The invention discloses a vehicle inner wheel difference dangerous area limit detection and early warning method, device, equipment, medium and product, and relates to the field of auxiliary driving, the method comprises the following steps: determining a front inner wheel steering angle according to information of an included angle between a tractor and a trailer collected by an angle sensor, and determining whether the vehicle steers, if yes, determining that the vehicle is not steered; the method comprises the following steps of: simultaneously capturing real-time images and point cloud data of a steering inner side of a vehicle by using a camera and a radar on the steering inner side of the vehicle, calculating an inner wheel difference of a tractor and an inner wheel difference of a trailer, and determining an inner wheel difference dangerous area limit according to the two inner wheel differences; based on a neural network model, recognizing the position and distance of a road obstacle according to the real-time image and the point cloud data; according to the position and the distance of the road surface obstacle and the inner wheel difference dangerous area limit, whether an alarm is given or not is judged, the inner wheel difference dangerous area limit can be recognized more accurately, the road condition on the inner side of the vehicle during steering can be recognized more visually, and accidents are reduced.
本申请公开了一种车辆内轮差危险区域限界检测预警方法、装置、设备、介质及产品,涉及辅助驾驶领域,该方法包括根据角度传感器采集的牵引车和挂车之间的夹角信息,确定前内轮转向角度,并判断车辆是否转向,若是,利用车辆转向内侧的摄像头和雷达同时捕获车辆转向内侧的实时图像以及点云数据,计算牵引车的内轮差以及挂车的内轮差,并根据两个内轮差确定内轮差危险区域限界;基于神经网络模型,根据所述实时图像以及所述点云数据识别路面障碍物所处位置和距离;基于所述路面障碍物所处位置和距离以及所述内轮差危险区域限界,判断是否发出警报,本申请能够更准确识别内轮差危险区域限界,以更直观识别转向时车辆内侧的道路状况,减少事故的发生。
Vehicle inner wheel difference dangerous area limit detection and early warning method, device, equipment, medium and product
一种车辆内轮差危险区域限界检测预警方法、装置、设备、介质及产品
2025-03-18
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 |
European Patent Office | 2021
|European Patent Office | 2021
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