METHOD, DEVICE, AND VEHICLE OF PRE-WARNING FOR A VEHICLE COLLISION

• US 20170140650A1
• Filed: 12/22/2015
• Published: 05/18/2017
• Est. Priority Date: 11/13/2015
• Status: Abandoned Application

• Current Assignee: Leauto Intelligent Technology (Beijing) Co. Ltd.
• Original Assignee: Leauto Intelligent Technology (Beijing) Co. Ltd.
• Inventors: Feng, BingLin
• Application Number:
  US14/977,996
• Publication Number:
  US 20170140650A1
• Time in Patent Office: Days
• CPC Class Codes: B60K 2360/168 Target or limit values
• CPC Class Codes: B60K 2360/176 Camera images
• CPC Class Codes: B60K 2360/178 Warnings
• CPC Class Codes: B60K 2360/179 Distances to obstacles or vehicles
• CPC Class Codes: B60K 2360/21 using cameras
• CPC Class Codes: B60K 35/00 Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
• CPC Class Codes: B60K 35/26 using acoustic output
• CPC Class Codes: B60K 35/28 characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
• CPC Class Codes: B60K 35/81 for controlling displays
• CPC Class Codes: B60R 1/26 to the rear of the vehicle
• CPC Class Codes: B60R 2300/8093 for obstacle warning
• CPC Class Codes: G06T 2207/10012 Stereo images
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06T 7/593 from stereo images
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G08G 1/161 Decentralised systems, e.g. inter-vehicle communication
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

The present disclosure provides a method, device, and vehicle of pre-warning for a vehicle collision. The present disclosure may acquire two images captured by two photographing devices with respect to an obstacle; perform calculation on the two images based on close-range photogrammetry to obtain a distance between the obstacle and the rear of the vehicle; and making a pre-warning for a vehicle collision when the distance is less than a preset threshold. Because the photographing devices may utilize an inherent reversing camera of the vehicle, and avoid additionally providing an anti-knocking radar system, so that it is possible to solve the technical problem in the related art that the system cost for the anti-knocking radar system may be high, which causes difficulty in popularizing.

Claims

1. A method of pre-warning for a vehicle collision, comprising:

acquiring two images captured by two photographing devices with respect to an obstacle, wherein the two photographing devices are provided at the rear of the vehicle and form an angle therebetween, and the hardware parameters of the two photographing devices are same as each other;

performing calculation on the two images based on close-range photogrammetry to obtain a distance between the obstacle and the rear of the vehicle; and

making a pre-warning for a vehicle collision when the distance is less than a preset threshold.

2. The method of pre-warning for a vehicle collision according to claim 1, wherein before the making a pre-warning for a vehicle collision when the distance is less than a preset threshold, the method further comprises:

acquiring a riding state of the vehicle via Controller Area Network (CAN) bus of the vehicle, wherein the riding state may be going forward or going backward; and

the making a pre-warning for a vehicle collision when the distance is less than a preset threshold comprises;

making an indication for read-end collision, when the riding state is going forward and a distance to the obstacle is less than a preset threshold, and

making an indication for stopping going backward, when the riding state is going backward and a distance to the obstacle is less than a preset threshold.

3. The method of pre-warning for a vehicle collision according to claim 1, wherein after the making a pre-warning for a vehicle collision when the distance is less than a preset threshold, the method further comprises:

displaying two images captured by two photographing devices with respect to an obstacle.

4. The method of pre-warning for a vehicle collision according to claim 2, wherein after the making a pre-warning for a vehicle collision when the distance is less than a preset threshold, the method further comprises:

displaying two images captured by two photographing devices with respect to an obstacle.

5. The method of pre-warning for a vehicle collision according to claim 1, wherein the hardware parameters comprise aperture and/or focal length, and the photographing devices are reversing cameras of the vehicle.

6. The method of pre-warning for a vehicle collision according to claim 2, wherein the hardware parameters comprise aperture and/or focal length, and the photographing devices are reversing cameras of the vehicle

13. A vehicle, comprising the device of pre-warning for a vehicle collision according to claim 7 and two photographing devices, wherein the hardware parameters of the two photographing devices are same as each other, and the two photographing devices are provided at the rear of the vehicle, and form an angle therebetween, and

the two photographing devices are configured to provide images captured with respect to an obstacle to the device of pre-warning for a vehicle collision.

14. A vehicle, comprising the device of pre-warning for a vehicle collision according to claim 8 and two photographing devices, wherein the hardware parameters of the two photographing devices are same as each other, and the two photographing devices are provided at the rear of the vehicle, and form an angle therebetween, and

the two photographing devices are configured to provide images captured with respect to an obstacle to the device of pre-warning for a vehicle collision.

15. A vehicle, comprising the device of pre-warning for a vehicle collision according to claim 9 and two photographing devices, wherein the hardware parameters of the two photographing devices are same as each other, and the two photographing devices are provided at the rear of the vehicle, and form an angle therebetween, and

the two photographing devices are configured to provide images captured with respect to an obstacle to the device of pre-warning for a vehicle collision.

7. A device of pre-warning for a vehicle collision, comprising:

one or more processors;

a memory; and

one or more programs stored in the memory and configured to perform operations when executed by the one or more processors, wherein the operations comprise;

acquiring two images captured by two photographing devices with respect to an obstacle, wherein the two photographing devices are provided at the rear of the vehicle and form an angle therebetween, and the hardware parameters of the two photographing devices are same as each other;

performing calculation on the two images based on close-range photogrammetry to obtain a distance between the obstacle and the rear of the vehicle; and

making a pre-warning for a vehicle collision when the distance is less than a preset threshold.

8. The device of pre-warning for a vehicle collision according to claim 7, wherein before the making a pre-warning for a vehicle collision when the distance is less than a preset threshold, the operations further comprise:

acquiring a riding state of the vehicle via Controller Area Network (CAN) bus of the vehicle, wherein the riding state may be going forward or going backward; and

the making a pre-warning for a vehicle collision when the distance is less than a preset threshold comprises;

making an indication for read-end collision, when the riding state is going forward and a distance to the obstacle is less than a preset threshold, and

making an indication for stopping going backward, when the riding state is going backward and a distance to the obstacle is less than a preset threshold..

9. The device of pre-warning for a vehicle collision according to claim 7, wherein after the making a pre-warning for a vehicle collision when the distance is less than a preset threshold, the operations further comprise:

displaying two images captured by two photographing devices with respect to an obstacle.

10. The device of pre-warning for a vehicle collision according to claim 8, wherein after the making a pre-warning for a vehicle collision when the distance is less than a preset threshold, the operations further comprise:

displaying two images captured by two photographing devices with respect to an obstacle.

11. The device of pre-warning for a vehicle collision according to claim 7, wherein the hardware parameters comprise aperture and/or focal length, and the photographing devices are reversing cameras of the vehicle.

12. The device of pre-warning for a vehicle collision according to claim 8, wherein the hardware parameters comprise aperture and/or focal length, and the photographing devices are reversing cameras of the vehicle.

16. A vehicle, comprising the device of pre-warning for a vehicle collision according to claim 10 and two photographing devices, wherein the hardware parameters of the two photographing devices are same as each other, and the two photographing devices are provided at the rear of the vehicle, and form an angle therebetween, and

the two photographing devices are configured to provide images captured with respect to an obstacle to the device of pre-warning for a vehicle collision.

17. A vehicle, comprising the device of pre-warning for a vehicle collision according to claim 11 and two photographing devices, wherein the hardware parameters of the two photographing devices are same as each other, and the two photographing devices are provided at the rear of the vehicle, and form an angle therebetween, and

the two photographing devices are configured to provide images captured with respect to an obstacle to the device of pre-warning for a vehicle collision.

18. A vehicle, comprising the device of pre-warning for a vehicle collision according to claim 12 and two photographing devices, wherein the hardware parameters of the two photographing devices are same as each other, and the two photographing devices are provided at the rear of the vehicle, and form an angle therebetween, and

the two photographing devices are configured to provide images captured with respect to an obstacle to the device of pre-warning for a vehicle collision.