阅读说明：本技术 一种倒车报警方法和装置 (Backing alarm method and device ) 是由 蒋玉亭 叶子亮 徐盛尧 汤剑 陈彩霞 张海焕 于 2020-04-10 设计创作，主要内容包括：本发明公开了一种倒车报警方法和装置,当收到车辆的倒车信号时,所述方法通过获取车辆的挡位信号和车速,进而根据行驶方向启动多路传感器以获取各路传感器探测区域内各障碍物与车辆之间的距离,根据各路传感器探测区域内各障碍物与车辆之间的距离,对应确定各路传感器探测区域内障碍物与车辆之间的最短距离,根据各路传感器探测区域内障碍物与车辆之间的最短距离和车速进行分级报警；本发明可以警醒驾驶员倒车时周边的环境状态,减少刮碰的风险。(The invention discloses a method and a device for alarming when backing a car, wherein when a backing signal of the car is received, the method acquires a gear signal and a speed of the car, further starts a multi-channel sensor according to a driving direction to acquire a distance between each barrier in a detection area of each channel of sensor and the car, correspondingly determines a shortest distance between each barrier in the detection area of each channel of sensor and the car according to the distance between each barrier in the detection area of each channel of sensor and the car, and carries out graded alarming according to the shortest distance between each barrier in the detection area of each channel of sensor and the car and the speed of the car; the invention can warn the driver of the surrounding environment state when backing a car and reduce the risk of scraping and colliding.)

1. A reversing alarm method is characterized by comprising the following steps:

when a reversing signal of a vehicle is received, the driving direction and the speed of the vehicle are obtained;

starting a plurality of sensors according to the driving direction to obtain the distance between each obstacle in the detection area of each sensor and the vehicle, wherein the plurality of sensors are sensors which are pre-installed on the vehicle and are used for detecting the obstacles around the vehicle;

correspondingly determining the shortest distance between each obstacle in each sensor detection area and the vehicle according to the distance between each obstacle in each sensor detection area and the vehicle;

and performing graded alarm according to the shortest distance between the obstacles in the detection areas of the sensors and the vehicle speed.

2. The reverse warning method according to claim 1, wherein the step of warning according to the shortest distance between the obstacle in the detection area of each sensor and the vehicle speed comprises the following steps:

determining whether the vehicle speed of the vehicle is less than a preset vehicle speed;

when the vehicle speed is less than the preset vehicle speed, determining the alarm level of the corresponding area according to the shortest distance between the obstacles in the detection area of each sensor and the vehicle;

and performing grading alarm of the corresponding area according to the alarm grade.

3. The reversing alarm method according to claim 2, wherein said performing the graded alarm according to the alarm level comprises:

performing interface display alarm according to the alarm level of the corresponding area, wherein the interface color of the interface display alarm changes along with the change of the alarm level;

and carrying out sound alarm according to the alarm level of the corresponding area, wherein the sound frequency of the sound alarm changes along with the change of the alarm level.

4. The reversing alarm method according to claim 3, further comprising, after the audible alarm according to the alarm level:

determining a target distance according to the shortest distance between the obstacles in the detection areas of the sensors and the vehicle, wherein the target distance is the shortest distance between the obstacles in the detection areas of all the sensors and the vehicle;

and when the target distance is greater than a preset mute distance or the vehicle stationary duration is greater than a preset duration, the sound grading alarm is turned off.

5. The reversing alarm method according to claim 4, wherein after determining the target distance according to the shortest distance between the obstacle and the vehicle in the detection area of each sensor, the method further comprises:

and when the target distance is smaller than a preset emergency braking distance, controlling the vehicle to perform emergency braking.

6. The reversing alarm method according to any one of claims 1 to 5, wherein the multiplex sensor is a 12-way sensor, and the 12-way sensor comprises:

the front 6-way sensor comprises 4 vehicle head sensors and 2 front side sensors, the 4 vehicle head sensors comprise a vehicle head left angle sensor, a vehicle head right angle sensor and 2 front sensors, and the 2 front side sensors comprise a left front side sensor and a right front side sensor;

6 way sensors in back, including 4 rear of a vehicle sensors and 2 rear side sensors, 4 rear of a vehicle sensors include rear of a vehicle left corner sensor, rear of a vehicle right corner sensor and 2 sensors directly behind, 2 rear side sensors include left rear side sensor, right rear side sensor.

7. The reversing alarm method according to claim 6, wherein the activating multiple sensors according to the driving direction to obtain the distance between each obstacle in the detection area of each sensor and the vehicle comprises:

when the driving direction is forward driving, starting the front 6-way sensor to acquire the distance between each obstacle in the detection area of the front 6-way sensor and the vehicle;

and when the driving direction is backward driving, starting the 12-way sensor to acquire the distance between each obstacle in the detection area of the 12-way sensor and the vehicle.

8. The reversing alarm method according to claim 7, wherein the determining an alarm level according to the shortest distance between the obstacle and the vehicle in the detection area of each sensor comprises:

when the shortest distance between the obstacle in the detection areas of the 2 rear-side sensors and the vehicle is smaller than a first preset distance, or the shortest distance between the obstacle in the detection areas of the 2 front-side sensors and the vehicle is smaller than a second preset distance, or the shortest distance between the obstacle in the detection areas of the 4 head sensors and the vehicle is smaller than a third preset distance, or the shortest distance between the obstacle in the detection areas of the 4 tail sensors and the vehicle is smaller than the third preset distance, determining that the alarm level is a first level;

when the shortest distance between the obstacle in the 2 rear-side sensor detection areas and the vehicle is smaller than a fourth preset distance, or the shortest distance between the obstacle in the 2 front-side sensor detection areas and the vehicle is smaller than a fifth preset distance, or the shortest distance between the obstacle in the 4 head sensor detection areas and the vehicle is smaller than a sixth preset distance, or the shortest distance between the obstacle in the 4 tail sensor detection areas and the vehicle is smaller than the sixth preset distance, the alarm level is determined to be the second level.

9. A reversing alarm device, comprising:

the device comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring the driving direction and the speed of a vehicle when a reversing signal of the vehicle is received;

the second acquisition module is used for starting a multi-path sensor according to the driving direction to acquire the distance between each obstacle in the detection area of each path of sensor and the vehicle, and the multi-path sensor is a sensor which is arranged on the vehicle in advance and is used for detecting the obstacles around the vehicle;

the determining module is used for correspondingly determining the shortest distance between each obstacle in each sensor detection area and the vehicle according to the distance between each obstacle in each sensor detection area and the vehicle;

and the alarm module is used for carrying out graded alarm according to the shortest distance between the obstacles in the detection areas of the sensors and the vehicle speed.

10. A reversing alarm device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the steps of the reversing alarm method according to any one of claims 1 to 8 are carried out when the computer program is executed by the processor.

Technical Field

The invention relates to the technical field of vehicle reversing radars, in particular to a reversing alarm method and device.

Background

The reversing radar is called as a parking auxiliary device, and is a safety auxiliary device for processing parking or reversing. In the process of backing a car, although a driver can observe the situation outside the car by using the left rear-view mirror, the right rear-view mirror and the inside rear-view mirror, the range observed from the inside of the mirror surface is limited, so that the function of the backing radar as an important component of the backing auxiliary system is very obvious. The back radar is composed of ultrasonic sensor, controller and display (or buzzer), the ultrasonic sensor emits pulse signal, the signal reflected by the barrier is transmitted to the controller for calculation, and the signal between the barrier and the vehicle is calculated and transmitted to the display screen for display, and the buzzer sound alarm mode is used to prompt the driver, so that the driver can master the front and back conditions of the vehicle, and the vehicle body and the barrier are prevented from being scraped.

However, in the prior art, the reversing radar system still has many problems, the detection area of the reversing radar system is not comprehensive enough, and still has potential safety hazards, for example, the detection area of the reversing radar alarm system of patent No. CN108919279A is only the front area and the rear area of the vehicle, the detection area is limited, and there is a detection blind area, when an obstacle is detected and an alarm prompt is given to the driver, the alarm prompt to the driver is not comprehensive enough and the prompt force is the same, so that the driver cannot receive the alarm feedback comprehensively and effectively, and the vehicle is in danger of being scratched.

Disclosure of Invention

The invention provides a reversing alarm method and device, and aims to solve the problems that in the prior art, a reversing radar system is insufficient in detection area and no grading is available in alarm prompt.

A reversing alarm method comprises the following steps:

when a reversing signal of a vehicle is received, the driving direction and the speed of the vehicle are obtained;

starting a plurality of sensors according to the driving direction to obtain the distance between each obstacle in the detection area of each sensor and the vehicle, wherein the plurality of sensors are sensors which are pre-installed on the vehicle and are used for detecting the obstacles around the vehicle;

correspondingly determining the shortest distance between each obstacle in each sensor detection area and the vehicle according to the distance between each obstacle in each sensor detection area and the vehicle;

and performing graded alarm according to the shortest distance between the obstacles in the detection areas of the sensors and the vehicle speed.

Further, the step of giving an alarm according to the shortest distance between the obstacle and the vehicle in the detection area of each sensor and the vehicle speed comprises:

determining whether the vehicle speed of the vehicle is less than a preset vehicle speed;

when the vehicle speed is less than the preset vehicle speed, determining the alarm level of the corresponding area according to the shortest distance between the obstacles in the detection area of each sensor and the vehicle;

and performing grading alarm of the corresponding area according to the alarm grade.

Further, the performing the graded alarm according to the alarm grade includes:

performing interface display alarm according to the alarm level of the corresponding area, wherein the interface color of the interface display alarm changes along with the change of the alarm level;

and carrying out sound alarm according to the alarm level of the corresponding area, wherein the sound frequency of the sound alarm changes along with the change of the alarm level.

Further, after the sound alarm is performed according to the alarm level, the method further includes:

determining a target distance according to the shortest distance between the obstacles in the detection areas of the sensors and the vehicle, wherein the target distance is the shortest distance between the obstacles in the detection areas of all the sensors and the vehicle;

and when the target distance is greater than a preset mute distance or the vehicle stationary duration is greater than a preset duration, the sound grading alarm is turned off.

Further, after determining the target distance according to the shortest distance between each obstacle and the vehicle in the detection area of each sensor, the method further includes:

and when the target distance is smaller than a preset emergency braking distance, controlling the vehicle to perform emergency braking.

Further, the multi-sensor is a 12-way sensor, and the 12-way sensor comprises:

the front 6-way sensor comprises 4 vehicle head sensors and 2 front side sensors, the 4 vehicle head sensors comprise a vehicle head left angle sensor, a vehicle head right angle sensor and 2 front sensors, and the 2 front side sensors comprise a left front side sensor and a right front side sensor;

6 way sensors in back, including 4 rear of a vehicle sensors and 2 rear side sensors, 4 rear of a vehicle sensors include rear of a vehicle left corner sensor, rear of a vehicle right corner sensor and 2 sensors directly behind, 2 rear side sensors include left rear side sensor, right rear side sensor.

Further, the starting the multiple sensors according to the driving direction to obtain the distance between each obstacle in the detection area of each sensor and the vehicle comprises:

when the driving direction is forward driving, starting the front 6-way sensor to acquire the distance between each obstacle in the detection area of the front 6-way sensor and the vehicle;

and when the driving direction is backward driving, starting the 12-way sensor to acquire the distance between each obstacle in the detection area of the 12-way sensor and the vehicle.

Further, the determining an alarm level according to the shortest distance between each obstacle in the detection area of each sensor and the vehicle includes:

when the shortest distance between the obstacle in the detection areas of the 2 rear-side sensors and the vehicle is smaller than a first preset distance, or the shortest distance between the obstacle in the detection areas of the 2 front-side sensors and the vehicle is smaller than a second preset distance, or the shortest distance between the obstacle in the detection areas of the 4 head sensors and the vehicle is smaller than a third preset distance, or the shortest distance between the obstacle in the detection areas of the 4 tail sensors and the vehicle is smaller than the third preset distance, determining that the alarm level is a first level;

when the shortest distance between the obstacle in the 2 rear-side sensor detection areas and the vehicle is smaller than a fourth preset distance, or the shortest distance between the obstacle in the 2 front-side sensor detection areas and the vehicle is smaller than a fifth preset distance, or the shortest distance between the obstacle in the 4 head sensor detection areas and the vehicle is smaller than a sixth preset distance, or the shortest distance between the obstacle in the 4 tail sensor detection areas and the vehicle is smaller than the sixth preset distance, the alarm level is determined to be the second level.

A reversing warning device comprising:

the device comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring the driving direction and the speed of a vehicle when a reversing signal of the vehicle is received;

the second acquisition module is used for starting a multi-path sensor according to the driving direction to acquire the distance between each obstacle in the detection area of each path of sensor and the vehicle, and the multi-path sensor is a sensor which is arranged on the vehicle in advance and is used for detecting the obstacles around the vehicle;

the determining module is used for correspondingly determining the shortest distance between each obstacle in each sensor detection area and the vehicle according to the distance between each obstacle in each sensor detection area and the vehicle;

and the alarm module is used for carrying out graded alarm according to the shortest distance between the obstacles in the detection areas of the sensors and the vehicle speed.

A reversing alarm device comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the processor executes the computer program to realize the steps of the reversing alarm method.

A reverse alarm system comprises the reverse alarm device and 12-way sensors for detecting obstacles around a vehicle, wherein the 12-way sensors comprise the front 6-way sensor and the rear 6-way sensor.

A readable storage medium, storing a computer program which, when executed by a processor, carries out the steps of the method of reversing alarm as described above.

In one scheme of the method and the device for alarming in backing a car, when a backing signal of a vehicle is received, a gear signal and a vehicle speed of the vehicle are obtained, and then a multi-path sensor is started according to a driving direction to obtain the distance between each barrier in a detection area of each path of sensor and the vehicle, wherein the multi-path sensor is a sensor which is installed on the vehicle in advance and is used for detecting barriers around the vehicle, the shortest distance between each barrier in the detection area of each path of sensor and the vehicle is correspondingly determined according to the distance between each barrier in the detection area of each path of sensor and the vehicle, and classified alarming is carried out according to the shortest distance between each barrier in the detection area of each path of sensor and the vehicle speed; according to the invention, the multi-channel sensors pre-installed on the vehicle are started to detect the distance between obstacles in each area around the vehicle and the vehicle, and the shortest distance between the obstacles in each sensor detection area and the vehicle is determined, so that the obstacle condition in the area around the vehicle can be detected, the detection area of the vehicle is increased, and classified alarm is performed according to the shortest distance between the obstacles in each area around the vehicle and the vehicle speed, so that a driver controls the vehicle according to alarm prompt, and different alarm grades increase the prompt strength for the driver, thereby solving the problems of insufficient detection area and no classification of alarm prompt of the reversing radar system in the prior art, having good alarm effect in a complex environment, being capable of warning the surrounding environment state of the driver during reversing, and reducing the risk of scratching.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.

FIG. 1 is a schematic flow chart of a reverse warning method according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a 12-way sensor installation in accordance with an embodiment of the present invention;

FIG. 3 is a schematic diagram of the detection zones of a 12-way sensor in accordance with an embodiment of the present invention;

fig. 4 is a schematic flow chart illustrating the implementation of step S50 in the reverse warning method according to an embodiment of the present invention;

FIG. 5 is a schematic view of a reversing alarm apparatus according to an embodiment of the present invention;

fig. 6 is another schematic structural diagram of the reversing alarm device in one embodiment of the invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The reversing alarm method provided by the embodiment of the invention can be applied to a reversing alarm system, and the reversing alarm system comprises a reversing alarm device and 12-way sensors for detecting obstacles around a vehicle. Wherein, the backing alarm device and the 12-way sensor are communicated through a bus. When a reversing signal of a vehicle is received, a reversing alarm device acquires a gear signal and a vehicle speed of the vehicle, determines the running direction of the vehicle according to the gear signal, starts a multi-path sensor in 12 paths of sensors which are pre-installed on the vehicle and used for detecting obstacles around the vehicle to acquire the distance between each obstacle in a detection area of each path of sensor and the vehicle according to the running direction, correspondingly determines the shortest distance between each obstacle in the detection area of each path of sensor and the vehicle according to the distance between each obstacle in the detection area of each path of sensor and the vehicle, and further carries out graded alarm according to the shortest distance between each obstacle in the detection area of each path of sensor and the vehicle speed.

Wherein, the 12-way sensor comprises a front 6-way sensor and a rear 6-way sensor of the vehicle, and the 12-way sensor can be all ultrasonic sensors.

In this embodiment, a sensor that is pre-installed on the vehicle and is used for detecting obstacles around the vehicle is taken as an example for description, and in other embodiments, a sensor that is pre-installed on the vehicle and is used for detecting obstacles around the vehicle may also be another sensor, and details are not described here.

In this embodiment, the reversing alarm system includes a reversing alarm device and a 12-way sensor, which are only exemplary illustrations, and in other embodiments, the reversing alarm system includes others, which are not described herein again.

In an embodiment, as shown in fig. 1, a reverse warning method is provided, which is described by taking a reverse radar system as an example, and specifically includes the following steps:

s10: it is determined whether a reverse signal of the vehicle is received.

The reversing signal of the vehicle can be obtained by acquiring the panoramic key signal and the reversing key signal, and when the acquired panoramic key signal and the reversing key signal are pressed, the reversing radar system is indicated to be started, and the reversing signal of the vehicle is determined to be received.

For example, when a vehicle needs to park, in order to avoid the risk of scraping an obstacle during parking, the vehicle needs to start a reverse radar system to guide a driver of the vehicle to drive to a found parking space after the vehicle finds the parking space. If the panoramic key signal and the reversing key signal are pressed, the reversing radar system is indicated to be started, the reversing signal of the vehicle is determined to be received, and the gear signal and the vehicle speed of the vehicle need to be acquired, so that the subsequent obstacle detection is carried out according to the gear signal of the vehicle, and the graded alarm is carried out according to the distance between each obstacle and the vehicle in each sensor detection area and the vehicle speed.

In this embodiment, the reversing signal of the vehicle may be obtained by obtaining the panoramic key signal and the reversing key signal, which is only an exemplary description, and in other embodiments, the reversing signal of the vehicle may also be obtained by other methods, which is not described herein again.

S20: and when a reversing signal of the vehicle is received, acquiring the driving direction and the speed of the vehicle.

When a reversing signal of the vehicle is received, a gear signal and the vehicle speed of the vehicle are obtained, so that after the radar system of the vehicle is determined to be started, obstacle detection is carried out according to the running direction of the vehicle, and graded alarm is carried out according to the distance between each obstacle and the vehicle in the detection area of each sensor and the vehicle speed.

The driving direction of the vehicle can be determined through the gear of the vehicle, and after the reverse signal of the vehicle is received and the gear signal of the vehicle is obtained, the driving direction of the vehicle is determined according to the gear signal of the vehicle.

For example, when the gear signal of the vehicle is the D gear, the driving direction of the vehicle is determined as forward driving; and when the gear signal of the vehicle is R gear, determining that the driving direction of the vehicle is backward driving.

The driving direction of the vehicle CAN also be obtained by reading a CAN message sent by a vehicle controller.

The CAN message sent by the vehicle controller is read to obtain the vehicle speed, the driving direction, the panoramic key signal and the reversing radar key signal of the vehicle.

In this embodiment, the acquisition of the vehicle speed, the driving direction, the panoramic key signal and the reversing radar key signal through the CAN message is only an exemplary description, and in other embodiments, the vehicle speed, the driving direction, the panoramic key signal and the reversing radar key signal of the vehicle may also be acquired through other manners, which is not repeated herein.

S30: and starting a multi-path sensor according to the driving direction to obtain the distance between each obstacle in the detection area of each path of sensor and the vehicle, wherein the multi-path sensor is a sensor which is arranged on the vehicle in advance and is used for detecting the obstacles around the vehicle.

After the driving direction of the vehicle is determined according to the gear signal, a multi-path sensor is started according to the driving direction to acquire coordinates of each obstacle in a detection area of each path of sensor, so that the distance between each obstacle in the detection area of each path of sensor and the vehicle is acquired, wherein the multi-path sensor is a sensor which is installed on the vehicle in advance and is used for detecting the obstacles around the vehicle.

The multi-channel sensor mounted on the vehicle in advance detects obstacles around the vehicle, and the detection range is divided into 4 areas of the front sensor, 4 areas of the rear sensor and 4 areas of the side.

In the automatic parking process, when the vehicle runs backwards and backs, the requirement on the vehicle is high, the state of obstacles in the range of 360 degrees around the vehicle needs to be concerned, and all sensors arranged around the vehicle are started to acquire the obstacles in the range of 360 degrees around the vehicle.

After the multi-channel sensors are started according to the driving direction, the distance between each obstacle and the vehicle in the detection area of each ultrasonic sensor can be calculated according to various ultrasonic wave transmitting logics by adopting time transition detection and combining a temperature and time calibration method, and the calculation formula is as follows:

S＝(V×T_m)/2；

T_m＝T_h+(T_send-T_rev)；

wherein S is the distance between each obstacle and the vehicle in the detection area of the ultrasonic sensor on a certain road, V is the ultrasonic speed, and T is_empIs ambient temperature, T_mIs the resulting calibrated echo time, T_hIs the detection time of the echo, T_sendIs the wave-transmitting time stamp, T, of the current wave-transmitting channel_revIs the time stamp of the current wave receiving channel.

In one embodiment, the sensor pre-installed on the vehicle for detecting obstacles around the vehicle is a 12-way ultrasonic sensor, and the 12-way ultrasonic sensor specifically includes:

a. the front 6-way sensor comprises 4 vehicle head sensors and 2 front side sensors, the 4 vehicle head sensors comprise a vehicle head left angle sensor, a vehicle head right angle sensor and 2 front sensors, and the 2 front side sensors comprise a left front side sensor and a right front side sensor;

b. 6 way sensors in back, including 4 rear of a vehicle sensors and 2 rear side sensors, 4 rear of a vehicle sensors include rear of a vehicle left corner sensor, rear of a vehicle right corner sensor and 2 positive rear sensors, and 2 rear side sensors include left rear side sensor, right rear side sensor.

In this embodiment, the 12-way ultrasonic sensor pre-installed on the vehicle for detecting the obstacles around the vehicle is only an exemplary illustration, and in other embodiments, the ultrasonic sensor pre-installed on the vehicle for detecting the obstacles around the vehicle may also be other values, which are not described herein again.

Specifically, a two-dimensional coordinate system is established by taking the center of a vehicle as an origin, the vehicle and the periphery of the vehicle are divided into 4 large areas which are respectively the front, the rear, the left side and the right side of the vehicle, and the installation positions of 12 paths of ultrasonic sensors are shown in fig. 2, wherein FA-FE is a front 6-path sensor, FA is a vehicle head left corner sensor, FD is a vehicle head right corner sensor, FB and FC are 2 front sensors, FF is a left front sensor, and FE is a right front sensor; RA-RE is a front 6-path sensor, RD is a vehicle tail left angle sensor, RA is a vehicle tail right angle sensor, RB and RC are 2 right rear sensors, RE is a left rear side sensor, RF is a right rear side sensor, namely the installation positions of 1-12 paths of ultrasonic sensors are respectively: FF. FA, FB, FC, FD, FE, RF, RA, RB, RC, RD, RE.

Wherein, locomotive left corner sensor, locomotive right angle sensor, rear of a vehicle left corner sensor and rear of a vehicle right angle sensor are long range ultrasonic sensor, and other 8 way are short range ultrasonic sensor. According to the ultrasonic characteristics, the short range ultrasonic sensor detection range may be a region having a distance of 2m and an angle of 60 °, and the long range ultrasonic detection range may be a region having a distance of 5m and an angle of 30 °, i.e., the long range ultrasonic continuously records distance data of 5m for the forward traveling distance and 5m for the backward traveling distance of the vehicle. The long-distance ultrasonic sensor not only has the function of detecting obstacles, but also has the function of finding parking places in the automatic parking process; the short-distance ultrasonic sensor is more stable in detection, so that the short-distance ultrasonic sensor mainly has the function of detecting obstacles, and therefore the stability and the accuracy of obstacle detection of the multi-path sensor in the parking process are improved.

As shown in fig. 3, with the vehicle center as the origin (0, 0), the vehicle longitudinal direction (FRONT) as the MY axis, the vehicle lateral direction (FEAR) as the MX axis, and the detection regions respectively corresponding to FA, FB, FC, FD, FE, FF as FL, FLM, FRM, FR, FSR, FSL; the detection regions corresponding to RA, RB, RC, RD, RE, RF are RR, RRM, RLM, RL, RSL, RSR, respectively.

For example, when the vehicle is traveling backward, all the 12-way ultrasonic sensors are turned on to obtain 12-way ultrasonic sensors to detect obstacles in the corresponding region, wherein the obstacles in the region corresponding to the 12-way ultrasonic sensors are the obstacles in 12 regions, such as FL, FLM, FRM, FR, FSR, FSL, RR, RRM, RLM, RL, RSL, and RSR.

In this embodiment, the installation position and the detection area of the 12-way ultrasonic sensor are only exemplary illustrations, and in other embodiments, the installation position and the detection area of the 12-way ultrasonic sensor may be other, which is not described herein again.

In the embodiment, the panoramic environment of 360 degrees around the vehicle is detected in different areas in a multi-azimuth mode by dividing the panoramic environment, so that the purpose of monitoring all directions and the range of a blind area is achieved.

S40: and correspondingly determining the shortest distance between the obstacles and the vehicle in the detection areas of the sensors according to the distance between the obstacles and the vehicle in the detection areas of the sensors.

When a plurality of obstacles exist around the vehicle, because each sensor can detect a plurality of obstacles, the distance between each obstacle and the vehicle obtained by each sensor is multiple, after the multi-path sensor is started according to the driving direction to obtain the distance between each obstacle and the vehicle, the shortest distance between each obstacle and the vehicle in the detection area of each sensor is correspondingly determined according to the distance between each obstacle and the vehicle in the detection area of each sensor.

Specifically, each ultrasonic sensor can detect and record the coordinate points of 30 obstacles, that is, each ultrasonic sensor can obtain the distance between 30 obstacles and the vehicle at most.

For example, during the reversing process, the number of obstacles detected by the FA sensor in the detection area FL is 3, and the distances between the 3 obstacles in the area FL and the vehicle are 60cm, 80cm and 120cm respectively, wherein 60cm is the shortest distance between the obstacle and the vehicle in the detection area FL of the FA sensor.

S50: and performing graded alarm according to the shortest distance between the obstacles and the vehicle in the detection area of each sensor and the vehicle speed.

After the speed of the vehicle is obtained, the shortest distance between the obstacles in the detection area of each ultrasonic sensor and the vehicle is correspondingly determined according to the distance between each obstacle and the vehicle in the corresponding detection area of each sensor, and then classified alarm is carried out according to the shortest distance between the obstacles and the vehicle in the detection area of each ultrasonic sensor and the speed of the vehicle.

For example, the regions FL, FLM, FRM, FR, FSR, FSL, RR, RRM, RLM, RL, RSL, RSR corresponding to the 12-channel ultrasonic sensor have different alarm distances. When the vehicle runs backwards, all 12 paths of ultrasonic sensors are started to obtain the distance between obstacles and the vehicle in the range around the vehicle, and after the shortest distance between the obstacles and the vehicle in the detection area of each path of ultrasonic sensor is determined, wherein the shortest distance in the detection area of the FA ultrasonic sensor is 60cm, the shortest distance in the detection area of the FD ultrasonic sensor is 110cm, and the alarm distances between the detection area of the FA ultrasonic sensor and the detection area of the FA ultrasonic sensor are different, the detection area of the FA ultrasonic sensor gives an alarm in a grading mode according to 60cm and the vehicle speed, and the detection area of the FD ultrasonic sensor gives an alarm in a grading mode according to 110cm and the vehicle speed, so that a driver is prompted to obtain the obstacle information of the vehicle, and the vehicle is controlled according to the alarm prompt.

In the embodiment, when a reversing signal of a vehicle is received, a multi-path sensor is started according to a driving direction by acquiring a gear signal and a vehicle speed of the vehicle to acquire a distance between each barrier in a detection area of each path of sensor and the vehicle, the multi-path sensor is a sensor which is pre-installed on the vehicle and is used for detecting barriers around the vehicle, the shortest distance between each barrier in the detection area of each path of sensor and the vehicle is determined according to the distance between each barrier in the detection area of each path of sensor and the vehicle, and classified alarm is performed according to the shortest distance between each barrier in the detection area of each path of sensor and the vehicle speed; according to the invention, the multi-channel sensor pre-installed on the vehicle is started to detect the distance between each obstacle in each area around the vehicle and the vehicle, and the shortest distance between each obstacle in each area and the vehicle is determined, so that the obstacle condition in the area around the vehicle can be detected, the detection area of the vehicle is improved, and classified alarm is performed according to the shortest distance and the vehicle speed in each area around the vehicle, so that a driver controls the vehicle according to the alarm prompt, the prompt strength to the driver is increased by different alarm grades, the problems that the detection area of a reversing radar system is insufficient and the alarm prompt is not classified in the prior art are solved, a good alarm effect is achieved in a complex environment, the driver can be warned of the surrounding environment state during reversing, and the risk of scratching is reduced.

In one embodiment, after acquiring the driving direction of the vehicle, in step S30, the method starts the multi-path sensors according to the driving direction to acquire the distance between each obstacle in the detection area of each path sensor and the vehicle, and specifically includes the following steps:

s31: when the driving direction is forward driving, the front 6-way sensor is started to acquire the distance between each obstacle in the detection area of the front 6-way sensor and the vehicle.

During parking, when the vehicle travels forward, the state of an obstacle in front of the vehicle is mainly focused, and an ultrasonic sensor installed in front of the vehicle is turned on to acquire the distance between each obstacle in front of the vehicle and the vehicle.

Specifically, when the traveling direction is forward traveling, the front 6-way ultrasonic sensors FA, FB, FC, FD, FE, FF detect the distances between the respective obstacles in the regions FL, FLM, FRM, FR, FSR, FSL and the vehicle, respectively.

S32: when the driving direction is backward driving, the 12-way sensor is started to acquire the distance between each obstacle in the detection area of the 12-way sensor and the vehicle.

When the vehicle runs backwards and backs, the requirement on the view angle of the vehicle is high, the state of obstacles in the range of 360 degrees around the vehicle needs to be paid attention to, and all ultrasonic sensors arranged around the vehicle are started to acquire the distance between each obstacle in the range of 360 degrees around the vehicle and the vehicle.

Specifically, when the traveling direction is backward traveling, the 12-way ultrasonic sensor is activated to detect the distances between the respective obstacles and the vehicle in the regions FL, FLM, FRM, FR, FSR, FSL, RR, RRM, RLM, RL, RSL, RSR, respectively.

In the embodiment, after the driving direction of the vehicle is acquired, when the driving direction is forward driving, the front 6-way sensor is started to acquire the distance between each obstacle in the detection area of the front 6-way sensor and the vehicle, when the driving direction is backward driving, the 12-way sensor is started to obtain the distance between each obstacle in the detection area of the 12-way sensor and the vehicle, when the driving direction of the vehicle is forward, the obstacle state in front of the vehicle is mainly concerned, only the sensor of the current 6 ways is started to detect, when the vehicle is backward driving and the obstacle state in the range around the vehicle needs to be concerned, all the sensors are started to detect, controlling the sensor according to the actual requirement to obtain the shortest distance between the obstacle and the vehicle in the corresponding area, under the condition of meeting the reversing visual angle, the energy consumption of the vehicle sensor is saved, and meanwhile, the calculated amount of sensor data is also reduced.

In one embodiment, after acquiring the vehicle speed of the vehicle and determining the shortest distance between the obstacle and the vehicle in each sensor detection area according to the distance between the obstacle and the vehicle in each sensor detection area, in step S50, a hierarchical alarm is performed according to the shortest distance between the obstacle and the vehicle in each sensor detection area and the vehicle speed, which specifically includes the following steps:

s51: it is determined whether the vehicle speed of the vehicle is less than a preset vehicle speed.

After the vehicle speed of the vehicle is obtained, the shortest distance between the obstacles in the detection areas of the ultrasonic sensors and the vehicle is correspondingly determined according to the distance between the obstacles in the detection areas of the ultrasonic sensors and the vehicle, and whether the vehicle speed of the vehicle is smaller than the preset vehicle speed is determined according to the obtained vehicle speed.

S52: and when the speed of the vehicle is less than the preset speed, determining the alarm level of the corresponding area according to the shortest distance between the obstacles in the detection area of each sensor and the vehicle.

And when determining whether the vehicle speed of the vehicle is less than the preset vehicle speed, determining the alarm level in the corresponding area according to the shortest distance between the obstacle and the vehicle in the detection area of each ultrasonic sensor.

For example, the preset vehicle speed is 18km/h (kilometer/hour), and when the vehicle travels forward and it is determined whether the vehicle speed is less than 18km/h, the alarm level corresponding to each area is determined according to the respective shortest distances in the FSL, FL, FLM, FRM, FR, and FSR areas.

In this embodiment, the preset vehicle speed of 18km/h is only an exemplary illustration, and in other embodiments, the preset vehicle speed may be other, which is not described herein again.

Further, in step S52, determining an alarm level according to the shortest distance between the obstacle and the vehicle in the detection area of each sensor, specifically includes the following steps:

s521: when the shortest distance between the obstacles and the vehicles in the 2 rear-side sensor detection areas is smaller than a first preset distance, or the shortest distance between the obstacles and the vehicles in the 2 front-side sensor detection areas is smaller than a second preset distance, or the shortest distance between the obstacles and the vehicles in the 4 head sensor detection areas is smaller than a third preset distance, or the shortest distance between the obstacles and the vehicles in the 4 tail sensor detection areas is smaller than the third preset distance, the alarm level is determined to be the first level.

The first preset distance is greater than the second preset distance, and the second preset distance is greater than the third preset distance.

Specifically, the shortest distance between the obstacle and the vehicle in the detection areas of the 2 rear-lateral sensors is smaller than a first preset distance, that is, the shortest distance between the obstacle and the vehicle in the two areas of the RRM and the RLM is smaller than the first preset distance; or the shortest distance between the obstacles in the detection areas of the 2 front and side sensors and the vehicle is smaller than a second preset distance, namely the shortest distance between the obstacles in the two areas of the FLM and the FRM and the vehicle is smaller than the second preset distance; or when the shortest distance between the obstacles and the vehicle in the detection areas of the 4 head sensors and the 4 tail sensors is smaller than a third preset distance, namely the shortest distance between the obstacles and the vehicle in the eight areas of FSL, FL, FR, FSR, RSR, RR, RL and RSL is smaller than the third preset distance, determining that the alarm level is the first level.

For example, the first preset distance is 150cm, the second preset distance is 110cm, the third preset distance is 60cm, when the vehicle runs in the back-front direction, the distances between obstacles and the vehicle in 12 areas are obtained, the shortest distance in each area is determined, and if the shortest distance in the FLM and FRM areas is smaller than 110cm (110cm is a critical value for judging whether the area alarms or not), the alarm levels of the FLM and FRM areas are determined to be the first level and alarm is performed; if the shortest distance among the FSL, FL, FR and FSR areas is less than 60cm (60cm is a critical value for judging whether the area alarms), determining the alarm level of the FSL, FL, FR and FSR areas as a first level and alarming; if the shortest distance in the RRM and RLM areas is less than 150cm (150cm is a critical value for judging whether the areas alarm or not and the alarm level is lowest), determining the alarm level of the RRM and RLM areas as a first level and alarming; and if the shortest distance in the RSR, RR, RL and RSL areas is less than 60cm (60cm is a critical value for judging whether the areas alarm or not), determining that the alarm levels of the RSR, RR, RL and RSL areas are the first level and alarming.

In this embodiment, the first preset distance of 150cm, the second preset distance of 110cm, and the third preset distance of 60cm are merely exemplary illustrations, and in other embodiments, the first preset distance, the second preset distance, and the third preset distance may be other distances, which is not described herein again.

S522: and when the shortest distance between the obstacles and the vehicles in the 2 rear-side sensor detection areas is smaller than a fourth preset distance, or the shortest distance between the obstacles and the vehicles in the 2 front-side sensor detection areas is smaller than a fifth preset distance, or the shortest distance between the obstacles and the vehicles in the 4 vehicle head sensor detection areas is smaller than a sixth preset distance, or the shortest distance between the obstacles and the vehicles in the 4 vehicle tail sensor detection areas is smaller than the sixth preset distance, determining that the alarm level is the second level.

The fourth preset distance is greater than the fifth preset distance, and the fifth preset distance is greater than the sixth preset distance.

The alarm level of each ultrasonic sensor detection area is increased by one level every time the shortest distance between the obstacle and the vehicle in each ultrasonic sensor detection area is reduced by a fixed value, and the alarm level of each ultrasonic sensor detection area is increased by one level every time the shortest distance between the obstacle and the vehicle in each ultrasonic sensor detection area is reduced by 30 cm.

For example, the fourth preset distance is 120cm, the fifth preset distance is 90cm, the third preset distance is 30cm, when the vehicle runs in the back-front direction, the distances between obstacles and the vehicle in 12 areas are obtained, the shortest distance in each area is determined, and if the shortest distance between obstacles and the vehicle in the FLM and FRM areas is less than 90cm, the alarm levels of the FLM and FRM areas are determined to be the second level and alarm is performed; if the shortest distance between obstacles and the vehicle in the FSL, FL, FR and FSR areas is less than 30cm, determining the alarm levels of the FSL, FL, FR and FSR areas as the first level and alarming; if the shortest distance between the obstacles and the vehicle in the RRM and RLM areas is less than 120cm, determining the alarm level of the RRM and RLM areas as a second level and alarming; and if the shortest distance between the obstacles and the vehicle in the RSR, RR, RL and RSL areas is less than 60cm, determining the alarm level of the RSR, RR, RL and RSL areas as the second level and alarming.

In this embodiment, the fixed value of 30cm, the fourth preset distance of 120cm, the fifth preset distance of 90cm, and the sixth preset distance of 30cm is only an exemplary illustration, and in other embodiments, the fixed value, the fourth preset distance, the fifth preset distance, and the sixth preset distance may be other, and are not described herein again.

In the embodiment, the step of determining the alarm grade according to the shortest distance between the obstacle and the vehicle in the detection area of each sensor is further refined, and the alarm accuracy of the detection area of each sensor is improved.

S53: and performing graded alarm according to the alarm grade of the corresponding area.

After the alarm grade is determined according to the shortest distance between the obstacles and the vehicle in the detection area of each ultrasonic sensor, classified alarm is carried out according to the alarm grade of each area so as to remind a driver.

Specifically, the alarm mode includes sound alarm and car interface alarm, and in step S53, the step of performing graded alarm according to the alarm level includes the following steps:

s531: and performing interface display alarm according to the alarm level of the corresponding area, wherein the interface color of the interface display alarm changes along with the change of the alarm level.

When the distance between the vehicle and the obstacle reaches the alarm range value, namely the shortest distance between the obstacle and the vehicle in the detection area of each ultrasonic sensor reaches the alarm distance, the alarm grade of the detection area of each ultrasonic sensor is determined according to the shortest distance between the obstacle and the vehicle in the detection area of each ultrasonic sensor, and the shortest distance between the obstacle and the vehicle in the detection area of each ultrasonic sensor is displayed to the driver through a vehicle interface so as to realize interface display alarm.

The interface display alarm distinguishes different levels according to the color depth of the vehicle-machine interface, the interface color of the interface display alarm changes along with the change of the alarm level, the higher the alarm level is, the darker the interface color is, so that the reminding strength of a driver is increased through the color of the vehicle-machine interface, and the driver can know obstacles around the vehicle in real time.

S532: and carrying out sound alarm according to the alarm level of the corresponding area, wherein the sound frequency of the sound alarm changes along with the change of the alarm level.

When the distance between the vehicle and the obstacle reaches the alarm range value, namely the shortest distance between the obstacle and the vehicle in the detection area of each ultrasonic sensor reaches the alarm distance, the alarm grade of the detection area of each ultrasonic sensor is determined according to the shortest distance between the obstacle and the vehicle in the detection area of each ultrasonic sensor, and the highest alarm grade in the detection area of each ultrasonic sensor is subjected to sound alarm.

The sound alarm is characterized in that different levels are distinguished by sound frequency, the sound frequency of the sound alarm changes along with the change of the alarm level, the higher the alarm level is, the higher the alarm sound frequency is, so that the reminding strength of a driver is increased through the sound frequency, and the driver can know obstacles around the vehicle in real time.

The sound alarm outputs CAN messages of alarm sound to the car machine through the car backing alarm system, and the car machine controls the corresponding sound level to be sent out.

In the embodiment, the driver is reminded of paying attention to various surrounding environments by sound alarm and vehicle-machine interface display alarm, and the reminding strength of the driver is increased, so that the driver can know obstacles around the vehicle in real time.

In the embodiment, after the shortest distance between the obstacle and the vehicle in each sensor detection area is determined, whether the speed of the vehicle is smaller than the preset speed is determined, when the speed of the vehicle is smaller than the preset speed, the alarm grade is determined according to the shortest distance between the obstacle and the vehicle in each sensor detection area, and graded alarm is performed according to the alarm grade, so that the step of graded alarm according to the shortest distance between the obstacle and the vehicle in each sensor detection area and the speed of the vehicle is further refined, the alarm accuracy of each sensor detection area is improved, and a driver can obtain more accurate obstacle information.

In an embodiment, after the step S531, after the sound alarm is performed according to the alarm level, the method further includes the following steps:

s534: and determining a target distance according to the shortest distance between the obstacles and the vehicles in the detection areas of the sensors, wherein the target distance is the shortest distance between the obstacles and the vehicles in the detection areas of all the sensors.

For example, when the vehicle is traveling forward, the front 6 ultrasonic sensors are activated to detect the obstacles in the regions FL, FLM, FRM, FR, FSR, FSL, respectively, wherein the shortest distances between the obstacles in the regions FL, FLM, FRM, FR, FSR, FSL and the vehicle are 60cm, 65cm, 70cm, 75cm, 80cm, 85cm, respectively, the shortest distances between the obstacles in the regions FL, FLM, FRM, FR, FSR, FSL and the vehicle are 60cm, and the target distance is 60 cm; when the vehicle runs backward, the 12-way ultrasonic sensors are activated to detect obstacles in the regions FL, FLM, FRM, FR, FSR, FSL, RR, RRM, RLM, RL, RSL, RSR, respectively, wherein the distances between the obstacles of the regions FL, FLM, FRM, FR, FSR, FSL, RR, RRM, RLM, RL, RSL, RSR and the vehicle are 60cm, 65cm, 70cm, 75cm, 80cm, 85cm, 65cm, 64cm, 60cm, 50cm, 55cm, 90cm, 85cm, respectively, and the shortest distance between the obstacles of the regions FL, FLM, FRM, FR, FSR, FSL, RR, RRM, RLM, RL, RSL, RSR and the vehicle is 50cm, and the target distance is 60 cm.

S535: and when the target distance is greater than the preset mute distance or the vehicle stationary time length is greater than the preset time length, the audible alarm is turned off.

After the target distance is obtained, the change of the shortest distance between the obstacles and the vehicle in all the sensor detection areas is further determined according to the target distance, and when the shortest distance between the vehicle and the obstacles is found to be increased to a certain range or the vehicle is stationary for a period of time, namely when the target distance is greater than a preset mute distance or the vehicle is stationary for a period of time greater than a preset time, the sound alarm is turned off so as to reduce the interference influence of the sound alarm on a driver, but the vehicle-machine interface display alarm still exists at the moment.

For example, the preset mute distance is 10cm, the preset time is 4 seconds, when the ultrasonic sensor detects that the vehicle is far away from the obstacle and the far distance is more than 10cm, the sound alarm is turned off, and the vehicle enters a mute state, and if the shortest distance between the obstacle and the vehicle detected by all ultrasonic waves at the previous moment is 60cm and the shortest distance between the obstacle and the vehicle detected by all ultrasonic waves at the current moment is 75cm, the vehicle is muted; or when the vehicle is stationary for more than 4 seconds, the sound alarm is turned off to reduce the interference influence of the sound alarm on the driver, but the vehicle-machine interface display alarm still exists at the moment.

In this embodiment, the preset mute distance of 10cm and the preset time duration of 4 seconds are only exemplary descriptions, and in other embodiments, the preset mute distance and the preset time duration may be other, which is not described herein again.

In this embodiment, after performing the acoustic alarm according to the alarm level, the shortest distance between the obstacles in all the sensor detection areas and the vehicle is determined according to the distance between each obstacle in each sensor detection area and the vehicle, and when the sensor detects that the vehicle is away from the nearest obstacle and the distance away from the nearest obstacle is greater than the preset mute distance, the acoustic alarm is turned off, or when the vehicle is stationary for a period of time greater than the preset period of time, the acoustic alarm is turned off, so as to reduce the interference influence of the acoustic alarm on the driver and improve the driving safety.

In an embodiment, after the target distance is correspondingly determined according to the distance between each obstacle and the vehicle in each sensor detection area, i.e. after step S534, the method further includes the following steps:

s536: when the target distance is greater than the preset emergency braking distance, the vehicle is controlled to perform emergency braking, so that collision with the obstacle is further avoided, the probability of collision between the vehicle and the obstacle is reduced, and the driving safety is improved.

For example, the preset emergency braking distance is 9cm, and when the shortest distance between the obstacle and the vehicle in the detection areas of all the ultrasonic sensors is smaller than 9cm, the vehicle is controlled to perform emergency braking, so that the emergency braking function is realized, the collision between the vehicle and the obstacle is further avoided, the probability of collision between the vehicle and the obstacle is reduced, and the driving safety is improved. In this embodiment, the preset emergency braking distance of 9cm is only an exemplary illustration, and in other embodiments, the preset emergency braking distance may be other, which is not described herein again.

In an embodiment, a reverse test method is further provided, the reverse warning system is tested through a rack, wherein the rack comprises an upper computer, a debugger, a CAN tool, a Microcontroller (MCU), a movable ultrasonic detection frame, a car machine, and a brake simulator, and the test method specifically comprises the following steps:

s01: and burning the binary code into the MCU through a debugger, and writing ultrasonic parameters into the upper computer.

S02: the 12-channel ultrasonic sensor is arranged on the ultrasonic detection vehicle frame in advance, and the movable ultrasonic detection vehicle frame is moved in an area where the obstacle is set so as to simulate a test environment to detect the obstacle. Wherein the test environment comprises temperature.

S03: and reading the distance between each obstacle and the vehicle in the 12-path ultrasonic sensor detection area on the upper computer, and reading out the fault information of the ultrasonic waves.

S04: and acquiring vehicle signals simulated by the CAN tool, acquiring the shortest distance between the obstacles in the detection area of each ultrasonic sensor and the vehicle according to the distance between the obstacles in the detection area of each ultrasonic sensor and the vehicle, and performing graded alarm according to the vehicle signals and the shortest distance between the obstacles in the detection area of each ultrasonic sensor and the vehicle.

In the embodiment, the upper computer is developed, information such as ultrasonic parameters and temperature is set, ultrasonic waves are received to obtain the distance between each barrier in each sensor detection area and each vehicle, bench testing is carried out on the vehicles, the accuracy, the robustness and the effectiveness of the reversing alarm system are tested in a bench, the development time of the whole reversing alarm system is shortened, the condition is not limited, the manual testing efficiency is improved, the testing safety is ensured, and the time and the economic cost are saved.

It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

In one embodiment, a car backing alarm device is provided, and the car backing alarm device corresponds to the car backing alarm method in the embodiment one to one. As shown in fig. 5, the reversing alarm device includes a first obtaining module 501, a second obtaining module 502, a determining module 503 and an alarm module 504. The functional modules are explained in detail as follows:

the first obtaining module 501 is configured to obtain a driving direction and a vehicle speed of a vehicle when a reverse signal of the vehicle is received;

a second obtaining module 502, configured to start a multi-channel sensor according to the driving direction to obtain a distance between each obstacle in a detection area of each channel of sensor and the vehicle, where the multi-channel sensor is a sensor that is pre-installed on the vehicle and is used to detect obstacles around the vehicle;

a determining module 503, configured to correspondingly determine a shortest distance between each obstacle in each sensor detection area and the vehicle according to a distance between each obstacle in each sensor detection area and the vehicle;

and the alarm module 504 is configured to perform a graded alarm according to the shortest distance between the obstacle in the detection area of each sensor and the vehicle speed.

The alarm module 504 is specifically configured to:

determining whether the vehicle speed of the vehicle is less than a preset vehicle speed;

when the vehicle speed is less than the preset vehicle speed, determining the alarm level of the corresponding area according to the shortest distance between the obstacles in the detection area of each sensor and the vehicle;

and performing grading alarm of the corresponding area according to the alarm grade.

Wherein, the alarm module 504 is specifically further configured to:

performing interface display alarm according to the alarm level of the corresponding area, wherein the interface color of the interface display alarm changes along with the change of the alarm level;

and carrying out sound alarm according to the alarm level of the corresponding area, wherein the sound frequency of the sound alarm changes along with the change of the alarm level.

Wherein, the alarm module 504 is specifically further configured to:

determining a target distance according to the shortest distance between the obstacles in the detection areas of the sensors and the vehicle, wherein the target is the shortest distance between the obstacles in the detection areas of all the sensors and the vehicle;

and when the target distance is greater than a preset mute distance or the vehicle stationary duration is greater than a preset duration, the sound grading alarm is turned off.

Wherein, the alarm module 504 is specifically further configured to:

and when the target distance is less than the preset emergency braking distance, controlling the vehicle to perform emergency braking.

The second obtaining module 502 is specifically configured to:

when the driving direction is forward driving, starting the front 6-way sensor to acquire the distance between each obstacle in the detection area of the front 6-way sensor and the vehicle;

and when the driving direction is backward driving, starting the 12-way sensor to acquire the distance between each obstacle in the detection area of the 12-way sensor and the vehicle.

Wherein, the alarm module 504 is specifically further configured to:

when the shortest distance between the obstacle in the detection areas of the 2 rear-side sensors and the vehicle is smaller than a first preset distance, or the shortest distance between the obstacle in the detection areas of the 2 front-side sensors and the vehicle is smaller than a second preset distance, or the shortest distance between the obstacle in the detection areas of the 4 head sensors and the vehicle is smaller than a third preset distance, or the shortest distance between the obstacle in the detection areas of the 4 tail sensors and the vehicle is smaller than the third preset distance, determining that the alarm level is a first level;

when the shortest distance between the obstacle in the detection area of the 2 rear-side sensors and the vehicle is smaller than a fourth preset distance, or the shortest distance between the obstacle in the detection area of the 2 front-side sensors and the vehicle is smaller than a fifth preset distance, or the shortest distance between the obstacle in the detection area of the 4 head sensors and the vehicle is smaller than a sixth preset distance, or the shortest distance between the obstacle in the detection area of the 4 tail sensors and the vehicle is smaller than the sixth preset distance, the alarm level is determined to be the second level.

For specific limitations of the reverse warning device, reference may be made to the above limitations of the reverse warning method, and details are not described herein again. All modules in the reversing alarm device can be completely or partially realized through software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, a reverse warning apparatus is provided, which may be a computer device. The reversing alarm device comprises a processor, a memory and a display screen which are connected through a bus, wherein the processor of the reversing alarm device is used for providing calculation and control capabilities. The memory of the reversing alarm device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The display screen of the reversing alarm device is used for carrying out graded alarm. The computer program is executed by a processor to implement a method of reversing warning.

In one embodiment, as shown in fig. 6, there is provided a reversing warning device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:

when a reversing signal of a vehicle is received, the driving direction and the speed of the vehicle are obtained;

starting a plurality of sensors according to the driving direction to obtain the distance between each obstacle in the detection area of each sensor and the vehicle, wherein the plurality of sensors are sensors which are pre-installed on the vehicle and are used for detecting the obstacles around the vehicle;

correspondingly determining the shortest distance between each obstacle in each sensor detection area and the vehicle according to the distance between each obstacle in each sensor detection area and the vehicle;

and performing graded alarm according to the shortest distance between the obstacles in the detection areas of the sensors and the vehicle speed so as to enable a driver to obtain the obstacle information of the vehicle.

In one embodiment, a readable storage medium is provided, having stored thereon a computer program which, when executed by a processor, performs the steps of:

when a reversing signal of a vehicle is received, the driving direction and the speed of the vehicle are obtained;

starting a plurality of sensors according to the driving direction to obtain the distance between each obstacle in the detection area of each sensor and the vehicle, wherein the plurality of sensors are sensors which are pre-installed on the vehicle and are used for detecting the obstacles around the vehicle;

correspondingly determining the shortest distance between each obstacle in each sensor detection area and the vehicle according to the distance between each obstacle in each sensor detection area and the vehicle;

and performing graded alarm according to the shortest distance between the obstacles in the detection areas of the sensors and the vehicle speed so as to enable a driver to obtain the obstacle information of the vehicle.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.