CN110059574A - A kind of vehicle blind zone detection method - Google Patents
A kind of vehicle blind zone detection method Download PDFInfo
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- CN110059574A CN110059574A CN201910224413.0A CN201910224413A CN110059574A CN 110059574 A CN110059574 A CN 110059574A CN 201910224413 A CN201910224413 A CN 201910224413A CN 110059574 A CN110059574 A CN 110059574A
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- 238000001514 detection method Methods 0.000 title claims abstract description 46
- 230000004888 barrier function Effects 0.000 claims description 37
- 238000000034 method Methods 0.000 claims description 11
- 238000003384 imaging method Methods 0.000 claims description 10
- 241000251468 Actinopterygii Species 0.000 claims description 8
- 238000012937 correction Methods 0.000 claims description 6
- 239000011159 matrix material Substances 0.000 claims description 6
- 230000009466 transformation Effects 0.000 claims description 6
- 238000003702 image correction Methods 0.000 claims description 5
- 230000004927 fusion Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 4
- 238000005461 lubrication Methods 0.000 claims description 4
- 238000002156 mixing Methods 0.000 claims description 3
- 238000000844 transformation Methods 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims 1
- 206010039203 Road traffic accident Diseases 0.000 abstract description 6
- 230000000007 visual effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
- 238000013461 design Methods 0.000 description 1
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- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000010304 firing Methods 0.000 description 1
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- 238000012544 monitoring process Methods 0.000 description 1
- 230000037452 priming Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- Engineering & Computer Science (AREA)
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Abstract
The invention discloses a kind of vehicle blind zone detection methods, first, obstacle detection system on vehicle is set by one, in the case where vehicle is in the driving condition easily to collide, automatically turn on the obstacle detection system, whether there are obstacles for automatic identification vehicle periphery, and its with the positional relationship of vehicle, mutual movement relation.The vehicle blind zone detection method can improve driver to the resolving ability of environment, the traffic accident as caused by eliminating driving blind area be reduced, to reduce life and property loss.
Description
Technical field:
The present invention relates to field of traffic, are especially a kind of vehicle blind zone detection method.
Background technique:
Traffic accident priming factors are numerous, but statistics show the cause of accident of 80%-90% be driver it is subjective because
Element.There is more blind area due to itself design factor in vehicle train, be especially in turning, due to rearview mirror in the process of moving
The reasons such as blind area, pillar A blind and lubrication groove difference, driver can not correctly judge pedestrian or barrier and institute on road by rearview mirror
The relative status for driving vehicle, easily causes traffic accident.
Summary of the invention:
The technical problem to be solved by the invention is to provide one kind can improve driver to the resolving ability of environment, reduces
The traffic accident as caused by eliminating driving blind area, to reduce the vehicle blind zone detection method of life and property loss.
The technical solution of the invention is as follows, provides a kind of vehicle blind zone detection method,
Firstly, passing through an obstacle detection system being arranged on vehicle, the traveling shape easily to collide is in vehicle
Under condition, the obstacle detection system is automatically turned on, whether there are obstacles for automatic identification vehicle periphery, and its position with vehicle
Relationship, mutual movement relation；
Then, positional relationship, phase of the barrier that barrier early warning system is obtained according to obstacle detection system with vehicle
Mutual movement relation and inner model of system, whether automatic discrimination barrier can collide with the current vehicle that drives, according to barrier
Attribute and barrier evaluate danger grade, and calculate the peace under current danger with the positional relationship of vehicle, mutual movement relation
Full driving path/scheme, automatically turns on blind area picture system, and in the image display system of blind area, marks out best safety row
Sail path/scheme.
Preferably, obstacle detection system utilizes wireless detection device, vehicle periphery movable obstruction and not is determined
Movable obstruction, and detect other barriers and its positional relationship and mutually movement in driven vehicle-surroundings a certain range and close
System.
Preferably, barrier early warning system includes a set of Early-warning Model, one group of safety traffic path/Scheme algorithm.
Preferably, safety traffic path/Scheme algorithm is according to each of determining to disturbance in judgement object and driven vehicle
Positional relationship and mutual movement relation, calculate best safety driving path/scheme under current driving situation, and in blind area
It is marked in picture system.
Preferably, blind area picture system melts including one group of image acquiring device, one group of image correction algorithm, one group of image
Hop algorithm, a set of image display system.
Preferably, image acquiring device obtains image using fish-eye camera, installation point is located in vehicle periphery necessity
Position, it includes that pillar A blind, rear view mirror blind zone, reversing blind spot, front and side blind area, lubrication groove difference are blind that image, which obtains range,
Area, to guarantee after barrier is alarmed, vehicle driver can learn dangerous situation details by transferring image.
Preferably, the provided image of image acquiring device is obtained by fish-eye camera, and passes through image flame detection algorithm,
Pattern distortion caused by video camera is eliminated, in order to carry out correct image mosaic, wherein image flame detection algorithm refers to flake
Each 2D pixel coordinate point is mapped to 3D umbilical point on image, is subsequently projected to practical scenery planar point, according to pixel radial direction
The imaging model relationship of distance and incidence angle angle, to realize correction, imaging model uses rectangular projection model.Rectangular projection enters
Firing angle and radial distance formula are as follows, and r=fsin α, α are angle of incidence of light angle, and r is that flake imaging point arrives on fish eye images
The oculocentric radial distance of fish.
Preferably, image flame detection algorithm uses direct linear transformation's algorithm, by extracting four under image coordinate system
Vertex image coordinate, and the distance value of four points is measured under world coordinate system simultaneously, to obtain two kinds of coordinate system transformations
Under homography matrix, and using homography matrix complete image correction.
Preferably, Image Fusion uses weighted mean method, it is overlapped using the location of pixels distance in overlapping region
Weight of the distance of edges of regions as two width blending images.
Further, image display system, including Vehicular display device, sensor, computer processor, by obtaining image
The image for taking device to obtain shows in Vehicular display device, provides accurately for vehicle driver after image algorithm calculates
Vehicle-surroundings barrier details, and can be by the best peace under the current driving situation that path/Scheme algorithm obtains that drives safely
Full driving path/scheme, marks in present image is shown.
Using after above scheme compared with prior art, the invention has the following advantages that the detection system that breaks the barriers, barrier
Hinder object early warning system, blind area picture system, determine vehicle-surroundings environment, to improve automobile driver to present road situation
Understanding, reduce driver eliminating driving blind area, reduce the traffic accident as caused by eliminating driving blind area.
Detailed description of the invention:
Fig. 1 is vehicle driving blind area of the present invention and detection early warning system detector arrangement schematic diagram.
Specific embodiment:
With regard to specific embodiment, the invention will be further described with reference to the accompanying drawing:
A kind of vehicle blind zone detection method, firstly, passing through an obstacle detection system being arranged on vehicle, at vehicle
Under the driving condition easily to collide, the obstacle detection system is automatically turned on, automatic identification vehicle periphery is with the presence or absence of barrier
Hinder object, and its with the positional relationship of vehicle, mutual movement relation；Wherein, barrier includes movable obstruction and irremovable
Barrier, the movable obstruction, including people, animal, vehicle, other movable obstructions, wherein baby, moves adult
The barriers attributes such as object, vehicle, other moving obstacles have different in the barrier early warning system danger ranking
It embodies.The immovable obstruction, including the stone pier, road serrated edge, direction board, interim placement object and other irremovable barriers
Hinder object.Obstacle detection system utilizes wireless detection device, determines vehicle periphery movable obstruction and immovable obstruction,
And detect other barriers and its positional relationship and mutual movement relation in driven vehicle-surroundings a certain range.Barrier early warning
System includes a set of Early-warning Model, one group of safety traffic path/Scheme algorithm.
Then, positional relationship, phase of the barrier that barrier early warning system is obtained according to obstacle detection system with vehicle
Mutual movement relation and inner model of system, whether automatic discrimination barrier can collide with the current vehicle that drives, according to barrier
Attribute and barrier evaluate danger grade, and calculate the peace under current danger with the positional relationship of vehicle, mutual movement relation
Full driving path/scheme, automatically turns on blind area picture system, and in the image display system of blind area, marks out best safety row
Sail path/scheme.Path/Scheme algorithm drive safely according to each of determining position to disturbance in judgement object and driven vehicle
Relationship and mutual movement relation calculate best safety driving path/scheme under current driving situation, and in blind area image system
It is marked in system, to realize safe driving.
Among these, blind area picture system includes one group of image acquiring device, one group of image correction algorithm, one group of image co-registration
Algorithm, a set of image display system.Image acquiring device obtains image using fish-eye camera, and installation point is located in vehicle periphery
Needed position, as shown in Figure 1, it includes pillar A blind, rear view mirror blind zone, reversing blind spot, front and the side visual field that image, which obtains range,
Blind area, lubrication groove difference blind area, to guarantee after barrier is alarmed, vehicle driver can learn dangerous situation details by transferring image.
It specifically, is that all around four direction installs eight fish-eye cameras in automobile, due to the big visual field advantage of fish-eye camera,
System can obtain 360 degree of panoramic informations of motor vehicle environment by a small amount of camera.The cost at the super large visual angle of fish-eye camera
It is to draw type distortion, so the fish eye images of distortion are corrected with indispensable, 3D figure of this system selection based on imaging model
As correcting algorithm.That is the provided image of image acquiring device is obtained by fish-eye camera, and by image flame detection algorithm, is eliminated
Pattern distortion caused by video camera, in order to carry out correct image mosaic, wherein image flame detection algorithm refers to fish eye images
Upper each 2D pixel coordinate point is mapped to 3D umbilical point, practical scenery planar point is subsequently projected to, according to pixel radial distance
With the imaging model relationship of incidence angle angle, to realize correction, imaging model uses rectangular projection model.Rectangular projection incidence angle
As follows with radial distance formula, r=fsin α, α are angle of incidence of light angle, and r is flake imaging point on fish eye images to flake
The radial distance at center.
Due to fish-eye camera and non-vertically Plane Installation, forms an angle with ground, and the image after correction has close big
Remote small transparent effect needs to have perspective to imitate with image flame detection algorithm after flake correction to meet birds-eye view needs
The image of fruit is converted into top view, eliminates pattern distortion caused by video camera, in order to carry out correct more image mosaics.This is
System is using direct linear transformation's algorithm as image flame detection algorithm.In other words, direct linear transformation's process is required no knowledge about and is taken the photograph
As the parameters such as head field angle, pose, this method needs to carry out simple calibration experiment work, and four are extracted under image coordinate system
Vertex image coordinate, and the distance value of four points is measured under world coordinate system simultaneously, to obtain two kinds of coordinate system transformations
Under homography matrix, and using homography matrix complete image correction.
Moreover, to eliminate the overlapping image on different angle camera field of view boundary, this system uses weighted mean method, the party
Distance of the method using the location of pixels in overlapping region apart from overlapping region edge is as the weight of two width blending images, more
Close to far from region edge, weight is smaller, this method by overlapping region carry out linear fusion so as to improve
Gray scale discontinuous problem in overlapping region plays smooth effect to area pixel is overlapped.
The blind area monitoring and warning system of exploitation needs to implement feedback barrier at a distance from vehicle, it is therefore desirable to carry out accurate
Ranging.After all kinds of methods are comprehensively compared, this system carries out ranging using the ultrasonic radar based on pulse echo method.Its principle is
Ultrasonic sensor emits ultrasonic wave, propagates to measured object in air, receives reflected impulse by ultrasonic sensor after reflection, surveys
Ultrasonic pulse is measured from received time ts is emitted to, in known ultrasonic velocity cs.Under the premise of, can calculate measured object away from
From D,
That is:
Further, image display system, including Vehicular display device, sensor, computer processor, by obtaining image
The image for taking device to obtain shows in Vehicular display device, provides accurately for vehicle driver after image algorithm calculates
Vehicle-surroundings barrier details, and can be by the best peace under the current driving situation that path/Scheme algorithm obtains that drives safely
Full driving path/scheme, marks in present image is shown, thus to improve automobile driver to present road situation
Understanding reduces driver eliminating driving blind area, reduces the traffic accident as caused by eliminating driving blind area.
Only the preferred embodiment of the present invention has been described above, but is not to be construed as limiting the scope of the invention.It is all
The equivalent structure or equivalent flow shift done using description of the invention, be included in scope of patent protection of the invention it
It is interior.
Claims (10)
1. a kind of vehicle blind zone detection method, it is characterised in that:
Firstly, pass through an obstacle detection system being arranged on vehicle, in the case where vehicle is in the driving condition easily to collide,
Automatically turn on the obstacle detection system, whether there are obstacles for automatic identification vehicle periphery, and its with the positional relationship of vehicle,
Mutual movement relation；
Then, the positional relationship of barrier early warning system is obtained according to obstacle detection system barrier and vehicle, mutually fortune
Dynamic relationship and inner model of system, whether automatic discrimination barrier can collide with the current vehicle that drives, according to barrier category
Property and barrier with evaluate danger grade with the positional relationship of vehicle, mutual movement relation, and calculate the safety under current danger
Driving path/scheme automatically turns on blind area picture system, and in the image display system of blind area, marks out best safety traveling
Path/scheme.
2. vehicle blind zone detection method according to claim 1, it is characterised in that: obstacle detection system utilizes wireless inspection
Device is surveyed, determines vehicle periphery movable obstruction and immovable obstruction, and detect driven vehicle-surroundings a certain range
Other interior barriers and its positional relationship and mutual movement relation.
3. vehicle blind zone detection method according to claim 1, it is characterised in that: barrier early warning system includes a set of pre-
Alert model, one group of safety traffic path/Scheme algorithm.
4. vehicle blind zone detection method according to claim 3, it is characterised in that: safety traffic path/Scheme algorithm root
According to each of determining positional relationship and mutual movement relation to disturbance in judgement object and driven vehicle, calculate in current driving shape
Best safety driving path/scheme under condition, and marked in the picture system of blind area.
5. vehicle blind zone detection method according to claim 1, it is characterised in that: blind area picture system includes one group of image
Acquisition device, one group of image correction algorithm, one group of Image Fusion, a set of image display system.
6. vehicle blind zone detection method according to claim 1, it is characterised in that: image acquiring device is imaged using flake
Head obtains image, and installation point is located in vehicle periphery needed position, and image obtains range and includes pillar A blind, rear view mirror blind zone, falls
Vehicle blind area, front and side blind area, lubrication groove difference blind area, to guarantee after barrier is alarmed, vehicle driver can pass through
It transfers image and learns dangerous situation details.
7. vehicle blind zone detection method according to claim 6, it is characterised in that: the provided image of image acquiring device by
Fish-eye camera is obtained, and by image flame detection algorithm, eliminates pattern distortion caused by video camera, in order to carry out correctly
Image mosaic, wherein image flame detection algorithm, which refers to, is mapped to 3D umbilical point for 2D pixel coordinate point each on fish eye images, then
Practical scenery planar point is projected to, according to the imaging model relationship of pixel radial distance and incidence angle angle, to realize correction,
Imaging model uses rectangular projection model.Rectangular projection incidence angle and radial distance formula are as follows, and r=fsin α, α are light
Incidence angle angle, r are flake imaging point on fish eye images to the oculocentric radial distance of fish.
8. vehicle blind zone detection method according to claim 5, it is characterised in that: image flame detection algorithm is using directly linear
Algorithm is converted, by extracting four vertex image coordinates under image coordinate system, and measures four under world coordinate system simultaneously
The distance value of point to obtain the homography matrix under two kinds of coordinate system transformations, and completes image using homography matrix
Correction.
9. vehicle blind zone detection method according to claim 5, it is characterised in that: Image Fusion is using weighted average
Method, the distance using the location of pixels in overlapping region apart from overlapping region edge is as the weight of two width blending images.
10. vehicle blind zone detection method according to claim 1, it is characterised in that: image display system, including it is vehicle-mounted aobvious
Show device, sensor, computer processor, through the image that obtains image acquiring device after image algorithm calculates, in vehicle
It carries and is shown in display, provide accurate vehicle-surroundings barrier details for vehicle driver, and the path that can will drive safely/
Best safety driving path/scheme under the current driving situation that Scheme algorithm obtains, marks in present image is shown.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110717945A (en) * | 2019-09-25 | 2020-01-21 | 深圳疆程技术有限公司 | Vision calibration method, vehicle machine and automobile |
| CN111231947A (en) * | 2020-03-16 | 2020-06-05 | 东软睿驰汽车技术（沈阳）有限公司 | Method and device for detecting obstacles in dead zone of commercial vehicle |
| CN112069980A (en) * | 2020-09-03 | 2020-12-11 | 三一专用汽车有限责任公司 | Obstacle recognition method, obstacle recognition system, and storage medium |
| CN112136166A (en) * | 2019-09-04 | 2020-12-25 | 赵婷婷 | System and method for controlling a vehicle |
| CN112606765A (en) * | 2020-12-25 | 2021-04-06 | 广州小鹏自动驾驶科技有限公司 | Vehicle transparent A-pillar display method and device, vehicle and readable storage medium |
| CN112951000A (en) * | 2021-04-02 | 2021-06-11 | 华设设计集团股份有限公司 | Large-scale vehicle blind area bidirectional early warning system |
| CN114049773A (en) * | 2021-11-04 | 2022-02-15 | 哈尔滨工业大学 | Constructor safety risk assessment early warning method and system |
| CN114137980A (en) * | 2021-11-29 | 2022-03-04 | 广州小鹏自动驾驶科技有限公司 | Control method and device, vehicle and readable storage medium |
| CN115626159A (en) * | 2021-07-01 | 2023-01-20 | 信扬科技(佛山)有限公司 | Vehicle warning system and method and automobile |
-
2019
- 2019-03-23 CN CN201910224413.0A patent/CN110059574A/en active Pending
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112136166A (en) * | 2019-09-04 | 2020-12-25 | 赵婷婷 | System and method for controlling a vehicle |
| CN112136166B (en) * | 2019-09-04 | 2022-08-12 | 赵婷婷 | System and method for controlling a vehicle |
| CN110717945A (en) * | 2019-09-25 | 2020-01-21 | 深圳疆程技术有限公司 | Vision calibration method, vehicle machine and automobile |
| CN110717945B (en) * | 2019-09-25 | 2022-09-02 | 合肥疆程技术有限公司 | Vision calibration method, vehicle machine and automobile |
| CN111231947A (en) * | 2020-03-16 | 2020-06-05 | 东软睿驰汽车技术（沈阳）有限公司 | Method and device for detecting obstacles in dead zone of commercial vehicle |
| CN112069980A (en) * | 2020-09-03 | 2020-12-11 | 三一专用汽车有限责任公司 | Obstacle recognition method, obstacle recognition system, and storage medium |
| CN112069980B (en) * | 2020-09-03 | 2022-01-25 | 三一专用汽车有限责任公司 | Obstacle recognition method, obstacle recognition system, and storage medium |
| CN112606765A (en) * | 2020-12-25 | 2021-04-06 | 广州小鹏自动驾驶科技有限公司 | Vehicle transparent A-pillar display method and device, vehicle and readable storage medium |
| CN112951000A (en) * | 2021-04-02 | 2021-06-11 | 华设设计集团股份有限公司 | Large-scale vehicle blind area bidirectional early warning system |
| CN115626159A (en) * | 2021-07-01 | 2023-01-20 | 信扬科技(佛山)有限公司 | Vehicle warning system and method and automobile |
| CN114049773A (en) * | 2021-11-04 | 2022-02-15 | 哈尔滨工业大学 | Constructor safety risk assessment early warning method and system |
| CN114137980A (en) * | 2021-11-29 | 2022-03-04 | 广州小鹏自动驾驶科技有限公司 | Control method and device, vehicle and readable storage medium |
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Application publication date: 20190726 |