CN104442812A - Automobile lane change assist detection device and method - Google Patents
Automobile lane change assist detection device and method Download PDFInfo
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- CN104442812A CN104442812A CN201310487563.3A CN201310487563A CN104442812A CN 104442812 A CN104442812 A CN 104442812A CN 201310487563 A CN201310487563 A CN 201310487563A CN 104442812 A CN104442812 A CN 104442812A
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- 238000000034 method Methods 0.000 title abstract description 6
- 238000009413 insulation Methods 0.000 claims description 39
- 241000209094 Oryza Species 0.000 claims description 10
- 235000007164 Oryza sativa Nutrition 0.000 claims description 10
- 235000009566 rice Nutrition 0.000 claims description 10
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- 238000010586 diagram Methods 0.000 description 17
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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Abstract
The invention discloses an automobile lane change assist detection device and method. Outside rearview mirror blind zones of an automobile are divided into front portions and rear portions. The detection device comprises a processor, first sensors and second sensors, wherein the first sensors and the second sensors are installed at the rear ends of the side faces of the automobile and connected with the processor. The first sensors are used for detecting the front portions of the outside rearview mirror blind zones of the automobile, the detection distance of the first sensors ranges from 3 meters to 4 meters, and the angle between the first sensors and the longitudinal centerline of the automobile ranges from 70 degrees to 110 degrees. The second sensors are used for detecting the rear portions of the outside rearview mirror blind zones of the automobile, the detection distance of the second sensors ranges from 4 meters to 9 meters, and the angle between the second sensors and the longitudinal centerline of the automobile ranges from 20 degrees to 40 degrees. All the outside rearview mirror blind zones are covered with the detection range, various driving states that the automobile is overtaken, overtakes other vehicles, meets other vehicles, and runs, makes a bend and turns around along isolation strips and greenbelts are identified accurately, and the practicality, safety and reliability of a system are improved.
Description
Technical field
The present invention relates to a kind of automobile lane change aided detection device and detection way.
Background technology
There is blind area M(as shown in Figure 1 in automobile outer rear-view mirror), when having vehicle in the M of blind area, chaufeur is often difficult to realize, so when lane change, very easily causes and the collision happens in the M of blind area.If at inclement weathers such as misty rain snow skies, hazard level can increase further.
Automobile lane change aided detection device in the market, has plenty of and adopts microwave sounding technology, has plenty of and adopts ultrasonic fault detection technology, has plenty of and adopts image Detection Techniques:
Detection mode 1: please refer to Fig. 2, popped one's head in by the short range of side every after car and detect the fore-end of blind area, detection range is 3-4 rice.The subject matter existed: one, when vehicle is turned on turn signal lamp, incisor path is near curb, or incisor path is near insulation strip, green belt etc., as shown in Figure 3, system alarm, produces erroneous judgement, wrong report phenomenon; Two, investigative range is limited, only the fore-end of coverage hole, if enter blind area rear end part just like the object of motor bike size, as shown in Figure 4, system will detect less than; Three, be difficult to differentiate passed vehicle and meeting two kinds of driving states (without the need to reporting to the police during meeting).
Detection mode 2: please refer to Fig. 5, the probe detection blind area, blind area of both sides after car, detection range is 3-4 rice, and investigative range covers the fore-end of rear view mirror blind zone; The auxiliary probe of the front both sides of car carries out road, environment detection, and ancillary system judges, strengthens accuracy, the reliability of system.The subject matter existed: one, when vehicle is when turning around along insulation strip, green belt or turn round, before car, auxiliary probe very easily loses target, detection is less than insulation strip, green belt, and blind area probe still detects insulation strip, green belt after car, as shown in Figure 6, system thinks it is now precarious position, carries out pointing out, reporting to the police, like this, erroneous judgement, wrong report is just defined; Two, investigative range is limited, and investigative range only covers the fore-end of rear view mirror blind zone, if enter blind area rear end part just like the object of motor bike size, system looks less than; Three, front auxiliary probe, rear blind spot probe are with when detecting the object of the length such as truck or bus when entering, and system is thought that system is not pointed out along insulation strip, green belt motoring condition by mistake, do not reported to the police, and produces and fails to report phenomenon.
Detection mode 3: please refer to Fig. 7, adopts microwave sounding technology, and detection range is very far away, and investigative range, except covering outside rear-view mirror blind area, has also covered the segment distance that blind area is very long after car, as 30 meters-100 meters simultaneously.The subject matter existed: when one, incisor path being travelled by insulation strip, green belt, as shown in Figure 8, system also easily produces erroneous judgement, wrong report, the prompting that work makes mistake, warning; If just started working during two system low speed, multiple road conditions of getting on the bus on city road, system detects both sides, rear vehicle often, and make system be in prompting, alarm condition frequently, this creates excessive interference to chaufeur normal driving, causes nervous; Three, detection range is far away, automobile and track shape have a certain degree and are travelling, or on bend, even if travel on the bend that turning radius is larger, system very easily detects the vehicle at this rear, track, or measure the vehicle of being separated by the third lane in a track with this track, form survey by mistake, erroneous judgement, wrong report.
Detection mode 4, adopt image Detection Techniques, by image, image processing, external visor blind area vehicle carries out detecting, identifying.The subject matter existed: the impact one, being subject to light change, meet heavy rain, dense fog, heavy snow sky, systemic-function will lose substantially; Two, if camera is by the fierce direct projection of the sun, function will lose substantially; Three, at night, if rear vehicle lamp light loss is bad, and street lighting is poor, and camera also may identify the vehicle less than side at all.
Summary of the invention
The invention provides a kind of automobile lane change aided detection device and detection way, which overcome the deficiency existing for background technology.The technical solution adopted for the present invention to solve the technical problems is:
A kind of automobile lane change aided detection device, automobile outer rear-view mirror blind area is divided into forward and backward two parts, detector comprises treater and is arranged on first sensor and second sensor of automobile side rear end, and this first sensor is connected with this treater with this second sensor:
This first sensor is used for detecting the leading portion of automobile outer rear-view mirror blind area, and the detection range of this first sensor is 3-4 rice, be 70-110 degree with the angle of automobile longitudinal line of centers;
This second sensor is used for detecting the trailing portion of automobile outer rear-view mirror blind area, and the detection range of this second sensor is 4-9 rice, be 20-40 degree with the angle of automobile longitudinal line of centers.
Among one preferred embodiment: this first sensor is microwave remote sensor or ultrasonic transduter; This second sensor is microwave remote sensor or ultrasonic transduter.
Among one preferred embodiment: automobile advances and the speed of a motor vehicle >=5KM/H, and this automobile lane change aided detection device is started working.
A kind of automobile lane change aided detection way utilizing automobile lane change aided detection device to realize, automobile outer rear-view mirror blind area is divided into forward and backward two parts, automobile lane change aided detection device comprises treater and is arranged on first sensor and second sensor of automobile side rear end, and this first sensor is connected with this treater with this second sensor:
This first sensor is used for detecting the leading portion of automobile outer rear-view mirror blind area, and the detection range of this first sensor is 3-4 rice, be 70-110 degree with the angle of automobile longitudinal line of centers;
This second sensor is used for detecting the trailing portion of automobile outer rear-view mirror blind area, and the detection range of this second sensor is 4-9 rice, be 20-40 degree with the angle of automobile longitudinal line of centers;
The time length that this first sensor of A1 first measures object appearance is T1, and then, this second sensor does not measure object, and the judgement of overtaking other vehicles made by this treater;
It is T1 that this first sensor of A2 first measures time length that object occurs, then, the time length that this second sensor also measures object appearance is T1, and this treater is made and being overtaken other vehicles or the judgement of meeting;
The time length that this first sensor of B1 first measures object appearance is T1, then, this first sensor, this second sensor arbitrary or both to intersect or measure time length that object occurs simultaneously be T2, the judgement travelling along green belt, insulation strip or turn round along green belt, insulation strip and travel or turn around traveling along green belt, insulation strip made by this treater.
The time length that this second sensor of C first measures object appearance is T1, and the judgement of passed vehicle made by this treater.
Among one preferred embodiment: this treater is made passed vehicle or travelled along green belt, insulation strip or turn round along green belt, insulation strip and travels or point out to chaufeur when green belt, insulation strip turn around the judgement travelled.
Among one preferred embodiment: this treater can make the prompting of weak information level, information level is pointed out, alarm level points out three kinds of alarm condition; Weak information level prompting is carried out when this treater is made and travelled along green belt, insulation strip or turn round along green belt, insulation strip and travel or turn around along green belt, insulation strip the judgement travelled; Information level prompting is carried out when the judgement of passed vehicle made by this treater; When the judgement of passed vehicle made by this treater, and this treater detects that automobile turn signal lamp is opened, and carries out alarm level prompting.
Among one preferred embodiment: under C mode, the time length that this second sensor first measures object appearance is T1, then, if this first sensor, this second sensor all do not measure object, the prompting of this treater information level does not measure object to this second sensor; If this first sensor, this second sensor are arbitrary or both to intersect or measure time length that object occurs simultaneously be T1, this treater information level information level is pointed out to this first sensor, this second sensor and is not all measured object; If this first sensor, this second sensor are arbitrary or both to intersect or measure time length that object occurs simultaneously be T2, the prompting of this treater information level changes into weak information level after 2-6 second and points out.
Among one preferred embodiment: under weak information level prompting state, if first sensor or the second sensor measure range data in the object diminished continuously, the weak information level prompting of this treater changes into information level prompting.
Among one preferred embodiment: this treater weak information level prompting 2-6 no longer pointed out after second.
Among one preferred embodiment: 0 < T1≤3 second, T2 >=3 second
The technical program is compared with background technology, and its tool has the following advantages:
1. automobile lane change aided detection device of the present invention and detection method, by arranging this first sensor, the second sensor, makes investigative range cover the whole blind area of outside rear-view mirror; By the cooperation of this first sensor, the second sensor, realize passed vehicle, overtake other vehicles, meeting, the identification accurately of various driving states such as travel, turn round, turn around along insulation strip, green belt, effectively prevent the phenomenon generation of judging by accident, reporting by mistake, failing to report, improve the practicality of system, safety, reliability.
2., because apparatus of the present invention adopt microwave or ultrasonic fault detection technology, have perfect weather compatible with environment, practicality, reliability are high.
3. carry out weak information level prompting when this treater is made and travelled along green belt, insulation strip or turn round along green belt, insulation strip and travel or turn around along green belt, insulation strip the judgement travelled, avoid interference chaufeur.
4. under weak information level prompting state, if first sensor or the second sensor measure range data in the object diminished continuously, illustrate that the object of similar motor bike size enters blind area, the weak information level prompting of this treater changes into information level prompting, reminds chaufeur to dodge in time.
5. this treater weak information level prompting 2-6 no longer pointed out after second, avoided interference chaufeur.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described.
Fig. 1 depicts automobile outer rear-view mirror blind area schematic diagram.
Fig. 2 to depict in prior art the schematic diagram of detection mode in first.
Fig. 3 to depict in prior art detection mode in first and travels schematic diagram by road (insulation strip, green belt).
When Fig. 4 to depict in prior art that in first, detection mode travels, motor bike enters the schematic diagram of blind area.
Fig. 5 to depict in prior art the schematic diagram of detection mode in second.
Fig. 6 to depict in prior art detection mode in second and travels schematic diagram by road (insulation strip, green belt).
Fig. 7 to depict in prior art the schematic diagram of detection mode in the 3rd.
Fig. 8 to depict in prior art detection mode in the 3rd and travels schematic diagram by road (insulation strip, green belt).
Fig. 9 depicts the schematic diagram of a kind of automobile lane change of the present invention aided detection device.
Figure 10 depicts another schematic diagram of a kind of automobile lane change of the present invention aided detection device.
Figure 11 depicts automobile lane change aided detection device of the present invention and to overtake other vehicles schematic diagram.
Figure 12 depicts automobile lane change aided detection device meeting schematic diagram of the present invention.
Figure 13 depicts automobile lane change aided detection device of the present invention and travels schematic diagram by road (insulation strip, green belt).
Figure 14 depicts automobile lane change aided detection device of the present invention along road (insulation strip, green belt) turning driving schematic diagram.
Figure 15 depicts automobile lane change aided detection device of the present invention and turns around to travel schematic diagram along road (insulation strip, green belt).
Figure 16 depicts automobile lane change aided detection device passed vehicle schematic diagram of the present invention.
Figure 17 depicts automobile lane change aided detection device of the present invention has motor bike to enter schematic diagram along road (insulation strip, green belt) traveling.
Detailed description of the invention
Please refer to Fig. 9 and Figure 10, automobile outer rear-view mirror blind area is divided into leading portion M1 and trailing portion M2.
A kind of automobile lane change aided detection device of the present invention, comprise a treater (not shown), be arranged on first sensor 10 and one second sensor 20 of automobile side rear end, this first sensor 10 is connected with this treater with this second sensor 20.
This treater, for receiving this first sensor 10 and the detection data of this second sensor 20, is judged current driving states, and is pointed out chaufeur.This treater can make the prompting of weak information level, information level is pointed out, alarm level points out three kinds of alarm condition.Certainly, the prompting rank of this treater, method, kind unrestricted.As, in alert levels, this treater also can not carry out weak information level prompting or alarm level prompting as required; Prompting, time of fire alarming length also can adjust as required.
This first sensor 10 is for detecting the leading portion M1 of blind area.This first sensor 10 is microwave remote sensor or ultrasonic transduter.The detection range L1 of this first sensor 10 is 3-4 rice, detection angle β 1 is 60-140 degree, be 70-110 degree with the angle γ 1 of automobile longitudinal line of centers.
This second sensor 20 is for detecting the trailing portion M2 of blind area.This second sensor 20 is microwave remote sensor or ultrasonic transduter.The detection range L2 of this second sensor 20 is 4-9 rice, detection angle β 2 is 20-60 degree, be 20-40 degree with the angle γ 2 of automobile longitudinal line of centers.
This automobile lane change aided detection device automobile advance and the speed of a motor vehicle >=5KM/H start working.Certainly, also can according to the demand of client, a pre-defined vehicle velocity V 1, as long as speed >=V1 that automobile advances, this automobile lane change aided detection device is just started working, and the size of V1 can be arranged between 5KM/H to 30KM/H according to different clients.
During the work of this automobile lane change aided detection device, first set two time range T1 and T2,0 < T1≤3 second, T2 >=3 second.Certainly, the size of described T1 and T2 can adjust as required.
During driving:
A1 pattern: the time length that this first sensor 10 first measures object appearance is T1, and then, this second sensor 20 does not measure object, as shown in figure 11, illustrate that this car is wanted to surmount other vehicles, and overtaking process does not complete, the judgement of overtaking other vehicles made by this treater.During owing to overtaking other vehicles, chaufeur can observe directly other vehicles, and therefore, this treater can not make prompting.
A2 pattern: the time length that this first sensor 10 first measures object appearance is T1, then, the time length that this second sensor 20 also measures object appearance is T1, illustrate that this car is wanted to surmount other vehicles, and overtaking process completes; Or as shown in figure 12, illustrate that this car and other vehicles are met, this treater is made and being overtaken other vehicles or the judgement of meeting.Owing to overtaking other vehicles, meeting time chaufeur can observe directly other vehicles, therefore, this treater can not make prompting.
B1 pattern: the time length that this first sensor 10 first measures object appearance is T1, then, this first sensor 10, this second sensor 20 arbitrary or both intersect or measure simultaneously object occur time length be T2, illustrate that longer object appears continuously in front, this treater is made and is travelled (as shown in figure 13) or the judgement of turn round along green belt, insulation strip travelings (as shown in figure 14) or the traveling (as shown in figure 15) that turns around along green belt, insulation strip along green belt, insulation strip.Now, this treater only needs prompting navigating mate to note roadside width, and therefore, this treater only needs to make the prompting of weak information level, certainly, also can not point out.
C mode: the time length that this second sensor 20 first measures object appearance is T1, and illustrated that vehicle is wanted to surmount this car, as shown in figure 16, the judgement of passed vehicle made immediately by this treater.Now danger is higher, and information level prompting made immediately by this treater, shows that rear car is wanted to overtake other vehicles.If now this treater detects that automobile turn signal lamp is opened, information level prompting is changed into alarm level prompting by this treater, and prompting navigating mate does not want lane change.Can separate ground, if this treater does not carry out signal acquisition to turn signal lamp or has little time to make respective reaction, then this treater only carries out information level prompting, does not carry out alarm level prompting, also can realize the object warned.
Once the time length that this second sensor 20 first measures object appearance is T1, just enter into C mode, and then: if this first sensor 10, this second sensor 20 all do not measure object, illustrate that rear vehicle is abandoned overtaking other vehicles, the prompting of this treater information level does not measure object to this second sensor 20; If this first sensor 10, this second sensor 20 are arbitrary or both intersect or measure simultaneously object occur time length be T1, illustrate that other rear vehicle complete to overtake other vehicles, the prompting of this treater information level does not all measure object to this first sensor 10, this second sensor 20; If this first sensor 10, this second sensor 20 are arbitrary or both intersect or measure simultaneously object occur time length be T2, illustrate that rear car exceedes with relatively slow speed, or do not complete and overtake other vehicles, rest within the scope of this car blind area, this treater information level prompting 2-6 changes into the prompting of weak information level after second.
Please refer to Figure 17, if this treater judges that this car travels along green belt, insulation strip, and made weak information level prompting, and now, motor bike is had to want to surmount this car, under weak information level prompting state, if first sensor 10 or the second sensor 20 measure range data in the object diminished continuously, the weak information level prompting of this treater changes into information level prompting.
Can as required, set this treater and no longer point out after weak information level prompting 2-6 second, avoid interference navigating mate.
The above, be only present pre-ferred embodiments, therefore can not limit scope of the invention process according to this, the equivalence change namely done according to the scope of the claims of the present invention and description with modify, all should still belong in scope that the present invention contains.Meanwhile, lane change aided detection device of the present invention and detection way are suitable for other self-propelled vehiclees such as motor bike too.
Claims (10)
1. an automobile lane change aided detection device, it is characterized in that: automobile outer rear-view mirror blind area is divided into forward and backward two parts, detector comprises treater and is arranged on first sensor and second sensor of automobile side rear end, and this first sensor is connected with this treater with this second sensor:
This first sensor is used for detecting the leading portion of automobile outer rear-view mirror blind area, and the detection range of this first sensor is 3-4 rice, be 70-110 degree with the angle of automobile longitudinal line of centers;
This second sensor is used for detecting the trailing portion of automobile outer rear-view mirror blind area, and the detection range of this second sensor is 4-9 rice, be 20-40 degree with the angle of automobile longitudinal line of centers.
2. a kind of automobile lane change aided detection device according to claim 1, is characterized in that: this first sensor is microwave remote sensor or ultrasonic transduter; This second sensor is microwave remote sensor or ultrasonic transduter.
3. a kind of automobile lane change aided detection device according to claim 1, is characterized in that: automobile advances and the speed of a motor vehicle >=5KM/H, and this automobile lane change aided detection device is started working.
4. the automobile lane change aided detection way utilizing claim 1 or the automobile lane change aided detection device described in 2 or 3 to realize, is characterized in that, comprise pattern:
The time length that this first sensor of A1 first measures object appearance is T1, and then, this second sensor does not measure object, and the judgement of overtaking other vehicles made by this treater;
It is T1 that this first sensor of A2 first measures time length that object occurs, then, the time length that this second sensor also measures object appearance is T1, and this treater is made and being overtaken other vehicles or the judgement of meeting;
The time length that this first sensor of B1 first measures object appearance is T1, then, this first sensor, this second sensor arbitrary or both to intersect or measure time length that object occurs simultaneously be T2, the judgement travelling along green belt, insulation strip or turn round along green belt, insulation strip and travel or turn around traveling along green belt, insulation strip made by this treater.
The time length that this second sensor of C first measures object appearance is T1, and the judgement of passed vehicle made by this treater.
5. a kind of automobile lane change aided detection way according to claim 4, is characterized in that: this treater is made passed vehicle or travelled along green belt, insulation strip or turn round along green belt, insulation strip and travels or point out to chaufeur when green belt, insulation strip turn around the judgement travelled.
6. a kind of automobile lane change aided detection way according to claim 5, is characterized in that: this treater can make the prompting of weak information level, information level is pointed out, alarm level points out three kinds of alarm condition; Weak information level prompting is carried out when this treater is made and travelled along green belt, insulation strip or turn round along green belt, insulation strip and travel or turn around along green belt, insulation strip the judgement travelled; Information level prompting is carried out when the judgement of passed vehicle made by this treater; When the judgement of passed vehicle made by this treater, and this treater detects that automobile turn signal lamp is opened, and carries out alarm level prompting.
7. a kind of automobile lane change aided detection way according to claim 6, it is characterized in that: under C mode, the time length that this second sensor first measures object appearance is T1, then, if this first sensor, this second sensor all do not measure object, the prompting of this treater information level does not measure object to this second sensor; If this first sensor, this second sensor are arbitrary or both to intersect or measure time length that object occurs simultaneously be T1, this treater information level information level is pointed out to this first sensor, this second sensor and is not all measured object; If this first sensor, this second sensor are arbitrary or both to intersect or measure time length that object occurs simultaneously be T2, the prompting of this treater information level changes into weak information level after 2-6 second and points out.
8. a kind of automobile lane change aided detection way according to claim 6, it is characterized in that: under weak information level prompting state, if first sensor or the second sensor measure range data in the object diminished continuously, the weak information level prompting of this treater changes into information level prompting.
9. a kind of automobile lane change aided detection way according to claim 6 or 7 or 8, is characterized in that: this treater weak information level prompting 2-6 no longer pointed out after second.
10. a kind of automobile lane change aided detection way according to claim 4 or 5 or 6 or 7 or 8, is characterized in that: 0 < T1≤3 second, T2 >=3 second.
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| CN105109480A (en) * | 2015-08-24 | 2015-12-02 | 奇瑞汽车股份有限公司 | Intelligent u-turn method and device |
| CN105539447A (en) * | 2015-12-29 | 2016-05-04 | 大连楼兰科技股份有限公司 | Combined waveform based signal processing method for automobile lane changing assisting system and automobile lane changing assisting system |
| CN106314327A (en) * | 2016-08-30 | 2017-01-11 | 陈武强 | Detection device and detection method of car ultrasonic blind area for preventing ground measuring error and misinformation |
| CN106353757A (en) * | 2016-08-30 | 2017-01-25 | 陈武强 | Automotive blind spot detection system and method adopting microwave radar sensor and ultrasonic sensors |
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| CN109878446A (en) * | 2019-01-22 | 2019-06-14 | 南京工程学院 | A kind of overtaking other vehicles based on more radars assists early warning system and control method |
| CN110509842A (en) * | 2019-08-15 | 2019-11-29 | 重庆长安汽车股份有限公司 | A kind of detection of vehicle low speed segment blind area, lane-change householder method and system |
| CN111098809A (en) * | 2019-12-31 | 2020-05-05 | 长城汽车股份有限公司 | Dormancy control method and device and vehicle |
| CN114506324A (en) * | 2020-10-23 | 2022-05-17 | 上海汽车集团股份有限公司 | Lane decision method and related device |
| CN114852099A (en) * | 2021-02-03 | 2022-08-05 | 郑州宇通客车股份有限公司 | Method for predicting lane changing behavior of motor vehicle |
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