early warning provided by an embodiment of the present application;

[0038] Figure 3 is a schematic diagram for determining the relative position between at least one reference object and an obstacle provided by an embodiment of the present application;

[0039] Figure 4It is a schematic diagram of the position of a vehicle provided by an embodiment of the present application and the position of a target wheel;

[0040] Figure 5 It is a schematic diagram of a method for determining the shortest distance between a target wheel and an obstacle provided by an embodiment of the present application;

[0041] Figure 6 It is a schematic structural diagram of a hub warning device provided by an embodiment of the present application;

[0042] Figure 7 It is a schematic structural diagram of a vehicle provided by an embodiment of the present application. Detailed implementation manners

[0043] Next, the technical solutions in the present application will be clearly and elaborately described with reference to the accompanying drawings. Among them, in the description of the embodiments of the present application, "a plurality of" means two or more than two. The terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0044] Figure 1 It is a scene diagram of a vehicle provided by an embodiment of the present application.

[0045] Exemplarily, in the Figure 1 shown scene diagram, when the driver parks the vehicle from the left side of the garage into the garage, since the distance between the camera N installed on the vehicle and the curb is too close (resulting in a blurred image of the curb collected by the camera and the curb cannot be detected), it may cause the camera on the vehicle to fail to detect that the left front wheel C is about to approach the curb, resulting in a possible collision between the left front wheel and the curb and damage to the hub of the left front wheel.

[0046] Figure 2 It is a schematic flowchart of a hub warning method provided by an embodiment of the present application.

[0047] It should be understood that a hub warning method provided by an embodiment of the present application can be applied to Figure 1 the shown vehicle. More specifically, the hub warning method is applied to a controller in the vehicle.

[0048] Exemplarily, as Figure 2 shown, the method includes:

[0049] 201. The controller acquires a proximal environment image around the vehicle, and the proximal environment image is collected by a first acquisition device within a preset range from the target wheel of the vehicle.

[0050] Optionally, the first acquisition device in step 201 is a device that can acquire or capture images, which can be a camera or a camera, etc.

[0051] It should be understood that when the first acquisition device is a camera, the number of cameras can be 1 or greater than 1, and the number of cameras is not limited at this time.

[0052] It should also be understood that when the first acquisition device is a camera, the type of the camera can be monocular or binocular.

[0053] It should also be understood that when the first acquisition device is a camera, the camera can be any camera in the surround view camera or a side view camera. The camera adjacent to the target wheel can acquire information about various objects within at least 4 meters from the camera. Among them, the surround view camera includes multiple cameras, which can be respectively installed at the four corners of the vehicle body; the side view camera includes a left side view camera and a right side view camera. The left side view camera can be installed on the left rearview mirror, and the right side view camera can be installed on the right rearview mirror.

[0054] In a possible implementation manner, step 201 includes: when the distance between the target wheel of the vehicle and the obstacle is greater than a first preset distance, the controller acquires a proximal environment image around the vehicle.

[0055] In some embodiments, for example, in the embodiment where the vehicle needs to be parked in the garage, when the vehicle is at a certain distance from the garage (for example, within 3 meters to 4 meters), that is, when the distance between the target wheel and the obstacle is greater than the first preset distance, the camera within the preset range from the target wheel can be used to acquire the proximal environment image around the vehicle. At this distance, the acquired proximal environment image is relatively clear, so various object information can be obtained from the proximal environment image. The position of the obstacle, the position of at least one reference object matching the obstacle, and the relative position between at least one reference object and the obstacle can be determined. For example, the position of the curb, the position of the road line, and the relative position between the road line and the curb, etc.

[0056] Further, when the vehicle continues to drive and a part of the vehicle body enters the garage, that is, when the distance between the target wheel and the obstacle is less than the first preset distance, there is a large field of view blind area for the camera within the preset range from the target wheel, and the camera cannot obtain the position of any object. Therefore, the position of at least one reference object can be obtained based on the camera (second acquisition device) outside the preset range from the target wheel on the vehicle; furthermore, based on the position of at least one reference object and the relative position between at least one reference object and the obstacle, it can contribute to accurately calculating the shortest distance between the target wheel and the obstacle.

[0057] In the above technical solution, when the distance between the target wheel and the obstacle is not less than the first preset distance, the first acquisition device can acquire a relatively clear proximal environment image around the vehicle. Furthermore, various object information in the proximal environment image can be obtained based on this proximal environment image, which can contribute to determining the shortest distance between the target wheel and the obstacle.

[0058] In a possible implementation, step 201 includes: when the driving speed of the vehicle is less than the preset speed, the controller acquires the proximal environment image around the vehicle.

[0059] In the above technical solution, when the driving speed of the vehicle is less than the preset speed, the first acquisition device acquires the proximal environment image around the vehicle. This can avoid the proximal environment image obtained by the first acquisition device being blurred when the driving speed of the vehicle is relatively high, and thus subsequent operations cannot be performed using the proximal environment image. For example, based on the obtained proximal environment image, obstacles and at least one reference object around the vehicle can be recognized.

[0060] 202. The controller recognizes the proximal environment image to determine the obstacles and at least one reference object around the target wheel.

[0061] It should be understood that in the embodiments of the present application, a "reference object" can be understood as an object that can play a reference role during the driving of the vehicle to prevent a device on the vehicle from colliding with an object. For example, knowing the relative positions of the curb and the street lamp, in the scenario of reversing the vehicle into the garage, in order to avoid the vehicle wheels colliding with the curb on the roadside, the driver can refer to the position of the street lamp at a certain distance from the curb and park the vehicle in the garage. Here, the reference object is the street lamp; an "obstacle" can be understood as an object that the device on the vehicle collides with during the driving of the vehicle and causes damage to the device. For example, a curb, a guardrail, etc.

[0062] It should also be understood that there is no clear division standard between the reference object and the obstacle. In some cases, an obstacle can also be used as a reference object; in some cases, a reference object can also be used as an obstacle.

[0063] In a possible implementation, step 202 includes: the controller recognizes multiple objects in the proximal environment image to determine the attributes of the multiple objects; when the attribute of any object indicates that the object will cause damage to the wheel, it is determined that the object is an obstacle; when the attribute of any object indicates that the object will not cause damage to the wheel, it is determined that the object is a reference object.

[0064] In the above technical solution, the controller identifies multiple objects in the proximal environment image, determines the attributes of the multiple objects, and uses the attributes of each object in the multiple objects to accurately distinguish each object as an obstacle or a reference object. Then, in the subsequent solution, the driving trajectory of the wheel can be adjusted to avoid the collision between the wheel hub and the obstacle, rather than avoiding the collision between the wheel hub and the reference object, which can reduce the damage to the wheel hub.

[0065] 203. When the distance between the target wheel and the obstacle is less than the first preset distance, the controller determines the position of the at least one reference object based on the distal environment image, and the distal environment image is collected by a second collecting device on the vehicle outside the preset range from the target wheel.

[0066] It should be understood that when the target wheel on the vehicle approaches the obstacle (the distance between the target wheel and the obstacle is less than the first preset distance), there may be a large acquisition blind area for the first collecting device, and the position information of any object cannot be acquired. However, the second collecting device on the vehicle is at a relatively large distance from the obstacle, and there is no visual blind area in the visual field range of the second collecting device. Therefore, the position of at least one reference object can be determined based on the second collecting device; thus, the distance information between the target wheel and the obstacle can be accurately calculated based on the relative position between the at least one reference object and the obstacle.

[0067] Optionally, the second collecting device is a device that can collect or capture images, and the second collecting device can be a camera or a camera, etc.

[0068] In the above technical solution, since the target wheel approaches the obstacle, there may be a large acquisition blind area for the first collecting device, resulting in the inability to acquire the position of any object by the first collecting device. Therefore, the second collecting device originally installed on the vehicle can be used to collect the position of at least one reference object, which can obtain the position of at least one reference object while saving costs.

[0069] 204. The controller determines the shortest distance between the target wheel and the obstacle based on the multiple predicted positions of the target wheel, the position of the at least one reference object, and the relative position between the at least one reference object and the obstacle, and the multiple predicted positions are the positions that the target wheel will move to within a preset time period.

[0070] It should also be understood that in the embodiments of the present application, "relative position" can be understood as information used to determine the positions of things around an object with the position of the object itself as a reference point. For example, taking a vehicle as a reference point, if a street lamp is in the 2 o'clock direction of the vehicle and the distance from the vehicle is 1.5 meters, then this is the relative position between the street lamp and the vehicle; another example is taking the street lamp as a reference point, if the vehicle is in the 8 o'clock direction of the street lamp and the distance from the street lamp is 1.5 meters, then this is the relative position between the vehicle and the street lamp.

[0071] In a possible implementation manner, before step 204, obtain the current steering wheel angle of the vehicle, and determine the angle of the target wheel; based on the angle of the target wheel, the current position of the target wheel, the current driving speed of the vehicle, and the current gear of the vehicle, determine the multiple predicted positions.

[0072] In the above technical solution, at the current position of the vehicle, based on various driving parameters of the vehicle (steering wheel angle, driving speed, and gear), the future trajectory of the target wheel, that is, the multiple predicted positions of the target wheel, can be determined, so as to predict whether the shortest distance between the target wheel and an obstacle is less than a second preset distance. When the shortest distance between the target wheel and the obstacle is less than the second preset distance, an alarm signal can be sent in advance, which can reduce the situation of the hub of the target wheel rubbing against the obstacle.

[0073] As follows, the process of determining the current position of the target wheel of the vehicle will be discussed in two implementation manners.

[0074] In a possible implementation manner, the controller obtains the position of the vehicle through a positioning device on the vehicle.

[0075] Optionally, in some embodiments, the positioning device may be a device that performs positioning based on Global Positioning System (GPS) technology, or may also be a device that performs positioning based on Beidou satellites.

[0076] Figure 4 It is a schematic diagram of the position of the vehicle and the position of the target wheel provided by the embodiments of the present application.

[0077] Exemplarily, the target wheel is the right rear wheel of the vehicle. As Figure 4 shown, Figure 4 the point P in it indicates the position of the vehicle, and the point Q indicates the position of the right rear wheel.

[0078] In another possible implementation manner, the controller obtains the position of the vehicle through a terminal application with the function of querying the vehicle position.

[0079] Optionally, the controller obtains the position of the vehicle by inputting the information of the vehicle into the terminal application, where the information of the vehicle is used to identify a vehicle.

[0080] It should be understood that the information of the vehicle can be the vehicle number of the vehicle, or the identity information of the vehicle owner, etc.

[0081] In a possible implementation, the method further includes: the controller determines the relative position between the at least one reference object and the first acquisition device based on the proximal environment image; determines the relative position between the obstacle and the first acquisition device based on the proximal environment image; and determines the relative position between the at least one reference object and the obstacle based on the relative position between the at least one reference object and the first acquisition device and the relative position between the obstacle and the first acquisition device.

[0082] It should be understood that when the first acquisition device is a camera and the camera is a monocular camera, based on the installation position of the monocular camera on the vehicle being determined and given the height of an object, the monocular camera can obtain the relative position between the monocular camera and the object based on the principle of pinhole imaging. When the first acquisition device is a camera and the camera is a binocular camera, based on the installation position of the binocular camera on the vehicle being determined and the principle of parallax, the relative position between the binocular camera and the object can be obtained.

[0083] In the above technical solution, the first acquisition device can obtain the relative position between the obstacle and the first acquisition device based on the ranging principle; and obtain the relative position between the at least one reference object and the first acquisition device. Since the installation position of the first acquisition device on the vehicle is determined, the relative position between the at least one reference object and the obstacle can be determined based on the relative position between the obstacle and the first acquisition device and the relative position between the at least one reference object and the first acquisition device. That is, the relative position between the at least one reference object and the obstacle can be accurately determined by the first acquisition device originally installed on the vehicle without adding additional sensors on the vehicle, thus saving costs.

[0084] In a possible implementation, the first acquisition device is a monocular camera, and the controller determines the relative position between the obstacle and the first acquisition device based on the proximal environment image, including: the controller obtains through the monocular camera to determine the direction of the obstacle relative to the monocular camera; and the controller determines the distance between the obstacle and the monocular camera through the pinhole imaging principle and the principle of similar triangles of the camera. The relative position between the obstacle and the monocular camera is the direction of the obstacle relative to the monocular camera and the distance between the obstacle and the monocular camera.

[0085] In a possible implementation, the first acquisition device is a monocular camera, and the controller determines the relative position between the at least one reference object and the first acquisition device based on the proximal environment image, including: the controller obtains the angles of at least one reference object in the proximal environment image through the monocular camera, and determines the direction of at least one reference object relative to the monocular camera; the controller determines the distance between the at least one reference object and the monocular camera through the pinhole imaging principle and the principle of similar triangles of the camera, and the relative position between the at least one reference object and the monocular camera is the direction of at least one reference object relative to the monocular camera and the distance between the at least one reference object and the monocular camera.

[0086] The process of "determining the relative position between at least one reference object and the obstacle" is described below in a possible implementation.

[0087] Figure 3 It is a schematic diagram provided by an embodiment of the present application for determining the relative position between at least one reference object and an obstacle.

[0088] Exemplarily, the first acquisition device is a camera. When the vehicle is in the position shown in Figure (a) as follows Figure 3 A camera B within 50 cm of the target wheel C of the vehicle can collect the distal environment image around the vehicle. At this time, the distal environment image may include a street lamp A and a curb D. Among them, the curb is the obstacle, the curb is the reference object, the camera B is a monocular camera, and the distance between the target wheel C and the camera B is 30 cm.

[0089] When the camera B collects the distal environment image including the curb, based on the acquisition angle of the camera B at this time, the direction of the curb relative to the camera B can be obtained, that is, the curb is in the 3 o'clock direction of the camera B; based on the distal environment image collected by the camera B including the curb, a figure as shown in Figure 3 Figure (b) can be constructed. Among them, the height of the curb is W, the focal length of the camera B is f1, and the height of the image of the curb in the camera B is h1. Then, based on the principle of similar triangles, the camera B can determine the distance L1 between the curb and the camera B as (W * f1 / h1) meters, so as to obtain the relative position between the curb and the camera B as the curb is in the 3 o'clock direction of the camera B and the distance from the camera B is L1.

[0090] When the camera B collects the distal environment image including the street lamp, based on the acquisition angle of the camera B at this time, the direction of the street lamp relative to the camera B can be obtained, that is, the street lamp is in the 1:30 direction of the camera B; based on the distal environment image collected by the camera B including the street lamp, a figure as shown in Figure 3In figure (c), the height of the street lamp is H, the focal length of camera B is f2, and the height of the image of the street lamp in camera B is h2. Then, based on the principle of similar triangles, camera B can determine that the distance L2 between the street lamp and camera B is (H * f2 / h2) meters, and thus obtain the relative position between the street lamp and camera B as follows: the street lamp is at the 1:30 direction of camera B, and the distance from the street lamp to camera B is L2.

[0091] As shown in Figure 3 figure (d), triangles ABD, right triangle BOD, and right triangle AOD are constructed based on the relative positions of camera B, street lamp A, curb D, the relative position between the curb and camera B, and the relative position between the street lamp and the camera. Among them, the curb is at the 3 o'clock direction of camera B, and the distance from the curb to camera B is L1; the street lamp is at the 1:30 direction of camera B, and the distance from the street lamp to camera B is L2. Figure 3 In figure (d), it can be obtained that GK is parallel to IJ, IJ is parallel to EF, ∠BAF is 45° (obtained based on the fact that the street lamp is at the 1:30 direction of camera B), ∠ABD is 45° (obtained based on the fact that the street lamp is at the 1:30 direction of camera B), ∠BDJ is 90° (obtained based on the fact that the curb is at the 3 o'clock direction of camera B), AB is L2, and BD is L1. Since ∠BOD is 90° and ∠ABD is 45°, based on the Pythagorean theorem of a right triangle, it can be obtained that OB = OD, and OB and OD are Therefore, OA is In right triangle AOD, given the lengths of OA and OD, the length of AD can be determined as L3 and the size of ∠BAD can be obtained, and thus the size of ∠DAF can be obtained (the difference between ∠BAF being 45° and ∠BAD being 45°). Therefore, the relative position between the street lamp and the curb is as follows: the distance between the street lamp and the curb is L3, the street lamp is at the upper right corner of the curb, and the included angle with the vertical direction of the curb is ∠IDA (the size of ∠IDA is equal to the size of ∠DAF).

[0092] In a possible implementation manner, step 204 includes: the controller determines the relative positions between the multiple predicted positions and the at least one reference object based on the multiple predicted positions and the positions of the at least one reference object; the controller determines the relative positions between the multiple predicted positions and the obstacle based on the relative positions between the multiple predicted positions and the at least one reference object and the relative positions between the at least one reference object and the obstacle; the controller determines the shortest distance based on the relative positions between the multiple predicted positions and the obstacle.

[0093] In the above technical solution, based on the current position of the vehicle, based on multiple positions that the target wheel is about to move to (i.e., multiple predicted positions), that is, the future driving trajectory of the target wheel and the positions of at least one reference object, the relative positions between the multiple predicted positions and the at least one reference object can be determined; based on the relative positions between the multiple predicted positions and the at least one reference object, and the relative positions between the at least one reference object and the obstacle, the relative positions between the multiple predicted positions of the target wheel and the obstacle can be accurately deduced, so that the shortest distance between the target wheel and the obstacle can be accurately obtained.

[0094] In a possible implementation manner, the controller determines the relative positions between the multiple predicted positions and the at least one reference object based on the multiple predicted positions and the positions of the at least one reference object, including: the controller establishes a spatial rectangular coordinate system with any object as the center; the controller determines the relative positions between the multiple predicted positions and the at least one reference object based on the coordinates of the multiple predicted positions in the spatial rectangular coordinate system and the coordinates of the at least one reference object in the spatial rectangular coordinate system. The relative positions between the multiple predicted positions and the at least one reference object are the orientations of the multiple predicted positions relative to the at least one reference object and the distances between the multiple predicted positions and the at least one reference object.

[0095] Figure 5 It is a schematic diagram for determining the shortest distance between a target wheel and an obstacle provided by an embodiment of the present application.

[0096] Exemplarily, taking a street lamp as the reference object, a curb as the obstacle, and the left front wheel X of the vehicle as the target wheel, a description of determining the shortest distance between the target wheel and the obstacle is given.

[0097] Taking Figure 5Take the scenario where the left front wheel X shown is close to the curb as an example. In this scenario, the position of the street lamp can be collected by the camera Y, that is, in the space rectangular coordinate system centered on the camera Y, the coordinates of the street lamp A are (a, b); based on the coordinates (a, b) of the street lamp, the coordinates (c1, d1), (c2, d2), (c3, d3), (c4, d4) of the 4 predicted positions (X1, X2, X3, and X4) of the left front wheel X in the space rectangular coordinate system are determined, and the relative positions between the 4 predicted positions and the street lamp are respectively: the distance between X1 and the street lamp is AX1, X1 is at the lower left corner of the street lamp, and the included angle with the vertical direction of the street lamp is ∠X1AM; the distance between X2 and the street lamp is AX2, X2 is at the lower left corner of the street lamp, and the included angle with the vertical direction of the street lamp is ∠X2AM; the distance between X3 and the street lamp is AX3, X3 is at the lower left corner of the street lamp, and the included angle with the vertical direction of the street lamp is ∠X3AM; and the distance between X4 and the street lamp is AX4, X4 is at the lower left corner of the street lamp, and the included angle with the vertical direction of the street lamp is ∠X4AM.

[0098] Based on the relative positions between the 4 predicted positions and the street lamp, and the relative positions between the street lamp and the curb (the distance between the street lamp and the curb is L3, the street lamp is at the upper right corner of the curb, and the included angle with the vertical direction of the curb is ∠IDA), in accordance with Figure 3 the same principle as shown in figure (d) for solving the relative positions between the street lamp and the curb based on the relative positions between the street lamp and the camera B, and based on the relative positions between the curb and the camera B, the relative positions between the curb and the 4 predicted positions are determined; and the shortest distance between the curb and the target wheel is obtained therefrom.

[0099] 205. When the shortest distance is less than the second preset distance, the controller sends an alarm signal, and this alarm signal is used to prompt the driver of the vehicle that there is a potential collision risk between the hub of the target wheel and the obstacle.

[0100] In a possible implementation, the controller sending the alarm signal includes: the controller sends the alarm signal by means of voice broadcast.

[0101] In the above technical solution, in some embodiments, the alarm signal can be broadcast in a relatively loud voice, which can increase the warning effect, prompt the driver to drive the vehicle carefully, prompt the driver that the hub of the target wheel is too close to the obstacle, and that the trajectory of the target wheel needs to be adjusted, etc.

[0102] In a possible implementation, after step 205, it includes: the controller displays the information corresponding to the alarm signal on the host display screen of the vehicle, and the information is used to indicate that when the vehicle travels based on the adjustment parameter, the hub of the target wheel is away from the obstacle; and / or, the controller controls the steering wheel of the vehicle to vibrate based on the alarm signal; and / or, the controller controls the seat of the vehicle to vibrate based on the alarm signal.

[0103] In the above technical solution, the solution after the controller sends the alarm signal is described. After the controller sends the alarm signal, the controller can display the adjustment parameters of the vehicle driving on the host display screen, and the adjustment parameters can keep the hub away from the obstacle when the vehicle is driving; the alarm signals of the vibrating steering wheel and the vibrating seat can increase the probability that the driver notices that the hub may collide with the obstacle, so that the driver can take corresponding collision avoidance measures, which is more conducive to safe driving.

[0104] In a possible implementation, after step 205, the method further includes: when the shortest distance is less than the third preset distance, the controller controls the vehicle to stop driving.

[0105] In the above technical solution, when the shortest distance between the target wheel and the obstacle is less than the third preset distance, the position of the target wheel is not adjusted, but the vehicle can be directly controlled to stop driving. This can avoid the situation that the hub of the target wheel collides with the obstacle during the process of adjusting the position of the target wheel.

[0106] It should be understood that the third preset distance is less than the second preset distance.

[0107] In the above technical solution, in a severe situation where a target wheel is very close to an obstacle (more severe than the situation where the shortest distance between the target wheel and the obstacle is less than the second preset distance), the vehicle can be directly controlled to stop to prevent the hub of the target wheel from colliding with the obstacle during the process of the driver adjusting the driving route of the target wheel after the controller sends the alarm signal.

[0108] Figure 6 It is a schematic structural diagram of a hub warning device provided by an embodiment of the present application.

[0109] Exemplarily, as Figure 6 shown, the device includes:

[0110] An acquisition module 601, configured to acquire a proximal environment image around the vehicle, where the proximal environment image is acquired by a first acquisition device within a preset range from the target wheel of the vehicle;

[0111] A determination module 602, configured to:

[0112] Identify the proximal environment image to determine the obstacles and at least one reference object around the target wheel;

[0113] When the distance between the target wheel and the obstacle is less than a first preset distance, determine the position of the at least one reference object based on the distal environment image, where the distal environment image is collected by a second collecting device on the vehicle outside a preset range from the target wheel;

[0114] Based on multiple predicted positions of the target wheel, the position of the at least one reference object, and the relative position between the at least one reference object and the obstacle, determine the shortest distance between the target wheel and the obstacle, where the multiple predicted positions are the positions that the target wheel will move to within a preset time period;

[0115] A sending module 603, configured to send an alarm signal when the shortest distance is less than a second preset distance, where the alarm signal is used to prompt the driver of the vehicle that there is a collision risk between the hub of the target wheel and the obstacle.

[0116] Optionally, the determining module 602 is further configured to determine the relative position between the at least one reference object and the first collecting device based on the proximal environment image; determine the relative position between the obstacle and the first collecting device based on the proximal environment image; and determine the relative position between the at least one reference object and the obstacle based on the relative position between the at least one reference object and the first collecting device and the relative position between the obstacle and the first collecting device.

[0117] Optionally, the determining module 602 is specifically configured to determine the relative position between the multiple predicted positions and the at least one reference object based on the multiple predicted positions and the position of the at least one reference object; determine the relative position between the multiple predicted positions and the obstacle based on the relative position between the multiple predicted positions and the at least one reference object and the relative position between the at least one reference object and the obstacle; and determine the shortest distance based on the relative position between the multiple predicted positions and the obstacle.

[0118] Optionally, the obtaining module 601 is further configured to obtain the current steering wheel angle of the vehicle and determine the angle of the target wheel; the determining module 602 is further configured to determine the multiple predicted positions based on the angle of the target wheel, the current position of the target wheel, the current driving speed of the vehicle, and the current gear of the vehicle.

[0119] Optionally, the device further includes: a control module, configured to: display information corresponding to an alarm signal on the host display screen of the vehicle, where the information is used to indicate that when the vehicle travels based on adjustment parameters, the hub of the target wheel is away from the obstacle; and / or, control the steering wheel of the vehicle to vibrate based on the alarm signal; and / or, control the seat of the vehicle to vibrate based on the alarm signal.

[0120] Optionally, the obtaining module 601 is specifically configured to obtain a proximal environment image around the vehicle when the traveling speed of the vehicle is less than a preset speed.

[0121] Optionally, the sending module 603 is specifically configured to send the alarm signal by voice broadcast.

[0122] Figure 7 is a schematic structural diagram of a vehicle provided by an embodiment of the present application.

[0123] Exemplarily, as Figure 7 shown, the vehicle includes: a memory 701, a processor 702, and a computer program 703 stored in the memory 701 and running on the processor 702. Wherein, when the processor 702 executes the computer program 703, the vehicle can execute any one of the hub warning methods described above.

[0124] In this embodiment, the vehicle can be divided into functional modules according to the above method examples. For example, each functional module can be corresponding, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is illustrative, only a logical function division, and there can be other division methods in actual implementation.

[0125] When each functional module is divided corresponding to each function, the vehicle may include: an obtaining module, a determining module, a triggering module, a control module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be cited in the function description of the corresponding functional module, and will not be repeated here.

[0126] The vehicle provided by this embodiment is used to execute the above-mentioned hub warning method, so the same effect as the above implementation method can be achieved.

[0127] When an integrated unit is adopted, the vehicle may include a processing module and a storage module. Among them, the processing module can be used to control and manage the actions of the vehicle. The storage module can be used to support the vehicle to execute mutual program codes and data, etc.

[0128] Among them, the processing module can be a processor or a controller, which can implement or execute various exemplary logic blocks, modules, and circuits described in connection with the disclosure of the present application. The processor can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module can be a memory.

[0129] This embodiment provides a computer-readable storage medium storing instructions that, when run on a computer or a processor, cause the computer or the processor to execute any one of the hub warning methods described above.

[0130] This embodiment also provides a computer program product containing instructions that, when run on a computer or a processor, cause the computer or the processor to execute the above-related steps to implement any one of the hub warning methods described above.

[0131] Among them, the vehicle, computer-readable storage medium, computer program product containing instructions, or chip provided in this embodiment are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be elaborated here.

[0132] Through the description of the above embodiments, those skilled in the art can understand that for the convenience and simplicity of description, only the above division of each functional module is used as an example. In actual applications, the above functions can be allocated to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0133] In the embodiments provided in the present application, it should be understood that the disclosed device and method can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in an electrical, mechanical, or other form.

[0134] The above content is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method for hub warning, characterized in that, The method includes: Obtaining a proximal environment image around the vehicle, where the proximal environment image is collected by a first acquisition device within a preset range from the target wheel of the vehicle; Identifying the proximal environment image to determine obstacles and at least one reference object around the target wheel; When the distance between the target wheel and the obstacle is less than a first preset distance, determining the position of the at least one reference object based on a distal environment image, where the distal environment image is collected by a second acquisition device on the vehicle outside the preset range from the target wheel; Determining the shortest distance between the target wheel and the obstacle based on multiple predicted positions of the target wheel, the position of the at least one reference object, and the relative position between the at least one reference object and the obstacle, where the multiple predicted positions are the positions that the target wheel will move to within a preset time period; When the shortest distance is less than a second preset distance, sending an alarm signal, where the alarm signal is used to prompt the driver of the vehicle that there is a potential collision risk between the hub of the target wheel and the obstacle.

2. The method according to claim 1, characterized in that, The method further includes: Determining the relative position between the at least one reference object and the first acquisition device based on the proximal environment image; Determining the relative position between the obstacle and the first acquisition device based on the proximal environment image; Determining the relative position between the at least one reference object and the obstacle based on the relative position between the at least one reference object and the first acquisition device and the relative position between the obstacle and the first acquisition device.

3. The method according to claim 1 or 2, characterized in that, The determining the shortest distance between the target wheel and the obstacle based on multiple predicted positions of the target wheel, the position of the at least one reference object, and the relative position between the at least one reference object and the obstacle includes: Determining the relative position between the multiple predicted positions and the at least one reference object based on the multiple predicted positions and the position of the at least one reference object; Determining the relative position between the multiple predicted positions and the obstacle based on the relative position between the multiple predicted positions and the at least one reference object and the relative position between the at least one reference object and the obstacle; Determining the shortest distance based on the relative position between the multiple predicted positions and the obstacle.

4. The method according to claim 3, characterized in that, The method further includes: Obtaining the current steering wheel angle of the vehicle and determining the angle of the target wheel; Determining the multiple predicted positions based on the angle of the target wheel, the current position of the target wheel, the current driving speed of the vehicle, and the current gear of the vehicle.

5. The method according to claim 1, characterized in that, After sending the alarm signal, the method further includes: Displaying information corresponding to the alarm signal on the main display screen of the vehicle, where the information is used to indicate that the hub of the target wheel is away from the obstacle when the vehicle travels based on adjustment parameters; and / or, Controlling the steering wheel of the vehicle to vibrate based on the alarm signal; and / or, Controlling the seat of the vehicle to vibrate based on the alarm signal.

6. The method according to claim 1, characterized in that, The obtaining of the proximal environment image around the vehicle includes: When the driving speed of the vehicle is less than a preset speed, obtaining the proximal environment image around the vehicle.

7. The method according to any one of claims 4 - 6, characterized in that, The sending of the alarm signal includes: Sending the alarm signal in a voice broadcast manner.

8. A device for hub warning, characterized in that, The device includes: An acquisition module for acquiring a proximal environment image around the vehicle, where the proximal environment image is acquired by a first acquisition device within a preset range from the target wheel of the vehicle; Identifying the proximal environment image to determine obstacles and at least one reference object around the target wheel; When the distance between the target wheel and the obstacle is less than a first preset distance, determining the position of the at least one reference object based on a distal environment image, where the distal environment image is acquired by a second acquisition device on the vehicle outside the preset range from the target wheel; Based on multiple predicted positions of the target wheel, the position of the at least one reference object, and the relative position between the at least one reference object and the obstacle, determining the shortest distance between the target wheel and the obstacle, where the multiple predicted positions are the positions that the target wheel will move to within a preset time period; When the shortest distance is less than a second preset distance, sending an alarm signal, where the alarm signal is used to prompt the driver of the vehicle that there is a collision risk between the hub of the target wheel and the obstacle.

9. A vehicle, characterized in that,It includes a memory, a processor, and a computer program stored in the memory and executable on the processor. Wherein, when the processor executes the computer program, the vehicle executes the hub warning method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, Instructions are stored in the computer-readable storage medium. When the instructions run on a computer or a processor, the computer or the processor executes the hub warning method according to any one of claims 1 to 7.

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