CN101833092A - 360-degree dead-angle-free obstacle intelligent detection and early warning method for vehicle - Google Patents
360-degree dead-angle-free obstacle intelligent detection and early warning method for vehicle Download PDFInfo
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Abstract
The invention discloses a 360-degree dead-angle-free obstacle intelligent detection and early warning method for a vehicle, comprising the following steps that system errors are corrected through the external contour modeling of the vehicle and the correction of a sensor; surrounding areas surrounding the vehicle are classified into an effective scanning area, an ineffective scanning area and a dead angle area; and a trip computer acquires obstacle information through the vehicle-mounted radar sensor, calculates and obtains relative data of obstacles and the vehicle and running data of the vehicle relative to a stationary ground and outputs a two-dimensional top view plane of a vehicle roof from top to bottom. A driver can comprehensively know obstacles, vehicles and other objects surrounding the vehicle at any time through a display. The invention provides accurate environmental information for narrow road driving, lane switching driving and reversing of the vehicle and is a driving safety auxiliary method with extremely high intelligence and applicability.
Description
Technical field
The present invention relates to vehicle 360 degree dead-angle-free obstacle intelligents and detect and method for early warning, be applicable to that various vehicles detect and two-dimentional obstacle environment method for reconstructing in real time to peripheral barrier in the process of moving.
Background technology
The rearview mirror of the vehicle of prior art all exists observes the dead angle, and human pilot can not fully understand the barrier situation of vehicle periphery.Even employing radar for backing car, by ultrasonic transmitter and detector detect barrier existence and with the distance of vehicle, but because its designs fix wave beam mode is implemented to survey, distance that only can the relative sensor of detecting obstacles thing, relative position and scan feature that can't the detecting obstacles thing, so radar for backing car can only detect the object information in the body tail constant bearing scope, can't provide more comprehensive information for human pilot to the situation of other regional barriers around the car body.When lane change or reversing or narrow road conditions were travelled, the driver can't accurately obtain outer each the regional object information of car, cause occur repeatedly hanging in driving, the accident of driving such as collision, driver and crew's life security can't obtain better guarantee.
In addition, in existing supervision checkout equipment, for solving the vehicle-surroundings obstacle detection, had a kind of motor-driven rotatable support frame, probe is arranged on the runing rest implementing scanning probe in the certain limit.But there is the motion state that can't accurately judge barrier self in this equipment, because the parts of car body inside are more, can't accurately forecast the existence and the position relation of barrier after still being difficult to avoid sweep unit to be blocked by car body.
Summary of the invention
The object of the invention is: at the problem of above-mentioned existence, provide a kind of and can carry out 360 detection of degree dead-angle-free obstacle intelligents and method for early warning to detecting vehicle's surroundings environment object in driving, the supplementary of peripheral situation of vehicle accurately is provided for the driver.
In order to solve above technical matters, the present invention adopts following implementation step:
Peripheral profile modeling of step 1 vehicle and sensor calibration:
At first at least two tuning detectors of vehicle periphery setting of band radar sensor, described tuning detector comprises the laser scanning sensor and strengthens reverberator step 1-1; Guarantee the Radar for vehicle sensor all can effective scanning at least one tuning detector, and all detectors are strafed face and can be covered all sides of tested vehicle fully;
Step 1-2 is connected to each tuning detector by data bus the growth data interface of vehicle driving computer successively;
The data input car running computers such as detector numbering data that step 1-3 is corresponding with the tailstock with the headstock of the numbering of tuning detector, the enhancing reverberator model of placing bit number, tuning detector, vehicle;
Step 1-4 starts each tuning detector that is distributed in vehicle's surroundings successively, and the laser scanning sensor of tuning detector will carry out image scanning to the vehicle outside profile, and imports each detector scanning gained data into car running computer and carry out record.
Step 1-5 closes tuning detector.
Step 1-6 synthesizes this vehicle outside profile simulated data with the vehicle outside profile of each tuning detector scanning gained according to the numbering of tuning detector.
Step 1-7 starts the radar sensor of installing on the vehicle successively, and each radar sensor will detect at least one tuning detector, and the relative position of the tuning detector that it detected is carried out record.
Step 1-8 closes radar sensor.
Step 1-9 according to radar sensor from position in vehicle, the position of each tuning detector and vehicle put orientation and radar sensor and scan the station-keeping data of obvious reflectance signature of tuning detector, calculate the numbering of the tuning detector that each radar sensor scanned at step 1-7, and the pointing direction of the relative car body of current radar sensor scanning plane.
Step 1-10 is because each radar sensor functional parameter is known and changeless, in conjunction with the position of each radar sensor, current scanning plane pointing direction, sweep limit and each car body position, sensor place, calculate and generate under the current vehicle condition, system just often, can be divided into three types of zones to the space, peripheral region, comprise:
(1) effective coverage that can directly scan;
(2) stop because of vehicle self or the dead angle area that can't directly scan that the sensor angle limits causes;
(3) because of the invalid scanning area of range sensor distance less than the sensor effective working distance;
Step 1-11 goes into to drive a vehicle with the new model Data Update in the computer data.
In step 2 vehicle ', radar sensor scans the barrier in the vehicle's surroundings environment 360 degree scopes, gather obstacle information, comprise the relative distance of barrier and vehicle and deflection and by car running computer calculating acquired disturbance thing and the relative data of vehicle and the service data on the relative static ground of vehicle;
Step 3 car running computer is according to the barrier that is calculated and the relative data of vehicle and the service data on the relative static ground of vehicle, discern the motion state of each barrier of vehicle periphery, and the barrier state area is divided into static, static relatively, three kinds of motion states of motion; Described static, motion state is the static or motion in the relative ground of barrier, described static relatively be that barrier is with respect to stationary vehicle;
Above-mentioned vehicle 360 degree dead-angle-free obstacle intelligents detect and method for early warning, by peripheral profile modeling of vehicle and sensor calibration, guarantee that the peripheral profile of vehicle, each radar sensor installation site and scanning plane pointing direction are consistent with the internal system model, avoid because radar sensor the object true bearing and the true bearing that detect have certain error, thereby make system's cumulative errors excessive and cause the generation of major accident.And, accurately know the effective coverage that the vehicle periphery zone can directly be scanned, invalid scanning area, dead angle area by this step.When vehicle under running status, the obstacle information that car running computer is collected according to sensor calculate the relative motion of vehicle and each barrier of vehicle's surroundings and separately with the relative motion situation on static ground, predict the movement tendency of each barrier, when any one or a plurality of barrier enter the vehicle dead angle area known or invalid scanning area, car running computer can accurately estimate according to the movement tendency of this barrier barrier in dead range with the relative distance and the deflection of vehicle, continue to obtain the relative data of moving between vehicle and each barrier.
In the above-mentioned steps 3, the barrier state area is divided into static, static relatively, three kinds of motion states of motion, is based in the normal vehicle operation process, the relative vehicle of static object, its stability is higher from probability.The object of motion is then lower.The relative object of ground motion, the motion state that comprises vehicle self all can be regarded as unsettled, and unexpected variation may take place in the motion state of moving object.As two parallel vehicles, wherein a car may be close to another car suddenly, if at this moment another car does not take place to answer acute reaction, then may crash.Though unexpected motion also may take place in static object, but it is shorter that car running computer is handled the cycle, general tens nanoseconds can produce reaction to the object of unexpected motion, this time interval much smaller than minimal reaction time of people, (people's the short reaction time was generally at 0.1 second, i.e. 100 nanoseconds), be suitable from security.So system and driver should more pay attention to the object of motion.What radar sensor scanning obtained is the radar reflection wave datum, comprises data such as scanning angle, distance, scanning plane feature.But can't realize the motion state of single object is discerned only according to these data.By motion state analysis (being presented as the motion state analysis of same scanning plane feature in the scan-data), for Intelligent Recognition provides foundation to each object of different cycles.By distinguishing the motion state of each object, be that the information from system is classified, for the driver provides more Useful Information.From the computing power and the manufacturing cost of system, distinguish the number of objects that static and moving object can reduce system keeps track, reduced requirement to system-computed power, reduced manufacturing cost.Therefore system's object static for relative ground and motion has certain difference on handling, and is mainly reflected in system optimization, and under the situation that keeps system performance, the reduction program is to the requirement of system-computed power.By identification, can better realize showing, the application function of early warning to the motion state of discrete objects.It is as follows for the static different disposal mode in relative ground with the object that moves,
Car running computer is by showing the current vehicle and the relative position of object on every side to the driver intuitively to the processing of image data and the two-dimentional vertical view by Vehicular display device, at any time the understanding that objects such as vehicle's surroundings barrier, vehicle is had comprehensive integral body, for vehicle ', narrow road conditions travel, switch travel, supplementary that road conditions such as reversing provide traditional radar for backing car, rearview mirror etc. to provide.Particularly improved the detectivity of system, improved the security of driving, be convenient to human pilot the unsafe conditions that may cause is in time taken measures, guaranteed the safety of going on a journey vehicle-surroundings super close distance environment.
Further be car running computer according to the different motion state of barrier, different scanning tangent plane feature to generate and the two-dimensional image of output in barrier impose different colours, difformity; And the running velocity of gathering when processor is during greater than the setting high-speed value, and the image resolution ratio of the two dimensional surface of its output is big, when running velocity less than setting when being worth at a slow speed, the resolution of the two-dimensional image of output is little; And when the relative distance data of the barrier of processor collection and vehicle are equal to or less than the early warning value of setting, barrier is subjected to outstanding show tags, the resolution of plane picture with this barrier near or away from and dynamically turn down or transfer big, until the relative distance data of barrier and vehicle above early warning value or stop motion.
The driver is convenient in above-mentioned improvement is having more directly perceived, a comprehensive understanding by display to the vehicle periphery barrier; When the speed of a motor vehicle is higher, can show vehicle periphery relatively more at a distance or more other vehicles and object information.When automobile low-speed travels, can real more clearly vehicle and the actual range of peripheral object and press close to the relative position of object most.In a single day and have barrier to enter early warning range, and produce potential threat, the driver there is the effect of prompting potential danger road conditions by dynamic adjustment resolution.
Description of drawings
The present invention will illustrate by example and with reference to the mode of accompanying drawing, wherein:
Fig. 1 is the tuning detector structural representation that adopts in peripheral profile modeling of vehicle of the present invention and the sensor calibration step.
Fig. 2, Fig. 4 are a kind of arrangement architectures of the tuning detector put of vehicle periphery.
Fig. 3 is the another kind of arrangement architecture of the tuning detector put of vehicle periphery.
Fig. 5 is that the laser scanning sensor of tuning detector will carry out the work synoptic diagram of image scanning to the vehicle outside profile.
Fig. 6 is the vehicle outside profile scan simulation composite diagram of car running computer according to the image scanning formation of laser scanning sensor.
Fig. 7 is the synoptic diagram of putting that radar sensor is installed on the vehicle.
Fig. 8 is the system works scope synoptic diagram under the current vehicle-state that synthesizes behind peripheral profile modeling of vehicle and the sensor calibration.
Embodiment
Disclosed all features in this instructions, or the step in disclosed all methods or the process except mutually exclusive feature and/or step, all can make up by any way.
Disclosed arbitrary feature in this instructions (comprising any accessory claim, summary and accompanying drawing) is unless special narration all can be replaced by other equivalences or the alternative features with similar purpose.That is, unless special narration, each feature is an example in a series of equivalences or the similar characteristics.
The invention process step is as follows:
Peripheral profile modeling of step 1 vehicle and sensor calibration:
Step 1-1 prepares tuning detector, and its structure is fixed with the multi-dimension laser scanning sensor 2 of detection vehicle lateral outer side profile as shown in Figure 1 on a height adjustable bracing frame that is provided with knob 3; With the enhancing reverberator 1 that possesses the effect that strengthens the reflected radar ripple, can make the existence of the identification tuning detector that the radar sensor that is installed on the vehicle can be clear and definite, for system's automatic modeling and error correction provide reference data.
Step 1-2 is at least two tuning detectors of vehicle periphery setting of band radar sensor, and at dissimilar and performance trailer-mounted radar sensor, the density that tuning detector is put is with different.As the big vehicle of breadth length ratio example such as truck tuning detector need many, the tuning detector that general sports car needs is few.The density of putting should guarantee that the Radar for vehicle sensor all can arrive at least one tuning detector by effective scanning, and all detector scanning faces can cover the peripheral profile of vehicle fully; The straight line minor increment of arbitrary radar sensor should be greater than the minimum effective scanning distance of twice radar sensor on tuning detector and the vehicle.
As Fig. 2 and shown in Figure 4, be provided with eight tuning detectors 4 around the vehicle 5, tuning detector forms rice word structural arrangement at vehicle periphery, and each tuning detector is numbered as 0-7, and tuning detector placement position is numbered RE0-RE7.
As shown in Figure 3, be provided with ten tuning detectors 4 around the vehicle 5, wherein vehicle just before, the dead astern respectively places one, vehicle two side directions symmetry is placed four, four of vehicle respectively place one to the angular direction, and to each tuning detector and place the position and be numbered.Individual, and to each tuning detector and place the position and be numbered.
Step 1-3 is connected to each tuning detector by data bus the growth data interface of vehicle driving computer successively;
The data input car running computers such as detector numbering data that step 1-4 is corresponding with the tailstock with the headstock of the numbering of tuning detector, the enhancing reverberator model of placing bit number, tuning detector, vehicle;
Step 1-5 starts each tuning detector that is distributed in vehicle's surroundings successively, and the laser scanning sensor of tuning detector will carry out image scanning to the vehicle outside profile, and imports each detector scanning gained data into car running computer and carry out record.As shown in Figure 5.
Step 1-6 closes tuning detector.
Step 1-7 car running computer is filled up computing with the vehicle outside profile of each tuning detector scanning gained according to the numbering of tuning detector, synthesizes this vehicle outside profile simulated data, as shown in Figure 6.
Step 1-8 as Fig. 7, starts the radar sensor of installing on the vehicle (ID0-ID5) successively, and each radar sensor will detect at least one tuning detector, and the relative position of the tuning detector that it detected is carried out record.
Step 1-9 closes radar sensor.According to radar sensor from position in vehicle, the position of each tuning detector and vehicle put orientation and radar sensor and scan the station-keeping data of obvious reflectance signature of tuning detector, calculate the numbering of the tuning detector that each radar sensor scanned at step 1-8, and the pointing direction of the relative car body of current radar sensor scanning plane.
Step 1-10 is because each radar sensor functional parameter is known and changeless, in conjunction with the position of each radar sensor, current scanning plane pointing direction, sweep limit and each car body position, sensor place, current vehicle periphery regional space is divided into the effective coverage 8 that three types (1) can directly scan; (2) stop because of vehicle self or the dead angle area that can't directly scan 7 that the sensor angle limits causes; (3) because of the invalid scanning area 6 of range sensor distance less than the sensor effective working distance; As shown in Figure 8.
Gather obstacle information in step 2 vehicle ', and carry out following steps and handle car running computer acquired disturbance thing and the relative data of vehicle and the service data on the relative static ground of vehicle;
Step 2-1 adopts the two-dimensional scan sensor of scanning distance, deflection simultaneously that is installed on the car body that the barrier in the vehicle's surroundings environment 360 degree scopes is scanned, gather distance, the bearing signal of barrier and vehicle, and scanning plane size and output;
Step 2-2 is by being installed in the speed probe on the wheel, and is arranged on the angular transducer on the vehicle steering shaft, the deflection angle signal of the travelling speed of collection vehicle and automobile steering roller and output respectively;
The signal that step 2-3 receives by car running computer and storing step (1), (2) are imported; And carry out data processing according to following method:
Step 2-3-1 calculates relative distance, deflection data and the scan feature data of barrier and vehicle according to the obstacle signal of previous frame input;
Step 2-3-2 calculates displacement, vehicle unitary rotation angle, current rotation direction angle, average velocity, the acceleration information on the static relatively ground of vehicle according to vehicle self signal of present frame input;
Step 2-3-3 mates the thing data of the corresponding barrier that data that present frame calculated and previous frame calculate, obtain each barrier at the present frame end constantly with relative distance, the deflection of vehicle and scan the tangent plane data;
Each barrier that step 2-3-4 will obtain and vehicle relative distance, deflection and the vehicle displacement in present frame to stack, the relative coordinate that to form the static relatively ground of each barrier of this frame be reference;
Step 2-3-5 calculates the variable quantity of the relative coordinate of present frame and each barrier of previous frame, calculates the motion state on the static relatively ground of each barrier as follows according to the scan period,
Displacement=the present frame on relative ground and the amount of displacement of previous frame relative coordinate,
The sense of displacement of direction of motion=present frame and previous frame relative coordinate,
Displacement/the scan period on average velocity=relative ground,
The variable quantity of average velocity between acceleration=two frames.
Step 3 car running computer is according to the barrier that is calculated and the relative data of vehicle and the service data on the relative static ground of vehicle, discern the motion state of each barrier of vehicle periphery, and the barrier state area is divided into static, static relatively, three kinds of motion states of motion; Described static, motion state is the static or motion in the relative ground of barrier, described static relatively be that barrier is with respect to stationary vehicle;
The method of peripheral profile modeling of above-mentioned vehicle and sensor calibration is mainly used at new vehicle modeling and first native system, the environment such as system compensation in the vehicle later maintenance installed.By adopting tuning detector that vehicle is carried out autoscan, write down as length and width, vehicle body lateral outer side profile automatically, analyze the relative position of each radar sensor, and vehicle body itself is carried out model data upgrade, realize accurately, safeguard automatically efficiently.Adopt vehicle 360 degree dead-angle-free obstacle intelligents of the present invention to detect and method for early warning, the relative position of object around can be in the driver shows current vehicle 360 degree scopes intuitively, and there is not the measurement dead angle, the measuring accuracy height, make the driver have the understanding of comprehensive integral body at any time to objects such as vehicle's surroundings barrier, vehicles, for the narrow road conditions of vehicle travel, switch travel, road conditions such as reversing provide environmental information accurately, are a kind of intelligent and high vehicle drive safety householder methods of applicability.
The present invention is not limited to aforesaid embodiment.The present invention expands to any new feature or any new combination that discloses in this manual, and step or any new combination of the arbitrary new method that discloses.
Claims (4)
1. vehicle 360 degree dead-angle-free obstacle intelligents detect and method for early warning, it is characterized in that: comprise the steps:
Peripheral profile modeling of step 1 vehicle and sensor calibration:
At first at least two tuning detectors of vehicle periphery setting of band radar sensor, described tuning detector comprises the laser scanning sensor and strengthens reverberator step 1-1; Guarantee the Radar for vehicle sensor all can effective scanning at least one tuning detector, and all detectors are strafed face and can be covered all sides of tested vehicle fully;
Step 1-2 is connected to each tuning detector by data bus the growth data interface of vehicle driving computer successively;
The detector numbering data input car running computer that step 1-3 is corresponding with the tailstock with the headstock of the numbering of tuning detector, the enhancing reverberator model of placing bit number, tuning detector and vehicle;
Step 1-4 starts each tuning detector that is distributed in vehicle's surroundings successively, and the laser scanning sensor of tuning detector will carry out image scanning to the vehicle outside profile, and imports each detector scanning gained data into car running computer and carry out record;
Step 1-5 closes tuning detector;
Step 1-6 scans numbering and the data of the vehicle outside profile of gained according to tuning detector with each tuning detector, synthesizes the simulation profile of this vehicle outside;
Step 1-7 starts the radar sensor of installing on the vehicle successively, and each radar sensor will detect at least one tuning detector, and the relative position of the tuning detector that it detected is carried out record;
Step 1-8 closes radar sensor;
Step 1-9 according to radar sensor from position in vehicle, the position of each tuning detector and vehicle put orientation and radar sensor and scan the station-keeping data of obvious reflectance signature of tuning detector, calculate the numbering of the tuning detector that each radar sensor scanned at step 1-7, and the pointing direction of the relative car body of current radar sensor scanning plane;
Step 1-10 is because each radar sensor functional parameter is known and changeless, in conjunction with the position of each radar sensor, current scanning plane pointing direction, sweep limit and each car body position, sensor place, calculate and generate under the current vehicle condition, system just often, can be divided into three types of zones to the space, peripheral region, comprise:
(1) effective coverage that can directly scan;
(2) stop because of vehicle self or the dead angle area that can't directly scan that the sensor angle limits causes;
(3) because of the invalid scanning area of range sensor distance less than the sensor effective working distance;
Step 1-11 goes into to drive a vehicle with the new model Data Update in the computer data;
In step 2 vehicle ', radar sensor scans the barrier in the vehicle's surroundings environment 360 degree scopes, gather obstacle information, the relative distance and the deflection that comprise barrier and vehicle, and by car running computer calculating acquired disturbance thing and the relative data of vehicle and the service data on the relative static ground of vehicle;
Step 3 car running computer is according to the barrier that is calculated and the relative data of vehicle and the service data on the relative static ground of vehicle, discern the motion state of each barrier of vehicle periphery, and the barrier state area is divided into static, static relatively, three kinds of motion states of motion; Described static, motion state is the static or motion in the relative ground of barrier, described static relatively be that barrier is with respect to stationary vehicle;
Step 4 car running computer is by discerning and store the motion state and the above-mentioned service data of each barrier, predict the movement tendency of each barrier, when any one or a plurality of barrier enter the dead angle area known among the step 1-10 or invalid scanning area, car running computer according to the movement tendency of this barrier estimation acquired disturbance thing in dead range with the relative distance and the deflection of vehicle, continue to obtain the relative data of moving between vehicle and each barrier;
Step 5 according to the relative data of moving between vehicle and each barrier, combine barrier scan feature data, car running computer generates and exports the two-dimensional image that a width of cloth is overlooked roof from top to bottom;
Step 6 receives the two-dimensional image that car running computer generates by Vehicular display device, described image comprise vehicle and around environment barrier shape and with the position relation of vehicle.
2. vehicle 360 degree dead-angle-free obstacle intelligents according to claim 1 detect and method for early warning, and it is characterized in that: described step 1-1, vehicle periphery are provided with eight tuning detectors, form rice word structural arrangement at vehicle periphery.
3. vehicle 360 degree dead-angle-free obstacle intelligents according to claim 1 detect and method for early warning, it is characterized in that: described step 1-1, vehicle periphery is provided with ten tuning detectors, wherein vehicle just before, the dead astern respectively places one, vehicle two side directions symmetries is placed four, and four of vehicle respectively place one to the angular direction.
4. vehicle 360 degree dead-angle-free obstacle intelligents according to claim 1 detect and method for early warning, it is characterized in that: described step 5, car running computer imposes different colours, difformity according to different motion state, the different scanning tangent plane feature of barrier to the barrier in the two-dimensional image that generates and export; And the running velocity of gathering when processor is during greater than the setting high-speed value, and the image resolution ratio of the two dimensional surface of its output is big, when running velocity less than setting when being worth at a slow speed, the resolution of the two-dimensional image of output is little; And when the relative distance data of the barrier of processor collection and vehicle are equal to or less than the early warning value of setting, barrier is subjected to outstanding show tags, the resolution of plane picture with this barrier near or away from and dynamically turn down or transfer big, until the relative distance data of barrier and vehicle above early warning value or stop motion.
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