A vehicle monitoring method, device, electronic device and storage medium

Abstract

The present application provides a vehicle monitoring method, device, electronic device and storage medium. The vehicle monitoring method includes: obtaining an in-vehicle personnel image, historical image data and current image data of a vehicle in a camping mode; extracting other personnel images except the in-vehicle personnel image from the historical image data; determining an initial personnel image related to the in-vehicle personnel image from the other personnel images according to the historical image data; and when a target personnel other than the initial personnel image and the in-vehicle personnel image appears in the current image data and the distance between the target personnel and the vehicle is less than or equal to a preset distance, an alarm is sent to the in-vehicle personnel. By means of the present application, it is possible to monitor the vehicle in the camping mode and distinguish whether the personnel approaching the vehicle is a vehicle-related personnel, so as to avoid alarming when the vehicle-related personnel approaches the vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle monitoring, and in particular, to a vehicle monitoring method, device, electronic device, and storage medium. Background Art

[0002] With the development of technology, vehicle monitoring technology has become more and more mature. Basically, all vehicles are equipped with a sentry mode. The so-called sentry mode means that when the vehicle is in a parked state, it monitors the environment around the vehicle or the vehicle safety status in real time. When the vehicle is in the sentry mode, the vehicle monitors all areas around the vehicle, and when a person approaches the vehicle, the vehicle will give an alarm.

[0003] However, when the vehicle-related personnel are camping, since it is impossible to distinguish whether the person approaching the vehicle is a vehicle-related person in this sentry mode, an alarm will be given when the vehicle-related person approaches the vehicle. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a vehicle monitoring method, device, electronic device, and storage medium, which can monitor the vehicle in the camping mode and distinguish whether the person approaching the vehicle is a vehicle-related person, so as to avoid giving an alarm when the vehicle-related person approaches the vehicle.

[0005] In a first aspect, an embodiment of this application provides a vehicle monitoring method, which includes:

[0006] Obtain the in-vehicle personnel image, historical image data, and current image data of the vehicle in the camping mode;

[0007] Extract other personnel images in the historical image data except the in-vehicle personnel image;

[0008] Determine an initial personnel image related to the in-vehicle personnel image from the other personnel images according to the historical image data;

[0009] When a target person other than the initial personnel image and the in-vehicle personnel image appears in the current image data, and the distance between the target person and the vehicle is less than or equal to a preset distance, an alarm is sent to the in-vehicle personnel.

[0010] In a possible implementation manner, determining an initial personnel image related to the in-vehicle personnel image from the other personnel images according to the historical image data includes:

[0011] Count the number of occurrences and the duration of coexistence in the historical image data of the other personnel images and the in-vehicle personnel image;

[0012] Determine other personnel images with the number of occurrences greater than or equal to a preset number of times or the existence duration greater than or equal to a preset duration as initial personnel images.

[0013] In a possible implementation manner, before issuing an alarm to the vehicle occupants, the method further includes:

[0014] Determine the activity area position information of the initial personnel and the vehicle occupants according to the initial personnel images and the vehicle occupants' images and their movement trajectories in the historical image data;

[0015] Issuing an alarm to the vehicle occupants includes:

[0016] Determine the area other than the activity area position information in the current image data as the monitoring area;

[0017] When a target person other than the initial personnel image and the vehicle occupants' images appears in the monitoring area of the current image data and the distance of the target person from the vehicle is less than or equal to a preset distance, issue an alarm to the vehicle occupants.

[0018] In a possible implementation manner, determining the activity area position information of the initial personnel and the vehicle occupants according to the initial personnel images and the vehicle occupants' images and their movement trajectories in the historical image data includes:

[0019] Determine the number of occurrences of each position coordinate in the movement trajectory; the movement trajectory includes the real-time position coordinates of the initial personnel images and the vehicle occupants' images;

[0020] Take all position coordinates with the number of occurrences exceeding the preset number of occurrences as the activity area position information of the initial personnel and the vehicle occupants.

[0021] In a possible implementation manner, the vehicle monitoring method further includes:

[0022] Obtain the animal image data in the current image data and the distance of the animal from the imaging device;

[0023] Calculate the pixel size of the animal image data in the current image data;

[0024] Determine the actual size of the animal according to the pixel size and the distance of the animal from the imaging device;

[0025] Determine the alarm mode of the animal according to the actual size and the distance of the animal from the imaging device; make the vehicle alarm according to the alarm mode.

[0026] In a possible implementation manner, determining the actual size of the animal according to the pixel size and the distance of the animal from the imaging device includes:

[0027] Determine the threshold value corresponding to the distance of the animal from the camera device from the distance threshold correspondence table; the distance threshold correspondence table stores the threshold value and the distance of the animal from the camera device correspondingly;

[0028] Determine the actual size of the animal according to the threshold value, the pixel size and the distance of the animal from the camera device.

[0029] In a possible implementation manner, determine the alarm mode of the vehicle according to the actual size and the distance of the animal from the camera device, including:

[0030] If the actual size is greater than or equal to the preset size and the distance of the animal from the camera device is equal to the preset alarm distance, the alarm mode is vehicle flashing light alarm;

[0031] If the actual size is greater than or equal to the preset size and the distance of the animal from the camera device is less than the preset alarm distance, the alarm mode is vehicle flashing light alarm and vehicle horn sounding;

[0032] If the actual size is less than or equal to the preset size and the animal collides with the vehicle, the alarm mode is vehicle flashing light alarm.

[0033] In a second aspect, the embodiment of the present application further provides a vehicle monitoring device, and the vehicle monitoring device includes:

[0034] An acquisition module, configured to acquire the in-vehicle personnel image, historical image data, and current image data of the vehicle in the camping mode;

[0035] An extraction module, configured to extract other personnel images except the in-vehicle personnel image from the historical image data;

[0036] A determination module, configured to determine an initial personnel image related to the in-vehicle personnel image from the other personnel images according to the historical image data;

[0037] An alarm module, configured to send an alarm to the in-vehicle personnel when a target person other than the initial personnel image and the in-vehicle personnel image appears in the current image data and the distance of the target person from the vehicle is less than or equal to the preset distance.

[0038] In a possible implementation manner, the determination module is specifically configured to count the number of occurrences and the duration of coexistence of the other personnel images and the in-vehicle personnel image in the historical image data; determine the other personnel images with the number of occurrences greater than or equal to the preset number or the duration of coexistence greater than or equal to the preset duration as the initial personnel image.

[0039] In a possible implementation manner, before sending an alarm to the in-vehicle personnel, the determination module is further configured to determine the activity area position information of the initial personnel and the in-vehicle personnel according to the movement trajectories of the initial personnel image and the in-vehicle personnel image in the historical image data;

[0040] An alarm module, specifically used to determine the area other than the position information of the active area in the current image data as the monitoring area; when a target person other than the initial person image and the in-vehicle person image appears in the monitoring area of the current image data, and the distance between the target person and the vehicle is less than or equal to the preset distance, an alarm is sent to the in-vehicle person.

[0041] In a possible implementation manner, the determination module is further used for:

[0042] Determine the number of occurrences of each position coordinate in the movement trajectory; the movement trajectory includes the real-time position coordinates of the initial person image and the in-vehicle person image;

[0043] All position coordinates with the number of occurrences exceeding the preset number of occurrences are used as the position information of the active areas of the initial person and the in-vehicle person.

[0044] In a possible implementation manner, the vehicle monitoring device further includes: a calculation module;

[0045] An acquisition module, further used to acquire the animal image data in the current image data, and the distance between the animal and the imaging device;

[0046] The calculation module is used to calculate the pixel size of the animal image data in the current image data;

[0047] The determination module is further used to determine the actual size of the animal according to the pixel size and the distance between the animal and the imaging device;

[0048] The determination module is further used to determine the alarm mode of the animal according to the actual size and the distance between the animal and the imaging device; and cause the vehicle to give an alarm according to the alarm mode.

[0049] In a possible implementation manner, the determination module is specifically used to determine the threshold corresponding to the distance between the animal and the imaging device from the distance threshold correspondence table; the distance threshold correspondence table stores the threshold and the distance between the animal and the imaging device correspondingly; and determine the actual size of the animal according to the threshold, the pixel size and the distance between the animal and the imaging device.

[0050] In a possible implementation manner, the determination module is specifically used to: if the actual size is greater than or equal to the preset size, and the distance between the animal and the imaging device is equal to the preset alarm distance, the alarm mode is the vehicle flashing light alarm; if the actual size is greater than or equal to the preset size, and the distance between the animal and the imaging device is less than the preset alarm distance, the alarm mode is the vehicle flashing light alarm and the vehicle sounding the horn; if the actual size is less than or equal to the preset size, and the animal collides with the vehicle, the alarm mode is the vehicle flashing light alarm.

[0051] In a third aspect, an embodiment of the present application further provides an electronic device, including: a processor, a storage medium, and a bus. The storage medium stores machine-readable instructions executable by the processor. When the electronic device runs, the processor communicates with the storage medium through the bus, and the processor executes the machine-readable instructions to perform the steps of any vehicle monitoring method in the first aspect.

[0052] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is run by a processor, it performs the steps of any vehicle monitoring method in the first aspect.

[0053] An embodiment of the present application provides a vehicle monitoring method, device, electronic device, and storage medium. The vehicle monitoring method includes: obtaining an in-vehicle personnel image, historical image data, and current image data of a vehicle in camping mode; extracting other personnel images except the in-vehicle personnel image from the historical image data; determining an initial personnel image related to the in-vehicle personnel image from the other personnel images according to the historical image data; and when a target person other than the initial personnel image and the in-vehicle personnel image appears in the current image data and the distance between the target person and the vehicle is less than or equal to a preset distance, an alarm is sent to the in-vehicle personnel. Through the historical image data, the present application determines an initial personnel image related to the in-vehicle personnel image from the other personnel images. When a target person other than the initial personnel image and the in-vehicle personnel image appears in the current image data and the distance between the target person and the vehicle is less than or equal to a preset distance, it can monitor the vehicle in camping mode and distinguish whether the person approaching the vehicle is a vehicle-related person, avoiding an alarm when a vehicle-related person approaches the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required for the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0055] Figure 1 Shows a flowchart of a vehicle monitoring method provided by an embodiment of the present application;

[0056] Figure 2 Shows a flowchart of another vehicle monitoring method provided by an embodiment of the present application;

[0057] Figure 3 Shows a flowchart of another vehicle monitoring method provided by an embodiment of the present application;

[0058] Figure 4The structural schematic diagram of a vehicle monitoring device provided by an embodiment of the present application is shown;

[0059] Figure 5 The structural schematic diagram of an electronic device provided by an embodiment of the present application is shown. Detailed implementation manners

[0060] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. It should be understood that the accompanying drawings in the present application are only for the purposes of illustration and description, and are not used to limit the protection scope of the present application. In addition, it should be understood that the schematic drawings are not drawn to actual scale. The flowcharts used in the present application illustrate the operations implemented according to some embodiments of the present application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical context may be reversed or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart or remove one or more operations from the flowchart under the guidance of the content of the present application.

[0061] In addition, the described embodiments are only some embodiments of the present application, rather than all embodiments. The components of the embodiments of the present application usually described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application claimed, but merely represents the selected embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative efforts fall within the protection scope of the present application.

[0062] To enable those skilled in the art to use the content of the present application, the following implementation manners are given in combination with a specific application scenario, the "vehicle monitoring technology field". For those skilled in the art, the general principles defined here can be applied to other embodiments and application scenarios without departing from the spirit and scope of the present application. Although the present application is mainly described around the "vehicle monitoring technology field", it should be understood that this is only an exemplary embodiment.

[0063] It should be noted that the term "including" will be used in the embodiments of the present application to indicate the existence of the features stated thereafter, but does not exclude adding other features.

[0064] The following provides a detailed description of a vehicle monitoring method provided by an embodiment of the present application.

[0065] Referring to Figure 1 As shown, it is a flowchart of a vehicle monitoring method provided by an embodiment of the present application. The specific execution process of this vehicle monitoring method is as follows:

[0066] S101. Obtain the in-vehicle personnel image, historical image data, and current image data of the vehicle in the camping mode.

[0067] S102. Extract other personnel images in the historical image data except for the in-vehicle personnel image.

[0068] S103. Determine the initial personnel image related to the in-vehicle personnel image from the other personnel images according to the historical image data.

[0069] S104. When a target person other than the initial personnel image and the in-vehicle personnel image appears in the current image data, and the distance between the target person and the vehicle is less than or equal to the preset distance, an alarm is sent to the in-vehicle personnel.

[0070] The embodiment of the present application provides a vehicle monitoring method, and the vehicle monitoring method includes: obtaining the in-vehicle personnel image, historical image data, and current image data of the vehicle in the camping mode; extracting other personnel images in the historical image data except for the in-vehicle personnel image; determining the initial personnel image related to the in-vehicle personnel image from the other personnel images according to the historical image data; when a target person other than the initial personnel image and the in-vehicle personnel image appears in the current image data, and the distance between the target person and the vehicle is less than or equal to the preset distance, an alarm is sent to the in-vehicle personnel. Through the historical image data, the present application determines the initial personnel image related to the in-vehicle personnel image from the other personnel images. When a target person other than the initial personnel image and the in-vehicle personnel image appears in the current image data, and the distance between the target person and the vehicle is less than or equal to the preset distance, the vehicle in the camping mode can be monitored, and it can be distinguished whether the person approaching the vehicle is a vehicle-related person, avoiding alarming when a vehicle-related person approaches the vehicle.

[0071] The following describes each step of the embodiment of the present application exemplarily:

[0072] S101. Obtain the in-vehicle personnel image, historical image data, and current image data of the vehicle in the camping mode.

[0073] In the implementation manner of the present application, when the user is in the camping mode, the user can manually turn on the camping mode in the traditional sentry mode of the vehicle on the function interface, or the vehicle can automatically turn on the camping mode in the traditional sentry mode after detecting that the vehicle enters the camping mode. And before turning on the camping mode, the in-vehicle personnel are recorded to obtain the in-vehicle personnel image. The in-vehicle personnel image includes the driver, passengers, etc. The historical image data and the current image data both refer to the image data around the vehicle. The vehicle is equipped with sensors such as lidar, millimeter-wave radar, and cameras.

[0074] S102. Extract other people's images from the historical image data except for the images of the people inside the vehicle.

[0075] In the embodiment of the present application, other people's images are extracted from the historical image data within a preset time period. The historical image data may contain many people's images. Other people's images refer to the images of all people except the driver and the passengers.

[0076] S103. Determine the initial people's images related to the images of the people inside the vehicle from the other people's images according to the historical image data.

[0077] In the embodiment of the present application, the initial people's images related to the images of the people inside the vehicle refer to the images of the people who know the people inside the vehicle among the other people's images. Because when camping, many people may take several vehicles, and it is unrealistic to input all the people traveling together into each vehicle system in advance. Therefore, it is necessary to determine the initial people's images traveling with the people inside the vehicle from the historical image data, that is, the people camping together.

[0078] Specifically, count the number of times and the duration of coexistence of the other people's images and the images of the people inside the vehicle in the historical image data.

[0079] In the embodiment of the present application, the coexistence of the other people's images and the images of the people inside the vehicle in the historical image data can indicate that there is communication between the other people and the people inside the vehicle.

[0080] Optionally, determine the other people's images with the number of times of coexistence greater than or equal to the preset number of times or the duration of coexistence greater than or equal to the preset duration as the initial people's images.

[0081] In the embodiment of the present application, if the number of times of coexistence is greater than or equal to the preset number of times or the duration of coexistence is greater than or equal to the preset duration, it indicates that the other people and the people inside the vehicle must know each other, and it is determined that the other people are the people camping with the people inside the vehicle.

[0082] Optionally, determine the other people's images with the number of times of coexistence greater than or equal to the preset number of times and the duration of coexistence greater than or equal to the preset duration as the initial people's images.

[0083] In the embodiment of the present application, it is also possible to determine the other people's images as the initial people's images only when the number of times of coexistence and the duration of coexistence simultaneously meet the preset conditions, that is, the number of times of coexistence is greater than or equal to the preset number of times and the duration of coexistence is greater than or equal to the preset duration. This method is more accurate when determining whether the other people are the people camping with the people inside the vehicle.

[0084] S104. When a target person other than the initial person image and the in-vehicle person image appears in the current image data, and the distance between the target person and the vehicle is less than or equal to a preset distance, an alarm is issued to the in-vehicle person.

[0085] In the embodiment of the present application, the target person is a person other than the initial person image and the in-vehicle person image, indicating that the target person is a stranger. If a target person other than the initial person image and the in-vehicle person image appears in the current image data, and the distance between the target person and the vehicle is less than or equal to a preset distance, an alarm needs to be issued to the in-vehicle person.

[0086] Refer to Figure 2 As shown, it is a flowchart of another vehicle monitoring method provided by the embodiment of the present application. The repeated content in steps S101 to S104 in Figure 1 will not be elaborated again. The following will explain the exemplary steps of the embodiment of the present application:

[0087] S201. Obtain the in-vehicle person image, historical image data, and current image data of the vehicle in the camping mode.

[0088] S202. Extract other person images other than the in-vehicle person image from the historical image data.

[0089] S203. Determine the initial person image related to the in-vehicle person image from the other person images according to the historical image data.

[0090] Specifically, count the number of occurrences and the duration of coexistence of the other person images and the in-vehicle person image in the historical image data.

[0091] Optionally, determine the other person images with the number of occurrences greater than or equal to a preset number or the duration of coexistence greater than or equal to a preset duration as the initial person images.

[0092] Optionally, determine the other person images with the number of occurrences greater than or equal to a preset number and the duration of coexistence greater than or equal to a preset duration as the initial person images.

[0093] S204. Determine the activity area position information of the initial person and the in-vehicle person according to the movement trajectories of the initial person image and the in-vehicle person image in the historical image data.

[0094] In the embodiments of the present application, the activity area location information refers to the range where the initial personnel and the in-vehicle personnel move, and the environment within this range can be observed by both the initial personnel and the in-vehicle personnel. This activity area location information refers to the coordinate information on the picture, rather than the three-dimensional coordinates in the real environment. Compared with calculating three-dimensional coordinates in the prior art, determining the coordinate information on the picture is simpler. The movement trajectory includes the real-time position coordinates of the initial personnel image and the in-vehicle personnel image, and this position coordinate refers to the position coordinate on the picture.

[0095] Example, if the movement trajectory is the movement trajectory from 1:35:10 to 1:25:15, then this movement trajectory includes the position coordinates of the initial personnel and the in-vehicle personnel at 1:35:11, the position coordinates of the initial personnel and the in-vehicle personnel at 1:35:12, the position coordinates of the initial personnel and the in-vehicle personnel at 1:35:13, the position coordinates of the initial personnel and the in-vehicle personnel at 1:35:14, and the position coordinates of the initial personnel and the in-vehicle personnel at 1:35:15.

[0096] Determine the occurrence times of each position coordinate in the movement trajectory.

[0097] Take all the position coordinates whose occurrence times exceed the preset occurrence times as the activity area location information of the initial personnel and the in-vehicle personnel.

[0098] In the embodiments of the present application, if all the position coordinates whose occurrence times exceed the preset occurrence times, it means that the initial personnel and the in-vehicle personnel frequently reach the position where these position coordinates are located, which indicates that this position coordinate is the activity area of the initial personnel and the in-vehicle personnel. Therefore, take this position coordinate as the activity area location information of the initial personnel and the in-vehicle personnel. The activity area location information of the initial personnel and the in-vehicle personnel can include multiple position coordinates.

[0099] S205. Determine the area other than the activity area location information in the current image data as the monitoring area.

[0100] In the embodiments of the present application, the activity area location information refers to the range where the initial personnel and the in-vehicle personnel move, and the environment within this range can be observed by both the initial personnel and the in-vehicle personnel. The area other than the activity area location information is the area that cannot be observed by the initial personnel and the in-vehicle personnel. Therefore, it needs to be monitored, and then the area other than the activity area location information is determined as the monitoring area.

[0101] S206. When a target person other than the initial personnel image and the in-vehicle personnel image appears in the monitoring area of the current image data, and the distance between the target person and the vehicle is less than or equal to the preset distance, an alarm is sent to the in-vehicle personnel.

[0102] In the embodiment of the present application, since the monitoring area is the area that cannot be observed by the initial personnel and the personnel in the vehicle, only the environment in the monitoring area needs to be monitored. That is, only when a target person other than the initial personnel image and the personnel image in the vehicle appears in the monitoring area, and the distance between the target person and the vehicle is less than or equal to the preset distance, an alarm is sent to the personnel in the vehicle.

[0103] Another vehicle monitoring method is provided in an embodiment of the present application. An alarm is sent to the personnel in the vehicle only when a target person other than the initial personnel image and the personnel image in the vehicle appears in the monitoring area, and the distance between the target person and the vehicle is less than or equal to the preset distance. The scope of the monitoring area is reduced, and the monitoring efficiency is improved.

[0104] Refer to Figure 3 As shown, it is a schematic flowchart of another vehicle monitoring method provided in an embodiment of the present application. The following will explain each step of the embodiment of the present application exemplarily:

[0105] S301. Obtain the current image data, the animal image data in the current image data, and the distance between the animal and the imaging device.

[0106] In the embodiment of the present application, the animal image data refers to the image data of the animal that appears in the monitoring area in step S205. And obtain the distance between the animal and the imaging device.

[0107] S302. Calculate the pixel size of the animal image data in the current image data.

[0108] In the embodiment of the present application, the pixel size refers to the number of pixel points occupied by the animal in the current image data.

[0109] S303. Determine the actual size of the animal according to the pixel size and the distance between the animal and the imaging device.

[0110] In the embodiment of the present application, the actual size is the size of the animal in the real world.

[0111] Specifically, determine the threshold corresponding to the distance between the animal and the imaging device from the distance threshold correspondence table; the distance threshold correspondence table stores the threshold and the distance between the animal and the imaging device correspondingly.

[0112] In the embodiment of the present application, the closer the distance between the animal and the imaging device, the larger the threshold.

[0113] Specifically, determine the actual size of the animal according to the threshold, the pixel size and the distance between the animal and the imaging device.

[0114] In the embodiment of the present application, calculate the product of the pixel size and the distance between the animal and the imaging device, and use the ratio of the product to the threshold as the actual size of the animal.

[0115] S304. Determine the alarm mode of the animal according to the actual size and the distance between the animal and the camera device; make the vehicle alarm according to the alarm mode.

[0116] In the embodiment of the present application, when the actual size and the distance between the animal and the camera device are different, the alarm modes of the animal are also different. The distance between the animal and the camera device is used to represent the distance between the animal and the vehicle.

[0117] If the actual size is greater than or equal to the preset size, and the distance between the animal and the camera device is equal to the preset alarm distance, the alarm mode is the vehicle flashing light alarm.

[0118] In the embodiment of the present application, when the actual size is greater than or equal to the preset size, and the distance between the animal and the camera device is equal to the preset alarm distance, it indicates that the animal is relatively large in size and far from the vehicle, and only the vehicle flashing light alarm is required. The preset alarm distance is 0.5 meters, while the preset alarm distance in the traditional sentry mode is greater than 0.5 meters. The preset alarm distance in the embodiment of the present application is more reasonable.

[0119] If the actual size is greater than or equal to the preset size, and the distance between the animal and the camera device is less than the preset alarm distance, the alarm mode is the vehicle flashing light alarm and the vehicle sounding the horn.

[0120] In the embodiment of the present application, when the actual size is greater than or equal to the preset size, and the distance between the animal and the camera device is less than the preset alarm distance, it indicates that the animal is relatively large in size and close to the vehicle. In addition to the vehicle flashing light alarm, the vehicle also needs to sound the horn for expulsion. The preset alarm distance is 0.5 meters, while the preset alarm distance in the traditional sentry mode is greater than 0.5 meters. The preset alarm distance in the embodiment of the present application is more reasonable.

[0121] If the actual size is less than or equal to the preset size, and the animal collides with the vehicle, the alarm mode is the vehicle flashing light alarm.

[0122] In the embodiment of the present application, when the actual size is less than or equal to the preset size, and the animal collides with the vehicle, it indicates that the animal is small. When the animal collides with the vehicle, only the vehicle flashing light alarm is required. The preset alarm distance is 0.5 meters, while the preset alarm distance in the traditional sentry mode is greater than 0.5 meters. The preset alarm distance in the embodiment of the present application is more reasonable.

[0123] The embodiment of the present application provides another vehicle monitoring method. This method determines the alarm modes of different animals according to the actual size and the distance between the animal and the camera device; makes the vehicle alarm according to the alarm mode, which can save power.

[0124] Based on the same inventive concept, an embodiment of the present application further provides a vehicle monitoring device corresponding to the vehicle monitoring method. Since the principle of solving problems by the device in the embodiment of the present application is similar to that of the above vehicle monitoring method in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0125] Referring to Figure 4 As shown, it is a schematic diagram of a vehicle monitoring device provided by an embodiment of the present application. The vehicle monitoring device includes:

[0126] An acquisition module 401, configured to acquire an in-vehicle personnel image, historical image data, and current image data of a vehicle in a camping mode;

[0127] An extraction module 402, configured to extract other personnel images except the in-vehicle personnel image from the historical image data;

[0128] A determination module 403, configured to determine an initial personnel image related to the in-vehicle personnel image from the other personnel images according to the historical image data;

[0129] An alarm module 404, configured to send an alarm to the in-vehicle personnel when a target person other than the initial personnel image and the in-vehicle personnel image appears in the current image data, and the distance between the target person and the vehicle is less than or equal to a preset distance.

[0130] In a possible implementation manner, the determination module 403 is specifically configured to count the number of occurrences and the duration of coexistence of the other personnel images and the in-vehicle personnel image in the historical image data; determine the other personnel images with the number of occurrences greater than or equal to a preset number or the duration of coexistence greater than or equal to a preset duration as the initial personnel images.

[0131] In a possible implementation manner, before sending an alarm to the in-vehicle personnel, the determination module 403 is further configured to determine the activity area position information of the initial personnel and the in-vehicle personnel according to the movement trajectories of the initial personnel image and the in-vehicle personnel image in the historical image data;

[0132] The alarm module 404 is specifically configured to determine the area other than the activity area position information in the current image data as the monitoring area; when a target person other than the initial personnel image and the in-vehicle personnel image appears in the monitoring area of the current image data, and the distance between the target person and the vehicle is less than or equal to a preset distance, send an alarm to the in-vehicle personnel.

[0133] In a possible implementation manner, the determination module 403 is further configured to:

[0134] Determine the number of occurrences of each position coordinate in the movement trajectory; the movement trajectory includes the real-time position coordinates of the initial personnel image and the in-vehicle personnel image;

[0135] All position coordinates that appear more than a preset number of times are used as the activity area position information of the initial personnel and the personnel in the vehicle.

[0136] In a possible implementation manner, the vehicle monitoring device further includes: a calculation module 405;

[0137] The acquisition module 401 is further configured to acquire animal image data in the current image data and the distance between the animal and the imaging device.

[0138] The calculation module 405 is configured to calculate the pixel size of the animal image data in the current image data.

[0139] The determination module 403 is further configured to determine the actual size of the animal according to the pixel size and the distance between the animal and the imaging device.

[0140] The determination module 403 is further configured to determine the alarm mode of the animal according to the actual size and the distance between the animal and the imaging device; and cause the vehicle to give an alarm according to the alarm mode.

[0141] In a possible implementation manner, the determination module 403 is specifically configured to determine, from a distance threshold correspondence table, the threshold corresponding to the distance between the animal and the imaging device; the distance threshold correspondence table stores the threshold and the distance between the animal and the imaging device correspondingly; and determine the actual size of the animal according to the threshold, the pixel size and the distance between the animal and the imaging device.

[0142] In a possible implementation manner, the determination module 403 is specifically configured to: if the actual size is greater than or equal to a preset size and the distance between the animal and the imaging device is equal to a preset alarm distance, the alarm mode is that the vehicle flashes a warning light; if the actual size is greater than or equal to the preset size and the distance between the animal and the imaging device is less than the preset alarm distance, the alarm mode is that the vehicle flashes a warning light and the vehicle sounds a horn; if the actual size is less than or equal to the preset size and the animal collides with the vehicle, the alarm mode is that the vehicle flashes a warning light.

[0143] An embodiment of the present application provides a vehicle monitoring device, which includes: an acquisition module 401 for acquiring an in-vehicle personnel image, historical image data, and current image data of a vehicle in camping mode; an extraction module 402 for extracting other personnel images in the historical image data except for the in-vehicle personnel image; a determination module 403 for determining an initial personnel image related to the in-vehicle personnel image from the other personnel images according to the historical image data; and an alarm module 404 for sending an alarm to the in-vehicle personnel when a target person other than the initial personnel image and the in-vehicle personnel image appears in the current image data and the distance between the target person and the vehicle is less than or equal to a preset distance. Through the historical image data, the present application determines an initial personnel image related to the in-vehicle personnel image from the other personnel images. When a target person other than the initial personnel image and the in-vehicle personnel image appears in the current image data and the distance between the target person and the vehicle is less than or equal to a preset distance, the vehicle in camping mode can be monitored, and it can be distinguished whether the person approaching the vehicle is a vehicle-related person, so as to avoid alarming when a vehicle-related person approaches the vehicle.

[0144] As Figure 5 shown, an electronic device 500 provided by an embodiment of the present application includes: a processor 501, a memory 502, and a bus. The memory 502 stores machine-readable instructions executable by the processor 501. When the electronic device runs, the processor 501 communicates with the memory 502 through the bus, and the processor 501 executes the machine-readable instructions to perform the steps of the vehicle monitoring method as described above.

[0145] Specifically, the above-mentioned memory 502 and processor 501 can be general-purpose memory and processor, which are not specifically limited here. When the processor 501 runs the computer program stored in the memory 502, it can execute the above-mentioned vehicle monitoring method.

[0146] Corresponding to the above vehicle monitoring method, an embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is run by a processor, it executes the steps of the above vehicle monitoring method.

[0147] Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working processes of the systems and devices described above can refer to the corresponding processes in the method embodiments, and will not be elaborated herein. In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of the modules is only a logical functional division, and there may be other division methods in actual implementation. For another example, 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 couplings or direct couplings or communication connections shown or discussed with each other can be through some communication interfaces, and the indirect couplings or communication connections of the devices or modules can be in electrical, mechanical or other forms.

[0148] 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 units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0149] In addition, in each embodiment of the present application, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0150] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art or a part of this technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the information processing method described in each embodiment of the present application. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, ROM, RAM, magnetic disks or optical discs that can store program codes.

[0151] The above is only the 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 can easily think of changes or substitutions within the technical scope disclosed in the present application, and all should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A vehicle monitoring method, characterized in that, the vehicle monitoring method includes: Obtaining the in-vehicle personnel image, historical image data, and current image data of the vehicle in camping mode; Extracting other personnel images in the historical image data except the in-vehicle personnel image; Counting the number of times and the duration of coexistence of the other personnel images and the in-vehicle personnel image in the historical image data; Determining the initial personnel images as those other personnel images whose number of occurrences is greater than or equal to a preset number of occurrences, or whose duration of existence is greater than or equal to a preset duration; According to the movement trajectories of the initial personnel images and the in-vehicle personnel images in the historical image data, determining the activity area position information of the initial personnel and the in-vehicle personnel; Determining the area other than the activity area position information in the current image data as the monitoring area; When a target person other than the initial personnel image and the in-vehicle personnel image appears in the monitoring area of the current image data, and the distance of the target person from the vehicle is less than or equal to a preset distance, an alarm is sent to the in-vehicle personnel.

2. The vehicle monitoring method according to claim 1, characterized in that, the determining the activity area position information of the initial personnel and the in-vehicle personnel according to the movement trajectories of the initial personnel images and the in-vehicle personnel images in the historical image data includes: Determining the number of occurrences of each position coordinate in the movement trajectory; The movement trajectory includes the real-time position coordinates of the initial personnel images and the in-vehicle personnel images; Taking all position coordinates whose number of occurrences exceeds a preset number of occurrences as the activity area position information of the initial personnel and the in-vehicle personnel.

3. The vehicle monitoring method according to claim 1, characterized in that, the vehicle monitoring method further includes: Obtaining the animal image data in the current image data and the distance of the animal from the imaging device; Calculating the pixel size of the animal image data in the current image data; Determining the actual size of the animal according to the pixel size and the distance of the animal from the imaging device; Determining the alarm mode of the animal according to the actual size and the distance of the animal from the imaging device; Making the vehicle alarm according to the alarm mode.

4. The vehicle monitoring method according to claim 3, characterized in that, the determining the actual size of the animal according to the pixel size and the distance of the animal from the imaging device includes: Determining the threshold corresponding to the distance of the animal from the imaging device from the distance threshold correspondence table; The distance threshold correspondence table stores the thresholds and the distances of the animals from the imaging device correspondingly; Determining the actual size of the animal according to the threshold, the pixel size, and the distance of the animal from the imaging device.

5. The vehicle monitoring method according to claim 3, characterized in that, the determining the alarm mode of the animal according to the actual size and the distance of the animal from the imaging device includes: If the actual size is greater than or equal to a preset size and the distance of the animal from the imaging device is equal to a preset alarm distance, the alarm mode is the vehicle flashing light alarm; If the actual size is greater than or equal to the preset size, and the distance between the animal and the camera device is less than the preset alarm distance, the alarm methods are vehicle flashing light alarm and vehicle horn sounding; If the actual size is less than or equal to the preset size, and the animal collides with the vehicle, the alarm method is vehicle flashing light alarm.

6. A vehicle monitoring device, Characterized in that, The vehicle monitoring device includes: An acquisition module, configured to acquire the in-vehicle personnel image, historical image data, and current image data of the vehicle in the camping mode; An extraction module, configured to extract other personnel images except the in-vehicle personnel image from the historical image data; A determination module, configured to count the coexistence times and coexistence durations of the other personnel images and the in-vehicle personnel image in the historical image data; determine the other personnel images with the coexistence times greater than or equal to the preset times or the coexistence durations greater than or equal to the preset durations as the initial personnel images; The determination module is further configured to determine the activity area position information of the initial personnel and the in-vehicle personnel according to the movement trajectories of the initial personnel image and the in-vehicle personnel image in the historical image data; An alarm module, configured to determine the area other than the activity area position information in the current image data as the monitoring area; when a target person other than the initial personnel image and the in-vehicle personnel image appears in the monitoring area of the current image data, and the distance between the target person and the vehicle is less than or equal to the preset distance, an alarm is sent to the in-vehicle personnel.

7. An electronic device, Characterized in that, It includes: A processor, a storage medium, and a bus. The storage medium stores machine-readable instructions executable by the processor. When the electronic device runs, the processor communicates with the storage medium through the bus. The processor executes the machine-readable instructions to perform the steps of the vehicle monitoring method according to any one of claims 1 to 5.

8. A computer-readable storage medium, Characterized in that, A computer program is stored on the computer-readable storage medium. When the computer program is run by a processor, it performs the steps of the vehicle monitoring method according to any one of claims 1 to 5.

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