Vehicle driving safety prompting method and device, electronic equipment and storage medium

Abstract

The invention relates to the technical field of vehicle safety, and provides a vehicle driving safety prompting method and device, electronic equipment and a storage medium. According to the method, a first image shot by a vehicle-mounted camera device is obtained, when it is determined that the vehicle is about to enter a curve area based on the first image, attitude information of the vehicle is obtained from an inertial measurement unit, and a first telescopic length and a first rotation angle of the vehicle-mounted camera device are determined according to the first image and the attitude information; sending the first telescopic length and the first rotation angle to a vehicle-mounted camera device to adjust the vehicle-mounted camera device, receiving a second image acquired by the adjusted vehicle-mounted camera device, and generating a first safety prompt when determining that a risk obstacle exists based on the second image, by fusing measurement data of the telescopic and rotatable vehicle-mounted camera device and the inertial measurement device, early warning of obstacles at the curve is realized, the obstacle detection precision is improved, the early warning accuracy is improved, and the driving safety is enhanced.

Description

Technical Field

[0001] The present application relates to the field of vehicle safety technology, and in particular to a vehicle driving safety reminder method, device, electronic device and storage medium. Background Art

[0002] In modern transportation systems, safe driving of vehicles has always been an important research area. With the development of science and technology, various sensors, controllers and big data technologies have been introduced into safe driving of vehicles to enhance the driver's field of vision, improve reaction speed and reduce accidents. For example, when driving on the road, the blind spot of the curve has always been a major hidden danger to traffic safety. Due to the obstruction of vision, it is difficult for the driver to accurately judge whether there is an oncoming vehicle at the curve, which easily leads to traffic accidents.

[0003] Although there are some technical means in the relevant technology to solve the problem of blind spots on curves, these means have certain limitations. For example, traditional rearview mirrors and side mirrors can only provide a limited field of view and cannot completely cover the blind spots on curves; some camera-based detection systems are greatly affected by lighting and weather conditions, and the detection performance may decrease in harsh environments. Summary of the invention

[0004] In view of this, the embodiments of the present application provide a vehicle driving safety reminder method, device, electronic device and storage medium to solve the problem in the prior art that the vehicle cannot accurately and timely remind of the risk of obstacles when driving on a curve.

[0005] According to a first aspect of an embodiment of the present application, a vehicle driving safety prompt method is provided, the method being executed by a vehicle controller, comprising:

[0006] Acquire a first image from a vehicle-mounted camera device;

[0007] In response to determining based on the first image that the vehicle is about to enter a curve area, acquiring vehicle posture information from an inertial measurement unit;

[0008] Determine a first telescopic length of the vehicle-mounted camera device based on the first image, and determine a first rotation angle of the vehicle-mounted camera device based on the first image and the posture information;

[0009] Sending the first telescopic length and the first rotation angle to the vehicle-mounted camera device, so that the vehicle-mounted camera device is adjusted based on the first telescopic length and the first rotation angle;

[0010] A second image acquired by the adjusted vehicle-mounted camera device is received, and in response to determining that a risk obstacle exists based on the second image, a first safety prompt is generated.

[0011] A second aspect of the embodiments of the present application provides a vehicle driving safety reminder device, comprising:

[0012] An acquisition module is configured to acquire a first image from the vehicle-mounted camera device;

[0013] The acquisition module is further configured to acquire vehicle posture information from an inertial measurement unit in response to determining that the vehicle is about to enter a curve area based on the first image;

[0014] a determination module configured to determine a first telescopic length of the vehicle-mounted camera device based on the first image, and to determine a first rotation angle of the vehicle-mounted camera device based on the first image and the posture information;

[0015] A sending module, configured to send a first telescopic length and a first rotation angle to the vehicle-mounted camera device, so that the vehicle-mounted camera device is adjusted based on the first telescopic length and the first rotation angle;

[0016] The generating module is configured to receive the adjusted second image acquired by the vehicle-mounted camera device, and generate a first safety prompt in response to determining the existence of a risk obstacle based on the second image.

[0017] According to a third aspect of an embodiment of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0018] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, which stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0019] Compared with the prior art, the embodiments of the present application have the following beneficial effects: the embodiments of the present application obtain a first image taken by a vehicle-mounted camera device, and when it is determined based on the first image that the vehicle is about to enter a curve area, the posture information of the vehicle is obtained from the inertial measurement unit, and a first telescopic length and a first rotation angle of the vehicle-mounted camera device are determined according to the first image and the posture information, and the first telescopic length and the first rotation angle are sent to the vehicle-mounted camera device to adjust them, and a second image obtained by the adjusted vehicle-mounted camera device is received, and a first safety prompt is generated when it is determined based on the second image that there is a risk obstacle, and by fusing the measurement data of the telescopic and rotatable vehicle-mounted camera device and the inertial measurement device, obstacle warning at curves is achieved, the obstacle detection accuracy is improved, the warning accuracy is improved, and driving safety is enhanced. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 It is a flow chart of a vehicle driving safety reminder method provided in an embodiment of the present application.

[0022] Figure 2 It is a flowchart of a method for determining a first telescopic length of a vehicle-mounted camera device based on a first image provided in an embodiment of the present application.

[0023] Figure 3 It is a flowchart of a method for determining a first rotation angle of a vehicle-mounted camera device based on a first image and posture information provided in an embodiment of the present application.

[0024] Figure 4 It is a flow chart of another vehicle driving safety reminder method provided in an embodiment of the present application.

[0025] Figure 5 It is a flow chart of another vehicle driving safety reminder method provided in an embodiment of the present application.

[0026] Figure 6 It is a flow chart of another vehicle driving safety reminder method provided in an embodiment of the present application.

[0027] Figure 7 It is a structural diagram of a vehicle driving safety reminder system provided in an embodiment of the present application.

[0028] Figure 8 It is a flow chart of another vehicle driving safety reminder method provided in an embodiment of the present application.

[0029] Fig. 9 It is a schematic diagram of a vehicle driving safety reminder device provided in an embodiment of the present application.

[0030] Fig.10 It is a schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0031] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0032] A vehicle driving safety reminder method and device according to an embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0033] As mentioned above, although there are some technical means in the relevant technologies to solve the problem of blind spots on curves, these means have certain limitations. For example, traditional rearview mirrors and side mirrors can only provide a limited field of view and cannot completely cover the blind spots on curves; some camera-based detection systems are greatly affected by lighting and weather conditions, and the detection performance may decrease in harsh environments.

[0034] In view of this, an embodiment of the present application provides a vehicle driving safety reminder method, which integrates information obtained from multiple unit modules such as an extendable and rotatable vehicle-mounted camera device, an inertial measurement unit, and vehicle-to-vehicle communication to comprehensively decide whether there are risk obstacles around the vehicle when it is about to enter a curve. If so, a safety reminder is generated to improve the accuracy of obstacle recognition on curves.

[0035] Furthermore, the vehicle driving safety prompt method provided in the embodiment of the present application obtains a first image taken by a vehicle-mounted camera device, and when it is determined based on the first image that the vehicle is about to enter a curve area, obtains posture information of the vehicle from the inertial measurement unit, determines a first telescopic length and a first rotation angle of the vehicle-mounted camera device according to the first image and the posture information, sends the first telescopic length and the first rotation angle to the vehicle-mounted camera device to adjust them, and receives a second image obtained by the adjusted vehicle-mounted camera device, and generates a first safety prompt when it is determined based on the second image that there is a risk obstacle, and by fusing the measurement data of the telescopic and rotatable vehicle-mounted camera device and the inertial measurement device, obstacle warning at curves is achieved, the obstacle detection accuracy is improved, the warning accuracy is improved, and driving safety is enhanced.

[0036] Figure 1 1 is a flow chart of a vehicle driving safety prompt method provided by an embodiment of the present application. Figure 1 As shown, the method comprises the following steps:

[0037] In step S101 , a first image is acquired from a vehicle-mounted camera device.

[0038] In step S102 , in response to determining that the vehicle is about to enter a curve area based on the first image, vehicle posture information is acquired from an inertial measurement unit.

[0039] In step S103 , a first telescopic length of the vehicle-mounted camera device is determined based on the first image, and a first rotation angle of the vehicle-mounted camera device is determined based on the first image and the posture information.

[0040] In step S104, the first telescopic length and the first rotation angle are sent to the vehicle-mounted camera device, so that the vehicle-mounted camera device is adjusted based on the first telescopic length and the first rotation angle.

[0041] In step S105, a second image acquired by the adjusted vehicle-mounted camera device is received, and in response to determining that a risk obstacle exists based on the second image, a first safety prompt is generated.

[0042] In some examples of the present application, the method may be performed by an on-board controller. In one example, the on-board controller may be a vehicle computer, such as a vehicle's TBOX (Telematics Box, in-vehicle infotainment system). TBOX may connect the vehicle to an external network and provide the vehicle with various information and services. In another example, the on-board controller may also be a vehicle's cockpit domain controller. For the convenience of description and explanation, the following description is made by taking the on-board controller as a vehicle computer as an example.

[0043] In some embodiments, the vehicle may be equipped with an on-board camera device, which may be a retractable and rotatable camera device, such as a surveillance camera used in a traffic system or a Skynet system.

[0044] The vehicle computer can obtain the first image from the vehicle-mounted camera device, and the first image is a real-time image taken by the vehicle-mounted camera device. It can be understood that the vehicle computer can periodically obtain the first image from the vehicle-mounted camera device to detect the road conditions.

[0045] The vehicle computer and the vehicle-mounted camera device can be connected via LVDS (Low-Voltage Differential Signaling) and communicate based on the GMSL (Gibabit Multimedia Serial Links) protocol.

[0046] The vehicle computer can judge the environment of the vehicle based on the acquired first image. When the vehicle computer determines that a curve appears in front of the current lane of the vehicle in the first image, it can be determined that the vehicle is about to enter the curve area. At this time, the vehicle computer can obtain the vehicle posture information from the inertial measurement unit, and then determine the first telescopic length of the vehicle-mounted camera device based on the first image, and determine the first rotation angle of the vehicle-mounted camera device based on the first image and the posture information.

[0047] The vehicle computer may send the determined first telescopic length and first rotation angle to the vehicle-mounted camera device, so that the vehicle-mounted camera device is adjusted based on the first telescopic length and the first rotation angle. For example, the vehicle-mounted camera device may control the camera to extend the first telescopic length and rotate the first rotation angle toward the target direction. The target direction may be a preset default target direction or a target direction carried in the first rotation angle.

[0048] The vehicle computer can receive the second image acquired by the adjusted vehicle-mounted camera device, and detect whether the second image includes a risk obstacle. In one example, the target detection algorithm can be called to detect the current lane and adjacent lanes in which the vehicle is traveling in the single-frame second image to determine whether there are obstacles. If there are obstacles, they are uniformly identified as risk obstacles, and the first safety prompt can be generated at this time.

[0049] The first safety prompt is a prompt indicating the presence of a risk obstacle, which can be used to remind the vehicle driver by voice or other means. Furthermore, the single-frame second image of the detected risk obstacle can also be displayed in a display interface of the vehicle cockpit. The display interface of the vehicle cockpit can be, for example, a display interface for displaying an instrument panel, or a display interface of a HUD (Head Up Display).

[0050] In another example, the target detection algorithm may be first used to detect a single-frame second image. When it is determined that an obstacle exists, the subsequent multiple-frame second images of the single-frame second image are detected, and the trajectory prediction algorithm is used to predict the movement trajectory of each obstacle, thereby determining whether it is a risk obstacle. If it is determined that a risk obstacle exists, a first safety prompt may be generated.

[0051] According to the technical solution provided in the embodiment of the present application, by acquiring a first image taken by a vehicle-mounted camera device, when it is determined based on the first image that the vehicle is about to enter a curve area, the posture information of the vehicle is acquired from the inertial measurement unit, and a first telescopic length and a first rotation angle of the vehicle-mounted camera device are determined according to the first image and the posture information, and the first telescopic length and the first rotation angle are sent to the vehicle-mounted camera device to adjust them, and a second image acquired by the adjusted vehicle-mounted camera device is received, and a first safety prompt is generated when it is determined based on the second image that there is a risk obstacle, and by fusing the measurement data of the telescopic and rotatable vehicle-mounted camera device and the inertial measurement device, obstacle warning at curves is achieved, the obstacle detection accuracy is improved, the warning accuracy is improved, and driving safety is enhanced.

[0052] Figure 2 is a flow chart of a method for determining a first telescopic length of a vehicle-mounted camera device based on a first image provided by an embodiment of the present application. Figure 2 As shown, the method comprises the following steps:

[0053] In step S201, the remaining distance from the current position of the vehicle to the starting position of the curve is determined according to the first image.

[0054] In step S202, the curvature of the curve is determined according to the first image.

[0055] In step S203, a first telescopic length is determined based on the remaining distance and the curvature of the curve.

[0056] The first telescopic length is proportional to the remaining distance and proportional to the curvature of the curve.

[0057] In some embodiments of the present application, determining the first telescopic length of the vehicle-mounted camera device based on the first image may be to first determine the remaining distance from the current position of the vehicle to the start position of the curve according to the first image. The remaining distance in the first image may be determined using OpenCV (a cross-platform computer vision library), or the remaining distance may be determined using other methods, which are not limited here.

[0058] Next, the curvature of the curve can be determined based on the first image, wherein the curvature of the curve can be calculated using an image gradient algorithm, or using a corner point detection method, or using other methods, which are not limited here.

[0059] Finally, the first telescopic length can be determined according to the remaining distance and the curvature of the curve. The first telescopic length is proportional to the remaining distance and the curvature of the curve.

[0060] In some implementations, a mapping table of remaining distance, curve curvature, and telescopic length may be pre-calculated and saved, and then the first telescopic length may be obtained by searching the mapping table using the calculated remaining distance and curve curvature.

[0061] In some other embodiments, a first ratio of the remaining distance to the telescopic length and a second ratio of the curve curvature to the telescopic length may be preset. The first ratio is first multiplied by the remaining distance to obtain an intermediate value of the telescopic length adjustment, and then the intermediate value of the telescopic length adjustment is multiplied by the second ratio to obtain the first telescopic length.

[0062] In some other implementations, historical remaining distance, curve curvature, and telescopic length data may be obtained to train a prediction model, and then the trained prediction model may be used to predict the first telescopic length.

[0063] Figure 3 FIG. 1 is a flow chart of a method for determining a first rotation angle of a vehicle-mounted camera device based on a first image and posture information provided by an embodiment of the present application. Figure 3As shown, the method comprises the following steps:

[0064] In step S301 , the curvature of the curve is determined according to the first image.

[0065] In step S302, the current angle of the vehicle-mounted camera device is determined according to the posture information.

[0066] In step S303, a first rotation angle is determined based on the current angle and the curvature of the curve.

[0067] In some embodiments, determining the first rotation angle of the vehicle-mounted camera device based on the first image and the posture information may be to first determine the curvature of the curve based on the first image, and determine the current angle of the vehicle-mounted camera device based on the posture information. Then, the first rotation angle is determined based on the current angle and the curvature of the curve. In one example, the current angle and the angle corresponding to the curvature of the curve may be summed to obtain the first rotation angle.

[0068] By adopting the technical solution of the embodiment of the present application, the distance and angle that the vehicle-mounted camera device needs to be extended and rotated can be automatically determined based on the first image taken by the vehicle-mounted camera device and the posture information measured by the inertial measurement unit, so that the vehicle-mounted camera device can automatically adjust its own posture in time to clearly capture the environmental image at the bend, thereby improving the driving safety of the vehicle at the bend.

[0069] Figure 4 It is a flow chart of another vehicle driving safety reminder method provided in an embodiment of the present application.

[0070] in, Figure 4 Step S401 in the illustrated embodiment is Figure 1 Step S101 in the illustrated embodiment is substantially the same and will not be described in detail herein. Figure 4 As shown, the method also includes the following steps:

[0071] In step S402 , in response to determining based on the first image that the environmental visibility is less than a first preset threshold, the inter-vehicle communication function is enabled.

[0072] In step S403, in response to receiving a target message sent by the target vehicle and determining that the target vehicle is a risk obstacle based on the target message, a first safety prompt is generated.

[0073] In some embodiments of the present application, if the environmental visibility in the first image received by the vehicle computer is less than the first preset threshold, that is, the vehicle computer cannot determine whether there are risk obstacles in the surrounding environment based on the image taken by the vehicle-mounted camera device, for example, it is currently foggy weather, driving at night, etc., then the vehicle computer can turn on the vehicle-to-vehicle communication function, that is, the V2V function. Vehicles with the V2V function turned on can exchange information through wide-area centralized cellular communication and short-range distributed direct communication. The vehicle computer receives messages sent by other vehicles. If the target vehicle is determined to be a risk obstacle based on the target message sent by the target vehicle, it will generate a first safety prompt.

[0074] It should be noted that the specific value of the first preset threshold can be set according to actual needs and is not limited here.

[0075] The target message of the target vehicle may include at least one of the following: the current position, driving lane, current speed and driving direction of the target vehicle. Further, determining the target vehicle as a risk obstacle based on the target message may be, in response to determining that the target vehicle is an oncoming vehicle in an adjacent lane of the vehicle based on the driving lane and driving direction of the target vehicle, determining the target vehicle as a risk obstacle; or in response to determining that the target vehicle is a forward vehicle in the same lane of the vehicle based on the current position, driving lane and driving direction of the target vehicle, and determining that the current speed of the target vehicle is less than the current speed of the vehicle, determining the target vehicle as a risk obstacle; or in response to determining that the target vehicle is a backward vehicle in the same lane of the vehicle based on the current position, driving lane and driving direction of the target vehicle, and determining that the current speed of the target vehicle is greater than the current speed of the vehicle, determining the target vehicle as a risk obstacle.

[0076] Figure 5 It is a flow chart of another vehicle driving safety reminder method provided in an embodiment of the present application.

[0077] in, Figure 5 Steps S501 to S504 in the embodiment shown are Figure 1 Steps S101 to S104 in the illustrated embodiment are substantially the same and will not be described in detail herein. Figure 5 As shown, the method also includes the following steps:

[0078] In step S505, the adjusted second image acquired by the vehicle-mounted camera device is received, and the vehicle posture information is continuously acquired from the inertial measurement unit at a preset period.

[0079] In step S506, in response to determining that the vehicle azimuth has changed based on the acquired vehicle posture information and the azimuth change is less than a second preset threshold, a second telescopic length and a second rotation angle of the vehicle-mounted camera device are determined based on the second image and the changed azimuth information.

[0080] In step S507, the second telescopic length and the second rotation angle are sent to the vehicle-mounted camera device, so that the vehicle-mounted camera device is adjusted again based on the second telescopic length and the second rotation angle, and a third image obtained by the re-adjusted vehicle-mounted camera device is received.

[0081] In step S508 , in response to determining that a risk obstacle exists based on the third image, a first safety prompt is generated.

[0082] In some embodiments of the present application, after receiving the second image acquired by the adjusted vehicle-mounted camera device, the vehicle computer may also continuously acquire vehicle posture information from the inertial measurement unit at a preset period. If the vehicle computer determines that the vehicle azimuth has changed based on the acquired vehicle posture information, and the azimuth change is less than a second preset threshold, the second telescopic length and second rotation angle of the vehicle-mounted camera device may be determined based on the second image and the changed azimuth information.

[0083] Furthermore, the vehicle computer can send the second telescopic length and the second rotation angle to the vehicle-mounted camera device. The vehicle-mounted camera device uses the received second telescopic length and second rotation angle to adjust again, and after the adjustment is completed, obtains the third image again and sends it to the vehicle computer. The vehicle computer receives the third image obtained by the vehicle-mounted camera device after the adjustment, detects whether there is a risk obstacle in the third image, and generates a first safety prompt if there is a risk obstacle. Among them, the specific value of the second preset threshold value can be set according to actual needs, and there is no limitation here.

[0084] Figure 6 This is a flow chart of another vehicle driving safety reminder method provided by an embodiment of the present application. Figure 6 Steps S601 to S604 in the embodiment shown are Figure 1 Steps S101 to S104 in the illustrated embodiment are substantially the same and will not be described in detail herein. Figure 6 As shown, the method also includes the following steps:

[0085] In step S605, the adjusted second image acquired by the vehicle-mounted camera device is received, and the vehicle posture information is continuously acquired from the inertial measurement unit at a preset period.

[0086] In step S606, in response to determining that the vehicle azimuth has changed based on the acquired vehicle posture information, and the azimuth change is greater than or equal to a second preset threshold, a second safety prompt is generated.

[0087] In some embodiments of the present application, after receiving the second image acquired by the adjusted vehicle-mounted camera device, the vehicle computer can also continuously acquire vehicle posture information from the inertial measurement unit at a preset period. If the vehicle computer determines that the vehicle azimuth has changed based on the acquired vehicle posture information, and the azimuth change is greater than or equal to the second preset threshold, it may be that the vehicle driver is driving fatigued. At this time, a second safety prompt can be generated to remind the vehicle driver to correct the vehicle posture. The second safety prompt can be a voice prompt, or other prompts.

[0088] Figure 7 is a structural diagram of the vehicle driving safety reminder system provided by the embodiment of the present application. Figure 7 As shown in the figure, the system includes a vehicle computer TBOX, a cockpit domain controller and an intelligent assisted driving controller; the TBOX can be connected to the cloud, the cloud can be connected to a map navigation data parsing library, and the map navigation data parsing library can be connected to a smart mobile terminal. The intelligent assisted driving controller can be connected to a laser radar. The cockpit domain controller can be connected to a vehicle-mounted retractable rotating camera device, an inertial measurement unit and an external speaker, and can be connected to the instrument panel, HUD and an in-vehicle speaker internally, and can also have a built-in V2V function module.

[0089] Among them, the vehicle-mounted retractable rotating camera device can be extended and rotated. Through the extension and rotation of the vehicle-mounted retractable rotating camera device and the assistance of the laser radar, it can effectively identify oncoming vehicles and obstacles in the daytime with sufficient light and give early warning. The vehicle-mounted retractable rotating camera device can be set at the front of the vehicle, and through the mechanical structure, it can be extended and rotated to the side of the vehicle to expand the field of view.

[0090] The V2V function module integrated in the cockpit domain controller can send information in advance for the other vehicle to identify and give early warning in conditions such as dark weather or when the oncoming vehicle does not turn on its lights. The cockpit domain controller can exchange information with the other vehicle through wide-area centralized cellular communication and short-range distributed direct communication, and project the received information onto the dashboard or HUD, or alert the driver and other vehicles through the beeping sound inside the car or the horn outside the car.

[0091] The cockpit controller can perform inertial measurement through the body posture sensor, such as the inertial measurement unit, and notify the intelligent driving controller to take lane correction measures, and send a prompt to the driver at the same time, which can effectively monitor and correct the driver's driving behavior when he is tired. That is, the cockpit controller can collect information from the body posture sensor in real time and analyze it. If it finds that there is a problem with the driver's driving behavior, it can notify the intelligent driving controller to intervene and send a prompt to the driver.

[0092] In addition, TBOX can also upload data and update the navigation map database. By uploading data and updating the navigation map database through TBOX, accident information can be obtained in a timely manner and early warning can be issued. For example, the accident vehicle can send the recorder status or vehicle damage status data to the cloud through TBOX, and the cloud will release the accident information to the navigation map database. The navigation map database can update the accident information and download it to the mobile terminal APP. When the vehicle passes this section, a voice broadcast warning can be issued in advance.

[0093] The cockpit domain controller can obtain real-time environmental images from the on-board retractable and rotatable camera device, and process the real-time environmental images, or send the real-time environmental images to TBOX for processing. The cockpit domain controller or TBOX can fuse the real-time environmental images obtained by the on-board camera device and the posture information measured by the inertial measurement unit to calculate the telescopic length and rotation angle of the on-board camera device, and send the calculated telescopic length and rotation angle to the on-board camera device, so that the on-board camera device can be adjusted according to the telescopic length and rotation angle.

[0094] Furthermore, TBOX can also obtain map navigation data from the cloud and fuse the map navigation data as supplementary data of the real-time environmental image, and then use the fused information to calculate the telescopic length and rotation angle of the on-board camera device.

[0095] After the vehicle-mounted camera device has completed the adjustment according to the telescopic length and rotation angle, it can continue to collect real-time environmental images. The cockpit domain controller or TBOX can determine whether there are risk obstacles around the vehicle based on the real-time environmental images collected at this time. At the same time, the cockpit domain controller can also send the determined risk obstacle information to the intelligent assisted driving controller, which obtains the laser radar detection data, makes decisions based on the laser radar detection data and risk obstacle information, and realizes intelligent assisted driving control.

[0096] Figure 8 FIG. 1 is a flow chart of another vehicle driving safety prompt method provided by an embodiment of the present application. Figure 8 As shown in the figure, after the vehicle needs to start the safety prompt, the safety assistance system can be turned on. The safety assistance system can first determine the current posture of the vehicle body. If the posture level is abnormal, it means that the vehicle may be tilting or deviating from the lane. At this time, the cockpit can issue a prompt sound and the intelligent driving controller can correct the lane.

[0097] If the posture level is normal, the current environmental conditions can be further judged. If the current light is dim, the cockpit starts V2V to detect other vehicles. If there are risky vehicles among other vehicles, the cockpit plays a prompt sound to remind the risk obstacle and displays the information that the target vehicle is judged as a risky vehicle.

[0098] If the current light is sufficient, when the camera detects a curve ahead, it will extend and rotate the camera. At the same time, it can also scan obstacles through the lidar and display the images taken by the camera and the images scanned by the lidar.

[0099] By adopting the technical solution of the embodiment of the present application, through the extension and rotation of the onboard camera and the assistance of the laser radar, oncoming vehicles and obstacles can be effectively identified and early warning can be given in the daytime with sufficient light. Through the V2V technology integrated in the cockpit domain controller, information can be sent in advance for identification and early warning of the other vehicle under conditions such as gloomy weather or when the oncoming vehicle has not turned on its lights.

[0100] At the same time, the cockpit controller collects inertial measurements from the vehicle body posture sensor, notifies the intelligent driving controller to take lane correction measures, and issues a prompt to the driver, which can effectively monitor and correct the driver's driving behavior when he is tired.

[0101] All the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present application, which will not be described one by one here.

[0102] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0103] Fig. 9 Schematic diagram of a vehicle driving safety reminder device provided in an embodiment of the present application. Fig. 9 As shown, the device comprises:

[0104] The acquisition module 901 is configured to acquire a first image from a vehicle-mounted camera device.

[0105] The acquisition module 901 is further configured to acquire vehicle posture information from the inertial measurement unit in response to determining that the vehicle is about to enter a curve area based on the first image.

[0106] The determination module 902 is configured to determine a first telescopic length of the vehicle-mounted camera device based on the first image, and to determine a first rotation angle of the vehicle-mounted camera device based on the first image and the posture information.

[0107] The sending module 903 is configured to send the first telescopic length and the first rotation angle to the vehicle-mounted camera device, so that the vehicle-mounted camera device is adjusted based on the first telescopic length and the first rotation angle.

[0108] The generating module 904 is configured to receive the adjusted second image acquired by the vehicle-mounted camera device, and generate a first safety prompt in response to determining the existence of a risk obstacle based on the second image.

[0109] According to the technical solution provided in the embodiment of the present application, by acquiring a first image taken by a vehicle-mounted camera device, when it is determined based on the first image that the vehicle is about to enter a curve area, the posture information of the vehicle is acquired from the inertial measurement unit, and a first telescopic length and a first rotation angle of the vehicle-mounted camera device are determined according to the first image and the posture information, and the first telescopic length and the first rotation angle are sent to the vehicle-mounted camera device to adjust them, and a second image acquired by the adjusted vehicle-mounted camera device is received, and a first safety prompt is generated when it is determined based on the second image that there is a risk obstacle, and by fusing the measurement data of the telescopic and rotatable vehicle-mounted camera device and the inertial measurement device, obstacle warning at curves is achieved, the obstacle detection accuracy is improved, the warning accuracy is improved, and driving safety is enhanced.

[0110] In some embodiments, determining a first telescopic length of the vehicle-mounted camera device based on the first image includes: determining a remaining distance from a current position of the vehicle to a starting position of a curve based on the first image; determining a curvature of the curve based on the first image; determining the first telescopic length based on the remaining distance and the curvature of the curve; wherein the first telescopic length is proportional to the remaining distance and to the curvature of the curve.

[0111] In some embodiments, determining a first rotation angle of the vehicle-mounted camera device based on the first image and posture information includes: determining a curve curvature based on the first image; determining a current angle of the vehicle-mounted camera device based on the posture information; and determining the first rotation angle based on the current angle and the curve curvature.

[0112] In some embodiments, after acquiring the first image, it also includes: in response to determining that the environmental visibility is less than a first preset threshold based on the first image, starting the vehicle-to-vehicle communication function; in response to receiving a target message sent by the target vehicle and determining that the target vehicle is a risk obstacle based on the target message, generating a first safety prompt.

[0113] In some embodiments, the target message includes at least one of the following: the current position, driving lane, current speed and driving direction of the target vehicle; determining the target vehicle as a risk obstacle based on the target message includes: in response to determining that the target vehicle is an oncoming vehicle in an adjacent lane of the vehicle based on the driving lane and driving direction of the target vehicle, determining the target vehicle as a risk obstacle; or in response to determining that the target vehicle is a preceding vehicle in the same lane of the vehicle based on the current position, driving lane and driving direction of the target vehicle, and determining that the current speed of the target vehicle is less than the current speed of the vehicle, determining the target vehicle as a risk obstacle; or in response to determining that the target vehicle is a rearward vehicle in the same lane of the vehicle based on the current position, driving lane and driving direction of the target vehicle, and determining that the current speed of the target vehicle is greater than the current speed of the vehicle, determining the target vehicle as a risk obstacle.

[0114] In some embodiments, after acquiring the second image, it also includes: continuously acquiring vehicle posture information from an inertial measurement unit at a preset period; in response to determining that the vehicle azimuth has changed based on the acquired vehicle posture information, and the azimuth change is less than a second preset threshold, determining a second telescopic length and a second rotation angle of the vehicle-mounted camera device based on the second image and the changed azimuth information; sending the second telescopic length and the second rotation angle to the vehicle-mounted camera device, so that the vehicle-mounted camera device is adjusted again based on the second telescopic length and the second rotation angle, and receiving a third image acquired by the re-adjusted vehicle-mounted camera device; in response to determining that there is a risk obstacle based on the third image, generating a first safety prompt.

[0115] In some embodiments, after acquiring the second image, it also includes: continuously acquiring vehicle posture information from an inertial measurement unit at a preset period; in response to determining that the vehicle azimuth has changed based on the acquired vehicle posture information, and the azimuth change is greater than or equal to a second preset threshold, generating a second safety prompt.

[0116] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0117] Fig.10 Schematic diagram of an electronic device provided in an embodiment of the present application. Fig.10 As shown, the electronic device 10 of this embodiment includes: a processor 1001, a memory 1002, and a computer program 1003 stored in the memory 1002 and executable on the processor 1001. When the processor 1001 executes the computer program 1003, the steps in the above-mentioned method embodiments are implemented. Alternatively, when the processor 1001 executes the computer program 1003, the functions of the modules / units in the above-mentioned device embodiments are implemented.

[0118] The electronic device 10 may be a desktop computer, a notebook, a PDA, a cloud server, or other electronic device. The electronic device 10 may include, but is not limited to, a processor 1001 and a memory 1002. Those skilled in the art will appreciate that Fig.10 The electronic device 10 is merely an example and does not limit the electronic device 10 . The electronic device 10 may include more or fewer components than shown in the figure, or different components.

[0119] Processor 1001 can 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 gate or transistor logic devices, discrete hardware components, etc.

[0120] The memory 1002 may be an internal storage unit of the electronic device, for example, a hard disk or memory of the electronic device 10. The memory 1002 may also be an external storage device of the electronic device 10, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card (FlashCard), etc. equipped on the electronic device 10. The memory 1002 may also include both an internal storage unit of the electronic device 10 and an external storage device. The memory 1002 is used to store computer programs and other programs and data required by the electronic device.

[0121] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units.

[0122] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. The computer program may include computer program code, which may be in source code form, object code form, executable file or some intermediate form. Computer-readable media may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0123] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A vehicle driving safety reminder method, characterized in that: The method is executed by an on-board controller, and the method comprises: Acquire a first image from a vehicle-mounted camera device; In response to determining that the vehicle is about to enter a curve area based on the first image, acquiring vehicle posture information from an inertial measurement unit; determining a first telescopic length of the vehicle-mounted camera device based on the first image, and determining a first rotation angle of the vehicle-mounted camera device based on the first image and the posture information; Sending a first telescopic length and a first rotation angle to the vehicle-mounted camera device, so that the vehicle-mounted camera device is adjusted based on the first telescopic length and the first rotation angle; A second image acquired by the adjusted vehicle-mounted camera device is received, and in response to determining the presence of a risk obstacle based on the second image, a first safety prompt is generated.

2. The method according to claim 1, characterized in that The determining a first telescopic length of the vehicle-mounted camera device based on the first image includes: Determine the remaining distance from the current position of the vehicle to the start position of the curve according to the first image; determining a curvature of a curve according to the first image; determining the first telescopic length based on the remaining distance and the curvature of the curve; Wherein, the first telescopic length is proportional to the remaining distance and proportional to the curvature of the curve.

3. The method according to claim 1, characterized in that The determining a first rotation angle of the vehicle-mounted camera device based on the first image and the posture information includes: determining a curvature of a curve according to the first image; Determine the current angle of the vehicle-mounted camera device according to the posture information; The first rotation angle is determined based on the current angle and the curve curvature.

4. The method according to claim 1, characterized in that: After acquiring the first image, the method further includes: In response to determining that the environmental visibility is less than a first preset threshold based on the first image, starting the inter-vehicle communication function; In response to receiving a target message sent by a target vehicle and determining that the target vehicle is a risk obstacle based on the target message, a first safety prompt is generated.

5. The method according to claim 4, characterized in that The target message includes at least one of the following: The current position, driving lane, current speed and driving direction of the target vehicle; The determining, based on the target message, that the target vehicle is a risk obstacle comprises: In response to determining that the target vehicle is an oncoming vehicle in a lane adjacent to the host vehicle based on the driving lane and driving direction of the target vehicle, determining that the target vehicle is a risk obstacle; or In response to determining that the target vehicle is a preceding vehicle in the same lane as the host vehicle based on the current position, driving lane, and driving direction of the target vehicle, and determining that the current speed of the target vehicle is less than the current speed of the host vehicle, determining that the target vehicle is a risk obstacle; or In response to determining that the target vehicle is a rearward vehicle in the same lane as the host vehicle based on the target vehicle's current position, driving lane and driving direction, and determining that the target vehicle's current speed is greater than the host vehicle's current speed, the target vehicle is determined to be a risk obstacle.

6. The method according to claim 1, characterized in that After acquiring the second image, the method further includes: Continuously obtain vehicle posture information from the inertial measurement unit at a preset period; In response to determining that the vehicle azimuth angle has changed based on the acquired vehicle posture information, and the azimuth angle change amount is less than a second preset threshold, determining a second telescopic length and a second rotation angle of the vehicle-mounted camera device based on the second image and the changed azimuth angle information; Sending the second telescopic length and the second rotation angle to the vehicle-mounted camera device, so that the vehicle-mounted camera device is adjusted again based on the second telescopic length and the second rotation angle, and receiving a third image acquired by the vehicle-mounted camera device after the adjustment; In response to determining that a risk obstacle exists based on the third image, a first safety prompt is generated.

7. The method according to claim 1, characterized in that After acquiring the second image, the method further includes: Continuously obtain vehicle posture information from the inertial measurement unit at a preset period; In response to determining that the vehicle azimuth has changed based on the acquired vehicle posture information, and the azimuth change is greater than or equal to a second preset threshold, a second safety prompt is generated.

8. A vehicle driving safety reminder device, characterized in that: include: An acquisition module is configured to acquire a first image from the vehicle-mounted camera device; The acquisition module is further configured to acquire vehicle posture information from an inertial measurement unit in response to determining that the vehicle is about to enter a curve area based on the first image; a determination module configured to determine a first telescopic length of the vehicle-mounted camera device based on the first image, and to determine a first rotation angle of the vehicle-mounted camera device based on the first image and the posture information; a sending module configured to send a first telescopic length and a first rotation angle to the vehicle-mounted camera device, so that the vehicle-mounted camera device is adjusted based on the first telescopic length and the first rotation angle; The generating module is configured to receive the adjusted second image acquired by the vehicle-mounted camera device, and generate a first safety prompt in response to determining the existence of a risk obstacle based on the second image.

9. An electronic 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 steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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