CN102700415B - A kind of Driver Vision auxiliary device and vision householder method thereof - Google Patents
A kind of Driver Vision auxiliary device and vision householder method thereof Download PDFInfo
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Abstract
The present invention relates to Driver Vision auxiliary device technical field, disclose a kind of Driver Vision auxiliary device and vision householder method thereof.Its device comprises radar, speed sensor, treater and read out instrument, described radar other vehicles in the shape that detects road ahead and road ahead, and the information detected is sent to described treater; Described speed sensor is measured the speed from car; Described treater combines the detection information received and processes from vehicle speed, obtains driving environment data; Described read out instrument shows described driving environment data.Simplicity of design of the present invention, reliability is high; Graphic software platform, directly perceived, reliable; In low visibility situation, the early warning of benign situation can be realized, thus avoid the generation of accident, ensure vehicle safe driving.
Description
Technical field
The present invention relates to Driver Vision ancillary technique field, more specifically, relate to a kind of Driver Vision auxiliary device and vision householder method thereof.
Background technology
In low visibility situation, the Visual Observations Observations ability of chaufeur can be seriously impaired, and such as at greasy weather, snow sky and heavy rain weather, the visual range of chaufeur can reduce greatly.Accident in low visibility situation is not mostly observed other vehicles due to chaufeur and causes, thus initiation vehicle and surrounding vehicles distance are more and more closely, often have little time brake and cause collision case when chaufeur finds existing of other vehicles.
The mode of anti-collision warning is mostly adopted to solve for the safe driving problem in low visibility situation at present, other vehicles coming around detection vehicle by utilizing ultrasonic transduter, range only radar or infrared pickoff, when there is risk of collision, chaufeur is reported to the police, the generation of collision free accident, this type systematic improves the safety of vehicle under low visibility.But, also there is two problems: the first, early warning form adopts sound or visual form usually, and this early warning form can only provide anti-collision warning signal to chaufeur, points out under can not being used for benign situation to chaufeur simultaneously.When the second, there is accident risk, carry out reporting to the police to chaufeur and can not avoid the generation of accident completely, the opportunity of warning and chaufeur, to the acceptance level of alerting signal, all can have influence on the validity of this kind of warning.
Summary of the invention
For making up above-mentioned defect, the technical problem to be solved in the present invention proposes a kind of Driver Vision auxiliary device and vision householder method thereof, in low visibility situation, can realize the early warning of benign situation, thus avoid the generation of accident, ensure vehicle safe driving.
In order to achieve the above object, the present invention is achieved by the following technical solutions.
Technical scheme one:
A kind of Driver Vision auxiliary device, based on above-mentioned Driver Vision auxiliary device, it is characterized in that, described device comprises radar, speed sensor, treater and read out instrument, described radar other vehicles in the shape that detects road ahead and road ahead, and the information detected is sent to described treater; Described speed sensor is measured the speed from car; Described treater combines the detection information received and processes from vehicle speed, obtains driving environment data; Described read out instrument shows described driving environment data.
Feature and further improvement of technique scheme are:
(1), described driving environment data are from relative distance, relative velocity or the relative angle between car and other vehicles of front region.
(2), described driving environment data are moving velocity from car, the shape of road ahead, the position of other vehicles of front, the moving velocity of other vehicles of front, from the distance of car and other vehicles of front.
(3), described treater is connected with radar by CAN interface, and described treater passes through I/O interface and is connected with the speed signal line from car, and described treater passes through SPI interface and is connected with telltale.
(4), described radar adopts laser radar, and is arranged on from car front bumper central authorities.
(5), described device also comprises starting switch, and this starting switch is arranged in the supply line of described device, for controlling the opening and closing of described device.
Technical scheme two:
A kind of Driver Vision householder method, is characterized in that, other vehicles in the shape of radar detection road ahead and road ahead; Treater by radar detection to road ahead on other vehicles represent with different mark by type, and calculate position and the moving velocity of other vehicles of front; The result of read out instrument video-stream processor process; When comparatively near from car and other vehicle distances of front, and from vehicle speed higher than other Vehicle Speed of front time, then the iconic marker of other vehicles in road ahead be redness by read out instrument, alerting drivers.
Feature and further improvement of technique scheme are:
(1), treater by radar detection to road ahead on other vehicles to represent with different mark by vehicle type and specifically refer to: the appearance profile of other vehicles of front that treater will collect, analyze the profile width obtaining vehicle, setting vehicle width conditions obtains vehicle type, and the different mark of dissimilar vehicle represents.
(2), described read out instrument video-stream processor result specifically refers to: described read out instrument display is from the moving velocity of car, the shape of road ahead, the position of other vehicles of front, the moving velocity of other vehicles of front, from the distance of car and other vehicles of front.
The present invention is detected the road ahead from car by laser radar, analyze the shape of road ahead, identify other vehicles existed in road ahead simultaneously, measure from the information such as relative distance, relative velocity, relative angle between car and other vehicles of front, utilize speed sensor to measure the moving velocity from car simultaneously.The above information of comprehensive application, by installing small liquid crystal display on gauge panel, utilize data analysis and image display function, adopt the mode of example image to show in real time in a liquid crystal display from the running velocity of car, road ahead shape, the position at other vehicle places, front, the moving velocity of other vehicles of front, the distance etc. from car and other vehicles of front.In low visibility situation, chaufeur is lower for the observation ability of road ahead shape and other vehicles, thus the observation ability of chaufeur to road ahead and other vehicles can be improved by technique scheme, reduce the impact that low visibility situation is brought, avoid occurring dangerous situation, thus ensure the safety traffic of vehicle.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, technical scheme of the present invention is described in further detail.
Fig. 1 is embodiment of the present invention Driver Vision assistant apparatus structure schematic diagram.
Detailed description of the invention
In low visibility situation, in normal vehicle operation process, real-time image chaufeur is pointed out, inform the position of other vehicles of chaufeur, speed, from information such as the relative motion relation of car and other vehicles, then chaufeur can accomplish the safe driving under similar normal state of visibility, avoids occurring accidents caused dangerous situation, improves the driving confidence of chaufeur.In low visibility situation, in the process of normal vehicle operation, carrying out prompting to chaufeur early than currently used collision warning device, thus will avoid the generation of dangerous situation to a great extent.
Technical scheme of the present invention is introduced in detail below in conjunction with accompanying drawing and detailed description of the invention thereof.
With reference to figure 1, the present embodiment is described for laser radar, and in low visibility Driver Vision auxiliary device, laser radar is connected with front bumper central interior vehicle body by bolt, and laser radar toward the front road is installed.Treater adopts microprocessor, is installed on gauge panel inside.Read out instrument adopts LCD Liquid Crystal Display to be installed on gauge panel, installs towards chaufeur.System power-on switch is installed on gauge panel.
Microprocessor gathers the vehicle speed signal from car inside by I/O interface, gathers the data from laser radar, by the Presentation Function of SPI Interface Controller LCD Liquid Crystal Display by CAN interface.System power-on switch for connecting or disconnecting the power supply of whole system, thus controls unlatching or the closedown of whole system.
After system power-on switch is opened, laser radar starts to scan the front region of vehicle, turn back in microprocessor by scanning the result obtained by CAN interface, microprocessor gathers the running velocity of vehicle simultaneously by I/O interface simultaneously.After a data acquisition completes, microprocessor is analyzed collected radar data, according to the geometric configuration of trackside stationary obstruction feature discriminance analysis road, determine road shape characterization graph, simultaneously according to the profile data from the kinematic velocity of car, relative velocity between car and other vehicles of front, relative distance, other vehicles, judge whether front exists the type of other vehicles and other vehicles, the dilly in such as front, the full size vehicle etc. in front.Identify after obtaining other vehicles in front, according to relative distance, relative angle from car and other vehicles, determine the accurate location of other vehicles, simultaneously according to from car and the relative velocity of other vehicles, the moving velocity from car, determine the speed of other vehicles.
After analysis obtains above-mentioned data, profit graphically shows the information such as road shape characterization graph, the type of other vehicles of front, the position of other vehicles of front and speed in real time in LCD Liquid Crystal Display, for strengthening chaufeur in low visibility situation, to the perception degree of road ahead traffic scene, improve chaufeur to the assurance degree of upcoming traffic scene, reduce low visibility and observe the impact brought to Driver Vision.
Low visibility Driver Vision householder method, concrete steps are as follows:
Step one: install laser radar, microprocessor and LCD Liquid Crystal Display;
First, install laser radar, laser radar installation site is vehicle front bumper middle position, utilizes bolt laser radar and the inner body structure of safety lever to be fixed.Secondly, install microprocessor after laser radar installation, it is inner that microprocessor is installed on vehicle gauge panel.Again, install LCD Liquid Crystal Display, utilize plastic stent and double faced adhesive tape to be installed on gauge panel by LCD Liquid Crystal Display, screen is installed towards chaufeur.Finally, connect the CAN interface between laser radar and microprocessor, connect the I/O interface between vehicle speed signal and microprocessor, connect the SPI interface between LCD Liquid Crystal Display and microprocessor, the power interface between connected system starting switch and microprocessor.
Step 2: identify and judge road ahead shape;
The result that lidar measurement returns is a series of point, and for each measurement point, laser radar returns relative distance, relative angle and relative velocity between vehicle and these points.
The guardrail of trackside, green belt or step, this type objects keeps static at trackside, and the shape of this kind of object composition and road alignment are consistent simultaneously.For the stationary object of trackside, the relative velocity that lidar measurement obtains is substantially identical with the moving velocity size of vehicle.Therefore, if the relative velocity of some measurement return points and between car moving velocity, the absolute value of difference is less than 5km/h time, can judge that this data point belongs to trackside stationary object.By analyzing all measurement points, identifying all trackside rest points and will represent with two curves a little, thus obtaining the curve representing road ahead shape.
Step 3: identify other vehicles of front;
Except the stationary object of road both sides, other vehicles that road travels also are comprised in the data that lidar measurement returns.According to the movement relation of vehicle and other vehicles of front, if the relative velocity of certain measurement point and between the moving velocity of car the absolute value of difference be greater than 5km/h, then this measurement point can be defined as other vehicles travelled of front.The data point all to laser radar is analyzed, and determines vehicle existing in front region.
Step 4: differentiate front vehicles type;
Utilize other front vehicles data points obtained measured by laser radar, calculate the appearance profile of vehicle, obtain the profile width of vehicle, setting vehicle width conditions, when vehicle width is less than 2.2 meters, vehicle is defined as dilly, adopts dilly icon representation when LCD Liquid Crystal Display display front vehicles; When vehicle width is more than or equal to 2.2 meters, target vehicle is defined as full size vehicle, adopts full size vehicle icon representation when LCD Liquid Crystal Display display front vehicles.
Step 5: the position and the moving velocity that calculate other vehicles of front;
The relative angle that the position of other vehicles of front obtains measured by laser radar, relative distance data determine the position of other vehicles of front, when showing other vehicles of front in LCD Liquid Crystal Display, the position in screen according to relative angle and relative distance data determination front vehicles; According to the relative velocity from car and other vehicles of front obtained measured by car moving velocity and laser radar, calculate the moving velocity of other vehicles of front, method of calculating is for add relative velocity from car moving velocity, when from vehicle speed higher than setting relative velocity during other vehicles of front as negative, from vehicle speed lower than setting relative velocity during other car speeds of front as just, calculated the running velocity determining other vehicles of front by above method.
Step 6: prompting driving safety;
Low visibility, compared with normal visbility, needs to keep farther distance between car and other vehicles of front, therefore in low visibility situation, when exceeding to a certain degree from car moving velocity, needs to keep farther distance with other vehicles of front from car.When the setting speed of a motor vehicle is more than 40km/h, if when the distance of car and other vehicles of front is less than 50 meters, other vehicle red colors in telltale mark by Microprocessor S3C44B0X LCD, but this process does not carry out alarm to chaufeur, just chaufeur is carried out there is other vehicles in the closer distance of prompting front, need more to drive with caution, avoid the generation of dangerous situation.
Step 7: display road shape, from position relationship and the relative motion relation of car and other vehicles;
Microprocessor, by analyzing from the car speed of a motor vehicle, laser radar image data, calculates the characterization graph of vehicle road ahead shape, identifies the moving velocity of the position of other vehicles in road ahead, the type of vehicle and vehicle simultaneously.Microprocessor utilizes SPI interface to show the star-like curve of road ahead, the information such as position, the type of other vehicles of front, the moving velocity of other vehicles of front of other vehicles of front in real time in LCD Liquid Crystal Display.The road ahead scene of display vehicle real-time in low visibility situation, improves chaufeur for the perception degree of road ahead scene in low visibility situation, the safety of raising vehicle in low visibility situation driving procedure.
Simplicity of design of the present invention, reliability is high; Graphic software platform, directly perceived, reliable; In low visibility situation, the early warning of benign situation can be realized, thus avoid the generation of accident, ensure vehicle safe driving.
The present invention also has numerous embodiments, as long as in the spirit and essential scope of invention, any change done, equivalent replacement and improvement, all within the protection domain of invention.
Claims (6)
1. a Driver Vision auxiliary device, under being applicable to low visibility situation, it is characterized in that, described Driver Vision auxiliary device comprises radar, speed sensor, treater and read out instrument, described radar other vehicles in the shape that detects road ahead and road ahead, and the information detected is sent to described treater; Described speed sensor is measured the speed from car; Described treater combines the detection information received and processes from vehicle speed, obtains driving environment data; Described read out instrument shows described driving environment data;
Described driving environment data are from distance, relative velocity or the relative angle between car and other vehicles of front, and from the moving velocity of car, the shape of road ahead, the position of other vehicles of front, the moving velocity of other vehicles of front;
Described radar adopts laser radar, and is arranged on from car front bumper central authorities.
2. Driver Vision auxiliary device as claimed in claim 1, it is characterized in that, described treater is connected with radar by CAN interface, and described treater is connected with the speed signal line from car by I/O interface, and described treater is connected with telltale by SPI interface.
3. Driver Vision auxiliary device as claimed in claim 1, it is characterized in that, described Driver Vision auxiliary device also comprises starting switch, this starting switch is arranged in the supply line of described Driver Vision auxiliary device, for controlling the opening and closing of described Driver Vision auxiliary device.
4. a Driver Vision householder method, based on Driver Vision auxiliary device according to claim 1, under being applicable to low visibility situation, is characterized in that, other vehicles in the shape of radar detection road ahead and road ahead; Treater by radar detection to road ahead on other vehicles represent with different mark by type, and calculate position and the moving velocity of other vehicles of front; The result of read out instrument video-stream processor process; When comparatively near from car and other vehicle distances of front, and from vehicle speed higher than other Vehicle Speed of front time, then the iconic marker of other vehicles in road ahead be redness by read out instrument, alerting drivers.
5. Driver Vision householder method as claimed in claim 4, it is characterized in that, treater by radar detection to road ahead on other vehicles to represent with different mark by vehicle type and specifically refer to: the appearance profile of other vehicles of front that treater will collect, analyze the profile width obtaining vehicle, setting vehicle width conditions obtains vehicle type, and the different mark of dissimilar vehicle represents.
6. Driver Vision householder method as claimed in claim 4, it is characterized in that, described read out instrument video-stream processor result specifically refers to: described read out instrument display is from the moving velocity of car, the shape of road ahead, the position of other vehicles of front, the moving velocity of other vehicles of front, from the distance of car and other vehicles of front.
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| US9798941B2 (en) * | 2015-03-18 | 2017-10-24 | Ford Global Technologies, Llc | Driver visual sensor behavior study device |
| CN106126042A (en) * | 2016-07-01 | 2016-11-16 | 京东方科技集团股份有限公司 | A kind of environment based reminding method and system |
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| CN108896062B (en) * | 2018-05-11 | 2021-09-28 | 长安大学 | Device and method for reminding foggy road section in real time by using electronic map |
| WO2020210334A1 (en) * | 2019-04-12 | 2020-10-15 | Continental Automotive Systems, Inc. | Warning system for a vehicle during bad weather and poor visibility |
| CN113276771B (en) * | 2021-06-24 | 2023-08-08 | 广州通达汽车电气股份有限公司 | Rearview field adjusting method and device based on driving environment |
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