CN103192785A - Whole monitoring system for three-dimensional space around vehicle - Google Patents
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- CN103192785A CN103192785A CN2013101464846A CN201310146484A CN103192785A CN 103192785 A CN103192785 A CN 103192785A CN 2013101464846 A CN2013101464846 A CN 2013101464846A CN 201310146484 A CN201310146484 A CN 201310146484A CN 103192785 A CN103192785 A CN 103192785A
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Abstract
The existing driving and parking assisting methods, systems or devices have limitation in monitoring range, and has a defect on monitoring a space above the periphery of a vehicle, and therefore, the invention provides a whole monitoring system for the three-dimensional space around a vehicle for making up the disadvantages of the existing intelligent driving assisting systems. The system adopts multiple monitoring devices which are at top of the vehicle and around a vehicle body, one vehicle driving state information acquisition module, a control unit and an alarm module for realizing real-time monitoring and early-warning functions on a three-dimensional space range around the vehicle. The whole monitoring system for the three-dimensional space around vehicle adopts the multiple monitoring devices on the upper layer and the lower layer to monitor the space around the vehicle simultaneously, so as to be capable of judging whether an obstacle within a certain distance in a road space around the vehicle exists and accurately detecting the specific height and the specific direction and position of the obstacle. The whole monitoring system is suitable for monitoring different types of obstacles such as a height limiting obstacle, a laterally protruding obstacle and a low obstacle, and can timely send out early-warning information when the vehicle meets various potential hazards in the different direction spaces during driving.
Description
Technical field
The invention belongs to a kind of technical field of automotive electronics.Relate to a kind of intelligent drive assist system, particularly the full monitored control system of a kind of vehicle's surroundings solid space.
Background technology
Along with day by day popularizing of automobile, increasing vehicle makes drives a vehicle and also the becoming increasingly complex of condition of parking, and the research of various drivings and parking assistance method, system or device also becomes focus.But most at present researchs have its limitation.Provide solution as CN101549691B, CN102508246A, CN102431495A, CN2419116Y etc. to detection vehicle the place ahead road conditions or obstacle, but the dysfunction of rear view of vehicle, side and superjacent air space has been considered; And for example CN101866003A, CN101830204A, CN101570167A, CN2248896Y and CN201089423Y etc. have proposed various parking assist apparatus and method at reversing, but they are to the monitoring existence disappearance of vehicle front, side and superjacent air space; CN101371282A, CN102862521A, CN102815269A, CN202615626U, CN202669631U, CN202518190U, CN202320180U etc. have proposed various supplementary meanss to detection vehicle side obstacle for another example, but similarly, they do not relate to the rear of vehicle or the detection of the place ahead and superjacent air space.In recent years, the wider vehicle drive assist system of some protection faces also occurred, for example CN101219659A, CN1651933A etc. consider the monitoring of vehicle forward-and-rearward obstacle simultaneously, but vehicular sideview and superjacent air space are not included in monitoring range; CN201804112U has then proposed a kind of scheme that the obstacle in the vehicle's surroundings 360 degree scopes is monitored simultaneously of realizing, but same, and the vehicle superjacent air space still is not within its monitoring range.
Consider that vehicle can run into various highway section and environment in actual travel or the process of parking, except road barrier may be accidents caused, various limit for height types traffic highway section or obstacle also appear in the newspapers repeatly as the accident of initiations such as bridge opening, tunnel, limit for height bar, electric pole, light pole.Therefore, in intelligent drive assist system, not only need front and back and the space, left and right side of vehicle are monitored, the monitoring of vehicle superjacent air space also is absolutely necessary.The present invention has taken all factors into consideration these demands, has proposed a kind of intelligent drive assist system that can realize the full monitoring of vehicle's surroundings solid space, and the good actual application that has that reduces all kinds of relevant accidents is worth.
Summary of the invention
The present invention is in order to remedy the deficiency of existing driving and parking assisting system, propose the full monitored control system of a kind of vehicle's surroundings solid space, this system adopts a plurality of monitors, vehicle running state information acquisition module, control unit and alarm module to realize real-time monitoring and warning function to the vehicle's surroundings solid space.
The present invention is achieved by the following technical solution: the full monitored control system of described vehicle's surroundings solid space, it is characterized in that, comprise and be installed in vehicle roof and vehicle body a plurality of monitors, vehicle running state information acquisition module all around, a control unit and an alarm module.So-called monitor is to be installed in vehicle roof and vehicle body a plurality of monitors (can be radar, super sonic or infrared pickoff etc.) all around.Concrete setting and the quantity of monitor can be adjusted according to vehicle.Monitor quantity is generally 8 ~ 16, can add the monitor number as required again and adjust monitor arrangement orientation can obtain comprehensive monitoring to guarantee vehicle's surroundings solid space scope to large-scale towed vehicle.So-called vehicle running state information acquisition module refers to the monitoring of the information such as travel direction, moving velocity and steering wheel angle to vehicle and obtains.Vehicle heading information fundamental type has normally to overtake, four kinds of straight line car-backing, right-hand corner and turnon lefts etc., and wherein preceding two kinds can have combination with back two kinds, namely turn the forward direction turnon left arranged, precedingly bend to right, after turn left and after the branch that bends to right.Direction information monitors to obtain by exchange car stop and left and right sides Cornering Lamp signal in real time.Vehicle Speed then can be directly from the test car speed unit of vehicle itself.So-called control unit is connected with vehicle running state information acquisition module, each monitor and alarm module respectively; Receive the monitoring data of each monitor in real time, information such as the orientation of obstacle, height in the measuring and calculating monitoring range, and according to vehicle running state information, differentiate each interior roadblock of vehicle's surroundings solid space scope and the relative position relation between vehicle, when having determined roadblock vehicle is travelled when forming potential danger, the roadblock information of then will being correlated with exports alarm module to.So-called alarm module radical function is for to send early warning information to the driver, and early warning information can be sound or image or both combinations.
The invention has the beneficial effects as follows: the full monitored control system of this vehicle's surroundings solid space, can realize the complete real-time monitoring to the vehicle's surroundings solid space, space around two-layer a plurality of monitors while monitor vehicle about adopting, not only can define in the space, vehicle's surroundings road surface whether have obstacle in the certain distance, can also accurately detect concrete height and the concrete orientation of obstacle.Be applicable to the monitoring of dissimilar obstacle, as limit for height type obstacle (as bridge opening, tunnel, street lamp etc.), side protruding type obstacle (load of stretching out as other vehicular sideview etc.) and lower obstacle (as short and small child, animal etc.).All kinds of potential dangers in the different azimuth space that runs into during vehicle travelled can in time provide early warning information.
Description of drawings
The present invention is further illustrated below in conjunction with accompanying drawing.
Accompanying drawing 1 is system function module scheme drawing of the present invention.
Accompanying drawing 2 is settled exemplary plot for monitor among the present invention.Figure a is the position view of vehicle top monitor, and figure b is the detector positions scheme drawing of vehicular sideview.The monitor of car body left and right sides is laid and is symmetrical distribution.1 ~ 8 is vehicle top monitor among the figure, and 1 ' ~ 8 ' is the under-vehicle monitor.The upper and lower detector positions is laid along the car body vertical direction corresponding one by one.Wherein 1 ' and 2 ' is positioned at front car light upper edge, the left and right sides; 5 ' and 6 ' be positioned at about car light upper edge, back; 3 ' and 7 ' and 4 ' and 8 ' is placed in front-wheel and the trailing wheel top of car body both sides respectively.
Accompanying drawing 3 is control unit message processing flow scheme drawing of the present invention.
The specific embodiment
Detailed description subsequently itself only be example and be not intended to limit the present invention or application of the present invention and use.In addition, do not want by in technical field, background technology, summary of the invention or detailed description subsequently before, exist any significantly or the theory of hint define application of the present invention and use.
Accompanying drawing 1 provides described vehicle's surroundings solid space full monitored control system high-level schematic functional block diagram.This system comprises a plurality of monitors, a vehicle running state information acquisition module, a control unit and alarm module that is installed in around vehicle roof and the vehicle body.Wherein monitor is to be installed in around vehicle roof and the vehicle body, in order to realize the vehicle's surroundings solid space (as car body the place ahead, the car body rear, the road surface in orientation such as car body both sides and their superjacent air space etc.) a plurality of monitors of real-time monitoring (can be radar, super sonic or infrared pickoff etc.), monitor quantity and concrete setting can be adjusted according to vehicle, the quantity of monitor is generally 8 ~ 16, to big-and-middle-sized towed vehicle, can add the monitor number as required and adjust the monitor installation position and setting can obtain complete comprehensive monitoring to guarantee vehicle's surroundings solid space scope.Accompanying drawing 2 has provided the example that monitor is settled.Figure a is the roof of common motorcoach, and 1 ~ 8 for being distributed in the top monitor on roof four limits, be used for respectively monitor vehicle around head room.Figure b is a side of common motorcoach car body.1 ' ~ 8 ' is the below monitor, is used for space, road surface around the monitor vehicle respectively.Only shown 2 ', 3 ', 4 ' and 5 ' in the monitor of below among the figure b, 1 ', 8 ', 7 ' and 6 ' of demonstration is not positioned at another symmetrical side of car body, shows that the below monitor in the side is symmetrical distribution among riding position and the figure b.
Adopt two-way the connection between the control unit in the accompanying drawing 1 and each monitor.In the vehicle driving process, control unit can read the output information of each monitor in real time, and whether in conjunction with vehicle running state information, differentiating in the vehicle's surroundings solid space scope has obstacle to exist.Occur when defining obstacle, then control unit is differentiated this obstacle according to flow process shown in Figure 3 whether travelling of vehicle is exerted an influence.Usually, inventor's suggestion keeps all monitors to open in the vehicle operating process.But the driver also can select to open or close the part monitor according to the actual requirements.For example under the good situation of running environment, the driver only need can to determine certain or some director space of monitor vehicle, and then the driver can realize opening and closing operation to the different azimuth monitor by control unit.Straight line car-backing under the good situation of road conditions for example, the driver only need to be sure of the obstacle situation of road surface, monitor vehicle rear and superjacent air space thereof, can select only to open monitor 5,5 ' and 6,6 ' this moment.
Fig. 3 has provided the message processing flow of control unit.Control unit reads the test result of each monitor and carries out analyzing and processing in conjunction with vehicle running state information (direction, speed, corner etc.), obstacle distribution situation to vehicle's surroundings solid space (as the road surface in orientation such as car body the place ahead, car body rear, car body both sides and superjacent air space thereof etc.) lining is identified, and differentiates these obstacles in conjunction with the concrete motoring condition information of vehicle and whether vehicle is formed potential danger.If then export the azimuth information of associated disorders to alarm module and trigger alarm module and send early warning information.If not then circulation repeats front information processing step.
Control unit can be implemented different space surveillance priorities according to different vehicle running states when the monitoring data of analyzing and processing different azimuth monitor.For example, normally to overtake under the state, preferential road surface, monitor vehicle the place ahead and superjacent air space, namely control unit can priority processing monitor 1,1 ', 2 and 2 ' data; Under the situation of straight line car-backing, preferential road surface, monitor vehicle rear and superjacent air space, then control unit priority processing monitor 5,5 ', 6 and 6 ' data; In preceding right-hand turning or back during left-handed turning, road surface and the superjacent air space of preferential monitor vehicle right front and left back, this moment control unit priority processing monitor 2,2 ', 3,3 ', 6,6 ', 7 and 7 ' data; Similarly, in preceding left-handed turning or back during right-hand turning, road surface and the superjacent air space of preferential monitor vehicle left front and right abaft, this moment control unit priority processing monitor 1,1 ', 8,8 ', 4,4 ', 5 and 5 ' data.
Monitor each time after flow process finishes, whether control unit all needs to read again vehicle running state information, change to differentiate the current driving state, if change will repeat current monitoring flow process; If motoring condition is revised, then will adjust present space monitoring priority and carry out new round monitoring according to new priority.
Alarm module can be the combination that audible alarm or visual alarm or two classes are reported to the police.Audible alarm is informed information such as distance between obstacle positions that the driver need guard against and it and vehicle with voice mode, submits to the driver to note; Visual alarm then shows the mode of above-mentioned information with scheme drawing, and the obstacle of drawing attention to is indicated with flicker or other eye-catching mode.
Claims (8)
1. the full monitored control system of vehicle's surroundings solid space is characterized in that, comprises being installed in vehicle roof and vehicle body a plurality of monitors, a vehicle running state information acquisition module, a control unit and alarm module all around.
2. as the full monitored control system of right 1 described vehicle's surroundings solid space, it is characterized in that, monitor refer to be installed in around vehicle roof and the vehicle body, in order to realize a plurality of monitors (can be radar, super sonic or infrared pickoff etc.) to the real-time monitoring of vehicle's surroundings solid space (as the road surface in orientation such as car body the place ahead, car body rear, car body both sides and their superjacent air space etc.); Concrete setting and the quantity of monitor can be adjusted according to vehicle; Monitor quantity is generally 8 ~ 16, can add the monitor number as required again and adjust monitor arrangement orientation large-scale towed vehicle.
3. as the full monitored control system of right 1 described vehicle's surroundings solid space, it is characterized in that so-called vehicle running state information acquisition module refers to the monitoring of the information such as travel direction, moving velocity and steering wheel angle to vehicle and obtains; Vehicle heading information fundamental type has normally to overtake, four kinds of straight line car-backing, right-hand corner and turnon lefts etc., and wherein preceding two kinds can have combination with back two kinds, namely turn the forward direction turnon left is arranged, preceding bend to right and after turn left and after bend to right; Direction information monitors to obtain by exchange car stop and left and right sides Cornering Lamp signal in real time; Vehicle Speed then can be directly from the test car speed unit of vehicle itself.
4. as the full monitored control system of right 1 described vehicle's surroundings solid space, it is characterized in that so-called control unit is connected with vehicle running state information acquisition module, each monitor and alarm module respectively; Receive the monitoring data of each monitor in real time, and according to vehicle running state information, differentiate each interior roadblock of vehicle's surroundings solid space scope and the relative position relation between vehicle, when having determined roadblock vehicle is travelled when forming potential danger, the roadblock information of then will being correlated with exports alarm module to.
5. as right 4 described control units, also can indicate according to the vehicle driver, to carry out optionally opening and closing operation as right 2 described monitors; That is, though inventor's suggestion keeps all monitors to open in the vehicular drive process, the driver also can select to open or close the part monitor according to actual road conditions situation and individual demand.
6. as the full monitored control system of right 1 described vehicle's surroundings solid space, it is characterized in that so-called alarm module can be the combination that audible alarm or visual alarm or two classes are reported to the police; Audible alarm is informed information such as distance between obstacle positions that the driver need guard against and it and vehicle with voice mode, submits to the driver to note; Visual alarm then shows the mode of above-mentioned information with scheme drawing, and the obstacle of drawing attention to is indicated with flicker or other eye-catching mode.
7. full method for supervising of vehicle's surroundings solid space, it is characterized in that, realize omnibearing real-time monitoring to vehicle's surroundings solid space (as the road surface in orientation such as car body the place ahead, car body rear, the car body left and right sides and their superjacent air space etc.) respectively by a plurality of monitors are installed around vehicle roof and vehicle body; Control unit is implemented different space surveillance priorities according to vehicle running state information; Read in the monitoring result of different azimuth monitor successively according to the space surveillance priority, analyze the obstacle distribution situation in the vehicle's surroundings solid space, and whether differentiate each obstacle to vehicle formation potential danger in conjunction with vehicle running state information (as travel direction, the speed of a motor vehicle, steering wheel angle etc.); Exist if determine proemial obstacle, then export the azimuth information of associated disorders to alarm module and trigger alarm module and send early warning information; Monitor each time after flow process finishes, whether control unit all will read vehicle traveling information again, change to differentiate the current driving state, if change will repeat current monitoring flow process; If motoring condition is revised, then will adjust current space surveillance priority and carry out new round monitoring according to new priority.
8. as the full monitored control system of right 1 described vehicle's surroundings solid space and as the full method for supervising of right 7 described vehicle's surroundings solid spaces, it is characterized in that, space around two-layer a plurality of monitors while monitor vehicle about adopting, can define not only whether the obstacle in the certain distance exists in the space, vehicle's surroundings road surface, can also accurately detect concrete height and the concrete orientation of obstacle, be applicable to dissimilar obstacle monitorings, as limit for height type obstacle (as the bridge opening, the tunnel, street lamps etc.), side protruding type obstacle (load of stretching out as other vehicular sideview etc.) and lower obstacle are (as short and small child, animal etc.).
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| CN2013101464846A CN103192785A (en) | 2013-04-25 | 2013-04-25 | Whole monitoring system for three-dimensional space around vehicle |
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| CN103448628A (en) * | 2013-09-18 | 2013-12-18 | 中科院微电子研究所昆山分所 | Safety device and safety system for accessing to internet of vehicles of engineering trucks |
| CN104290661A (en) * | 2014-09-18 | 2015-01-21 | 昆明理工大学 | Air barrier warning device and control method thereof |
| CN105701964A (en) * | 2014-12-15 | 2016-06-22 | 西门子公司 | Dynamic virtual fencing for a hazardous environment |
| CN105788366A (en) * | 2016-04-21 | 2016-07-20 | 山西省交通科学研究院 | Active anti-collision safety system of automobile and control method thereof |
| CN105825711A (en) * | 2016-02-01 | 2016-08-03 | 乐卡汽车智能科技（北京）有限公司 | Vehicle obstacle early warning method and device |
| CN106114681A (en) * | 2016-08-30 | 2016-11-16 | 北京华力兴科技发展有限责任公司 | Vehicle parking early warning system and load car |
| CN106660495A (en) * | 2014-07-01 | 2017-05-10 | 日产自动车株式会社 | Display device for vehicle and display method for vehicle |
| CN107076844A (en) * | 2014-08-14 | 2017-08-18 | 谷歌公司 | 90 degree of many sectors of modularization plane visual field Radar Antenna Structure |
| CN108225320A (en) * | 2016-12-22 | 2018-06-29 | 通用汽车环球科技运作有限责任公司 | Use the vehicle positioning system of V2X, sensor and GNSS information |
| CN114516299A (en) * | 2022-01-21 | 2022-05-20 | 国网甘肃省电力公司综合服务中心 | Vehicle alarm system and alarm method thereof |
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| CN108225320A (en) * | 2016-12-22 | 2018-06-29 | 通用汽车环球科技运作有限责任公司 | Use the vehicle positioning system of V2X, sensor and GNSS information |
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| CN114516299A (en) * | 2022-01-21 | 2022-05-20 | 国网甘肃省电力公司综合服务中心 | Vehicle alarm system and alarm method thereof |
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Application publication date: 20130710 |