The invention relates to the field of camera detection, and discloses a blind area collision prediction method during self-vehicle turning, equipment and a storage medium. The method comprises the steps: in the self-vehicle turning process, acquiring multiple images shot by a vehicle-mounted BSD camera; performing target identification and tracking on blind areas in the multiple images, and determining a dynamic target which is identified to be pre-collided; calculating the relative speed and the relative distance between the dynamic target and the self-vehicle in the predicted self-vehicle trajectory direction; dividing the relative distance by the relative speed to calculate a collision duration; and if the dynamic target is predicted to be within the predicted self-vehicle trajectory range after the collision duration, determining that the dynamic target collides with the self-vehicle after the collision duration. According to the embodiment, whether the vehicle collides with the dynamic target in the blind area or not is predicted when the vehicle turns.
本发明涉及摄像头检测领域,公开了一种自车转弯时的盲区碰撞预测方法、设备和存储介质。该方法包括:在自车转弯过程中,获取车载BSD摄像头拍摄的多张图像;对所述多张图像中的盲区进行目标识别与跟踪,确定识别到预碰撞的动态目标;在预测的自车轨迹方向上,计算所述动态目标与自车的相对速度和相对距离;将所述相对距离除以所述相对速度计算碰撞时长;若预测所述动态目标经过所述碰撞时长后在预测的自车轨迹范围内,则确定所述动态目标与自车经过碰撞时长后相撞。本实施例实现了在自车转弯时预测自车是否与盲区内动态目标碰撞。
Blind area collision prediction method during self-vehicle turning, equipment and storage medium
自车转弯时的盲区碰撞预测方法、设备和存储介质
2021-10-19
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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