CN110435653A - Prompting control method, device, electronic equipment, storage medium are sailed out of from vehicle - Google Patents
Prompting control method, device, electronic equipment, storage medium are sailed out of from vehicle Download PDFInfo
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- CN110435653A CN110435653A CN201910777439.8A CN201910777439A CN110435653A CN 110435653 A CN110435653 A CN 110435653A CN 201910777439 A CN201910777439 A CN 201910777439A CN 110435653 A CN110435653 A CN 110435653A
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- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000003860 storage Methods 0.000 title claims abstract description 29
- 241000736199 Paeonia Species 0.000 claims abstract description 69
- 235000006484 Paeonia officinalis Nutrition 0.000 claims abstract description 69
- 238000005516 engineering process Methods 0.000 claims abstract description 17
- 230000006399 behavior Effects 0.000 claims description 26
- 238000004590 computer program Methods 0.000 claims description 7
- 230000000007 visual effect Effects 0.000 claims description 7
- 230000005484 gravity Effects 0.000 claims description 3
- 238000011897 real-time detection Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 description 7
- 238000012545 processing Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 102100034112 Alkyldihydroxyacetonephosphate synthase, peroxisomal Human genes 0.000 description 3
- 101000799143 Homo sapiens Alkyldihydroxyacetonephosphate synthase, peroxisomal Proteins 0.000 description 3
- 238000000848 angular dependent Auger electron spectroscopy Methods 0.000 description 3
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- 230000007547 defect Effects 0.000 description 2
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- 230000005291 magnetic effect Effects 0.000 description 2
- 230000006855 networking Effects 0.000 description 2
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- 238000004458 analytical method Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
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- 238000001514 detection method Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/04—Traffic conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Emergency Alarm Devices (AREA)
Abstract
The present invention provides one kind and sails out of prompting control method, device, electronic equipment, storage medium from vehicle, sails out of prompting control method from vehicle, comprising: the first sensor by the way that this Chinese herbaceous peony side is arranged in identifies the object for being located at this Chinese herbaceous peony side；When recognizing the object positioned at this Chinese herbaceous peony side according to the first sensor is complete vehicle rear-side, the first sensor real-time tracing should be positioned at the motor behavior of the vehicle of this Chinese herbaceous peony side；When the first sensor detects that tracked vehicle self-stopping technology starts starting, judge this vehicle whether still in halted state；And Ruo Benche is still in halted state, and the first sensor detects when being greater than the first predetermined threshold positioned at the vehicle of this Chinese herbaceous peony side and this vehicle distance, generates warning information to remind driver to sail out of current location.Present invention realization effectively sails out of prompting control from vehicle.
Description
Technical field
The present invention relates to field of vehicle control, more particularly to one kind to sail out of prompting control method, device, electronics from vehicle and set
Standby, storage medium.
Background technique
Advanced driving assistance system (Advanced Driving Assistant System, ADAS) is to utilize to be mounted on
On vehicle all kinds of sensors (millimetre-wave radar, laser radar, it is single binocular camera and satellite navigation), in garage
The environment for incuding surrounding during sailing at any time, collects data, carries out static state, the identification of dynamic object, detecting and tracking, and tie
Navigator map datum is closed, the operation and analysis of system are carried out, so that driver be allowed to perceive the danger that may occur in advance, is had
Effect increases the comfortableness and security of car steering.ADAS is more more and more universal in recent years.It is provided with one on the vehicle of ADAS
As equipped with preceding to camera, forward direction wide-angle camera, forward direction radar, lateral angle radar etc. sensor is to assist vehicle to drive
It sails.
In vehicle travel process, when frequently encountering follow the bus process or waiting traffic lights, due to driver carelessness without
Road ahead situation is observed, front vehicles have been sailed out of or do not reacted but with greening lamp oneself, and traffic jam, shadow are caused
Ring commuting efficiency.
It is some in the prior art, by captured according to vehicle-mounted camera front vehicles with from a distance from vehicle, if away from
From increasingly remoter, and from then being reminded driver when vehicle down time being greater than some threshold value.But in this scenario,
And not yet explicitly front vehicles distance is from the specific control method of the actual range of vehicle, so that there are the following problems:
1) front vehicles distance can not identify the type of objects in front from the excessively close sensor of vehicle；
If 2) do not accounted for when waiting traffic lights, front does not just have the case where vehicle；
3) if automatic follow the bus, is very likely to the case where making a dash across the red light.
Summary of the invention
The present invention provides one kind from vehicle and sails out of prompting control method, dress to overcome defect existing for above-mentioned the relevant technologies
It sets, electronic equipment, storage medium, and then caused by overcoming the limitation and defect due to the relevant technologies at least to a certain extent
One or more problem.
According to an aspect of the present invention, one kind is provided and sails out of prompting control method from vehicle, comprising:
First sensor by the way that this Chinese herbaceous peony side is arranged in identifies the object for being located at this Chinese herbaceous peony side；
When recognizing the object positioned at this Chinese herbaceous peony side according to the first sensor is complete vehicle rear-side, described first
Sensor real-time tracing should be positioned at the motor behavior of the vehicle of this Chinese herbaceous peony side；
When the first sensor detect tracked vehicle self-stopping technology start starting when, judge this vehicle whether still in
Halted state；And
Ruo Benche is still in halted state, and the first sensor detects the vehicle and this spacing positioned at this Chinese herbaceous peony side
When from being greater than the first predetermined threshold, warning information is generated to remind driver to sail out of current location.
Optionally, the first sensor real-time tracing should include: positioned at the motor behavior of the vehicle of this Chinese herbaceous peony side
When the vehicle for being located at this Chinese herbaceous peony side and the distance between the first sensor are less than the second predetermined threshold, institute
Stating first sensor should be positioned at the movement of the vehicle of this Chinese herbaceous peony side based on the mark real-time tracing for being located at the vehicle of this Chinese herbaceous peony side
Behavior, second predetermined threshold areWherein, H be the first sensor away from
Mounting height from the ground, VFov are the vertical angle of view of the first sensor, and HFov is the horizontal view of the first sensor
Angle, B are the half of the width of the vehicle positioned at this Chinese herbaceous peony side, and the horizontal view angle is the visual angle for being parallel to ground, described vertical
Visual angle is to be parallel to gravity direction and the visual angle perpendicular to ground.
Optionally, when according to the first sensor it is unidentified to positioned at this Chinese herbaceous peony side object be complete vehicle rear-side
When, the object of this vehicle side is located at by the second sensor identification of this vehicle；
It is the vehicle travelled in the same direction with this vehicle when second sensor identification is located at the object of this vehicle side, and is located at this
When the object self-stopping technology of vehicle side starts initially towards driving direction, judge this vehicle whether still in halted state；
Ruo Benche is still in halted state, and the second sensor detects the vehicle positioned at this vehicle side identified
When being greater than third predetermined threshold with this vehicle distance, warning information is generated to remind driver to sail out of current location.
Optionally, the generation warning information includes: to remind driver to sail out of current location
Being currently located at the object of this vehicle side by the second sensor identification of this vehicle is the vehicle travelled in the same direction with this vehicle,
And the vehicle to the object for being currently located at this vehicle side identified to travel in the same direction with this vehicle sends the warning information, for
The object for being currently located at this vehicle side identified is described in the vehicle travelled in the same direction with this vehicle is shown in the vehicle window towards this vehicle
Warning message.
Optionally, if the vehicle for being currently located at vehicle side identified be show with the vehicle that this vehicle travels in the same direction described in
After warning message, the vehicle for being currently located at vehicle side identified is that the second sensor of the vehicle travelled in the same direction with this vehicle is known
Not described vehicle still in halted state, then the warning message is sent to and then identified be currently located at vehicle side
Vehicle be the vehicle travelled in the same direction with this vehicle rear side vehicle, show in the vehicle window towards this vehicle for the rear side vehicle described in
Warning message.
Optionally, the second sensor is the radar for being set to vehicle front side two corners；Or
The second sensor and the first sensor are multiplexed, and the second sensor is wide-angle camera.
Optionally, when the second sensor is wide-angle camera, the second sensor also this Chinese herbaceous peony of real-time detection side
The traffic lights nearest apart from this vehicle, when the first sensor detects that tracked vehicle self-stopping technology starts starting,
Judge whether traffic lights corresponding with road where this vehicle indicate in the nearest traffic lights of this vehicle of this Chinese herbaceous peony lateral extent
It is closed to traffic, if so, judging the step of whether this vehicle is still in halted state without executing.
Optionally, the generation warning information includes: to remind driver to sail out of current location
In the interior offer sound and/or light warning information of this vehicle.
Optionally, the first sensor is radar or camera.
According to another aspect of the invention, one kind is also provided and sails out of prompting control device from vehicle, comprising:
This Chinese herbaceous peony side is arranged in identify the object for being located at this Chinese herbaceous peony side in first sensor；
Tracing module, for after recognizing the object positioned at this Chinese herbaceous peony side according to the first sensor is complete vehicle
When side, the first sensor real-time tracing should be positioned at the motor behavior of the vehicle of this Chinese herbaceous peony side；
Judgment module, for judging when the first sensor detects that tracked vehicle self-stopping technology starts starting
Whether this vehicle is still in halted state；And
Warning message generation module, for Ruo Benche still in halted state, and the first sensor detects and is located at
When the vehicle of this Chinese herbaceous peony side and this vehicle distance are greater than the first predetermined threshold, warning information is generated to remind driver to sail out of present bit
It sets.
According to another aspect of the invention, a kind of electronic equipment is also provided, the electronic equipment includes: processor；Storage
Medium, is stored thereon with computer program, and the computer program executes step as described above when being run by the processor.
According to another aspect of the invention, a kind of storage medium is also provided, computer journey is stored on the storage medium
Sequence, the computer program execute step as described above when being run by processor.
Compared with prior art, present invention has an advantage that by be arranged in this Chinese herbaceous peony side first sensor identification and it is real
When track the motor behavior of the vehicle for being located at this Chinese herbaceous peony side, thus the motor behavior of the vehicle based on this Chinese herbaceous peony side, this vehicle
Motor behavior and the first sensor, which are detected, generates warning information with this vehicle distance positioned at the vehicle of this Chinese herbaceous peony side to mention
Awake driver sails out of current location, so that the prompting when setting by tracking condition realizes traceable and when untraceable is complete
It is kind, reduce a possibility that accident occurs.
Detailed description of the invention
Its example embodiment is described in detail by referring to accompanying drawing, above and other feature of the invention and advantage will become
It is more obvious.
Fig. 1 shows the flow chart according to an embodiment of the present invention that prompting control method is sailed out of from vehicle.
Fig. 2 shows the schematic side views of the vehicle that prompting control method is sailed out of from vehicle of the application embodiment of the present invention.
Fig. 3 shows the schematic top plan view of the vehicle that prompting control method is sailed out of from vehicle using the embodiment of the present invention.
The utilization for sailing out of prompting control method from vehicle that Fig. 4 and Fig. 5 shows two specific embodiments according to the present invention is other
Side vehicle sail out of the schematic diagram of prompting.
Fig. 6 shows the schematic diagram according to an embodiment of the present invention for sailing out of from vehicle and reminding control device.
Fig. 7 shows a kind of computer readable storage medium schematic diagram in exemplary embodiment of the present.
Fig. 8 shows a kind of electronic equipment schematic diagram in exemplary embodiment of the present.
Specific embodiment
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be with a variety of shapes
Formula is implemented, and is not understood as limited to example set forth herein；On the contrary, thesing embodiments are provided so that the present invention will more
Fully and completely, and by the design of example embodiment comprehensively it is communicated to those skilled in the art.Described feature, knot
Structure or characteristic can be incorporated in any suitable manner in one or more embodiments.
In addition, attached drawing is only schematic illustrations of the invention, it is not necessarily drawn to scale.Identical attached drawing mark in figure
Note indicates same or similar part, thus will omit repetition thereof.Some block diagrams shown in the drawings are function
Energy entity, not necessarily must be corresponding with physically or logically independent entity.These function can be realized using software form
Energy entity, or these functional entitys are realized in one or more hardware modules or integrated circuit, or at heterogeneous networks and/or place
These functional entitys are realized in reason device device and/or microcontroller device.
Flow chart shown in the drawings is merely illustrative, it is not necessary to including all steps.For example, the step of having
It can also decompose, and the step of having can merge or part merges, therefore, the sequence actually executed is possible to according to the actual situation
Change.
Fig. 1 has gone out the flow chart according to an embodiment of the present invention that prompting control method is sailed out of from vehicle.Described sail out of from vehicle mentions
Awake control method includes the following steps:
Step S110: the first sensor by the way that this Chinese herbaceous peony side is arranged in identifies the object for being located at this Chinese herbaceous peony side；
Step S120: judge to be recognized according to the first sensor positioned at whether the object of this Chinese herbaceous peony side is complete vehicle
Rear side；
If step S120 is judged as YES, then follow the steps S130: the first sensor real-time tracing should be located at this Chinese herbaceous peony
The motor behavior of the vehicle of side；
Step S140: when the first sensor detects that tracked vehicle self-stopping technology starts starting, judge this vehicle
Whether still in halted state；And
Step S150: if step S140 judges this vehicle still in halted state, and the first sensor detects and is located at
When the vehicle of this Chinese herbaceous peony side and this vehicle distance are greater than the first predetermined threshold, warning information is generated to remind driver to sail out of present bit
It sets.
In being sailed out of in prompting control method from vehicle for exemplary embodiments of the present invention, by the way that this Chinese herbaceous peony side is arranged in
First sensor identification and real-time tracing should be located at the motor behavior of the vehicle of this Chinese herbaceous peony side, thus the vehicle based on this Chinese herbaceous peony side
Motor behavior, this vehicle motor behavior and the first sensor detect positioned at the vehicle of this Chinese herbaceous peony side and this vehicle distance come
Warning information is generated to remind driver to sail out of current location, thus when realizing traceable by the setting of tracking condition and can not
Prompting when tracking is perfect, reduces a possibility that accident occurs.
Of the invention each in the specific implementation, the first sensor 210 for example can be camera or radar (example
Such as millimetre-wave radar), system is not limited thereto in the present invention.The generation warning information is to remind driver to sail out of current location packet
It includes:
Of the invention each in the specific implementation, generating warning information to remind driver to sail out of current location and be included in this
The interior offer sound and/or light warning information of vehicle.
Of the invention some in the specific implementation, in conjunction with Fig. 2 and Fig. 3, Fig. 2 shows the application embodiment of the present invention from vehicle
Sail out of the schematic side view of the vehicle of prompting control method；Fig. 3, which is shown, sails out of prompting control from vehicle using the embodiment of the present invention
The schematic top plan view of the vehicle of method processed.
Above-mentioned steps S130: 210 real-time tracing of the first sensor of this vehicle 200 should be located at the vehicle of 200 front side of this vehicle
201 motor behavior may include steps of: when this is located at the vehicle 201 and the first sensor of 200 front side of this vehicle
The distance between 210 less than the second predetermined threshold when, the first sensor 210 is located at the vehicle of the front side of this vehicle 200 based on this
201 mark real-time tracing should be located at the motor behavior of the vehicle 201 of 200 front side of this vehicle, and second predetermined threshold isWherein, H is mounting height of the first sensor 210 apart from ground,
VFov is the vertical angle of view of the first sensor 210, and HFov is the horizontal view angle of the first sensor 210, and B is positioned at this
The half of the width of the vehicle 201 of 200 front side of vehicle, the horizontal view angle is the visual angle for being parallel to ground, and the vertical angle of view is
It is parallel to gravity direction and the visual angle perpendicular to ground.
Fig. 2, Fig. 3 are only the setting position for schematically showing first sensor 210, and the present invention is not limited thereto
System.When first sensor 210 is camera, the mark of the vehicle 201 positioned at 200 front side of this vehicle for example can be vehicle
201 license plate number；Or the mark of the vehicle 201 positioned at 200 front side of this vehicle for example can be the image spy of vehicle 201
Sign.When first sensor 210 is radar, the mark of the vehicle 201 positioned at 200 front side of this vehicle for example can be system certainly
The mark of dynamic distribution.As a result, in the present implementation, after at least vehicle 201 can recognize complete vehicle by first sensor 210
Side, even if vehicle 201 causes first sensor 210 that can not identify vehicle 201 at a distance from this vehicle 200 less than the second predetermined threshold
When, it still is able to carry out vehicle 201 by the mark of vehicle 201 tracking of motor behavior.
Of the invention other in the specific implementation, Fig. 4 and Fig. 5 are shown according to the present invention as shown in Fig. 4 or Fig. 5
The schematic diagram for sail out of using side vehicle prompting that prompting control method is sailed out of from vehicle of two specific embodiments.Work as basis
It, then can be by this vehicle when the unidentified object to positioned at 200 front side of this vehicle of the first sensor 210 is complete vehicle rear-side
200 second sensor 220 (or being multiplexed with first sensor 210) identification is located at the object of 200 side of this vehicle；When described second
It is to travel in the same direction with this vehicle 200 that sensor 220 (or being multiplexed with first sensor 210) identification, which is located at the object of 200 side of this vehicle,
Vehicle 202,203, and be located at 200 side of this vehicle object self-stopping technology initially towards driving direction start when, judge this vehicle 200
Whether still in halted state；Ruo Benche 200 is still in halted state, and (or the and first sensor of the second sensor 220
210 multiplexings) detecting the vehicle 202,203 positioned at 200 side of this vehicle that is identified, distance is big in driving direction with this vehicle 200
When third predetermined threshold, warning information is generated to remind driver to sail out of current location.Thus, it is possible to pass through second sensor
220 (or being multiplexed with first sensor 210) determine the need for generating warning information with the wagon flow in the same direction according to this vehicle side.It changes
Yan Zhi can not be according to this vehicle 200 when this vehicle 200 has been in first car of the current lane on the driveway travel directions
When the motor behavior of front truck vehicle generates warning information, by the identification and sensing of second sensor 220 to determine the need for
Warning information is generated, to improve the case where generating warning information.
Second sensor 220 can be the radar (as shown in Figure 5) for being set to vehicle front side two corners.Second sensor 220
It can also be multiplexed with the first sensor, the second sensor (first sensor 210) is wide-angle camera (as schemed
Shown in 4).
Of the invention above-mentioned in the specific implementation, in order to further realize the prompting to driver, above-mentioned generation alarm signal
Breath may include steps of with reminding driver to sail out of current location: be currently located at this by the second sensor identification of this vehicle
The object of vehicle side is the vehicle travelled in the same direction with this vehicle, and is and this vehicle to the object for being currently located at this vehicle side identified
The vehicle travelled in the same direction sends the warning information, so that the object for being currently located at this vehicle side identified is and this Che Tongxiang
The vehicle of traveling shows the warning message in the vehicle window towards this vehicle.Thus, it is possible to the vehicle window of the vehicle by this vehicle side
Apparent prompting display, to prompt driver to sail out of current location.In the present implementation, the transmission of warning message, this vehicle side
The determination of vehicle, Ben Che and side the transmission of relative position of vehicle can be realized by car networking the relevant technologies,
Each vehicle is carried out wireless communication by the wireless communication module being arranged on vehicle, and can be true according to the signal of wireless communication module
Determine the relative position between vehicle, and further matched with the recognition result of second sensor identification, so that it is determined that alarm
The reception vehicle of the transmission of information.
Of the invention above-mentioned in the specific implementation, in order to form the display stream of warning message, to realize holding for warning message
Continuous display, if the vehicle for being currently located at vehicle side identified is to show the warning message with the vehicle that this vehicle travels in the same direction
Afterwards, the vehicle for being currently located at vehicle side identified is that the second sensor of the vehicle travelled in the same direction with this vehicle identifies described
For vehicle still in halted state, then the warning message is sent to working as of and then being identified by the vehicle for being currently located at vehicle side
Anteposition is in the rear side vehicle that the vehicle of vehicle side is the vehicle travelled in the same direction with this vehicle, for rear side vehicle (the rear side vehicle
It is less than or equal to the length of a vehicle at a distance from driving direction between the vehicle for being located at vehicle side) in towards this vehicle
Vehicle window shows the warning message.In the present implementation, the transmission of warning message, this vehicle side vehicle rear side vehicle really
The transmission of the fixed, vehicle of this vehicle side and the relative position of rear side vehicle and information can by car networking the relevant technologies come
It realizes, it will not be described here.
Of the invention above-mentioned in the specific implementation, when the second sensor is wide-angle camera, the second sensor
The also nearest traffic lights of this vehicle of this Chinese herbaceous peony of real-time detection lateral extent, when the first sensor detects tracked vehicle
When self-stopping technology starts starting, friendship corresponding with road where this vehicle in the nearest traffic lights of this vehicle of this Chinese herbaceous peony lateral extent is judged
Whether ventilating signal lamp, which indicates, is closed to traffic, if so, judging the step of whether this vehicle is still in halted state without executing.Change speech
It, even if the vehicle of this Chinese herbaceous peony side has sailed out of current location, but is closed to traffic according to current signal light instruction, is then not necessarily to after carrying out
Continuous judgment step is come true in this embodiment it is possible to identify the embodiment of this vehicle side vehicle in conjunction with above-mentioned second sensor
It is fixed whether to generate warning message.
Fig. 6 shows the module map according to an embodiment of the present invention sailed out of from vehicle and remind control device.Prompting is sailed out of from vehicle
Control device 300 is arranged on vehicle.From vehicle sail out of remind control device 300 include first sensor 310, tracing module 320,
Judgment module 330 and warning message generation module 340.
This Chinese herbaceous peony side is arranged in identify the object for being located at this Chinese herbaceous peony side in first sensor 310；
Tracing module 320 is used to when being recognized according to the first sensor positioned at the object of this Chinese herbaceous peony side be complete vehicle
When rear side, the first sensor real-time tracing should be positioned at the motor behavior of the vehicle of this Chinese herbaceous peony side；
Judgment module 330 is used to sentence when the first sensor detects that tracked vehicle self-stopping technology starts starting
Whether this vehicle break still in halted state；And
Warning message generation module 340 is used for Ruo Benche still in halted state, and first sensor detection is in place
When the vehicle of this Chinese herbaceous peony side and this vehicle distance are greater than the first predetermined threshold, warning information is generated to remind driver to sail out of currently
Position.
It is reminded in control device in being sailed out of from vehicle for exemplary embodiments of the present invention, by the way that this Chinese herbaceous peony side is arranged in
First sensor identification and real-time tracing should be located at the motor behavior of the vehicle of this Chinese herbaceous peony side, thus the vehicle based on this Chinese herbaceous peony side
Motor behavior, this vehicle motor behavior and the first sensor detect positioned at the vehicle of this Chinese herbaceous peony side and this vehicle distance come
Warning information is generated to remind driver to sail out of current location, thus when realizing traceable by the setting of tracking condition and can not
Prompting when tracking is perfect, reduces a possibility that accident occurs.
Fig. 6 is only to show schematically provided by the invention sail out of from vehicle to remind control device 300, without prejudice to this hair
Under the premise of bright design, the fractionation of module, increases all within protection scope of the present invention merging.It is provided by the invention from vehicle
It sails out of and reminds control device 300 that can be realized by software, hardware, firmware, plug-in unit and any combination between them, the present invention
It is not limited thereto.
In an exemplary embodiment of the present invention, a kind of computer readable storage medium is additionally provided, meter is stored thereon with
Calculation machine program, the program may be implemented to sail out of prompting from vehicle described in any one above-mentioned embodiment when being executed by such as processor
The step of control method.In some possible embodiments, various aspects of the invention are also implemented as a kind of program production
The form of product comprising program code, when described program product is run on the terminal device, said program code is for making institute
It states terminal device and executes that this specification is above-mentioned to sail out of described in prompting control method part various examples according to the present invention from vehicle
The step of property embodiment.
Show with reference to Fig. 7, describe the program product 700 for realizing the above method of embodiment according to the present invention,
It can using portable compact disc read only memory (CD-ROM) and including program code, and can in terminal device, such as
It is run on PC.However, program product of the invention is without being limited thereto, in this document, readable storage medium storing program for executing, which can be, appoints
What include or the tangible medium of storage program that the program can be commanded execution system, device or device use or and its
It is used in combination.
Described program product can be using any combination of one or more readable mediums.Readable medium can be readable letter
Number medium or readable storage medium storing program for executing.Readable storage medium storing program for executing for example can be but be not limited to electricity, magnetic, optical, electromagnetic, infrared ray or
System, device or the device of semiconductor, or any above combination.The more specific example of readable storage medium storing program for executing is (non exhaustive
List) include: electrical connection with one or more conducting wires, portable disc, hard disk, random access memory (RAM), read-only
Memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read only memory
(CD-ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.
The computer readable storage medium may include in a base band or the data as the propagation of carrier wave a part are believed
Number, wherein carrying readable program code.The data-signal of this propagation can take various forms, including but not limited to electromagnetism
Signal, optical signal or above-mentioned any appropriate combination.Readable storage medium storing program for executing can also be any other than readable storage medium storing program for executing
Readable medium, the readable medium can send, propagate or transmit for by instruction execution system, device or device use or
Person's program in connection.The program code for including on readable storage medium storing program for executing can transmit with any suitable medium, packet
Include but be not limited to wireless, wired, optical cable, RF etc. or above-mentioned any appropriate combination.
The program for executing operation of the present invention can be write with any combination of one or more programming languages
Code, described program design language include object oriented program language-Java, C++ etc., further include conventional
Procedural programming language-such as " C " language or similar programming language.Program code can be fully in tenant
It calculates and executes in equipment, partly executed in tenant's equipment, being executed as an independent software package, partially in tenant's calculating
Upper side point is executed on a remote computing or is executed in remote computing device or server completely.It is being related to far
Journey calculates in the situation of equipment, and remote computing device can pass through the network of any kind, including local area network (LAN) or wide area network
(WAN), it is connected to tenant and calculates equipment, or, it may be connected to external computing device (such as utilize ISP
To be connected by internet).
In an exemplary embodiment of the present invention, a kind of electronic equipment is also provided, which may include processor,
And the memory of the executable instruction for storing the processor.Wherein, the processor is configured to via described in execution
Executable instruction executes the step of sailing out of prompting control method from vehicle described in any one above-mentioned embodiment.
Person of ordinary skill in the field it is understood that various aspects of the invention can be implemented as system, method or
Program product.Therefore, various aspects of the invention can be embodied in the following forms, it may be assumed that complete hardware embodiment, complete
The embodiment combined in terms of full Software Implementation (including firmware, microcode etc.) or hardware and software, can unite here
Referred to as circuit, " module " or " system ".
The electronic equipment 500 of this embodiment according to the present invention is described referring to Fig. 8.The electronic equipment that Fig. 8 shows
500 be only an example, should not function to the embodiment of the present invention and use scope bring any restrictions.
If Fig. 8 shows, electronic equipment 500 is showed in the form of universal computing device.The component of electronic equipment 500 may include
But be not limited to: (including storage is single at least one processing unit 510, at least one storage unit 520, the different system components of connection
Member 520 and processing unit 510) bus 530, display unit 540 etc..
Wherein, the storage unit is stored with program code, and said program code can be held by the processing unit 510
Row, so that the processing unit 510 executes, this specification is above-mentioned to be sailed out of described in prompting control method part from vehicle according to this
The step of inventing various illustrative embodiments.For example, the processing unit 510 can execute step as shown in Figure 1.
The storage unit 520 may include the readable medium of volatile memory cell form, such as random access memory
Unit (RAM) 5201 and/or cache memory unit 5202 can further include read-only memory unit (ROM) 5203.
The storage unit 520 can also include program/practical work with one group of (at least one) program module 5205
Tool 5204, such program module 5205 includes but is not limited to: operating system, one or more application program, other programs
It may include the realization of network environment in module and program data, each of these examples or certain combination.
Bus 530 can be to indicate one of a few class bus structures or a variety of, including storage unit bus or storage
Cell controller, peripheral bus, graphics acceleration port, processing unit use any bus structures in a variety of bus structures
Local bus.
Electronic equipment 500 can also be with one or more external equipments 600 (such as keyboard, sensing equipment, bluetooth equipment
Deng) communication, the equipment that also tenant can be enabled interact with the electronic equipment 500 with one or more communicates, and/or with make
Any equipment (such as the router, modulation /demodulation that the electronic equipment 500 can be communicated with one or more of the other calculating equipment
Device etc.) communication.This communication can be carried out by input/output (I/O) interface 550.Also, electronic equipment 500 can be with
By network adapter 560 and one or more network (such as local area network (LAN), wide area network (WAN) and/or public network,
Such as internet) communication.Network adapter 560 can be communicated by bus 530 with other modules of electronic equipment 500.It should
Understand, although not shown in the drawings, other hardware and/or software module can be used in conjunction with electronic equipment 500, including but unlimited
In: microcode, device driver, redundant processing unit, external disk drive array, RAID system, tape drive and number
According to backup storage system etc..
Through the above description of the embodiments, those skilled in the art is it can be readily appreciated that example described herein is implemented
Mode can also be realized by software realization in such a way that software is in conjunction with necessary hardware.Therefore, according to the present invention
The technical solution of embodiment can be embodied in the form of software products, which can store non-volatile at one
Property storage medium (can be CD-ROM, USB flash disk, mobile hard disk etc.) in or network on, including some instructions are so that a calculating
Equipment (can be personal computer, server or network equipment etc.) executes the above-mentioned from vehicle of embodiment according to the present invention
Sail out of prompting control method.
Compared with prior art, present invention has an advantage that by be arranged in this Chinese herbaceous peony side first sensor identification and it is real
When track the motor behavior of the vehicle for being located at this Chinese herbaceous peony side, thus the motor behavior of the vehicle based on this Chinese herbaceous peony side, this vehicle
Motor behavior and the first sensor, which are detected, generates warning information with this vehicle distance positioned at the vehicle of this Chinese herbaceous peony side to mention
Awake driver sails out of current location, so that the prompting when setting by tracking condition realizes traceable and when untraceable is complete
It is kind, reduce a possibility that accident occurs.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to of the invention its
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the invention, these modifications, purposes or
Person's adaptive change follows general principle of the invention and including the undocumented common knowledge in the art of the present invention
Or conventional techniques.The description and examples are only to be considered as illustrative, and true scope and spirit of the invention are by appended
Claim is pointed out.
Claims (12)
1. one kind sails out of prompting control method from vehicle characterized by comprising
First sensor by the way that this Chinese herbaceous peony side is arranged in identifies the object for being located at this Chinese herbaceous peony side；
When recognizing the object positioned at this Chinese herbaceous peony side according to the first sensor is complete vehicle rear-side, first sensing
Device real-time tracing should be positioned at the motor behavior of the vehicle of this Chinese herbaceous peony side；
When the first sensor detects that tracked vehicle self-stopping technology starts starting, judge this vehicle whether still in stopping
State；And
Ruo Benche is still in halted state, and the first sensor is detected positioned at the vehicle of this Chinese herbaceous peony side and this vehicle distance greatly
When the first predetermined threshold, warning information is generated to remind driver to sail out of current location.
2. sailing out of prompting control method from vehicle as described in claim 1, which is characterized in that the first sensor real-time tracing
The motor behavior for being located at the vehicle of this Chinese herbaceous peony side includes:
When the vehicle for being located at this Chinese herbaceous peony side and the distance between the first sensor are less than the second predetermined threshold, described
One sensor should be located at the motor behavior of the vehicle of this Chinese herbaceous peony side based on the mark real-time tracing for being located at the vehicle of this Chinese herbaceous peony side,
Second predetermined threshold isWherein, H is first sensor distance ground
The mounting height in face, VFov are the vertical angle of view of the first sensor, and HFov is the horizontal view angle of the first sensor, B
For positioned at the half of the width of the vehicle of this Chinese herbaceous peony side, the horizontal view angle is the visual angle for being parallel to ground, the vertical angle of view
To be parallel to gravity direction and perpendicular to the visual angle on ground.
3. sailing out of prompting control method from vehicle as described in claim 1, which is characterized in that when according to the first sensor not
When the object for recognizing positioned at this Chinese herbaceous peony side is complete vehicle rear-side, this vehicle side is located at by the identification of the second sensor of this vehicle
Object；
It is the vehicle travelled in the same direction with this vehicle when second sensor identification is located at the object of this vehicle side, and is located at by this vehicle
When the object self-stopping technology of side starts initially towards driving direction, judge this vehicle whether still in halted state；
Ruo Benche is still in halted state, and the second sensor detects the vehicle identified positioned at this vehicle side and this
When vehicle distance is greater than third predetermined threshold, warning information is generated to remind driver to sail out of current location.
4. sailing out of prompting control method from vehicle as claimed in claim 3, which is characterized in that the generation warning information is to remind
Driver sails out of current location
Being currently located at the object of this vehicle side by the second sensor identification of this vehicle is the vehicle travelled in the same direction with this vehicle, and to
The object for being currently located at this vehicle side identified is that the vehicle travelled in the same direction with this vehicle sends the warning information, for being known
Other object for being currently located at this vehicle side is to show the alarm in the vehicle window towards this vehicle with the vehicle that this vehicle travels in the same direction
Information.
5. sailing out of prompting control method from vehicle as claimed in claim 4, which is characterized in that if what is identified is currently located at vehicle
The vehicle of side is after showing the warning message with the vehicle that this vehicle travels in the same direction, and what is identified is currently located at vehicle side
Vehicle is that the second sensor of the vehicle travelled in the same direction with this vehicle identifies described vehicle still in halted state, then by the alarm
Information is sent to the rear side vehicle that the vehicle for being currently located at vehicle side and then identified is the vehicle travelled in the same direction with this vehicle
, so that the rear side vehicle shows the warning message in the vehicle window towards this vehicle.
6. sailing out of prompting control method from vehicle as claim 3 to 5 is described in any item, which is characterized in that second sensing
Device is the radar for being set to vehicle front side two corners；Or
The second sensor and the first sensor are multiplexed, and the second sensor is wide-angle camera.
7. sailing out of prompting control method from vehicle as claimed in claim 6, which is characterized in that the second sensor is taken the photograph for wide-angle
When as head, the second sensor also nearest traffic lights of this vehicle of this Chinese herbaceous peony of real-time detection lateral extent, when first biography
When sensor detects that tracked vehicle self-stopping technology starts starting, judge in the nearest traffic lights of this vehicle of this Chinese herbaceous peony lateral extent
Still whether traffic lights corresponding with road where this vehicle indicate to be closed to traffic, if so, judging this vehicle without executing
The step of in halted state.
8. sailing out of prompting control method from vehicle Ru described in any one of claim 1 to 5, which is characterized in that the generation alarm
Information includes: to remind driver to sail out of current location
In the interior offer sound and/or light warning information of this vehicle.
9. sailing out of prompting control method from vehicle Ru described in any one of claim 1 to 5, which is characterized in that first sensing
Device is radar or camera.
10. one kind sails out of prompting control device from vehicle characterized by comprising
This Chinese herbaceous peony side is arranged in identify the object for being located at this Chinese herbaceous peony side in first sensor；
Tracing module, for being complete vehicle rear-side when recognizing the object positioned at this Chinese herbaceous peony side according to the first sensor
When, the first sensor real-time tracing should be positioned at the motor behavior of the vehicle of this Chinese herbaceous peony side；
Judgment module, for judging this vehicle when the first sensor detects that tracked vehicle self-stopping technology starts starting
Whether still in halted state；And
Warning message generation module, for Ruo Benche still in halted state, and the first sensor is detected positioned at this vehicle
When the vehicle of front side and this vehicle distance are greater than the first predetermined threshold, warning information is generated to remind driver to sail out of current location.
11. a kind of electronic equipment, which is characterized in that the electronic equipment includes:
Processor；
Memory is stored thereon with computer program, is executed when the computer program is run by the processor as right is wanted
Seek 1 to 9 described in any item methods.
12. a kind of storage medium, which is characterized in that be stored with computer program, the computer program on the storage medium
Method as described in any one of claim 1 to 9 is executed when being run by processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910777439.8A CN110435653A (en) | 2019-08-22 | 2019-08-22 | Prompting control method, device, electronic equipment, storage medium are sailed out of from vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910777439.8A CN110435653A (en) | 2019-08-22 | 2019-08-22 | Prompting control method, device, electronic equipment, storage medium are sailed out of from vehicle |
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| CN110435653A true CN110435653A (en) | 2019-11-12 |
Family
ID=68437054
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910777439.8A Pending CN110435653A (en) | 2019-08-22 | 2019-08-22 | Prompting control method, device, electronic equipment, storage medium are sailed out of from vehicle |
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| CN111186448A (en) * | 2020-01-06 | 2020-05-22 | 北京小米移动软件有限公司 | Intelligent reminding method and device |
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