CN104553982A - Driving aid and driving aiding method - Google Patents
Driving aid and driving aiding method Download PDFInfo
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- CN104553982A CN104553982A CN201310499176.1A CN201310499176A CN104553982A CN 104553982 A CN104553982 A CN 104553982A CN 201310499176 A CN201310499176 A CN 201310499176A CN 104553982 A CN104553982 A CN 104553982A
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- 238000006243 chemical reaction Methods 0.000 description 1
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- 239000004973 liquid crystal related substance Substances 0.000 description 1
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- 238000007493 shaping process Methods 0.000 description 1
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Abstract
The invention relates to a driving aid mounted on a vehicle and capable of assisting the vehicle in passing a height limit section. The driving aid comprises a first shooting unit (2), a driving aid ECU (electronic controller unit) and warning units (4 and 5); the first shooting unit (2) is used for shooting traffic signs in the heading direction of the vehicle and in front of the vehicle; the driving aid ECU (1) is used for recognizing images of the traffic signs shot by the first shooting unit (2); if the traffic signs are about height limit, height limit values indicated by the traffic signs are acquired and compared to an actual height value of the vehicle; the warning units send out warnings if the actual height value of the vehicle is higher than the height limit values.
Description
Technical field
The present invention relates to a kind of drive assistance device and driving assistance method of vehicle, particularly relate to a kind of can monitor vehicle passing through the drive assistance device of Limited height and driving assistance method on one's own initiative.
Background technology
In China, increasing people likes driving large-sized automobile, such as cross-country car, sport utility vehicle (SUV) and light commercial vehicle (Van).Sometimes, on some road or the below of bridge, can limit the height of traffick, the vehicle exceeding the height represented by limitation in height traffic sign cannot pass through.For chaufeur, be sometimes difficult to estimate whether the vehicle of oneself has exceeded the height that traffic sign identifies, when being especially also equipped with other appendages (such as baggage container, bicycle) on the baggage rack of roof.In addition, sometimes chaufeur does not even note the size that vehicle is larger and directly by below the road with limitation in height or bridge.The appendage that above situation all can cause vehicle or roof to carry is damaged.
Patent documentation US20040220724 discloses a kind of free space monitoring system of vehicle, is used for the environment space of monitor vehicle direct of travel.It uses the view data of the vehicle-periphery on camera system registration of vehicle direct of travel, and in signal processing unit, calculate three-dimensional (comprising width and the height) free space that vehicle barrier-free passes through required further, then notify whether vehicle driver has enough free spaces to pass through for vehicle barrier-free.
The recognition methods of multiple traffic sign is there is in prior art.Such as, patent documentation US20130077830 discloses a kind of recognition methods of traffic sign, comprise: color space conversion step, the pending image of input is converted to hsv color spatial image: filtration step, scope is passed through according to each traffic sign Standard Colors, filtering the hsv color spatial image of pending image, generating connected domain based on the image-region by filtering; Get rid of step, according to the region in the connected domain that the eliminating of traffic sign standard rule generates not being traffic sign, all the other connected domains are as traffic sign candidate region: identification step, identify corresponding traffic sign according to the feature of traffic sign candidate region.
Summary of the invention
The invention provides a kind of drive assistance device and the driving assistance method that make use of Traffic Sign Recognition technology.
Drive assistance device of the present invention is equipped on vehicle, vehicle is assisted by the section with limitation in height, comprise: the first shooting unit, on shooting vehicle direct of travel, be positioned at the traffic sign of vehicle front: drive auxiliary ECU, identify the image of the traffic sign of the first shooting unit photographs, when traffic sign is limitation in height traffic sign, obtain the limitation in height numerical value represented by limitation in height traffic sign, and by limitation in height numerical value compared with the actual height numerical value of vehicle: and warning unit, give a warning when the actual height numerical value of vehicle is greater than limitation in height numerical value.
Preferably, drive assistance device of the present invention also comprises the second shooting unit taken the top area of outside vehicle, drive the image that auxiliary ECU identifies the top area of the second shooting unit photographs, and the increase height number after having obtained appendage vehicle boarded, drive auxiliary ECU according to the actual height numerical value increasing height number and the vehicle oneself height numerical calculation that prestores and go out vehicle.
According to drive assistance device of the present invention, when chaufeur is difficult to estimate whether the actual height of oneself vehicle has exceeded height represented on limitation in height traffic sign, when being especially also equipped with other appendages (such as baggage container, bicycle) on the baggage rack of roof, driver vehicle can be pointed out highly whether to exceed Limited height, chaufeur warning is given, therefore, it is possible to the appendage avoiding the roof of vehicle or roof to carry is damaged when exceeding Limited height.
In addition, according to drive assistance device of the present invention, utilize the appendage that the second shooting unit photographs vehicle roof carries, and calculate owing to having carried the height that this appendage increases, therefore, it is possible to accurately draw the actual height of vehicle.
Driving assistance method of the present invention is assisted by the section with limitation in height vehicle, comprises the following steps: the first shooting step, on shooting vehicle direct of travel, to be positioned at vehicle front traffic sign; Image processing step, be identified in the image of the traffic sign taken in the first shooting step, when traffic sign is limitation in height traffic sign, obtain the limitation in height numerical value represented by limitation in height traffic sign: comparison step, by limitation in height numerical value compared with the actual height numerical value of vehicle; And warning step, give a warning when the actual height numerical value of vehicle is greater than limitation in height numerical value.
Preferably, driving assistance method of the present invention also comprises the second shooting step of the top area of shooting outside vehicle: and calculation procedure, for the actual height numerical value obtaining vehicle, the image of the top area of taking in step is taken by image recognizing step identification second, and the increase height number after having obtained appendage vehicle boarded, according to the actual height numerical value increasing height number and the vehicle oneself height numerical calculation that prestores and go out vehicle in calculation procedure.
According to driving assistance method of the present invention, the effect identical with the drive assistance device of the invention described above can be obtained.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of an example of the structure of the drive assistance device representing present embodiment.
Fig. 2 represents that the diagram of circuit of an example of the treatment scheme of carrying out in ECU is assisted in the driving of present embodiment.
Fig. 3 is the diagram of circuit be described the process in the step S7 of Fig. 2.
Nomenclature
1 drives auxiliary ECU
2 first photographic cameras
3 second photographic cameras
4 read out instruments
5 voice outputs
Detailed description of the invention
Hereinafter, with reference to the accompanying drawings of the preferred embodiment of the present invention.
First, drive assistance device involved in the present invention is described.In the present embodiment, be equipped on vehicle (in the present embodiment, being assumed to car) for example with this drive assistance device to be described.Fig. 1 is the schematic diagram of an example of the structure of the drive assistance device representing present embodiment.
In FIG, drive assistance device possesses the auxiliary ECU (electronic control unit, Electrical Control Unit) 1 of driving.Drive auxiliary ECU1 to be made up of handling part (CPU), storage part (ROM, RAM), input/output interface (I/O), Analog to Digital Converter section (A/D) and the large-scale integration circuit such as shaping, driving.This driving assists ECU1 to be connected with the first photographic camera 2, second photographic camera 3, read out instrument 4 and voice output 5 etc.Drive auxiliary ECU1 to control being equipped on the read out instrument 4 of vehicle and voice output 5 etc. based on the information from the first photographic camera 2, second photographic camera 3 etc., the driving of driver assistance.
On vehicle direct of travel, to be positioned at vehicle front traffic sign taken by first photographic camera 2.First photographic camera 2 is such as taken with the front of specific time interval to vehicle, and taken image is inputed to the auxiliary ECU1 of driving.In addition, in order to take the front of vehicle, the position of the first photographic camera 2 is arranged on towards the direct of travel of vehicle and does not hinder driver-operated position, the dorsal part etc. of such as room mirror.First photographic camera 2 is equivalent to an example of the first shooting unit recorded in claim.
The top area of the second photographic camera 3 pairs of outside vehicles is taken, and takes the appendage that the baggage rack at top carries.Second photographic camera 3 is such as taken in the top area of specific time to outside vehicle, and taken image is inputed to the auxiliary ECU1 of driving.In addition, in order to the appendage of the top area to outside vehicle is taken, the position of the second photographic camera 3 is arranged on the inside of vehicle or the outside but direction of over top towards the space outerpace of vehicle, such as be arranged in the vehicle-body outer panel at top, or be arranged on Che Nei and taken by the skylight of roof.Second photographic camera 3 is equivalent to an example of the second shooting unit recorded in claim.
First photographic camera 2 and the second photographic camera 3 can be CCD camera, CMOS photographic camera, infrared camera etc.
Read out instrument 4 is arranged on can on the driver's seat riding in vehicle and on the position (central authorities of the instrument carrier panel before such as driver's seat) seen of the chaufeur of steering vehicle.Read out instrument 4 can be the display medias such as Liquid Crystal Display, light-emitting diode (LED), OLED display.Further, read out instrument 4 also can be other read out instruments such as head-up display (Head-Up Display), head-up display be Windshield before driver's seat a part on semi-transparent reflection mirror (reflecting glass) is set.And on this semi-transparent reflection mirror, fluorescence display is carried out in the virtual images such as information.Thus, the chaufeur of vehicle can be sitting on driver's seat and under the state of travel direction, confirm the information that is presented on read out instrument 4.
Voice output 5 provides various information to the chaufeur of vehicle in a voice form.In the present embodiment, voice output 5 inform chaufeur to from the corresponding warning of the instruction of driving auxiliary ECU1, information.Specifically, voice output 5 is the loud speakers etc. be arranged in vehicle.Voice output 5 is equivalent to an example of the warning unit recorded in claim.
Here, the example that the limitation in height of carrying out the auxiliary ECU1 of driving is assisted is described.
Drive the auxiliary image of ECU1 to the traffic sign that the first photographic camera 2 photographs process and identify, when the traffic sign that the first photographic camera 2 photographs is limitation in height traffic sign, obtain the limitation in height numerical value LH represented by limitation in height traffic sign by image recognition.Drive auxiliary ECU1 to process the appendicular image being positioned at the top area of outside vehicle that the second photographic camera 3 photographs, thus the increase height number IH after having obtained appendage vehicle boarded.Drive that auxiliary ECU1 carries out image procossing, the mode of identification and calculating is of the prior artly well known to a person skilled in the art mode etc.
In addition, in order to the increase height number IH after having obtained appendage vehicle boarded, the second photographic camera 3 is have employed in present embodiment, and the image that the second photographic camera 3 is taken is processed thus obtains increasing height number IH, but, the invention is not restricted to the image taking mechanism that photographic camera is such, also can use the sensor of other types, such as calculate the sensor of roof appendage height by obtaining position relationship, as radar etc.
Drive auxiliary ECU1 and possess storage part (not shown), in storage part, be previously stored with vehicle oneself height numerical value OH.This vehicle oneself height numerical value OH just can be preset in storage part when vehicle release.Drive auxiliary ECU1 according to vehicle oneself height numerical value OH and increase height number IH, calculate the actual height numerical value RH of vehicle.Under the top of vehicle is equipped with appendicular situation, the actual height numerical value RH of vehicle is vehicle oneself height numerical value OH and increase height number IH sum; Under appendicular situation is not carried at the top of vehicle, the actual height numerical value RH of vehicle is vehicle oneself height numerical value OH, and in addition, when the top of vehicle is provided with baggage rack, the height of this baggage rack also should be considered.
Drive auxiliary ECU1 by the actual height numerical value RH of vehicle that calculates compared with the limitation in height numerical value LH represented by limitation in height traffic sign.If the actual height numerical value RH of vehicle is greater than the limitation in height numerical value LH (RH>LH) represented by limitation in height traffic sign, namely when vehicle cannot by the section with limitation in height, drive auxiliary ECU1 and send instruction to read out instrument 4 and/or voice output 5, read out instrument 4 and/or voice output 5 send the warning of vision and/or the sense of hearing to chaufeur.
In the present embodiment, the mode simultaneously given a warning for read out instrument 4 and voice output 5 and given a warning by read out instrument 4 or voice output 5 is illustrated, but, the form of the warning sent to chaufeur is not limited to vision, the sense of hearing and their combination, in the scope that technology in this area can be expected, warning also may comprise other forms, such as based on the warning of sense of touch, as the vibrations etc. of bearing circle, alert package of the present invention is containing these all modes and their combination.
Below, an example of the treatment scheme of carrying out in ECU1 is assisted to be described with reference to the driving of Fig. 2 to the drive assistance device of present embodiment.Fig. 2 represents that the diagram of circuit of an example of the treatment scheme of carrying out in ECU is assisted in the driving of present embodiment.Treatment scheme shown in Fig. 2 is that the program put rules into practice by driving auxiliary ECU1 is carried out, and this regulated procedure is stored in the storage part driving auxiliary ECU1.And, treatment scheme shown in Fig. 2 be that power supply by driving auxiliary ECU1 is placed in ON (such as, the ignition lock carrying the vehicle of drive assistance device is unlocked) and start, and, that power supply by driving auxiliary ECU1 is placed in OFF (ignition lock such as, being equipped with the vehicle of drive assistance device is closed) and terminates.
First, in step sl, auxiliary ECU1 obtains vehicle configuration information from information of vehicles obtaining means (not shown) is driven.In step sl, driving auxiliary ECU1 from the vehicle configuration information that information of vehicles obtaining means obtains is such as the information etc. that the switch triggering limitation in height additional function is pressed by chaufeur.
In step s 2, drive auxiliary ECU1 to judge whether to start limitation in height additional function.Such as, drive auxiliary ECU1 whether to be pressed by chaufeur according to the vehicle configuration information decision height restriction pilot switch obtained in step sl, when judged result is "Yes", process is made to advance to following step S3: when judged result is "No", to make process return above-mentioned steps S1.
In step s3, drive auxiliary ECU1 and obtain camera images from the first photographic camera 2.Specifically, auxiliary ECU1 obtains the vehicle direct of travel taken by the first photographic camera 2, to be positioned at vehicle front traffic sign image from the first photographic camera 2 is driven.And then, drive auxiliary ECU1 and make process advance to following step S4.
In step s 4 which, drive auxiliary ECU1 to identify traffic sign.Specifically, drive auxiliary ECU1 implements to extract profile process etc. for the image obtained in above-mentioned steps S3 (on vehicle direct of travel, the image of the traffic sign that is positioned at vehicle front), obtain out the implication expressed by traffic sign thus.Driving mode that auxiliary ECU1 carries out image procossing is of the prior artly well known to a person skilled in the art mode etc.And then, drive auxiliary ECU1 and make process advance to following step S5.
In step s 5, drive auxiliary ECU1 and judge whether traffic sign is limitation in height traffic sign, when judged result is "Yes", makes process advance to following step S6: when judged result is "No", make process return above-mentioned steps S3.
In step s 6, drive the limitation in height numerical value LH of auxiliary ECU1 represented by the result acquisition limitation in height traffic sign of the image recognition of traffic sign, and be stored in storage part.
In the step s 7, the actual height numerical value RH that auxiliary ECU1 obtains vehicle is driven.Below, the process of Fig. 3 to the actual height numerical value RH driving the acquisition vehicle that auxiliary ECU1 carries out in the step s 7 is utilized to be described.Fig. 3 is the diagram of circuit be described the process in the step S7 of Fig. 2.
In step S71, drive auxiliary ECU1 and obtain vehicle oneself height numerical value OH.Wherein, vehicle oneself height numerical value OH is stored in advance in the storage part driving auxiliary ECU1.
In step S72, drive auxiliary ECU1 and obtain increase height number IH.Specifically, the top area of the second photographic camera 3 pairs of outside vehicles is taken, and captured image is inputed to the auxiliary ECU1 of driving.Drive auxiliary ECU1 to process the appendicular image being positioned at the top area of outside vehicle that the second photographic camera 3 photographs, thus the increase height number IH after having obtained appendage vehicle boarded.
In step S73, drive auxiliary ECU1 according to vehicle oneself height numerical value OH and increase height number IH, calculate the actual height numerical value RH of vehicle.Under the top of vehicle is equipped with appendicular situation, the actual height numerical value RH of vehicle is vehicle oneself height numerical value OH and increase height number IH sum: under appendicular situation is not carried at the top of vehicle, the actual height numerical value RH of vehicle is vehicle oneself height numerical value OH, in addition, when the top of vehicle is provided with baggage rack, the height of this baggage rack also should be considered.
Get back to the explanation of Fig. 2 below.After the actual height numerical value RH obtaining vehicle, in step s 8, the actual height numerical value RH of vehicle compared with the limitation in height numerical value LH represented by traffic sign, is judged whether the actual height numerical value RH of vehicle is greater than limitation in height numerical value LH by the auxiliary ECU1 of driving.When judged result is "Yes", process is made to advance to following step S9; When judged result is "No", process is made to return above-mentioned steps S3.
In step s 9, drive auxiliary ECU1 and send instruction to read out instrument 5 and/or voice output 5, read out instrument 5 and/or voice output 5 give a warning to chaufeur, remind driver vehicle cannot have the section of limitation in height by this.
In step slo, drive auxiliary ECU1 to judge whether to terminate limitation in height additional function.Drive auxiliary ECU1 whether again to be pressed by chaufeur according to vehicle configuration information decision height restriction pilot switch, when judged result is "Yes", process is terminated; When judged result is "No", process is made to return above-mentioned steps S3.
In addition, OFF is placed in (such as at the power supply driving auxiliary ECU1, the ignition lock being equipped with the vehicle of drive assistance device is closed) time, no matter which step above process proceeds to, driving due to drive assistance device assists ECU1 to be de-energized, drive auxiliary ECU1 treatment scheme to stop immediately, this is self-evident for a person skilled in the art.
Above preferred enforcement embodiment of the present invention is illustrated, but the invention is not restricted to above-mentioned embodiment, in the scope not departing from thought of the present invention, some distortion and amendment can be made.
Claims (4)
1. a drive assistance device, this drive assistance device is equipped on vehicle, is assisted, it is characterized in that, comprising vehicle by the section with limitation in height:
First shooting unit, on shooting vehicle direct of travel, to be positioned at vehicle front traffic sign:
Drive auxiliary ECU, identify the image of the described traffic sign of described first shooting unit photographs, when described traffic sign is limitation in height traffic sign, obtain the limitation in height numerical value represented by described limitation in height traffic sign, and by described limitation in height numerical value compared with the actual height numerical value of vehicle: and
Warning unit, gives a warning when the described actual height numerical value of described vehicle is greater than described limitation in height numerical value.
2. drive assistance device according to claim 1, is characterized in that, also comprises the second shooting unit taken the top area of described outside vehicle,
Described driving assists ECU to identify the image of described top area of described second shooting unit photographs, and obtains the increase height number after described vehicle boarded appendage,
Described driving assists ECU to go out the described actual height numerical value of described vehicle according to described increase height number and the vehicle oneself height numerical calculation prestored.
3. a driving assistance method, vehicle is assisted by the section with limitation in height, it is characterized in that, comprise the following steps:
First shooting step, on shooting vehicle direct of travel, to be positioned at vehicle front traffic sign:
Image processing step, is identified in the image of the described traffic sign taken in described first shooting step, when described traffic sign is limitation in height traffic sign, obtains the limitation in height numerical value represented by described limitation in height traffic sign:
Comparison step, by described limitation in height numerical value compared with the actual height numerical value of vehicle; And
Warning step, gives a warning when the actual height numerical value of described vehicle is greater than described limitation in height numerical value.
4. driving assistance method according to claim 3, is characterized in that, also comprises the second shooting step of the top area of taking described outside vehicle: and calculation procedure, for the described actual height numerical value obtaining described vehicle,
By the image of described top area taken in the second shooting step described in image recognizing step identification, and obtain the increase height number after described vehicle boarded appendage,
Go out the described actual height numerical value of described vehicle according to described increase height number and the vehicle oneself height numerical calculation prestored in described calculation procedure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310499176.1A CN104553982A (en) | 2013-10-23 | 2013-10-23 | Driving aid and driving aiding method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310499176.1A CN104553982A (en) | 2013-10-23 | 2013-10-23 | Driving aid and driving aiding method |
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| CN104553982A true CN104553982A (en) | 2015-04-29 |
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| CN201310499176.1A Pending CN104553982A (en) | 2013-10-23 | 2013-10-23 | Driving aid and driving aiding method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111976596A (en) * | 2019-05-24 | 2020-11-24 | 博世汽车部件(长沙)有限公司 | Method for judging passing height of vehicle based on vehicle skylight, skylight system and vehicle |
| CN112710278A (en) * | 2019-10-24 | 2021-04-27 | 罗伯特·博世有限公司 | Method and device for providing annotated traffic space data, evaluation method, training method, computer program and storage medium |
| US12027040B2 (en) | 2019-10-24 | 2024-07-02 | Robert Bosch Gmbh | Method and device for providing annotated traffic area data |
-
2013
- 2013-10-23 CN CN201310499176.1A patent/CN104553982A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111976596A (en) * | 2019-05-24 | 2020-11-24 | 博世汽车部件(长沙)有限公司 | Method for judging passing height of vehicle based on vehicle skylight, skylight system and vehicle |
| CN112710278A (en) * | 2019-10-24 | 2021-04-27 | 罗伯特·博世有限公司 | Method and device for providing annotated traffic space data, evaluation method, training method, computer program and storage medium |
| US12027040B2 (en) | 2019-10-24 | 2024-07-02 | Robert Bosch Gmbh | Method and device for providing annotated traffic area data |
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