US 11,738,724 B2
Vehicle braking and warning method, system and device based on binocular stereo camera
Ran Meng, Beijing (CN); Hua Chai, Beijing (CN); Yanqiu Xia, Beijing (CN); Zhe Wang, Beijing (CN); Yong Jia, Beijing (CN); Hui Cai, Beijing (CN); and Chuanbin Feng, Beijing (CN)
Assigned to Beijing Smarter Eye Technology Co. Ltd., Beijing (CN)
Filed by Beijing Smarter Eye Technology Co. Ltd., Beijing (CN)
Filed on Feb. 16, 2021, as Appl. No. 17/176,523.
Claims priority of application No. 202011035172.4 (CN), filed on Sep. 27, 2020.
Prior Publication US 2022/0097661 A1, Mar. 31, 2022
Int. Cl. B60T 7/12 (2006.01); G06V 20/58 (2022.01); B60T 17/22 (2006.01); G01S 13/86 (2006.01); G01S 13/931 (2020.01); G08G 1/16 (2006.01); H04N 13/239 (2018.01)
CPC B60T 7/12 (2013.01) [B60T 17/22 (2013.01); G01S 13/867 (2013.01); G01S 13/931 (2013.01); G06V 20/58 (2022.01); G08G 1/165 (2013.01); G08G 1/166 (2013.01); B60T 2210/32 (2013.01); G01S 2013/93185 (2020.01); H04N 13/239 (2018.05)] 8 Claims
OG exemplary drawing
 
1. A vehicle braking and warning method based on a binocular stereo camera, comprising:
acquiring first target information within a detection range of the binocular stereo camera, second target information within a detection range of a millimeter-wave radar, and current vehicle driving information;
acquiring sensing result data about a target obstacle in accordance with the first target information and the second target information in conjunction with a predetermined weight;
acquiring a braking emergency level, and selecting a corresponding braking instruction selected from braking at a low frequency, braking at a middle frequency, braking at a high frequency, braking at a small force, braking at a middle force, and braking at a large force depending on the braking emergency level;
acquiring a warning emergency level, and selecting a corresponding warning instruction selected from warning at a low frequency and emergency warning depending on the warning emergency level; and
outputting the braking instruction and/or the warning instruction to adjust a driving state of a vehicle in accordance with the braking instruction and/or the warning instruction, wherein
the acquiring the sensing result data comprises:
acquiring a distance between the target obstacle and the vehicle;
when the distance is greater than a maximum distance threshold or smaller than a minimum distance threshold, taking the second target information acquired by the millimeter-wave radar as the sensing result data; and
when the distance is greater than or equal to the minimum distance threshold and smaller than or equal to the maximum distance threshold, taking the first target information acquired by the binocular stereo camera as the sensing result data.