The invention provides a collision early warning method, device and equipment, a readable storage medium and a program product, and the method comprises the steps: obtaining N foot points of a target obstacle at N moments and calibration parameters of M image collection devices of a vehicle, and obtaining the N foot points based on an image collected by at least one image collection device in the M image collection devices; projecting the N foot points to the aerial view according to the calibration parameters to obtain a target track of the target obstacle; determining whether a collision risk exists between the target obstacle and the vehicle according to the target trajectory; if the collision risk exists, early warning prompt information is sent out. Therefore, aiming at the condition that the target obstacle moves in the acquisition area of the same image acquisition device or moves across the acquisition areas of different image acquisition devices, the collision risk is predicted by using the target trajectory obtained by projecting the N foot points to the aerial view, the efficiency and accuracy of collision risk analysis are improved, and the accuracy of collision risk analysis is improved. Therefore, the timeliness and accuracy requirements of collision early warning can be met at the same time.
本申请提供一种碰撞预警方法、装置、设备、可读存储介质及程序产品,该方法包括获取目标障碍物在N个时刻下的N个脚点以及车辆的M个图像采集装置的标定参数,N个脚点基于M个图像采集装置中的至少一个图像采集装置采集的图像得到;根据标定参数将N个脚点投影至鸟瞰图,得到目标障碍物的目标轨迹;根据目标轨迹确定目标障碍物与车辆是否存在碰撞风险;若存在碰撞风险则发出预警提示信息。这样,针对目标障碍物在同一个图像采集装置的采集区域内运动,或跨越不同图像采集装置的采集区域运动的情况,利用N个脚点投影至鸟瞰图得到的目标轨迹来预测碰撞风险,提高了碰撞风险分析的效率及准确性,从而能够同时满足碰撞预警的及时性和准确性需求。
Collision early warning method, device and equipment, readable storage medium and program product
碰撞预警方法、装置、设备、可读存储介质及程序产品
2024-02-06
Patent
Electronic Resource
Chinese
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