Road obstacle warning method and device and terminal

Abstract

The present invention provides a road obstacle warning method and device and a terminal and relates to the technical field of assisted driving. The method comprises steps of: acquiring a current traveling speed and a steering angle of a vehicle, wherein the steering angle is used to represent an included angle between the head orientation and the vehicle wheel travelling direction; determining anarea where the vehicle travelling is obstructed based on the steering angle; determining at least one obstacle that is wholly or partially located in area where the vehicle travelling is obstructed based on a parallax image of a road; determining a target obstacle closest to the vehicle among the at least one obstacle; predicting a travel duration at which the vehicle travels to the target obstacle based on the travel speed and the steering angle, and if the travel duration is less than a preset threshold, warning the obstacle. By applying this method, it is possible to accurately and effectively realize the obstacle warning when the vehicle turns, and effectively avoid the collision of the vehicle with the obstacle.

Description

Technical field [0001] This application relates to the field of assisted driving technology, and in particular to a road obstacle early warning method, device and terminal. Background technique [0002] Detecting obstacles on the road based on binocular stereo vision technology is a popular research topic in the field of vehicle assisted driving. Road obstacle early warning systems use binocular stereo vision technology to detect obstacles on the road that may hinder vehicle driving, and determine When the distance between the detected obstacle and the front of the vehicle is too close, an early warning signal is issued to promptly remind the vehicle driver to take effective avoidance measures to avoid collisions between the vehicle and the obstacle. [0003] At present, the road obstacle early warning system determines whether the obstacle may hinder the vehicle by judging whether the obstacle is located in the set obstructing vehicle travel area, and the road obstacle early warni...

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Problems solved by technology

[0004] Just because the area that hinders the vehicle’s driving is set directly in front of the front of the vehicle, the above method is only applicable to the scene where the vehicle’s driving direction is the same as that of the vehicle’s front, that is, the vehicle is going straight. , that is, the direction of the vehicle speed is not the same as the direction of the front of the vehicle. Therefore, the determined obstacle in the area that hinders the vehicle will not really hinder the vehicle. In this case, the road obstacle warning system will be wrong. early warning, thus affecting the driving experience of the driver; at the same time, the obstacles that really hinder the driving of the vehicle may not fall into the area that hinders the driving of the vehicle, so the obstacle warning cannot be realized

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