Reversing radar ranging early warning method for vehicle with tail equipped with externally-hung protruding structure and related device

Abstract

The invention discloses a reversing radar ranging early warning method for a vehicle with an externally-hung protruding structure arranged at the tail of the vehicle and a related device. The reversing radar ranging early warning method comprises the steps that the distance from a reversing radar to an obstacle and the height and width of the obstacle are obtained; according to the height and the width of the obstacle, whether the obstacle enters a preset externally-hung protruding structure area or not is judged; wherein the externally-hung protruding structure area is constructed according to the actual position of the externally-hung protruding structure at the tail of the vehicle; if the obstacle does not enter the outer hanging protruding structure area, when the distance between the reversing radar and the obstacle is smaller than a first preset safety distance, early warning is conducted; if the obstacle enters the external hanging protruding structure area, when the distance between the reversing radar and the obstacle is smaller than a second preset safety distance, early warning is carried out; wherein the second preset safety distance is equal to the sum of the first preset safety distance and the maximum thickness of the external hanging protruding structure. The invention aims to solve the problem that the space utilization rate of a vehicle is limited due to the fact that the actually available reversing distance of the vehicle is shortened mistakenly, and solve the problem that wire arrangement becomes tedious due to the radar installation position.

Description

Technical Field

[0001] The invention belongs to the technical field of automobiles, and in particular relates to a reversing radar ranging warning method and a related device for a vehicle with an external protruding structure at the rear. Background Art

[0002] With the continuous advancement of automobile manufacturing technology and the increasing demand of consumers for driving safety performance, the reversing radar system has become one of the standard configurations of modern cars. The system is mainly installed in the rear bumper area of ​​the vehicle. By emitting ultrasonic or electromagnetic waves and receiving their reflected signals, it can accurately measure and judge the distance of obstacles behind the vehicle, thereby providing the driver with timely collision warnings during the reversing process and effectively avoiding accidents.

[0003] With the increasingly diverse updates of automobile designs, especially for some models, the trunk design includes an external protruding structure (commonly referred to as a "small schoolbag" in the industry). This design feature not only adds personalization to the vehicle, but also brings problems to the normal operation of the reversing radar. Specifically, when a vehicle is equipped with such an external protruding structure, the traditional reversing radar ranging method is susceptible to interference. If the obstacle does not touch the external protruding structure in height or width, then the warning based on the actual distance measured by the radar is accurate. However, when the obstacle may touch the external protruding structure in height or width, if the warning is still based on the distance directly measured by the radar, it may lead to untimely warning, which in turn causes a collision between the obstacle and the external protruding structure, which may not only damage the vehicle structure, but also pose a threat to passenger safety.

[0004] An intuitive solution to this problem is to install the reversing radar directly on the external protruding structure. Although this approach can solve the problem of inaccurate collision warning to a certain extent, it also brings new problems. First, when there is no risk of collision between the obstacle and the external protruding structure, the change in the installation position of the radar will cause the actual available reversing distance of the vehicle to be incorrectly shortened, limiting the space utilization of the vehicle. Secondly, since the external structure is usually linked to the trunk door and moves with it when the trunk door is opened, this not only increases the complexity of the radar installation position, but also makes the wiring of the wires connected to it more cumbersome, increasing the difficulty of subsequent maintenance. Summary of the invention

[0005] In view of the problems existing in the prior art, the present invention provides a reversing radar ranging warning method and related devices for a vehicle with an external protruding structure at the rear of the vehicle, which aims to solve the problem that the actual available reversing distance of the vehicle is mistakenly shortened, limiting the space utilization of the vehicle, and solving the problem that the wiring becomes cumbersome due to the radar installation position.

[0006] In order to solve the above technical problems, the present invention is implemented by the following technical solutions:

[0007] According to a first aspect of the present invention, a reversing radar ranging warning method for a vehicle with an external protruding structure at the rear is provided, wherein the reversing radar is installed in the rear bumper area of ​​the vehicle, and the warning method comprises:

[0008] Obtaining the distance from the reversing radar to the obstacle, as well as the height and width of the obstacle;

[0009] According to the height and width of the obstacle, it is determined whether the obstacle will enter a preset external protruding structure area; wherein the external protruding structure area is constructed according to the actual position of the external protruding structure at the rear of the vehicle;

[0010] If the obstacle will not enter the area of ​​the external protruding structure, an early warning is issued when the distance from the reversing radar to the obstacle is less than a first preset safety distance;

[0011] If the obstacle will enter the area of ​​the external protruding structure, an early warning will be issued when the distance from the reversing radar to the obstacle is less than a second preset safety distance; wherein the second preset safety distance is equal to the first preset safety distance plus the maximum thickness of the external protruding structure.

[0012] In a possible implementation manner of the first aspect, the method for acquiring the height and width of the obstacle includes:

[0013] Acquire an image of the obstacle, where the image of the obstacle is captured by a camera module installed in a rear bumper area of ​​the vehicle;

[0014] The height and width of the obstacle are determined according to the image of the obstacle and the distance from the reversing radar to the obstacle.

[0015] In a possible implementation manner of the first aspect, determining the height and width of the obstacle according to the image of the obstacle and the distance from the reversing radar to the obstacle includes:

[0016] Recognize the outline of the obstacle according to the image of the obstacle;

[0017] Calculate the height of the obstacle according to the vertical position of the outline of the obstacle in the image and the distance from the reversing radar to the obstacle;

[0018] The width of the obstacle is calculated according to the horizontal position of the outline of the obstacle in the image and in combination with the distance from the reversing radar to the obstacle.

[0019] In a possible implementation manner of the first aspect, constructing the external protruding structure area according to the actual position of the external protruding structure at the rear of the vehicle is specifically:

[0020] Obtaining the length, width and height of the external protruding structure, and the position information of the external protruding structure relative to the rear bumper of the vehicle;

[0021] The external protruding structure area is constructed based on the length, width and height of the external protruding structure and the position information of the external protruding structure relative to the rear bumper of the vehicle.

[0022] In a possible implementation manner of the first aspect, judging whether the obstacle will enter a preset external protruding structure area according to the height and width of the obstacle includes:

[0023] When the obstacle will enter the external protruding structure area in the width direction and / or the height direction, it is determined that the obstacle will enter the external protruding structure area;

[0024] When the obstacle will not enter the external protruding structure area in both the width direction and the height direction, it is determined that the obstacle will not enter the external protruding structure area.

[0025] In a possible implementation of the first aspect, when the distance between the reversing radar and the obstacle is less than a first preset safety distance, issuing an early warning includes:

[0026] Warnings are given by voice, video and / or light.

[0027] In a possible implementation of the first aspect, when the distance from the reversing radar to the obstacle is less than a second preset safety distance, issuing an early warning includes:

[0028] Warnings are given by voice, video and / or light.

[0029] According to a second aspect of the present invention, a reversing radar ranging warning device for a vehicle with an external protruding structure at the rear is provided, characterized in that the reversing radar is installed in the rear bumper area of ​​the vehicle, and the warning device comprises:

[0030] An acquisition module is used to acquire the distance from the reversing radar to the obstacle, and the height and width of the obstacle;

[0031] A judging module, used to judge whether the obstacle will enter a preset external protruding structure area according to the height and width of the obstacle; wherein the external protruding structure area is constructed according to the actual position of the external protruding structure at the rear of the vehicle;

[0032] A first condition warning module, for providing a warning when the distance between the reversing radar and the obstacle is less than a first preset safety distance if the obstacle will not enter the area of ​​the external protruding structure;

[0033] The second situation warning module is used to issue a warning if the obstacle will enter the area of ​​the external protruding structure when the distance from the reversing radar to the obstacle is less than a second preset safety distance; wherein the second preset safety distance is equal to the first preset safety distance plus the maximum thickness of the external protruding structure.

[0034] In a possible implementation manner of the second aspect, the method for acquiring the height and width of the obstacle includes:

[0035] Acquire an image of the obstacle, where the image of the obstacle is captured by a camera module installed in a rear bumper area of ​​the vehicle;

[0036] The height and width of the obstacle are determined according to the image of the obstacle and the distance from the reversing radar to the obstacle.

[0037] In a possible implementation manner of the second aspect, determining the height and width of the obstacle according to the image of the obstacle and the distance from the reversing radar to the obstacle includes:

[0038] Recognize the outline of the obstacle according to the image of the obstacle;

[0039] Calculate the height of the obstacle according to the vertical position of the outline of the obstacle in the image and the distance from the reversing radar to the obstacle;

[0040] The width of the obstacle is calculated according to the horizontal position of the outline of the obstacle in the image and in combination with the distance from the reversing radar to the obstacle.

[0041] In a possible implementation manner of the second aspect, constructing the external protruding structure area according to the actual position of the external protruding structure at the rear of the vehicle is specifically:

[0042] Obtaining the length, width and height of the external protruding structure, and the position information of the external protruding structure relative to the rear bumper of the vehicle;

[0043] The external protruding structure area is constructed based on the length, width and height of the external protruding structure and the position information of the external protruding structure relative to the rear bumper of the vehicle.

[0044] In a possible implementation manner of the second aspect, judging whether the obstacle will enter a preset external protruding structure area according to the height and width of the obstacle includes:

[0045] When the obstacle will enter the external protruding structure area in the width direction and / or the height direction, it is determined that the obstacle will enter the external protruding structure area;

[0046] When the obstacle will not enter the external protruding structure area in both the width direction and the height direction, it is determined that the obstacle will not enter the external protruding structure area.

[0047] According to a third aspect of the present invention, there is provided a device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method for reversing radar ranging and warning of a vehicle with an external protruding structure at the rear is implemented.

[0048] According to a fourth aspect of the present invention, there is provided a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the reversing radar ranging warning method for a vehicle with an external protruding structure at the rear.

[0049] Compared with the prior art, the present invention has at least the following beneficial effects:

[0050] The present invention provides a reversing radar ranging warning method for a vehicle with an external protruding structure at the rear of the vehicle, which realizes a more accurate reversing warning by comprehensively considering the height, width and relationship between the obstacle and the area of ​​the external protruding structure. When the obstacle may touch the external protruding structure, the system will issue a warning at an earlier distance, thereby effectively avoiding collision and protecting the vehicle structure and passenger safety. The traditional method directly installs the reversing radar on the external protruding structure, which will cause the actual available reversing distance of the vehicle to be erroneously shortened, limiting the space utilization rate of the vehicle. The present invention, by judging whether the obstacle will enter the preset external protruding structure area, only adopts a stricter warning distance (i.e., the second preset safety distance) when necessary, and maintains a normal warning distance (i.e., the first preset safety distance) in other cases, thereby optimizing the space utilization rate of the vehicle. At the same time, the present invention avoids directly installing the reversing radar on the external protruding structure, thereby avoiding the complexity of the radar installation position and the cumbersome wiring of the wires caused by the movement of the external structure. In the method of the present invention, the radar is still installed in the rear bumper area of ​​the vehicle, not only the installation position is stable, but also the wiring of the wires is relatively simple, reducing the difficulty of later maintenance. In summary, the present invention realizes a more accurate and reliable reversing radar ranging warning method by comprehensively considering the relationship between obstacles and external protruding structures, which not only improves reversing safety, but also optimizes vehicle space utilization, simplifies radar installation and maintenance, and improves user experience.

[0051] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the specific implementation modes of the present invention, the drawings required for use in the description of the specific implementation modes will be briefly introduced below. Obviously, the drawings described below are some implementation modes of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0053] Figure 1 This is a flow chart of a reversing radar ranging warning method for a vehicle with an external protruding structure at the rear according to an embodiment of the present invention;

[0054] Figure 2 This is a block diagram of a reversing radar ranging warning device for a vehicle with an external protruding structure at the rear end according to an embodiment of the present invention. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0056] like Figure 1 As shown, an embodiment of the present invention provides a reversing radar ranging warning method for a vehicle with an external protruding structure at the rear, which is mainly intended to solve the problem of inaccurate warning of traditional reversing radars in vehicles with external protruding structures, while avoiding the problems of reduced space utilization and increased maintenance complexity caused by directly installing the radar on the external protruding structure.

[0057] In the reversing radar ranging warning method of the present invention, the reversing radar is installed in the rear bumper area of ​​the vehicle. Specifically, the reversing radar system is installed in the rear bumper area of ​​the vehicle in a conventional manner to ensure that the radar's transmitting and receiving functions are normal. Exemplarily, the reversing radar system should be able to transmit ultrasonic waves or electromagnetic waves and receive the signals reflected from obstacles, thereby calculating the straight-line distance between the radar and the obstacle.

[0058] The early warning method of the embodiment of the present invention specifically includes the following steps:

[0059] Step 1: Obtain the distance from the reversing radar to the obstacle, as well as the height and width of the obstacle.

[0060] Specifically, during the reversing process, the reversing radar system continues to work, acquiring and processing the reflected signals from obstacles. Through signal processing technology, the distance from the radar to the obstacle is calculated, and the height and width of the obstacle are further acquired through additional sensors (such as cameras or lidar) or by using the Doppler effect of radar signals.

[0061] Step 2: judging whether the obstacle will enter a preset external protruding structure area according to the height and width of the obstacle; wherein the external protruding structure area is constructed according to the actual position of the external protruding structure at the rear of the vehicle.

[0062] Specifically, a virtual external protruding structure area is constructed according to the actual design of the vehicle, and the external protruding structure area can accurately reflect the position, shape and size of the external protruding structure relative to the rear bumper of the vehicle.

[0063] It should be understood that this can be achieved through data provided by the vehicle manufacturer, three-dimensional scanning or actual measurement, and the constructed external protruding structure area model should be integrated into the control software of the reversing radar system to enable real-time obstacle judgment.

[0064] The obtained obstacle height and width information and the constructed external protruding structure area model are used to evaluate the collision risk between the obstacle and the external protruding structure. If the size and position of the obstacle indicate that it will not contact the external protruding structure in any direction, it is considered that the obstacle will not enter the external protruding structure area.

[0065] Step 3: If the obstacle will not enter the area of ​​the external protruding structure, an early warning is issued when the distance from the reversing radar to the obstacle is less than a first preset safety distance.

[0066] That is to say, if the obstacle does not enter the area of ​​the external protruding structure, the reversing radar system works in a conventional manner. That is, when the distance from the radar to the obstacle is less than the preset first preset safety distance, the system sends a warning signal to remind the driver to pay attention.

[0067] It should be noted that the first preset safety distance is set according to the safety standards of the vehicle model and vehicle manufacturer.

[0068] Step 4: If the obstacle will enter the area of ​​the external protruding structure, an early warning is issued when the distance from the reversing radar to the obstacle is less than a second preset safety distance; wherein the second preset safety distance is equal to the first preset safety distance plus the maximum thickness of the external protruding structure.

[0069] That is to say, if the obstacle will enter the area of ​​the external protruding structure, the warning strategy needs to be more cautious considering the existence of the external protruding structure. At this time, when the distance from the radar to the obstacle is less than the second preset safety distance (the distance is equal to the first preset safety distance plus the maximum thickness of the external protruding structure to ensure that there is enough warning time before the obstacle touches the external protruding structure), the system sends a warning signal. This ensures that the driver has enough time to react before a collision occurs between the obstacle and the external protruding structure.

[0070] Through the above-mentioned implementation manner, the present invention provides an accurate and practical reversing radar ranging warning method for a vehicle with an external protruding structure at the rear of the vehicle. The method can effectively solve the problem of inaccurate warning of traditional reversing radar in vehicles with an external protruding structure, while avoiding the negative impact of directly installing the radar on the external protruding structure.

[0071] In one achievable manner, the method for obtaining the height and width of the obstacle may specifically include:

[0072] First, an image of the obstacle is acquired, where the image of the obstacle is captured by a camera module installed in a rear bumper area of ​​the vehicle;

[0073] Finally, the height and width of the obstacle are determined according to the image of the obstacle and the distance from the reversing radar to the obstacle.

[0074] Specifically, in addition to the reversing radar system, one or more camera modules are additionally installed in the rear bumper area of ​​the vehicle. For example, the camera module may be a camera. The camera module should have sufficient resolution and field of view to clearly capture the image of obstacles behind the vehicle. The installation position of the camera module should ensure that its shooting range can cover all obstacles that may touch the external protruding structure.

[0075] During the reversing process, when the reversing radar system starts working, the camera module is also started synchronously to capture the image of obstacles behind the vehicle. The camera module can continuously shoot at a certain frame rate (such as several frames per second or more) to ensure that the dynamic image of the obstacle can be obtained in real time during the movement of the vehicle.

[0076] The captured obstacle image is processed by an image processing algorithm to identify the outline and features of the obstacle. For example, this can be achieved through image processing technologies such as edge detection, shape analysis, and color recognition. The image processing algorithm can accurately distinguish obstacles from the background and extract key size information of the obstacle, such as height and width.

[0077] After acquiring the image of the obstacle, it is necessary to combine the distance data provided by the reversing radar system to determine the height and width of the obstacle. Specifically, since the camera module may have certain viewing angle distortion or imaging errors, it is impossible to obtain a completely accurate obstacle size based solely on image data. By combining the straight-line distance from the radar to the obstacle, the error in the image data can be corrected using the triangulation principle or the principle of similar triangles, thereby obtaining a more accurate obstacle height and width.

[0078] This embodiment combines the data of the camera module and the reversing radar system, and can accurately identify and measure the size information of obstacles behind the vehicle, which not only improves the warning accuracy of the reversing radar system, but also enhances the safety of the driver during the reversing process.

[0079] Preferably, the height and width of the obstacle are determined according to the image of the obstacle and the distance from the reversing radar to the obstacle, which may be:

[0080] First, the outline of the obstacle is identified based on the image of the obstacle; then, the height of the obstacle is calculated based on the vertical position of the outline of the obstacle in the image and the distance from the reversing radar to the obstacle; finally, the width of the obstacle is calculated based on the horizontal position of the outline of the obstacle in the image and the distance from the reversing radar to the obstacle.

[0081] Specifically, first, the obstacle image captured by the camera module installed in the rear bumper area of ​​the vehicle is used to identify the outline of the obstacle through image processing algorithms. For example, the shape and boundary of the obstacle can be accurately separated from the complex background through edge detection, morphological processing and contour extraction.

[0082] Then, in the identified obstacle outline, find the vertical positions of its highest point (or top edge) and lowest point (or bottom edge) in the image. It should be understood that these positions are usually expressed in pixels. In addition, since the shooting module may have perspective distortion and the distance between the obstacle and the shooting module will affect its size in the image, it is necessary to perform distance correction on these vertical positions, which is achieved through known shooting module parameters (such as focal length, viewing angle) and obstacle distance data provided by the reversing radar. Using the corrected vertical position and the known obstacle distance, combined with the triangulation principle or the similar triangle principle, the actual height of the obstacle relative to the rear bumper of the vehicle is calculated.

[0083] The horizontal position determination is based on the same principle as the height calculation. The horizontal position of the leftmost point (or left edge) and the rightmost point (or right edge) of the obstacle outline in the image is found. The horizontal position is distance-corrected to eliminate the effects of perspective distortion and distance on the image size. The actual width of the obstacle relative to the rear bumper of the vehicle is calculated using the corrected horizontal position and the known obstacle distance, combined with the triangulation principle or the principle of similar triangles.

[0084] In one possible implementation, the external protruding structure area is constructed according to the actual position of the external protruding structure at the rear of the vehicle, specifically:

[0085] The length, width and height of the external protruding structure and the position information of the external protruding structure relative to the rear bumper of the vehicle are obtained; based on the length, width and height of the external protruding structure and the position information of the external protruding structure relative to the rear bumper of the vehicle, the external protruding structure area is constructed.

[0086] Specifically, first, the length, width and height of the external protruding structure need to be measured, which can be done, for example, by physical measurement (such as using a tape measure or a laser rangefinder) or by referring to the specifications provided by the vehicle manufacturer. Next, the position information of the external protruding structure relative to the rear bumper of the vehicle is determined, for example, including the offset of the external protruding structure in the vehicle width direction (i.e., the position relative to the center line of the vehicle), the offset in the height direction (i.e., the position relative to the ground or the bottom of the vehicle) and the possible tilt angle (if the external protruding structure is not completely perpendicular to the ground).

[0087] Based on the acquired size and position information of the external protruding structure, a three-dimensional model is constructed using three-dimensional modeling software, which reflects the shape, size and position of the external protruding structure. It should also be noted that if the reversing radar system and the warning algorithm are calculated based on a two-dimensional plane, the three-dimensional model is projected onto the two-dimensional plane, that is, the three-dimensional coordinates are converted into two-dimensional coordinates. On the two-dimensional plane, the warning boundary is determined according to the projected shape and size of the external protruding structure. Preferably, the warning boundary should slightly exceed the actual edge of the external protruding structure to provide sufficient warning margin. The warning boundary can be a polygon (such as a rectangle, trapezoid, etc.), whose vertices are determined by the extension of the projection points of the external protruding structure on the two-dimensional plane.

[0088] In this implementation, physical measurement and three-dimensional modeling and data are combined to accurately reflect the position and shape of the external protruding structure, thereby improving the warning accuracy of the reversing radar system.

[0089] In one possible implementation, judging whether the obstacle will enter the preset external protruding structure area according to the height and width of the obstacle is as follows: when the obstacle will enter the external protruding structure area in the width direction and / or the height direction, it is judged that the obstacle will enter the external protruding structure area. When the obstacle will not enter the external protruding structure area in both the width direction and the height direction, it is judged that the obstacle will not enter the external protruding structure area.

[0090] In one possible implementation, the system can support multiple warning methods such as voice, video and / or light, depending on the vehicle configuration and user needs, and these methods can be selected and configured in the system settings. When the warning is triggered, the system determines which method or methods to use for the warning based on the currently configured warning methods.

[0091] Specifically, if the voice warning mode is selected, the system will issue clear and unambiguous voice prompts through the vehicle's audio system or a dedicated voice prompt device, such as "Please note that there is an obstacle approaching from behind!" If the video warning mode is selected, the system will display warning information on the vehicle's central control display screen or rearview mirror display screen, such as the outline of the obstacle, distance indication or warning icon. If the light warning mode is selected, the system will send out flashing or constant light signals through the warning lights at the rear of the vehicle or the indicator lights near the reversing radar to attract the driver's attention. If the driver takes the correct driving operation and the distance between the obstacle and the vehicle gradually increases, the system can gradually weaken or stop the warning signal. If the driver does not take any action or operates improperly, the system can continue to send warning signals and trigger a higher level of safety mechanisms, such as emergency braking.

[0092] The warning method in this embodiment can issue a warning signal in real time and accurately according to the distance between the obstacle and the vehicle and the warning method configured by the user, thereby effectively avoiding the risk of collision with external protruding structures or other obstacles.

[0093] In another embodiment of the present invention, a reversing radar ranging warning device for a vehicle with an external protruding structure at the rear is provided. The reversing radar is installed in the rear bumper area of ​​the vehicle. The warning device is used to implement a reversing radar ranging warning method for a vehicle with an external protruding structure at the rear of the vehicle in the above embodiment, and specifically includes an acquisition module, a judgment module, a first condition warning module and a second condition warning module, and each module is configured as follows:

[0094] The acquisition module is used to acquire the distance from the reversing radar to the obstacle, and the height and width of the obstacle.

[0095] Specifically, first, an image of the obstacle is acquired, and the image of the obstacle is taken by a shooting module installed in the rear bumper area of ​​the vehicle; finally, the height and width of the obstacle are determined based on the image of the obstacle and the distance from the reversing radar to the obstacle.

[0096] The judgment module is used to judge whether the obstacle will enter a preset external protruding structure area according to the height and width of the obstacle; wherein the external protruding structure area is constructed according to the actual position of the external protruding structure at the rear of the vehicle.

[0097] Specifically, when the obstacle will enter the external protruding structure area in the width direction and / or the height direction, it is determined that the obstacle will enter the external protruding structure area. When the obstacle will not enter the external protruding structure area in both the width direction and the height direction, it is determined that the obstacle will not enter the external protruding structure area.

[0098] The first situation warning module is used to issue a warning when the distance from the reversing radar to the obstacle is less than a first preset safety distance if the obstacle will not enter the external protruding structure area.

[0099] The second situation warning module is used to issue a warning if the obstacle will enter the area of ​​the external protruding structure when the distance from the reversing radar to the obstacle is less than a second preset safety distance; wherein the second preset safety distance is equal to the first preset safety distance plus the maximum thickness of the external protruding structure.

[0100] All relevant contents of each step involved in the embodiment of the aforementioned method for reversing radar ranging warning for a vehicle with an external protruding structure at the rear can be referred to the functional description of the functional module corresponding to the reversing radar ranging warning device for a vehicle with an external protruding structure at the rear in the embodiment of the present invention, and will not be repeated here. The division of modules in the embodiment of the present invention is schematic, which is only a logical function division. There may be other division methods in actual implementation. In addition, each functional module in each embodiment of the present invention can be integrated into a processor, or it can exist physically separately, or two or more modules can be integrated into one module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of software functional modules.

[0101] In another embodiment of the present invention, a computer device is provided, the computer device including a processor and a memory, the memory is used to store a computer program, the computer program includes program instructions, and the processor is used to execute the program instructions stored in the computer storage medium. The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc., which are the computing core and control core of the terminal, which are suitable for implementing one or more instructions, and are specifically suitable for loading and executing one or more instructions in the computer storage medium to implement the corresponding method flow or corresponding function; the processor described in the embodiment of the present invention can be used for the operation of a reversing radar ranging warning method for a vehicle with an external protruding structure at the rear of the vehicle.

[0102] In another embodiment of the present invention, the present invention also provides a storage medium, specifically a computer-readable storage medium (Memory), which is a memory device in a computer device for storing programs and data. It is understandable that the computer-readable storage medium here can include both the built-in storage medium in the computer device and the extended storage medium supported by the computer device. The computer-readable storage medium provides a storage space, which stores the operating system of the terminal. In addition, one or more instructions suitable for being loaded and executed by the processor are also stored in the storage space, and these instructions can be one or more computer programs (including program codes). It should be noted that the computer-readable storage medium here can be a high-speed RAM memory or a non-volatile memory, such as at least one disk memory. The processor can load and execute one or more instructions stored in the computer-readable storage medium to implement the corresponding steps of the above-mentioned embodiment of a reversing radar ranging warning method for a vehicle with an external protruding structure at the rear of the vehicle.

[0103] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0104] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0105] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0106] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0107] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0108] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A reversing radar ranging warning method for a vehicle with an external protruding structure at the rear, characterized in that: The reversing radar is installed in the rear bumper area of ​​the vehicle. The warning methods include: Obtaining the distance from the reversing radar to the obstacle, as well as the height and width of the obstacle; According to the height and width of the obstacle, it is determined whether the obstacle will enter a preset external protruding structure area; wherein the external protruding structure area is constructed according to the actual position of the external protruding structure at the rear of the vehicle; If the obstacle will not enter the area of ​​the external protruding structure, an early warning is issued when the distance from the reversing radar to the obstacle is less than a first preset safety distance; If the obstacle will enter the area of ​​the external protruding structure, an early warning will be issued when the distance from the reversing radar to the obstacle is less than a second preset safety distance; wherein the second preset safety distance is equal to the first preset safety distance plus the maximum thickness of the external protruding structure.

2. The method for reversing radar ranging warning of a vehicle with an external protruding structure at the rear of the vehicle according to claim 1 is characterized in that: The method for obtaining the height and width of the obstacle includes: Acquire an image of the obstacle, where the image of the obstacle is captured by a camera module installed in a rear bumper area of ​​the vehicle; The height and width of the obstacle are determined according to the image of the obstacle and the distance from the reversing radar to the obstacle.

3. The method for reversing radar ranging warning of a vehicle with an external protruding structure at the rear of the vehicle according to claim 2 is characterized in that: The determining the height and width of the obstacle according to the image of the obstacle and the distance from the reversing radar to the obstacle includes: Recognize the outline of the obstacle according to the image of the obstacle; Calculate the height of the obstacle according to the vertical position of the outline of the obstacle in the image and the distance from the reversing radar to the obstacle; The width of the obstacle is calculated according to the horizontal position of the outline of the obstacle in the image and in combination with the distance from the reversing radar to the obstacle.

4. The method for reversing radar ranging warning of a vehicle with an external protruding structure at the rear of the vehicle according to claim 1 is characterized in that: The external protruding structure area is constructed according to the actual position of the external protruding structure at the rear of the vehicle, specifically: Obtaining the length, width and height of the external protruding structure, and the position information of the external protruding structure relative to the rear bumper of the vehicle; The external protruding structure area is constructed based on the length, width and height of the external protruding structure and the position information of the external protruding structure relative to the rear bumper of the vehicle.

5. The method for reversing radar ranging warning of a vehicle with an external protruding structure at the rear of the vehicle according to claim 1, characterized in that: The step of judging whether the obstacle will enter a preset external protruding structure area according to the height and width of the obstacle includes: When the obstacle will enter the external protruding structure area in the width direction and / or the height direction, it is determined that the obstacle will enter the external protruding structure area; When the obstacle will not enter the external protruding structure area in both the width direction and the height direction, it is determined that the obstacle will not enter the external protruding structure area.

6. The method for reversing radar ranging warning of a vehicle with an external protruding structure at the rear of the vehicle according to claim 1, characterized in that: When the distance between the reversing radar and the obstacle is less than the first preset safety distance, issuing an early warning includes: Warnings are given by voice, video and / or light.

7. The method for reversing radar ranging warning of a vehicle with an external protruding structure at the rear of the vehicle according to claim 1, characterized in that: When the distance between the reversing radar and the obstacle is less than the second preset safety distance, issuing an early warning includes: Warnings are given by voice, video and / or light.

8. A reversing radar ranging warning device for a vehicle with an external protruding structure at the rear, characterized in that: The reversing radar is installed in the rear bumper area of ​​the vehicle. The warning device includes: An acquisition module is used to acquire the distance from the reversing radar to the obstacle, and the height and width of the obstacle; A judging module, used to judge whether the obstacle will enter a preset external protruding structure area according to the height and width of the obstacle; wherein the external protruding structure area is constructed according to the actual position of the external protruding structure at the rear of the vehicle; A first condition warning module, for providing a warning when the distance between the reversing radar and the obstacle is less than a first preset safety distance if the obstacle will not enter the area of ​​the external protruding structure; The second situation warning module is used to issue a warning if the obstacle will enter the area of ​​the external protruding structure when the distance from the reversing radar to the obstacle is less than a second preset safety distance; wherein the second preset safety distance is equal to the first preset safety distance plus the maximum thickness of the external protruding structure.

9. A device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method for reversing radar ranging and warning for a vehicle with an external protruding structure at the rear is implemented as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, a reversing radar ranging warning method for a vehicle with an external protruding structure at the rear is implemented as described in any one of claims 1 to 7.

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