CN111038381A - Active early warning device for preventing driving door collision based on vision - Google Patents
Active early warning device for preventing driving door collision based on vision Download PDFInfo
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- CN111038381A CN111038381A CN201911339931.3A CN201911339931A CN111038381A CN 111038381 A CN111038381 A CN 111038381A CN 201911339931 A CN201911339931 A CN 201911339931A CN 111038381 A CN111038381 A CN 111038381A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
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- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
- Lock And Its Accessories (AREA)
Abstract
An active early warning device for preventing a driving door from colliding based on vision. The product comprises an automobile, wherein the left side of the front end of the automobile is connected with a left high-definition camera through a universal shaft, the right side of the front end of the automobile is connected with a right high-definition camera through a universal shaft, the left high-definition camera and the right high-definition camera are connected with a control line, the control line is connected with an intelligent algorithm controller, the intelligent algorithm controller is connected with a whole automobile control bus, the whole automobile control bus is connected with a whole automobile controller, and the whole automobile controller is connected with a door lock control part. The invention is used for preventing the collision of the opened vehicle door.
Description
The technical field is as follows:
the invention relates to an active early warning device for preventing a driving door from colliding based on vision.
Background art:
at present, users of household vehicles grow continuously, with the rapid increase of the number of household passenger vehicles, the driving conditions of vehicles on roads are more and more complex, the frequency of driving and stopping the vehicles on two sides of the roads is more and more, the conditions of collision and friction between the driven and stopped vehicles and the normally driven vehicles are increased, and particularly, when the doors of the driven and stopped vehicles are opened, the collision between the driven and stopped vehicles and the backward coming vehicles is endless. The accident results are low in cost and time, and the personal and property injuries are caused, even the life is threatened. In addition, opening the door without sufficient observation of the vehicle coming in the backward direction also poses a great risk of collision for non-motor vehicles and pedestrians. With the appearance of the network appointment car, the frequency of getting on and off the car by passengers driven by non-full-time drivers is higher, and the probability of danger of coming cars after the passengers of the younger ages get off the car and neglect observation is higher. At present, most of the driving door prompting and early warning products in the market give an alarm to drivers and passengers in an acousto-optic mode, and under the condition, the passengers who do not know the functions of the vehicle can ignore the alarm to a great extent, so that potential danger is caused.
The existing vehicle door alarming products in the current market generally use millimeter wave radars, are arranged at two side positions of the tail of a vehicle, capture the coming vehicle at the rear part close to the driving vehicle and give an alarm to a driver or passengers. The millimeter wave radar can generate co-channel interference under specific conditions, and particularly when equipment for assisting driving is installed on vehicles coming in opposite directions and in the same direction (the millimeter wave radar is installed in the front of the vehicle), the co-channel interference can be easily generated on reflected waves of the vehicles running and stopping, and results are misrepresented. The millimeter wave radar has better response to metal objects, and has poorer recognition on people or bicycles, and the recognition rate is difficult to improve; the millimeter wave radar arranged at the tail part of the vehicle can only detect the approaching vehicle or people behind the vehicle, and can still not accurately detect the blind area between the B column of the vehicle and the rear wheel of the vehicle; in the case of a rear-mounted, millimeter-wave radar is very inconvenient to install and difficult to maintain. The method comprises the steps of firstly, requiring a vehicle owner to remove a rear bumper from a maintenance factory, installing and debugging the direction, angle and range of a millimeter wave radar, determining that the vehicle body is not shielded and interfered, then recovering to install the rear bumper, and wiring the whole vehicle from the tail part to the head part of the vehicle. Because of the reason of millimeter wave radar mounted position, it can expose always, or half expose between vehicle bottom dish and road surface, and the dirt on dust and muddy road surface can adhere to the radar, leads to radar wave decay or inefficacy, when clearing up the dirt, still needs dismouting bumper. The door collision early warning product visible in the market at present is only simple acousto-optic prompt, has no active door driving prohibition function, and cannot completely avoid potential danger caused by careless passengers or low-age passengers who still open the door by human error.
The millimeter wave radar can generate co-channel interference under specific conditions, and particularly when equipment for assisting driving is installed on vehicles coming in opposite directions and in the same direction (the millimeter wave radar is installed in the front of the vehicle), the co-channel interference can be easily generated on reflected waves of the vehicles running and stopping, and results are misrepresented.
The millimeter wave radar has better response to metal objects, and has poorer recognition on people or bicycles, and the recognition rate is difficult to improve.
The millimeter wave radar arranged at the tail part of the vehicle can only detect the approaching vehicle or people behind the vehicle, and can still not accurately detect the blind area between the B column of the vehicle and the rear wheel of the vehicle;
in the case of a rear-mount, millimeter-wave radar is very complicated and inconvenient to install and difficult to maintain.
The function of prohibiting the door from being opened is not active, and the situation that passengers open the door by mistake under dangerous conditions cannot be completely avoided.
The invention content is as follows:
the invention aims to provide an active early warning device for preventing a driving door from colliding based on vision, which has a manual locking and unlocking function and can be used for actively unlocking a vehicle door by a driver.
The above purpose is realized by the following technical scheme:
the active early warning device comprises an automobile, wherein the left side of the front end of the automobile is connected with a left high-definition camera through a universal shaft, the right side of the front end of the automobile is connected with a right high-definition camera through the universal shaft, the left high-definition camera is connected with a control line through the right high-definition camera, the control line is connected with an intelligent algorithm controller, the intelligent algorithm controller is connected with a whole automobile control bus, the whole automobile control bus is connected with a whole automobile controller, and the whole automobile controller is connected with a door lock control component.
According to the active early warning device for preventing the driving door from colliding based on the vision, visual data frames acquired by a left high-definition camera and a right high-definition camera are transmitted to an intelligent algorithm controller through data lines, and in the intelligent algorithm controller, images of the visual data frames are analyzed through a high-efficiency visual algorithm, so that potential targets, which can be collided with doors, of pedestrians, motor vehicles, bicycles and motorcycles in the images are found and tracked; under the high frame rate, each frame of image data is efficiently calculated, the distance and the speed of each potential target which can collide with the vehicle door and the vehicle are calculated at the same time, a safety threshold value of the distance and the speed is drawn up, when the distance or the speed of no potential target exceeds the safety threshold value, the intelligent algorithm controller considers that the vehicle door is opened safely at the moment, otherwise, the vehicle door is not safe.
According to the active early warning device for preventing the collision of the driving door based on the vision, an intelligent algorithm controller is communicated with a vehicle controller through a vehicle control bus, when the intelligent algorithm controller judges that a coming vehicle or people and other objects are likely to collide with the opened vehicle door, a vehicle door locking command is actively sent to the vehicle controller, the vehicle controller converts the command into a behavior of a door lock control part, the vehicle door is locked, a passenger or a driver in the vehicle cannot open the vehicle door on one side with potential danger until the intelligent algorithm controller sends a door lock unlocking command to the vehicle controller through the vehicle control bus, and the passenger or the driver can open the vehicle door.
The intelligent algorithm controller is an automobile-level MPU chip, has image processing and recognition capabilities, has special IP hardware component support for big data operation, and has rich peripheral interfaces for processing input and output data; visual data transmitted by the camera is converted into board-level total current data through the LVDS or other visual transmission conversion chips and input into the MPU; the MPU carries out image recognition flow processing on the visual data; the DRAM and FLASH module is used for storing temporary data and execution codes of the MPU; the CAN general interface module is used for communicating with the vehicle control unit, sending a control command to the vehicle control unit and receiving a response; the display module is used for debugging, and the power module is used for supplying power to each device and providing electromagnetic compatibility protection.
Has the advantages that:
1. the invention can automatically capture and analyze the driving environment through the camera equipment arranged on the two sides of the vehicle when the vehicle is at low speed or stops, when the vehicle or the pedestrian appears in the area where the collision is likely to happen, the driving computer actively locks the vehicle door, and when the potential danger is relieved, the vehicle door is unlocked, and the passenger or the driver can open the vehicle door to get off the vehicle.
The invention detects vehicles (including motor vehicles, bicycles) and people approaching to the two sides of the running and stopping vehicle by means of a visual algorithm; actively locking the door when the door opening collision is possible; high safety degree and good safety effect.
The invention has simple installation and does not need professional installation; the function of locking the vehicle door by the equipment can be manually and actively enabled and cancelled.
The invention detects the approaching vehicles and people at the two sides of the driving and stopping vehicle by means of a visual algorithm, and actively locks the vehicle door when the vehicle door is opened and the collision is possible, thereby greatly reducing the dangerous condition caused by opening the vehicle door by passengers under any condition. The two wide-angle cameras are arranged on two sides of a vehicle to monitor a coming vehicle, people, a bicycle and a motorcycle behind the vehicle, the existing millimeter wave radar monitoring is replaced by the visual application, the monitoring is not easily interfered by external signals, and the monitoring range is expanded.
The installation of the invention is simpler than that of a millimeter wave radar, and the invention is convenient to maintain in use; the automobile repair factory is not required to be modified, an owner only needs to manually carry out simple pasting installation and wiring, complex debugging is not required, and maintenance is hardly required after installation; the device can actively lock the vehicle door, so that passengers and drivers cannot directly open the vehicle door under the potential dangerous condition unless the danger is relieved or the drivers manually disable the vehicle door locking function, and the dangerous condition caused by the fact that the passengers or the passengers with the low ages open the vehicle door by mistake is completely avoided.
Description of the drawings:
fig. 1 is a schematic structural diagram of the product.
Fig. 2 is a flow chart of image recognition of the present product.
Fig. 3 is a hardware schematic block diagram of the present product.
The specific implementation mode is as follows:
the technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the present invention.
Example 1:
the active early warning device comprises an automobile 1, wherein the left side of the front end of the automobile is connected with a left high-definition camera 3 through a universal shaft 2, the right side of the front end of the automobile is connected with a right high-definition camera 4 through a universal shaft, the left high-definition camera is connected with a control line 5 through the right high-definition camera, the control line is connected with an intelligent algorithm controller 6, the intelligent algorithm controller is connected with an entire automobile control bus 7, the entire automobile control bus is connected with an entire automobile controller 8, and the entire automobile controller is connected with a door lock control component 9.
As shown in the attached figure 1, a rearview left high-definition camera and a rearview right high-definition camera are respectively arranged on two sides of the vehicle and are connected to intelligent algorithm controller equipment which is responsible for visual processing. The camera adopts starlight level sensor and wide-angle lens, makes it can still catch wide visual angle high quality visual data under extremely low illuminance. The camera mountable also can be the optional position that the vehicle both sides do not take place to shelter from in vehicle rearview mirror below, but camera mechanical connecting part chooses cardan shaft or other angle regulation design for use, can be in the biggest visual scope of installation back adjustment visual angle in order to monitor car rear side. An infrared LED or other illumination device is integrated near the camera to supplement the light source at very low illumination. Still will integrate the sensitization original paper near the camera, when illuminance is low, the illumination function is opened automatically to equipment, and when illuminance is normal, initiatively closes.
Example 2:
in the active early warning device for preventing a driving door from colliding based on vision, vision data frames acquired by a left high-definition camera and a right high-definition camera are transmitted to an intelligent algorithm controller through data lines, and in the intelligent algorithm controller, images of the vision data frames are analyzed through a high-efficiency vision algorithm, so that potential targets which are possible to collide with a door of a vehicle, such as pedestrians, motor vehicles, bicycles, motorcycles, and the like, in the images are found and tracked. Under a high frame rate, each frame of image data is calculated efficiently, the real-time performance of results is guaranteed, the distance and the speed of each potential target which can collide with the vehicle door and the vehicle are calculated at the same time, a safety threshold value of the distance and the speed is drawn up, when the distance or the speed of no potential target exceeds the safety threshold value, the intelligent algorithm controller considers that the vehicle door is opened safely at the moment, otherwise, the vehicle door is not safe.
Example 3:
the active early warning device for preventing the driving door from colliding based on the vision, which is described in embodiment 2, is characterized in that the intelligent algorithm controller is an automobile-level MPU (micro processing unit) chip, has image processing and recognition capabilities, has special IP hardware component support for big data operation, and has rich peripheral interfaces for processing input and output data; visual data transmitted by the camera is converted into board-level total current data through an LVDS (low voltage differential signaling) or other visual transmission conversion chips and input into an MPU (micro processing Unit); the MPU carries out image recognition flow processing on the visual data; DRAM (dynamic random access memory) and FLASH (FLASH memory) modules are used for storing temporary data and execution codes of the MPU; the CAN (controller area network) total interface module is used for communicating with the vehicle controller, sending a control command to the vehicle controller and receiving a response; the display module is used for debugging, and the power module is used for supplying power to each device and providing electromagnetic compatibility protection.
In any case, the driver can disable the door active locking common work by actuating an enable switch on the intelligent algorithm controller.
Example 4:
in the active early warning device for preventing a driving door from colliding based on vision, an image recognition algorithm needs to pass through: the method comprises five steps of image acquisition, image processing, candidate area determination, target image determination and target image tracking.
The image acquisition is realized by a high-definition starlight level vision sensor, and the image acquisition is realized by generating vision raw data and then performing ISP (image Signal processor) image signal processing. In the image signal processing stage, the image is subjected to white balance, noise reduction, sharpening, ROI (region of interest selection), gray level conversion, deformity correction and the like, so that the image is more in line with the human eye identification effect, and the chromaticity and edge characteristics of the image are highlighted. The processed image is used for determining a candidate area, wherein the candidate area is an area which is preliminarily identified and screened and possibly has a target image, the images accord with certain characteristics of the target image, but the misjudgment condition exists possibly, the purpose of the misjudgment is to not omit the possible target image, the algorithm is simple, and the operation is fast. And finally determining a target image of the candidate region by using a neural network model algorithm trained based on machine learning, further reducing the target range and ensuring the identification accuracy. On the basis of identifying the target image, a Filter Kalman Filter (Kalman algorithm) is utilized to track the moving target image so as to measure and calculate the distance, the speed and the position of the target in real time.
Example 5:
as shown in fig. 3, a core device of the present invention is an automotive MPU (micro processing unit) chip, which has strong image processing and recognition capabilities, has special IP hardware component support for big data operation, and has rich peripheral interfaces for processing input and output data. On the far right of figure 1 are two vision capture devices, high definition cameras, respectively, placed on either side of the vehicle. The visual data transmitted by the camera is converted into board-level total current data through the LVDS or other visual transmission conversion chips and input into the MPU.
And processing the visual data by an image recognition flow. The DRAM and FLASH modules are used to store the temporary data and execution code of the MPU. The CAN general interface module is used for communicating with the vehicle control unit, sending a control command to the vehicle control unit and
an acknowledgement is received. The display module is used for debugging, and the power module is used for supplying power to each device and providing electromagnetic compatibility protection.
Example 6:
the invention relates to an active early warning device for preventing a driving door from colliding based on vision, in particular to a device for detecting approaching vehicles and people at two sides of a driving and stopping vehicle by means of a vision algorithm and actively locking a door when the driving and stopping vehicle collides. The visual sensor can be any visual sensor with any resolution, size and performance, can be a plurality of visual sensors or even one visual sensor, and can be arranged at any position of the vehicle body. The video may be used with or without stitching, including video image data behind the vehicle. The supplementary lighting can use any light source. The video transmission mode can use wireless transmission, the vehicle-mounted intelligent algorithm controller can be independent or integrated into other equipment, and any equipment capable of realizing speed measurement is installed or directly connected into the vehicle-mounted controller for obtaining. The image recognition function may use any flow and algorithm, and the hardware design may use any design method. The manner in which the door lock is controlled to positively lock is not limited to communication with the master controller and any manner may be used.
Claims (4)
1. The active early warning device for preventing the collision of the driving door based on the vision comprises an automobile and is characterized in that the left side of the front end of the automobile is connected with a left high-definition camera through a universal shaft, the right side of the front end of the automobile is connected with a right high-definition camera through the universal shaft, the left high-definition camera and the right high-definition camera are connected with a control line, the control line is connected with an intelligent algorithm controller, the intelligent algorithm controller is connected with a whole automobile control bus, the whole automobile control bus is connected with a whole automobile controller, and the whole automobile controller is connected with a door lock control part.
2. The active early warning device for preventing the collision of the driving door based on the vision as claimed in claim 1, wherein visual data frames acquired by the left high-definition camera and the right high-definition camera are transmitted to the intelligent algorithm controller through a data line, and in the intelligent algorithm controller, the images of the visual data frames are analyzed through a high-efficiency visual algorithm to find potential targets, which may collide with the door, of pedestrians, motor vehicles, bicycles and motorcycles in the images, and the potential targets are tracked; under the high frame rate, each frame of image data is efficiently calculated, the distance and the speed of each potential target which can collide with the vehicle door and the vehicle are calculated at the same time, a safety threshold value of the distance and the speed is drawn up, when the distance or the speed of no potential target exceeds the safety threshold value, the intelligent algorithm controller considers that the vehicle door is opened safely at the moment, otherwise, the vehicle door is not safe.
3. The active early warning device for preventing the collision of the driving door based on the vision as claimed in claim 2, is characterized in that the intelligent algorithm controller is communicated with the vehicle control unit through the vehicle control bus, when the intelligent algorithm controller judges that a coming vehicle or a person or other objects possibly collide with the opened vehicle door, the intelligent algorithm controller actively sends a vehicle door locking command to the vehicle control unit, the vehicle control unit converts the command into a behavior of a door lock control part, the vehicle door is locked, a passenger or a driver in the vehicle cannot open the vehicle door at the side where the potential danger occurs until the intelligent algorithm controller sends a door lock unlocking releasing command to the vehicle control unit through the vehicle control bus, and the passenger or the driver can open the vehicle door.
4. The active early warning device for preventing the collision of the driving door based on the vision as claimed in claim 1, wherein the intelligent algorithm controller is an MPU chip of an automobile level, has the capability of image processing and recognition, has special IP hardware component support for big data operation, and has abundant peripheral interfaces for processing input and output data; visual data transmitted by the camera is converted into board-level total current data through the LVDS or other visual transmission conversion chips and input into the MPU; the MPU carries out image recognition flow processing on the visual data; the DRAM and FLASH module is used for storing temporary data and execution codes of the MPU; the CAN general interface module is used for communicating with the vehicle control unit, sending a control command to the vehicle control unit and receiving a response; the display module is used for debugging, and the power module is used for supplying power to each device and providing electromagnetic compatibility protection.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911339931.3A CN111038381A (en) | 2019-12-23 | 2019-12-23 | Active early warning device for preventing driving door collision based on vision |
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| CN201911339931.3A CN111038381A (en) | 2019-12-23 | 2019-12-23 | Active early warning device for preventing driving door collision based on vision |
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| CN201911339931.3A Pending CN111038381A (en) | 2019-12-23 | 2019-12-23 | Active early warning device for preventing driving door collision based on vision |
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| US11091159B2 (en) * | 2018-03-29 | 2021-08-17 | Toyota Jidosha Kabushiki Kaisha | Rear view monitoring device |
| CN113822219A (en) * | 2021-10-08 | 2021-12-21 | 文思海辉智科科技有限公司 | Vehicle safety identification method and device, electronic equipment and storage medium |
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Application publication date: 20200421 |