Lateral backward safety early warning method based on electronic rearview mirror

Abstract

The invention discloses a lateral backward safety early warning method based on an electronic rearview mirror, and the method comprises the steps: detecting the lateral backward environmental visibility of the electronic rearview mirror of a to-be-detected automobile to obtain environmental visibility information, and judging the information type required by information collection according to the environmental visibility information to obtain lateral backward collection demand type information; according to the side rear acquisition demand type information, performing information acquisition on the side rear part of the electronic rearview mirror of the to-be-detected automobile to obtain side rear part target feature information, obtaining a display screen, processing the side rear part target feature information, and displaying the processed side rear part target feature information on the display screen; and performing object identification based on the lateral rear target feature information to obtain a target object data pool, screening the target object data pool to obtain an effective target object data set, and classifying each target object based on the effective target object data set to obtain target object classification information. The method has the effect of improving the accuracy of lateral backward safety early warning based on the electronic rearview mirror.

Description

Technical Field

[0001] The present application relates to the field of safety detection technology, and in particular to a side rear safety warning method based on an electronic rearview mirror. Background Art

[0002] At present, traditional vehicle rearview mirrors can clearly identify vehicles behind the vehicle under test, but it is difficult to detect vehicles next to the vehicle under test, which is prone to scratches. Therefore, electronic rearview mirrors came into being. Electronic rearview mirrors are indirect vision devices that obtain a specified field of view through a system composed of cameras and monitors. They include high-definition cameras, digital visual processing systems, safety systems, liquid crystal displays and other electronic equipment. They are a new type of rearview mirror that can replace traditional optical rearview mirrors.

[0003] The existing side rear safety warning method based on electronic rearview mirror refers to continuously detecting the blind spots behind the vehicle on both sides through radar. When a vehicle enters the blind spot, the indicator light located inside or below the side rearview mirror will light up to remind the driver to pay attention. However, the existing side rear safety warning method based on electronic rearview mirror does not take into account the side rear range of the vehicle to be tested based on the electronic rearview mirror, objects that pose a safety hazard to the vehicle to be tested, and the degree of threat to the safety of the vehicle to be tested. The accuracy of the side rear safety warning based on the electronic rearview mirror is low and there is room for improvement. Summary of the invention

[0004] In order to improve the accuracy of the side rear safety warning based on the electronic rearview mirror, the present application provides a side rear safety warning method based on the electronic rearview mirror.

[0005] In the first aspect, the present application provides a side rear safety warning method based on an electronic rearview mirror, which adopts the following technical solution: A side rear safety warning method based on an electronic rearview mirror comprises the following steps: Detecting the side and rear environmental visibility of the electronic rearview mirror of the vehicle to be tested to obtain environmental visibility information, and determining the type of information required for collecting information according to the environmental visibility information to obtain side and rear collection requirement type information; According to the side and rearward collection requirement type information, information is collected from the side and rear of the electronic rearview mirror of the vehicle to be tested to obtain side and rear target feature information, a display screen is obtained, and the side and rear target feature information is processed and displayed on the display screen; Performing object recognition based on the side and rear target feature information to obtain a target object data pool, screening the target object data pool to obtain a valid target object data set, and classifying each target object based on the valid target object data set to obtain target object classification information; Detect the driving trajectory of the vehicle to be tested to obtain its current driving trajectory information, and analyze the safety impact of each valid target object on the vehicle to be tested based on the target object classification information to obtain the target risk coefficient of each valid target object; The danger level of the vehicle to be tested is analyzed according to the target danger coefficient of the effective target object to obtain the vehicle danger characterization value W of the vehicle to be tested, and whether a warning operation is required is determined according to the vehicle danger characterization value W of the vehicle to be tested, and a warning operation is performed if necessary.

[0006] Preferably, the environmental visibility of the side and rear of the electronic rearview mirror of the vehicle to be tested is detected to obtain environmental visibility information, wherein the environmental visibility information includes the environmental visibility information of the left side of the vehicle to be tested and the environmental visibility information of the right side of the vehicle to be tested; Compare the left environmental visibility information of the vehicle to be tested with the preset environmental visibility threshold information; if the left environmental visibility information is greater than the preset environmental visibility threshold information, determine that the left environmental visibility is affected, and output the left environmental impact result; if the left environmental visibility information is less than or equal to the preset environmental visibility threshold information, determine that the left environmental visibility is not affected, and output the left environmental no impact result; Compare the right environmental visibility information of the vehicle to be tested with the preset environmental visibility threshold information; if the right environmental visibility information is greater than the preset environmental visibility threshold information, determine that the right environmental visibility is affected, and output the right environmental impact result; if the right environmental visibility information is less than or equal to the preset environmental visibility threshold information, determine that the right environmental visibility is not affected, and output the right environmental no impact result; The left-side environment does not affect the result and the right-side environment does not affect the result are combined to form a low-demand collection result, the left-side environment impact result and the right-side environment impact result are combined to form a high-demand collection result, and the low-demand collection result and the high-demand collection result are combined to form side-rearward collection demand type information.

[0007] Preferably, the information acquisition module is acquired, the information acquisition module includes an image acquisition unit and an infrared ranging unit, the image acquisition unit and the infrared ranging unit are installed in a one-to-one correspondence, the image acquisition unit includes a main camera component and a plurality of sub-camera components, and the infrared ranging unit includes a plurality of infrared ranging sensors; The main camera assembly is installed at the front end of the window of the vehicle to be tested, and the main camera assembly is equipped with a corresponding infrared ranging sensor; Detecting the length of the vehicle to be tested to obtain vehicle length information, and determining the number of sub-camera components according to the vehicle length information of the vehicle to be tested to obtain sub-camera component number information; Acquire a vehicle blind spot database, the vehicle blind spot database including side rear visual field blind spots corresponding to vehicles of different models, acquire vehicle model information of the vehicle to be tested, match the vehicle model information of the vehicle to be tested with the vehicle blind spot database, and obtain side rear visual field blind spot information of the vehicle to be tested; The installation position of each sub-camera assembly is determined according to the number information of the sub-camera assembly and the side and rear blind area information of the vehicle to be tested, and then installed, wherein each sub-camera assembly is equipped with a corresponding infrared ranging sensor; If the side rearward acquisition requirement type information is a low-demand acquisition result, a first captured image data set is obtained by photographing the side rear of the electronic rearview mirror of the vehicle to be tested based on the main camera component and the sub-camera component. The first captured image data set includes first captured image information from multiple multi-angles of the side rear of the electronic rearview mirror of the vehicle to be tested.

[0008] Preferably, the first rear side target image information is obtained by performing image stitching on the first captured image information of multiple angles based on feature matching and image registration technology, and is marked as the first rear side target feature information; If the side rearward acquisition requirement type information is a high-demand acquisition result, a second captured image data set is obtained by photographing the side rear of the electronic rearview mirror of the vehicle to be tested based on the main camera component and the sub-camera component, wherein the second captured image data set includes second captured image information of multiple multi-angles of the side rear of the electronic rearview mirror of the vehicle to be tested; Based on feature matching and image registration technology, multiple multi-angle second shot image information is stitched to obtain second side rear target image information; The target object behind the electronic rearview mirror of the vehicle to be tested is measured based on multiple infrared ranging sensors to obtain the distance information of the target behind the side; The second side rear target image information and the side rear target distance information are combined to form second side rear target feature information; The first side rear target feature information and the second side rear target feature information are combined to form side rear target feature information.

[0009] Preferably, a rotatable display screen is obtained, and a signal connection link is established between the rotatable display screen and the vehicle to be tested, wherein one end of the rotatable display screen is set on the door of the main driver's seat of the vehicle to be tested, and the other end is set on the left center console below the steering wheel of the vehicle to be tested; Acquire a telemetry eye tracker and establish a signal connection link between the telemetry eye tracker and the rotatable display screen, and obtain user eye position information based on tracking the user's sight line at the driving position of the vehicle to be tested by the telemetry eye tracker; Adjusting the rotatable display screen based on the user's eye position information until the surface of the rotatable display screen is perpendicular to the user's line of sight toward the rotatable display screen; The side and rear target feature information is displayed in real time on the rotatable display screen.

[0010] Preferably, the target object behind the electronic rearview mirror of the vehicle to be tested is identified according to the side rear target feature information to obtain a target object data pool; Marking the target objects in the target object data pool that affect the side and rear safety of the electronic rearview mirror of the vehicle to be tested as valid target objects, and screening and retaining the valid target objects in the target object data pool to obtain a valid target object data set; Detecting the mobility of each valid target object in the valid target object data set to obtain object mobility performance information; Based on the object movement performance information of each valid target object, each valid target object is classified to obtain target object classification information, wherein the target object classification information includes mobile targets and fixed targets.

[0011] Preferably, the travel destination information of the vehicle to be tested is obtained, the driving speed of the vehicle to be tested is detected to obtain its own driving speed information, and the range value of the travel detection area is pre-set according to its own driving speed information; Determine the current driving trajectory of the vehicle to be tested according to the travel destination information and the range value of the travel detection area to obtain its own current driving trajectory information; Based on the target object classification information, if the valid target object is a fixed target object, it is judged whether there is a collision risk between the fixed target object and the vehicle to be tested according to its own current driving trajectory information and the side and rear target distance information of the fixed target object. If the fixed target object is located within the current driving trajectory information of the vehicle to be tested, it is determined that there is a collision risk, and the fixed target risk coefficient AKR is obtained according to the side and rear target distance information of the fixed target object. If the fixed target object is not located within the current driving trajectory information of the vehicle to be tested, it is determined that there is no collision risk, and the fixed target risk coefficient AKR is 0; Based on the target object classification information, if the valid target object is a mobile target object, historical movement trajectory information of the mobile target object is obtained, and the trajectory of the mobile target object is predicted according to the historical movement trajectory information of the mobile target object to obtain mobile target trajectory prediction information; Determine whether the moving target has the intention to change the trajectory. If so, output the target trajectory change result. If not, output the target trajectory normal information. If the moving target object has a trajectory change intention, the moving target trajectory preliminary prediction information is adjusted based on the target trajectory change information to obtain the moving target trajectory information; if the moving target object has no trajectory change intention, the moving target trajectory information, i.e., the moving target trajectory prediction information, is output; Based on the moving target trajectory information and the current driving trajectory information of the vehicle to be tested, the distance difference between the moving target and the vehicle to be tested during the moving process is analyzed in real time to obtain the moving target distance difference; The moving target distance difference is compared with a preset moving target distance difference threshold. If the moving target distance difference is less than the preset moving target distance difference threshold, the difference between the moving target distance difference and the moving target distance difference threshold is calculated to obtain a moving target distance difference value. Based on the moving target distance difference value, a moving target risk factor BYR is obtained. If the moving target distance difference is greater than or equal to the preset moving target distance difference threshold, the moving target risk factor BYR is 0. The fixed target risk factor AKR and the mobile target risk factor BYR are combined to form a target risk factor for an effective target object.

[0012] Preferably, if the valid target object is a fixed target object, the fixed target risk coefficient AKR of the fixed target object is compared with a preset fixed target risk setting value AKR', and if the fixed target risk coefficient AKR is greater than or equal to the preset fixed target risk setting value AKR', the fixed target object is marked as a dangerous fixed target object; If the valid target object is a mobile target object, the mobile target risk coefficient BYR of the mobile target object is compared with the preset mobile target risk setting value BYR'. If the mobile target risk coefficient BYR is greater than or equal to the preset mobile target risk setting value BYR', the mobile target object is marked as a dangerous mobile target object; When there is a dangerous fixed target or a dangerous moving target to the side and rear of the vehicle to be tested, a warning signal is output, and the dangerous fixed target and the dangerous moving target are highlighted on the rotatable display screen; The fixed target risk coefficients AKR of each dangerous fixed target are averaged to obtain a first vehicle risk coefficient P, and the moving target risk coefficients BYR of each dangerous moving target are averaged to obtain a second vehicle risk coefficient Q; According to the first vehicle risk coefficient P and the second vehicle risk coefficient Q, based on the vehicle risk relationship function The vehicle hazard characterization value W of the vehicle to be tested is calculated, where: , is the proportional factor and is greater than 0; Compare the vehicle hazard characterization value W of the vehicle to be tested with the preset vehicle hazard threshold value W'. If the vehicle hazard characterization value W of the vehicle to be tested is greater than or equal to the preset vehicle hazard threshold value W', an emergency safety warning signal is output; if the vehicle hazard characterization value W of the vehicle to be tested is less than the preset vehicle hazard threshold value W', a mild safety warning signal is output; When a mild safety warning signal is received, the voice broadcast system of the vehicle under test will give a voice reminder. When an emergency safety warning signal is received, the voice broadcast system of the vehicle under test will give a voice broadcast reminder and set an emergency sound effect.

[0013] In the second aspect, the present application provides a side rear safety warning system based on an electronic rearview mirror, which adopts the following technical solution: A side rear safety warning system based on an electronic rearview mirror, comprising: A required information type judgment module is configured to detect the side and rear environmental visibility of the electronic rearview mirror of the vehicle to be tested to obtain environmental visibility information, and to judge the type of information required for collecting information according to the environmental visibility information to obtain side and rear collection requirement type information; The feature collection and fusion module is configured to collect information from the side and rear of the electronic rearview mirror of the vehicle to be tested according to the side and rear collection requirement type information to obtain side and rear target feature information, obtain the display screen, and display the side and rear target feature information on the display screen after processing; a target recognition and marking module, configured to perform object recognition based on the side and rear target feature information to obtain a target object data pool, screen the target object data pool to obtain a valid target object data set, and classify each target object based on the valid target object data set to obtain target object classification information; An effective target danger judgment module is configured to detect the driving trajectory of the vehicle to be tested to obtain its own current driving trajectory information, and analyze the safety impact of each effective target object on the vehicle to be tested based on the target object classification information to obtain the target danger coefficient of each effective target object; The safety warning module is configured to analyze the danger level of the vehicle to be tested according to the target danger coefficient of the effective target object to obtain the vehicle danger characterization value W of the vehicle to be tested, and determine whether a warning operation is needed according to the vehicle danger characterization value W of the vehicle to be tested, and perform a warning operation if necessary.

[0014] In summary, the present application includes at least one of the following beneficial technical effects: By synchronously collecting the image information and distance information of the target object behind the electronic rearview mirror of the vehicle to be tested when the environmental visibility of the vehicle to be tested is poor, the accuracy of the position measurement data of the target object behind the vehicle to be tested is improved, thereby improving the accuracy of the side rear safety warning based on the electronic rearview mirror; The range value of the travel detection area is pre-set with the help of the travel destination information of the vehicle to be tested and its own form information, which improves the accuracy of the range value of the travel detection area. The current driving trajectory of the vehicle to be tested is determined according to the travel destination information and the range value of the travel detection area to obtain its own current driving trajectory information. Based on the target object classification information, the safety impact of fixed targets and mobile targets on the vehicle to be tested is analyzed separately to obtain the fixed target risk factor AKR and the mobile target risk factor BYR, which improves the detection accuracy of the safety impact of effective target objects on the vehicle to be tested, thereby improving the accuracy of the side rear safety warning based on the electronic rearview mirror. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a flow chart of a side rear safety warning method based on an electronic rearview mirror, which is mainly embodied in this embodiment; Figure 2 This is a module schematic diagram of a side rear safety warning system based on an electronic rearview mirror, which is mainly embodied in this embodiment.

[0016] Figure numerals: 1. Required information type judgment module; 2. Feature collection and fusion module; 3. Target identification and marking module; 4. Effective target danger judgment module; 5. Safety warning module. DETAILED DESCRIPTION

[0017] The present application is further described in detail below in conjunction with the accompanying drawings.

[0018] The embodiment of the present application discloses a side rear safety warning method based on an electronic rearview mirror.

[0019] A side rear safety warning method based on an electronic rearview mirror comprises the following steps: Reference Figure 1 Step S1, detect the side and rear environmental visibility of the electronic rearview mirror of the vehicle to be tested to obtain environmental visibility information, and determine the type of information required for collecting information according to the environmental visibility information to obtain the side and rear collection requirement type information. Step S1 specifically includes the following sub-steps: Step S11 , detecting the side and rearward environmental visibility of the electronic rearview mirror of the vehicle to be tested to obtain environmental visibility information, wherein the environmental visibility information includes the left environmental visibility information of the vehicle to be tested and the right environmental visibility information of the vehicle to be tested.

[0020] Step S12, compare the left side environment visibility information of the tested vehicle with the preset environment visibility threshold information. If the left side environment visibility information is greater than the preset environment visibility threshold information, it is determined that the left side environment visibility is affected, and the left side environment impact result is output; if the left side environment visibility information is less than or equal to the preset environment visibility threshold information, it is determined that the left side environment visibility is not affected, and the left side environment no impact result is output.

[0021] Step S13, compare the right side environment visibility information of the tested vehicle with the preset environment visibility threshold information. If the right side environment visibility information is greater than the preset environment visibility threshold information, it is determined that the right side environment visibility is affected, and the right side environment impact result is output; if the right side environment visibility information is less than or equal to the preset environment visibility threshold information, it is determined that the right side environment visibility is not affected, and the right side environment no impact result is output.

[0022] Step S14, the left side environment does not affect the result and the right side environment does not affect the result to form a low demand collection result, the left side environment impact result and the right side environment impact result are combined to form a high demand collection result, and the low demand collection result and the high demand collection result are combined to form the side rear collection demand type information.

[0023] It should be pointed out that in the embodiment of the present application, when the left-side environment does not affect the result in the low-demand collection result is received, the side rear information collection of the left electronic rearview mirror of the vehicle to be tested is the image collection of the target object on the left side of the vehicle to be tested; when the right-side environment does not affect the result in the low-demand result is received, the side rear information collection of the right electronic rearview mirror of the vehicle to be tested is the image collection of the target object on the right side of the vehicle to be tested; when the left-side environment affects the result in the high-demand result is received, the side rear information collection of the left electronic rearview mirror of the vehicle to be tested is the image collection and distance information collection of the target object on the right side of the vehicle to be tested; when the right-side environment affects the result in the high-demand result is received, the side rear information collection of the right electronic rearview mirror of the vehicle to be tested is the image collection and distance information collection of the target object on the right side of the vehicle to be tested.

[0024] In specific applications, when the environmental visibility is poor, relying solely on image capture of the target object behind the side of the electronic rearview mirror of the vehicle to be tested can easily lead to inaccurate measurement data, resulting in low accuracy of the side rear safety warning based on the electronic rearview mirror. In an embodiment of the present application, when the environmental visibility is poor, the image information and distance information of the target object behind the side of the electronic rearview mirror of the vehicle to be tested are synchronously captured to improve the accuracy of the target object position measurement data, thereby improving the accuracy of the side rear safety warning based on the electronic rearview mirror.

[0025] Reference Figure 1In step S2, according to the side rearward collection requirement type information, information is collected from the side rearward of the electronic rearview mirror of the vehicle to be tested to obtain side rearward target feature information, and the display screen is obtained, and the side rearward target feature information is processed and displayed on the display screen. Step S2 specifically includes the following sub-steps: Step A1, acquiring the information acquisition module, the information acquisition module includes an image acquisition unit and an infrared ranging unit, the image acquisition unit and the infrared ranging unit are installed and arranged in a one-to-one correspondence, the image acquisition unit includes a main camera component and multiple sub-camera components, and the infrared ranging unit includes multiple infrared ranging sensors.

[0026] Step A2: The main camera assembly is installed at the front end of the window of the vehicle to be tested, and the main camera assembly is equipped with a corresponding infrared ranging sensor.

[0027] Step A3, detecting the length of the vehicle to be tested to obtain vehicle length information, and determining the number of sub-camera components according to the vehicle length information of the vehicle to be tested to obtain sub-camera component number information.

[0028] Step A4, obtaining a vehicle blind spot database, which includes side rear visual blind spots corresponding to vehicles of different models, obtaining vehicle model information of the vehicle to be tested, matching the vehicle model information of the vehicle to be tested with the vehicle blind spot database, and obtaining side rear visual blind spot information of the vehicle to be tested.

[0029] Step A5, determining the installation position of each sub-camera assembly according to the number information of the sub-camera assembly and the side and rear blind area information of the vehicle to be tested, and installing them, wherein each sub-camera assembly is equipped with a corresponding infrared ranging sensor.

[0030] Step A6, if the side rearward acquisition requirement type information is a low-demand acquisition result, the side rear of the electronic rearview mirror of the vehicle to be tested is photographed based on the main camera component and the sub-camera component to obtain a first captured image data set, and the first captured image data set includes first captured image information from multiple multi-angles of the side rear of the electronic rearview mirror of the vehicle to be tested.

[0031] Step S2 also includes the following sub-steps: Step B1, based on feature matching and image registration technology, multiple multi-angle first shot image information is stitched to obtain first side rear target image information, and marked as first side rear target feature information.

[0032] Step B2, if the side rearward acquisition requirement type information is a high-demand acquisition result, a second captured image data set is obtained by photographing the side rear of the electronic rearview mirror of the vehicle to be tested based on the main camera component and the sub-camera component, and the second captured image data set includes second captured image information of multiple multi-angles of the side rear of the electronic rearview mirror of the vehicle to be tested.

[0033] Step B3: Based on feature matching and image registration technology, multiple multi-angle second captured image information is stitched to obtain second side rear target image information.

[0034] Step B4, measuring the distance of the target object behind the electronic rearview mirror of the vehicle to be measured based on multiple infrared ranging sensors to obtain the distance information of the target behind the rearview mirror.

[0035] Step B5: The second side rear target image information and the side rear target distance information are combined to form second side rear target feature information.

[0036] Step B6: The first side rear target feature information is combined with the second side rear target feature information to form side rear target feature information.

[0037] Step S2 also includes the following sub-steps: Step C1, obtaining a rotatable display screen and establishing a signal connection link between the rotatable display screen and the vehicle to be tested, wherein one end of the rotatable display screen is mounted on the door of the main driver's seat of the vehicle to be tested, and the other end is mounted on the left center console below the steering wheel of the vehicle to be tested.

[0038] Step C2, obtaining a telemetry eye tracker and establishing a signal connection link between the telemetry eye tracker and the rotatable display screen, and obtaining user eye position information based on tracking the user's line of sight at the driving seat of the vehicle to be tested by the telemetry eye tracker.

[0039] Step C3: adjusting the rotatable display screen based on the user's eye position information until the surface of the rotatable display screen is perpendicular to the user's line of sight toward the rotatable display screen.

[0040] Step C4, displaying the side and rear target feature information in real time on the rotatable display screen.

[0041] In specific application, a signal connection link is established between the rotatable display screen and the vehicle to be tested, and the user's line of sight at the driving seat of the vehicle to be tested is tracked based on a remote sensing eye tracker to obtain the user's eye position information. The orientation of the rotatable display screen is adjusted according to the user's eye position information until the rotatable display screen is perpendicular to the user's line of sight, thereby reducing the situation where the user cannot see the screen clearly due to light problems, thereby improving the accuracy of the side rear safety warning based on the electronic rearview mirror.

[0042] Reference Figure 1 In step S3, object recognition is performed based on the side and rear target feature information to obtain a target object data pool, the target object data pool is screened to obtain a valid target object data set, and each target object is classified based on the valid target object data set to obtain target object classification information. Step S3 specifically includes the following sub-steps: Step S31 , identifying the target object behind the electronic rearview mirror of the vehicle to be tested according to the rear target feature information to obtain a target object data pool.

[0043] Step S32, marking the target objects in the target object data pool that affect the side rear safety of the electronic rearview mirror of the vehicle to be tested as valid target objects, screening and retaining the valid target objects in the target object data pool to obtain a valid target object data set.

[0044] Here is an example to illustrate: pedestrians, vehicles, road markings, road fences, and roadblocks used for marking around the car to be tested are all valid target objects.

[0045] Step S33: Detect the mobility of each valid target object in the valid target object data set to obtain object mobility performance information.

[0046] Step S34: classify each valid target object based on the object movement performance information of each valid target object to obtain target object classification information, where the target object classification information includes moving targets and fixed targets.

[0047] Reference Figure 1 Step S4, detecting the driving trajectory of the vehicle to be tested to obtain its current driving trajectory information, analyzing the safety impact of each valid target object on the vehicle to be tested based on the target object classification information to obtain the target risk coefficient of each valid target object. Step S4 specifically includes the following sub-steps: Step S41, obtaining the travel destination information of the vehicle to be tested, detecting the driving speed of the vehicle to be tested to obtain its own driving speed information, and presetting the range value of the travel detection area according to its own driving speed information. The larger the own driving speed information, the larger the range value of the travel detection area.

[0048] Step S42, determining the current driving track of the vehicle to be tested according to the travel destination information and the travel detection area range value to obtain the current driving track information of the vehicle itself.

[0049] Step S43, based on the target object classification information, if the valid target object is a fixed target object, then determine whether there is a collision risk between the fixed target object and the vehicle to be tested according to its own current driving trajectory information and the side and rear target distance information of the fixed target object. If the fixed target object is located within the current driving trajectory information of the vehicle to be tested, it is determined that there is a collision risk, and the fixed target risk coefficient AKR is obtained according to the side and rear target distance information of the fixed target object, wherein the fixed target risk coefficient AKR is negatively correlated with the side and rear target distance information of the fixed target object. If the fixed target object is not located within the current driving trajectory information of the vehicle to be tested, it is determined that there is no collision risk, and the fixed target risk coefficient AKR is 0.

[0050] Step S44, based on the target object classification information, if the valid target object is a moving target object, obtain the historical moving trajectory information of the moving target object, and predict the trajectory of the moving target object according to the historical moving trajectory information of the moving target object to obtain moving target trajectory prediction information.

[0051] Step S45, determining whether the moving target object has a trajectory change intention, if so, outputting the target trajectory change result, if not, outputting the target trajectory normal information.

[0052] Let's take an example to illustrate: for example, if the moving target object is a moving vehicle, when the moving vehicle behind the car to be tested turns on the turn signal or the body of the moving vehicle deviates from the center line of the original lane of the moving vehicle, it is determined that the moving vehicle has the intention to change its trajectory. For example, if the moving target object is a pedestrian, when the pedestrian behind the side of the car to be tested makes a gesture to indicate the driver of the car to be tested, it is determined that the pedestrian has the intention to change his trajectory.

[0053] Step S46: if the moving target object has a trajectory change intention, the moving target trajectory preliminary prediction information is adjusted based on the target trajectory change information to obtain the moving target trajectory information; if the moving target object has no trajectory change intention, the moving target trajectory information, i.e., the moving target trajectory prediction information, is output.

[0054] Step S47, based on the moving target trajectory information and the current driving trajectory information of the vehicle to be tested, the distance difference between the moving target and the vehicle to be tested during the moving driving process is analyzed in real time to obtain the moving target distance difference.

[0055] Step S48, compare the moving target distance difference with the preset moving target distance difference threshold. If the moving target distance difference is less than the preset moving target distance difference threshold, then calculate the difference between the moving target distance difference and the moving target distance difference threshold to obtain the moving target distance difference. Based on the moving target distance difference, obtain the moving target risk coefficient BYR, wherein the larger the moving target distance difference, the smaller the moving target risk coefficient BYR. If the moving target distance difference is greater than or equal to the preset moving target distance difference threshold, the moving target risk coefficient BYR is 0.

[0056] Step S49, the fixed target risk coefficient AKR and the moving target risk coefficient BYR are combined to form the target risk coefficient of the effective target object.

[0057] In specific applications, the range value of the travel detection area is pre-set through the travel destination information of the vehicle to be tested and its own form information, which improves the accuracy of the range value of the travel detection area. The current driving trajectory of the vehicle to be tested is determined according to the travel destination information and the range value of the travel detection area to obtain its own current driving trajectory information. Based on the target object classification information, the safety impact of fixed targets and mobile targets on the vehicle to be tested is analyzed separately to obtain the fixed target risk factor AKR and the mobile target risk factor BYR, which improves the detection accuracy of the safety impact of effective target objects on the vehicle to be tested, thereby improving the accuracy of the side rear safety warning based on the electronic rearview mirror.

[0058] Reference Figure 1 Step S5, analyzing the danger level of the vehicle to be tested according to the target danger coefficient of the effective target object to obtain the vehicle danger characterization value W of the vehicle to be tested, and judging whether a warning operation is required according to the vehicle danger characterization value W of the vehicle to be tested, and performing a warning operation if necessary. Step S5 specifically includes the following sub-steps: Step S51, if the valid target object is a fixed target, the fixed target risk coefficient AKR of the fixed target is compared with the preset fixed target risk setting value AKR', if the fixed target risk coefficient AKR is greater than or equal to the preset fixed target risk setting value AKR', the fixed target is marked as a dangerous fixed target.

[0059] Step S52, if the valid target object is a moving target, compare the moving target risk coefficient BYR of the moving target with the preset moving target risk setting value BYR'. If the moving target risk coefficient BYR is greater than or equal to the preset moving target risk setting value BYR', mark the moving target as a dangerous moving target.

[0060] Step S53: when there is a dangerous fixed object or a dangerous moving object to the side and rear of the vehicle to be tested, a warning signal is output, and the dangerous fixed object and the dangerous moving object are highlighted on the rotatable display screen.

[0061] Step S54 , average the fixed target risk coefficients AKR of the dangerous fixed targets to obtain a first vehicle risk coefficient P, and average the moving target risk coefficients BYR of the dangerous moving targets to obtain a second vehicle risk coefficient Q.

[0062] Step S55: according to the first vehicle risk coefficient P and the second vehicle risk coefficient Q, based on the vehicle risk relationship function The vehicle hazard characterization value W of the vehicle to be tested is calculated, where: , are scaling factors and are all greater than 0.

[0063] Step S56, compare the vehicle hazard characterization value W of the vehicle to be tested with the preset vehicle hazard threshold value W'. If the vehicle hazard characterization value W of the vehicle to be tested is greater than or equal to the preset vehicle hazard threshold value W', an emergency safety warning signal is output; if the vehicle hazard characterization value W of the vehicle to be tested is less than the preset vehicle hazard threshold value W', a mild safety warning signal is output.

[0064] Step S57, when a mild safety warning signal is received, the voice broadcast system of the vehicle to be tested makes a voice reminder; when an emergency safety warning signal is received, the voice broadcast system of the vehicle to be tested makes a voice broadcast reminder and sets an emergency sound effect.

[0065] The embodiment of the present application also discloses a side rear safety warning system based on an electronic rearview mirror.

[0066] Reference Figure 2 , a side rear safety warning system based on an electronic rearview mirror, comprising: The required information type judgment module is configured to detect the side and rear environmental visibility of the electronic rearview mirror of the vehicle to be tested to obtain environmental visibility information, and to judge the information type required for collecting information according to the environmental visibility information to obtain the side and rear collection required type information.

[0067] The feature collection and fusion module is configured to collect information from the side and rear of the electronic rearview mirror of the vehicle to be tested according to the side and rear collection requirement type information to obtain side and rear target feature information, obtain the display screen, and display the side and rear target feature information on the display screen after processing.

[0068] The target recognition and marking module is configured to perform object recognition based on the side and rear target feature information to obtain a target object data pool, screen the target object data pool to obtain a valid target object data set, and classify each target object based on the valid target object data set to obtain target object classification information.

[0069] The effective target danger judgment module is configured to detect the driving trajectory of the vehicle to be tested to obtain its own current driving trajectory information, and analyze the safety impact of each effective target object on the vehicle to be tested based on the target object classification information to obtain the target danger coefficient of each effective target object.

[0070] The safety warning module is configured to analyze the danger level of the vehicle to be tested according to the target danger coefficient of the effective target object to obtain the vehicle danger characterization value W of the vehicle to be tested, and determine whether a warning operation is needed according to the vehicle danger characterization value W of the vehicle to be tested, and perform a warning operation if necessary.

[0071] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A side rear safety warning method based on an electronic rearview mirror, characterized in that: The following steps are involved: Detecting the side and rear environmental visibility of the electronic rearview mirror of the vehicle to be tested to obtain environmental visibility information, and determining the type of information required for collecting information according to the environmental visibility information to obtain side and rear collection requirement type information; According to the side and rearward collection requirement type information, information is collected from the side and rear of the electronic rearview mirror of the vehicle to be tested to obtain side and rear target feature information, a display screen is obtained, and the side and rear target feature information is processed and displayed on the display screen; Performing object recognition based on the side and rear target feature information to obtain a target object data pool, screening the target object data pool to obtain a valid target object data set, and classifying each target object based on the valid target object data set to obtain target object classification information; Detect the driving trajectory of the vehicle to be tested to obtain its current driving trajectory information, and analyze the safety impact of each valid target object on the vehicle to be tested based on the target object classification information to obtain the target risk coefficient of each valid target object; The danger level of the vehicle to be tested is analyzed according to the target danger coefficient of the effective target object to obtain the vehicle danger characterization value W of the vehicle to be tested, and whether a warning operation is required is determined according to the vehicle danger characterization value W of the vehicle to be tested, and a warning operation is performed if necessary.

2. The side rear safety warning method based on the electronic rearview mirror according to claim 1 is characterized in that: The steps of detecting the side and rear environmental visibility of the electronic rearview mirror of the vehicle to be tested to obtain environmental visibility information, and determining the type of information required for collecting information according to the environmental visibility information to obtain the collection requirement type information specifically include: Detecting the side and rearward environmental visibility of the electronic rearview mirror of the vehicle to be tested to obtain environmental visibility information, wherein the environmental visibility information includes the left environmental visibility information of the vehicle to be tested and the right environmental visibility information of the vehicle to be tested; Compare the left environmental visibility information of the vehicle to be tested with the preset environmental visibility threshold information; if the left environmental visibility information is greater than the preset environmental visibility threshold information, determine that the left environmental visibility is affected, and output the left environmental impact result; if the left environmental visibility information is less than or equal to the preset environmental visibility threshold information, determine that the left environmental visibility is not affected, and output the left environmental no impact result; Compare the right environmental visibility information of the vehicle to be tested with the preset environmental visibility threshold information; if the right environmental visibility information is greater than the preset environmental visibility threshold information, determine that the right environmental visibility is affected, and output the right environmental impact result; if the right environmental visibility information is less than or equal to the preset environmental visibility threshold information, determine that the right environmental visibility is not affected, and output the right environmental no impact result; The left-side environment does not affect the result and the right-side environment does not affect the result are combined to form a low-demand collection result, the left-side environment impact result and the right-side environment impact result are combined to form a high-demand collection result, and the low-demand collection result and the high-demand collection result are combined to form side-rearward collection demand type information.

3. The side rear safety warning method based on the electronic rearview mirror according to claim 2 is characterized in that: According to the side rearward collection requirement type information, the steps of collecting information from the side rearward of the electronic rearview mirror of the vehicle to be tested to obtain side rearward target feature information, obtaining a display screen, and displaying the side rearward target feature information on the display screen after processing specifically include: Acquiring an information acquisition module, wherein the information acquisition module includes an image acquisition unit and an infrared ranging unit, wherein the image acquisition unit and the infrared ranging unit are installed and arranged in a one-to-one correspondence, wherein the image acquisition unit includes a main camera component and a plurality of sub-camera components, and the infrared ranging unit includes a plurality of infrared ranging sensors; The main camera assembly is installed at the front end of the window of the vehicle to be tested, and the main camera assembly is equipped with a corresponding infrared ranging sensor; Detecting the length of the vehicle to be tested to obtain vehicle length information, and determining the number of sub-camera components according to the vehicle length information of the vehicle to be tested to obtain sub-camera component number information; Acquire a vehicle blind spot database, the vehicle blind spot database including side rear visual field blind spots corresponding to vehicles of different models, acquire vehicle model information of the vehicle to be tested, match the vehicle model information of the vehicle to be tested with the vehicle blind spot database, and obtain side rear visual field blind spot information of the vehicle to be tested; The installation position of each sub-camera assembly is determined according to the number information of the sub-camera assembly and the side and rear blind area information of the vehicle to be tested, and then installed, wherein each sub-camera assembly is equipped with a corresponding infrared ranging sensor; If the side rearward acquisition requirement type information is a low-demand acquisition result, a first captured image data set is obtained by photographing the side rear of the electronic rearview mirror of the vehicle to be tested based on the main camera component and the sub-camera component. The first captured image data set includes first captured image information from multiple multi-angles of the side rear of the electronic rearview mirror of the vehicle to be tested.

4. The side rear safety warning method based on the electronic rearview mirror according to claim 3 is characterized in that: According to the side rearward collection requirement type information, the side rearward information of the electronic rearview mirror of the vehicle to be tested is collected to obtain side rearward target feature information, a display screen is obtained, and the side rearward target feature information is processed and displayed on the display screen, further comprising: Based on feature matching and image registration technology, multiple multi-angle first shot image information is stitched to obtain first side rear target image information, and marked as first side rear target feature information; If the side rearward acquisition requirement type information is a high-demand acquisition result, a second captured image data set is obtained by photographing the side rear of the electronic rearview mirror of the vehicle to be tested based on the main camera component and the sub-camera component, wherein the second captured image data set includes second captured image information of multiple multi-angles of the side rear of the electronic rearview mirror of the vehicle to be tested; Based on feature matching and image registration technology, multiple multi-angle second shot image information is stitched to obtain second side rear target image information; The target object behind the electronic rearview mirror of the vehicle to be tested is measured based on multiple infrared ranging sensors to obtain the distance information of the target behind the side; The second side rear target image information and the side rear target distance information are combined to form second side rear target feature information; The first side rear target feature information and the second side rear target feature information are combined to form side rear target feature information.

5. The side rear safety warning method based on the electronic rearview mirror according to claim 4 is characterized in that: According to the side rearward collection requirement type information, the side rearward information of the electronic rearview mirror of the vehicle to be tested is collected to obtain side rearward target feature information, a display screen is obtained, and the side rearward target feature information is processed and displayed on the display screen, further comprising: Obtain a rotatable display screen, and establish a signal connection link between the rotatable display screen and the vehicle to be tested, wherein one end of the rotatable display screen is set on the door of the main driver's seat of the vehicle to be tested, and the other end is set on the left center console below the steering wheel of the vehicle to be tested; Acquire a telemetry eye tracker and establish a signal connection link between the telemetry eye tracker and the rotatable display screen, and obtain user eye position information based on tracking the user's sight line at the driving position of the vehicle to be tested by the telemetry eye tracker; Adjusting the rotatable display screen based on the user's eye position information until the surface of the rotatable display screen is perpendicular to the user's line of sight toward the rotatable display screen; The side and rear target feature information is displayed in real time on the rotatable display screen.

6. The side rear safety warning method based on the electronic rearview mirror according to claim 5 is characterized in that: The steps of performing object recognition based on the side and rear target feature information to obtain a target object data pool, screening the target object data pool to obtain a valid target object data set, and classifying each target object based on the valid target object data set to obtain target object classification information specifically include: According to the side and rear target feature information, the target object behind the electronic rearview mirror of the vehicle to be tested is identified to obtain a target object data pool; Marking the target objects in the target object data pool that affect the side and rear safety of the electronic rearview mirror of the vehicle to be tested as valid target objects, and screening and retaining the valid target objects in the target object data pool to obtain a valid target object data set; Detecting the mobility of each valid target object in the valid target object data set to obtain object mobility performance information; Based on the object movement performance information of each valid target object, each valid target object is classified to obtain target object classification information, wherein the target object classification information includes mobile targets and fixed targets.

7. The side rear safety warning method based on the electronic rearview mirror according to claim 6 is characterized in that: The steps of detecting the driving trajectory of the vehicle to be tested to obtain its current driving trajectory information, and analyzing the safety impact of each valid target object on the vehicle to be tested based on the target object classification information to obtain the target risk coefficient of each valid target object specifically include: Acquire the travel destination information of the vehicle to be tested, detect the driving speed of the vehicle to be tested to obtain its own driving speed information, and pre-set the range value of the travel detection area according to its own driving speed information; Determine the current driving trajectory of the vehicle to be tested according to the travel destination information and the range value of the travel detection area to obtain its own current driving trajectory information; Based on the target object classification information, if the valid target object is a fixed target object, it is judged whether there is a collision risk between the fixed target object and the vehicle to be tested according to its own current driving trajectory information and the side and rear target distance information of the fixed target object. If the fixed target object is located within the current driving trajectory information of the vehicle to be tested, it is determined that there is a collision risk, and the fixed target risk coefficient AKR is obtained according to the side and rear target distance information of the fixed target object. If the fixed target object is not located within the current driving trajectory information of the vehicle to be tested, it is determined that there is no collision risk, and the fixed target risk coefficient AKR is 0; Based on the target object classification information, if the valid target object is a mobile target object, historical movement trajectory information of the mobile target object is obtained, and the trajectory of the mobile target object is predicted according to the historical movement trajectory information of the mobile target object to obtain mobile target trajectory prediction information; Determine whether the moving target has the intention to change the trajectory. If so, output the target trajectory change result. If not, output the target trajectory normal information. If the moving target object has a trajectory change intention, the moving target trajectory preliminary prediction information is adjusted based on the target trajectory change information to obtain the moving target trajectory information; if the moving target object has no trajectory change intention, the moving target trajectory information, i.e., the moving target trajectory prediction information, is output; Based on the moving target trajectory information and the current driving trajectory information of the vehicle to be tested, the distance difference between the moving target and the vehicle to be tested during the moving process is analyzed in real time to obtain the moving target distance difference; The moving target distance difference is compared with a preset moving target distance difference threshold. If the moving target distance difference is less than the preset moving target distance difference threshold, the difference between the moving target distance difference and the moving target distance difference threshold is calculated to obtain a moving target distance difference value. Based on the moving target distance difference value, a moving target risk factor BYR is obtained. If the moving target distance difference is greater than or equal to the preset moving target distance difference threshold, the moving target risk factor BYR is 0. The fixed target risk factor AKR and the mobile target risk factor BYR are combined to form a target risk factor for an effective target object.

8. The side rear safety warning method based on the electronic rearview mirror according to claim 7 is characterized in that: The steps of analyzing the danger level of the vehicle to be tested according to the target danger coefficient of the effective target object to obtain the vehicle danger characterization value W of the vehicle to be tested, judging whether a warning operation is required according to the vehicle danger characterization value W of the vehicle to be tested, and performing the warning operation if required specifically include: If the valid target object is a fixed target object, the fixed target risk coefficient AKR of the fixed target object is compared with the preset fixed target risk setting value AKR'. If the fixed target risk coefficient AKR is greater than or equal to the preset fixed target risk setting value AKR', the fixed target object is marked as a dangerous fixed target object; If the valid target object is a mobile target object, the mobile target risk coefficient BYR of the mobile target object is compared with the preset mobile target risk setting value BYR'. If the mobile target risk coefficient BYR is greater than or equal to the preset mobile target risk setting value BYR', the mobile target object is marked as a dangerous mobile target object; When there is a dangerous fixed target or a dangerous moving target to the side and rear of the vehicle to be tested, a warning signal is output, and the dangerous fixed target and the dangerous moving target are highlighted on the rotatable display screen; The fixed target risk coefficients AKR of each dangerous fixed target are averaged to obtain a first vehicle risk coefficient P, and the moving target risk coefficients BYR of each dangerous moving target are averaged to obtain a second vehicle risk coefficient Q; According to the first vehicle risk coefficient P and the second vehicle risk coefficient Q, based on the vehicle risk relationship function The vehicle hazard characterization value W of the vehicle to be tested is calculated, where: , is the proportional factor and is greater than 0; Compare the vehicle hazard characterization value W of the vehicle to be tested with the preset vehicle hazard threshold value W'. If the vehicle hazard characterization value W of the vehicle to be tested is greater than or equal to the preset vehicle hazard threshold value W', an emergency safety warning signal is output; if the vehicle hazard characterization value W of the vehicle to be tested is less than the preset vehicle hazard threshold value W', a mild safety warning signal is output; When a mild safety warning signal is received, the voice broadcast system of the vehicle under test will give a voice reminder. When an emergency safety warning signal is received, the voice broadcast system of the vehicle under test will give a voice broadcast reminder and set an emergency sound effect.

9. A side rear safety warning system based on an electronic rearview mirror, characterized in that: The side rear safety warning system based on the electronic rearview mirror is used to implement the side rear safety warning method based on the electronic rearview mirror as described in any one of claims 1 to 8, comprising: A required information type judgment module is configured to detect the side and rear environmental visibility of the electronic rearview mirror of the vehicle to be tested to obtain environmental visibility information, and to judge the type of information required for collecting information according to the environmental visibility information to obtain side and rear collection requirement type information; The feature collection and fusion module is configured to collect information from the side and rear of the electronic rearview mirror of the vehicle to be tested according to the side and rear collection requirement type information to obtain side and rear target feature information, obtain the display screen, and display the side and rear target feature information on the display screen after processing; a target recognition and marking module, configured to perform object recognition based on the side and rear target feature information to obtain a target object data pool, screen the target object data pool to obtain a valid target object data set, and classify each target object based on the valid target object data set to obtain target object classification information; An effective target danger judgment module is configured to detect the driving trajectory of the vehicle to be tested to obtain its own current driving trajectory information, and analyze the safety impact of each effective target object on the vehicle to be tested based on the target object classification information to obtain the target danger coefficient of each effective target object; The safety warning module is configured to analyze the danger level of the vehicle to be tested according to the target danger coefficient of the effective target object to obtain the vehicle danger characterization value W of the vehicle to be tested, and determine whether a warning operation is needed according to the vehicle danger characterization value W of the vehicle to be tested, and perform a warning operation if necessary.

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