Vehicle collision early warning method and device, electronic equipment and storage medium

Abstract

The invention discloses a vehicle collision early warning method and device, electronic equipment and a storage medium, and belongs to the technical field of automobile auxiliary driving. The method comprises the following steps: acquiring a first rotation angle of a steering wheel of a vehicle, and acquiring a first image of the vehicle in a driving direction; predicting a first driving track of the vehicle according to the first rotation angle; analyzing position information of an obstacle on the first image; and carrying out vehicle collision early warning according to the first driving track and the position information of the obstacle. Through the collision early warning method and device, the technical problem of low accuracy of collision early warning in related technologies is solved.

Description

Technical Field

[0001] The present application relates to the field of automobile assisted driving technology, and more specifically, to a vehicle collision warning method, device, electronic device and storage medium. Background Art

[0002] With the rapid development of the automobile industry, people's living standards have been continuously improved, the performance of automobiles has been greatly improved, and the number of cars in the world has also increased sharply. However, it has also caused a series of traffic safety problems such as road congestion and road traffic accidents. Therefore, assisted driving technology came into being, and the vehicle collision warning system is an important part of the assisted driving system.

[0003] In the related art, the vehicle collision warning system mainly uses sensors to detect the environment around the vehicle in real time, and then processes the detected data through a controller to determine whether there is danger and issue a prompt. However, this collision warning method has many false alarms. For example, when the vehicle is parked, pedestrians pass by in front and behind, and the alarm will be interfered even if there is no danger. Therefore, the related art has the problem of low accuracy of collision warning.

[0004] With respect to the above-mentioned problems existing in the related technologies, no effective solutions have been found so far. Summary of the invention

[0005] The present application provides a vehicle collision warning method, device, electronic device and storage medium to solve the technical problem of low accuracy of collision warning in related technologies.

[0006] According to one aspect of an embodiment of the present application, a vehicle collision warning method is provided, including: obtaining a first rotation angle of a steering wheel of a vehicle, and obtaining a first image of the vehicle in the driving direction; predicting a first driving trajectory of the vehicle based on the first rotation angle; parsing position information of obstacles on the first image; and performing a vehicle collision warning based on the first driving trajectory and the position information of the obstacle.

[0007] According to another aspect of an embodiment of the present application, a vehicle collision warning device is also provided, including: an acquisition module, used to acquire a first rotation angle of a steering wheel of a vehicle, and to acquire a first image of the vehicle in the driving direction; a prediction module, used to predict a first driving trajectory of the vehicle based on the first rotation angle; an analysis module, also used to analyze position information of obstacles on the first image; and a warning module, used to provide a vehicle collision warning based on the first driving trajectory and the position information of the obstacle.

[0008] Furthermore, the prediction module includes a fitting unit, which is used to obtain an angle collection cycle, and in each angle collection cycle, collect the first rotation angle of the steering wheel of the vehicle; obtain the deflection extension line of the tire center position corresponding to each first rotation angle; obtain the intersection between each deflection extension line and its adjacent deflection extension line; fit all intersection points to obtain a target curve, extend the target curve and use it as the first driving trajectory of the vehicle.

[0009] Furthermore, the warning module includes a warning unit, which is used to obtain a first trajectory corresponding to the left steering wheel of the vehicle, and a second trajectory corresponding to the right steering wheel of the vehicle, wherein the first driving trajectory includes the first trajectory and the second trajectory; determine a target area between the first trajectory and the second trajectory; determine whether the position information of the obstacle is within the target area; if the position information of the obstacle is within the target area, perform a vehicle collision warning.

[0010] Furthermore, the warning unit is also used to determine whether the turning angle of the vehicle's steering wheel has changed if the position information of the obstacle is within the target area; if the turning angle of the vehicle's steering wheel has not changed, obtain a preset safety distance and measure the actual distance between the obstacle and the vehicle; if the actual distance is less than the preset safety distance, control the vehicle to brake; if the actual distance is greater than or equal to the preset safety distance, output a collision warning prompt message.

[0011] Furthermore, the early warning unit is also used to obtain a second rotation angle after the change if the rotation angle of the steering wheel of the vehicle changes, and to obtain a second image in the current driving direction of the vehicle; predict a second driving trajectory of the vehicle based on the second rotation angle; analyze the position information of obstacles on the second image; and issue a vehicle collision warning based on the second driving trajectory and the position information of obstacles on the second image.

[0012] Furthermore, the early warning unit is also used to obtain the current driving speed of the vehicle; find a target safety distance that matches the current driving speed, wherein the driving speed of the vehicle is proportional to the safety distance; and use the target safety distance as the preset safety distance.

[0013] Furthermore, the acquisition module includes a calculation unit for acquiring the maximum rotation angle of the steering wheel steering shaft and the maximum steering angle of the vehicle steering wheel; calculating the ratio between the maximum rotation angle and the maximum steering angle; acquiring the current rotation angle of the steering wheel steering shaft; and calculating the first rotation angle of the vehicle steering wheel based on the current rotation angle and the ratio.

[0014] According to another aspect of an embodiment of the present application, a storage medium is further provided, which includes a stored program, and the above steps are executed when the program is run.

[0015] According to another aspect of an embodiment of the present application, there is also provided an electronic device, including a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; wherein: the memory is used to store computer programs; and the processor is used to execute the steps in the above method by running the program stored in the memory.

[0016] The embodiment of the present application also provides a computer program product including instructions, which, when executed on a computer, enables the computer to execute the steps in the above method.

[0017] Beneficial effects of the present invention:

[0018] 1. The present invention predicts the driving trajectory by the rotation angle of the vehicle steering wheel, and combines the image information in the driving direction to predict the situation that a collision will occur if the vehicle continues to drive, thereby performing a collision alarm, reducing the situation of false alarms and improving the accuracy of early warning;

[0019] 2. When the position information of the obstacle is within the predicted target area, the present invention further determines whether the turning angle of the vehicle's steering wheel has changed; when the turning angle of the vehicle's steering wheel has changed, that is, after the driver actively corrects the driving trajectory, the trajectory is re-predicted and a collision warning analysis is performed, thereby reducing the false alarm rate and further improving the accuracy of the warning. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0021] Figure 1 is a hardware structure block diagram of a computer according to an embodiment of the present application;

[0022] Figure 2 is a flow chart of a vehicle collision warning method according to an embodiment of the present application;

[0023] Figure 3 is a logical schematic diagram of a collision warning system based on trajectory prediction according to an embodiment of the present application;

[0024] Figure 4 It is a schematic diagram of the architecture of a collision warning system based on trajectory prediction according to an embodiment of the present application;

[0025] Figure 5 is a schematic diagram of a scenario of trajectory prediction in an embodiment of the present application;

[0026] Figure 6 It is a structural block diagram of a vehicle collision warning device according to an embodiment of the present application. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only embodiments of a part of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present application. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] Example 1

[0030] The method embodiment provided in the first embodiment of the present application can be executed in a vehicle-mounted terminal, a vehicle, a mobile phone, a computer, a tablet or a similar computing device. Taking running on a vehicle-mounted terminal as an example, Figure 1 is a hardware structure block diagram of a vehicle-mounted terminal according to an embodiment of the present application. Figure 1 As shown, the vehicle terminal may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data. Optionally, the vehicle terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the vehicle-mounted terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown.

[0031] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as a computer program corresponding to a vehicle collision warning method in an embodiment of the present application. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories may be connected to the vehicle-mounted terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0032] The transmission device 106 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the vehicle terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0033] This embodiment provides a vehicle collision warning method, which can be executed based on a collision warning system, such as Figure 4 As shown, the collision warning system includes three main modules: an input unit, a calculation unit and an execution unit, wherein the input unit includes a steering wheel angle sensor for collecting the rotation angle of the steering shaft of the steering wheel, a (front) camera for capturing images of the vehicle in the driving direction (e.g., the forward direction), and a range radar for measuring the distance between the vehicle and the obstacle. The calculation unit includes a central processing unit and a microprocessor. The execution unit includes a display screen, a buzzer alarm and a brake pump. The camera and radar signals are both electrically connected to the signal receiving end of the central processing unit. The range radar is located at the front end of the vehicle. The signal output end of the central processing unit is electrically connected to the signal receiving end of the display screen through a wire, and the control output end of the central processing unit is electrically connected to the alarm device buzzer and the brake booster pump switch through a wire. The steering wheel angle sensor is electrically connected to the microprocessor, and the microprocessor processes the data input by the steering wheel angle sensor and then transmits it to the central processing unit. The calculation unit controls the execution unit to complete the corresponding operation after comprehensive processing of the input unit data.

[0034] Figure 2is a flow chart of a vehicle collision warning method according to an embodiment of the present application, such as Figure 2 As shown, the process includes the following steps:

[0035] Step S10, obtaining a first rotation angle of a steering wheel of a vehicle, and obtaining a first image of the vehicle in a driving direction;

[0036] Step S20, predicting a first driving trajectory of the vehicle according to the first rotation angle;

[0037] Step S30, analyzing the position information of obstacles on the first image;

[0038] Step S40: issuing a vehicle collision warning based on the first driving trajectory and the position information of the obstacle.

[0039] In this embodiment, a first image of the vehicle in the driving direction is obtained by a camera, and the driving direction can be the forward direction of the vehicle. The camera inputs the image information in front of the vehicle in real time, and analyzes whether there is an obstacle in the first image and the position information of the obstacle. The first driving trajectory of the vehicle is predicted according to the first rotation angle of the vehicle steering wheel, and compared and calculated with the position information of the front obstacle detected by the camera to predict whether a collision will occur, thereby performing a vehicle collision warning.

[0040] Through the above steps, the driving trajectory is predicted by the steering angle of the vehicle's steering wheel, and combined with the image information in the driving direction, the situation that a collision will occur if the vehicle continues to drive is predicted, thereby issuing a collision alarm, reducing the number of false alarms, and improving the accuracy of the warning. Trajectory prediction analyzes the driver's driving intention to a certain extent, reminds the driver earlier, gives the driver more reaction time, and further improves driving safety.

[0041] In one implementation of this embodiment, predicting the first driving trajectory of the vehicle according to the first rotation angle includes:

[0042] S21, acquiring an angle collection cycle, and collecting a first rotation angle of the steering wheel of the vehicle in each angle collection cycle;

[0043] S22, obtaining a deflection extension line corresponding to the tire center position at each first rotation angle;

[0044] S23, obtaining the intersection point between each deflection extension line and its adjacent deflection extension line;

[0045] S24, fitting all intersection points to obtain a target curve, extending the target curve and using it as a first driving trajectory of the vehicle.

[0046] Reference Figure 5In this embodiment, the angle collection cycle can be exemplarily to collect the rotation angle of the vehicle steering wheel every time the vehicle steering wheel moves forward 1 cm. The specific cycle can be set according to the actual situation. The shorter the cycle, the more accurate the driving trajectory fitting. Figure 5 As shown, P1 to P7 are the collection points of the first rotation angle, and the deflection extension line of each first rotation angle relative to the tire center position is obtained, such as Figure 5 L1 to L7 shown in FIG. 1 , the tire center position in this embodiment is the center line corresponding to the steering wheel when no deflection occurs, and the intersection between each deflection extension line and the next two adjacent deflection extension lines is taken, such as Figure 5 , take the intersection points between L1, L2 and L3, and the intersection points between L2, L3 and L4, and so on, fit all the obtained intersection points, and get the target curve as follows Figure 5 The black dotted line shown in the figure is extended adaptively, and the extended part is as shown in the figure. Figure 5 The grey dashed line shown uses the target curve and its extended portion as the predicted first driving trajectory of the vehicle.

[0047] In one implementation of this embodiment, performing a vehicle collision warning according to the first driving trajectory and the position information of the obstacle includes:

[0048] S41, acquiring a first trajectory corresponding to a left steering wheel of the vehicle, and a second trajectory corresponding to a right steering wheel of the vehicle, wherein the first driving trajectory includes the first trajectory and the second trajectory;

[0049] S42, determining a target area between the first track and the second track;

[0050] S43, determining whether the location information of the obstacle is within the target area;

[0051] S44: If the location information of the obstacle is within the target area, a vehicle collision warning is issued.

[0052] In this embodiment, the target area between the first track and the second track is the area occupied by the vehicle. If the position information of the obstacle is within the target area, it means that if the vehicle continues to travel in the current direction, there will be a risk of collision between the vehicle and the obstacle, and a vehicle collision warning is issued. Optionally, in this embodiment, considering the area where the vehicle may collide, such as width, flanks and other body parameters, it can be set that obstacles are also judged as likely to collide if they are at a preset distance (such as 10 cm) on both sides of the target area.

[0053] Specifically, if the position information of the obstacle is within the target area, performing a vehicle collision warning includes:

[0054] S441, if the location information of the obstacle is within the target area, determining whether the rotation angle of the steering wheel of the vehicle changes;

[0055] S442, if the turning angle of the steering wheel of the vehicle does not change, obtaining a preset safety distance, and measuring an actual distance between the obstacle and the vehicle;

[0056] S443, if the actual distance is less than the preset safety distance, controlling the vehicle to brake;

[0057] S444: If the actual distance is greater than or equal to the preset safety distance, a collision warning prompt message is output.

[0058] If the location information of the obstacle is within the target area, there are fewer false warnings. In this implementation, it is determined whether the steering angle of the vehicle's steering wheel has changed. If the steering angle of the vehicle's steering wheel has not changed, it means that the driver has not taken active measures to correct the direction. At this time, the actual distance between the obstacle and the vehicle is measured by the front radar. The vehicle's ranging point is the middle position of the front lip of the vehicle. If the actual distance is greater than or equal to the preset safety distance, it means that there is still enough safety distance for the driver to actively correct the direction. An alarm command can be sent to the buzzer and display to remind the driver to correct the direction in time. If the actual distance is less than the preset safety distance, it means that there is no sufficient safety distance between the vehicle and the obstacle. Then an emergency brake command is sent to the brake pump to control the vehicle to brake.

[0059] Specifically, in this embodiment, obtaining the preset safety distance includes: obtaining the current driving speed of the vehicle; searching for a target safety distance that matches the current driving speed, wherein the driving speed of the vehicle is proportional to the safety distance; and using the target safety distance as the preset safety distance.

[0060] In this embodiment, the setting of the safety distance is related to the vehicle speed and the actual braking distance of the vehicle. The correlation between the vehicle speed and the safety distance is pre-set. For example, when the vehicle speed is between 20km / h and 35km / h, the safety distance = braking distance + 1.2m; when the vehicle speed is between 35km / h and 50km / h, the safety distance = braking distance + 2.5m; when the vehicle speed is above 50km / h, the safety distance = braking distance + 5m. The correlation between the vehicle speed and the safety distance can be set specifically according to the actual situation.

[0061] In one implementation of the present embodiment, after determining whether the turning angle of the steering wheel of the vehicle has changed, the method further includes: if the turning angle of the steering wheel of the vehicle has changed, obtaining a second turning angle after the change, and obtaining a second image in the current driving direction of the vehicle; predicting a second driving trajectory of the vehicle according to the second turning angle; parsing the position information of obstacles on the second image; and issuing a vehicle collision warning according to the second driving trajectory and the position information of obstacles on the second image.

[0062] In this embodiment, if the position information of the obstacle is within the target area corresponding to the predicted driving trajectory, and the central processor compares and analyzes the steering angle and the camera video image data, it is determined that there is an intersection between the target area and the obstacle in front, and it is determined that a collision will occur if the current direction of travel is continued. At this time, if the driver actively corrects the direction, the corrected driving trajectory is predicted again to determine whether the corrected driving trajectory will still collide with the obstacle. This operation is repeated until the trajectory no longer has an intersection with the obstacle, that is, it is predicted that no collision will occur. If the predicted driving trajectory will still collide with the obstacle, a corresponding vehicle collision warning is issued.

[0063] In one implementation of this embodiment, obtaining a first rotation angle of a steering wheel of the vehicle includes:

[0064] S11, obtaining the maximum rotation angle of the steering shaft of the steering wheel and the maximum steering angle of the steering wheel of the vehicle;

[0065] S12, calculating the ratio between the maximum rotation angle and the maximum steering angle;

[0066] S13, obtaining the current rotation angle of the steering shaft of the steering wheel;

[0067] S14, calculating a first rotation angle of a steering wheel of the vehicle based on the current rotation angle and the ratio.

[0068] In this embodiment, the current rotation angle of the steering shaft of the steering wheel is collected by a steering wheel angle sensor. The steering wheel angle sensor is installed on the steering shaft of the vehicle and is used to collect the angle data when the driver operates the steering wheel. The angle sensor is electrically connected to the interface input end of a microprocessor. The microprocessor analyzes and calculates the angle data input by the steering wheel angle sensor, and converts the rotation angle of the steering shaft of the steering wheel into the actual steering angle of the vehicle steering wheel, that is, the first rotation angle, so as to predict the first driving trajectory of the vehicle. The steering wheel angle sensor is calibrated with the steering shaft angle when the vehicle steering wheel is positive as the origin (0°). When turning left, the steering shaft angle is calibrated as a negative number, and the angle range is -540° to 0°; when turning right, the steering wheel rotation shaft rotation angle is calibrated as a positive number, and the angle range is 0° to 540°. Positive and negative values ​​are used to indicate the direction of rotation, and numerical values ​​are used to indicate the degree of steering, and binary encoding is performed accordingly and transmitted to the microprocessor. The microprocessor decodes the data input by the steering wheel angle sensor and calculates and converts it into the actual steering angle of the vehicle's steering wheel. For example, for a passenger car with a maximum outer wheel angle of 36°, the steering wheel angle: wheel angle = 540°: 36° = 15:1. The microprocessor transmits the processed data to the central processor, which predicts and depicts the travel trajectory based on the actual steering angle. At the same time, the front camera installed at the front of the vehicle obtains the front image video data in real time, which is transmitted to the central processor after being processed by the codec module. The central processor calculates the video image transmitted by the camera in real time, identifies the obstacles in front of the vehicle, and predicts the vehicle's driving trajectory to determine whether the driving trajectory will collide with the obstacles.

[0069] Figure 3 This is a logic block diagram of a collision warning system based on trajectory prediction of an embodiment of the present invention. First, the steering wheel angle sensor inputs the driver's steering data, the microprocessor converts the steering wheel angle data into the actual steering angle of the vehicle head, the central processing unit calculates and predicts the driver's driving intention, and constructs a driving trajectory. The camera identifies whether there is an obstacle in front. If it is identified that there is no obstacle in front, the steering wheel steering data continues to be monitored. If it is identified that there is an obstacle in front, the central processing unit extends the driving trajectory and determines whether it will collide with the obstacle based on the extension line. If it is determined that the obstacle will collide with the obstacle and the driver does not actively correct the direction, the radar is used to determine whether there is still a safe distance. If there is not enough safe distance, the brakes are intervened. If there is still enough safe distance, a buzzer alarm is used and a prompt to correct the direction is displayed on the display screen; if it is determined that the obstacle will collide with the obstacle and the driver actively corrects the direction, the trajectory prediction is judged again to determine whether there is a collision. If it is determined that the obstacle will collide with the obstacle, a corresponding collision warning is performed.

[0070] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0071] Example 2

[0072] In this embodiment, a vehicle collision warning device is also provided to implement the above-mentioned embodiments and preferred implementation modes, which have been described and will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0073] Figure 6 is a structural block diagram of a vehicle collision warning device according to an embodiment of the present application, such as Figure 6 As shown, the device comprises:

[0074] An acquisition module 60, configured to acquire a first rotation angle of a steering wheel of a vehicle, and acquire a first image of the vehicle in a driving direction;

[0075] A prediction module 62, configured to predict a first driving trajectory of the vehicle according to the first rotation angle;

[0076] The analysis module 64 is further used to analyze the position information of the obstacle on the first image;

[0077] The warning module 66 is used to issue a vehicle collision warning according to the first driving trajectory and the position information of the obstacle.

[0078] It should be noted that the above modules can be implemented by software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above modules are all located in the same processor; or the above modules are located in different processors in any combination.

[0079] Example 3

[0080] An embodiment of the present application further provides a storage medium, in which a computer program is stored, wherein the computer program is configured to execute the steps of any of the above method embodiments when running.

[0081] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0082] S1, obtaining a first rotation angle of a steering wheel of a vehicle, and obtaining a first image of the vehicle in a driving direction;

[0083] S2, predicting a first driving trajectory of the vehicle according to the first rotation angle;

[0084] S3, analyzing the position information of the obstacle on the first image;

[0085] S4: Perform a vehicle collision warning according to the first driving trajectory and the position information of the obstacle.

[0086] Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store computer programs.

[0087] An embodiment of the present application further provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0088] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0089] Optionally, in this embodiment, the processor may be configured to perform the following steps through a computer program:

[0090] S1, obtaining a first rotation angle of a steering wheel of a vehicle, and obtaining a first image of the vehicle in a driving direction;

[0091] S2, predicting a first driving trajectory of the vehicle according to the first rotation angle;

[0092] S3, analyzing the position information of the obstacle on the first image;

[0093] S4: Perform a vehicle collision warning according to the first driving trajectory and the position information of the obstacle.

[0094] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0095] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0096] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0097] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0098] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0099] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0100] If the integrated 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 technical solution of the present application, in essence, or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk and other media that can store program codes.

[0101] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A vehicle collision warning method, characterized in that: The method comprises: Acquire a first rotation angle of a steering wheel of a vehicle, and acquire a first image of the vehicle in a driving direction; predicting a first driving trajectory of the vehicle according to the first rotation angle; Analyzing the position information of the obstacle on the first image; A vehicle collision warning is performed according to the first driving trajectory and the position information of the obstacle.

2. The method according to claim 1, characterized in that Predicting a first driving trajectory of the vehicle according to the first rotation angle includes: Acquire an angle collection cycle, and in each angle collection cycle, collect a first rotation angle of the steering wheel of the vehicle; Obtaining a deflection extension line corresponding to the tire center position at each first rotation angle; Obtaining the intersection point between each deflection extension line and its adjacent deflection extension line; All intersection points are fitted to obtain a target curve, and the target curve is extended and used as the first driving trajectory of the vehicle.

3. The method according to claim 1, characterized in that Providing a vehicle collision warning according to the first driving trajectory and the position information of the obstacle includes: Acquire a first trajectory corresponding to a left steering wheel of the vehicle, and a second trajectory corresponding to a right steering wheel of the vehicle, wherein the first driving trajectory includes the first trajectory and the second trajectory; determining a target area between the first trajectory and the second trajectory; Determining whether the location information of the obstacle is within the target area; If the location information of the obstacle is within the target area, a vehicle collision warning is performed.

4. The method according to claim 3, characterized in that If the position information of the obstacle is within the target area, performing a vehicle collision warning includes: If the position information of the obstacle is within the target area, determining whether the rotation angle of the steering wheel of the vehicle changes; If the turning angle of the steering wheel of the vehicle does not change, a preset safety distance is obtained, and an actual distance between the obstacle and the vehicle is measured; If the actual distance is less than the preset safety distance, controlling the vehicle to brake; If the actual distance is greater than or equal to the preset safety distance, a collision warning prompt message is output.

5. The method according to claim 4, characterized in that After determining whether the rotation angle of the steering wheel of the vehicle changes, the method further includes: If the rotation angle of the steering wheel of the vehicle changes, obtaining a second rotation angle after the change, and obtaining a second image in the current driving direction of the vehicle; predicting a second driving trajectory of the vehicle according to the second rotation angle; Analyzing the position information of the obstacle on the second image; A vehicle collision warning is performed according to the second driving trajectory and the position information of the obstacle on the second image.

6. The method according to claim 4, characterized in that Obtaining the preset safety distance includes: Obtaining the current speed of the vehicle; Finding a target safety distance that matches the current driving speed, wherein the driving speed of the vehicle is proportional to the safety distance; The target safety distance is used as the preset safety distance.

7. The method according to claim 1, characterized in that Obtaining a first rotation angle of a steering wheel of a vehicle includes: Get the maximum rotation angle of the steering shaft of the steering wheel and the maximum steering angle of the vehicle's steering wheel; calculating a ratio between the maximum rotation angle and the maximum steering angle; Get the current rotation angle of the steering axis of the steering wheel; Based on the current rotation angle and the ratio, a first rotation angle of the vehicle steering wheel is calculated.

8. A vehicle collision warning device, characterized in that: include: An acquisition module, used to acquire a first rotation angle of a steering wheel of a vehicle, and to acquire a first image of the vehicle in a driving direction; A prediction module, configured to predict a first driving trajectory of the vehicle according to the first rotation angle; The parsing module is further used to parse the position information of the obstacle on the first image; The warning module is used to issue a vehicle collision warning based on the first driving trajectory and the position information of the obstacle.

9. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; wherein: Memory, used to store computer programs; A processor, configured to execute the method steps of any one of claims 1 to 7 by running a program stored in a memory.

10. A storage medium, characterized in that: The storage medium comprises a stored program, wherein the program executes the method steps of any one of claims 1 to 7 when executed.

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