CN102923055B - Car backing assisting system and method based on camera and ultrasonic sensor - Google Patents
Car backing assisting system and method based on camera and ultrasonic sensor Download PDFInfo
- Publication number
- CN102923055B CN102923055B CN201210466663.3A CN201210466663A CN102923055B CN 102923055 B CN102923055 B CN 102923055B CN 201210466663 A CN201210466663 A CN 201210466663A CN 102923055 B CN102923055 B CN 102923055B
- Authority
- CN
- China
- Prior art keywords
- measuring sensor
- ultrasonic distance
- car
- brake
- signal analysis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 40
- 238000001514 detection method Methods 0.000 claims abstract description 4
- 230000008569 process Effects 0.000 claims description 30
- 239000000853 adhesive Substances 0.000 claims description 18
- 230000001070 adhesive effect Effects 0.000 claims description 18
- 230000008859 change Effects 0.000 claims description 10
- 230000004888 barrier function Effects 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000008571 general function Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Landscapes
- Emergency Alarm Devices (AREA)
- Traffic Control Systems (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a car backing assisting system and method based on a camera and an ultrasonic sensor. With the adoption of the system, early warning while a driver backs up a vehicle and the control for compulsive brake if necessary are realized; the driving state is automatically fed back according to required detection information of infrared sensors and cameras and data of multi-wangle ultrasonic distance measuring sensors; and the safety assisting function while the driver backs up the vehicle is realized through modes such as ordinary early warning and compulsive brake, so that the phenomenon that the driver steps down the clutch by mistake because of the dead vision angle of the driver or in emergency state is effectively reduced, particularly for situations that a ravine exists or a person is behind the vehicle while the vehicle is backed up, powerful security guarantee is provided. The car backing assisting system can be applied to most vehicle car backing modes used at present, is simple to realize and strong in adaptability, and the driving security is improved, and the blank of such aspect in the field is filled up.
Description
Technical field
The invention belongs to driving safety field, relate to a kind of reversing security system, particularly a kind of supersonic sounding, infrared acquisition, image procossing and image recognition, sensing, the reversing security system of the field Comprehensive Control such as signal transacting and electromagnetism relay.
Background technology
Along with the propelling of urbanization and the raising of people's living standard, Automobile ownership ratio constantly rises, and the Exploration on Train Operation Safety of automobile also more and more causes popular concern.Wherein in reversing process, because chaufeur is often difficult to accurately know the situation after car, easily produce in reversing process and clash into, pedestrian accidents, causes danger.
The reversing security system of current automobile is also confined to the stage of Reverse Sensor substantially.Reverse Sensor can recognize basic car and obstruction (comprising people), but the situation that after the gully after vehicle body and car, whether someone should dodge is felt simply helpless, when particularly having people after car and need to take urgent measure, often cause reaction too late because of the panic or carelessness of chaufeur.For the situation that there is gully after car, current chaufeur can only be observed by back mirror and rely on micro-judgment in reversing process, there is very large potential safety hazard, and, often helpless for zanjon, dark gully like this.These situations are for most of automobile driver above, and particularly driving new hand is quite worried is but difficult to avoid, and the blank therefore utilizing prior art as far as possible simply to fill up this respect is efficiently urgent and needs.In addition, existing Reverse Sensor only has and realizes basic function of reporting to the police, under dangerous situation, still need chaufeur M/C, does not cause in chaufeur maloperation or report to the police situation of still may causing danger when chaufeur enough attention.Therefore this patent achieves the multiple protective under chaufeur and the multiple situation of automobile on the basis of the original Reverse Sensor of automobile.
Summary of the invention
The object of the invention is to for the deficiencies in the prior art, a kind of reversing aid system based on camera and ultrasonic transduter and method are provided; Improve the safety factor of automobile under complicated state.
The object of the invention is to be achieved through the following technical solutions: a kind of reversing aid system based on camera and ultrasonic transduter, it is characterized in that, it is primarily of signal pickup assembly, and signal analysis and processing system and actuating unit are linked in sequence composition; Wherein, described signal pickup assembly comprises four horizontal ultrasonic distance measuring sensors, apogee ultrasonic distance-measuring sensor, perigee ultrasonic distance-measuring sensor, two infrared pickoffs, camera and range pressure sensors; Actuating unit comprises brake, electromagnetic relay, first brake coil, the second brake coil and warning device etc.; Horizontal ultrasonic distance measuring sensor, apogee ultrasonic distance-measuring sensor, perigee ultrasonic distance-measuring sensor, infrared pickoff, camera, electromagnetic relay, range pressure sensor are all connected with signal analysis and processing system with warning device, and electromagnetic relay is connected with the second brake coil with first brake coil respectively.
Further, described four horizontal ultrasonic distance measuring sensors are by the middle upside being equidistantly placed on automobile rear bumper, apogee ultrasonic distance-measuring sensor is arranged on automobile rear bumper, perigee ultrasonic distance-measuring sensor is arranged on the middle downside of automobile rear bumper, the angle on apogee ultrasonic distance-measuring sensor and ground
for 15-45 °, the angle on perigee ultrasonic distance-measuring sensor and ground
for 45-75 °; Two infrared pickoffs are arranged on automobile rear bumper two ends respectively far from edge 1/6 place; Camera is installed on roof rear to obtain car rearward vision; First brake coil is fixed on outside brake bottom plate; Second brake coil is fixed on brake, and relative with first brake technical front, and range pressure sensor is placed in the bottom of gear box reverse gear position, and range pressure sensor can be made when gear level is in reverse gear position to export high level.
Apply a reversing householder method for above-mentioned reversing aid system, the method comprises the following steps:
(1) state of rolling backward detects: after automobile starting, the reversing aid system based on camera and ultrasonic transduter is in the readiness for action that powers on; In normal driving process, when range pressure sensor detects state of rolling backward, namely change change speed gear box gear level when being in reverse gear position, range pressure sensor output signal is to incoming signal analysis process system;
(2) state signal collecting after car: signal analysis and processing system acceptance is to the output signal of range pressure sensor, level of control ultrasonic distance-measuring sensor, apogee ultrasonic distance-measuring sensor, perigee ultrasonic distance-measuring sensor, infrared pickoff and camera collection automobile rear information, these automobile rear information transmission are to signal analysis and processing system;
(3) after car, situation judges: signal analysis and processing system acceptance automobile rear information, is divided into following four kinds of situations by situation after car:
(3.1) in reversing process, there is people at self-propelled vehicle rear: infrared pickoff has the existence of people or other life entities after detecting car, there is obstacle after detecting reversing in horizontal ultrasonic distance measuring sensor simultaneously, have people after being judged as car, incoming signal is to signal analysis and processing system;
(3.2) inhuman obstacle is had after backing track car: infrared pickoff has people or other life entities after not detecting car, one of horizontal ultrasonic distance measuring sensor, apogee ultrasonic distance-measuring sensor, perigee ultrasonic distance-measuring sensor measure rear when having an obstacle, have inhuman obstacle after being judged as car, incoming signal is to signal analysis and processing system;
(3.3) gully is had after reversing process car: be divided into two kinds of situations according to the restriction of camera work double tides condition: during daytime, if the camera being positioned at roof rear detects that car rear images has obvious gray scale to demarcate, and when the feedback distance of apogee ultrasonic distance-measuring sensor or perigee ultrasonic distance-measuring sensor is greater than 10% of preset value, have gully after being judged as car, incoming signal is to signal analysis and processing system; During night, the image that camera exports does not have obvious gray scale to demarcate, if when the feedback distance of apogee ultrasonic distance-measuring sensor or perigee ultrasonic distance-measuring sensor is greater than 10% of preset value, have gully after being judged as car, incoming signal is to signal analysis and processing system;
(3.4) normal condition after car: horizontal ultrasonic distance measuring sensor, apogee ultrasonic distance-measuring sensor, perigee ultrasonic distance-measuring sensor, infrared pickoff and camera all do not have obvious exporting change, are judged as normal condition;
(4) first order signal transacting, for four kinds of situations of step 3, take to process with one of under type:
(4.1) when signal analysis and processing system to judge in reversing process that there is a people at self-propelled vehicle rear, start and keep away people's pattern, when the horizontal ultrasonic distance measuring sensor people's distance measured after tailstock distance car is less than 1.5 meters, signal analysis and processing Systematical control warning device sends alerting signal;
(4.2) when signal analysis and processing system judges there is inhuman obstacle after backing track car, start and keep away barrier pattern, when the horizontal ultrasonic distance measuring sensor obstacle distance measured after tailstock distance car is less than 1.5 meters, signal analysis and processing Systematical control warning device sends alerting signal;
(4.3) when signal analysis and processing system judges there is gully after reversing process car, start gully pattern, when the range measurements of one of apogee ultrasonic distance-measuring sensor and perigee ultrasonic distance-measuring sensor is greater than 10% of original setting value, signal analysis and processing Systematical control warning device sends alerting signal;
(4.4) when signal analysis and processing system judges normal condition after car, detection is continued until stop;
(5) second stage signal transacting: continue reverse travel after alerting signal is sounded, and arrive restriction threshold value, forced brake is carried out to automobile, takes to process with one of under type:
(5.1) after startup keeps away people's pattern, when the horizontal ultrasonic distance measuring sensor people's distance measured after tailstock distance car is less than 0.8 meter, signal analysis and processing system exports high level makes electromagnetic relay charged, thus make first brake coil and the mutual adhesive of the second brake coil, then adhesive brake, realizes the forced brake of automobile;
(5.2) after startup keeps away barrier pattern, when horizontal ultrasonic distance measuring sensor 1 obstacle distance measured after tailstock distance car is less than 0.3 meter, signal analysis and processing system exports high level makes electromagnetic relay charged, thus make first brake coil and the mutual adhesive of the second brake coil, then adhesive brake, realizes the forced brake of automobile;
(5.3) after starting gully pattern, when the range measurements of perigee ultrasonic distance-measuring sensor is greater than 30% of preset value, signal analysis and processing system exports high level makes electromagnetic relay charged, thus make first brake coil and the mutual adhesive of the second brake coil, then adhesive brake, realizes the forced brake of automobile;
(6) unblock after forced brake: when signal analysis and processing system judges that automobile is in forced brake state, if desired automobile sport system is unlocked, only gearbox-gear need be pushed away reverse gear, the now collection signal incoming signal analysis process system of range pressure sensor, again the reversing aid system based on camera and ultrasonic transduter is made to be in readiness for action, now, automatic unlocking.
The present invention is relative to prior art, its beneficial effect is the synergy by multiple sensors, make chaufeur can obtain more information in reversing process, then effectively reduce because stepping on the generation that wrong power-transfer clutch causes safety misadventure under visual dead angle or emergency, simultaneously to the safety control running into gully in reversing process and rear of moveing backward has the situation of people to provide strong.And, the present invention is based on conventional ultrasonic wave distance measuring sensor (Reverse Sensor), the synergy of infrared pickoff and camera, has that accurate location, reliable and stable, antijamming capability are strong, practicality high, is applicable to that the reversing of most of automobile is auxiliary drives.
Accompanying drawing explanation
Fig. 1 is the structural representation of this reversing aid system;
Fig. 2 is the algorithm schematic flow sheet of this reversing aid system;
Fig. 3 is the ultrasonic distance measuring module locus detail drawing of this reversing aid system;
Fig. 4 is the self-actuating brake schematic diagram that this reversing aid system controls based on electromagnetic relay;
Fig. 5 is the general function diagram of circuit of this reversing aid system;
Fig. 6 is people's pattern of keeping away implementation diagram of circuit of this reversing aid system;
Fig. 7 is barrier pattern of the keeping away implementation diagram of circuit of this reversing aid system;
Fig. 8 is the gully pattern implementation diagram of circuit of this reversing aid system;
Fig. 9 is the signal transmission figure of this reversing aid system;
In figure, horizontal ultrasonic distance measuring sensor 1, apogee ultrasonic distance-measuring sensor 2, perigee ultrasonic distance-measuring sensor 3, infrared pickoff 4, camera 5, automobile rear bumper 6, first brake coil 7, second brake coil 8, brake 9, electromagnetic relay 10, signal analysis and processing system 11, range pressure sensor 12, warning device 13.
Detailed description of the invention
The present invention is based on the reversing aid system of camera and ultrasonic transduter primarily of signal pickup assembly, signal analysis and processing system 11 and actuating unit are linked in sequence composition (Fig. 1).Wherein, signal pickup assembly comprises four horizontal ultrasonic distance measuring sensors 1, apogee ultrasonic distance-measuring sensor 2, perigee ultrasonic distance-measuring sensor 3, two infrared pickoffs 4, camera 5 and range pressure sensors 12.Actuating unit comprises brake 9, electromagnetic relay 10, first brake coil 7, second brake coil 8 and warning device 13.Horizontal ultrasonic distance measuring sensor 1, apogee ultrasonic distance-measuring sensor 2, perigee ultrasonic distance-measuring sensor 3, infrared pickoff 4, camera 5, electromagnetic relay 10, range pressure sensor 12 are all connected with signal analysis and processing system 11 with warning device 13, and electromagnetic relay 10 is connected with the second brake coil 8 with first brake coil 7 respectively.
As shown in Figure 3, horizontal ultrasonic distance measuring sensor 1 is traditional Reverse Sensor, four horizontal ultrasonic distance measuring sensors 1 are by the middle upside being equidistantly placed on automobile rear bumper 6, apogee ultrasonic distance-measuring sensor 2 is arranged on automobile rear bumper 6, perigee ultrasonic distance-measuring sensor 3 is arranged on the middle downside of automobile rear bumper 6, the angle on apogee ultrasonic distance-measuring sensor 2 and ground
for 15-45 °, the angle on perigee ultrasonic distance-measuring sensor 3 and ground
for 45-75 °.Two infrared pickoffs 4 are arranged on automobile rear bumper 6 two ends respectively far from edge 1/6 place.Camera 5 is installed on roof rear to obtain car rearward vision.As shown in Figure 4, first brake coil 7 is fixed on outside brake bottom plate; Second brake coil 8 is fixed on brake 9, and with first brake coil 7 vis-a-vis, wherein brake coil electric power is provided by automobile storage battery.Range pressure sensor 12 is placed in the bottom of gear box reverse gear position, and range pressure sensor 12 can be made when gear level is in reverse gear position to export high level.
Wherein, signal analysis and processing system 11 can be realized by DSP or arm processor, as the DSP product TMS320F2812 that TI company newly releases, but is not limited thereto.
The present invention is based on the reversing householder method of camera and ultrasonic transduter, comprise the following steps (Fig. 2):
1, state of rolling backward detects
After automobile starting, the reversing aid system based on camera and ultrasonic transduter is in the readiness for action that powers on.In normal driving process, when range pressure sensor 12 detects state of rolling backward, namely change change speed gear box gear level when being in reverse gear position, range pressure sensor 12 output signal is to incoming signal analysis process system 11.
2, state signal collecting after car
Signal analysis and processing system 11 receives the output signal of range pressure sensor 12, level of control ultrasonic distance-measuring sensor 1, apogee ultrasonic distance-measuring sensor 2, perigee ultrasonic distance-measuring sensor 3, infrared pickoff 4 and camera 5 gather automobile rear information, and these automobile rear information transmission are to signal analysis and processing system 11.
3, after car, situation judges
Signal analysis and processing system 11 receives automobile rear information, situation after car is divided into following four kinds of situations:
3.1, in reversing process, there is people at self-propelled vehicle rear: infrared pickoff 4 has the existence of people or other life entities after detecting car, there is obstacle after detecting reversing in horizontal ultrasonic distance measuring sensor 1 simultaneously, have people after being judged as car, incoming signal is to signal analysis and processing system 11.
3.2, inhuman obstacle is had after backing track car: infrared pickoff 4 has people or other life entities after not detecting car, one of horizontal ultrasonic distance measuring sensor 1, apogee ultrasonic distance-measuring sensor 2, perigee ultrasonic distance-measuring sensor 3 measure rear when having an obstacle, have inhuman obstacle after being judged as car, incoming signal is to signal analysis and processing system 11.
3.3, gully is had after reversing process car: be divided into two kinds of situations according to the restriction of camera work double tides condition.
During daytime, if the camera 5 being positioned at roof rear detects that car rear images has obvious gray scale to demarcate, and it is (different according to vehicle when the feedback distance of apogee ultrasonic distance-measuring sensor 2 or perigee ultrasonic distance-measuring sensor 3 is greater than 10% of original setting value, this setting value can be different), have gully after being judged as car, incoming signal is to signal analysis and processing system 11;
During night, the image that camera 5 exports does not have obvious gray scale to demarcate, if the 10%(that the feedback distance of apogee ultrasonic distance-measuring sensor 2 or perigee ultrasonic distance-measuring sensor 3 is greater than original setting value is different according to vehicle, this setting value can be different), have gully after being judged as car, incoming signal is to signal analysis and processing system 11.
3.4, normal condition after car
Horizontal ultrasonic distance measuring sensor 1, apogee ultrasonic distance-measuring sensor 2, perigee ultrasonic distance-measuring sensor 3, infrared pickoff 4 and camera 5 all do not have obvious exporting change, are judged as normal condition.
4, first order signal transacting (warning)
4.1, when signal analysis and processing system 11 to judge in reversing process that there is a people at self-propelled vehicle rear, start and keep away people's pattern (Fig. 6), when the horizontal ultrasonic distance measuring sensor 1 people's distance measured after tailstock distance car is less than 1.5 meters, signal analysis and processing system 11 controls warning device 13 and sends alerting signal.
4.2, when signal analysis and processing system 11 judges there is inhuman obstacle after backing track car, start and keep away barrier pattern (Fig. 7), when horizontal ultrasonic distance measuring sensor 1 obstacle distance measured after tailstock distance car is less than 1.5 meters, signal analysis and processing system 11 controls warning device 13 and sends alerting signal.
4.3, when signal analysis and processing system 11 judges there is gully after reversing process car, start gully pattern (Fig. 8), it is (different according to vehicle when apogee ultrasonic distance-measuring sensor 2 is greater than 10% of original setting value with the range measurements of one of both perigee ultrasonic distance-measuring sensors 3, this setting value can be different), signal analysis and processing system 11 controls warning device 13 and sends alerting signal.
4.4, when signal analysis and processing system 11 judges normal condition after car, detection is continued until stop.
5, second stage signal transacting (forced brake)
If chaufeur continues reverse travel after alerting signal is sounded, and arrive certain restriction threshold value, now can think and need the safety of the behavior serious threat of chaufeur to self or other people to realize the forced brake to automobile under specific circumstances, that is:
5.1, after startup keeps away people's pattern (Fig. 6), when the horizontal ultrasonic distance measuring sensor 1 people's distance measured after tailstock distance car is less than 0.8 meter, signal analysis and processing system 11 exports high level makes electromagnetic relay 10 charged, thus make first brake coil 7 and the adhesive mutually of the second brake coil 8, then adhesive brake 9, realizes the forced brake of automobile.
5.2, after startup keeps away barrier pattern (Fig. 7), when horizontal ultrasonic distance measuring sensor 1 obstacle distance measured after tailstock distance car is less than 0.3 meter, signal analysis and processing system 11 exports high level makes electromagnetic relay 10 charged, thus make first brake coil 7 and the adhesive mutually of the second brake coil 8, then adhesive brake 9, realizes the forced brake of automobile.
5.3, after the pattern of startup gully (Fig. 8), it is (different according to vehicle when the range measurements of perigee ultrasonic distance-measuring sensor 3 is greater than 30% of original setting value, this setting value can be different), signal analysis and processing system 11 exports high level makes electromagnetic relay 10 charged, thus make first brake coil 7 and the adhesive mutually of the second brake coil 8, then adhesive brake 9, realizes the forced brake of automobile.
6, the unblock after forced brake
When signal analysis and processing system 11 judges that automobile is in forced brake state, if desired automobile sport system is unlocked, gearbox-gear only need be pushed away reverse gear by chaufeur, the now collection signal incoming signal analysis process system 11 of range pressure sensor 12, again the enable reversing aid system based on camera and ultrasonic transduter is in readiness for action, now, automobile sport system automatic unlocking, automobile can be advanced by chaufeur manual drive.
Above-described embodiment is used for explaining and the present invention is described, instead of limits the invention, and in the protection domain of spirit of the present invention and claim, any amendment make the present invention and change, all fall into protection scope of the present invention.
Claims (1)
1. a reversing householder method, the method application realizes based on the reversing aid system of camera and ultrasonic transduter, the described reversing aid system based on camera and ultrasonic transduter is primarily of signal pickup assembly, and signal analysis and processing system and actuating unit are linked in sequence composition; Wherein, described signal pickup assembly comprises four horizontal ultrasonic distance measuring sensors, apogee ultrasonic distance-measuring sensor, perigee ultrasonic distance-measuring sensor, two infrared pickoffs, camera and range pressure sensors; Actuating unit comprises brake, electromagnetic relay, first brake coil, the second brake coil and warning device; Horizontal ultrasonic distance measuring sensor, apogee ultrasonic distance-measuring sensor, perigee ultrasonic distance-measuring sensor, infrared pickoff, camera, electromagnetic relay, range pressure sensor are all connected with signal analysis and processing system with warning device, and electromagnetic relay is connected with the second brake coil with first brake coil respectively; Described four horizontal ultrasonic distance measuring sensors are by the middle upside being equidistantly placed on automobile rear bumper, apogee ultrasonic distance-measuring sensor is arranged on automobile rear bumper, perigee ultrasonic distance-measuring sensor is arranged on the middle downside of automobile rear bumper, the angle on apogee ultrasonic distance-measuring sensor and ground
for 15-45 °, the angle on perigee ultrasonic distance-measuring sensor and ground
for 45-75 °; Two infrared pickoffs are arranged on automobile rear bumper two ends respectively far from edge 1/6 place; Camera is installed on roof rear to obtain car rearward vision; First brake coil is fixed on outside brake bottom plate; Second brake coil is fixed on brake, and relative with first brake technical front, and range pressure sensor is placed in the bottom of gear box reverse gear position, and range pressure sensor can be made when gear level is in reverse gear position to export high level; It is characterized in that, the method comprises the following steps:
(1) state of rolling backward detects: after automobile starting, the reversing aid system based on camera and ultrasonic transduter is in the readiness for action that powers on; In normal driving process, when range pressure sensor detects state of rolling backward, namely change change speed gear box gear level when being in reverse gear position, range pressure sensor output signal is to incoming signal analysis process system;
(2) state signal collecting after car: signal analysis and processing system acceptance is to the output signal of range pressure sensor, level of control ultrasonic distance-measuring sensor, apogee ultrasonic distance-measuring sensor, perigee ultrasonic distance-measuring sensor, infrared pickoff and camera collection automobile rear information, these automobile rear information transmission are to signal analysis and processing system;
(3) after car, situation judges: signal analysis and processing system acceptance automobile rear information, is divided into following four kinds of situations by situation after car:
(3.1) in reversing process, there is people at self-propelled vehicle rear: infrared pickoff has the existence of people or other life entities after detecting car, there is obstacle after detecting reversing in horizontal ultrasonic distance measuring sensor simultaneously, have people after being judged as car, incoming signal is to signal analysis and processing system;
(3.2) inhuman obstacle is had after backing track car: infrared pickoff has people or other life entities after not detecting car, one of horizontal ultrasonic distance measuring sensor, apogee ultrasonic distance-measuring sensor, perigee ultrasonic distance-measuring sensor measure rear when having an obstacle, have inhuman obstacle after being judged as car, incoming signal is to signal analysis and processing system;
(3.3) gully is had after reversing process car: be divided into two kinds of situations according to the restriction of camera work double tides condition: during daytime, if the camera being positioned at roof rear detects that car rear images has obvious gray scale to demarcate, and when the feedback distance of apogee ultrasonic distance-measuring sensor or perigee ultrasonic distance-measuring sensor is greater than 10% of preset value, have gully after being judged as car, incoming signal is to signal analysis and processing system; During night, the image that camera exports does not have obvious gray scale to demarcate, if when the feedback distance of apogee ultrasonic distance-measuring sensor or perigee ultrasonic distance-measuring sensor is greater than 10% of preset value, have gully after being judged as car, incoming signal is to signal analysis and processing system;
(3.4) normal condition after car: horizontal ultrasonic distance measuring sensor, apogee ultrasonic distance-measuring sensor, perigee ultrasonic distance-measuring sensor, infrared pickoff and camera all do not have obvious exporting change, are judged as normal condition;
(4) first order signal transacting, for four kinds of situations of step 3, take to process with one of under type:
(4.1) when signal analysis and processing system to judge in reversing process that there is a people at self-propelled vehicle rear, start and keep away people's pattern, when the horizontal ultrasonic distance measuring sensor people's distance measured after tailstock distance car is less than 1.5 meters, signal analysis and processing Systematical control warning device sends alerting signal;
(4.2) when signal analysis and processing system judges there is inhuman obstacle after backing track car, start and keep away barrier pattern, when the horizontal ultrasonic distance measuring sensor obstacle distance measured after tailstock distance car is less than 1.5 meters, signal analysis and processing Systematical control warning device sends alerting signal;
(4.3) when signal analysis and processing system judges there is gully after reversing process car, start gully pattern, when the range measurements of one of apogee ultrasonic distance-measuring sensor and perigee ultrasonic distance-measuring sensor is greater than 10% of original setting value, signal analysis and processing Systematical control warning device sends alerting signal;
(4.4) when signal analysis and processing system judges normal condition after car, detection is continued until stop;
(5) second stage signal transacting: continue reverse travel after alerting signal is sounded, and arrive restriction threshold value, forced brake is carried out to automobile, takes to process with one of under type:
(5.1) after startup keeps away people's pattern, when the horizontal ultrasonic distance measuring sensor people's distance measured after tailstock distance car is less than 0.8 meter, signal analysis and processing system exports high level makes electromagnetic relay charged, thus make first brake coil and the mutual adhesive of the second brake coil, then adhesive brake, realizes the forced brake of automobile;
(5.2) after startup keeps away barrier pattern, when horizontal ultrasonic distance measuring sensor 1 obstacle distance measured after tailstock distance car is less than 0.3 meter, signal analysis and processing system exports high level makes electromagnetic relay charged, thus make first brake coil and the mutual adhesive of the second brake coil, then adhesive brake, realizes the forced brake of automobile;
(5.3) after starting gully pattern, when the range measurements of perigee ultrasonic distance-measuring sensor is greater than 30% of preset value, signal analysis and processing system exports high level makes electromagnetic relay charged, thus make first brake coil and the mutual adhesive of the second brake coil, then adhesive brake, realizes the forced brake of automobile;
(6) unblock after forced brake: when signal analysis and processing system judges that automobile is in forced brake state, if desired automobile sport system is unlocked, only gearbox-gear need be pushed away reverse gear, the now collection signal incoming signal analysis process system of range pressure sensor, again the reversing aid system based on camera and ultrasonic transduter is made to be in readiness for action, now, automatic unlocking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210466663.3A CN102923055B (en) | 2012-11-16 | 2012-11-16 | Car backing assisting system and method based on camera and ultrasonic sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210466663.3A CN102923055B (en) | 2012-11-16 | 2012-11-16 | Car backing assisting system and method based on camera and ultrasonic sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102923055A CN102923055A (en) | 2013-02-13 |
| CN102923055B true CN102923055B (en) | 2015-03-25 |
Family
ID=47638036
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210466663.3A Active CN102923055B (en) | 2012-11-16 | 2012-11-16 | Car backing assisting system and method based on camera and ultrasonic sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102923055B (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103323851A (en) * | 2013-07-18 | 2013-09-25 | 镇江三维知识产权有限公司 | Automobile reversing two-dimensional ranging alarming system |
| CN104192066A (en) * | 2014-09-19 | 2014-12-10 | 张安兵 | Extreme parking anti-scratch device |
| CN105711500A (en) * | 2016-01-31 | 2016-06-29 | 华晨汽车集团控股有限公司 | Alarm device for eliminating dead zones on side edges and rear bumper of vehicle |
| CN106114360A (en) * | 2016-07-22 | 2016-11-16 | 池州学院 | A kind of reversing radar of vehicle alarm control system |
| CN106767823A (en) * | 2016-12-14 | 2017-05-31 | 智易行科技(武汉)有限公司 | Based on the intelligent mobile paths planning method in the case of imperfect information |
| CN107742436A (en) * | 2017-10-19 | 2018-02-27 | 贵州大学 | It is a kind of based on double parking stall searching systems for selecting distance measuring sensor |
| CN109733409B (en) * | 2017-10-31 | 2022-04-19 | 奥迪股份公司 | Driving assistance system and method |
| CN107992056A (en) * | 2017-12-29 | 2018-05-04 | 深圳市布谷鸟科技有限公司 | It is a kind of based on divide domain centralized calculation unit automobile intelligent drive calculating platform terminal |
| CN108608941A (en) * | 2018-04-28 | 2018-10-02 | 北京新能源汽车股份有限公司 | Reverse auxiliary control method and device and electric automobile |
| CN109116365A (en) * | 2018-06-21 | 2019-01-01 | 泉州市名品电子股份有限公司 | A kind of novel backrun radar system |
| CN114194108A (en) * | 2020-09-16 | 2022-03-18 | 宝能汽车集团有限公司 | Safety early warning device and method for vehicle and vehicle |
| CN113547983A (en) * | 2021-09-09 | 2021-10-26 | 重庆科技学院 | Tunnel construction early warning system that backs a car that multisensor fuses |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2005022193A1 (en) * | 2003-08-28 | 2005-03-10 | Nissan Technical Centre Europe Ltd | Parking aid |
| CN201830393U (en) * | 2010-11-02 | 2011-05-11 | 长安大学 | Vehicle reversing rear-view device |
| CN201872739U (en) * | 2010-11-03 | 2011-06-22 | 四川师范大学 | Human body remote sense automatic alarm braking device used on automobile |
| CN202896421U (en) * | 2012-11-16 | 2013-04-24 | 浙江大学 | Car backing auxiliary system based on camera and ultrasonic sensor |
-
2012
- 2012-11-16 CN CN201210466663.3A patent/CN102923055B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2005022193A1 (en) * | 2003-08-28 | 2005-03-10 | Nissan Technical Centre Europe Ltd | Parking aid |
| CN201830393U (en) * | 2010-11-02 | 2011-05-11 | 长安大学 | Vehicle reversing rear-view device |
| CN201872739U (en) * | 2010-11-03 | 2011-06-22 | 四川师范大学 | Human body remote sense automatic alarm braking device used on automobile |
| CN202896421U (en) * | 2012-11-16 | 2013-04-24 | 浙江大学 | Car backing auxiliary system based on camera and ultrasonic sensor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102923055A (en) | 2013-02-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102923055B (en) | Car backing assisting system and method based on camera and ultrasonic sensor | |
| CN103072537B (en) | Automotive collision avoidance safety protecting method based on infrared image processing | |
| CN103112451B (en) | A kind of Automobile automatic collision avoidance system and method | |
| CN202896421U (en) | Car backing auxiliary system based on camera and ultrasonic sensor | |
| CN102963299B (en) | A kind of highway automobile avoiding collision of highly reliable low false alarm rate | |
| CN201484287U (en) | Automobile rear-end collision safety warning device | |
| CN104361768A (en) | Intelligent L-shaped bend traffic warning device | |
| CN102923000B (en) | A kind of automobile based on binocular vision target detect is initiatively moveed backward speed-limiting control method | |
| CN105957402A (en) | Real-time displaying and recording device for road condition ahead of large vehicle | |
| CN108515905A (en) | A kind of automobile door opening bump-proof system based on millimetre-wave radar | |
| CN201544854U (en) | Warning device for vehicle door opening | |
| CN203681462U (en) | Intelligent anti-collision system of two-wheeled vehicle | |
| CN201665184U (en) | Safety warning system when opening door of vehicle | |
| CN113547983A (en) | Tunnel construction early warning system that backs a car that multisensor fuses | |
| CN108705977A (en) | A kind of internet pilotless automobile | |
| CN202345671U (en) | Video camera-based device for vehicle lane departure detection and early warning | |
| CN102991425B (en) | System and method for detecting vision blind zone of driving | |
| CN201892744U (en) | Obstacle detection system | |
| CN105752014A (en) | Rate-limiting power supply dual-mode radar collision avoidance active safety driving assistance system | |
| CN112572427B (en) | Vehicle information processing method and device and vehicle | |
| CN108216027A (en) | Passenger opens the door and gets off anti-collision early warning system | |
| CN204283057U (en) | Arrangements for automotive doors automatic crash-proof device | |
| JP2009059258A (en) | Obstacle approach warning apparatus | |
| CN202499102U (en) | Intelligent alarm device for vehicle lane changing | |
| CN208164886U (en) | A kind of automobile door opening bump-proof system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |