Vehicle safety warning method, device, equipment, medium and program product

Abstract

The present application relates to the field of traffic safety technology, and discloses a vehicle safety warning method, device, equipment, medium and program product. The method of the present application includes: obtaining at least one scene image around the vehicle; if there are multiple scene images, identifying the distance of the pedestrian image corresponding to each scene image; comparing the size relationship between the distances of each pedestrian image, and determining the scene image corresponding to the smallest pedestrian image distance as the target scene image; using a radar ranging device to detect the actual distance between the target pedestrian and the vehicle in the target scene image; determining the size and color of the preset warning image according to the actual distance and the mapping relationship between the preset image state and the distance, and obtaining the warning image to be displayed; controlling the warning display screen to display the warning image to be displayed at the display position corresponding to the target scene image. Avoiding scale drift improves the accuracy of distance detection, and displaying the warning image outside the vehicle body so that pedestrians can actively stay away from the vehicle.

Description

Technical Field

[0001] The present application relates to the field of traffic safety technology, and specifically to vehicle safety warning methods, devices, equipment, media and program products. Background Art

[0002] As there are more and more vehicles on the road, the contact between pedestrians and vehicles is becoming more and more frequent, resulting in frequent accidents involving vehicle-pedestrian collisions. This puts forward requirements for safety warnings between vehicles and pedestrians.

[0003] In order to reduce the frequency of traffic accidents between vehicles and pedestrians, the current vehicle safety warning method is usually to equip the vehicle with a detection alarm system to report the distance between the vehicle and the pedestrian to the driver, so as to remind the driver to drive carefully and avoid collisions with pedestrians. However, this system often uses visual information to detect the distance between the vehicle and the pedestrian, and there is a problem of inaccurate scale offset distance detection. In addition, this system often unilaterally warns the driver and cannot give pedestrians an intuitive warning.

[0004] Therefore, how to provide pedestrians with distance warnings between vehicles and pedestrians while improving the accuracy of distance detection between vehicles and pedestrians to reduce the frequency of traffic accidents between vehicles and pedestrians has become a technical problem that urgently needs to be solved. Summary of the invention

[0005] In view of this, the present application provides a vehicle safety warning method, device, equipment, medium and program product to solve the problem of how to provide distance warnings between vehicles and pedestrians to pedestrians while improving the accuracy of distance detection between vehicles and pedestrians to reduce the frequency of traffic accidents between vehicles and pedestrians.

[0006] In a first aspect, the present application provides a vehicle safety warning method, which is applied to a data processing module of a vehicle, and a warning display screen is installed on the periphery of the vehicle body. The method includes:

[0007] Acquire at least one image of a scene surrounding the vehicle;

[0008] If there are multiple scene images, identify the pedestrian image distance corresponding to each scene image, where the pedestrian image distance is the shortest distance between the center of the pedestrian in the scene image and the center of the scene image;

[0009] Compare the size relationship between each pedestrian image distance, and determine the scene image corresponding to the smallest pedestrian image distance as the target scene image;

[0010] The actual distance between the target pedestrian and the vehicle in the target scene image is detected by using a radar ranging device, wherein the target pedestrian is the pedestrian corresponding to the distance of the pedestrian image corresponding to the target scene image;

[0011] According to the actual distance and the mapping relationship between the preset image state and the distance, the size and color of the preset warning image are determined to obtain the warning image to be displayed;

[0012] The warning display screen is controlled to display the warning image to be displayed at a display position corresponding to the target scene image.

[0013] In the above technical solution, the scene image with the smallest distance to the pedestrian image is determined as the target scene image, and the actual distance between the target pedestrian and the vehicle in the target scene image is identified based on the radar ranging device, without the need for visual information in the image to estimate the distance, avoiding scale drift and improving the accuracy of distance detection between vehicles and pedestrians. The warning image is displayed to pedestrians outside the vehicle to provide a distance warning between the vehicle and pedestrians, so that pedestrians approaching the vehicle can accurately know the degree of danger of the distance between themselves and the vehicle, and pedestrians can actively stay away from the vehicle, reducing the frequency of traffic accidents between vehicles and pedestrians. In addition, the vehicle safety warning system of the present application can be used in intelligent driving to provide support for pedestrian and vehicle distance warning, with a wide range of application scenarios and high scalability.

[0014] In some optional embodiments, there are multiple warning display screens, each warning display screen corresponds to camera identification information of at least one camera device, each camera identification information corresponds to a display position in the warning display screen, and controlling the warning display screen to display the warning image to be displayed at the display position corresponding to the target scene image includes:

[0015] Acquire target camera identification information of a target camera device, where the target camera device is a camera device that captures a target scene image;

[0016] According to the camera identification information corresponding to each warning display screen, determine the target warning display screen corresponding to the target camera identification information;

[0017] The target warning display screen is controlled to display the warning image to be displayed at the display position corresponding to the target camera identification information.

[0018] In the above technical solution, the warning display screen that needs to display the warning image to be displayed is determined from multiple warning display screens based on the target camera identification information of the target camera device, which can avoid all warning display screens displaying the warning image to be displayed and save vehicle power consumption.

[0019] In some optional embodiments, each camera device corresponds to the ranging identification information of a radar ranging device, and the radar ranging device is used to detect the actual distance between the target pedestrian and the vehicle in the target scene image, including:

[0020] According to the ranging identification information corresponding to each camera device, determine the target radar ranging device corresponding to the target camera identification information, where the target camera identification information is the camera identification information of the camera device that collects the target scene image;

[0021] The target radar ranging device is used to detect the actual distance between the target pedestrian and the vehicle in the target scene image.

[0022] In the above technical scheme, a target radar ranging device corresponding to the target camera device is used to detect the actual distance between the target pedestrian and the vehicle. There is no need to use the visual information in the image to estimate the distance, thereby avoiding scale drift and improving the accuracy of distance detection between vehicles and pedestrians. At the same time, different radar ranging devices are used to accurately detect the distance between pedestrians and vehicles within the field of view of different camera devices, thereby further improving the accuracy of distance detection between vehicles and pedestrians, and thus improving the accuracy of vehicle safety warnings.

[0023] In some optional embodiments, identifying the pedestrian image distance corresponding to each scene image includes:

[0024] Determine whether there are pedestrians in each scene image;

[0025] Eliminate scene images without pedestrians from all scene images;

[0026] For each scene image with pedestrians, the straight-line distance between the center of each pedestrian in the scene image and the center of the scene image is determined respectively, and the minimum straight-line distance is determined as the pedestrian image distance corresponding to the scene image.

[0027] In the above technical solution, for multiple scene images, pedestrians in the scene images are first identified to find scene images with pedestrians. And for each scene image with pedestrians, the minimum straight-line distance between the center of each pedestrian in the scene image and the center of the scene image is determined as the pedestrian image distance. Since the center of the scene image will be close to the optical center of the camera device, it can be ensured that the pedestrian corresponding to the pedestrian image distance is as directly facing the camera device that collects the scene image as possible. After the target scene image is subsequently determined based on the pedestrian image distance, it can also be ensured that the pedestrian in the target scene image is as directly facing the camera device as possible. In this way, the actual distance obtained by the radar ranging device can be used as a vertical distance between pedestrians and vehicles with a higher credibility to participate in the subsequent operation of vehicle safety warning without other data processing operations, thereby improving the efficiency of vehicle safety warning.

[0028] In some optional embodiments, before controlling the warning display screen to display the warning image to be displayed at the display position corresponding to the target scene image, the method further includes:

[0029] Comparing the actual distance with the first preset distance;

[0030] If the actual distance is less than the first preset distance, the video recording function of the target camera device corresponding to the target scene image is turned on, so that the target camera device records the video including the target pedestrian.

[0031] In the above technical solution, when the actual distance between the target pedestrian and the vehicle is less than the first preset distance, the video recording function of the target camera device for capturing the target scene image is turned on to record the video including the target pedestrian so that the entire process of the accident can be recorded to facilitate the identification of the responsible person after the accident occurs.

[0032] In some optional embodiments, the vehicle is in communication connection with a preset user terminal, and before controlling the warning display screen to display the warning image to be displayed at the display position corresponding to the target scene image, the method further includes:

[0033] Comparing the actual distance with the second preset distance, the first preset distance is greater than the second preset distance;

[0034] If the actual distance is less than the second preset distance, a warning message is sent to a preset user terminal and an in-vehicle display device of the vehicle, where the warning message is used to indicate that the target pedestrian is too close to the vehicle.

[0035] In the above technical solution, when the actual distance between the target pedestrian and the vehicle is less than the second preset distance, sending a warning message to the preset user terminal and the vehicle's in-vehicle display device can promptly remind the driver that the distance between the pedestrian and the vehicle is too close, so that the driver can promptly control the vehicle speed to avoid accidents, thereby further reducing the frequency of traffic accidents between vehicles and pedestrians.

[0036] In some optional embodiments, before controlling the warning display screen to display the warning image to be displayed at the display position corresponding to the target scene image, the method further includes:

[0037] If the actual distance is less than the second preset distance, the sound device of the vehicle is controlled to emit an alarm audio.

[0038] In the above technical solution, the sound device of the vehicle is timely controlled to emit an alarm audio to alert pedestrians, thereby making pedestrians stay away from the vehicle, which can further reduce the frequency of traffic accidents between vehicles and pedestrians.

[0039] In some optional embodiments, the method further comprises:

[0040] Receive a historical data query request and parse the historical time period in the historical data query request;

[0041] Query the target scene images determined within the historical time period;

[0042] The queried target scene image is sent to the preset user terminal.

[0043] In some optional embodiments, the method further comprises:

[0044] Receive a real-time data query request from a first camera device, control the first camera device to collect scene images around the vehicle, and send the collected scene images to a preset user terminal, where the first camera device is any one of multiple camera devices.

[0045] In a second aspect, the present application provides a vehicle safety warning device, which is applied to a data processing module of a vehicle, and a warning display screen is installed on the periphery of the vehicle body, and the device includes:

[0046] An acquisition module, used to acquire at least one scene image around the vehicle;

[0047] A recognition module, for recognizing the pedestrian image distance corresponding to each scene image if there are multiple scene images, where the pedestrian image distance is the shortest distance between the center of the pedestrian in the scene image and the center of the scene image;

[0048] A first determination module is used to compare the size relationship between each pedestrian image distance, and determine the scene image corresponding to the smallest pedestrian image distance as the target scene image;

[0049] A detection module, used to detect the actual distance between the target pedestrian and the vehicle in the target scene image by using a radar ranging device, wherein the target pedestrian is the pedestrian corresponding to the distance of the pedestrian image corresponding to the target scene image;

[0050] A second determination module is used to determine the size and color of the preset warning image according to the actual distance and the mapping relationship between the preset image state and the distance, and obtain the warning image to be displayed;

[0051] The control module is used to control the warning display screen to display the warning image to be displayed at the display position corresponding to the target scene image.

[0052] In a third aspect, the present application provides a computer device, comprising: a memory and a processor, the memory and the processor are communicatively connected to each other, computer instructions are stored in the memory, and the processor executes the vehicle safety warning method of any of the above embodiments by executing the computer instructions.

[0053] In a fourth aspect, the present application provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the vehicle safety warning method of any of the above-mentioned embodiments.

[0054] In a fifth aspect, the present invention provides a computer program product, including computer instructions, and the computer instructions are used to enable a computer to execute the vehicle safety warning method of any of the above embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0056] Figure 1 is a flow chart of a vehicle safety warning method according to an embodiment of the present application;

[0057] Figure 2 is a schematic diagram of a vehicle in an example according to an embodiment of the present application;

[0058] Figure 3 is a flow chart of another vehicle safety warning method according to an embodiment of the present application;

[0059] Figure 4 is a schematic diagram of determining the distance of a pedestrian image in an example according to an embodiment of the present application;

[0060] Figure 5 is a schematic diagram of the installation of a camera device and a radar ranging device according to an embodiment of the present application;

[0061] Figure 6 It is a structural diagram of a car eye system in an application scenario;

[0062] Figure 7 yes Figure 6 A schematic diagram of a specific workflow of a method for realizing a vehicle safety warning by a vehicle eye system in an application scenario;

[0063] Figure 8 is a structural block diagram of a vehicle safety warning device according to an embodiment of the present application;

[0064] Fig. 9 It is a schematic diagram of the hardware structure of the computer device of the embodiment of the present application. DETAILED DESCRIPTION

[0065] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of this application.

[0066] The vehicle safety warning method provided by the present application uses a radar ranging device to identify the actual distance between the target pedestrian and the vehicle in the target scene image, avoids using the visual information in the scene image for ranging, reduces size drift, and improves the accuracy of distance detection, and displays the warning image to be displayed on the warning display screen outside the vehicle body to actively provide danger warnings to pedestrians, so as to facilitate pedestrians to actively stay away from the vehicle, thereby reducing the frequency of traffic accidents between vehicles and pedestrians. The vehicle safety warning method of the present application is described in detail below.

[0067] According to an embodiment of the present application, a vehicle safety warning method embodiment is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0068] In an embodiment of the present application, a vehicle safety warning method is provided, which is applied to a data processing module of a vehicle, wherein a warning display screen is installed on the periphery of the vehicle body. Figure 1 is a flow chart of a vehicle safety warning method according to an embodiment of the present application, such as Figure 1 As shown, the process includes the following steps:

[0069] Step S101, obtaining at least one scene image around the vehicle.

[0070] The data processing module may be a processor with data processing function in the vehicle, such as MCU (Microcontroller Unit), CPU (Central Processing Unit) or CPLD (Complex Programmable Logic Device).

[0071] The warning display screen can be a liquid crystal display (LCD), an organic light-emitting diode display (OLED) or a quantum dot display (QLED) and other types of display screens, and the embodiments of the present application do not impose specific restrictions. The warning display screen can be composed of at least one display screen, and the specific shape of each display screen can be set by itself, which can be a rectangle or a triangle. The warning display screen can be installed around the body of the vehicle or on the left and right sides and the rear of the vehicle. The embodiments of the present application take the example of the warning display screen being installed on the left and right sides and the rear of the vehicle, and the warning display screen on each side of the vehicle is a strip display screen. For details, please refer to Figure 2 A schematic diagram of a vehicle-mounted warning display screen in an example is shown, Figure 2 Only the situation where the warning display screen is installed in the vehicle is shown. It can be understood that if a complete display screen is required as the warning display screen, the display screen can be a flexible display screen.

[0072] The user can input a command to turn on the vehicle safety warning in the in-vehicle display device of the vehicle, and the data processing module will respond to the command to turn on the camera device of the vehicle so that the camera device can collect and return the scene image around the vehicle. The user can also input a command to turn on the vehicle safety warning in a specific application in a preset user terminal that is connected to the vehicle for communication, and the preset user terminal will send the received command to the vehicle, so that the data processing module can also receive the command to turn on the camera device of the vehicle, thereby acquiring the scene image.

[0073] Step S102: If there are multiple scene images, identify the pedestrian image distance corresponding to each scene image.

[0074] Among them, the pedestrian image distance is the shortest distance between the center of the pedestrian in the scene image and the center of the scene image. If the vehicle includes multiple cameras, multiple scene images can be collected. For each scene image, the camera that collects the scene image can be used to identify the pedestrians in the scene image, and then the straight-line distance between the center of each pedestrian in the scene image and the center of the scene image is calculated, and the minimum straight-line distance is determined as the pedestrian image distance corresponding to the scene image; if the camera does not identify the human body in the scene image, the scene image is removed from all scene images. The specific algorithm for identifying pedestrians in the scene image can be an OpenPose algorithm, a YOLO algorithm, a PoseNet algorithm, or other algorithms for identifying human bodies or targets, and the embodiments of the present application do not make specific restrictions.

[0075] If only one scene image is obtained, the camera device is used to identify pedestrians in the scene image. If a pedestrian is identified, the scene image is determined to be a target scene image and the pedestrian image distance corresponding to the scene image is calculated. The pedestrian corresponding to the pedestrian image distance is determined as the target pedestrian, and the process proceeds to step S104. If no pedestrian is identified, the process returns to step S101.

[0076] Step S103 , comparing the size relationship between each pedestrian image distance, and determining the scene image corresponding to the smallest pedestrian image distance as the target scene image.

[0077] For the scene images with determined pedestrian image distances, the size relationships between the scene images and the pedestrian image distances are compared, and the scene image corresponding to the smallest pedestrian image distance is determined as the target scene image.

[0078] Step S104, using a radar ranging device to detect the actual distance between the target pedestrian and the vehicle in the target scene image.

[0079] The target pedestrian is the pedestrian corresponding to the distance of the pedestrian image corresponding to the target scene image, that is, the pedestrian corresponding to the distance of the pedestrian image of the target scene image. A plurality of radar ranging devices may be installed on the vehicle, and a camera device for collecting scene images corresponds to a radar ranging device, and the correspondence between the camera device and the radar ranging device may be pre-stored. The data processing module may call the correspondence, and determine the radar ranging device corresponding to the camera device for collecting the target scene image based on the correspondence, and then turn on the determined radar ranging device so that the radar ranging device detects the actual distance between the target pedestrian in the target scene image and the vehicle, and receives the actual distance returned by the radar ranging device.

[0080] It should be noted that the data processing module can also first turn on each radar ranging device so that each radar ranging device detects the distance between pedestrians and vehicles around the vehicle respectively, and then after determining the target scene image, the distance fed back by the radar ranging device corresponding to the camera device that collects the target scene image is used as the distance to be processed, and the minimum distance among the distances to be processed is determined as the actual distance between the target pedestrian and the vehicle in the target scene image.

[0081] Step S105 , determining the size and color of the preset warning image according to the actual distance and the mapping relationship between the preset image state and the distance, and obtaining the warning image to be displayed.

[0082] The preset warning image is used to warn pedestrians that the distance between them and the vehicle is close. It can be a specific image or text, which can be set by yourself. In one example, the preset warning image can be as follows: Figure 2The eye image shown. The mapping relationship between the preset image state and the distance is used to indicate the size and color of the preset warning image corresponding to different actual distances, and can be designed based on actual needs. In the embodiment of the present application, the mapping relationship between the preset image state and the distance is that the smaller the actual distance, the larger the size of the preset warning image and the brighter the color, and the larger the actual distance, the smaller the size of the preset warning image and the darker the color. For example, as the actual distance changes from large to small, the preset warning image changes from small to large and the color changes from black to red.

[0083] Based on the mapping relationship between the preset image state and the distance, the size and color of the preset warning image corresponding to the actual distance between the target pedestrian and the vehicle can be determined, and the preset warning image with the determined size and color corresponding to the actual distance can be used as the warning image to be displayed.

[0084] Step S106, controlling the warning display screen to display the warning image to be displayed at the display position corresponding to the target scene image.

[0085] A corresponding display position is set in advance in the warning display screen for each camera device that captures scene images, and the corresponding display position in the warning display screen of the camera device that captures the target scene image is determined as the display position corresponding to the target scene image, and the warning image to be displayed is displayed at the display position, thereby allowing pedestrians close to the vehicle to intuitively feel that they are close to the vehicle and actively move away from the vehicle to avoid accidents.

[0086] It should be noted that in order to improve the accuracy of vehicle safety warning, multiple camera devices and radar ranging devices can be installed below the warning display screen of the above vehicle. For details, please refer to Figure 2 Corresponding to the schematic diagram of the part, in this way, the multiple cameras below the warning display screen can be used to capture scene images within different fields of view to identify as many pedestrians as possible around the vehicle body, avoiding the situation where pedestrians are not identified due to blind spots in the field of view. And the radar ranging device that is close to the camera device that collects the target scene image among the multiple radar ranging devices can be used to detect the actual distance, further improving the accuracy of the actual distance detection, thereby improving the accuracy of the vehicle safety warning. The specific number of cameras and radar ranging devices can be set by oneself, preferably, it can be as follows Figure 4 As shown, the camera device and the radar ranging device are installed in pairs below the warning display screen so that the radar ranging device can more accurately detect the distance between the vehicle and the pedestrian.

[0087] It is understandable that as the pedestrian moves, the target scene image and the actual distance between the target pedestrian and the vehicle in the target scene image will change, and the size and color of the warning image to be displayed will change accordingly due to the influence of the actual distance, and the display position of the warning image to be displayed will also change due to the change of the target scene image, which means that the warning image to be displayed on the warning display screen will change dynamically. Figure 2 In the example shown, the vehicle eye image in the warning display screen may move to the left or right over a sustained period of time, and its size and color are not fixed.

[0088] In the embodiment of the present application, the scene image with the smallest distance to the pedestrian image is determined as the target scene image, and the actual distance between the target pedestrian and the vehicle in the target scene image is identified based on the radar ranging device, without the need for visual information in the image to estimate the distance, avoiding scale drift and improving the accuracy of distance detection between the vehicle and the pedestrian. The warning image is displayed to pedestrians outside the vehicle to provide a distance warning between the vehicle and the pedestrian, so that pedestrians approaching the vehicle can accurately know the degree of danger of the distance between themselves and the vehicle, and pedestrians can take the initiative to stay away from the vehicle, reducing the frequency of traffic accidents between vehicles and pedestrians. In addition, the vehicle safety warning system of the present application can be used in intelligent driving to provide support for pedestrian and vehicle distance warning, with a wide range of application scenarios and high scalability.

[0089] In an embodiment of the present application, another vehicle safety warning method is provided, which can be used in the data processing module of the above-mentioned vehicle. Figure 3 is a flow chart of another vehicle safety warning method according to an embodiment of the present application, such as Figure 3 As shown, the process includes the following steps:

[0090] Step S301, obtaining at least one image of a scene around the vehicle.

[0091] Step S301 is described in detail in Figure 1 Step S101 in the illustrated embodiment is not described in detail here.

[0092] Optionally, the warning display screen can also display a preset background image, which matches the appearance of the vehicle body, so that the warning display screen and the vehicle body can be visually integrated. When the camera device is not turned on, the warning display screen will display the preset background image. It should be noted that when displaying the warning image to be displayed, the remaining display area of ​​the warning display screen except for the warning image to be displayed can display the preset background image that matches the appearance of the vehicle body.

[0093] Optional, such as Figure 2As shown, the warning display screen can be a strip display screen, which can be installed between the vehicle window and the vehicle handle, so as to avoid installing the warning display screen near the tire of the vehicle and avoid dust accumulation on the warning display screen to affect the clarity of the displayed image.

[0094] Step S302: If there are multiple scene images, identify the pedestrian image distance corresponding to each scene image.

[0095] Optionally, step S302 may include the following steps S3021 to S303:

[0096] Step S3021, determining whether there is a pedestrian in each scene image.

[0097] For each scene image, the camera device that captures the scene image can be used to identify pedestrians in the scene image, or the data processing module can identify pedestrians in the scene image based on an algorithm for identifying a human body or a target after acquiring the scene image captured by the camera device. It is understandable that each scene image recognized by the camera device can carry the camera identification information of the camera device, so that the data processing module can subsequently determine the camera device corresponding to each scene image.

[0098] Step S3022: remove scene images without pedestrians from all scene images.

[0099] Step S3023, for each scene image containing pedestrians, respectively determine the straight-line distance between the center of each pedestrian in each scene image and the center of the scene image, and determine the minimum straight-line distance as the pedestrian image distance corresponding to the scene image.

[0100] For multiple scene images, pedestrians in the scene images are first identified to find scene images with pedestrians. And for each scene image with pedestrians, the minimum straight-line distance between the center of each pedestrian in the scene image and the center of the scene image is determined as the pedestrian image distance. Since the center of the scene image will be close to the optical center of the camera device, it can be ensured that the pedestrian corresponding to the pedestrian image distance is as close to the camera device that captures the scene image as possible. After the target scene image is subsequently determined based on the pedestrian image distance, it can also be ensured that the pedestrian in the target scene image is as close to the camera device as possible. In this way, the actual distance obtained by the radar ranging device can be used as the vertical distance between the pedestrian and the vehicle with a higher credibility to participate in the subsequent operation of the vehicle safety warning without other data processing operations, thereby improving the efficiency of the vehicle safety warning.

[0101] Optionally, in order to quickly find pedestrians close to the vehicle, for each scene image in which pedestrians exist, before determining the minimum straight-line distance as the pedestrian image distance corresponding to the scene image, the method further includes determining the size of the identification frame of each pedestrian in the scene image, and deleting the straight-line distance corresponding to the pedestrian in the identification frame whose size is smaller than the first threshold from the straight-line distance between the center of each pedestrian in the scene image and the center of the scene image. In this way, pedestrians far from the vehicle can be ignored. Pedestrians close to the vehicle can be quickly found.

[0102] In one example, if Figure 4 As shown, there are two pedestrians in a scene image, namely pedestrian 1 and pedestrian 2. The sizes of the identification frames of pedestrian 1 and pedestrian 2 are the same, but the straight-line distance between the center of pedestrian 1 and the center of the scene image is greater than the straight-line distance between the center of pedestrian 2 and the center of the scene image (the straight-line distance is 0). It can be determined that pedestrian 2 is facing the center of the camera device that captures the scene image, and the straight-line distance between the center of pedestrian 2 and the center of the scene image is determined as the pedestrian image distance corresponding to the scene image.

[0103] Step S303 : compare the size relationship between each pedestrian image distance, and determine the scene image corresponding to the smallest pedestrian image distance as the target scene image.

[0104] Step S303 is detailed in Figure 1 Step S103 in the illustrated embodiment is not described in detail here.

[0105] Step S304: Detect the actual distance between the target pedestrian and the vehicle in the target scene image using a radar ranging device.

[0106] Optionally, step S304 may include the following steps S3041 to S3042:

[0107] Step S3041, determining the target radar ranging device corresponding to the target camera identification information according to the ranging identification information corresponding to each camera device.

[0108] Among them, each camera device corresponds to the ranging identification information of a radar ranging device. The target camera identification information is the camera identification information of the camera device that collects the target scene image. Each camera device also has its own camera identification information. The camera identification information of the camera device and the ranging identification information of the radar ranging device are stored in association in advance. The data processing module can find the ranging identification information corresponding to the target camera identification information from the associated stored camera identification information and ranging identification information, and determine the radar ranging device corresponding to the found ranging identification information as the target radar ranging device. It should be noted that the camera identification information and the ranging identification information can be set by yourself, and can be a combination of at least one of special characters, English letters and numbers, and the implementation of this application does not impose specific restrictions.

[0109] Step S3042, using a target radar ranging device to detect the actual distance between the target pedestrian and the vehicle in the target scene image.

[0110] The data processing module turns on the target radar ranging device to enable the target radar ranging device to detect the actual distance between the target pedestrian and the vehicle in the target scene image, and receives the actual distance returned by the target radar ranging device.

[0111] Optionally, the data processing module may also first turn on each radar ranging device, and after determining the target radar ranging device, enable the distance fed back by the target radar ranging device, and determine the minimum distance among the distances fed back by the target radar ranging device as the actual distance between the target pedestrian and the vehicle in the target scene image.

[0112] The actual distance between the target pedestrian and the vehicle is detected by using the target radar ranging device corresponding to the target camera device. There is no need to use the visual information in the image to estimate the distance, which avoids scale drift and improves the accuracy of distance detection between vehicles and pedestrians. At the same time, it also realizes the use of different radar ranging devices to accurately detect the distance between pedestrians and vehicles within the field of view of different camera devices, further improving the accuracy of distance detection between vehicles and pedestrians, thereby improving the accuracy of vehicle safety warnings.

[0113] Step S305 , determining the size and color of the preset warning image according to the actual distance and the mapping relationship between the preset image state and the distance, and obtaining the warning image to be displayed.

[0114] Step S305 is described in detail in Figure 1 Step S105 in the illustrated embodiment is not described in detail here.

[0115] Step S306: Control the warning display screen to display the warning image to be displayed at the display position corresponding to the target scene image.

[0116] Optionally, step S306 may include the following steps S3061 to S3063:

[0117] Step S3061, obtaining target camera identification information of the target camera device.

[0118] There are multiple warning display screens, each of which corresponds to camera identification information of at least one camera device, and each camera identification information corresponds to a display position in the warning display screen. The target camera device is a camera device that captures the target scene image, and the target scene image carries the target camera identification information of the target camera device. The data processing module can obtain the target camera identification information from the target scene image.

[0119] Step S3062: Determine the target warning display screen corresponding to the target camera identification information according to the camera identification information corresponding to each warning display screen.

[0120] The corresponding relationship between each warning display screen and the camera identification information is stored in advance, and the data processing module can find the warning display screen corresponding to the target identification information, that is, the target warning display screen, from the corresponding relationship.

[0121] Step S3063, controlling the target warning display screen to display the warning image to be displayed at the display position corresponding to the target camera identification information.

[0122] Optionally, the appearance shapes of the camera device and the radar ranging device installed in the vehicle are not specifically limited in the embodiments of the present application. Preferably, both the camera device and the radar ranging device can be circular in appearance.

[0123] Optionally, in order to improve the accuracy of monitoring the actual distance between pedestrians and vehicles, and to better locate the location where a collision may occur for subsequent video recording, a camera device and a radar distance measuring device are installed below the warning display screen as a set. For details, please refer to Figure 5 The installation diagram of the camera device and the radar ranging device is shown.

[0124] Optionally, in order to facilitate the identification of the person responsible after an accident occurs, a video may be recorded to record the process of the accident when it is determined that the distance between the pedestrian and the vehicle is close. Specifically, before controlling the warning display screen to display the warning image to be displayed at the display position corresponding to the target scene image, the method further includes the following steps:

[0125] Comparing the actual distance with the first preset distance;

[0126] If the actual distance is less than the first preset distance, the video recording function of the target camera device corresponding to the target scene image is turned on, so that the target camera device records the video including the target pedestrian.

[0127] The first preset distance can be set by the user. The embodiment of the present application is not specifically limited. For example, the first preset distance can be 5 meters or 2 meters, etc. The specific time for the target camera device to record the video can be set by the user. Preferably, the video recording time can be 30 seconds. When the actual distance between the target pedestrian and the vehicle is less than the first preset distance, the video recording function of the target camera device that captures the target scene image is turned on to record the video including the target pedestrian, so that the entire process of the accident can be recorded to facilitate the identification of the responsible person after the accident.

[0128] Optionally, in order to further reduce the frequency of traffic accidents between vehicles and pedestrians, in addition to displaying the warning image to be displayed to pedestrians to inform them of the distance warning between themselves and the vehicle, warning information can also be provided to the driver when the distance between the pedestrian and the vehicle is too close, so that the driver can control the vehicle speed in time to avoid accidents. Specifically, before controlling the warning display screen to display the warning image to be displayed at the display position corresponding to the target scene image, the method also includes the following steps:

[0129] Comparing the magnitude relationship between the actual distance and the second preset distance;

[0130] If the actual distance is less than the second preset distance, a warning message is sent to a preset user terminal and an in-vehicle display device of the vehicle.

[0131] Among them, the first preset distance is greater than the second preset distance, the warning information is used to indicate that the target pedestrian is too close to the vehicle, and the vehicle is connected to the preset user terminal. The preset user terminal can be a mobile terminal such as a smart phone or a tablet. When the actual distance between the target pedestrian and the vehicle is less than the second preset distance, sending a warning message to the preset user terminal and the in-vehicle display device of the vehicle can promptly remind the driver that the distance between the pedestrian and the vehicle is too close, so that the driver can promptly control the vehicle speed to avoid accidents, further reducing the frequency of traffic accidents between vehicles and pedestrians.

[0132] Optionally, in order to further reduce the frequency of traffic accidents between vehicles and pedestrians, in addition to providing warning information to the driver, warning information other than the visual dimension can also be provided to pedestrians. Specifically, before controlling the warning display screen to display the warning image to be displayed at the display position corresponding to the target scene image, the method also includes: if the actual distance is less than the second preset distance, controlling the vehicle's sound device to emit an alarm audio. The sound device can be a speaker in the vehicle. When the actual distance between the target pedestrian and the vehicle is less than the second preset distance, timely controlling the vehicle's sound device to emit an alarm audio to alert the pedestrian, thereby keeping the pedestrian away from the vehicle, can further reduce the frequency of traffic accidents between vehicles and pedestrians.

[0133] Optionally, when the data processing module controls the camera device and the radar ranging device to cooperate with each other to execute the vehicle safety warning method, a large amount of historical data will be generated to occupy a large amount of memory in the vehicle. In order to ensure the normal operation of the vehicle, the historical data can be deleted from the memory regularly, and the historical data can be stored in a preset cloud server to facilitate subsequent query of the historical data. The historical data includes data such as the target scene image, the target pedestrian, the actual distance between the target pedestrian and the vehicle, the acquisition time of the target scene image, and the video recorded by the target camera device.

[0134] Combined with the above description, in order to facilitate remote viewing of historical data, the method also includes the following steps:

[0135] Receive a historical data query request and parse the historical time period in the historical data query request;

[0136] Query the target scene images determined within the historical time period;

[0137] The queried target scene image is sent to the preset user terminal.

[0138] The historical data query request can be input from at least one of a preset user terminal, an in-vehicle display device, or a cloud server connected to the vehicle flux, so that the data processing module can receive the historical data query request and parse the historical time period in the request. Then, it is determined whether the historical data within the historical time period is stored in the vehicle's memory. If so, the target scene images that have been determined within the historical time period are queried in the memory, and the queried target scene images are sent to the preset user terminal so that the user can view the images of pedestrians approaching the vehicle within the historical time period through the preset terminal. If not, a request is made to the preset cloud server to query the target scene images determined within the historical time period, the target scene images returned by the cloud server are received, and the returned target scene images are sent to the preset user terminal. In this way, the query of the target scene images determined within the historical time period facilitates tracing the responsibility for the accident or possible problems.

[0139] Optionally, the method also provides a real-time data query function, and the method may further include: receiving a real-time data query request from the first camera device, controlling the first camera device to capture scene images around the vehicle, and sending the captured scene images to a preset user terminal. The first camera device is any one of a plurality of camera devices. The real-time data query request from the first camera device may be input from at least one of a preset user terminal, an in-vehicle display device, or a cloud server connected to the vehicle flux. After receiving the real-time data query request from the first camera device, the scene image captured in real time by the first camera device may be sent to the preset user terminal to facilitate the user to remotely observe the situation around the vehicle.

[0140] In an application scenario, taking the warning display screen as a vehicle body screen module, the camera device and the radar ranging device as a camera and radar sensing module, the data processing module as a software vehicle eye control module, the in-vehicle display device as a vehicle internal display screen, the camera device as a camera, and the preset warning image as a vehicle eye image as an example, a structural schematic diagram of a vehicle vehicle eye system applying the vehicle safety warning method in the embodiment of the present application is as follows: Figure 6 As shown, the specific workflow of the system to implement the vehicle safety warning method is as follows Figure 7 shown.

[0141] The in-car display device and the preset user terminal are equipped with the car eye APP (mobile application service, APPlication) application, that is, Figure 6 APP application module in. The user can input the instruction to turn on the vehicle safety warning in the car eye APP, and the data processing module can respond to the instruction to turn on the vehicle's camera device so that the camera device collects and returns the scene image around the vehicle, that is, the data processing module can respond to the instruction to turn on the car eye function so that the camera obtains the surrounding pictures of the vehicle. Then, the camera device is used to identify pedestrians in the scene image, that is, to determine the human body at a specific position. If the camera device is used to identify pedestrians, the distance of the pedestrian image corresponding to the scene image is determined to obtain the target scene image. Then, the radar ranging device is used to identify the actual distance between the target pedestrian and the vehicle in the target scene image, that is, to start the radar distance test. Then, based on the actual distance, the warning image to be displayed is determined to display the warning image to be displayed at the corresponding display position of the warning display screen, that is, the car eye is formed and the body screen module is displayed.

[0142] As pedestrians move, the display position, size and color of the warning image to be displayed will change, that is, the vehicle eye state changes as the human body moves, and a danger warning can be provided to pedestrians around the vehicle. That is, after the vehicle eye function is activated, the camera on the vehicle body can identify the movement of surrounding human bodies. Once a human body is identified, it automatically determines the closest point of contact between the person and the vehicle, that is, determines the distance to the target pedestrian in the target scene image, and determines the time of collision between the person and the vehicle through the camera and radar at the closest point, and then provides a vehicle eye warning in advance, making the collision warning between the car and the pedestrian on the road more intuitive and more convenient to remind pedestrians. It can also be used in intelligent driving to provide support for distance warning between pedestrians and vehicles, with a wide range of application scenarios and high scalability.

[0143] In the embodiment of the present application, the minimum straight-line distance between the center of each pedestrian in the scene image and the center of the scene image is determined as the pedestrian image distance. Since the center of the scene image is close to the optical center of the camera device, it can be ensured that the pedestrian corresponding to the pedestrian image distance is as close to the camera device that collects the scene image as possible. In addition, the pedestrian in the target scene image is also as close to the camera device as possible, and the actual distance obtained by the radar distance measuring device can be used as the vertical distance between the pedestrian and the vehicle with high credibility to participate in the subsequent operation of the vehicle safety warning without other data processing operations, thereby improving the efficiency of the vehicle safety warning. The warning image is also displayed on the warning display screen outside the vehicle to provide pedestrians with a distance warning between the vehicle and the pedestrian, so that pedestrians approaching the vehicle can accurately know the degree of danger of the distance between themselves and the vehicle, so that pedestrians can actively stay away from the vehicle and reduce the frequency of traffic accidents between vehicles and pedestrians.

[0144] In this embodiment, a vehicle safety warning device is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware of a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0145] This embodiment provides a vehicle safety warning device, which is applied to a data processing module of a vehicle, such as Figure 8 As shown, including:

[0146] An acquisition module 810 is used to acquire at least one image of a scene around the vehicle;

[0147] An identification module 820, for identifying a pedestrian image distance corresponding to each of the scene images if there are multiple scene images, wherein the pedestrian image distance is the shortest distance between the center of the pedestrian in the scene image and the center of the scene image;

[0148] A first determination module 830 is used to compare the size relationship between each of the pedestrian image distances, and determine the scene image corresponding to the smallest pedestrian image distance as the target scene image;

[0149] A detection module 840 is used to detect the actual distance between the target pedestrian in the target scene image and the vehicle using a radar ranging device, wherein the target pedestrian is the pedestrian corresponding to the distance of the pedestrian image corresponding to the target scene image;

[0150] A second determination module 850 is used to determine the size and color of the preset warning image according to the actual distance and the mapping relationship between the preset image state and the distance, and obtain the warning image to be displayed;

[0151] The control module 860 is used to control the warning display screen to display the warning image to be displayed at the display position corresponding to the target scene image.

[0152] In some optional embodiments, there are multiple warning display screens, each warning display screen corresponds to camera identification information of at least one camera device, and each camera identification information corresponds to a display position in the warning display screen. The control module includes:

[0153] A first acquisition unit is used to acquire target camera identification information of a target camera device, where the target camera device is a camera device that captures a target scene image;

[0154] A first determining unit is used to determine a target early warning display screen corresponding to the target camera identification information according to the camera identification information corresponding to each early warning display screen;

[0155] The control unit is used to control the target warning display screen to display the warning image to be displayed at the display position corresponding to the target camera identification information.

[0156] In some optional embodiments, each camera device corresponds to ranging identification information of a radar ranging device, and the detection module includes:

[0157] A second determining unit is used to determine the target radar ranging device corresponding to the target camera identification information according to the ranging identification information corresponding to each camera device, where the target camera identification information is the camera identification information of the camera device that collects the target scene image;

[0158] The detection unit is used to detect the actual distance between the target pedestrian and the vehicle in the target scene image by using the target radar ranging device.

[0159] In some optional embodiments, the identification module includes:

[0160] A third determination unit, used to determine whether there is a pedestrian in each scene image;

[0161] A culling unit, used for culling scene images without pedestrians from all scene images;

[0162] The fourth determination unit is used to determine, for each scene image containing pedestrians, the straight-line distance between the center of each pedestrian in the scene image and the center of the scene image, and determine the minimum straight-line distance as the pedestrian image distance corresponding to the scene image.

[0163] In some optional embodiments, the vehicle safety warning device further includes:

[0164] A first comparison module, used for comparing the size relationship between the actual distance and the first preset distance;

[0165] The first activation module is used to activate the video recording function of the target camera device corresponding to the target scene image if the actual distance is less than the first preset distance, so that the target camera device records the video including the target pedestrian.

[0166] In some optional embodiments, the vehicle is communicatively connected to a preset user terminal, and the vehicle safety warning device further includes:

[0167] A second comparison module is used to compare the actual distance with a second preset distance, the first preset distance being greater than the second preset distance;

[0168] The first sending module is used to send a warning message to a preset user terminal and an in-vehicle display device of the vehicle if the actual distance is less than a second preset distance, wherein the warning message is used to indicate that the target pedestrian is too close to the vehicle.

[0169] In some optional embodiments, the control module is further configured to control a sound device of the vehicle to emit an alarm audio if the actual distance is less than a second preset distance.

[0170] In some optional embodiments, the vehicle safety warning device further includes:

[0171] A receiving module, used to receive a historical data query request and parse the historical time period in the historical data query request;

[0172] A query module, used to query target scene images determined within a historical time period;

[0173] The second sending module is used to send the queried target scene image to a preset user terminal.

[0174] In some optional embodiments, the receiving module is also used to receive a real-time data query request from the first camera device, control the first camera device to capture scene images around the vehicle, and send the captured scene images to a preset user terminal. The first camera device is any one of multiple camera devices.

[0175] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0176] The vehicle safety warning device in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0177] The present application also provides a computer device having the above Figure 8The vehicle safety warning device shown.

[0178] See also Fig. 9 , Fig. 9 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present application, such as Fig. 9 As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Fig. 9 A processor 10 is taken as an example.

[0179] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0180] The memory 20 stores instructions executable by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0181] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0182] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0183] The computer device further comprises a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0184] The embodiment of the present application also provides a computer-readable storage medium. The above method according to the embodiment of the present application can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0185] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0186] Although the embodiments of the present application are described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present application, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A vehicle safety early warning method, characterized in that: A data processing module applied to a vehicle, wherein a warning display screen is installed on the periphery of the vehicle body, and the method comprises: Acquire at least one image of a scene around the vehicle; If there are multiple scene images, identify the pedestrian image distance corresponding to each of the scene images, where the pedestrian image distance is the shortest distance between the center of the pedestrian in the scene image and the center of the scene image; Comparing the size relationship between each of the pedestrian image distances, and determining the scene image corresponding to the smallest pedestrian image distance as the target scene image; Using a radar ranging device to detect the actual distance between a target pedestrian in the target scene image and the vehicle, the target pedestrian being a pedestrian corresponding to the distance of the pedestrian image corresponding to the target scene image; Determine the size and color of the preset warning image according to the actual distance and the mapping relationship between the preset image state and the distance, and obtain the warning image to be displayed; Controlling the warning display screen to display the warning image to be displayed at a display position corresponding to the target scene image; The method of using a radar ranging device to detect the actual distance between the target pedestrian in the target scene image and the vehicle includes: Calling a pre-stored correspondence between a camera device and a radar ranging device, and determining a radar ranging device corresponding to the camera device that collects the target scene image based on the correspondence; The actual distance between the target pedestrian in the target scene image and the vehicle is detected by using a radar ranging device that is close to the camera device that collects the target scene image among the multiple radar ranging devices.

2. The method according to claim 1, characterized in that There are a plurality of warning display screens, each of which corresponds to camera identification information of at least one camera device, and each of which corresponds to a display position in the warning display screen, and controlling the warning display screen to display the warning image to be displayed at the display position corresponding to the target scene image comprises: Acquire target camera identification information of a target camera device, where the target camera device is a camera device that captures the target scene image; Determine the target warning display screen corresponding to the target camera identification information according to the camera identification information corresponding to each of the warning display screens; The target warning display screen is controlled to display the warning image to be displayed at a display position corresponding to the target camera identification information.

3. The method according to claim 1 or 2, characterized in that: Each camera device corresponds to the ranging identification information of a radar ranging device, and the actual distance between the target pedestrian and the vehicle in the target scene image is detected by using the radar ranging device, including: Determine the target radar ranging device corresponding to the target camera identification information according to the ranging identification information corresponding to each of the camera devices, wherein the target camera identification information is the camera identification information of the camera device that collects the target scene image; The actual distance between the target pedestrian in the target scene image and the vehicle is detected by using a target radar ranging device.

4. The method according to claim 3, characterized in that The identifying the pedestrian image distance corresponding to each of the scene images includes: Determining whether there is a pedestrian in each of the scene images; Eliminate scene images in which no pedestrians exist from all the scene images; For each scene image with pedestrians, the straight-line distance between the center of each pedestrian in the scene image and the center of the scene image is determined respectively, and the minimum straight-line distance is determined as the pedestrian image distance corresponding to the scene image.

5. The method according to claim 4, characterized in that Before controlling the warning display screen to display the warning image to be displayed at the display position corresponding to the target scene image, the method further includes: Comparing the actual distance with the first preset distance; If the actual distance is less than the first preset distance, the video recording function of the target camera device corresponding to the target scene image is turned on, so that the target camera device records the video including the target pedestrian.

6. The method according to claim 5, characterized in that The vehicle is in communication connection with a preset user terminal. Before controlling the warning display screen to display the warning image to be displayed at the display position corresponding to the target scene image, the method further includes: Comparing the actual distance with a second preset distance, the first preset distance is greater than the second preset distance; If the actual distance is less than the second preset distance, a warning message is sent to the preset user terminal and the in-vehicle display device of the vehicle, where the warning message is used to indicate that the target pedestrian is too close to the vehicle.

7. The method according to claim 6, characterized in that Before controlling the warning display screen to display the warning image to be displayed at the display position corresponding to the target scene image, the method further includes: If the actual distance is less than the second preset distance, the sound device of the vehicle is controlled to emit an alarm audio.

8. The method according to claim 6, characterized in that The method further comprises: Receiving a historical data query request, and parsing a historical time period in the historical data query request; Querying the target scene image determined within the historical time period; The queried target scene image is sent to the preset user terminal.

9. The method according to claim 2, characterized in that: The method further comprises: Receive a real-time data query request from a first camera device, control the first camera device to capture scene images around the vehicle, and send the captured scene images to a preset user terminal, where the first camera device is any one of the multiple camera devices.

10. A vehicle safety warning device, characterized in that: A data processing module applied to a vehicle, wherein a warning display screen is installed on the periphery of the vehicle body, and the device comprises: An acquisition module, used to acquire at least one image of a scene around the vehicle; A recognition module, for recognizing the pedestrian image distance corresponding to each of the scene images if there are multiple scene images, wherein the pedestrian image distance is the shortest distance between the center of the pedestrian in the scene image and the center of the scene image; A first determination module is used to compare the size relationship between each of the pedestrian image distances, and determine the scene image corresponding to the smallest pedestrian image distance as the target scene image; A detection module, for detecting the actual distance between a target pedestrian in the target scene image and the vehicle by using a radar ranging device, wherein the target pedestrian is a pedestrian corresponding to the distance of the pedestrian image corresponding to the target scene image; the detecting the actual distance between the target pedestrian in the target scene image and the vehicle by using the radar ranging device comprises: calling a pre-stored correspondence between a camera device and a radar ranging device, and determining the radar ranging device corresponding to the camera device that collects the target scene image based on the correspondence; detecting the actual distance between the target pedestrian in the target scene image and the vehicle by using a radar ranging device that is close to the camera device that collects the target scene image among multiple radar ranging devices; A second determination module is used to determine the size and color of the preset warning image according to the actual distance and the mapping relationship between the preset image state and the distance, so as to obtain the warning image to be displayed; A control module is used to control the warning display screen to display the warning image to be displayed at a display position corresponding to the target scene image.

11. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the vehicle safety warning method according to any one of claims 1 to 9 by executing the computer instructions.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the vehicle safety warning method according to any one of claims 1 to 9.

13. A computer program product, characterized in that It comprises computer instructions, and the computer instructions are used to make a computer execute the vehicle safety warning method according to any one of claims 1 to 9.

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