Safety reminding method and device, vehicle terminal, and storage medium

Abstract

The embodiment of the application discloses a safety reminding method and device, a vehicle-mounted terminal and a storage medium, and the method comprises the steps of acquiring an image outside a vehicle; if the image outside the vehicle comprises a target object, acquiring a prompt image for the target object; and projecting the prompt image to a prompt area corresponding to the target object, wherein the prompt area is in a field of view of the target object. The method can remind pedestrians or non-motor vehicles to pay attention to safety and improve the ability of safe driving of the vehicle.

Description

Technical Field

[0001] This application relates to safe driving technology, including but not limited to a safety reminder method and device, an in-vehicle terminal, and a storage medium. Background Technology

[0002] When a vehicle is traveling, especially in a scenario without road guardrails, if the vehicle is traveling in the same direction as a pedestrian or non-motorized vehicle, there may be a risk of collision when the vehicle passes the pedestrian or non-motorized vehicle.

[0003] In related technologies, in order to reduce the risk of collision, vehicles usually display warning lights in front of the vehicle to alert vehicle users to pedestrians or non-motorized vehicles while driving, so as to avoid pedestrians or non-motorized vehicles.

[0004] In the process of developing this application, the inventors discovered that the warning light is often located to the left rear of pedestrians or non-motorized vehicles, making it difficult for pedestrians or non-motorized vehicles to see the vehicle to the left rear and thus failing to provide a warning to pedestrians or non-motorized vehicles. Summary of the Invention

[0005] In view of this, the safety reminder method and device, vehicle-mounted terminal, and storage medium provided in this application can remind pedestrians or non-motorized vehicles to pay attention to safety and improve the vehicle's safe driving ability. The safety reminder method and device, vehicle-mounted terminal, and storage medium provided in this application are implemented as follows: One aspect of this application provides a safety reminder method applied to an in-vehicle terminal, the method comprising: Acquire images of the vehicle exterior; If the exterior image of the vehicle includes the target object, obtain a prompt image for the target object; Project the cue image onto the cue area corresponding to the target object, and the cue area is within the target object's field of view.

[0006] In one embodiment, before acquiring a cue image for the target object if the exterior view of the vehicle includes the target object, the method further includes: Determine whether a target object exists in a preset area of ​​the external image; The preset area includes: the area extending away from the vehicle terminal from the longitudinal axis of the target wheel of the vehicle terminal. The target wheels are the left wheel and / or the right wheel.

[0007] In one embodiment, the preset area specifically includes one of the following areas: an area extending away from the vehicle terminal along a first target length distance from the longitudinal axis; an area extending away from the vehicle terminal along a first target length distance from a first axis segment on the longitudinal axis; and an area extending away from the vehicle terminal along a first target length distance from a second axis segment on the longitudinal axis; the first axis segment can be any axis segment on the longitudinal axis; and the second axis segment includes an axis segment on the longitudinal axis that at least partially overlaps with the illumination range of the vehicle terminal's headlights.

[0008] In one embodiment, when the preset area is the area within a target length distance away from the vehicle terminal starting from the second axis segment on the longitudinal axis, the step of determining the second axis segment includes: determining a first target point on the vehicle terminal; determining a second target point on the longitudinal axis; wherein the ordinate of the second target point is obtained by adding the ordinate of the first target point to a first preset longitudinal length; the first preset longitudinal length is determined based on the length of the illumination range of the vehicle terminal's headlights; and the second axis segment is determined based on the line segment on the longitudinal axis that passes through the second target point and has a second preset longitudinal length.

[0009] In one embodiment, the prompting region is a region determined based on the location of the target object and the distance from the target object to a second target length.

[0010] In one embodiment, the notification area includes: an area within the illumination range of the vehicle's headlights and located directly in front of, to the side of, or to the side-front of the target object. In one embodiment, the prompting area includes: when the prompting area is within the illumination range of the vehicle terminal's headlights and located to the side of the target object, the prompting area includes: an area determined based on a third target point and containing the third target point; wherein, the third target point is: the intersection point where the longitudinal axis of the target wheel of the vehicle terminal intersects with the horizontal axis parallel line passing through the target object.

[0011] In one embodiment, obtaining a prompt image for a target object includes: obtaining motion direction information of the target object; the motion direction information includes: moving in the same direction as the vehicle terminal and moving in the opposite direction to the vehicle terminal; and generating a prompt image for the target object when the target object and the vehicle terminal are moving in the same direction.

[0012] In one embodiment, when the external image of the vehicle includes a target object, obtaining a prompt image for the target object includes: if the external image of the vehicle includes a target object and the speed of the vehicle terminal is within the target speed range, obtaining a prompt image for the target object.

[0013] In one embodiment, projecting a prompt image onto a prompt area corresponding to a target object includes: determining, based on the location of the prompt area, multiple light-emitting units associated with the vehicle lights of the vehicle terminal when projecting the prompt image; and projecting the prompt image onto the prompt area through the multiple light-emitting units; wherein the vehicle lights are one or more.

[0014] In one embodiment, the prompt image includes at least one of the following: text, icons, monochrome blocks; the display parameters of the prompt image are associated with at least one of the following: the distance between the target object and the vehicle terminal; weather visibility.

[0015] Another aspect of this application embodiment also provides a safety reminder device applied to an in-vehicle terminal, the device including: a first image acquisition module, a second image acquisition module, and a projection module; The first image acquisition module is used to acquire images of the exterior of the vehicle. The second image acquisition module is used to acquire a prompt image for the target object when the image outside the vehicle includes the target object; The projection module is used to project the prompt image onto the prompt area corresponding to the target object, and the prompt area is within the field of view of the target object.

[0016] The vehicle terminal provided in this application includes a memory and a processor. The memory stores a computer program that can run on the processor, and the processor executes the program to implement the method of this application.

[0017] The computer-readable storage medium provided in this application embodiment stores a computer program thereon, which, when executed by a processor, implements the method provided in this application embodiment.

[0018] The safety alert method, device, vehicle terminal, and storage medium provided in this application can acquire images outside the vehicle; if the images outside the vehicle include a target object, a prompt image for the target object is acquired; the prompt image is projected onto a prompt area corresponding to the target object, and the prompt area is within the target object's field of view. By projecting the prompt image into the prompt area, the target object can notice the prompt image within its field of view, and thus be alerted to the presence of a vehicle behind it. This allows for safety alerts to the target object before the vehicle approaches, thereby improving vehicle driving safety and the safety of the target object while walking, ultimately achieving safe driving. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram illustrating the application scenario provided in the embodiments of this application; Figure 2 This is a flowchart illustrating the security alert method provided in the embodiments of this application; Figure 3 This is a schematic diagram of the exterior image of the vehicle provided in the embodiments of this application; Figure 4 This is a schematic diagram of one of the preset areas in the vehicle exterior image provided in the embodiments of this application; Figure 5 This is another schematic diagram of a preset area in the vehicle exterior image provided in the embodiments of this application; Figure 6 This is yet another schematic diagram of a preset area in the vehicle exterior image provided in the embodiments of this application; Figure 7 This is a schematic diagram showing the position of the second axis segment in the vehicle exterior image provided in this embodiment of the application; Figure 8 This is a schematic diagram showing the location of the prompt area provided in the embodiments of this application; Figure 9 This is a schematic diagram of another location of the prompt area provided in the embodiments of this application; Figure 10 This is a schematic diagram of the process for obtaining the prompt image provided in the embodiments of this application; Figure 11 This is a schematic diagram of a single vehicle headlight projection provided in an embodiment of this application; Figure 12 This is a schematic diagram of dual headlight projection provided in the embodiments of this application; Figure 13 This is a schematic diagram of the safety reminder device provided in the embodiments of this application; Figure 14 This is a schematic diagram of the structure of the vehicle-mounted terminal provided in the embodiments of this application. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the specific technical solutions of this application will be further described in detail below with reference to the accompanying drawings of the embodiments of this application. The following embodiments are used to illustrate this application, but are not intended to limit the scope of this application.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0023] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0024] It should be noted that the terms "first, second, third" used in the embodiments of this application are used to distinguish similar or different objects and do not represent a specific order of objects. It can be understood that "first, second, third" can be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0025] When a vehicle is traveling, especially in a scenario without road guardrails, if the vehicle is traveling in the same direction as a pedestrian or non-motorized vehicle, there may be safety risks when the vehicle passes the pedestrian or non-motorized vehicle.

[0026] For example, if pedestrians or non-motorized vehicles do not notice vehicles behind them, the pedestrians or non-motorized vehicles may collide with the vehicles behind them while passing them, thus causing traffic safety issues.

[0027] To avoid the aforementioned problems and reduce safety risks, vehicles typically display warning lights directly in front of them, allowing drivers to be aware of and avoid pedestrians or non-motorized vehicles while driving.

[0028] However, since pedestrians or non-motorized vehicles travel in the same direction as vehicles, the warning lights are often located to the left rear of pedestrians or non-motorized vehicles. They can only remind drivers of vehicles, but not pedestrians or non-motorized vehicles. If pedestrians or non-motorized vehicles suddenly change lanes, there will still be a safety risk.

[0029] In view of this, this application provides a safety reminder method that can not only remind vehicle drivers, but also pedestrians or non-motorized vehicles.

[0030] The application scenarios provided in the embodiments of this application will be explained below. Figure 1 This is a schematic diagram of the application scenario provided in the embodiments of this application. Please refer to it. Figure 1 In this scenario, the vehicle 110 and the target object 120 may be included.

[0031] Among them, vehicle 110 can be any type of vehicle, and the vehicle can have an on-board terminal and vehicle lights.

[0032] The target object 120 can be a pedestrian, non-motorized vehicle, stroller, or animal capable of walking, etc., without specific restrictions.

[0033] Vehicle 110 and target object 120 can travel in the same direction. Their specific positional relationship can be set according to the actual road traffic rules. For example, if the non-motorized vehicle lane in the same direction is on the right side of the motorized vehicle lane, then vehicle 110 can travel in the left motorized vehicle lane and target object 120 can travel in the right non-motorized vehicle lane; if the non-motorized vehicle lane in the same direction is on the left side of the motorized vehicle lane, then vehicle 110 can travel in the right motorized vehicle lane and target object 120 can travel in the left non-motorized vehicle lane.

[0034] Figure 1 The following example illustrates this: Vehicle 110 is in the left-hand motor vehicle lane, while the target is in the right-hand non-motor vehicle lane.

[0035] The vehicle 110 may include an in-vehicle terminal, which can be installed inside the vehicle. This terminal can be a fixed device or replaced by other electronic devices. Examples include, but are not limited to, mobile phones, wearable devices (such as smartwatches, smart bracelets, smart glasses, etc.), tablets, laptops, and PCs (Personal Computers).

[0036] The function implemented by this method can be achieved by the processor in the vehicle terminal calling program code. Of course, the program code can be stored in computer storage medium. It can be seen that the vehicle terminal includes at least a processor and a storage medium.

[0037] In one embodiment, the vehicle 110 further includes: a headlight, wherein the headlight may be a DLP (Digital Light Processing) headlight with intelligent projection function.

[0038] The core of this headlight lies in its ability to transform a traditional, static car headlight into a high-resolution, programmable projector. This headlight not only provides illumination but also projects clear, dynamic patterns and information onto the road surface, enabling intelligent interaction between the vehicle, the driver, the target object, and the surrounding environment.

[0039] DLP automotive lights can feature a DMD (Digital Micromirror Device) chip, densely packed with hundreds of thousands or even millions (e.g., 1.3 million or 2.6 million) tiny reflectors. Each micromirror represents a pixel. During the control of the automotive light, each micromirror can rotate independently and at high speed under the control of electrical signals. By rotating in different directions, the pixel can be turned on or off. For example, when the pixel is on, light is reflected through a lens and projected onto the road surface, creating a bright spot. When the pixel is off, light is reflected onto a light absorber, resulting in a dark spot on the corresponding area of ​​the road surface.

[0040] In this scenario, vehicle 110 and target object 120 can be traveling in the same direction, with target object 120 located in front of vehicle.

[0041] The implementation process of the security alert method provided in the embodiments of this application will be explained below based on the above application scenarios.

[0042] Figure 2 This is a flowchart illustrating the security alert method provided in the embodiments of this application. Please refer to it. Figure 2 A safety alert method, applied to an in-vehicle terminal, includes: S210: Acquire images of the exterior of the vehicle.

[0043] It should be noted that the subject executing this method can be the vehicle-mounted terminal in the aforementioned vehicle.

[0044] Optionally, the external images can be obtained by processing by the in-vehicle terminal, or they can be sent to the in-vehicle terminal by other devices; no specific restrictions are imposed here.

[0045] The following explains two feasible methods for in-vehicle terminals to acquire images of the exterior of the vehicle: Method 1: Obtained by the vehicle-mounted terminal: The system can capture images of the vehicle's surroundings using onboard cameras, which can then send these images to an onboard terminal. The onboard terminal can then generate exterior images based on these images.

[0046] Method 2: Obtained from other devices by the vehicle-mounted terminal: The system can capture images of the vehicle's surroundings using onboard cameras. These cameras can then send these images to other devices, such as a server. The server can generate exterior images based on these images and then send them to the vehicle's terminal.

[0047] The vehicle-mounted camera can be installed anywhere on the vehicle without any specific restrictions. It can capture images of the surrounding environment from all directions. For example, a vehicle-mounted camera installed at the front of the vehicle can capture images of the surrounding environment in front of the vehicle, vehicle-mounted cameras installed on the sides of the vehicle can capture images of the surrounding environment to the left and right of the vehicle, and vehicle-mounted cameras installed at the rear of the vehicle can capture images of the surrounding environment behind the vehicle.

[0048] It should be noted that either of the two methods mentioned above can be used to obtain images of the exterior of the vehicle, and no specific restrictions are imposed here.

[0049] In one embodiment, the exterior view may include an overhead view of the vehicle and its surroundings; or it may include only an overhead view of the surroundings, without any specific limitation.

[0050] It should be noted that the image outside the vehicle can be a two-dimensional image, in which each position can be represented by two-dimensional coordinates.

[0051] For example, the origin coordinates of the image outside the vehicle can be the location of the vehicle's center point.

[0052] In one embodiment, after the vehicle terminal obtains an external image through either of the two methods described above, it can perform identification based on the external image to determine whether a prompt image needs to be projected.

[0053] S220: If the exterior image of the vehicle includes a target object, obtain a prompt image for the target object.

[0054] Optionally, after obtaining the exterior image of the vehicle, it is possible to identify whether the exterior image includes the target object.

[0055] In one embodiment, it can be determined whether a target object exists in the entire exterior image, or it can be determined whether a target object exists in a certain area of ​​the exterior image. No specific limitation is made here, and one of the methods can be selected for determination according to actual needs.

[0056] Since the exterior image includes the vehicle's surrounding environment, if a target object exists in that environment, it will be displayed at the corresponding location in the exterior image, thus determining whether a target object exists in the exterior image.

[0057] It should be noted that if the image outside the vehicle includes the target object, it can be determined that a prompt can be given to the target object, and a prompt image for the target object can be obtained; if the image outside the vehicle does not include the target object, it can be determined that no prompt is needed for the target object.

[0058] Optionally, the prompt image can be a pre-defined shape, such as a rectangle, triangle, trapezoid, cylinder, or any irregular shape, without specific restrictions.

[0059] In one embodiment, the prompt image can be an image displayed in a preset color to prompt the target object. It can be a graphic, or it can display specific text, dynamic effects, etc., so that after the target object sees the prompt image, it can determine that there is a vehicle behind it, thereby avoiding causing a safety accident.

[0060] It should be noted that the prompt image can be an image generated by the vehicle terminal itself, or it can be an image sent by other devices, such as an image sent by a server to the vehicle terminal. No specific restrictions are imposed here.

[0061] Optionally, the prompt image can be an image with the same content every time it is projected, or an image with different content every time it is projected. If it is an image with the same content, the vehicle terminal can store the image after acquiring it, and can directly retrieve it from the storage space when the prompt image is needed. If it is an image with different content, the vehicle terminal can acquire the prompt image before each projection and project the latest acquired prompt image.

[0062] It should be noted that the prompt image can be a static image or a dynamic image; if it is a dynamic image, it can include multiple image frames, where the content displayed by two adjacent image frames can be different, thus creating a dynamic effect.

[0063] S230: Project the prompt image onto the prompt area corresponding to the target object.

[0064] It should be noted that the prompt area can be a region in the environment surrounding the vehicle, which can be determined from the external image of the vehicle, and the prompt image can be projected onto the prompt area by the vehicle's headlights.

[0065] The prompt area is within the field of view of the target object.

[0066] It should be noted that the field of view of a target object refers to the range that the target object can see. For example, when the target object is a pedestrian or a user of a non-motorized vehicle, the range that the user can see is the field of view of the target object.

[0067] Generally, the field of view of a target object refers to the entire spatial range that can be seen with one or both eyes while the head and eyes are fixed and looking forward. It is a spatial angular concept, usually measured in degrees.

[0068] For example, the prompt area can be in front of the left, right, or directly in front of the target object, and these areas can be considered as being within the target object's field of view.

[0069] It should be noted that since both the vehicle and the target object are in motion, the position of the prompt area can change in real time. The vehicle's onboard terminal can control the headlights to project the prompt image according to the corresponding frame number. The position of the prompt area can change in each frame. The position of the prompt area in each frame can be calculated, and then the corresponding prompt image can be projected onto the corresponding prompt area in the corresponding frame.

[0070] The safety alert method provided in this application embodiment can acquire an external image; if the external image includes a target object, a prompt image for the target object is acquired; the prompt image is projected onto a prompt area corresponding to the target object, and the prompt area is within the target object's field of view. By projecting the prompt image into the prompt area, the target object can notice the prompt image within its field of view, and thus be alerted by the prompt image to the presence of a vehicle behind it. This allows for safety alerts to the target object before the vehicle approaches, thereby improving vehicle driving safety and the safety of the target object while walking, ultimately achieving safe driving.

[0071] In one embodiment, the exterior view is an overhead view including the vehicle and its surrounding environment.

[0072] Among them, the external images of the vehicle can establish a two-dimensional coordinate system, in which the position of the vehicle terminal and the position of the target object can be displayed.

[0073] The location of the vehicle terminal can be any location on the vehicle, for example, the center position of the vehicle can be selected as the location of the vehicle terminal.

[0074] The location of a target object can be determined by using the location of its center point.

[0075] It should be noted that the image acquired by the vehicle-mounted camera can be a photo of the surrounding environment. An image generation model can be preset in the server or vehicle terminal. The input of the model can be multiple photos of the surrounding environment, and the output can be the aforementioned image of the outside of the vehicle.

[0076] The image generation model can fit multiple photos of the surrounding environment into a top-down view, which is the aforementioned exterior image of the vehicle. If the image generation model is set on the vehicle terminal, the vehicle terminal can generate the exterior image; if the image generation model is set on the server, the server can send the exterior image to the vehicle terminal.

[0077] In the exterior image of the vehicle, the position of the vehicle terminal and the position of the target object can be represented by a two-dimensional coordinate system according to the direction of the overhead view. The following is a specific schematic diagram to explain one of the feasible display methods of the exterior image provided in this application embodiment.

[0078] Figure 3 For the schematic diagram of the vehicle exterior image provided in the embodiments of this application, please refer to... Figure 3 The image may include the location of the vehicle terminal (0,0) and the location of the target object.

[0079] In actual implementation, the target object in the external image can be located in the upper left or upper right corner of the vehicle terminal. Figure 3 The image shows the target object in the upper right corner of the vehicle terminal.

[0080] In actual implementation, the location of the vehicle terminal can also be set to other locations, and the origin position is not a limitation. The origin position is only one feasible implementation method.

[0081] It should be noted that, as explained above, it is possible to determine whether a target object exists in the entire exterior image, or it is possible to determine whether a target object exists in a specific area of ​​the exterior image.

[0082] If the former approach is adopted, after obtaining the image outside the vehicle, it is sufficient to determine whether the target image exists in the image; if the latter approach is adopted, after obtaining the image outside the vehicle, a preset area can be determined, and it can be determined whether the target object is in the preset area.

[0083] In the safety reminder method provided in this application embodiment, the external image may include an overhead view of the vehicle and its surrounding environment. This overhead view can more intuitively determine the positional relationship between the vehicle and its surrounding environment. By establishing two-dimensional coordinates, the position of the vehicle terminal and the target object can be more accurately and intuitively represented, thereby more accurately determining the position of the reminder area to facilitate reminders to the target object.

[0084] The following explains the method for determining the preset area provided in the embodiments of this application.

[0085] In one embodiment, before acquiring a cue image for the target object when the exterior view includes the target object, the method further includes: determining whether the target object exists in a preset area of ​​the exterior view.

[0086] It should be noted that the preset area can be a region pre-defined in the vehicle exterior image. The position and size of this area can be set according to actual needs. In this embodiment, a feasible setting method is provided.

[0087] Optionally, the preset area includes: the area extending away from the vehicle terminal from the longitudinal axis of the target wheel of the vehicle terminal.

[0088] It should be noted that the target wheel can be either the left or right wheel of the vehicle terminal. There are no specific restrictions here, and it can be determined according to the actual traffic rules and road conditions. For example, if the motor vehicle lane in the same direction is to the left of the non-motor vehicle lane in the same direction, then the target wheel can be the right wheel; if the motor vehicle lane in the same direction is to the right of the non-motor vehicle lane in the same direction, then the target wheel can be the left wheel.

[0089] The longitudinal axis of the target wheel can be the longitudinal axis of the body line on one side of the target wheel. The longitudinal axis is a straight line formed by multiple points in the external image where the horizontal coordinate has a single value and the vertical coordinate has multiple different values. For the longitudinal axis of the target wheel, it is a straight line formed by multiple points where the horizontal coordinate is the horizontal coordinate of the center point of the target wheel and the vertical coordinate can have multiple different values.

[0090] For example, if the target wheel is the left wheel, the longitudinal axis can be the longitudinal axis where the left side of the vehicle body line is located; if the target wheel is the right wheel, the longitudinal axis can be the longitudinal axis where the right side of the vehicle body line is located. Here, the vehicle body line refers to the boundary line of the vehicle body corresponding to the on-board terminal.

[0091] In one embodiment, the longitudinal axis can be determined based on the target wheel. Taking the target wheel as the right wheel as an example, for instance, the center points of the front and rear right wheels are determined, and the straight line segment connecting the two center points is the longitudinal axis.

[0092] In another embodiment, the longitudinal axis can also be determined based on the car door. Taking the target wheel as the right wheel as an example, the straight line where any right car door is closed can be used as the longitudinal axis.

[0093] It should be noted that the direction away from the vehicle terminal can be either the left or right side of the longitudinal axis. For example, if the target wheel is the left wheel, the direction away from the vehicle terminal can be the left side of the longitudinal axis; if the target wheel is the right wheel, the direction away from the vehicle terminal can be the right side of the longitudinal axis.

[0094] Optionally, the preset area can be the entire area extending away from the vehicle terminal from the longitudinal axis of the target wheel of the vehicle terminal, or it can be a part of that area. There are no specific restrictions here, and it can be set according to actual needs.

[0095] The safety alert method provided in this application embodiment can determine whether a target object exists in a preset area of ​​the vehicle exterior image. The preset area includes the area extending away from the vehicle terminal from the longitudinal axis of the target wheel. By dividing the image into preset areas, target objects in specific areas can be detected in a targeted manner, thus avoiding the need to detect all areas in the vehicle exterior image, improving detection efficiency. Furthermore, areas that do not require alerts do not need to be included in the preset area, further improving the accuracy and effectiveness of target object detection.

[0096] The following explains in detail three feasible implementation methods for dividing the preset region in the embodiments of this application: In one embodiment, the preset region specifically includes any one of preset region 1, preset region 2, or preset region 3. Preset area 1: The area extending from the longitudinal axis away from the first target in the direction of the vehicle terminal.

[0097] Preset area 2: The area extending from the first axis segment on the longitudinal axis away from the first target length in the direction of the vehicle terminal.

[0098] Preset area 3: The area extending away from the first target length in the direction of the vehicle terminal, starting from the second axis segment on the longitudinal axis.

[0099] It should be noted that the first target length can be a preset length, and no specific restrictions are imposed here. The first target length can be a length in the external image of the vehicle.

[0100] For the preset region 1, it can be the entire region extending from the longitudinal axis away from the first target length in the direction of the vehicle terminal, such as... Figure 4 As shown.

[0101] Figure 4 This is a schematic diagram of one of the preset areas in the vehicle exterior image provided in the embodiments of this application. Please refer to... Figure 4 , Figure 4 The dashed line in the diagram represents the longitudinal axis. Figure 4 The target wheel shown is the right wheel, but in actual implementation, it can also be the left wheel; no specific restriction is made here.

[0102] Please refer to Figure 4 The entire area within the length of the first target on the right side of the longitudinal axis can be used as the preset area.

[0103] It should be noted that if the target wheel is the left wheel, then the entire area within the first target length distance to the left of the longitudinal axis can be used as the preset area.

[0104] For the preset region 2, it can be the entire region extending from the first segment of the longitudinal axis away from the first target length in the direction of the vehicle terminal, such as... Figure 5 As shown.

[0105] Figure 5 This is another schematic diagram of a preset area in the vehicle exterior image provided in the embodiments of this application. Please refer to... Figure 5 The first axis segment is any axis segment on the longitudinal axis. Figure 5 The dashed line in the diagram represents the longitudinal axis, and the thickened solid line on the longitudinal axis represents the first axis segment. Figure 5 The target wheel shown is the right wheel, but in actual implementation, it can also be the left wheel; no specific restriction is made here.

[0106] Please refer to Figure 5 The entire area within the first target length distance to the right of the first axis segment can be used as the preset area.

[0107] It should be noted that if the target wheel is the left wheel, then the entire area within the first target length distance on the left side of the first axle segment can be used as the preset area.

[0108] For the preset region 3, it can be the entire region extending from the second axis segment of the longitudinal axis away from the first target length in the direction of the vehicle terminal, such as... Figure 6 As shown.

[0109] Figure 6 This is another schematic diagram of a preset area in the vehicle exterior image provided in the embodiments of this application. Please refer to... Figure 6 The second axis segment is a specific axis segment. Figure 6 The dashed line in the diagram represents the longitudinal axis, and the thickened solid line on the longitudinal axis represents the second axis segment. Figure 6 The target wheel shown is the right wheel, but in actual implementation, it can also be the left wheel; no specific restriction is made here.

[0110] Please refer to Figure 6 The entire area within the length of the first target on the right side of the second axis segment can be used as the preset area.

[0111] It should be noted that if the target wheel is the left wheel, then the entire area of ​​the first target length distance on the left side of the second axle segment can be used as the preset area.

[0112] The second axis segment includes: an axis segment on the longitudinal axis that at least partially overlaps with the illumination range of the vehicle's headlights on the vehicle terminal.

[0113] Figure 6 The triangular area shown is the illumination range of the vehicle's headlights from the onboard terminal. Figure 6The triangle in this text refers to the illumination range of the headlights, but it does not mean that the illumination range of the headlights can only be triangular. It can also be a fan shape or other shapes. There are no specific restrictions here, and the corresponding settings can be made according to the actual structure of the headlights.

[0114] It should be noted that the first target length can be set based on experience, such as 2 meters, and no specific limit is set here.

[0115] In actual implementation, the preset area can be adopted. Figures 4-6 You can set it in any of the following ways; there are no specific restrictions here.

[0116] In the safety reminder method provided in this application embodiment, the preset area can be any one of the following three types of areas: an area extending away from the first target length in the direction of the vehicle terminal from the longitudinal axis; an area extending away from the first target length in the direction of the vehicle terminal from the first axis segment on the longitudinal axis; or an area extending away from the first target length in the direction of the vehicle terminal from the second axis segment on the longitudinal axis. Different methods can be used to determine the preset area, allowing for the selection of an appropriate method to divide the area according to different vehicle types. This enables the adoption of a more suitable method for determining the preset area for different types of vehicles, thereby improving the accuracy of determining whether a prompt image needs to be projected.

[0117] The following will explain in detail the preset area. Figure 6 The process of determining the second axis segment in the case of the area shown.

[0118] In one embodiment, when the preset area is the area within a target length distance away from the vehicle terminal direction starting from the second axis segment on the longitudinal axis, the step of determining the second axis segment includes: A first target point is determined on the vehicle terminal; a second target point is determined on the longitudinal axis; wherein the longitudinal coordinate of the second target point is obtained by adding the longitudinal coordinate of the first target point to a first preset longitudinal length; the first preset longitudinal length is determined based on the length of the illumination range of the vehicle terminal's headlights; and the second axis segment is determined based on the line segment on the longitudinal axis that passes through the second target point and has a second preset longitudinal length.

[0119] To more clearly explain the process of determining the second axis segment, please refer to the reference. Figure 6 and Figure 7 : Figure 7 For a schematic diagram showing the position of the second axis segment in the vehicle exterior image provided in this embodiment, please refer to... Figure 7 , Figure 7 This includes the first target point and the second target point.

[0120] It should be noted that the first target point can be the intersection of the longitudinal axis and the transverse axis.

[0121] The horizontal axis is the horizontal axis in the two-dimensional coordinate system of the image outside the vehicle. The coordinates of the first target point can be (a, 0), where a is the horizontal coordinate of the vertical axis.

[0122] The second target point can be a point on the longitudinal axis above the first target point, and the coordinates of the second target point are (a, L1), where L1 is the first preset longitudinal length; wherein, the second target point falls within the illumination range of the vehicle terminal's headlights, that is, between the left and right boundary lines of the headlight illumination range.

[0123] Accordingly, the second axis segment can be determined: In one embodiment, the second axis segment can be a line segment with the second target point as its endpoint; in this case, it is... Figure 7 In one case shown in neutron diagram (a), the first endpoint of the second axis segment is the second target point (a, L1), and the other endpoint is a point on the longitudinal axis that is a distance of a second preset longitudinal length from the second target point. The coordinates of this point are (a, L1+L2), where L2 is the second preset longitudinal length.

[0124] In other words, the second axis segment is... Figure 7 The neutron graph (a) shows the thickened solid line segment on the vertical axis (dashed line). The coordinates of the upper endpoint are (a, L1+L2), and the coordinates of the lower endpoint, which is also the second target point, are (a, L1).

[0125] In another embodiment, the second axis segment can also be a line segment passing through the second target point; in this case, it is... Figure 7 In one case shown in neutron diagram (b), the lower endpoint of the second axis segment can be (a, b), and the upper endpoint of the second axis segment can be (a, b+L2), where b≤L1≤b+L2.

[0126] In other words, the second axis segment is... Figure 7 The neutron graph (b) is represented by a thickened solid line segment on the vertical axis (dashed line). The coordinates of the upper endpoint are (a, b+L2), and the coordinates of the lower endpoint are (a, b). The second target point can be located between these two endpoints.

[0127] get Figure 7 After the second axis segment shown in subgraph (a) or subgraph (b), a preset region can be determined based on the second axis segment and the length of the first target.

[0128] Example: The preset area can be a rectangular area with a horizontal length of 2 meters and a vertical length of 8 meters. The parallel side of this rectangular area closest to the vehicle terminal can be located 14 meters in front of the vehicle terminal.

[0129] In the safety alert method provided in this application embodiment, a first target point on the vehicle terminal can be determined; a second target point on the longitudinal axis can be determined; wherein, the ordinate of the second target point is obtained by adding the ordinate of the first target point to a first preset longitudinal length; the first preset longitudinal length is determined based on the length of the illumination range of the vehicle terminal's headlights; and a line segment on the longitudinal axis passing through the second target point and the second preset longitudinal length is determined as the second axis segment. Through the above method, the two endpoints of the second axis segment can be quickly and accurately determined, thereby determining the position of the second axis segment. Based on this position, the range of the preset area can be accurately determined, improving the accuracy and applicability of target object detection.

[0130] The preset area can be determined by the above method. Before projecting the prompt image, it is also necessary to determine the location of the prompt area and then project the prompt image within the prompt area.

[0131] In one embodiment, the prompting region is a region determined based on the location of the target object and the distance from the target object to a second target length.

[0132] The prompt area can be located anywhere on the target object, such as in front of the target object, to the left of the target object, to the right of the target object, etc., without any specific restrictions.

[0133] The prompt area can be a second target length from the target object. This second target length can be the distance from any boundary of the prompt area to the target object, or it can be the distance from the center point of the prompt area to the target object. There are no specific restrictions here, and it can be set according to actual needs. For example, the second target length can be 3 meters.

[0134] Figure 8 This is a schematic diagram showing the location of the prompt area provided in the embodiments of this application. Please refer to... Figure 8 The indicated area includes the area within the illumination range of the vehicle's headlights and located directly in front of, to the side of, or to the side-front of the target object.

[0135] Figure 8 In the neutron map (c), the indicated area is the side region of the target object within the illumination range of the vehicle's headlights; Figure 8 In the neutron map (d), the indicated area is the area directly in front of the target object within the illumination range of the vehicle's headlights; Figure 8 In the neutron map (e), the indicated area is the side-front region of the target object within the illumination range of the vehicle's headlights.

[0136] It should be noted that, Figure 8 In subplots (a), (b), and (c), the hint region is within the field of view of the target object and is represented by a black rectangle.

[0137] In the scenario of sub-image (a), the prompt area can be on one side of the target object, such as the left side, or it can be parallel to the target object. For example, the vertical coordinate of the center point of the prompt area can be the same as the vertical coordinate of the center point of the target object. In this case, it can be ensured that the target object can observe the prompt area within the field of view, thereby realizing the reminder to the target object.

[0138] For the scenario in sub-image (b), the prompt area is directly in front of the target object. For example, the ordinate of the center point of the prompt area can be greater than the ordinate of the center point of the target object. In this case, it can also be ensured that the target object can observe the prompt area within the field of view, thereby achieving the goal of reminding the target object.

[0139] For the scenario in sub-image (c), the cue area is located to the side and in front of the target object. For example, if the cue area is located at the upper left corner of the target object, it can ensure that the target object can observe the cue area within the field of view, thereby providing a reminder to the target object.

[0140] In the safety alert method provided in this application embodiment, the alert area is a region determined based on the location of the target object and the distance from the target object to a second target length. The alert area may include a region within the illumination range of the vehicle terminal's headlights and located directly in front of, to the side of, or to the side-front of the target object. By setting up the alert area in various types, it can be ensured that the target object can observe the alert area, thereby increasing the likelihood that the alert content will be observed by the target object by projecting an alert image into the alert area.

[0141] In practice, a specific scheme can be used to determine the range of the prompt area in the external image.

[0142] Figure 9 This is another schematic diagram of the location of the prompt area provided in the embodiments of this application. Please refer to... Figure 9 When the prompt area is within the illumination range of the vehicle's headlights and located to the side of the target object, the prompt area includes: an area determined based on the third target point and containing the third target point.

[0143] The third target point is the intersection of the longitudinal axis of the target wheel of the vehicle terminal and the horizontal axis parallel line passing through the center point of the target object.

[0144] The coordinates of the third target point can be, for example, (a, c), where the ordinate of the center point of the target object can also be c.

[0145] Please refer to Figure 9 The prompt area can be any area containing the third target point. For example, it can be a rectangular area. The horizontal length of the rectangle can be a custom length, such as 0.5 meters. The vertical length of the rectangle can be a custom length that is less than the length of the second axis segment. No specific restrictions are imposed here.

[0146] For example, the prompt area can be a rectangular area with a horizontal length of 0.5 meters and a vertical length of 3 meters. The parallel side of this rectangular area closest to the vehicle terminal can be located 12.5 meters in front of the front of the vehicle corresponding to the vehicle terminal.

[0147] In the safety alert method provided in this application embodiment, the alert area includes a region determined based on and containing a third target point. The third target point is the intersection of the longitudinal axis of the target wheel of the vehicle terminal and a horizontal axis parallel to the center point of the target object. The alert area determined in this manner ensures that it is within the target object's field of view, and that the target object can see the alert image when it is projected into this area, thus improving vehicle driving safety.

[0148] The following explains one possible implementation process for obtaining the prompt image provided in the embodiments of this application.

[0149] Figure 10 This is a schematic diagram of the process for obtaining the prompt image provided in the embodiments of this application. Please refer to... Figure 10 Obtain the prompt image for the target object, including: S1010: Obtain the motion direction information of the target object.

[0150] The direction of motion information includes: in the same direction as the vehicle terminal and in the opposite direction to the vehicle terminal.

[0151] It should be noted that the direction of the vehicle terminal is the same as the direction of vehicle travel. If the vehicle is traveling in the target direction and the target object is also moving in the target direction, then the direction of movement of the target object can be determined to be the same as that of the vehicle terminal. If the vehicle is traveling in the target direction and the target object is moving in the opposite direction to the target direction, then the direction of movement of the target object can be determined to be the opposite of that of the vehicle terminal.

[0152] Among them, the movement direction information of the target object can be determined by facial recognition analysis of the images captured by the vehicle-mounted camera. For example, if the target object's face is facing the vehicle-mounted terminal, it can be determined that it is in the opposite direction to the vehicle-mounted terminal; if the target object's face is facing away from the vehicle-mounted terminal, it can be determined that it is in the same direction as the vehicle-mounted terminal.

[0153] In addition to determining the direction of movement of the target object by its orientation, the direction of movement of the target object can also be determined by its movement over a period of time. For example, the relative position of the target object and the vehicle terminal in the external image obtained from two consecutive frames, as well as the speed of the vehicle terminal, can be used to calculate the speed of the target object, thereby determining whether the target object is moving towards or away from the vehicle terminal.

[0154] S1020: When the target object and the vehicle terminal are facing the same direction, generate a prompt image for the target object.

[0155] It should be noted that when the target object and the vehicle terminal are facing the same direction, a prompt image for the target object can be generated; conversely, when the target object and the vehicle terminal are facing opposite directions, a prompt image for the target object may not be generated.

[0156] If the target object is facing the same direction as the vehicle terminal, it means that the target object is in front of the vehicle terminal and facing away from the vehicle terminal. Therefore, it may not have observed the vehicle corresponding to the vehicle terminal, so a prompt image needs to be generated to remind the target object. If the target object is facing away from the vehicle terminal, it means that the target object is in front of the vehicle terminal and facing the vehicle terminal. Therefore, the target object can observe the vehicle corresponding to the vehicle terminal, so a prompt image does not need to be generated to remind the target object.

[0157] The safety alert method provided in this application embodiment can obtain the movement direction information of the target object; when the target object and the vehicle terminal are moving in the same direction, a prompt image for the target object is generated. By determining whether the target object and the vehicle terminal are moving in the same direction, it avoids alerting the target object when they are moving in opposite directions, thus saving power consumption of the vehicle terminal and preventing ineffective alerts to the target object.

[0158] The following explains another feasible implementation process for obtaining the prompt image provided in the embodiments of this application.

[0159] In one embodiment, when the external image of the vehicle includes a target object, obtaining a prompt image for the target object includes: when the external image of the vehicle includes a target object and the speed of the vehicle terminal is within the target speed range, obtaining a prompt image for the target object.

[0160] It should be noted that before acquiring the prompt image for the target object, the vehicle's speed information can also be acquired. If the vehicle's speed is within the target speed range, it can be determined that the current vehicle speed is suitable for projecting the prompt image, and a prompt image for the target object can be acquired. If the vehicle's speed is not within the target speed range, it can be determined that the current vehicle speed is not suitable for projecting the prompt image, and a prompt image for the target object can be omitted.

[0161] It should be noted that the target speed range can be a speed range set according to actual needs, such as 1km / h-40km / h. If the speed is less than the minimum speed of the target speed range, it can be determined that the vehicle corresponding to the vehicle terminal is traveling at a slow speed and there is no risk of collision, so no prompt is needed. If the speed is greater than the maximum speed of the target speed range, it can be determined that the vehicle corresponding to the vehicle terminal is traveling at a fast speed. In this case, the prompt image may not be able to be projected onto the prompt area in time, and the target object may not be able to react in time. In other words, it is not suitable to prompt the target object.

[0162] During the process of acquiring the prompt image for the target object, it is possible to simultaneously determine whether the target object is included in the external image and the speed of the vehicle terminal. If both conditions are met, the prompt image can be acquired; otherwise, the prompt image can be omitted.

[0163] The safety alert method provided in this application embodiment can acquire a prompt image for the target object when the external image includes the target object and the speed of the vehicle terminal is within the target speed range. By determining the speed of the vehicle terminal, it is possible to avoid alerting the target object when the speed is too fast or too slow, thereby saving the power consumption of the vehicle terminal and avoiding ineffective alerts to the target object.

[0164] The foregoing has already explained that the vehicle terminal can project prompt images by controlling the vehicle lights. The following section will explain in detail the process of implementing prompt image projection.

[0165] In one embodiment, projecting a prompt image onto a prompt area corresponding to a target object includes: determining, based on the location of the prompt area, multiple light-emitting units associated with the vehicle lights of the vehicle terminal when projecting the prompt image; and projecting the prompt image onto the prompt area through the multiple light-emitting units.

[0166] It should be noted that the headlights are digital light processing (DLP) headlights.

[0167] The light-emitting unit can be, for example, a pixel on a DLP car headlight.

[0168] Optionally, the core of DLP technology is the aforementioned DMD chip, which contains millions (e.g., 1.3 million, 2 million, or even more) tiny, independently controllable reflective mirrors. Each reflective mirror corresponds to a pixel. When the terminal device decides to project the prompt image onto the prompt area on the ground, it first needs to know the spatial coordinates of the prompt area relative to the light path and angle of the vehicle's headlights. An algorithm can be used to reverse-map the position of this physical area onto the coordinate system of the DMD chip. This process determines which specific area of ​​the DMD chip's micromirrors needs to operate to cover the prompt area. This method allows for the identification of the corresponding multiple light-emitting units.

[0169] Once the light-emitting units are determined, image data signals can be sent to the DMD chip to control each unit at high speed. Each micromirror can switch between two states thousands or even tens of thousands of times per second. By precisely controlling the time ratio of a pixel switching between the "on" and "off" states, the brightness of that pixel can be controlled. Combined with a color wheel or RGB three-color light source, a color image can be synthesized.

[0170] All selected light-emitting units work in concert, oscillating synchronously at high speed according to the image content. The precisely modulated light reflected from them is focused by the projection lens, clearly reconstructing the prompt image on the pre-calculated prompt area. Unselected pixels are not displayed to avoid light pollution.

[0171] There can be one or more headlights.

[0172] A single DLP headlight can perform the projection task independently. Using multiple DLP headlights (such as coordinating left and right headlights, or using an additional dedicated projection module) allows for more complex functions, covering a wider ground area. Projecting multiple lights onto the same area can also increase brightness or resolution. Furthermore, projecting from different angles makes the image appear three-dimensional to the target object.

[0173] The implementation process of this solution will be explained below for the case of a single headlight and the case of dual headlights.

[0174] Figure 11 This is a schematic diagram of a single vehicle headlight projection provided in an embodiment of this application. Please refer to... Figure 11 For a single headlight solution, which is the process explained in the previous steps, the location of the prompt area can be determined, and multiple light-emitting units corresponding to the prompt area can be determined through preset coordinate transformation rules. The prompt image is then projected onto the prompt area through the multiple light-emitting units.

[0175] The prompt image is projected onto the prompt area by a single headlight.

[0176] Figure 12For a schematic diagram of the dual headlight projection provided in the embodiments of this application, please refer to... Figure 12 For the dual-headlight solution, the location of the warning area can be determined, and it can be determined whether the warning area can be projected by one headlight or by both headlights together.

[0177] During the process of determining the warning area, since dual headlights will increase the illumination range of the headlights, the selectable range of the warning area can also be increased. Correspondingly, the range enclosed by the left and right boundary lines of the headlight illumination range also increases, thus allowing the warning area to be determined in a larger area. The determination method is the same as the steps mentioned above, and will not be repeated here.

[0178] After determining the warning area using the above method, since the illumination ranges of the two headlights are not the same, it can be determined whether the warning area is within the illumination range of either headlight when it is operating independently. In this case, the following two situations may occur: Scenario 1: The entire warning area is within the illumination range of one headlight but not within the illumination range of the other headlight.

[0179] Scenario 2: At least part of the warning area is within the illumination range of one headlight, and at least part of the warning area is within the illumination range of the other headlight. Scenario 2 includes cases where the entire warning area is within the illumination range of both headlights.

[0180] In case 1, during the projection of the prompt image, a car light that can project the entire prompt area can be selected as the target car light, and the projection is carried out using the target car light, while the other car light is not working.

[0181] In scenario 2, during the projection of the prompt image, both headlights can be used for projection, with one headlight projecting a portion of the prompt image and the other headlight projecting the remaining portion. After determining the target headlights, multiple light-emitting units corresponding to all or part of the prompt area to be projected for each headlight can be determined through preset coordinate transformation rules. The prompt image is then projected onto the prompt area through multiple light-emitting units.

[0182] The prompt image is projected onto the prompt area by at least one of the two headlights.

[0183] In the safety reminder method provided in this application embodiment, multiple light-emitting units associated with the vehicle lights of the vehicle terminal can be determined according to the location of the reminder area when projecting the reminder image; the reminder image is projected onto the reminder area through multiple light-emitting units. Multiple light-emitting units corresponding to the reminder area can be accurately determined through a preset coordinate transformation rule, and thus the reminder image can be accurately projected onto the target area through the light-emitting units. This method is applicable to vehicles with a single headlight or vehicles with multiple headlights, without specific limitations.

[0184] To ensure that the target object can be observed, the prompt image can be highlighted. Various methods can be used to achieve this highlighting.

[0185] For example, setting dynamic tooltips, using tooltips with specific colors, etc.

[0186] For dynamic prompt images, multiple image frames can be set for the prompt image, and adjacent image frames can display different content to achieve a dynamic effect. In addition, the prompt image can be highlighted through special display methods.

[0187] Example: Add a blinking border, flowing texture, or dashed line effect to the cue image to make it stand out.

[0188] Highlight the cue image by using a brighter color, such as red.

[0189] It should be noted that different levels of prompts can be set for different usage scenarios, and different colors can be used for different prompt levels.

[0190] The prompt image may include at least one of the following: text, icon, or monochrome block.

[0191] It should be noted that the text can be in any language, without specific restrictions. For example, it can be in Chinese characters to indicate "safety wall", "safety line" or "do not cross the line".

[0192] The icon can be any graphic or shape, without specific restrictions. For example, a prohibition icon can be used to provide a prompt.

[0193] Monochrome blocks can be blocks composed of a single color, such as white blocks, yellow blocks, or red blocks.

[0194] In one embodiment, the display parameters of the prompt image are associated with at least one of the following: the distance between the target object and the vehicle terminal; and weather visibility.

[0195] The display parameters can refer to color, brightness, etc., and there are no specific restrictions. One or more display parameters can be adjusted according to the actual situation. The following explanation uses color adjustment as an example: For example, if the distance between the target object and the vehicle terminal is greater than or equal to the target threshold, a lighter color such as white or yellow can be set as the color of the prompt image; if the distance between the target object and the vehicle terminal is less than the target threshold, a lighter color such as red can be set as the color of the prompt image.

[0196] For example, if the current weather visibility is greater than or equal to the visibility threshold, a lighter color such as white or yellow can be set as the color of the prompt image; if the current weather visibility is less than the visibility threshold, a lighter color such as red can be set as the color of the prompt image.

[0197] It should be noted that the distance between the target object and the vehicle terminal, as well as the weather visibility, are optional conditions. In actual implementation, other conditions can be set to adjust the warning level, thereby adjusting the color of the warning image.

[0198] In one embodiment, in addition to using a prompting image, voice prompts can also be made through the in-vehicle and out-of-vehicle speakers of the vehicle terminal. The driver of the vehicle corresponding to the vehicle terminal can be prompted to pay attention to the road ahead through the in-vehicle speakers, and the target object can be prompted to pay attention to the prompting image through the out-of-vehicle speakers. The function of the prompting image can also be explained.

[0199] For example: one side of the prompt image is safe, and the other side is unsafe.

[0200] In the safety alert method provided in this embodiment, the display parameters of the alert image can be set to be associated with at least one of the following: the distance between the target object and the vehicle terminal; and weather visibility. By adjusting the display parameters of the alert image, different colors can be used to indicate the importance of the alert, thereby achieving a graded alert effect. For safety issues of different urgency levels, corresponding alert methods and appropriate colors can be used for alerting.

[0201] In this embodiment of the application, if the target object leaves the preset area, the projection of the prompt image can be stopped.

[0202] It should be noted that the position of the prompt area can be calculated at a preset frequency. The position of the prompt area can be recalculated each time, and the prompt image can be projected according to the new position of the prompt area. This can achieve the effect of the prompt image following the target object, thereby improving the real-time performance of safety prompts for the target object.

[0203] It should be understood that although the steps in the above flowcharts are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the above flowcharts may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0204] Based on the foregoing embodiments, this application provides a safety reminder device, which includes various modules and units included in each module, and can be implemented by a processor; of course, it can also be implemented by specific logic circuits; in the implementation process, the processor can be a central processing unit (CPU), microprocessor (MPU), digital signal processor (DSP) or field programmable gate array (FPGA), etc.

[0205] Figure 13 This is a schematic diagram of the safety reminder device provided in the embodiments of this application. Please refer to... Figure 13 In another aspect of the embodiments of this application, a safety reminder device is also provided, which is applied to an in-vehicle terminal. The device includes: a first image acquisition module 1310, a second image acquisition module 1320, and a projection module 1330. The first image acquisition module 1310 is used to acquire images of the exterior of the vehicle. The second image acquisition module 1320 is used to acquire a prompt image for the target object when the image outside the vehicle includes the target object. The projection module 1330 is used to project a prompt image onto the prompt area corresponding to the target object, and the prompt area is within the field of view of the target object.

[0206] In one embodiment, the exterior image of the device is an overhead view including the vehicle and its surrounding environment.

[0207] In one embodiment, the second image acquisition module 1320 is further configured to determine whether a target object exists in a preset area of ​​the external image; wherein the preset area includes: an area away from the vehicle terminal from the longitudinal axis of the target wheel of the vehicle terminal; wherein the target wheel is the left wheel and / or the right wheel.

[0208] In one embodiment, the preset area in the device specifically includes one of the following areas: an area extending away from the vehicle terminal in a first target length distance from the longitudinal axis; an area extending away from the vehicle terminal in a first target length distance from the first axis segment on the longitudinal axis; and an area extending away from the vehicle terminal in a first target length distance from the second axis segment on the longitudinal axis; wherein the target wheel is the left wheel and / or the right wheel; the first axis segment is any axis segment on the longitudinal axis; and the second axis segment includes: an axis segment on the longitudinal axis that at least partially overlaps with the illumination range of the vehicle terminal's headlights.

[0209] In one embodiment, when the preset area is the area within a target length distance away from the vehicle terminal starting from the second axis segment on the longitudinal axis, the second image acquisition module 1320 is further configured to determine a first target point on the vehicle terminal; determine a second target point on the longitudinal axis; wherein the ordinate of the second target point is obtained by adding the ordinate of the first target point to a first preset longitudinal length; the first preset longitudinal length is determined based on the length of the illumination range of the vehicle terminal's headlights; and the second axis segment is determined based on the line segment on the longitudinal axis that passes through the second target point and has a second preset longitudinal length.

[0210] In one embodiment, the prompting area is a region determined based on the location of the target object and the distance from the target object to a second target length.

[0211] In one embodiment, the notification area includes an area within the illumination range of the vehicle terminal's headlights, located directly in front of, to the side of, or to the side-front of the target object.

[0212] In one embodiment, the notification area in the device includes: an area determined based on a third target point and containing the third target point; wherein the third target point is: the intersection point where the longitudinal axis of the target wheel of the vehicle terminal intersects with a line parallel to the transverse axis passing through the target object.

[0213] In one embodiment, the second image acquisition module 1320 is further configured to acquire motion direction information of the target object; the motion direction information includes: in the same direction as the vehicle terminal and in the opposite direction to the vehicle terminal; when the target object is in the same direction as the vehicle terminal, a prompt image for the target object is generated.

[0214] In one embodiment, the second image acquisition module 1320 is further configured to acquire a prompt image for the target object when the external image includes a target object and the speed of the vehicle terminal is within the target speed range.

[0215] In one embodiment, the projection module 1330 is specifically used to determine, based on the location of the prompt area, multiple light-emitting units associated with the vehicle lights of the vehicle terminal when projecting the prompt image; and to project the prompt image onto the prompt area through the multiple light-emitting units; wherein, the vehicle lights are one or more.

[0216] In one embodiment, the device includes at least one of the following in the prompt image: text, icon, monochrome block; the display parameters of the prompt image are associated with at least one of the following: the distance between the target object and the vehicle terminal; weather visibility.

[0217] The safety alert device provided in this application embodiment can acquire images outside the vehicle; if the images outside the vehicle include a target object, it acquires a prompt image for the target object; and projects the prompt image onto a prompt area corresponding to the target object, the prompt area being within the target object's field of view. By projecting the prompt image into the prompt area, the target object can notice the prompt image within its field of view, thereby alerting it to the presence of a vehicle behind it. This allows for safety alerts to the target object before the vehicle approaches, improving vehicle driving safety and the safety of the target object while walking, ultimately achieving safe driving.

[0218] The description of the above device embodiments is similar to that of the above method embodiments, and has similar beneficial effects. For technical details not disclosed in the device embodiments of this application, please refer to the description of the method embodiments of this application for understanding.

[0219] It should be noted that, in the embodiments of this application... Figure 13 The module division of the safety reminder device shown is illustrative and represents only one logical functional division; in actual implementation, other division methods may be used. Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, exist as separate physical units, or be integrated into one unit by two or more units. The integrated units can be implemented in hardware, as software functional units, or a combination of both.

[0220] It should be noted that, in the embodiments of this application, if the above-described methods are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, or the parts that contribute to related technologies, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause an electronic device to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), magnetic disks, or optical disks. Thus, the embodiments of this application are not limited to any specific hardware and software combination.

[0221] Figure 14 This is a schematic diagram of the structure of the vehicle-mounted terminal provided in the embodiments of this application. Please refer to... Figure 14 This application provides a vehicle-mounted terminal, the internal structure of which can be shown in the following diagram. Figure 14 As shown, the vehicle-mounted terminal includes a processor 1420, a memory, and a network interface 1440 connected via a system bus 1410. The processor 1420 provides computing and control capabilities. The memory includes a non-volatile storage medium 1431 and internal memory 1432. The non-volatile storage medium 1431 stores the operating system, computer programs, and a database. The internal memory 1432 provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium 1431. The database is used to store data. The network interface 1440 is used to communicate with external terminals via a network connection. When the computer program is executed by the processor 1420, it implements the aforementioned methods.

[0222] This application provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the method provided in the above embodiments.

[0223] This application provides a computer program product containing instructions that, when run on a computer, cause the computer to perform the steps in the method provided in the above-described method embodiments.

[0224] Those skilled in the art will understand that Figure 14 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0225] In one embodiment, the security alert device provided in this application can be implemented as a computer program, which can be implemented in the form of, for example... Figure 14 The device operates on the computer device shown. The memory of the computer device can store the various program modules that make up the above-described apparatus. The computer program, composed of the various program modules, causes the processor to execute the steps of the methods in the various embodiments of this application described in this specification.

[0226] It should be noted that the descriptions of the storage medium and device embodiments above are similar to the descriptions of the method embodiments above, and have similar beneficial effects. For technical details not disclosed in the storage medium, storage medium, and device embodiments of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0227] It should be understood that the phrases "one embodiment," "an embodiment," or "some embodiments" mentioned throughout the specification mean that a specific feature, structure, or characteristic related to an embodiment is included in at least one embodiment of this application. Therefore, "in one embodiment," "in one embodiment," or "in some embodiments" appearing throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of this application, the sequence numbers of the above-described processes do not imply a sequential order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. The sequence numbers of the above-described embodiments are merely for descriptive purposes and do not represent the superiority or inferiority of the embodiments. The descriptions of the various embodiments above tend to emphasize the differences between the various embodiments; their similarities or commonalities can be referred to mutually, and for the sake of brevity, they will not be repeated here.

[0228] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that there can be three kinds of relationships. For example, object A and / or object B can represent three situations: object A exists alone, object A and object B exist simultaneously, and object B exists alone.

[0229] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0230] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple modules or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or modules can be electrical, mechanical, or other forms.

[0231] The modules described above as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules. They may be located in one place or distributed across multiple network units. Some or all of the modules may be selected to achieve the purpose of this embodiment according to actual needs.

[0232] In addition, each functional module in the various embodiments of this application can be integrated into one processing unit, or each module can be a separate unit, or two or more modules can be integrated into one unit; the integrated modules can be implemented in hardware or in the form of hardware plus software functional units.

[0233] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, read-only memory (ROM), magnetic disks, or optical disks.

[0234] Alternatively, if the integrated units described above are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, or the parts that contribute to related technologies, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause an electronic device to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0235] The methods disclosed in the several method embodiments provided in this application can be arbitrarily combined without conflict to obtain new method embodiments.

[0236] The features disclosed in the several product embodiments provided in this application can be arbitrarily combined without conflict to obtain new product embodiments.

[0237] The features disclosed in the several method or device embodiments provided in this application can be arbitrarily combined without conflict to obtain new method or device embodiments.

[0238] The above description is merely an embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A safety reminder method, characterized in that, Applied to vehicle-mounted terminals, the method includes: Acquire images of the vehicle exterior; If the exterior image of the vehicle includes a target object, obtain a prompt image for the target object; The prompt image is projected onto the prompt area corresponding to the target object, and the prompt area is within the field of view of the target object; Before obtaining a prompt image for the target object if the exterior image includes the target object, the method further includes: Determine whether a target object exists in a preset area of ​​the vehicle exterior image; The preset area includes: the area extending away from the vehicle terminal from the longitudinal axis of the target wheel of the vehicle terminal; Wherein, the target wheel is the left wheel and / or the right wheel; The preset area specifically includes one of the following areas: The region extending from the longitudinal axis away from the first target length distance in the direction of the vehicle terminal; The region extending from the first axis segment on the longitudinal axis away from the first target length distance in the direction of the vehicle terminal; The region extending from the second axis segment on the longitudinal axis away from the first target length distance in the direction of the vehicle terminal; The first axial segment can be any axial segment on the longitudinal axis; The second axis segment includes: an axis segment on the longitudinal axis that at least partially overlaps with the illumination range of the vehicle-mounted terminal's headlights.

2. The method according to claim 1, characterized in that, When the preset area is the area extending away from the first target length in the direction of the vehicle terminal from the second axis segment on the longitudinal axis, the step of determining the second axis segment includes: Determine the first target point on the vehicle terminal; A second target point is determined on the longitudinal axis; wherein the longitudinal coordinate of the second target point is obtained by adding the longitudinal coordinate of the first target point to a first preset longitudinal length; the first preset longitudinal length is determined based on the length of the illumination range of the vehicle's headlights. The second axis segment is determined based on the line segment of the second preset longitudinal length that passes through the second target point on the longitudinal axis.

3. The method according to claim 1, characterized in that, The prompt area is determined based on the location of the target object and is the area at a distance of the second target length from the target object.

4. The method according to claim 1, characterized in that, The notification area includes the area within the illumination range of the vehicle's headlights and located directly in front of, to the side of, or to the side-front of the target object.

5. The method according to claim 4, characterized in that, When the prompting area is within the illumination range of the vehicle's headlights and located to the side of the target object, the prompting area includes: an area determined based on a third target point and containing the third target point; The third target point is the intersection of the longitudinal axis of the target wheel of the vehicle terminal and the parallel line passing through the transverse axis of the target object.

6. The method according to claim 1, characterized in that, The step of obtaining the prompt image for the target object includes: Obtain the motion direction information of the target object; the motion direction information includes: in the same direction as the vehicle terminal and in the opposite direction to the vehicle terminal; When the target object and the vehicle terminal are facing the same direction, a prompt image is generated for the target object.

7. The method according to claim 1, characterized in that, If the exterior image includes a target object, obtaining a prompt image for the target object includes: If the external image of the vehicle includes a target object and the speed of the vehicle terminal is within the target speed range, a prompt image for the target object is obtained.

8. The method according to claim 1, characterized in that, Projecting the prompt image onto the prompt area corresponding to the target object includes: Based on the location of the prompt area, determine the multiple light-emitting units associated with the vehicle lights of the vehicle terminal when the prompt image is projected; The prompt image is projected onto the prompt area through the plurality of light-emitting units; The vehicle lights may be one or more.

9. The method according to claim 1, characterized in that, The prompt image contains at least one of the following: text, icon, or monochrome block; The display parameters of the prompt image are associated with at least one of the following: The distance between the target object and the vehicle-mounted terminal; Weather visibility.

10. A safety reminder device, characterized in that, The device, which is applied to vehicle-mounted terminals, includes: a first image acquisition module, a second image acquisition module, and a projection module; The first image acquisition module is used to acquire images of the exterior of the vehicle; The second image acquisition module is used to acquire a prompt image for the target object when the exterior image of the vehicle includes the target object; The projection module is used to project the prompt image onto the prompt area corresponding to the target object, wherein the prompt area is within the field of view of the target object; The second image acquisition module is further configured to determine whether a target object exists in a preset area of ​​the vehicle exterior image; wherein, the preset area includes: an area away from the vehicle terminal from the longitudinal axis of the target wheel of the vehicle terminal; wherein, the target wheel is the left wheel and / or the right wheel; The preset area specifically includes one of the following areas: The region extending from the longitudinal axis away from the first target length distance in the direction of the vehicle terminal; The region extending from the first axis segment on the longitudinal axis away from the first target length distance in the direction of the vehicle terminal; The region extending from the second axis segment on the longitudinal axis away from the first target length distance in the direction of the vehicle terminal; The first axial segment can be any axial segment on the longitudinal axis; The second axis segment includes: an axis segment on the longitudinal axis that at least partially overlaps with the illumination range of the vehicle-mounted terminal's headlights.

11. A vehicle-mounted terminal, comprising a memory and a processor, wherein the memory stores a computer program executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the method according to any one of claims 1 to 9.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 9.

Images