Safe distance early warning method and device based on electronic outside rear-view mirror and vehicle

Abstract

The invention discloses a safe distance early warning method and device based on an electronic outside rear-view mirror and a vehicle, and belongs to the technical field of safe distance early warning, and the method comprises the steps: obtaining a target image through the electronic outside rear-view mirror, obtaining the pixel coordinates of a target in the image according to the target image, and obtaining a target image; according to the pixel coordinates of the target, obtaining the pixel coordinates of the target after distortion removal; obtaining the position information of the target according to the pixel coordinates of the target after distortion removal, and obtaining the distance from the target to the parking space according to the position information of the target; and executing a corresponding display strategy according to the distance from the target to the parking space. According to the invention, the target in the electronic outside rear-view mirror image can be automatically detected, and the distance between the target and the driving area is calculated in real time to prompt a user whether the target has a potential safety hazard of collision. According to the electronic outside rear-view mirror, the safety auxiliary performance of the electronic outside rear-view mirror is improved, and a user can observe potential risks in the vehicle driving process more visually.

Description

Technical Field

[0001] The invention discloses a safety distance warning method, a device and a vehicle based on an electronic exterior rearview mirror, belonging to the technical field of safety distance warning. Background Art

[0002] Electronic exterior rearview mirrors are vehicle components that use electronic technology to replace traditional mechanical rearview mirrors. Traditional exterior rearview mirrors use reflective mirrors to help drivers observe the situation behind and to the sides of the vehicle, while electronic exterior rearview mirrors use cameras and display screens to achieve similar functions.

[0003] However, currently, electronic exterior rearview mirrors cannot accurately determine whether there is a risk of collision with objects or obstacles behind the vehicle through images alone. Summary of the invention

[0004] In view of the defects of the prior art, the present invention proposes a safety distance warning method, device and vehicle based on an electronic exterior rearview mirror.

[0005] The technical solution of the present invention is as follows:

[0006] According to a first aspect of an embodiment of the present invention, a safety distance warning method based on an electronic exterior rearview mirror is provided, comprising:

[0007] Acquire a target image through an electronic exterior rearview mirror, acquire pixel coordinates of a target in the image according to the target image, and obtain pixel coordinates of the target after dedistortion according to the pixel coordinates of the target;

[0008] Obtaining the position information of the target according to the pixel coordinates after dedistortion of the target, and obtaining the distance from the target to the parking space according to the position information of the target;

[0009] A corresponding display strategy is executed according to the distance from the target to the parking space.

[0010] Preferably, obtaining the pixel coordinates of the target after dedistortion according to the pixel coordinates of the target includes:

[0011] The pixel coordinates of the target are obtained by formulas (1) and (2) to obtain the pixel coordinates of the target after dedistortion:

[0012]

[0013] Where: (u, v) is the pixel coordinate of the target in the image, (x d ,y d ) is the pixel coordinate after dedistortion, where K is the internal parameter matrix, (k0, k1, k2, k3) is the distortion coefficient, and θ is the target incident angle.

[0014] Preferably, obtaining the position information of the target according to the pixel coordinates after dedistortion of the target includes:

[0015] The pixel coordinates of the target after dedistortion are obtained by formula (3) to obtain the target position information:

[0016]

[0017] Among them: (X, Y, Z) is the location information of the target, and A is the homography matrix.

[0018] Preferably, executing a corresponding display strategy according to the distance from the target to the parking space includes:

[0019] The distance between the target and the parking space is less than or equal to 3 meters, and the target is marked with a red frame and displayed on the electronic rearview mirror screen;

[0020] The distance between the target and the parking space is greater than 3 meters and less than or equal to 50 meters, and the target is marked with a yellow frame and displayed on the electronic rearview mirror screen;

[0021] The distance from the target to the parking space is greater than 50 meters, and the target is marked with a green frame and displayed on the electronic exterior rearview mirror screen.

[0022] According to a second aspect of an embodiment of the present invention, a safety distance warning device based on an electronic exterior rearview mirror is provided, comprising:

[0023] An acquisition module, used to acquire a target image through an electronic exterior rearview mirror, acquire pixel coordinates of a target in the image according to the target image, and obtain pixel coordinates of the target after dedistortion according to the pixel coordinates of the target;

[0024] A calculation module, used to obtain the position information of the target according to the pixel coordinates of the target after dedistortion, and obtain the distance from the target to the parking space according to the position information of the target;

[0025] The execution module is used to execute a corresponding display strategy according to the distance from the target to the parking space.

[0026] Preferably, the acquisition module is used to:

[0027] The pixel coordinates of the target are obtained by formulas (1) and (2) to obtain the pixel coordinates of the target after dedistortion:

[0028]

[0029] Where: (u, v) is the pixel coordinate of the target in the image, (x d ,y d ) is the pixel coordinate after dedistortion, where K is the internal parameter matrix, (k0, k1, k2, k3) is the distortion coefficient, and θ is the target incident angle.

[0030] Preferably, the computing module is used for:

[0031] The pixel coordinates of the target after dedistortion are obtained by formula (3) to obtain the target position information:

[0032]

[0033] Among them: (X, Y, Z) is the location information of the target, and A is the homography matrix.

[0034] Preferably, the execution module is used to:

[0035] The distance between the target and the parking space is less than or equal to 3 meters, and the target is marked with a red frame and displayed on the electronic rearview mirror screen;

[0036] The distance between the target and the parking space is greater than 3 meters and less than or equal to 50 meters, and the target is marked with a yellow frame and displayed on the electronic rearview mirror screen;

[0037] The distance from the target to the parking space is greater than 50 meters, and the target is marked with a green frame and displayed on the electronic exterior rearview mirror screen.

[0038] According to a third aspect of an embodiment of the present invention, there is provided a vehicle, comprising:

[0039] one or more processors;

[0040] a memory for storing the one or more processor-executable instructions;

[0041] Wherein, the one or more processors are configured to:

[0042] Execute the method described in the first aspect of the embodiment of the present invention.

[0043] According to a fourth aspect of an embodiment of the present invention, a non-temporary computer-readable storage medium is provided. When instructions in the storage medium are executed by a processor of a terminal, the terminal is enabled to execute the method described in the first aspect of the embodiment of the present invention.

[0044] According to a fifth aspect of an embodiment of the present invention, an application product is provided. When the application product is running on a terminal, the terminal executes the method described in the first aspect of the embodiment of the present invention.

[0045] The beneficial effects of the present invention are:

[0046] The present invention provides a safety distance warning method, device and vehicle based on an electronic exterior rearview mirror, which can automatically detect a target in the electronic exterior rearview mirror image and prompt the user whether the target has a safety hazard of collision by calculating the distance between the target and the driving area in real time. The present invention improves the safety auxiliary performance of the electronic exterior rearview mirror and allows the user to more intuitively observe the potential risks in the vehicle driving process.

[0047] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 The present invention is a flowchart showing a safety distance warning method based on an electronic exterior rearview mirror according to an exemplary embodiment.

[0049] Figure 2 The present invention is a schematic block diagram of a safety distance warning device based on an electronic exterior rearview mirror according to an exemplary embodiment.

[0050] Figure 3 The present invention is a schematic block diagram of a vehicle structure according to an exemplary embodiment. DETAILED DESCRIPTION

[0051] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only 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.

[0052] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0053] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0054] The embodiment of the present invention provides a safety distance warning method based on an electronic exterior rearview mirror, which is implemented by a terminal. The terminal includes at least a CPU, etc.

[0055] Embodiment 1:

[0056] Figure 1 A safety distance warning method based on an electronic exterior rearview mirror is shown according to an exemplary embodiment, comprising:

[0057] Step 101, acquiring a target image through an electronic exterior rearview mirror, acquiring pixel coordinates of a target in the image according to the target image, and obtaining pixel coordinates of the target after dedistortion according to the pixel coordinates of the target, the specific steps are as follows:

[0058] The target image is acquired through the electronic exterior rearview mirror, and the pixel coordinates of the target in the image are acquired according to the target image. The pixel coordinates of the target after dedistortion are obtained by using formulas (1) and (2):

[0059]

[0060] Where: (u, v) is the pixel coordinate of the target in the image, (x d ,y d ) is the pixel coordinate after dedistortion, where K is the internal parameter matrix, (k0, k1, k2, k3) is the distortion coefficient, and θ is the target incident angle.

[0061] Step 102, obtaining the position information of the target according to the pixel coordinates after dedistortion of the target, and obtaining the distance from the target to the parking space according to the position information of the target, the specific contents are as follows:

[0062] The pixel coordinates of the target after distortion removal are used to obtain the target location information through formula (3):

[0063]

[0064] Among them: (X, Y, Z) is the location information of the target, and A is the homography matrix.

[0065] The above Y is the distance from the target to the parking space.

[0066] Step 103, executing a corresponding display strategy according to the distance from the target to the parking space, the specific contents are as follows:

[0067] When the distance between the target and the parking space is less than or equal to 3 meters, the target will be marked with a red frame and displayed on the electronic rearview mirror screen;

[0068] When the distance from the target to the parking space is greater than 3 meters and less than or equal to 50 meters, the target will be marked with a yellow frame and displayed on the electronic rearview mirror screen;

[0069] When the distance from the target to the parking space is greater than 50 meters, the target will be marked with a green frame and displayed on the electronic exterior rearview mirror screen.

[0070] Embodiment 2:

[0071] Figure 2 The present invention is a schematic structural block diagram of a safety distance warning device based on an electronic exterior rearview mirror according to an exemplary embodiment, the device comprising:

[0072] An acquisition module 210 is used to acquire a target image through an electronic exterior rearview mirror, acquire pixel coordinates of a target in the image according to the target image, and obtain pixel coordinates of the target after dedistortion according to the pixel coordinates of the target;

[0073] A calculation module 220, configured to obtain the position information of the target according to the pixel coordinates of the target after dedistortion, and obtain the distance from the target to the parking space according to the position information of the target;

[0074] The execution module 230 is used to execute a corresponding display strategy according to the distance from the target to the parking space.

[0075] Preferably, the acquisition module 210 is used to:

[0076] The pixel coordinates of the target are obtained by formulas (1) and (2) to obtain the pixel coordinates of the target after dedistortion:

[0077]

[0078] Where: (u, v) is the pixel coordinate of the target in the image, (x d ,y d ) is the pixel coordinate after dedistortion, where K is the internal parameter matrix, (k0, k1, k2, k3) is the distortion coefficient, and θ is the target incident angle.

[0079] Preferably, the calculation module 220 is used to:

[0080] The pixel coordinates of the target after dedistortion are obtained by formula (3) to obtain the target position information:

[0081]

[0082] Among them: (X, Y, Z) is the location information of the target, and A is the homography matrix.

[0083] Preferably, the execution module 230 is used to:

[0084] The distance between the target and the parking space is less than or equal to 3 meters, and the target is marked with a red frame and displayed on the electronic rearview mirror screen;

[0085] The distance between the target and the parking space is greater than 3 meters and less than or equal to 50 meters, and the target is marked with a yellow frame and displayed on the electronic rearview mirror screen;

[0086] The distance from the target to the parking space is greater than 50 meters, and the target is marked with a green frame and displayed on the electronic exterior rearview mirror screen.

[0087] Embodiment three:

[0088] Figure 3 300 is a block diagram of a vehicle 300 provided in an embodiment of the present application. For example, the vehicle 300 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. The vehicle 300 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle. The vehicle 300 may also be equipped with a brake-by-wire system.

[0089] Reference Figure 3 , the vehicle 300 may include various subsystems, for example, an infotainment system 310, a perception system 320, a decision control system 330, a drive system 340, and a computing platform 350. The vehicle 300 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of the vehicle 300 may be interconnected by wire or wireless means.

[0090] In some embodiments, the infotainment system 310 may include a communication system, an entertainment system, and a navigation system, among others.

[0091] The perception system 320 may include several sensors for sensing information about the environment around the vehicle 300. For example, the perception system 320 may include a global positioning system (the global positioning system may be a GPS system, or a Beidou system or other positioning systems), an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera.

[0092] The decision control system 330 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0093] The drive system 340 may include components that provide power movement for the vehicle 300. In one embodiment, the drive system 340 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, and an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0094] Some or all functions of the vehicle 300 are controlled by a computing platform 350. The computing platform 350 may include at least one processor 351 and a memory 352, and the processor 351 may execute instructions 353 stored in the memory 352.

[0095] The processor 351 may be any conventional processor, such as a commercially available CPU. The processor may also include a graphics processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a system on chip (System on Chip, SOC), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC) or a combination thereof.

[0096] The memory 352 may be implemented by any type of volatile or nonvolatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0097] In addition to instructions 353 , memory 352 may also store data, such as road maps, route information, vehicle location, direction, speed, etc. The data stored in memory 352 may be used by computing platform 350 .

[0098] In the embodiment of the present disclosure, the processor 351 can execute instruction 353 to complete all or part of the steps of the above-mentioned safety distance warning method based on the electronic exterior rearview mirror.

[0099] Embodiment 4:

[0100] In an exemplary embodiment, a computer-readable storage medium is also provided, on which a computer program is stored. When the program is executed by a processor, a safety distance warning method based on an electronic exterior rearview mirror as provided in all the inventive embodiments of the present application is implemented.

[0101] Any combination of one or more computer-readable media may be used. A computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, device, or device.

[0102] Computer-readable signal media may include a data signal propagated in baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0103] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0104] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0105] Embodiment five:

[0106] In an exemplary embodiment, an application product is also provided, including one or more instructions, which can be executed by the processor 351 of the above-mentioned device to complete the above-mentioned safety distance warning method based on the electronic exterior rearview mirror.

[0107] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and the embodiments. It can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily realized. Therefore, without departing from the general concept defined by the claims and equivalent scope, the present invention is not limited to the specific details and the illustrations shown and described here.

Claims

1. A safety distance warning method based on an electronic exterior rearview mirror, characterized in that: include: Acquire a target image through an electronic exterior rearview mirror, acquire pixel coordinates of a target in the image according to the target image, and obtain pixel coordinates of the target after dedistortion according to the pixel coordinates of the target; Obtaining the position information of the target according to the pixel coordinates after dedistortion of the target, and obtaining the distance from the target to the parking space according to the position information of the target; A corresponding display strategy is executed according to the distance from the target to the parking space.

2. The safety distance warning method based on the electronic exterior rearview mirror according to claim 1 is characterized in that: The step of obtaining the pixel coordinates of the target after dedistortion according to the pixel coordinates of the target includes: The pixel coordinates of the target are obtained by formulas (1) and (2) to obtain the pixel coordinates of the target after dedistortion: Where: (u, v) is the pixel coordinate of the target in the image, (x d ,y d ) is the pixel coordinate after dedistortion, where K is the internal parameter matrix, (k0, k1, k2, k3) is the distortion coefficient, and θ is the target incident angle.

3. The safety distance warning method based on the electronic exterior rearview mirror according to claim 1 is characterized in that: The obtaining the position information of the target according to the pixel coordinates after the target is dedistorted includes: The pixel coordinates of the target after dedistortion are obtained by formula (3) to obtain the target position information: Among them: (X, Y, Z) is the location information of the target, and A is the homography matrix.

4. The safety distance warning method based on the electronic exterior rearview mirror according to claim 1 is characterized in that: The executing a corresponding display strategy according to the distance from the target to the parking space includes: The distance between the target and the parking space is less than or equal to 3 meters, and the target is marked with a red frame and displayed on the electronic rearview mirror screen; The distance between the target and the parking space is greater than 3 meters and less than or equal to 50 meters, and the target is marked with a yellow frame and displayed on the electronic rearview mirror screen; The distance from the target to the parking space is greater than 50 meters, and the target is marked with a green frame and displayed on the electronic exterior rearview mirror screen.

5. A safety distance warning device based on an electronic exterior rearview mirror, characterized in that: include: An acquisition module, used to acquire a target image through an electronic exterior rearview mirror, acquire pixel coordinates of a target in the image according to the target image, and obtain pixel coordinates of the target after dedistortion according to the pixel coordinates of the target; A calculation module, used to obtain the position information of the target according to the pixel coordinates of the target after dedistortion, and obtain the distance from the target to the parking space according to the position information of the target; The execution module is used to execute a corresponding display strategy according to the distance from the target to the parking space.

6. The safety distance warning device based on the electronic exterior rearview mirror according to claim 5 is characterized in that: The acquisition module is used to: The pixel coordinates of the target are obtained by formulas (1) and (2) to obtain the pixel coordinates of the target after dedistortion: Where: (u, v) is the pixel coordinate of the target in the image, (x d ,y d ) is the pixel coordinate after dedistortion, where K is the internal parameter matrix, (k0, k1, k2, k3) is the distortion coefficient, and θ is the target incident angle.

7. The safety distance warning device based on the electronic exterior rearview mirror according to claim 5 is characterized in that: The computing module is used for: The pixel coordinates of the target after dedistortion are obtained by formula (3) to obtain the target position information: Among them: (X, Y, Z) is the location information of the target, and A is the homography matrix.

8. The safety distance warning device based on the electronic exterior rearview mirror according to claim 5 is characterized in that: The execution module is used to: The distance between the target and the parking space is less than or equal to 3 meters, and the target is marked with a red frame and displayed on the electronic rearview mirror screen; The distance between the target and the parking space is greater than 3 meters and less than or equal to 50 meters, and the target is marked with a yellow frame and displayed on the electronic rearview mirror screen; The distance from the target to the parking space is greater than 50 meters, and the target is marked with a green frame and displayed on the electronic exterior rearview mirror screen.

9. A vehicle, characterized in that: include: processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to execute the steps of a safety distance warning method based on an electronic exterior rearview mirror as described in any one of claims 1 to 4.

10. A computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the program instructions are executed by the processor, the steps of a safety distance warning method based on an electronic exterior rearview mirror as described in any one of claims 1 to 4 are implemented.

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