Front vehicle braking condition monitoring method and system, storage medium and vehicle

Abstract

The invention discloses a front vehicle braking condition monitoring method and system, a storage medium and a vehicle, and belongs to the technical field of automobiles. The thermal imager generates a thermal image for the brake disc of the front vehicle and sends the thermal image to the gateway; the gateway sends the thermal image to the VCU; the VCU converts pixel values in the thermal image into temperature values to obtain a temperature matrix; processing the temperature matrix by using a brake type classification model to obtain a brake type; sending the brake type to a gateway, wherein the brake type is at least one of snub brake, slow brake, emergency brake and heavy brake; the gateway sends the brake type to the atmosphere lamp module; the atmosphere lamp module determines a working mode corresponding to the brake type and controls the vehicle-mounted atmosphere lamp to prompt the brake condition in the working mode, and the working mode comprises at least one of prompt color, prompt brightness and flicker frequency. The braking condition of the front vehicle is visually displayed to a driver through the vehicle-mounted atmosphere lamp, so that the driver can conveniently and accurately deal with the braking condition, and rear-end collision accidents caused by misjudgment are avoided.

Description

Technical Field

[0001] The present application relates to the field of automobile technology, and in particular to a method, system, storage medium and vehicle for monitoring the braking condition of a preceding vehicle. Background Art

[0002] When the front car brakes, the brake lights of the front car will be lit, and the driver of the rear car can determine the braking condition of the front car based on whether the brake lights are lit.

[0003] However, when the brake lights come on, the driver only knows that the car in front is braking, but cannot know the degree of braking, for example, whether it is an emergency brake or a slow brake, which can easily lead to driver misjudgment and cause a rear-end collision. Summary of the invention

[0004] The present application provides a method, system, storage medium and vehicle for monitoring the braking condition of the vehicle ahead, which is used to solve the problem that the driver cannot judge the braking condition based on the brake lights and is prone to rear-end collision. The technical solution is as follows:

[0005] According to a first aspect of the present application, a method for monitoring the braking condition of a preceding vehicle is provided, which is used in a monitoring system, wherein the monitoring system includes a thermal imager, a vehicle controller VCU, a gateway, and an ambient light module, and the method includes:

[0006] The thermal imager generates a thermal image of the brake disc of the preceding vehicle and sends the thermal image to the gateway;

[0007] The gateway sends the thermal image to the VCU;

[0008] The VCU converts pixel values ​​in the thermal image into temperature values ​​to obtain a temperature matrix; processes the temperature matrix using a pre-trained brake type classification model to obtain a brake type; and sends the brake type to the gateway, where the brake type is at least one of a point brake, a slow brake, an emergency brake, and a heavy brake;

[0009] The gateway sends the brake type to the ambient light module;

[0010] The ambient light module determines a working mode corresponding to the braking type, and controls the vehicle-mounted ambient light to provide braking condition prompts in the working mode, wherein the working mode includes at least one of prompt color, prompt brightness, and flashing frequency.

[0011] In a possible implementation, the VCU converts pixel values ​​in the thermal image into temperature values ​​to obtain a temperature matrix, including:

[0012] The VCU obtains the model of the preceding vehicle and determines the position of the brake disc according to the model;

[0013] The VCU selects a region of interest ROI in the thermal image according to the position of the brake disc;

[0014] The VCU converts the pixel values ​​in the ROI into temperature values ​​to obtain a temperature matrix.

[0015] In a possible implementation, the VCU converts the pixel values ​​in the ROI into temperature values ​​to obtain a temperature matrix, including:

[0016] For each pixel in the ROI, the VCU obtains the gain parameter and the offset parameter of the pixel from a preset standard file, calculates the temperature value according to the pixel value of the pixel, the gain parameter and the offset parameter; the temperature values ​​of all pixels in the ROI form a temperature matrix; or,

[0017] For each pixel in the ROI, the VCU searches for a temperature value corresponding to the pixel from a preset calibration table; and the temperature values ​​of all pixels in the ROI form a temperature matrix.

[0018] In a possible implementation, the monitoring system further includes a controller ECU and a front-view camera, and the method further includes:

[0019] The front-view camera photographs the front vehicle to obtain a body image of the front vehicle, and sends the body image to the ECU;

[0020] The ECU sends the vehicle body image to the VCU through the gateway;

[0021] The VCU obtains the model of the preceding vehicle, including: the VCU identifies the model of the preceding vehicle according to the vehicle body image.

[0022] In a possible implementation, the method further includes:

[0023] The ECU detects whether the brake light is turned on according to the vehicle body image;

[0024] If it is determined according to the vehicle body image that the brake light is on, the ECU activates the thermal imager.

[0025] In a possible implementation, the working mode includes a prompt color.

[0026] When the braking type is point braking, the prompt color is blue;

[0027] When the braking type is slow braking, the prompt color is green;

[0028] When the braking type is emergency braking, the prompt color is yellow;

[0029] When the brake type is heavy braking, the prompt color is red.

[0030] In a possible implementation, the monitoring system further includes a central control screen and an ECU, and the method further includes:

[0031] The central control screen receives the driver's operation of turning on the brake situation prompt function item, generates configuration information for instructing to turn on the brake situation prompt function according to the turning on operation, and sends the configuration information to the gateway;

[0032] The gateway notifies the VCU and the ECU to enable a brake condition prompt function according to the configuration information.

[0033] According to a second aspect of the present application, a braking condition monitoring system of a preceding vehicle is provided, the monitoring system comprising a thermal imager, a vehicle controller VCU, a gateway and an ambient light module;

[0034] The thermal imager is used to generate a thermal image of the brake disc of the preceding vehicle and send the thermal image to the gateway;

[0035] The gateway is used to send the thermal image to the VCU;

[0036] The VCU is used to convert pixel values ​​in the thermal image into temperature values ​​to obtain a temperature matrix; process the temperature matrix using a pre-trained brake type classification model to obtain a brake type; and send the brake type to the gateway, where the brake type is at least one of a point brake, a slow brake, an emergency brake, and a heavy brake;

[0037] The gateway is further used to send the brake type to the atmosphere light module;

[0038] The atmosphere light module is used to determine the working mode corresponding to the braking type, and control the vehicle-mounted atmosphere light to provide braking condition prompts in the working mode, wherein the working mode includes at least one of prompt color, prompt brightness, and flashing frequency.

[0039] According to a third aspect of the present application, a computer-readable storage medium is provided, in which at least one instruction is stored. The at least one instruction is loaded and executed by a processor to implement the method for monitoring the braking condition of a preceding vehicle as described above.

[0040] According to a fourth aspect of the present application, a vehicle is provided, the vehicle comprising the above-mentioned braking condition monitoring system of the preceding vehicle.

[0041] The beneficial effects of the technical solution provided by this application include at least:

[0042] After collecting the thermal image of the brake disc of the preceding vehicle, the pixel values ​​in the thermal image are converted into temperature values ​​to obtain a temperature matrix; the temperature matrix is ​​processed using a brake type classification model to obtain the brake type; the corresponding working mode is determined according to the brake type, and the vehicle-mounted ambient light is controlled to provide a brake condition prompt in the working mode. In this way, the vehicle-mounted ambient light can be associated with the temperature of the brake disc of the preceding vehicle, and the braking condition of the preceding vehicle can be intuitively displayed to the driver through the vehicle-mounted ambient light, so that the driver can take corresponding countermeasures and avoid misjudgment and rear-end collision accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments 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.

[0044] Figure 1 is a structural schematic diagram of a vehicle monitoring system according to some exemplary embodiments;

[0045] Figure 2 is a flow chart of a method for monitoring the braking condition of a preceding vehicle provided by an embodiment of the present application;

[0046] Figure 3 This is a flow chart of a method for monitoring the braking condition of a preceding vehicle provided by an embodiment of the present application. DETAILED DESCRIPTION

[0047] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0048] like Figure 1 As shown, the vehicle monitoring system includes at least a thermal imager 110 , a vehicle control unit (VCU) 120 , a gateway 130 , an ambient light module 140 , an electronic control unit (ECU) 150 , a front-view camera 160 and a central control screen 170 .

[0049] The thermal imager 110 and the front camera 160 are connected to the ECU 150 respectively. The ECU 150 is used to start the thermal imager 110 and the front camera 160. The thermal imager 110 uses thermal imaging technology to generate a thermal image of the brake disc of the front vehicle and sends the thermal image to the ECU 150; the front camera 160 is used to capture the scene in the forward viewing angle and send the captured body image of the front vehicle to the ECU 150. The ECU 150 is also used to send the thermal image and the body image to the gateway 130.

[0050] The gateway 130 is used to forward data between the VCU 120, the ambient light module 140, the ECU 150 and the central control screen 170 using the controller area network bus (CAN). Figure 1 The CAN1 communication in the gateway 130 communicates with the VCU 120 and the ECU 150 through Figure 1 Specifically, the gateway 130 may forward the thermal image and the vehicle body image to the VCU 120 .

[0051] The VCU 120 is used to identify the brake type of the preceding vehicle according to the thermal image and the vehicle body image, and send the brake type to the gateway 130. The brake type includes at least one of a point brake, a slow brake, an emergency brake, and a heavy brake.

[0052] The central control screen 170 is used to configure the on and off of the brake situation prompt function. The brake situation prompt function refers to reflecting the brake type of the preceding vehicle through the vehicle ambient light in the vehicle, and indirectly reflecting the road congestion.

[0053] The atmosphere light module 140 includes the vehicle atmosphere light, which is a kind of lighting lamp for decoration. Usually, multiple light strips are set in the center console, door panels, roof and central channel, etc., with single color and multi-color options to create a diverse and pleasant atmosphere. When the brake situation prompt function is turned on, the atmosphere light module 140 can light up the vehicle atmosphere light according to the brake type sent by the gateway 130, so as to intuitively show the brake situation of the front vehicle to the driver.

[0054] like Figure 2 As shown, it shows a method flow chart of a method for monitoring the braking condition of a preceding vehicle provided by an embodiment of the present application. The method for monitoring the braking condition of a preceding vehicle can be applied to Figure 1 In the monitoring system shown in the figure. The method for monitoring the braking condition of the preceding vehicle may include:

[0055] Step 201: The thermal imager generates a thermal image of the brake disc of the preceding vehicle and sends the thermal image to the gateway.

[0056] Among them, the thermal imager can be started when the vehicle starts to move, when the brake situation prompt function is turned on, or when the front vehicle brakes. The timing of starting the thermal imager is not limited in this embodiment.

[0057] The thermal imager can use thermal imaging technology to generate a thermal image of the brake disc of the front vehicle, send the thermal image to the ECU, and the ECU sends the thermal image to the gateway through CAN2.

[0058] Step 202: The gateway sends the thermal image to the VCU.

[0059] The gateway receives the thermal image sent by the ECU through CAN2 and sends the thermal image to the VCU through CAN2.

[0060] In step 203, the VCU converts the pixel values ​​in the thermal image into temperature values ​​to obtain a temperature matrix; processes the temperature matrix using a pre-trained brake type classification model to obtain a brake type; and sends the brake type to the gateway, where the brake type is at least one of point braking, slow braking, emergency braking, and heavy braking.

[0061] VCU can convert the pixel value of each pixel in the thermal image into a corresponding temperature value and form a temperature matrix with all the temperature values.

[0062] A brake category recognition model is pre-set in the VCU. The brake type classification model is a model obtained by training with multiple training samples. Each training sample includes a temperature matrix generated based on a thermal image of the brake disc and a labeled brake type.

[0063] VCU inputs the obtained temperature matrix into the brake type classification model, and the brake type classification model processes the temperature matrix and outputs the brake type. VCU sends the brake type to the gateway through CAN2.

[0064] Step 204 , the gateway sends the brake type to the ambient light module.

[0065] The gateway receives the brake type sent by the VCU through CAN2, and sends the brake type to the ambient light module through CAN1.

[0066] Step 205, the ambient light module determines the working mode corresponding to the braking type, and controls the vehicle-mounted ambient light to provide a braking condition prompt in the working mode, where the working mode includes at least one of a prompt color, a prompt brightness, and a flashing frequency.

[0067] The ambient light module is pre-set with a correspondence between the brake type and the working mode. After receiving the brake type this time, the corresponding working mode can be found in the correspondence, and the vehicle-mounted ambient light can be controlled to provide braking status prompts in this working mode.

[0068] If different braking types need to be indicated according to the different colors of the vehicle-mounted ambient light, the working mode includes prompt colors. When the braking type is heavy braking, the prompt color is red; when the braking type is emergency braking, the prompt color is yellow; when the braking type is slow braking, the prompt color is green; when the braking type is point braking, the prompt color is blue.

[0069] If different braking types need to be indicated according to the flashing frequency, the working mode includes the flashing frequency. When the braking type is heavy braking, the flashing frequency is fast flashing; when the braking type is emergency braking, the flashing frequency is medium flashing; when the braking type is slow braking, the flashing frequency is slow flashing; when the braking type is light braking, the flashing frequency is 0, that is, no flashing.

[0070] If different braking types need to be indicated according to the different colors and brightness of the vehicle-mounted ambient light, the working mode includes prompt color and prompt brightness. When the braking type is heavy braking, the prompt is high-brightness red; when the braking type is emergency braking, the prompt is medium-brightness yellow; when the braking type is slow braking, the prompt is low-brightness green; when the braking type is point braking, the prompt is low-brightness blue.

[0071] If different braking types need to be indicated according to the different colors and flashing frequencies of the vehicle-mounted ambient light, the working mode includes the prompt color and flashing frequency. When the braking type is heavy braking, the prompt is fast-flashing red; when the braking type is emergency braking, the prompt is medium-flashing yellow; when the braking type is slow braking, the prompt is slow-flashing green; when the braking type is point braking, the prompt is non-flashing blue.

[0072] To summarize, the braking condition monitoring method of the leading vehicle provided in the embodiment of the present application, after collecting the thermal image of the brake disc of the leading vehicle, converts the pixel values ​​in the thermal image into temperature values ​​to obtain a temperature matrix; uses a brake type classification model to process the temperature matrix to obtain the brake type; determines the corresponding working mode according to the brake type, and controls the vehicle-mounted atmosphere light to provide a braking condition prompt in the working mode. In this way, the vehicle-mounted atmosphere light can be associated with the temperature of the brake disc of the leading vehicle, and then the braking condition of the leading vehicle can be intuitively displayed to the driver through the vehicle-mounted atmosphere light, which is convenient for the driver to take corresponding countermeasures and avoid misjudgment and rear-end collision accidents.

[0073] like Figure 3 As shown, it shows a flowchart of a method for monitoring the braking condition of a preceding vehicle provided by an embodiment of the present application. The method for monitoring the braking condition of a preceding vehicle can be applied to Figure 1 In the monitoring system shown in the figure. The method for monitoring the braking condition of the preceding vehicle may include:

[0074] Step 301, the central control screen receives the driver's operation to turn on the brake condition prompt function item, generates configuration information for indicating to turn on the brake condition prompt function according to the turn-on operation, and sends the configuration information to the gateway.

[0075] The brake situation prompt function is to identify the brake type when the front vehicle brakes, and prompt the brake type through the vehicle's ambient light so that the driver can take correct response measures.

[0076] The vehicle is provided with an operation button for the brake situation reminder function, which can be a physical button or a virtual button on the central control screen. When the user clicks the operation button, the central control screen can obtain the configuration information generated according to the click behavior, and send the configuration information to the gateway through CAN1, so that the gateway can determine whether to turn on or off the brake situation reminder function according to the value of the configuration information. For example, 0 indicates turning on the brake situation reminder function, and 1 indicates turning off the brake situation reminder function. If the value of the configuration information obtained by the gateway is 0, it is determined to turn on the brake situation reminder function; if the value of the configuration information obtained by the gateway is 1, it is determined to turn off the brake situation reminder function.

[0077] Of course, in addition to the manual method, the brake condition prompt function can also be turned on or off by voice, gestures, etc. The configuration method is not limited in this embodiment.

[0078] Step 302: The gateway notifies the VCU and ECU to enable the brake status prompt function according to the configuration information.

[0079] The gateway receives the configuration information sent by the central control screen through CAN1, and notifies the VCU and ECU through CAN2 to enable the brake situation prompt function.

[0080] Step 303: The front-view camera takes a picture of the front vehicle to obtain a body image of the front vehicle, and sends the body image to the ECU.

[0081] The front-view camera can capture scenes within the forward field of view. By default, there is a front vehicle within the forward field of view, so the image captured by the front-view camera can be called the body image of the front vehicle.

[0082] Step 304 , the ECU detects whether the brake lights are on according to the vehicle body image; if it is determined according to the vehicle body image that the brake lights are on, the ECU activates the thermal imager.

[0083] After the ECU determines to turn on the brake situation prompt function, the vehicle body image is processed to identify whether the brake lights of the vehicle in front are lit; if the brake lights of the vehicle in front are lit, the thermal imager is started; if the brake lights of the vehicle in front are not lit, the vehicle in front continues to be monitored.

[0084] Step 305: The thermal imager generates a thermal image of the brake disc of the preceding vehicle and sends the thermal image to the gateway.

[0085] After starting the thermal imager, you can also configure parameters such as resolution, frame rate, temperature range, etc. to ensure image quality and accuracy of temperature measurement.

[0086] The thermal imager can use thermal imaging technology to generate a thermal image of the brake disc of the front vehicle, send the thermal image to the ECU, and the ECU sends the thermal image to the gateway through CAN2.

[0087] Step 306: The gateway sends the thermal image to the VCU.

[0088] The gateway receives the thermal image sent by the ECU through CAN2 and sends the thermal image to the VCU through CAN2.

[0089] In step 307, the VCU converts the pixel values ​​in the thermal image into temperature values ​​to obtain a temperature matrix; processes the temperature matrix using a pre-trained brake type classification model to obtain a brake type; and sends the brake type to the gateway, where the brake type is at least one of point braking, slow braking, emergency braking, and heavy braking.

[0090] After the VCU determines to turn on the brake situation prompt function, the VCU needs to generate the brake type based on the thermal image.

[0091] Specifically, the VCU converts the pixel values ​​in the thermal image into temperature values ​​to obtain a temperature matrix, which can include the following steps:

[0092] (1) The VCU obtains the model of the vehicle in front and determines the position of the brake disc based on the model.

[0093] When obtaining the model of the preceding vehicle, the ECU sends the body image to the VCU through the gateway; the VCU identifies the model of the preceding vehicle based on the body image. Then, the VCU can obtain the position of the brake disc corresponding to the model.

[0094] (2) The VCU selects the ROI in the thermal image based on the position of the brake disc.

[0095] The region of interest (ROI) usually contains key information. Processing the data in the ROI can reduce data redundancy, thereby reducing unnecessary calculations and improving processing speed.

[0096] (3) VCU converts the pixel values ​​in the ROI into temperature values ​​and obtains the temperature matrix.

[0097] There are many ways to generate a temperature matrix, and this embodiment uses two of the ways as examples for illustration.

[0098] (1) For each pixel in the ROI, the VCU obtains the gain parameter and offset parameter of the pixel from the preset standard file, calculates the temperature value according to the pixel value, gain parameter and offset parameter of the pixel; and forms a temperature matrix with the temperature values ​​of all pixels in the ROI.

[0099] If the thermal imager uses linear calibration, the calibration file of the thermal imager usually contains the parameters required to map pixel values ​​to temperature values. These parameters may include: Gain and Offset. These two parameters are used to linearly convert pixel values ​​to temperature values. The formula is usually expressed as Temperature = Gain*PixelValue+Offset, where Temperature represents the temperature value and PixelValue represents the pixel value.

[0100] (2) For each pixel in the ROI, the VCU searches for the temperature value corresponding to the pixel from the preset calibration table; the temperature values ​​of all pixels in the ROI are combined into a temperature matrix.

[0101] If the thermal imager uses non-linear calibration, a lookup table (LUT) is required to determine the temperature value corresponding to each pixel value.

[0102] When converting pixel values ​​to temperature values, it is also necessary to consider the temperature range that the thermal imager can measure. If the calculated temperature value exceeds this range, it needs to be limited to this range or marked as invalid data.

[0103] In actual programming, you would need to implement the above steps as a function or method. This function would accept the pixel value as input and return the calculated temperature value. This function would also need access to the calibration parameters (either linear parameters or nonlinear lookup tables).

[0104] After obtaining the temperature matrix, the global temperature features such as the average temperature, maximum temperature, and minimum temperature in the ROI area can be calculated; the local temperature features such as the temperature gradient and temperature standard deviation in the ROI area can be calculated to reflect the uniformity and degree of change of the temperature distribution; the temperature data of continuous frames can also be recorded to analyze the trend and rate of temperature change, including the average, maximum, and minimum values ​​of the temperature change, and the average, maximum, and minimum values ​​of the change rate. Then, based on experimental data and experience, the temperature features that are most helpful for the classification of brake types are selected, and corresponding weights are assigned to each feature.

[0105] Specifically, a machine learning algorithm (such as decision tree, support vector machine, random forest, etc.) can be used to train a brake type classification model, input a temperature matrix, and output the brake type (point braking, slow braking, emergency braking, heavy braking). The performance of the model can be evaluated using methods such as cross-validation, and feature selection, weight allocation, and model parameters can be adjusted based on the evaluation results to improve classification accuracy.

[0106] In order to improve the accuracy of model classification, the performance of the model can be evaluated regularly, and the model can be iterated and optimized using continuously collected training samples. The parameters and thresholds in the model can also be adjusted according to different weather, road conditions, vehicle types and other conditions to improve the adaptability and accuracy of the model.

[0107] VCU can input the temperature matrix into the trained brake type classification model, and the brake type classification model processes the temperature matrix and outputs the brake type. VCU sends the brake type to the gateway through CAN2.

[0108] Step 308: The gateway sends the brake type to the ambient light module.

[0109] The gateway receives the brake type sent by the VCU through CAN2, and sends the brake type to the ambient light module through CAN1.

[0110] Step 309, the ambient light module determines the working mode corresponding to the braking type, and controls the vehicle-mounted ambient light to provide braking condition prompts in the working mode, where the working mode includes at least one of prompt color, prompt brightness, and flashing frequency.

[0111] The ambient light module is pre-set with a correspondence between the brake type and the working mode. After receiving the brake type this time, the corresponding working mode can be found in the correspondence, and the vehicle-mounted ambient light can be controlled to provide braking status prompts in the working mode.

[0112] If different braking types need to be indicated according to the different colors of the vehicle-mounted ambient light, the working mode includes prompt colors. When the braking type is heavy braking, the prompt color is red; when the braking type is emergency braking, the prompt color is yellow; when the braking type is slow braking, the prompt color is green; when the braking type is point braking, the prompt color is blue.

[0113] If different braking types need to be indicated according to the flashing frequency, the working mode includes the flashing frequency. When the braking type is heavy braking, the flashing frequency is fast flashing; when the braking type is emergency braking, the flashing frequency is medium flashing; when the braking type is slow braking, the flashing frequency is slow flashing; when the braking type is light braking, the flashing frequency is 0, that is, no flashing.

[0114] If different braking types need to be indicated according to the different colors and brightness of the vehicle-mounted ambient light, the working mode includes prompt color and prompt brightness. When the braking type is heavy braking, the prompt is high-brightness red; when the braking type is emergency braking, the prompt is medium-brightness yellow; when the braking type is slow braking, the prompt is low-brightness green; when the braking type is point braking, the prompt is low-brightness blue.

[0115] If different braking types need to be indicated according to the different colors and flashing frequencies of the vehicle-mounted ambient light, the working mode includes the prompt color and flashing frequency. When the braking type is heavy braking, the prompt is fast-flashing red; when the braking type is emergency braking, the prompt is medium-flashing yellow; when the braking type is slow braking, the prompt is slow-flashing green; when the braking type is point braking, the prompt is non-flashing blue.

[0116] To summarize, the braking condition monitoring method of the leading vehicle provided in the embodiment of the present application, after collecting the thermal image of the brake disc of the leading vehicle, converts the pixel values ​​in the thermal image into temperature values ​​to obtain a temperature matrix; uses a brake type classification model to process the temperature matrix to obtain the brake type; determines the corresponding working mode according to the brake type, and controls the vehicle-mounted atmosphere light to provide a braking condition prompt in the working mode. In this way, the vehicle-mounted atmosphere light can be associated with the temperature of the brake disc of the leading vehicle, and then the braking condition of the leading vehicle can be intuitively displayed to the driver through the vehicle-mounted atmosphere light, which is convenient for the driver to take corresponding countermeasures and avoid misjudgment and rear-end collision accidents.

[0117] When the braking type is point braking, the prompt color is blue; when the braking type is slow braking, the prompt color is green; when the braking type is emergency braking, the prompt color is yellow; when the braking type is heavy braking, the prompt color is red, so that the driver can identify the braking condition of the vehicle in front according to the color of the vehicle's ambient light, thereby improving the driver's concentration when the road ahead is congested.

[0118] like Figure 1 As shown, it shows a structural block diagram of a brake condition monitoring system of a preceding vehicle provided by an embodiment of the present application, and the brake condition monitoring system of the preceding vehicle can be applied to a vehicle. The brake condition monitoring system of the preceding vehicle can include a thermal imager 110, a VCU 120, a gateway 130, and an ambient light module 140;

[0119] The thermal imager 110 is used to generate a thermal image of the brake disc of the preceding vehicle and send the thermal image to the gateway 130;

[0120] The gateway 130 is used to send the thermal image to the VCU 120;

[0121] VCU120 is used to convert pixel values ​​in the thermal image into temperature values ​​to obtain a temperature matrix; process the temperature matrix using a pre-trained brake type classification model to obtain a brake type; and send the brake type to the gateway 130, where the brake type is at least one of a point brake, a slow brake, an emergency brake, and a heavy brake;

[0122] The gateway 130 is further used to send the brake type to the ambient light module 140;

[0123] The ambient light module 140 is used to determine the working mode corresponding to the braking type, and control the vehicle-mounted ambient light to provide braking condition prompts in the working mode, where the working mode includes at least one of prompt color, prompt brightness, and flashing frequency.

[0124] In an optional embodiment, the VCU 120 is further configured to:

[0125] Get the model of the vehicle in front and determine the position of the brake disc based on the model;

[0126] Select ROI in the thermal image according to the position of the brake disc;

[0127] Convert the pixel values ​​in the ROI into temperature values ​​and obtain the temperature matrix.

[0128] In an optional embodiment, the VCU 120 is further configured to:

[0129] For each pixel in the ROI, obtain the gain parameter and offset parameter of the pixel from the preset standard file, calculate the temperature value according to the pixel value, gain parameter and offset parameter of the pixel; form a temperature matrix with the temperature values ​​of all pixels in the ROI; or,

[0130] For each pixel in the ROI, the temperature value corresponding to the pixel is searched from the preset calibration table; the temperature values ​​of all pixels in the ROI are combined into a temperature matrix.

[0131] In an optional embodiment, the monitoring system further includes a controller ECU 150 and a front-view camera 160;

[0132] The front camera 160 is used to take a picture of the front vehicle, obtain a body image of the front vehicle, and send the body image to the ECU 150;

[0133] ECU 150, used for sending the vehicle body image to VCU 120 through gateway 130;

[0134] VCU120 is also used to identify the model of the preceding vehicle based on the vehicle body image.

[0135] In an optional embodiment, ECU 150 is further configured to:

[0136] Detect whether the brake lights are on based on the vehicle body image;

[0137] If it is determined based on the vehicle body image that the brake lights are on, the thermal imager 110 is activated.

[0138] In an optional embodiment, the working mode includes a prompt color, then

[0139] When the brake type is point braking, the prompt color is blue;

[0140] When the brake type is slow braking, the prompt color is green;

[0141] When the brake type is emergency brake, the prompt color is yellow;

[0142] When the brake type is heavy brake, the prompt color is red.

[0143] In an optional embodiment, the monitoring system further includes a central control screen 170 and an ECU 150;

[0144] The central control screen 170 is used to receive the driver's operation of turning on the brake situation prompt function item, generate configuration information for indicating turning on the brake situation prompt function according to the turning on operation, and send the configuration information to the gateway 130;

[0145] The gateway 130 is also used to notify the VCU 120 and the ECU 150 to enable the brake situation prompt function according to the configuration information.

[0146] To summarize, the braking condition monitoring system of the leading vehicle provided in the embodiment of the present application, after collecting the thermal image of the brake disc of the leading vehicle, converts the pixel values ​​in the thermal image into temperature values ​​to obtain a temperature matrix; uses a brake type classification model to process the temperature matrix to obtain the brake type; determines the corresponding working mode according to the brake type, and controls the vehicle-mounted atmosphere light to provide a braking condition prompt in the working mode. In this way, the vehicle-mounted atmosphere light can be associated with the temperature of the brake disc of the leading vehicle, and then the braking condition of the leading vehicle can be intuitively displayed to the driver through the vehicle-mounted atmosphere light, which is convenient for the driver to take corresponding countermeasures and avoid misjudgment and rear-end collision accidents.

[0147] When the braking type is point braking, the prompt color is blue; when the braking type is slow braking, the prompt color is green; when the braking type is emergency braking, the prompt color is yellow; when the braking type is heavy braking, the prompt color is red, so that the driver can identify the braking condition of the vehicle in front according to the color of the vehicle's ambient light, thereby improving the driver's concentration when the road ahead is congested.

[0148] An embodiment of the present application provides a computer-readable storage medium, in which at least one instruction is stored. The at least one instruction is loaded and executed by a processor to implement the method for monitoring the braking condition of a preceding vehicle as described above.

[0149] An embodiment of the present application provides a vehicle, comprising a brake condition monitoring system of any preceding vehicle as described above.

[0150] It should be noted that: the brake condition monitoring system of the preceding vehicle provided in the above embodiment only uses the division of the above functional modules as an example when monitoring the brake condition of the preceding vehicle. In actual applications, the above functional distribution can be completed by different functional modules as needed, that is, the internal structure of the brake condition monitoring system of the preceding vehicle is divided into different functional modules to complete all or part of the functions described above. In addition, the brake condition monitoring system of the preceding vehicle provided in the above embodiment and the brake condition monitoring method embodiment of the preceding vehicle belong to the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0151] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0152] The above description is not intended to limit the embodiments of the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the protection scope of the embodiments of the present application.

Claims

1. A method for monitoring the braking condition of a preceding vehicle, characterized in that: Used in a monitoring system, the monitoring system includes a thermal imager, a vehicle controller VCU, a gateway and an atmosphere light module, and the method includes: The thermal imager generates a thermal image of the brake disc of the preceding vehicle and sends the thermal image to the gateway; The gateway sends the thermal image to the VCU; The VCU converts pixel values ​​in the thermal image into temperature values ​​to obtain a temperature matrix; processes the temperature matrix using a pre-trained brake type classification model to obtain a brake type; and sends the brake type to the gateway, where the brake type is at least one of a point brake, a slow brake, an emergency brake, and a heavy brake; The gateway sends the brake type to the ambient light module; The ambient light module determines a working mode corresponding to the braking type, and controls the vehicle-mounted ambient light to provide braking condition prompts in the working mode, wherein the working mode includes at least one of prompt color, prompt brightness, and flashing frequency.

2. The method for monitoring the braking condition of the preceding vehicle according to claim 1, characterized in that: The VCU converts the pixel values ​​in the thermal image into temperature values ​​to obtain a temperature matrix, including: The VCU obtains the model of the preceding vehicle and determines the position of the brake disc according to the model; The VCU selects a region of interest ROI in the thermal image according to the position of the brake disc; The VCU converts the pixel values ​​in the ROI into temperature values ​​to obtain a temperature matrix.

3. The method for monitoring the braking condition of the preceding vehicle according to claim 2, characterized in that: The VCU converts the pixel values ​​in the ROI into temperature values ​​to obtain a temperature matrix, including: For each pixel in the ROI, the VCU obtains the gain parameter and the offset parameter of the pixel from a preset standard file, calculates the temperature value according to the pixel value of the pixel, the gain parameter and the offset parameter; the temperature values ​​of all pixels in the ROI form a temperature matrix; or, For each pixel in the ROI, the VCU searches for a temperature value corresponding to the pixel from a preset calibration table; and the temperature values ​​of all pixels in the ROI form a temperature matrix.

4. The method for monitoring the braking condition of the preceding vehicle according to claim 2, characterized in that: The monitoring system further includes a controller ECU and a front-view camera, and the method further includes: The front-view camera photographs the front vehicle to obtain a body image of the front vehicle, and sends the body image to the ECU; The ECU sends the vehicle body image to the VCU through the gateway; The VCU obtains the model of the preceding vehicle, including: the VCU identifies the model of the preceding vehicle according to the vehicle body image.

5. The method for monitoring the braking condition of the preceding vehicle according to claim 4, characterized in that: The method further comprises: The ECU detects whether the brake light is turned on according to the vehicle body image; If it is determined according to the vehicle body image that the brake light is on, the ECU activates the thermal imager.

6. The method for monitoring the braking condition of a preceding vehicle according to claim 1, characterized in that: The working mode includes a prompt color, then When the braking type is point braking, the prompt color is blue; When the braking type is slow braking, the prompt color is green; When the braking type is emergency braking, the prompt color is yellow; When the brake type is heavy braking, the prompt color is red.

7. The method for monitoring the braking condition of a preceding vehicle according to any one of claims 1 to 6, characterized in that: The monitoring system further includes a central control screen and an ECU, and the method further includes: The central control screen receives the driver's operation of turning on the brake situation prompt function item, generates configuration information for instructing to turn on the brake situation prompt function according to the turning on operation, and sends the configuration information to the gateway; The gateway notifies the VCU and the ECU to enable a brake condition prompt function according to the configuration information.

8. A braking condition monitoring system for a preceding vehicle, characterized in that: The monitoring system includes a thermal imager, a vehicle controller VCU, a gateway and an atmosphere light module; The thermal imager is used to generate a thermal image of the brake disc of the preceding vehicle and send the thermal image to the gateway; The gateway is used to send the thermal image to the VCU; The VCU is used to convert pixel values ​​in the thermal image into temperature values ​​to obtain a temperature matrix; process the temperature matrix using a pre-trained brake type classification model to obtain a brake type; and send the brake type to the gateway, where the brake type is at least one of a point brake, a slow brake, an emergency brake, and a heavy brake; The gateway is further used to send the brake type to the atmosphere light module; The atmosphere light module is used to determine the working mode corresponding to the braking type, and control the vehicle-mounted atmosphere light to provide braking condition prompts in the working mode, wherein the working mode includes at least one of prompt color, prompt brightness, and flashing frequency.

9. A computer-readable storage medium, characterized in that: The storage medium stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the method for monitoring the braking condition of a leading vehicle as described in any one of claims 1 to 7.

10. A vehicle, characterized in that: Vehicle includes: The braking condition monitoring system of the preceding vehicle as claimed in claim 8.

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