CN113650613A - Automobile steering or lane changing auxiliary system and method - Google Patents
Automobile steering or lane changing auxiliary system and method Download PDFInfo
- Publication number
- CN113650613A CN113650613A CN202111069575.5A CN202111069575A CN113650613A CN 113650613 A CN113650613 A CN 113650613A CN 202111069575 A CN202111069575 A CN 202111069575A CN 113650613 A CN113650613 A CN 113650613A
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- steering
- vehicle
- lane
- automobile
- radar
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000001514 detection method Methods 0.000 claims abstract description 10
- 238000004891 communication Methods 0.000 claims description 6
- 206010039203 Road traffic accident Diseases 0.000 abstract description 3
- 230000000007 visual effect Effects 0.000 description 4
- 230000002093 peripheral effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000011521 glass Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18145—Cornering
-
- 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
-
- 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
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
-
- 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
-
- 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
- B60W2420/403—Image sensing, e.g. optical camera
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Human Computer Interaction (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Traffic Control Systems (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention relates to the technical field of automobile control, and provides an automobile steering or lane changing auxiliary method, which comprises the following steps: s1, detecting whether the vehicle has steering operation or lane changing operation in real time after the automobile is ignited to start the engine; s2, if the detection result is yes, the rear-view camera and the radar are started, and the image shot by the rear-view camera is sent to the display unit to be displayed; and S3, if the vehicle has no steering operation or lane change operation within the set time length, closing the turned-on rearview camera and the turned-on radar. The automobile steering or lane changing auxiliary system provided by the invention enables a driver to directly observe the traffic condition behind the automobile body without looking back so as to reduce the occurrence probability of traffic accidents.
Description
Technical Field
The invention relates to the technical field of automobile control, and provides an automobile steering or lane changing auxiliary system and method.
Background
With the rapid development of national economy and the automobile industry, automobiles are no longer luxury goods for people, the automobiles are not required to be opened during traveling of people, the automobiles become the necessities for riding instead of walking in daily life, the market reserves of the automobiles are increased day by day, and various collision accidents frequently occur while road traffic jam is rare.
The traditional fixed rearview mirror cannot see pain points of vehicles behind in the lane changing process of the vehicles, the rearview mirrors of the vehicles are fixed at present, even if the glass part area of some rearview mirrors of the vehicles has an angle, the visual field range is wider, once a vehicle body of the vehicle has an inclined angle in the lane changing process of a driver, the visual field at the right back is completely in a visual field blind area. When the automobile changes lanes or turns, the operation is misappropriate, so that the rear automobile and the side automobile are easily scratched and even collided, and serious accidents are caused.
Disclosure of Invention
The invention provides an automobile auxiliary lane changing or steering method, aiming at improving the problems.
The invention is realized in that an automobile steering or lane changing auxiliary system comprises:
the system comprises rear-view cameras arranged on a left rear-view mirror and a right rear-view mirror, radars arranged on the side surfaces of a left rear fender and a right rear fender and angle sensors arranged on a steering column;
the rearview camera, the radar and the angle sensor are in communication connection with a central control unit, and the central control unit is connected with a display unit.
The invention is realized in such a way that an automobile steering or lane changing auxiliary method specifically comprises the following steps:
s1, detecting whether the vehicle has steering operation or lane changing operation in real time after the automobile is ignited to start the engine;
and S2, if the detection result is positive, the rear-view camera and the radar are started, and the image shot by the rear-view camera is sent to the display unit to be displayed.
Further, after step S2, the method further includes:
and S3, if the vehicle has no steering operation or lane change operation within the set time length, closing the turned-on rearview camera and the turned-on radar.
Further, the detection method of the steering operation is specifically as follows:
whether the steering lamp is turned on or not is detected, and if the steering lamp is in the turned-on state, the fact that the vehicle has steering operation is judged.
Further, the detection method of the lane change operation is specifically as follows:
s11, generating a motion trail of the vehicle based on the vehicle speed and the steering information of the vehicle;
s12, calculating the tangential angle of the current track point on the motion track;
s13, if within the set time length, the tangential angle difference values of the adjacent track points are within the error allowable range, the vehicle is judged to be in a straight line driving state at present, the current position is used as the coordinate origin, the step S11 is executed, the step S3 is executed, and if the tangential angle difference values of the adjacent track points exceed the error allowable range, the vehicle is judged to have a lane changing operation.
Further, if it is detected that the vehicle has a left steering operation or is traveling in a lane change to the left, the left side mirror and the left radar are activated, and if it is detected that the vehicle has a right steering operation or is traveling in a lane change to the right, the right side mirror and the right radar are activated.
Further, the radar detects the distance between the vehicle and the peripheral obstacles in real time, and when the distance between the vehicle and the peripheral obstacles is smaller than a distance threshold value, the central control unit sends out voice prompt.
The automobile steering or lane changing auxiliary system provided by the invention enables a driver to directly observe the traffic condition behind the automobile body without looking back so as to reduce the occurrence probability of traffic accidents.
Drawings
FIG. 1 is a schematic structural diagram of a steering or lane-changing vehicle assistance system according to an embodiment of the present invention;
FIG. 2 is a flowchart of an automobile steering or lane-changing assisting method according to an embodiment of the present invention
Detailed Description
The following description of preferred embodiments of the invention will be made in further detail with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of a steering or lane-changing automobile auxiliary system provided in an embodiment of the present invention, and for convenience of description, only a part related to the real-time of the present invention is shown.
The system comprises:
the rearview cameras are arranged on the left rearview mirror and the right rearview mirror and are used for shooting the visual field ranges of the left rear part and the right rear part of the vehicle;
the radars are arranged on the side surfaces of the left rear fender and the right rear fender;
the angle sensor is arranged on the steering column and used for detecting the rotating angle of the steering wheel;
the rearview camera, the radar and the angle sensor are in communication connection with the central control unit, the central control unit is in communication connection with the display unit, the central control unit CAN read the current speed of the vehicle in real time through a CAN (controller area network) network, or a vehicle speed sensor is additionally arranged on the vehicle and is in communication connection with the central control unit, and the vehicle speed sensor uploads the vehicle speed detected in real time to the central control unit in real time.
Fig. 2 is a flowchart of an automobile steering or lane-changing assisting method according to an embodiment of the present invention, where the method specifically includes the following steps:
s1, detecting whether the vehicle has steering operation or lane changing operation in real time after the automobile is ignited to start the engine;
in the embodiment of the present invention, the detection method of the steering operation is specifically as follows: whether the steering lamp is turned on or not is detected, and if the steering lamp is in the turned-on state, the fact that the vehicle has steering operation is judged.
After an engine is ignited and started, vehicle speed data and steering angle data of a steering wheel are automatically read, the data collecting action is accompanied with the whole driver process, and the detection method of lane changing operation is as follows:
s11, generating a motion trail of the vehicle based on the vehicle speed and the steering information of the vehicle;
s12, calculating the tangential angle of the current track point on the motion track;
s13, if within the set time length, the tangential angle difference values of the adjacent track points are within the error allowable range, the vehicle is judged to be in a straight line driving state at present, the current position is taken as the coordinate origin, the step S11 is executed, the step S3 is executed, if the tangential angle difference values of the adjacent track points exceed the error allowable range, the vehicle is judged to have a lane changing operation, and the lane changing operation of the invention may also include a steering operation without turning a steering lamp.
S2, if the detection result is yes, the rear-view camera and the radar are started, and the image shot by the rear-view camera is sent to the display unit to be displayed;
and S3, if the vehicle has no steering operation or lane change operation within the set time length, closing the turned-on rearview camera and the turned-on radar.
In the embodiment of the invention, if the vehicle is detected to have steering operation or lane changing operation, the rearview cameras on the left side and the right side and the radars on the two sides are controlled to be in a starting state; in another embodiment, the left side mirror and the left radar are activated when detecting that the vehicle has a left steering operation or is traveling in a left lane, and the right side mirror and the right radar are activated when detecting that the vehicle has a right steering operation or is traveling in a right lane.
In the embodiment of the invention, when the radar is in a starting state, the radar detects the distance between the vehicle and the peripheral obstacles in real time, and when the distance between the obstacles is smaller than the distance threshold value, the central control unit sends out a voice prompt to remind a driver of
The automobile steering or lane changing auxiliary system provided by the invention enables a driver to directly observe the traffic condition behind the automobile body without looking back so as to reduce the occurrence probability of traffic accidents.
It is clear that the specific implementation of the invention is not restricted to the above-described embodiments, but that various insubstantial modifications of the inventive process concept and technical solutions are within the scope of protection of the invention.
Claims (7)
1. An automotive steering or lane-change assist system, comprising:
the system comprises rear-view cameras arranged on a left rear-view mirror and a right rear-view mirror, radars arranged on the side surfaces of a left rear fender and a right rear fender and angle sensors arranged on a steering column;
the rearview camera, the radar and the angle sensor are in communication connection with a central control unit, and the central control unit is in communication connection with a display unit.
2. The automobile steering or lane-changing assisting method based on the automobile steering or lane-changing assisting system of claim 1, characterized by comprising the following steps:
s1, detecting whether the vehicle has steering operation or lane changing operation in real time after the automobile is ignited to start the engine;
and S2, if the detection result is positive, the rear-view camera and the radar are started, and the image shot by the rear-view camera is sent to the display unit to be displayed.
3. The method for assisting in steering or changing the lane of a vehicle according to claim 2, further comprising, after step S2:
and S3, if the vehicle has no steering operation or lane change operation within the set time length, closing the turned-on rearview camera and the turned-on radar.
4. The method for assisting in steering or lane change of an automobile according to claim 2, wherein the detection method of the steering operation is specifically as follows:
whether the steering lamp is turned on or not is detected, and if the steering lamp is in the turned-on state, the fact that the vehicle has steering operation is judged.
5. The method for assisting in steering or lane change of an automobile according to claim 2, wherein the detection method of the lane change operation is specifically as follows:
s11, generating a motion trail of the vehicle based on the vehicle speed and the steering information of the vehicle;
s12, calculating the tangential angle of the current track point on the motion track;
s13, if within the set time length, the tangential angle difference values of the adjacent track points are within the error allowable range, the vehicle is judged to be in a straight line driving state at present, the current position is used as the coordinate origin, the step S11 is executed, the step S3 is executed, and if the tangential angle difference values of the adjacent track points exceed the error allowable range, the vehicle is judged to have a lane changing operation.
6. The method for assisting steering or lane change of a vehicle according to claim 2, wherein the left side mirror and the left side radar are activated if a left steering operation or a left lane change is detected in the vehicle, and the right side mirror and the right side radar are activated if a right steering operation or a right lane change is detected in the vehicle.
7. The method as claimed in claim 2, wherein the radar detects the distance between the vehicle and the surrounding obstacles in real time, and the central control unit sends out a voice prompt when the distance between the obstacles is less than a distance threshold.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111069575.5A CN113650613A (en) | 2021-09-13 | 2021-09-13 | Automobile steering or lane changing auxiliary system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111069575.5A CN113650613A (en) | 2021-09-13 | 2021-09-13 | Automobile steering or lane changing auxiliary system and method |
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| Publication Number | Publication Date |
|---|---|
| CN113650613A true CN113650613A (en) | 2021-11-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111069575.5A Pending CN113650613A (en) | 2021-09-13 | 2021-09-13 | Automobile steering or lane changing auxiliary system and method |
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| Country | Link |
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| CN (1) | CN113650613A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115339516A (en) * | 2022-08-31 | 2022-11-15 | 中国第一汽车股份有限公司 | Method and device for determining rotation angle of steering wheel and electronic equipment |
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| CN203651611U (en) * | 2013-11-19 | 2014-06-18 | 浙江吉利汽车研究院有限公司 | Vehicle safety lane change assisting device |
| KR20160099340A (en) * | 2015-02-12 | 2016-08-22 | 주식회사 만도 | Blind spot detection method and blind spot detection device |
| CN207328432U (en) * | 2017-06-30 | 2018-05-08 | 安徽江淮汽车集团股份有限公司 | A kind of vehicle lane change auxiliary system |
| CN208665057U (en) * | 2018-08-22 | 2019-03-29 | 北京新能源汽车股份有限公司 | It is a kind of for detecting the obstacle detection sensory perceptual system and automobile of vehicle body short distance |
| CN111731289A (en) * | 2020-06-24 | 2020-10-02 | 中国第一汽车股份有限公司 | Following control method and device, vehicle and storage medium |
| CN112009368A (en) * | 2020-08-17 | 2020-12-01 | 黄冈格罗夫氢能汽车有限公司 | 360-degree panoramic image ultrasonic radar control system and method for fuel cell hydrogen energy automobile |
-
2021
- 2021-09-13 CN CN202111069575.5A patent/CN113650613A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203651611U (en) * | 2013-11-19 | 2014-06-18 | 浙江吉利汽车研究院有限公司 | Vehicle safety lane change assisting device |
| KR20160099340A (en) * | 2015-02-12 | 2016-08-22 | 주식회사 만도 | Blind spot detection method and blind spot detection device |
| CN207328432U (en) * | 2017-06-30 | 2018-05-08 | 安徽江淮汽车集团股份有限公司 | A kind of vehicle lane change auxiliary system |
| CN208665057U (en) * | 2018-08-22 | 2019-03-29 | 北京新能源汽车股份有限公司 | It is a kind of for detecting the obstacle detection sensory perceptual system and automobile of vehicle body short distance |
| CN111731289A (en) * | 2020-06-24 | 2020-10-02 | 中国第一汽车股份有限公司 | Following control method and device, vehicle and storage medium |
| CN112009368A (en) * | 2020-08-17 | 2020-12-01 | 黄冈格罗夫氢能汽车有限公司 | 360-degree panoramic image ultrasonic radar control system and method for fuel cell hydrogen energy automobile |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115339516A (en) * | 2022-08-31 | 2022-11-15 | 中国第一汽车股份有限公司 | Method and device for determining rotation angle of steering wheel and electronic equipment |
| CN115339516B (en) * | 2022-08-31 | 2024-03-19 | 中国第一汽车股份有限公司 | Steering wheel rotation angle determining method and device and electronic equipment |
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