Driving behavior monitoring method and device, and vehicle-mounted terminal

Abstract

This invention relates to the field of intelligent driving technology and discloses a driving behavior monitoring method, device, and vehicle-mounted terminal. The method includes: acquiring a set of images of a target vehicle and identifying a target moving object contained in each image of the set; identifying the image in the set where the target moving object first appears as a first image, and identifying images in the set acquired after the acquisition time of the first image as second images; determining the position and speed information of the target moving object based on the second images; and determining the driving behavior information of the target vehicle based on the position and speed information and the current speed of the target vehicle. By combining the position and speed information of the target moving object with the vehicle's current speed, the driving behavior information of the vehicle is determined, thereby monitoring the vehicle's driving behavior and enabling the driver to be constrained based on the driving behavior, thus improving vehicle driving safety.

Description

Technical Field

[0001] This invention relates to the field of intelligent driving technology, specifically to a driving behavior monitoring method, device, and vehicle terminal. Background Technology

[0002] Some drivers exhibit aggressive driving behaviors when turning, such as high speeds and failure to yield to pedestrians or non-motorized vehicles. These aggressive driving behaviors easily cause traffic accidents, and currently there are no means to monitor and restrain them, which leads to a decrease in vehicle driving safety. Summary of the Invention

[0003] In view of the above problems, embodiments of the present invention provide a driving behavior monitoring method, device and vehicle terminal to solve the problem that the prior art cannot monitor aggressive driving behavior, resulting in reduced vehicle driving safety.

[0004] According to one aspect of the present invention, a driving behavior monitoring method is provided, the method comprising:

[0005] Acquire a set of images of the target vehicle, and identify the target moving object contained in each image of the set; the target moving object is the moving object located in the target area; the target area is used to represent the blind spot in the driver's field of vision of the target vehicle.

[0006] The image in the image set that first shows the moving target is designated as the first image, and the images in the image set whose acquisition time is after the acquisition time of the first image are designated as the second image.

[0007] The position and velocity information of the target moving object are determined based on the second image;

[0008] Based on location information, speed information, and the target vehicle's current speed, the driving behavior information of the target vehicle is determined.

[0009] In one optional implementation, determining the target moving object contained in each image of the image set includes:

[0010] Determine the relative position between each moving object and the target vehicle in each image of the image set;

[0011] The moving object whose relative position is within the preset position range is identified as the target moving object; the preset position range is the relative position range corresponding to the target area.

[0012] In one optional implementation, determining the position and velocity information of the target moving object based on the second image includes:

[0013] Based on the position of the target moving object in the second image, determine the position information of the target moving object in multiple second images respectively;

[0014] Velocity information is determined based on the positional changes of the target moving object in multiple second images and the acquisition time of the multiple second images.

[0015] In one optional implementation, the driving behavior information of the target vehicle is determined based on location information, speed information, and the current speed of the target vehicle, including:

[0016] If the location information indicates that the target moving object is not in the second image, then the second image in which the target moving object was not detected for the first time is determined as the target image, and the acquisition time of the target image is obtained to obtain the disappearance time of the target moving object;

[0017] Based on speed information and current speed, determine the speed difference between the target moving object and the target vehicle;

[0018] Determine the target safety time based on the speed difference and the preset safety distance;

[0019] If the location information indicates that the target moving object is not within the second image, the speed difference is greater than zero, and the disappearance time exceeds the target's safe time, then the driving behavior information is determined to be normal driving behavior.

[0020] In one optional implementation, determining the driving behavior information of the target vehicle based on location information, speed information, and the current speed of the target vehicle further includes:

[0021] If the location information indicates that the target moving object is within the target area and the speed of the target vehicle is greater than the preset speed, then the driving behavior information is determined to be aggressive driving behavior.

[0022] In one alternative implementation, the target area is determined in the following way:

[0023] Obtain the location information of the driver in the target vehicle;

[0024] Based on the driver's location information, determine the direct field of vision at the driver's location;

[0025] Based on the direct field of view and the principle of light reflection, the indirect field of view at the driver's position is determined.

[0026] The area behind the rearview mirror of the target vehicle, excluding the indirect field of vision, is defined as the target area.

[0027] In one alternative implementation, the method further includes:

[0028] If the driving behavior information indicates aggressive driving behavior, then the driving behavior information will be recorded and reported.

[0029] In one alternative implementation, the method further includes:

[0030] Obtain the status information of the target vehicle, and determine the current driving operation of the target vehicle based on the status information;

[0031] If the current driving operation is a turning operation, then obtain the image set of the target vehicle.

[0032] According to another aspect of the present invention, a driving behavior monitoring device is provided, comprising:

[0033] The object determination module is used to acquire a set of images of the target vehicle and determine the target moving object contained in each image of the set; the target moving object is a moving object located in the target area; the target area is used to represent the blind spot in the driver's field of vision of the target vehicle.

[0034] The image determination module is used to determine the first image as the first image in the image set where the target moving object first appears, and to determine the second image as the image in the image set whose acquisition time is after the acquisition time of the first image.

[0035] The information determination module is used to determine the position and speed information of the target moving object based on the second image;

[0036] The behavior determination module is used to determine the driving behavior information of the target vehicle based on location and speed information.

[0037] According to another aspect of the present invention, a vehicle-mounted terminal is provided, comprising: a processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other through the communication bus;

[0038] The memory is used to store at least one executable instruction that causes the processor to perform the operations of any of the driving behavior monitoring methods described above.

[0039] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein at least one executable instruction is stored in the storage medium, and the executable instruction, when executed on a driving behavior monitoring device / vehicle terminal, causes the driving behavior monitoring device / vehicle terminal to perform the operation of any of the driving behavior monitoring methods described above.

[0040] This invention monitors moving objects within a target area, combines the location and speed information of the moving objects with the current speed of the target vehicle, and determines the driving behavior information of the target vehicle. This allows for monitoring of the vehicle's driving behavior, enabling subsequent constraints on the driver based on the vehicle's driving behavior and improving vehicle driving safety.

[0041] The above description is merely an overview of the technical solutions of the embodiments of the present invention. In order to better understand the technical means of the embodiments of the present invention and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the embodiments of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0042] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0043] Figure 1 This is a flowchart illustrating a driving behavior monitoring method provided in an embodiment of the present invention;

[0044] Figure 2 This is a flowchart illustrating the process of determining a target moving object contained in an image in a driving behavior monitoring method provided by an embodiment of the present invention;

[0045] Figure 3 This is a flowchart illustrating the determination of location and speed information in a driving behavior monitoring method provided by an embodiment of the present invention;

[0046] Figure 4 This is a flowchart illustrating the process of determining driving behavior information in a driving behavior monitoring method provided in an embodiment of the present invention;

[0047] Figure 5 This is a schematic diagram of the structure of an embodiment of the driving behavior monitoring device provided in this invention;

[0048] Figure 6 This is a structural schematic diagram of an embodiment of the vehicle-mounted terminal provided in this invention. Detailed Implementation

[0049] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0050] Some drivers exhibit aggressive driving behaviors when turning, such as high speeds and failure to yield to pedestrians or non-motorized vehicles. This is especially true for test vehicles, which often lack license plates, leading to potentially very aggressive driving by drivers. These aggressive behaviors easily cause traffic accidents, and currently, there are no means to monitor or restrain them, resulting in reduced vehicle safety.

[0051] Based on this, embodiments of the present invention provide a driving behavior monitoring method. The method includes: acquiring an image set of a target vehicle, and identifying a target moving object contained in each image of the image set; the target moving object is a moving object located in a target area; the target area is used to characterize the blind spot at the driver's position of the target vehicle; identifying the image in the image set where the target moving object first appears as a first image, and identifying images in the image set acquired after the acquisition time of the first image as second images; determining the position information and speed information of the target moving object based on the second image; and determining the driving behavior information of the target vehicle based on the position information, speed information, and the current speed of the target vehicle. Thus, by monitoring the target moving object present in the target area, combining the position information and speed information of the target moving object with the current speed of the target vehicle, the driving behavior information of the target vehicle is determined, thereby monitoring the vehicle's driving behavior and enabling subsequent constraints on the driver based on the vehicle's driving behavior, thereby improving vehicle driving safety.

[0052] The following describes a specific embodiment of a driving behavior monitoring method according to the present invention. Figure 1 This is a flowchart illustrating a driving behavior monitoring method according to an embodiment of the present invention. This specification provides the method operation steps as shown in the embodiments or flowcharts, but based on conventional or non-inventive labor, more or fewer operation steps may be included. The order of steps listed in the embodiments is merely one possible execution order among many and does not represent the only execution order. In actual system or server product execution, the method can be executed sequentially according to the embodiments or drawings, or in parallel (e.g., in a parallel processor or multi-threaded processing environment). Specifically, as shown... Figure 1 As shown, the method may include:

[0053] Step 110: Obtain the image set of the target vehicle, and determine the target moving object contained in each image of the image set.

[0054] In this embodiment of the invention, the image set of the target vehicle is obtained by cameras installed at the rearview mirrors of the target vehicle capturing images of the area behind the vehicle. A camera is installed at each of the left and right rearview mirrors of the target vehicle, and the two cameras simultaneously capture images of the area behind the target vehicle at the same acquisition time interval to obtain the image set of the target vehicle.

[0055] In this embodiment of the invention, the target moving object is a moving object located in a target area. The target area represents the blind spot in the driver's field of vision at the driver's position in the target vehicle; that is, the blind spot exists in the driver's field of vision when driving the target vehicle. Specifically, the target moving object is a moving object located in the driver's blind spot in the target vehicle. The target moving object is a non-vehicle object such as a pedestrian or non-motorized vehicle. The target moving object is used to determine whether the target vehicle yields to non-vehicle objects during driving, thereby determining the driving behavior information of the target vehicle.

[0056] In one optional implementation, the target area is determined as follows: First, the position information of the driver's position in the target vehicle is acquired. This position information includes the position of the driver's seat and the driver's head or eye level while seated. The driver's seat position can be determined by acquiring the state of components in the target vehicle that adjust the driver's seat position. The driver's head or eye level while seated can be obtained by installing an image sensor, such as a camera, inside the target vehicle to capture and process images of the driver's seat. Based on the driver's position information, the direct field of view at the driver's position is determined. The direct field of view refers to the area of ​​vision that the driver can directly see without the aid of rearview mirrors or other field-of-view extension devices. This can be achieved by pre-collecting different position information, i.e., the direct field of view corresponding to different seat positions and different head or eye levels of the driver. When determining the target area, the corresponding direct field of view can be directly determined based on the acquired position information. Based on the direct field of vision and the principle of light reflection, the indirect field of vision at the driver's position is determined. The indirect field of vision refers to the area the driver can see using the rearview mirror. Based on the driver's direct field of vision, the mirror surface area visible to the driver and the direction of the driver's gaze when looking at the mirror can be determined. Therefore, based on this mirror surface area and the direction of the gaze, combined with the principle of light reflection, the indirect field of vision is determined. Finally, the area behind the rearview mirror of the target vehicle, excluding the indirect field of vision, is defined as the target area, which is the driver's blind spot.

[0057] In one optional implementation, the driving behavior monitoring method provided in this embodiment can be used to monitor the driving behavior of a target vehicle under specific driving operations, such as turning, to determine whether the driver of the target vehicle yields to pedestrians and non-motorized vehicles in certain specific scenarios. Taking turning as an example, the method may further include: acquiring the state information of the target vehicle, and determining the current driving operation of the target vehicle based on the state information, wherein the state information of the target vehicle is used to characterize the state of various components of the target vehicle during driving, such as the steering signal of the steering wheel, the torque of the wheels, etc., which can be obtained through an on-board terminal; if the current driving operation is turning, then acquiring a set of images of the target vehicle, thereby executing subsequent steps to monitor the driving behavior of the target vehicle.

[0058] Step 120: The image in the image set where the target moving object first appears is determined as the first image, and the images in the image set whose acquisition time is after the acquisition time of the first image are determined as the second image.

[0059] In this embodiment of the invention, in order to monitor the trajectory of a target moving object relative to a target vehicle, the image in the image set where the target moving object first appears is determined as the first image, and the images in the image set whose acquisition time is after the acquisition time of the first image are determined as the second image. When subsequently determining the position information and speed information representing the trajectory of the target moving object relative to the target vehicle, the second image is used as the basis for determining the relevant information. Thus, after the target moving object appears in the blind spot of the driver of the target vehicle, the trajectory of the target moving object relative to the target vehicle is monitored to determine whether the driver of the target vehicle has timely noticed the target moving object and yielded to it. This determines whether the driver of the target vehicle has confirmed the road conditions in the blind spot while driving, and whether the driver of the target vehicle has yielded to pedestrians and non-motorized vehicles while driving.

[0060] In one optional implementation, different target moving objects may have different first images, and correspondingly, different second images. In this case, for each target moving object, its corresponding first and second images are determined. Based on these, its position and speed information are determined according to the second image corresponding to the target moving object, thereby determining the driving behavior information of the target vehicle represented by the target moving object.

[0061] Step 130: Determine the position and velocity information of the target moving object based on the second image.

[0062] In this embodiment of the invention, the position information of the target moving object is determined as velocity information based on its position in the second image. Since there may be multiple second images for a single target moving object, the position and velocity information of the target moving object may differ for different second images. That is, the position and velocity information of the target moving object are continuously changing, and the target moving object has a changing trajectory, which can be characterized by the position and velocity information corresponding to different second images.

[0063] Step 140: Determine the driving behavior information of the target vehicle based on the location information, speed information, and the current speed of the target vehicle.

[0064] In this embodiment of the invention, the movement trajectory of the target moving object relative to the target vehicle can be determined based on the position information of the target moving object. The relative speed change of the target moving object relative to the target vehicle can be determined based on the speed information of the target moving object and the current speed of the target vehicle. Combining the two, the driving behavior information of the target vehicle can be determined.

[0065] In one optional implementation, since there are multiple target moving objects for the target vehicle, the driving behavior information of the target vehicle corresponding to each target moving object is determined, and finally the driving behavior of the target vehicle is evaluated based on all the determined driving behavior information.

[0066] In one optional implementation, the driving behavior information of the target vehicle can be divided into normal driving behavior and aggressive driving behavior. Normal driving behavior indicates that the driver of the target vehicle has yielded to the target moving object, while aggressive driving behavior indicates that the driver of the target vehicle has not yielded to the target moving object. If, among multiple target moving objects, the driving behavior information of the target vehicle corresponding to one of the target moving objects is aggressive driving behavior, then the current driving behavior of the target vehicle is determined to be aggressive driving.

[0067] In one alternative implementation, Figure 2 This is a flowchart illustrating the process of determining a target moving object contained in an image in a driving behavior monitoring method provided by an embodiment of the present invention, as shown below. Figure 2 As shown, in step 110 above, determining the target moving object contained in each image of the image set may include the following steps:

[0068] Step 210: Determine the relative positions of each moving object and the target vehicle in each image of the image set.

[0069] In this embodiment of the invention, the relative positions between each moving object and the target vehicle in each image are determined based on the position of the moving object in the image.

[0070] In one optional implementation, since each image in the image set is captured by a camera positioned at the rearview mirror of the target vehicle, the relative position of the moving object with respect to the camera can be obtained based on the position of the moving object in the image. Specifically, the position of the moving object in the image is a plane coordinate system constructed with the image as the reference, that is, with the shooting direction of the camera as the reference. This plane coordinate system is transformed to a spatial coordinate system with the position of the camera as the reference, thereby obtaining the relative position of the moving object with respect to the camera based on the position of the moving object in the image. Then, through a coordinate system transformation from the spatial coordinate system with the position of the camera as the reference to the spatial coordinate system with the position of the target vehicle as the reference, the relative position of the moving object with respect to the camera is converted into the relative position of the moving object with respect to the target vehicle.

[0071] Step 220: Identify moving objects whose relative positions are within the preset position range as target moving objects.

[0072] In this embodiment of the invention, the preset position range is the relative position range corresponding to the target area. All moving objects within the preset position range are in the blind spot of the driver of the target vehicle. At this time, the moving objects whose relative position is within the preset position range are determined as the target moving objects.

[0073] In one alternative implementation, Figure 3 This is a flowchart illustrating the process of determining location and speed information in a driving behavior monitoring method provided by an embodiment of the present invention, as shown below. Figure 3 As shown, step 130 above: determining the position and velocity information of the target moving object based on the second image, may include the following steps:

[0074] Step 310: Based on the position of the target moving object in the second image, determine the position information of the target moving object in multiple second images respectively.

[0075] In this embodiment of the invention, the position information of the target moving object in various second images is determined based on the position of the target moving object in the second image. Specifically, if the target moving object exists in the second image, its position in the second image is determined as its position information; if the target moving object does not exist in the second image, its position information is determined to be non-existent, or the position information is set to a value exceeding the position range corresponding to the second image, to indicate that it is not in the second image.

[0076] In one optional implementation, the presence or absence of a moving target object in the second image can be determined by setting a first preset value and a second preset value. If a moving target object exists in the second image, its position information is set to the first preset value; otherwise, its position information is set to the second preset value. The specific values ​​of the first and second preset values ​​are not specifically limited here.

[0077] Step 320: Determine the velocity information based on the positional changes of the target moving object in multiple second images and the acquisition time of the multiple second images.

[0078] In this embodiment of the invention, based on the positional changes of the target moving object in multiple second images and the acquisition time of the multiple second images, the positional changes of the target moving object during the acquisition time interval corresponding to the multiple second images are determined, thereby determining the speed information of the target moving object.

[0079] In one alternative implementation, Figure 4 This is a flowchart illustrating the process of determining driving behavior information in a driving behavior monitoring method provided by an embodiment of the present invention, as shown below. Figure 4 As shown, step 140 above: determining the driving behavior information of the target vehicle based on location information, speed information, and the current speed of the target vehicle, may include the following steps:

[0080] Step 410: If the location information indicates that the target moving object is not in the second image, then the second image in which the target moving object was not detected for the first time is determined as the target image, and the acquisition time of the target image is obtained to obtain the disappearance time of the target moving object.

[0081] In this embodiment of the invention, if the location information indicates that the target moving object is not in the second image, that is, the target moving object has left the shooting range of the camera, it means that the target moving object has passed the target vehicle and come to the front of the target vehicle, or the target vehicle has come to the front of the target moving object and keeps a long distance. At this time, the second image in which the target moving object is not detected for the first time is determined as the target image, and the acquisition time of the target image is obtained. Based on the acquisition time of the target image and the current time, the disappearance time of the target moving object is determined.

[0082] Step 420: Based on the speed information and the current speed, determine the speed difference between the target moving object and the target vehicle.

[0083] In this embodiment of the invention, to further determine whether the relationship between the target moving object and the target vehicle is either the target moving object overtaking the target vehicle and arriving in front of the target vehicle, or the target vehicle arriving in front of the target moving object and maintaining a considerable distance, the speed difference between the two is further determined based on the speed information of the target moving object and the current speed of the target vehicle. If the speed difference is greater than zero, it indicates that the target moving object has overtaken the target vehicle and arrived in front of the target vehicle; if the speed difference is less than zero, it indicates that the target vehicle has arrived in front of the target moving object and is maintaining a considerable distance.

[0084] Step 430: Determine the target safety time based on the speed difference and the preset safety distance.

[0085] In this embodiment of the invention, to determine whether the current target moving object is already at a relatively safe position relative to the target vehicle, a target safety time is determined based on the speed difference and a preset safety distance. The disappearance time of the target moving object is then compared with the target safety time to determine whether the target moving object is already at a relatively safe position relative to the target vehicle. For example, the preset safety distance can be set to 10 meters.

[0086] Step 440: If the location information indicates that the target moving object is not in the second image, the speed difference is greater than zero, and the disappearance time exceeds the target safety time, then the driving behavior information is determined to be normal driving behavior.

[0087] In this embodiment of the invention, if the location information indicates that the moving target is not within the second image, the speed difference is greater than zero, and the disappearance time exceeds the target safety time, it indicates that the moving target has passed the target vehicle and reached a position far in front of the target vehicle. This means that the target vehicle has yielded to the moving target, and therefore the driving behavior information of the target vehicle can be determined as normal driving behavior. Conversely, if the location information indicates that the moving target is not within the second image, and the speed difference is less than zero, it indicates that the target vehicle has reached a position far in front of the moving target and maintained a considerable distance. The target vehicle has not yielded to the moving target, and therefore the driving behavior information of the target vehicle is determined as aggressive driving behavior.

[0088] In one alternative implementation, if the location information indicates that the target moving object is within the target area and the speed of the target vehicle is greater than a preset speed, then the driving behavior information is determined to be aggressive driving behavior.

[0089] In one alternative implementation, if the driving behavior information is aggressive driving behavior, then the driving behavior information is recorded and reported.

[0090] The driving behavior monitoring method provided in this invention acquires an image set of a target vehicle and identifies the target moving object contained in each image of the image set. The target moving object is a moving object located in a target area. The target area represents the blind spot in the driver's field of vision at the driver's position of the target vehicle. The image in the image set where the target moving object first appears is identified as the first image, and the images in the image set acquired after the acquisition time of the first image are identified as the second image. The position and speed information of the target moving object are determined based on the second image. Based on the position and speed information and the current speed of the target vehicle, the driving behavior information of the target vehicle is determined. Thus, by monitoring the target moving object in the target area, combining the position and speed information of the target moving object with the current speed of the target vehicle, the driving behavior information of the target vehicle is determined, thereby monitoring the vehicle's driving behavior. This allows for subsequent constraints on the driver based on the vehicle's driving behavior, improving vehicle driving safety.

[0091] This invention also provides a driving behavior monitoring device. Figure 5 This is a schematic diagram of the structure of an embodiment of the driving behavior monitoring device provided in this invention, as shown below. Figure 5 As shown, the device 500 includes:

[0092] The object determination module 510 is used to acquire a set of images of the target vehicle and determine the target moving object contained in each image of the set; the target moving object is a moving object located in the target area; the target area is used to characterize the blind spot in the driver's position of the target vehicle.

[0093] The image determination module 520 is used to determine the image in the image set where the target moving object first appears as the first image, and to determine the images in the image set whose acquisition time is after the acquisition time of the first image as the second image;

[0094] Information determination module 530 is used to determine the position and speed information of the target moving object based on the second image;

[0095] The behavior determination module 540 is used to determine the driving behavior information of the target vehicle based on location information and speed information.

[0096] In one alternative implementation, the object determination module 510 includes:

[0097] The relative position determination unit is used to determine the relative position between each moving object and the target vehicle in each image of the image set.

[0098] The target moving object determination unit is used to determine moving objects whose relative positions are within a preset position range as target moving objects; the preset position range is the relative position range corresponding to the target area.

[0099] In one optional implementation, the information determination module 530 includes:

[0100] The location information determination unit is used to determine the location information of the target moving object in multiple second images based on the position of the target moving object in the second image;

[0101] The velocity information determination unit is used to determine velocity information based on the positional changes of the target moving object in multiple second images and the acquisition time of the multiple second images.

[0102] In one alternative implementation, the behavior determination module 540 includes:

[0103] The disappearance time determination unit is used to determine the second image where no target moving object was detected for the first time as the target image if the location information indicates that the target moving object is not in the second image, and to obtain the acquisition time of the target image to obtain the disappearance time of the target moving object.

[0104] The speed difference determination unit is used to determine the speed difference between the target moving object and the target vehicle based on speed information and the current speed.

[0105] The target safety time determination unit is used to determine the target safety time based on the speed difference and the preset safety distance.

[0106] The driving behavior determination unit is used to determine the driving behavior information as normal driving behavior if the location information indicates that the target moving object is not in the second image, the speed difference is greater than zero, and the disappearance time exceeds the target safety time.

[0107] In one alternative implementation, the behavior determination module 540 further includes:

[0108] The driving behavior determination unit is also used to determine the driving behavior information as aggressive driving behavior if the location information indicates that the target moving object is within the target area and the speed of the target vehicle is greater than a preset speed.

[0109] In one optional embodiment, the device further includes a target region determination module; the target region determination module includes:

[0110] The location information acquisition unit is used to acquire the location information of the driver's position in the target vehicle;

[0111] The direct field of view determination unit is used to determine the direct field of view at the driver's position based on the driver's position information.

[0112] The indirect field of view determination unit is used to determine the indirect field of view at the driver's position based on the direct field of view and the principle of light reflection.

[0113] The target area determination unit is used to determine the area behind the rearview mirror of the target vehicle, excluding the indirect field of vision, as the target area.

[0114] In one alternative embodiment, the device further includes:

[0115] The driving behavior reporting module is used to record and report driving behavior information if the driving behavior information is aggressive driving behavior.

[0116] In one alternative embodiment, the device further includes:

[0117] The current driving operation determination module is used to obtain the status information of the target vehicle and determine the current driving operation of the target vehicle based on the status information.

[0118] The object determination module 510 is also used to acquire a set of images of the target vehicle if the current driving operation is a turning operation.

[0119] The apparatus and method embodiments in this application are based on the same application concept.

[0120] Figure 6 The diagram shows a structural schematic of an embodiment of the vehicle-mounted terminal provided in this invention. The specific embodiments of this invention do not limit the specific implementation of the vehicle-mounted terminal.

[0121] like Figure 6 As shown, the vehicle terminal may include: a processor 602, a communications interface 604, a memory 606, and a communications bus 608.

[0122] The processor 602, communication interface 604, and memory 606 communicate with each other via communication bus 608. Communication interface 604 is used to communicate with other network elements such as clients or other servers. The processor 602 executes program 610, specifically performing the relevant steps described in the embodiments of the driving behavior monitoring method.

[0123] Specifically, program 610 may include program code, which includes computer-executable instructions.

[0124] Processor 602 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention. The one or more processors included in the vehicle terminal may be processors of the same type, such as one or more CPUs; or they may be processors of different types, such as one or more CPUs and one or more ASICs.

[0125] Memory 606 is used to store program 610. Memory 606 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0126] Specifically, program 610 can be called by processor 602 to cause the vehicle terminal to execute the relevant steps in the above-described embodiments of the driving behavior monitoring method.

[0127] Those skilled in the art will understand that Figure 6 The structure shown is for illustrative purposes only and does not limit the structure of the aforementioned equipment. For example, the vehicle-mounted terminal may also include... Figure 6 The more or fewer components shown, or having the same Figure 6 The different configurations shown.

[0128] This invention provides a computer-readable storage medium storing at least one executable instruction that, when executed on a driving behavior monitoring device / vehicle terminal, causes the driving behavior monitoring device / vehicle terminal to perform the driving behavior monitoring method in any of the above method embodiments.

[0129] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system, or other device. Furthermore, the embodiments of this invention are not directed to any particular programming language.

[0130] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. Similarly, for the sake of brevity and to aid in understanding one or more aspects of the invention, in the description of exemplary embodiments of the invention above, various features of the embodiments are sometimes grouped together in a single embodiment, figure, or description thereof. The claims, which follow the detailed description, are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of the invention.

[0131] Those skilled in the art will understand that the modules in the device of the embodiment can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiment can be combined into a single module, unit, or component, and further, they can be divided into multiple sub-modules, sub-units, or sub-components, except that at least some of such features and / or processes or units are mutually exclusive.

[0132] It should be noted that the above embodiments are illustrative of the invention and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be construed as limiting the order of execution.

Claims

1. A method for monitoring driving behavior, characterized in that, The method includes: A set of images of the target vehicle is acquired, and the target moving object contained in each image of the set is determined; the target moving object is a moving object located in the target area; the target area is used to characterize the blind spot in the driver's position of the target vehicle. The image in the image set that first appears the target moving object is determined as the first image, and the image in the image set whose acquisition time is after the acquisition time of the first image is determined as the second image; The position and velocity information of the target moving object are determined based on the second image; Based on the location information, the speed information, and the current speed of the target vehicle, the driving behavior information of the target vehicle is determined; the determination of the driving behavior information of the target vehicle based on the location information, the speed information, and the current speed of the target vehicle includes: if the location information indicates that the target moving object is not in the second image, then the second image in which the target moving object is not detected for the first time is determined as the target image, and the acquisition time of the target image is obtained to obtain the disappearance time of the target moving object; based on the speed information and the current speed, the speed difference between the target moving object and the target vehicle is determined; based on the speed difference and a preset safety distance, a target safety time is determined; if the location information indicates that the target moving object is not in the second image, the speed difference is greater than zero, and the disappearance time exceeds the target safety time, then the driving behavior information is determined to be normal driving behavior.

2. The method according to claim 1, characterized in that, The step of determining the target moving object contained in each image of the image set includes: The relative positions of each moving object and the target vehicle in each image of the image set are determined respectively; The moving object whose relative position is within a preset position range is determined as the target moving object; the preset position range is the relative position range corresponding to the target area.

3. The method according to claim 1, characterized in that, Determining the position and velocity information of the target moving object based on the second image includes: Based on the position of the target moving object in the second image, determine the position information of the target moving object in multiple second images respectively; The speed information is determined based on the positional changes of the target moving object in multiple second images and the acquisition time of the multiple second images.

4. The method according to claim 1, characterized in that, The step of determining the driving behavior information of the target vehicle based on the location information, the speed information, and the current speed of the target vehicle further includes: If the location information indicates that the target moving object is within the target area, and the speed of the target vehicle is greater than a preset speed, then the driving behavior information is determined to be aggressive driving behavior.

5. The method according to claim 1, characterized in that, The target area was determined in the following way: Obtain the location information of the driver's position in the target vehicle; Based on the location information of the driver's position, determine the direct field of vision at the driver's position; Based on the direct field of view and the principle of light reflection, the indirect field of view at the driver's position is determined; The area behind the rearview mirror of the target vehicle, excluding the indirect field of view, is defined as the target area.

6. The method according to claim 1, characterized in that, The method further includes: If the driving behavior information is aggressive driving behavior, then the driving behavior information is recorded and reported.

7. The method according to any one of claims 1-6, characterized in that, The method further includes: Obtain the status information of the target vehicle, and determine the current driving operation of the target vehicle based on the status information; If the current driving operation is a turning operation, then acquire the image set of the target vehicle.

8. A driving behavior monitoring device, characterized in that, The device includes: An object determination module is used to acquire a set of images of a target vehicle and determine the target moving object contained in each image of the set; the target moving object is a moving object located in a target area; the target area is used to characterize the blind spot in the driver's position of the target vehicle. The image determination module is used to determine the image in the image set that first appears the target moving object as the first image, and to determine the image in the image set whose acquisition time is after the acquisition time of the first image as the second image; The information determination module is used to determine the position and speed information of the target moving object based on the second image; A behavior determination module is used to determine the driving behavior information of the target vehicle based on the location information and the speed information. The determination of the driving behavior information of the target vehicle based on the location information, the speed information, and the current speed of the target vehicle includes: if the location information indicates that the target moving object is not within the second image, then the second image in which the target moving object is not detected for the first time is determined as the target image, and the acquisition time of the target image is obtained to determine the disappearance time of the target moving object; based on the speed information and the current speed, the speed difference between the target moving object and the target vehicle is determined; based on the speed difference and a preset safety distance, a target safety time is determined; if the location information indicates that the target moving object is not within the second image, the speed difference is greater than zero, and the disappearance time exceeds the target safety time, then the driving behavior information is determined to be normal driving behavior.

9. A vehicle-mounted terminal, characterized in that, include: The processor, memory, communication interface, and communication bus are provided, wherein the processor, memory, and communication interface communicate with each other via the communication bus. The memory is used to store at least one executable instruction that causes the processor to perform the operation of the driving behavior monitoring method as described in any one of claims 1-7.

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