The invention discloses a collision early warning method and device, a vehicle, equipment and a storage medium. At each detection time point, synthesizing a disparity map according to images collected by camera devices arranged on the two sides of the vehicle; carrying out preprocessing on the disparity map; determining a target object detection result in a preset range of the vehicle according to the disparity map; and carrying out collision early warning according to the target object detection result. According to the technical scheme, the images collected by the camera device of the vehicle are synthesized into the disparity map, after the disparity map is preprocessed, the target object in the preset range around the vehicle is detected according to the disparity map, and collision early warning is conducted according to the target object detection result. The problem that a driver needs to observe the situation behind the vehicle and evaluate the dangerous situation is solved, and a user can be assisted to avoid safety risks on the two sides and the rear of the vehicle.

    本发明公开了一种碰撞预警方法、装置、车辆、设备及存储介质。在每个检测时间点,根据设置在车辆两侧的摄像装置采集的图像合成视差图;对所述视差图进行预处理;根据所述视差图确定所述车辆预设范围内的目标物检测结果;根据所述目标物检测结果进行碰撞预警。本发明实施例的技术方案,通过将车辆的摄像装置采集的图像合成视差图,对视差图进行预处理后,根据视差图对车辆周边预设范围内的目标物进行检测,并根据目标物检测结果进行碰撞预警,解决了对于车辆侧后方的情况需要驾驶员自行观察并进行危险情况的评估的问题,能够辅助用户避免车辆两侧及后方的安全危险。


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    Title :

    Collision early warning method and device, vehicle, equipment and storage medium


    Additional title:

    一种碰撞预警方法、装置、车辆、设备及存储介质


    Contributors:
    YAN ZHUO (author) / TAN SHULIANG (author) / WANG LINLIN (author) / LI DEHUA (author) / CHI HONGWU (author)

    Publication date :

    2022-10-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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 / B60Q ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL , Anordnung von Signal- oder Beleuchtungsvorrichtungen, deren Einbau oder Halterung oder deren Schaltkreise bei Fahrzeugen allgemein / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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