CN102616198A - Active safety control method and device for automobile based on millimeter wave radar detection and image recognition - Google Patents

Active safety control method and device for automobile based on millimeter wave radar detection and image recognition Download PDF

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Publication number
CN102616198A
CN102616198A CN2012101273416A CN201210127341A CN102616198A CN 102616198 A CN102616198 A CN 102616198A CN 2012101273416 A CN2012101273416 A CN 2012101273416A CN 201210127341 A CN201210127341 A CN 201210127341A CN 102616198 A CN102616198 A CN 102616198A
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CN
China
Prior art keywords
vehicle
millimeter wave
wave radar
image recognition
central
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CN2012101273416A
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Chinese (zh)
Inventor
王志强
张友文
赵雄
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湖南赛格导航技术研究有限公司
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Priority to CN2012101273416A priority Critical patent/CN102616198A/en
Publication of CN102616198A publication Critical patent/CN102616198A/en

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Abstract

The invention provides an active safety control method for an automobile based on millimeter wave radar detection and image recognition and an active safety control device for the automobile based on the millimeter wave radar detection and image recognition. The method comprises the steps of actively probing whether a target (in particular a moving target) exists in front of a single lane and displaying the information of the front side on a vehicle-mounted intelligent information terminal. A system can be used for transmitting a barrier back to the vehicle-mounted intelligent terminal through a camera on the front side; and the terminal can be used for determining whether the barrier is the automobile based on the image recognition. The system can be used for automatically determining a safe distance according to the real-time speed of the vehicle; if the target is in the range less than the safe distance, the vehicle-mounted information intelligent terminal can horn to remind the user; and if the user fails to implement due response, an alarm can be sent out by the vehicle-mounted information intelligent terminal to a vehicle monitoring center, and a remote braking mode is adopted at the vehicle monitoring center to brake the vehicle, so that the active driving safety index can be improved.

Description

A kind of active automotive safety control method and device based on millimeter wave radar detection and image recognition
Technical field
The present invention relates to the running security fields, particularly a kind of active automotive safety control method and device based on millimeter wave radar detection and image recognition.
Background technology
China's traffic accident takes place frequently, and has caused great life, property damage.Frequent school bus accident also makes school bus driving safety problem also obtain the extensive attention of society in the recent period.
China is the comparatively complicated countries of natural conditions, the vehicle that goes at express highway, and when running into greasy weather or rainy day etc. when causing the relatively poor weather of chaufeur visbility, consequent traffic accident such as knock into the back very easily takes place.
Existing vehicle safety mainly is the passive type mode, and following several kinds of modes are arranged:
1, during overspeed of vehicle, in time remind chaufeur to slow down through speed measuring device (like the GPS speed measuring device); And this mode is descended in the severe weather conditions of rain, this type of greasy weather; But the GPS navigation appearance is to be actually a kind of satellite signal receiving apparatus; Be through coming receiving satellite signal to position with the satellite real-time Communication for Power; If overhead, so this device is difficult to play a role when weather is relatively poor because of the weather reason has cloud layer to block or has obstacle all can very big weakening and interference even shielding be arranged to signal.
2, when automobile bumps, might inspire safety air bag, protect people's life security with this, but be not the early warning mechanism of avoiding accident to take place in essence.
3, part millimeter wave collision avoidance radar is arranged, on single way, seek the place ahead target.When being bend in the investigative range of track at millimeter wave radar; The millimeter wave collision avoidance radar can be thought the building or the roadside insulation strip in curve ahead roadside by mistake to be the current obstacles of influence on the track; And cause producing too much wrong report; And wrong report too much lets chaufeur that the attention of alarm is reduced easily, when obstacle appears in the place ahead, can cause accident to take place on the contrary easily.
Summary of the invention
In order to solve the technical matters that existing safety device of vehicle is difficult to satisfy preferably the vehicle safety needs, the present invention provides a kind of active automotive safety control method and the device based on millimeter wave radar detection and image recognition that can initiatively avoid the vehicle ' accident to take place.
In order to realize above-mentioned technical purpose, technical scheme of the present invention is that a kind of active automotive safety control method based on millimeter wave radar detection and image recognition may further comprise the steps:
Step 1: this car in the process of moving, car the place ahead adopts millimeter wave radar to launch forwards whether obstacle is arranged in the millimeter wave detection measurement range, and takes the place ahead image through camera, radar signal and image pickup signal all transfer to central process unit;
Step 2: when obstacle was arrived in radar detection, whether central process unit grasps the picture of image pickup signal and differentiates through picture recognition module was vehicle, is not that vehicle does not then deal with if differentiate, and then gets into step 3 as if differentiating for vehicle;
Step 3: if obstacle is a vehicle; Then confirm from the car speed of a motor vehicle according to satellite positioning signal; And the obstacle signal that combines radar to return judges whether front truck is moving vehicle, is staticly then not deal with if judge front truck, if judge that front truck is that moving vehicle then gets into step 4;
Step 4: measure the distance of this car and front truck and calculate this car and the relative velocity of front truck according to radar signal, if the distance of measuring is then warned to chaufeur less than the preset pairing safety distance of current relative velocity;
Step 5: in the preset time, do not reducing the speed of a motor vehicle as if chaufeur after the caution, then central process unit is notified long-range client service center through communication module;
Step 6: after long-range client service center receives the notice that central process unit sends, send instructions down come control vehicle the interlock speed reduction gearing to force the vehicle reduction of speed, with guarantee driving safety.
Described a kind of active automotive safety control method based on millimeter wave radar detection and image recognition, the step of the calculating relative velocity described in the step 4 is:
Central process unit according to from the orientation distance difference between twice satellite positioning signal that car received divided by the time difference between twice satellite positioning signal; Must come from vehicle speed; To deduct by the measured preceding vehicle speed of radar from vehicle speed, then draw front truck with from the relative velocity in workshop.
Describedly a kind ofly detect the active automotive safety control method with image recognition based on millimeter wave radar, the mode of sending caution to chaufeur in the step 4 is that loudspeaker send the sound and indicate.
Described a kind ofly detect and the active automotive safety control method of image recognition based on millimeter wave radar, in the step 5 after caution the driver reaction time of leaving for be preset as 1-5 second.
Described a kind of active automotive safety control method based on millimeter wave radar detection and image recognition, the client service center described in step 5 and the step 6 is the remote server that is provided with communication module.
A kind of active auto-safety mechanism based on millimeter wave radar detection and image recognition; Comprise central process unit, satellite positioning module, millimeter wave radar, camera, loudspeaker, picture recognition module and communication module, described central process unit communication link respectively is connected to satellite positioning module, millimeter wave radar, camera, loudspeaker, picture recognition module and communication module.
Technique effect of the present invention is that the ability of millimeter wave penetrating fog, cigarette, dust is strong, has the characteristics of round-the-clock round-the-clock.Thereby, can overcome the influence of weather to traffic safety.Because most of traffic safeties all are how to protect when having an accident; And the present invention promptly gives a warning before danger takes place; The time of contact Peril Incident just can be provided to chaufeur; And then reduce the train operation accident incidence, combine radar detection to effectively reduce the alert rate of mistake through image recognition simultaneously.
Description of drawings
Fig. 1 is the structural representation of apparatus of the present invention.
The specific embodiment
A kind of active automotive safety control method based on millimeter wave radar detection and image recognition of the present invention may further comprise the steps:
Step 1: this car in the process of moving, car the place ahead adopts millimeter wave radar to launch forwards whether obstacle is arranged in the millimeter wave detection measurement range, and takes the place ahead image through camera, radar signal and image pickup signal all transfer to central process unit;
Step 2: when obstacle was arrived in radar detection, whether central process unit grasps the picture of image pickup signal and differentiates through picture recognition module was vehicle, is not that vehicle does not then deal with if differentiate, and then gets into step 3 as if differentiating for vehicle;
Step 3: if obstacle is a vehicle; Then confirm from the car speed of a motor vehicle according to satellite positioning signal; And the obstacle signal that combines radar to return judges whether front truck is moving vehicle, is staticly then not deal with if judge front truck, if judge that front truck is that moving vehicle then gets into step 4;
Step 4: measure the distance of this car and front truck and calculate this car and the relative velocity of front truck according to radar signal, if the distance of measuring is then warned to chaufeur less than the preset pairing safety distance of current relative velocity;
Step 5: in the preset time, do not reducing the speed of a motor vehicle as if chaufeur after the caution, then central process unit is notified long-range client service center through communication module;
Step 6: after client service center receives the notice that central process unit sends, send instructions down come control vehicle the interlock speed reduction gearing to force the vehicle reduction of speed, with guarantee driving safety.
A kind of active automotive safety control method based on millimeter wave radar detection and image recognition, the step of calculating relative velocity in the step 4 is:
Central process unit according to from the orientation distance difference between twice satellite positioning signal that car received divided by the time difference between twice satellite positioning signal; Must come from vehicle speed; To deduct by the measured preceding vehicle speed of radar from vehicle speed, then draw front truck with from the relative velocity in workshop.
A kind ofly detect the active automotive safety control method with image recognition based on millimeter wave radar, the mode of sending caution to chaufeur in the step 4 is that loudspeaker send the sound and indicate.
A kind ofly detect and the active automotive safety control method of image recognition based on millimeter wave radar, in the step 5 after caution the driver reaction time of leaving for be preset as 1-5 second.
A kind of active automotive safety control method based on millimeter wave radar detection and image recognition, client service center is the remote server that is provided with communication module in step 5 and the step 6.
Referring to Fig. 1; A kind of active auto-safety mechanism of the present invention based on millimeter wave radar detection and image recognition; Comprise central process unit, satellite positioning module, millimeter wave radar, camera, loudspeaker, picture recognition module and communication module, central process unit communication link respectively is connected to satellite positioning module, millimeter wave radar, camera, loudspeaker, picture recognition module and communication module.
The present invention adopts the millimeter wave collision avoidance radar, and driftlessness (especially moving target) is arranged in active probe the place ahead, single way the place ahead, and the place ahead information is presented on the safety device.Safety device is back to safety device through the place ahead camera with obstacle simultaneously, and safety device judges it is that obstacle is not vehicle through image recognition.Safety device is confirmed safety distance automatically according to the instant speed of a motor vehicle of this vehicle, in case target is less than safety distance the time; The safety device loudspeaker that can pipe are reminded the user; If the user does not make due reaction, the safety device client service center that can report to the police, client service center is the remote server that is provided with communication module; Client service center makes car brakeing through the mode of taking the Long-distance Control car brakeing, thereby improves driving active safety index.

Claims (6)

1. the active automotive safety control method based on millimeter wave radar detection and image recognition is characterized in that, may further comprise the steps:
Step 1: this car in the process of moving, car the place ahead adopts millimeter wave radar to launch forwards whether obstacle is arranged in the millimeter wave detection measurement range, and takes the place ahead image through camera, radar signal and image pickup signal all transfer to central process unit;
Step 2: when obstacle was arrived in radar detection, whether central process unit grasps the picture of image pickup signal and differentiates through picture recognition module was vehicle, is not that vehicle does not then deal with if differentiate, and then gets into step 3 as if differentiating for vehicle;
Step 3: if obstacle is a vehicle; Then confirm from the car speed of a motor vehicle according to satellite positioning signal; And the obstacle signal that combines radar to return judges whether front truck is moving vehicle, is staticly then not deal with if judge front truck, if judge that front truck is that moving vehicle then gets into step 4;
Step 4: measure the distance of this car and front truck and calculate this car and the relative velocity of front truck according to radar signal, if the distance of measuring is then warned to chaufeur less than the preset pairing safety distance of current relative velocity;
Step 5: in the preset time, do not reducing the speed of a motor vehicle as if chaufeur after the caution, then central process unit is notified long-range client service center through communication module;
Step 6: after client service center receives the notice that central process unit sends, send instructions down come control vehicle the interlock speed reduction gearing to force the vehicle reduction of speed, with guarantee driving safety.
2. a kind of active automotive safety control method based on millimeter wave radar detection and image recognition according to claim 1 is characterized in that the step of the calculating relative velocity described in the step 4 is:
Central process unit according to from the orientation distance difference between twice satellite positioning signal that car received divided by the time difference between twice satellite positioning signal; Must come from vehicle speed; To deduct by the measured preceding vehicle speed of radar from vehicle speed, then draw front truck with from the relative velocity in workshop.
3. according to claim 1ly a kind ofly detect the active automotive safety control method with image recognition based on millimeter wave radar, it is characterized in that, the mode of sending caution to chaufeur in the step 4 is that loudspeaker send the sound and indicate.
4. according to claim 1 a kind ofly detect and the active automotive safety control method of image recognition based on millimeter wave radar is characterized in that, in the step 5 after caution the driver reaction time of leaving for be preset as 1-5 second.
5. a kind of active automotive safety control method based on millimeter wave radar detection and image recognition according to claim 1 is characterized in that the client service center described in step 5 and the step 6 is the remote server that is provided with communication module.
6. one kind is detected based on millimeter wave radar and the active auto-safety mechanism of image recognition; It is characterized in that; Comprise central process unit, satellite positioning module, millimeter wave radar, camera, loudspeaker, picture recognition module and communication module, described central process unit communication link respectively is connected to satellite positioning module, millimeter wave radar, camera, loudspeaker, picture recognition module and communication module.
CN2012101273416A 2012-04-27 2012-04-27 Active safety control method and device for automobile based on millimeter wave radar detection and image recognition CN102616198A (en)

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Cited By (14)

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CN102897156A (en) * 2012-10-22 2013-01-30 安徽省鸿运机械制造有限公司 Intelligent slowing system for vehicle
CN102963299A (en) * 2012-10-31 2013-03-13 樊红娟 High-reliability and low-false alarm rate highway automobile anti-collision system and method
CN103287428A (en) * 2013-06-24 2013-09-11 成都衔石科技有限公司 Intelligent driving assistance device for automobiles
CN103303308A (en) * 2013-06-24 2013-09-18 成都衔石科技有限公司 System for mutually monitoring states of vehicles
CN103576171A (en) * 2012-10-16 2014-02-12 江苏大学 Automobile safe distance automatic measuring and anti-collision device based on GPS
CN103909860A (en) * 2012-12-31 2014-07-09 黄清信 Vehicle approach warning system
CN104786973A (en) * 2015-03-25 2015-07-22 张彬彬 Front vehicle anti-collision system
CN106405539A (en) * 2015-07-31 2017-02-15 株式会社万都 Vehicle radar system and method for removing non-interested target
CN106828460A (en) * 2017-03-02 2017-06-13 深圳明创自控技术有限公司 A kind of safe full-automatic pilot for prevention of car collision
WO2017124539A1 (en) * 2016-01-24 2017-07-27 吴晓敏 Information pushing method during determining of safe following distance and safe following distance system
CN107408348A (en) * 2015-03-31 2017-11-28 株式会社电装 Controller of vehicle and control method for vehicle
CN107972648A (en) * 2017-11-24 2018-05-01 多伦科技股份有限公司 A kind of intelligent robot brake DAS (Driver Assistant System) and its method
CN109624903A (en) * 2018-12-03 2019-04-16 北京长城华冠汽车科技股份有限公司 A kind of vehicle body side collision protection system, method and automobile
CN111216699A (en) * 2020-03-03 2020-06-02 东莞市粤熙实业有限公司 Visual automobile intelligent automatic emergency braking control method and system

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Publication number Priority date Publication date Assignee Title
CN103576171A (en) * 2012-10-16 2014-02-12 江苏大学 Automobile safe distance automatic measuring and anti-collision device based on GPS
CN102897156A (en) * 2012-10-22 2013-01-30 安徽省鸿运机械制造有限公司 Intelligent slowing system for vehicle
CN102897156B (en) * 2012-10-22 2015-09-30 安徽省鸿运机械制造有限公司 A kind of vehicle slow system of intelligence
CN102963299A (en) * 2012-10-31 2013-03-13 樊红娟 High-reliability and low-false alarm rate highway automobile anti-collision system and method
CN102963299B (en) * 2012-10-31 2015-10-28 樊红娟 A kind of highway automobile avoiding collision of highly reliable low false alarm rate
CN103909860A (en) * 2012-12-31 2014-07-09 黄清信 Vehicle approach warning system
CN103303308A (en) * 2013-06-24 2013-09-18 成都衔石科技有限公司 System for mutually monitoring states of vehicles
CN103287428A (en) * 2013-06-24 2013-09-11 成都衔石科技有限公司 Intelligent driving assistance device for automobiles
CN104786973A (en) * 2015-03-25 2015-07-22 张彬彬 Front vehicle anti-collision system
CN107408348A (en) * 2015-03-31 2017-11-28 株式会社电装 Controller of vehicle and control method for vehicle
CN106405539A (en) * 2015-07-31 2017-02-15 株式会社万都 Vehicle radar system and method for removing non-interested target
WO2017124539A1 (en) * 2016-01-24 2017-07-27 吴晓敏 Information pushing method during determining of safe following distance and safe following distance system
CN106828460A (en) * 2017-03-02 2017-06-13 深圳明创自控技术有限公司 A kind of safe full-automatic pilot for prevention of car collision
CN107972648A (en) * 2017-11-24 2018-05-01 多伦科技股份有限公司 A kind of intelligent robot brake DAS (Driver Assistant System) and its method
CN109624903A (en) * 2018-12-03 2019-04-16 北京长城华冠汽车科技股份有限公司 A kind of vehicle body side collision protection system, method and automobile
CN111216699A (en) * 2020-03-03 2020-06-02 东莞市粤熙实业有限公司 Visual automobile intelligent automatic emergency braking control method and system

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