CN111098851A - Method and system for detecting automobile blind area barrier, storage medium and automobile - Google Patents
Method and system for detecting automobile blind area barrier, storage medium and automobile Download PDFInfo
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- CN111098851A CN111098851A CN201911206223.2A CN201911206223A CN111098851A CN 111098851 A CN111098851 A CN 111098851A CN 201911206223 A CN201911206223 A CN 201911206223A CN 111098851 A CN111098851 A CN 111098851A
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000004888 barrier function Effects 0.000 title claims abstract description 15
- 238000001514 detection method Methods 0.000 claims abstract description 16
- 238000004590 computer program Methods 0.000 claims description 25
- 230000006698 induction Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 8
- 230000006870 function Effects 0.000 description 5
- 230000006872 improvement Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0028—Mathematical models, e.g. for simulation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/54—Audio sensitive means, e.g. ultrasound
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a method and a system for detecting obstacles in a blind area of an automobile, a storage medium and the automobile, wherein the method comprises the steps of arranging a preset number of distance measuring sensors at the front, the back and two sides of the automobile; the distance measuring sensors send test signals in turn; and establishing a position model of the blind area barrier and the automobile, and calculating the distance between the blind area barrier and the automobile. A system is also disclosed, which implements the above method; also disclosed is a storage medium storing a program for implementing the above method; the automobile is provided with the system and the storage medium, so that the detection effect of the obstacles in the automobile blind area is achieved, and the safety of the parking assist system is enhanced.
Description
Technical Field
The invention relates to the field of automobile driving assisting methods and devices, in particular to a method and a system for detecting automobile blind area obstacles, a storage medium and an automobile.
Background
With the popularization of automobiles and the development of industrial technology, the driving assistance system becomes the standard configuration of the current automobiles. Parking always brings great trouble to novice drivers, so that parking assistance and automatic parking systems are in force.
The existing automatic parking system mainly comprises the following components: the parking system comprises a parking space identification system, a path planning system and a parking control system. The automatic parking process comprises the steps that a parking space identification system identifies parking spaces near a vehicle, including obstacles around the vehicle; after the parking space is identified, the path planning system plans the parking route; and after the route planning is finished, the parking control system carries out automatic parking.
In the process of identifying obstacles around a vehicle, because the current vehicle uses a radar to sense the obstacles in the front and the rear of the vehicle, the obstacles in other directions of the vehicle cannot be sensed; however, the route of the automobile in the parking process is not straight, and the blind area barrier may collide with the automobile if the blind area barrier cannot be sensed.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a method and a system for detecting an obstacle in a dead zone of an automobile, a storage medium and the automobile, so as to achieve the effect of detecting the obstacle in the dead zone of the automobile and enhance the safety of a parking assist system.
In order to achieve the technical effect, the method for detecting the automobile blind area obstacles comprises the following steps:
s1: arranging a preset number of distance measuring sensors at the front, the back and two sides of the automobile;
s2: the distance measuring sensors send out induction signals in turn according to a preset sequence;
s3: and establishing a position model of the blind area barrier and the automobile, and calculating the distance between the blind area barrier and the automobile.
As an improvement of the above-mentioned method for detecting blind spot obstacles in an automobile of the present invention, in step S3: the position model is a triangle with distance measuring sensors at the front/back of the automobile, the distance measuring sensor at one side where the blind area obstacle is located and the blind area obstacle as vertexes.
As a further improvement of the above method for detecting a blind area obstacle of an automobile, the calculating the distance between the blind area obstacle and the automobile includes calculating the area of the triangle by using a helve formula; calculating the height with the blind area barrier as a fixed point by using a triangular area formula; the distance between the bottom edge and the automobile body is subtracted from the height, namely the distance between the blind area barrier and the automobile body.
In order to achieve the above technical effects, the present invention further provides a system for detecting blind spot obstacles of an automobile, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor; the device also comprises a distance measuring sensor; when the processor executes the computer program, the method for detecting the automobile blind area obstacle is realized.
In order to achieve the above technical effect, the present invention further provides a computer-readable storage medium, where the computer-readable storage medium includes a stored computer program, and when the computer program runs, the apparatus where the computer-readable storage medium is located is controlled to execute the above method for detecting an obstacle in a blind area of an automobile.
In order to achieve the technical effect, the invention further provides an automobile which comprises the automobile blind area obstacle detection system and a storage medium.
As an improvement of the automobile, the head of the automobile is provided with four distance measuring sensors; the tail of the automobile is provided with four distance measuring sensors; and two distance measuring sensors are arranged on any side surface of the automobile.
As a further improvement of the above-mentioned automobile of the present invention, the distance measuring sensor used in the automobile is one of an ultrasonic distance measuring sensor, a laser distance measuring sensor, an infrared distance measuring sensor and a radar sensor.
The distance measuring sensors are arranged on the side faces of the automobile, the distance measuring sensors in the front and the rear of the automobile are combined, the position of the obstacle in the automobile blind area is obtained through calculation, the detection effect of the obstacle in the automobile blind area is achieved, and therefore the safety of the parking assisting system is enhanced.
The features and advantages of the present invention will become more apparent upon reading the detailed description of the embodiments of the invention in conjunction with the accompanying drawings.
Drawings
FIG. 1 is a schematic flow chart of a method for detecting blind spot obstacles in an automobile according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a range sensor distribution for a vehicle according to an embodiment of the present invention;
fig. 3 is an enlarged view of region C in fig. 2.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
An automobile as shown in fig. 2, which is provided with a blind spot obstacle detection system and a storage medium; specifically, the head of the automobile is provided with four distance measuring sensors which are respectively marked as F1, F2, F3 and F4; the tail of the automobile is provided with four distance measuring sensors which are respectively marked as B1, B2, B3 and B4; two distance measuring sensors are arranged on the left side of the automobile and are respectively marked as L1 and L2; the right side of the car is provided with two ranging sensors, denoted R1, R2, respectively. Specifically, the distance measuring sensor is an ultrasonic sensor.
The detection system for blind zone obstacles executes the method shown in fig. 1, and comprises the following steps:
s1: the distance measuring sensors send out sensing signals in turn according to a preset sequence, and in the embodiment, the transmitting sequence of the distance measuring sensors is F1, F2, F3, F4, R1, R2, B1, B2, B3, B4, L1, L2 and F1 ….
S2: the distance measuring sensor receives induction signals, and if the induction signals of the blind area obstacles come from different side surfaces of the automobile, a position model of the blind area obstacles and the automobile is established; the concrete model is shown in fig. 2 and 3; the distance measuring sensor B1 receives the sensing signal from the distance measuring sensor R2 to form a triangle AB1R 2.
S3: calculating the distance between the blind area barrier and the automobile; specifically, the area of a triangle is calculated by utilizing a Helen formula; and then calculating the height H taking the blind area obstacle A as a peak, and subtracting the distance d between the side R2B1 and the automobile shell to obtain the distance between the blind area obstacle and the automobile body.
The system for detecting the blind area obstacles in the automobile comprises a processor, a memory and a computer program which is stored in the memory and is configured to be executed by the processor; the device also comprises a distance measuring sensor; when the processor executes the computer program, the method for detecting the automobile blind area obstacle is realized.
The embodiment of the invention also provides a computer-readable storage medium, which comprises a stored computer program, wherein when the computer program runs, the device where the computer-readable storage medium is located is controlled to execute the above method for detecting the blind area obstacle of the automobile.
Illustratively, the computer program may be divided into one or more modules/units, which are stored in the memory and executed by the processor to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions for describing the execution process of the computer program in the vehicle blind spot obstacle detection system.
The detection system for the automobile blind area obstacles can be a computer, a notebook computer, a palm computer, a traveling computer, a cloud server and other computing devices. The detection system for the blind zone obstacle of the automobile can comprise, but is not limited to, a processor and a memory. It will be understood by those skilled in the art that the above expression is merely an example of a detection system for blind obstacles in a vehicle, and does not constitute a limitation of the detection system for blind obstacles in a vehicle, and may include more or less components than the above expression, or combine some components, or different components, for example, the detection system for blind obstacles in a vehicle may further include an input-output device, a network access device, a bus, etc.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. The general processor can be a microprocessor or the processor can be any conventional processor and the like, the processor is a control center of the detection system of the blind area obstacles of the automobile, and various interfaces and lines are utilized to connect all parts of the detection system of the blind area obstacles of the whole automobile.
The memory may be used to store the computer program and/or the module, and the processor may implement various functions of the system for detecting the blind spot obstacle of the vehicle by operating or executing the computer program and/or the module stored in the memory and calling data stored in the memory. The memory may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program (such as a sound playing function, an image playing function, etc.) required by at least one function, and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
The computer-readable storage medium includes a stored computer program, where when the computer program runs, the apparatus where the computer-readable storage medium is located is controlled to execute the method for detecting the blind area obstacle of the vehicle provided by the invention.
The module/unit integrated with the detection system for blind zone obstacles of the automobile can be stored in a computer readable storage medium if the module/unit is implemented in the form of a software functional unit and sold or used as an independent product. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium and can implement the steps of the embodiments of the method when the computer program is executed by a processor. The computer program includes computer program code, and the computer program code may be in a source code form, an object code form, an executable file or some intermediate form. The computer readable medium may include: any entity or device capable of carrying the above-mentioned computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signal, telecommunication signal, software distribution medium, etc. It should be noted that the computer readable medium described above may include content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media that does not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
It should be noted that the above-described embodiments of the apparatus are merely illustrative, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the description of the embodiment of the apparatus provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement the method without creative effort.
The method, the system, the storage medium and the automobile for detecting the automobile blind area obstacles achieve the effect of detecting the automobile blind area obstacles, and therefore the safety of a parking assisting system is enhanced.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (8)
1. A method for detecting obstacles in automobile blind areas is characterized by comprising the following steps:
s1: arranging a preset number of distance measuring sensors at the front, the back and two sides of the automobile;
s2: the distance measuring sensors send out induction signals in turn according to a preset sequence;
s3: and establishing a position model of the blind area barrier and the automobile, and calculating the distance between the blind area barrier and the automobile.
2. The method for detecting blind spot obstacle of an automobile according to claim 1, wherein in step S3: the position model is a triangle with distance measuring sensors at the front/back of the automobile, the distance measuring sensor at one side where the blind area obstacle is located and the blind area obstacle as vertexes.
3. The method of claim 2, wherein the calculating the distance between the blind spot obstacle and the vehicle comprises calculating the area of the triangle by using a Helen formula; calculating the height with the blind area barrier as a fixed point by using a triangular area formula; the distance between the bottom edge and the automobile body is subtracted from the height, namely the distance between the blind area barrier and the automobile body.
4. A detection system for automotive blind spot obstacles, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor; the device is characterized by also comprising a distance measuring sensor; the processor, when executing the computer program, implements a method of detecting blind spot obstacles of an automobile according to any one of claims 1 to 3.
5. A computer-readable storage medium, comprising a stored computer program, wherein the computer program, when executed, controls an apparatus in which the computer-readable storage medium is located to perform a method for detecting blind spot obstacles of an automobile according to any one of claims 1 to 3.
6. An automobile, characterized in that the automobile comprises the detection system of the automobile blind spot obstacle according to claim 4 and the storage medium according to claim 5.
7. The automobile according to claim 6, wherein the head of the automobile is provided with four distance measuring sensors; the tail of the automobile is provided with four distance measuring sensors; and two distance measuring sensors are arranged on any side surface of the automobile.
8. The vehicle of claim 7, wherein the range sensor used in the vehicle is one of an ultrasonic range sensor, a laser range sensor, an infrared range sensor, and a radar sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911206223.2A CN111098851A (en) | 2019-11-29 | 2019-11-29 | Method and system for detecting automobile blind area barrier, storage medium and automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911206223.2A CN111098851A (en) | 2019-11-29 | 2019-11-29 | Method and system for detecting automobile blind area barrier, storage medium and automobile |
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| CN111098851A true CN111098851A (en) | 2020-05-05 |
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| CN201911206223.2A Pending CN111098851A (en) | 2019-11-29 | 2019-11-29 | Method and system for detecting automobile blind area barrier, storage medium and automobile |
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2019
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| EP2058675A2 (en) * | 2007-11-07 | 2009-05-13 | Valeo Schalter und Sensoren GmbH | Assembly of corner sensors in a parking assistance system for vehicles |
| CN101903797A (en) * | 2007-12-21 | 2010-12-01 | 罗伯特·博世有限公司 | Method for operating a parking aid system |
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Application publication date: 20200505 |