CN107599975B - Vehicle driving assistance system, control method and vehicle - Google Patents
Vehicle driving assistance system, control method and vehicle Download PDFInfo
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- CN107599975B CN107599975B CN201710614409.6A CN201710614409A CN107599975B CN 107599975 B CN107599975 B CN 107599975B CN 201710614409 A CN201710614409 A CN 201710614409A CN 107599975 B CN107599975 B CN 107599975B
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Abstract
The invention discloses a vehicle driving assisting system, a control method and a vehicle. The driving assistance system includes: the camera shooting assembly can move up and down and is arranged on the vehicle body in a left-right rotating mode so as to collect images around the vehicle body; the detection module is used for detecting the information of the vehicle body and the information of the environment around the vehicle body; and the controller is used for controlling the camera assembly to correspondingly move up and down and/or rotate left and right according to the vehicle body information and/or the vehicle body surrounding environment information. The system can effectively assist the driver in judging the conditions around the vehicle body, assist the driver in judging and planning, prompt the driver whether dangers exist behind and around the vehicle or not in time, reduce the possibility of accidents and improve the driving safety.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a vehicle driving assisting system, a control method and a vehicle.
Background
In the related art, a camera is mounted behind a truck to shoot the situation behind the vehicle body, so as to help the driver to master the situation around the vehicle body. However, since the width and height of the truck are relatively large, it is difficult for the camera to shoot the blind area behind the vehicle completely, even if the shooting angle of the camera is set to be relatively proper initially, the height of the vehicle body changes obviously when the truck is loaded and unloaded, the shooting angle of the camera is inconsistent when the truck is loaded and unloaded, and the corresponding observation of the rear blind area has a potential safety hazard.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art described above.
To this end, a first object of the invention is to propose a driving assistance system for a vehicle. The system can effectively assist a driver to judge the conditions around the vehicle body, assist the driver to judge and plan, prompt the driver whether danger exists behind and around the vehicle or not in time, reduce the possibility of accidents and improve the driving safety.
A second object of the present invention is to provide a control method of a driving assistance system.
A third object of the invention is to propose a vehicle.
In order to achieve the above object, an embodiment of a first aspect of the present invention discloses a driving assistance system of a vehicle, including: the camera shooting assembly can move up and down and is arranged on the vehicle body in a left-right rotating mode so as to collect images around the vehicle body; the detection module is used for detecting the information of the vehicle body and the information of the environment around the vehicle body; and the controller is used for controlling the camera assembly to correspondingly move up and down and/or rotate left and right according to the vehicle body information and/or the vehicle body surrounding environment information.
According to the driving assistance system of the vehicle, the camera shooting assembly which can move up and down and rotate left and right is installed on the vehicle body, the camera shooting range of the camera shooting assembly can be adjusted in real time according to the vehicle body information and the surrounding environment information of the vehicle body, the camera shooting assembly is guaranteed to have the best shooting angle, a current image on the rear side of the vehicle is displayed dynamically, and therefore the driving assistance system can effectively assist a driver in judging the surrounding situation of the vehicle body, assist the driver in judging and planning, prompt the driver whether danger exists behind and around the vehicle in time, reduce the possibility of accidents, and improve the driving safety.
In some examples, the camera assembly includes: the camera is used for acquiring images around the vehicle body; the driving piece is connected with the camera to drive the camera to move up and down, and the driving piece is controlled by the controller.
In some examples, the camera is a rotary camera.
In some examples, the detection module includes a distance sensor for detecting a height of the vehicle body from the ground, and the controller is configured to control the camera assembly to move up and down correspondingly according to a height change of the vehicle body from the ground when the height of the vehicle body from the ground changes.
In some examples, the vehicle body information further includes steering information, and the controller is configured to control the camera assembly to rotate left and right accordingly according to the steering information.
In some examples, the detection module includes an acquisition unit configured to acquire information about an environment around a vehicle body, and the controller determines whether an obstacle exists around the vehicle body according to the information about the environment around the vehicle body, and controls the camera assembly to rotate left and right correspondingly when it is determined that the obstacle exists around the vehicle body, so that a driver can avoid the obstacle according to an image around the vehicle body acquired by the camera assembly.
In some examples, the controller controls the camera assembly to rotate to the right so that the driver avoids the obstacle from the right image of the vehicle body when determining that the obstacle exists on the left side of the vehicle body, and controls the camera assembly to rotate to the left so that the driver avoids the obstacle from the left image of the vehicle body when determining that the obstacle exists on the right side of the vehicle body.
In some examples, the camera assembly is disposed behind the vehicle body
An embodiment of a second aspect of the invention discloses a control method of a driving assistance system of the vehicle according to the first aspect, the method including: detecting vehicle body information and vehicle body surrounding environment information; and controlling the camera shooting assembly to correspondingly move up and down and/or rotate left and right according to the vehicle body information and/or the vehicle body surrounding environment information.
According to the control method of the driving assistance system, the camera shooting range of the camera shooting assembly can be adjusted by installing the camera shooting assembly on the vehicle body in a manner that the camera shooting assembly can move up and down and rotate left and right in real time according to the vehicle body information and the vehicle body surrounding environment information, so that the camera shooting assembly is ensured to have the best shooting angle, and current images such as the rear side of the vehicle are dynamically displayed, so that a driver can be effectively assisted in judging the surrounding situation of the vehicle body, the driver is assisted in judging and planning, whether dangers exist behind and around the vehicle or not is timely prompted, the possibility of accidents is reduced, and the driving safety is improved.
In some examples, the vehicle body information includes a height of a vehicle body from the ground, and when the height of the vehicle body from the ground changes, the camera assembly is controlled to correspondingly move up and down according to the height change of the vehicle body from the ground.
In some examples, when it is determined that an obstacle exists on the left side of the vehicle body, the camera assembly is controlled to rotate to the right so that a driver avoids the obstacle according to the image on the right side of the vehicle body, and when it is determined that an obstacle exists on the right side of the vehicle body, the camera assembly is controlled to rotate to the left so that the image on the left side of the vehicle body of the driver avoids the obstacle.
An embodiment of a third aspect of the invention discloses a vehicle, comprising: the driving assistance system for a vehicle according to the embodiment of the first aspect described above. The vehicle can be installed on the vehicle body in real time according to vehicle body information and vehicle body surrounding environment information, the camera shooting range of the camera shooting assembly can be adjusted in a left-right rotating mode, the camera shooting assembly is guaranteed to have the best shooting angle, current images such as the rear side of the vehicle are dynamically displayed, then the vehicle can effectively assist a driver in judging the conditions around the vehicle body, the driver is assisted in judging and planning, whether dangers exist at the rear of the vehicle and around the driver is timely prompted, the possibility of accidents is reduced, and the driving safety is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a block diagram of a driving assistance system of a vehicle according to an embodiment of the invention;
fig. 2 is a schematic view of the arrangement positions of the middle camera module of the driving assistance system of the vehicle according to one embodiment of the present invention;
fig. 3 is a flowchart of a control method of the driving assist system according to one embodiment of the invention.
Description of reference numerals:
the driving assistance system 100 of the vehicle, the camera assembly 110, the detection module 120 and the controller 130.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
A driving assist system of a vehicle, a control method of the driving assist system, and a vehicle according to an embodiment of the invention are described below with reference to the drawings.
Fig. 1 is a block diagram of a driving assistance system of a vehicle according to an embodiment of the present invention. As shown in fig. 1, a driving assistance system 100 for a vehicle according to an embodiment of the present invention includes: a camera assembly 110, a detection module 120, and a controller 130.
The camera assembly 110 is disposed on the vehicle body to be vertically movable and horizontally rotatable so as to capture images around the vehicle body. The detection module 120 is used for detecting vehicle body information and vehicle body surrounding environment information. The controller 130 is used for controlling the camera assembly to correspondingly move up and down and/or rotate left and right according to the information of the vehicle body and/or the information of the environment around the vehicle body. Such as: according to the vehicle body information and/or the vehicle body surrounding environment information, firstly, an optimal acquisition area of the image around the vehicle body is determined, and the camera shooting assembly is controlled to correspondingly move up and down and/or rotate left and right according to the optimal acquisition area of the image around the vehicle body.
As shown in fig. 2, the camera module 110 is provided at the rear of the vehicle body to be movable up and down and rotatable right and left. Images are typically acquired behind or diagonally behind the vehicle body. The camera assembly 110 may include: camera and driving piece, wherein, the camera gathers the automobile body image around. The driving member is connected to the camera to drive the camera to move up and down, and the driving member is controlled by the controller 130. Namely: the controller 130 may drive the camera up and down by a driving member, such as, but not limited to, a small driving motor, so that the camera can move up and down.
In one embodiment of the invention, the camera is a rotary camera. Thus, the controller 130 may drive the camera to rotate left and right. Of course, in other examples of the present invention, the camera may be driven to rotate left and right by the provided rotating mechanism.
In the driving assistance system of a vehicle according to an embodiment of the present invention, the detection module 120 includes, for example, a distance sensor, the distance sensor is configured to detect a height of the vehicle body from the ground, and the controller 130 is configured to control the camera assembly to move up and down correspondingly according to a height change of the vehicle body from the ground when the height of the vehicle body from the ground changes.
It should be noted that the height of the vehicle body from the ground refers to the distance from a certain target point on the vehicle body to the ground, and the target point may be a vehicle body chassis, that is, the vehicle body chassis is away from the ground.
As a specific example, referring to fig. 2, assuming that the range monitored by the camera in the normal state is a height below 80 cm from the ground, the moving amount of the entire vehicle in the vertical direction is 0 to-30 mm, where vertical downward is negative and vertical upward is positive, 0 refers to the moving amount of the vehicle in the empty condition, for a certain truck, the weight of the vehicle increases by one ton, the height of the vehicle increases by about-8 mm, and the entire vehicle can bear 5 tons at most. As the cargo on the truck increases to 2 tons, the height of the truck increases by approximately-15 millimeters. At this time, the vehicle height change information sensed by the distance sensor CAN send the current vehicle height to the controller 130 through the CAN bus, the controller 130 obtains a height difference according to the current vehicle height and the vehicle height under the no-load condition of the vehicle, if the vehicle height is reduced by 15 mm, the camera is controlled to be upwards raised from the height of the whole vehicle in a state of not loading goods, if the vehicle height is upwards raised by 12 mm, and therefore the range detected by the camera is always kept in the view field of the same height as before. Moreover, the controller 130 can also send the image collected by the camera to a display terminal in the vehicle, such as a central control display screen, in real time, so as to ensure that the picture appearing on the display screen is still the best detection angle of the camera (i.e. the image of the best collection area of the image around the vehicle, such as a blind area behind the vehicle), so that the driver can clearly know the blind area behind the vehicle through the display screen no matter how much the truck is loaded, and the vehicle safety is improved.
In addition, the vehicle body information may include not only the height of the vehicle body from the ground, but also steering information, such as a steering wheel angle, etc., and the controller 130 may control the camera assembly 110 to rotate left and right according to the steering information in the driving assistance system according to the embodiment of the present invention. For example: the vehicle is steered to the right, and the driver needs to know the right condition of the vehicle, so the camera assembly 110 can be controlled to rotate to the right so as to capture the image of the right side (such as the right rear side) of the vehicle for the driver to refer to.
The camera assembly 110 may be disposed behind the vehicle body, so that left and right rear images of the vehicle may be captured when the vehicle is rotated left and right.
In another example of the present invention, the detection module 120 may further include an obtaining unit, where the obtaining unit is configured to obtain environment information around the vehicle body, and the controller 130 determines whether an obstacle exists around the vehicle body according to the environment information around the vehicle body, and controls the camera assembly 110 to rotate left and right accordingly when it is determined that an obstacle exists around the vehicle body, so that the driver avoids the obstacle according to the image around the vehicle body collected by the camera assembly 110.
Specifically, for example: the controller 130 controls the camera module 110 to rotate to the right when determining that an obstacle exists on the left side of the vehicle body, so that the driver avoids the obstacle according to the image on the right side of the vehicle body, and controls the camera module 110 to rotate to the left when determining that an obstacle exists on the right side of the vehicle body, so that the driver avoids the obstacle according to the image on the left side of the vehicle body.
As a specific example, when the vehicle is moving forward, if the left area of the vehicle body is large, but there are obstacles, such as fences, curbs, etc., on the right side of the vehicle body, the camera first detects the driving surrounding state (i.e., the vehicle body surrounding environment information) by rotating, the acquisition unit acquires the information and sends the information to the controller 130 through the CAN bus, the controller 130 CAN identify that there are obstacles on the right side of the vehicle body by some image recognition technologies, so as to control the monitoring direction of the camera to mainly monitor the left side of the vehicle body, so that the driver CAN know the left side of the vehicle body, and thus the driver CAN get closer to the left side to avoid the obstacles on the right side, and help the driver to plan the driving. The driving safety is improved.
According to the driving assistance system of the vehicle, the camera shooting assembly which can move up and down and rotate left and right is installed on the vehicle body, the camera shooting range of the camera shooting assembly can be adjusted in real time according to the vehicle body information and the surrounding environment information of the vehicle body, the camera shooting assembly is guaranteed to have the best shooting angle, a current image on the rear side of the vehicle is displayed dynamically, and therefore the driving assistance system can effectively assist a driver in judging the surrounding situation of the vehicle body, assist the driver in judging and planning, prompt the driver whether danger exists behind and around the vehicle in time, reduce the possibility of accidents, and improve the driving safety.
Fig. 3 is a flowchart of a control method of a driving assistance system according to an embodiment of the present invention, and as shown in fig. 3, the control method of the driving assistance system according to an embodiment of the present invention includes:
s301: and detecting the information of the vehicle body and the information of the environment around the vehicle body.
S302: and controlling the camera shooting assembly to correspondingly move up and down and/or rotate left and right according to the information of the vehicle body and/or the information of the environment around the vehicle body.
Specifically, the vehicle body information comprises vehicle body height, wherein when the vehicle body height changes, the camera assembly is controlled to move up and down correspondingly according to the vehicle body height change.
Further, when the left side of the vehicle body is determined to have an obstacle, the camera shooting assembly is controlled to rotate rightwards, so that the driver can avoid the obstacle according to the right side image of the vehicle body, and when the right side of the vehicle body is determined to have the obstacle, the camera shooting assembly is controlled to rotate leftwards, so that the left side image of the vehicle body of the driver can avoid the obstacle.
According to the control method of the driving assistance system, the camera shooting range of the camera shooting assembly can be adjusted by installing the camera shooting assembly on the vehicle body in a manner that the camera shooting assembly can move up and down and rotate left and right in real time according to the vehicle body information and the vehicle body surrounding environment information, so that the camera shooting assembly is ensured to have the best shooting angle, and current images such as the rear side of the vehicle are dynamically displayed, so that a driver can be effectively assisted in judging the surrounding situation of the vehicle body, the driver is assisted in judging and planning, whether dangers exist behind and around the vehicle or not is timely prompted, the possibility of accidents is reduced, and the driving safety is improved.
It should be noted that a specific implementation manner of the control method of the driving assistance system in the embodiment of the present invention is similar to a specific implementation manner of the driving assistance system of the vehicle in the embodiment of the present invention, and please refer to the description of the system part specifically, and details are not described here in order to reduce redundancy.
Further, an embodiment of the present invention discloses a vehicle, including: the driving assistance system of a vehicle according to any one of the above embodiments. The vehicle can be installed on the vehicle body in real time according to vehicle body information and vehicle body surrounding environment information, the camera shooting range of the camera shooting assembly can be adjusted in a left-right rotating mode, the camera shooting assembly is guaranteed to have the best shooting angle, current images such as the rear side of the vehicle are dynamically displayed, then the vehicle can effectively assist a driver in judging the conditions around the vehicle body, the driver is assisted in judging and planning, whether dangers exist at the rear of the vehicle and around the driver is timely prompted, the possibility of accidents is reduced, and the driving safety is improved.
In addition, other configurations and functions of the vehicle according to the embodiment of the present invention are known to those skilled in the art, and are not described herein in detail to reduce redundancy.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (6)
1. A driving assistance system for a vehicle, characterized by comprising:
the camera shooting assembly can move up and down and is arranged on the vehicle body in a left-right rotating mode so as to collect images around the vehicle body;
the detection module is used for detecting vehicle body information and vehicle body surrounding environment information, wherein the vehicle body information comprises the height of a vehicle body from the ground, and the detection module comprises an acquisition unit which is used for acquiring the vehicle body surrounding environment information;
the controller is used for controlling the camera shooting assembly to correspondingly rotate left and right according to the information of the surrounding environment of the vehicle body, controlling the camera shooting assembly to correspondingly move up and down according to the height change condition of the vehicle body from the ground when the height of the vehicle body from the ground is changed, determining whether an obstacle exists around the vehicle body according to the information of the surrounding environment of the vehicle body, controlling the camera shooting assembly to rotate right when determining that the obstacle exists on the left side of the vehicle body, so that a driver can avoid the obstacle according to the image on the right side of the vehicle body, and controlling the camera shooting assembly to rotate left when determining that the obstacle exists on the right side of the vehicle body, so that the driver can avoid the obstacle according to the.
2. The vehicle driver assistance system according to claim 1, wherein the camera assembly includes:
the camera is used for acquiring images around the vehicle body;
the driving piece is connected with the camera to drive the camera to move up and down, and the driving piece is controlled by the controller.
3. The vehicle driver assistance system of claim 1, wherein the body information further comprises steering information, and the controller is configured to control the camera assembly to rotate left and right accordingly according to the steering information.
4. The driver assistance system of a vehicle according to claim 1, wherein the camera module is disposed behind a vehicle body.
5. A control method of a driving assist system, characterized in that the driving assist system is a driving assist system of a vehicle according to any one of claims 1 to 4, the method comprising:
detecting vehicle body information and vehicle body surrounding environment information, wherein the vehicle body information comprises the height of a vehicle body from the ground;
controlling the camera shooting assembly to correspondingly move up and down and/or rotate left and right according to the information of the vehicle body and/or the information of the environment around the vehicle body, wherein when the height of the vehicle body from the ground is changed, the camera shooting assembly is correspondingly controlled to move up and down according to the height change condition of the vehicle body from the ground;
determining whether obstacles exist around the vehicle body according to the vehicle body surrounding environment information;
and when determining that the obstacle exists on the right side of the vehicle body, controlling the camera shooting assembly to rotate to the right so that a driver avoids the obstacle according to the image on the right side of the vehicle body, and when determining that the obstacle exists on the right side of the vehicle body, controlling the camera shooting assembly to rotate to the left so that the driver avoids the obstacle according to the image on the left side of the vehicle body.
6. A vehicle, characterized by comprising: the driving assistance system of a vehicle according to any one of claims 1 to 4.
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| CN201710614409.6A CN107599975B (en) | 2017-07-25 | 2017-07-25 | Vehicle driving assistance system, control method and vehicle |
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| CN201710614409.6A CN107599975B (en) | 2017-07-25 | 2017-07-25 | Vehicle driving assistance system, control method and vehicle |
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| CN109229020A (en) * | 2018-08-28 | 2019-01-18 | 芜湖凯兴汽车电子有限公司 | The safety monitoring device of lorry |
| CN109466449A (en) * | 2018-11-21 | 2019-03-15 | 北汽福田汽车股份有限公司 | Display control method, system and the vehicle of vehicle |
| DE102018009434A1 (en) * | 2018-11-30 | 2020-06-04 | Zf Active Safety Gmbh | Control system and method for a motor vehicle for processing multi-reflected signals |
| CN109484319A (en) * | 2018-12-04 | 2019-03-19 | 北京洛必达科技有限公司 | A kind of unmanned intelligent automobile and method |
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| CN100398358C (en) * | 2005-07-12 | 2008-07-02 | 财团法人车辆研究测试中心 | Rear-viewing mirror with automatic angular adjustment accompaning car |
| CN202115439U (en) * | 2011-06-27 | 2012-01-18 | 徐工集团工程机械股份有限公司江苏徐州工程机械研究院 | Electric-wheeled mining dumper without blind areas |
| CN102951091A (en) * | 2011-08-18 | 2013-03-06 | 上海博泰悦臻电子设备制造有限公司 | Vehicular vision field enlarging device |
| CN103661107B (en) * | 2013-11-29 | 2015-12-09 | 北京理工大学 | The non-direct-view control loop that circumference visual field is controlled |
| DE102015117776A1 (en) * | 2015-04-30 | 2016-11-03 | Huf Hülsbeck & Fürst Gmbh & Co. Kg | Camera device for a motor vehicle |
| CN106585517A (en) * | 2015-10-15 | 2017-04-26 | 北汽福田汽车股份有限公司 | Reversing camera device and vehicle |
| CN105459907B (en) * | 2015-12-15 | 2018-02-02 | 小米科技有限责任公司 | Vehicle security system, blind area monitoring method and device |
| CN105711502A (en) * | 2016-04-28 | 2016-06-29 | 乐视控股（北京）有限公司 | Vehicle-mounted photographing device and photographing control method thereof |
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