CN103129464A - Vehicle auxiliary system and vehicle auxiliary method - Google Patents
Vehicle auxiliary system and vehicle auxiliary method Download PDFInfo
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- CN103129464A CN103129464A CN2011103949058A CN201110394905A CN103129464A CN 103129464 A CN103129464 A CN 103129464A CN 2011103949058 A CN2011103949058 A CN 2011103949058A CN 201110394905 A CN201110394905 A CN 201110394905A CN 103129464 A CN103129464 A CN 103129464A
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- 230000002159 abnormal effect Effects 0.000 claims abstract description 19
- 230000006870 function Effects 0.000 claims description 72
- 238000012544 monitoring process Methods 0.000 claims description 41
- 230000004044 response Effects 0.000 claims description 12
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Abstract
The invention discloses a vehicle auxiliary method which can execute road surface detection function. The vehicle auxiliary method comprises that a plurality of scene images which are shot by a photographic device are obtained, the scene images comprise distance information from points of shot objects to the photographic device, object detection technology is utilized, distance information from the points of the scene images to the photographic device is obtained from the obtained scene images, according to the obtained distance information from the points to the photographic device in the obtained scene images, whether driving surrounding environment and a road surface condition of a corresponding detection vehicle of the road surface detection function are abnormal or not is judged, and when the surrounding environment and the road surface condition are abnormal, a signal is produced to prompt a user. The invention further provides a vehicle auxiliary system which is used for assisting a driver to be careful of relevant road condition information.
Description
Technical field
The present invention relates to a kind of vehicle assisted system and vehicle householder method, relate in particular to a kind of for assisting steerman to be careful vehicle assisted system and the vehicle householder method of relevant road condition information.
Background technology
At present, Vehicular navigation system has become the essential instrument of the user who generally has vehicle as an instrument that drives a car for guides user.But traditional Vehicular navigation system can not guides user the pavement state of road in the place ahead, and during the low visibility such as, thick fog dim when the colour of sky, the user is difficult to discover the pavement state of road ahead and meets accident.Simultaneously, traditional Vehicular navigation system can not the guides user road width, when user experience is not enough, car might be travelled and finds that just vehicle is impassable or can not stop to the road bottleneck, and this can cause vehicle to sustain damage.
Summary of the invention
In view of above content, be necessary to provide a kind of vehicle assisted system and vehicle householder method, can be used for assisting steerman to be careful relevant road condition information.
A kind of vehicle assisted system, can carry out the multiple road detecting function, this system comprises: an image acquiring module, this image acquiring module are used for obtaining the scene image of some camera head picked-ups, and this scene image comprises that the subject each point is to the range information between corresponding camera head; One object detecting module, this object detecting module are used for utilizing the object detecting technology, obtain scene image in the scene image that obtains in each point to the range information between corresponding camera head; One image analysing computer module, this image analysing computer module are used for each point according to this scene image that obtains to the range information between corresponding camera head, judge whether surrounding environment and the condition of road surface of Vehicle Driving Cycle of the corresponding detecting of this road surface detecting function be abnormal; And an execution module, this execution module is used for occurring when abnormal when surrounding environment and condition of road surface, generation signal prompt user.
A kind of vehicle householder method can be carried out the road surface detecting function, and the method comprises: obtain the scene image of some camera head picked-ups, this scene image comprises that the subject each point is to the range information between corresponding camera head; Utilize the object detecting technology, obtain scene image in the scene image that obtains in each point to the range information between corresponding camera head; To the range information between corresponding camera head, judge whether surrounding environment and the condition of road surface of Vehicle Driving Cycle of the corresponding detecting of this road surface detecting function be abnormal according to the each point of this scene image that obtains; When surrounding environment and condition of road surface occur producing the signal prompt user when abnormal.
The present invention obtains the scene image of these several camera head picked-ups by an image acquiring module, one object detecting module is obtained the range information of each point in scene image, whether one image analysing computer module occurs extremely according to surrounding environment and the condition of road surface of the Vehicle Driving Cycle of this range information judgement detecting, and environment or condition of road surface occur producing the signal prompt user when abnormal around by an execution module.Thereby assist steerman to be careful relevant road condition information.
Description of drawings
Fig. 1 is that the present invention's one vehicle assisted system is used block diagram.
Fig. 2 is the block diagram of vehicle assisted system as shown in Figure 1.
Fig. 3 is the schematic diagram of vehicle assisted system execution condition of road surface monitoring function as shown in Figure 1.
Fig. 4 is the diagram of circuit that the present invention one is applied to the vehicle householder method of vehicle assisted system as shown in Figure 1.
The main element nomenclature
| Vehicle assisted system | 1 |
| Input block | 2 |
| Camera head | 3 |
| Display terminal | 4 |
| The |
31 |
| The second camera head | 32 |
| Memory cell | 11 |
| |
12 |
| The |
120 |
| |
121 |
| |
122 |
| The |
123 |
| The image |
124 |
| |
125 |
The following specific embodiment further illustrates the present invention in connection with above-mentioned accompanying drawing.
The specific embodiment
As shown in Figure 1, be the application block diagram of the vehicle assisted system 1 of an embodiment of the present invention.This vehicle assisted system 1 can be carried out the multiple road detecting function, the response user is by the selected function of input of an input block 2, obtain the scene image that camera head 3 that one in several camera heads 3 are used for this function absorbs, whether the surrounding environment and the condition of road surface that judge the corresponding Vehicle Driving Cycle of detecting of this road surface detecting function based on this scene image be abnormal, when surrounding environment and pavement state occur when abnormal, show an information to the user by a display terminal 4, assist the prompting user to be careful surrounding environment and traffic information.In the present embodiment, this input block 2 is one to be arranged at the touch-screen on display terminal 4.
This camera head 3 is used for the picked-up scene, and the generating scene image.In the present embodiment, described camera head 3 is a kind of degree of depth video camera (Depth-sensing Camera), as time flight (Time of Flight, TOF) video camera, be used for the picked-up scene image, this scene image comprises the depth of view information of subject.The depth of view information of described subject refers to the range information of subject each point and camera head 3.Due to camera head 3 when the photographic subjects thing, signal with the certain wavelength of emission, when running into object, signal can reflex to camera head 3, can calculate the range information between each point and camera head 3 on object according to signal emission and time difference between reception, the scene image of therefore described camera head 3 picked-ups comprises the range information between subject each point and camera head 3, i.e. depth of view information.The quantity of this camera head 3 has two at least, is respectively the first camera head 31 and the second camera head 32.This first camera head 31 and the second camera head 32 are arranged at the previous section of vehicle, and the shooting direction of the first camera head 31 is the downward bias certain angle, be used for taking the road surface of front, the shooting direction of the second camera head 32 is parallel shooting forward, is used for taking the environment in the place ahead.
Described vehicle assisted system 1 comprises at least two functions.These two functions are respectively condition of road surface monitoring function and the place ahead width monitoring function.Wherein, the scene image of these the first camera head 31 picked-ups is applied to this condition of road surface monitoring function, and the scene image of these the second camera head 32 picked-ups is applied to this place ahead width monitoring function.
Please also refer to Fig. 2, this vehicle assisted system 1 also comprises a memory cell 11 and several modules 12.Described memory cell 11 is used for the scene image of storage camera head 3 picked-ups.The computer processing of these several modules 12 is stored in memory cell 11, and is configured to one or more processing units execution, to complete the present invention.These several modules 12 comprise a default module 120, and this default module 120 is used for the width of this vehicle of operating and setting of response user.Wherein, the user can first when using this vehicle assisted system 1, set the width of this vehicle, also can use the process of this vehicle assisted system 1 in the later stage, sets or change the width of this vehicle by this default module 120.
In the present embodiment, these several modules 12 also comprise a function selecting module 121, an image acquiring module 122, an object detecting module 123, an image analysing computer module 124 and an execution module 125.
This function selecting module 121 is used for providing a plurality of road surfaces detecting function to select for the user, and response user's operation selection condition of road surface monitoring function or the place ahead width monitoring function, thereby produces corresponding function energizing signal.
When the user selected the condition of road surface monitoring function, this function selecting module 121 produced a condition of road surface monitoring energizing signal, and this image acquiring module 122 is obtained the pavement image of these the first camera head 31 picked-ups after receiving this condition of road surface monitoring energizing signal.
This object detecting module 123 is utilized the object detecting technology, obtain scene image in the monitoring area scene image that obtains in each point to the range information between the first camera head 31.In the present embodiment, described object detecting technology can adopt the real-time method for checking object of Robust (Robust Real-time Object Detection Method).
This image analysing computer module 124 is used for adjacent two o'clock arbitrarily of this pavement image that obtains relatively to the distance between the first camera head 31.Please in the lump with reference to figure 3, when the consecutive points of a predetermined level is exceeded wherein surpasses a predetermined value to the difference of the distance between the first camera head 31, this image analysing computer module 124 judges that significantly drop appears in this road surface, the place ahead, and judgement has the road surface abnormal condition such as pitfall or steep cliff.
When this execution module 125 is used for forwardly the road surface and drop occurs significantly, produce an information, and control this display terminal 4 and show these informations, be used for prompting road surface, user the place ahead and occur abnormal.
When the user selected the place ahead width monitoring function, this function selecting module 121 produced the place ahead width monitoring energizing signal.This image acquiring module 122 is obtained the ambient image in the place ahead of these the second camera head 32 picked-ups after receiving this place ahead width monitoring energizing signal.
Same, this object detecting module 123 is utilized the object detecting technology, obtains in the scene image of the second camera head 32 picked-ups each point to the range information between the second camera head 32.
This image analysing computer module 124 is used for obtaining the vehicle front object of scene image, and the point that surpasses preset distance (for example 10 meters) according to each o'clock of this scene image that obtains in the distance between the second camera head 32 zone that forms, calculate the transitable width in this place ahead, and judge that the transitable width in this place ahead is whether greater than the vehicle width of this setting.For example, when Vehicle Driving Cycle is on a road, if in a certain highway section, keep right 1/3 of limit when obstacle is arranged at a road, in the scene image that this image analysing computer module 124 is obtained corresponding do not have obstacle o'clock to the distance between the second camera head 32 will much larger than to should obstacle o'clock to the distance between the second camera head 32 and greater than this preset distance, this image analysing computer module 124 does not have the zone of obstacle to calculate the transitable width in the place ahead according to this.
When this execution module 125 is used for the current width that can pass through less than the vehicle width of this setting, produce an information, and control this display terminal 4 and show these informations, be used for prompting user the place ahead short of width current or stop.
Obviously, this vehicle assisted system 1 also can come reminding user by some sonorific devices.
Please refer to Fig. 4, be the diagram of circuit of the vehicle householder method of an embodiment of the present invention.This vehicle householder method is applied on as shown in Figure 1 vehicle assisted system 1.
In step S401, this function selecting module 121 is used for providing a plurality of road surfaces detecting function to select for the user, and pavement state monitoring function or the place ahead width monitoring function are selected in response user's operation.When selecting the pavement state monitoring function, execution in step S402.When selecting the place ahead width monitoring function, execution in step S407.
In step S402, this function selecting module 121 produces a condition of road surface monitoring energizing signal.
In step S403, this image acquiring module 122 is obtained the road surface image of these the first camera head 31 picked-ups after receiving this condition of road surface monitoring energizing signal.
In step S404, this object detecting module 123 is utilized the object detecting technology, obtains in this scene image each point to the range information of the first camera head 31 in the scene image that obtains.
In step S405, this image analysing computer module 124 is two some distances to the first camera head 31 of arbitrary neighborhood of this scene image that obtains relatively.When the consecutive points of a predetermined level is exceeded wherein surpassed a predetermined value to the difference of the distance of the first camera head 31, significantly drop appearred in this image analysing computer module 124 judgement these road surfaces, the place ahead.When drop appears significantly in road surface, the place ahead, execution in step S406.When drop does not appear significantly in road surface, the place ahead, execution in step S405.
In step S406, this execution module 125 produces an information when drop appears significantly in the road surface forwardly, and controls this display terminal 4 and show these informations, is used for prompting road surface, user the place ahead and occurs abnormal.
In step S407, this function selecting module 121 produces the place ahead width monitoring energizing signal.
In step S408, this image acquiring module 122 is obtained the place ahead environmental images of these the second camera head 32 picked-ups.
In step S409, this object detecting module 123 is utilized the object detecting technology, obtain scene image in the monitoring area scene image that obtains in each o'clock to the range information of the second camera head 32.
In step S410, this image analysing computer module 124 is obtained the vehicle front object in scene image, and the point that surpasses preset distance according to each o'clock of this scene image that obtains in the distance of the second camera head 32 zone that forms, calculate the transitable width in this place ahead, and judge that the transitable width in this place ahead is whether greater than the vehicle width of this setting.The current width that can pass through is during greater than the vehicle width of this setting, execution in step S410.The current width that can pass through is during less than the vehicle width of this setting, execution in step S411.
In step S411, this execution module 125 produces informations, and controls this display terminal 4 and show these informations, is used for prompting user the place ahead short of width current or stop.
It should be noted that at last, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although with reference to preferred embodiment, the present invention is had been described in detail, those of ordinary skill in the art is to be understood that, can modify or be equal to replacement technical scheme of the present invention, and not break away from the spirit and scope of technical solution of the present invention.
Claims (10)
1. a vehicle assisted system, can carry out the multiple road detecting function, it is characterized in that, this system comprises:
One image acquiring module, this image acquiring module are used for obtaining the scene image of some camera head picked-ups, and this scene image comprises that the subject each point is to the range information between corresponding camera head;
One object detecting module, this object detecting module are used for utilizing the object detecting technology, obtain scene image in the scene image that obtains in each point to the range information between corresponding camera head;
One image analysing computer module, this image analysing computer module are used for each point according to this scene image that obtains to the range information between corresponding camera head, judge whether surrounding environment and the condition of road surface of Vehicle Driving Cycle of the corresponding detecting of this road surface detecting function be abnormal; And
One execution module, this execution module are used for occurring when abnormal when surrounding environment and condition of road surface, generation signal prompt user.
2. vehicle assisted system as claimed in claim 1, it is characterized in that: the scene image of these several camera head picked-ups is used for different road surface detecting functions, this system also comprises a function selecting module, this function selecting module is used for providing a plurality of road surfaces detecting function to select for the user, and a road surface detecting function of selecting is determined in the operation that is used for the response user, this image acquiring module is obtained the scene image that camera head that one in several camera heads are used for the road surface detecting function of this selection absorbs, this image analysing computer module judges based on this scene image whether surrounding environment and the condition of road surface of the Vehicle Driving Cycle that the road surface detecting function correspondence of this selection is detected be abnormal.
3. vehicle assisted system as claimed in claim 2, it is characterized in that: this road surface detecting function comprises a pavement state monitoring function, this function selecting module is used for the operation of response user's selection pavement state monitoring function, produce a condition of road surface monitoring energizing signal, this image acquiring module is obtained road surface image to camera head picked-up that should the pavement state monitoring function according to this condition of road surface monitoring energizing signal, this image analysing computer module according to this range information relatively adjacent two points arbitrarily of this pavement image that obtains to the distance of corresponding camera head, and to determine that the road surface occurs when the difference of the distance of corresponding camera head surpasses a predetermined value abnormal when the consecutive points of a predetermined level is exceeded wherein, this execution module produces a signal prompt user.
4. vehicle assisted system as claimed in claim 2, it is characterized in that: this road surface detecting function also comprises the place ahead width monitoring function, this function selecting module is used for the operation of selection the place ahead width monitoring function of response user, produce the place ahead width monitoring function energizing signal, this image acquiring module is obtained environmental images to the place ahead of camera head picked-up that should the place ahead width monitoring function according to this place ahead width monitoring function energizing signal, the zone that this image analysing computer module forms according to each point that surpasses preset distance in the distance of corresponding camera head in this scene image that obtains, calculate the transitable width in this place ahead, and judge that the transitable width in this place ahead is whether less than the width of this vehicle, when the transitable width in this place ahead during less than the width of this vehicle, this execution module produces the signal prompt user.
5. vehicle assisted system as claimed in claim 1, it is characterized in that: this system comprises that also a system arranges module, this system arranges the width that this vehicle is set in input that module is used for the response user.
6. a vehicle householder method, can carry out the road surface detecting function, it is characterized in that, the method comprises:
Obtain the scene image of some camera head picked-ups, this scene image comprises that the subject each point is to the range information between corresponding camera head;
Utilize the object detecting technology, obtain scene image in the scene image that obtains in each point to the range information between corresponding camera head;
To the range information between corresponding camera head, judge whether surrounding environment and the condition of road surface of Vehicle Driving Cycle of the corresponding detecting of this road surface detecting function be abnormal according to the each point of this scene image that obtains;
When surrounding environment and condition of road surface occur producing the signal prompt user when abnormal.
7. vehicle householder method as claimed in claim 6, the scene image of these several camera heads picked-ups is respectively used to different road surface detecting functions, it is characterized in that, and the method also comprises:
Provide a plurality of road surfaces detecting function to select for the user, and a road surface detecting function of selecting is determined in response user's operation;
Obtain the scene image that camera head that one in several camera heads are used for the road surface detecting function of this selection absorbs;
Scene image based on this picked-up judges whether surrounding environment and the condition of road surface of the Vehicle Driving Cycle that the road surface detecting function correspondence of this selection is detected be abnormal.
8. vehicle householder method as claimed in claim 7, this road surface detecting function comprises a pavement state monitoring function, it is characterized in that, the method also comprises:
The operation of response user's selection pavement state monitoring function produces a condition of road surface monitoring energizing signal;
Obtain scene image corresponding to the picked-up of the camera head of this pavement state monitoring function according to this condition of road surface monitor signal;
According to this range information relatively adjacent two points arbitrarily of this pavement image that obtains to the distance of corresponding camera head, and determine that the road surface occurs extremely when the consecutive points of a predetermined level is exceeded wherein when the difference of the distance of corresponding camera head surpasses a predetermined value;
Produce a signal prompt user.
9. vehicle householder method as claimed in claim 7, this road surface detecting function comprises a width monitoring function, it is characterized in that, the method also comprises:
The operation of response user's selection width monitoring function produces a width monitoring function energizing signal;
Obtain the place ahead environmental images to camera head picked-up that should the width monitoring function according to this width monitoring function energizing signal;
According to the zone that each point that surpasses preset distance in the distance of the camera head of correspondence in this scene image that obtains forms, calculate the transitable width in this place ahead, and judge that the transitable width in this place ahead is whether less than the width of this vehicle;
During less than the width of this vehicle, produce the signal prompt user when the width of this road.
10. vehicle householder method as claimed in claim 6, is characterized in that, the method also comprises:
The width of this vehicle is set in response user's input.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110394905.8A CN103129464B (en) | 2011-12-02 | Vehicle assisted system and vehicle auxiliary method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110394905.8A CN103129464B (en) | 2011-12-02 | Vehicle assisted system and vehicle auxiliary method |
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| Publication Number | Publication Date |
|---|---|
| CN103129464A true CN103129464A (en) | 2013-06-05 |
| CN103129464B CN103129464B (en) | 2016-12-14 |
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| CN104163136A (en) * | 2014-08-26 | 2014-11-26 | 无锡市恒通智能交通设施有限公司 | Intelligent automobile traveling assisting method |
| CN104463145A (en) * | 2014-12-23 | 2015-03-25 | 上海斐讯数据通信技术有限公司 | Electronic equipment and obstacle reminding method |
| WO2015112481A1 (en) * | 2014-01-21 | 2015-07-30 | Elwha Llc | Vehicle collision management responsive to traction conditions in an avoidance path |
| CN106043125A (en) * | 2016-06-08 | 2016-10-26 | 宋勇 | Intelligent visible path navigation method |
| CN104553983B (en) * | 2013-10-24 | 2017-02-15 | 鸿富锦精密工业（深圳）有限公司 | Vehicle pre-warning system and vehicle pre-warning method |
| WO2017096821A1 (en) * | 2015-12-08 | 2017-06-15 | 乐视控股（北京）有限公司 | Driving safety detection method and apparatus |
| CN108089233A (en) * | 2016-11-21 | 2018-05-29 | 福特全球技术公司 | Pit-hole detecting system and method |
| CN108367679A (en) * | 2015-12-22 | 2018-08-03 | 大众汽车有限公司 | The vehicle of the operating system operated with image detecting element and device used for vehicles and the method for running the operating system |
| CN109677326A (en) * | 2017-10-18 | 2019-04-26 | 鸿海精密工业股份有限公司 | A kind of unmanned intelligent automobile |
| CN110930688A (en) * | 2018-09-19 | 2020-03-27 | 奥迪股份公司 | Planning method and device for vehicle driving path, computer equipment and storage medium |
| CN112009356A (en) * | 2015-04-10 | 2020-12-01 | 麦克赛尔株式会社 | Image projection apparatus and method |
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| CN104553983B (en) * | 2013-10-24 | 2017-02-15 | 鸿富锦精密工业（深圳）有限公司 | Vehicle pre-warning system and vehicle pre-warning method |
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| CN108089233A (en) * | 2016-11-21 | 2018-05-29 | 福特全球技术公司 | Pit-hole detecting system and method |
| CN108089233B (en) * | 2016-11-21 | 2021-03-30 | 福特全球技术公司 | Pit hole detection system and method |
| CN109677326A (en) * | 2017-10-18 | 2019-04-26 | 鸿海精密工业股份有限公司 | A kind of unmanned intelligent automobile |
| CN110930688A (en) * | 2018-09-19 | 2020-03-27 | 奥迪股份公司 | Planning method and device for vehicle driving path, computer equipment and storage medium |
| CN110930688B (en) * | 2018-09-19 | 2022-01-14 | 奥迪股份公司 | Planning method and device for vehicle driving path, computer equipment and storage medium |
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