CN104571101A - System capable of realizing any position movement of vehicle - Google Patents
System capable of realizing any position movement of vehicle Download PDFInfo
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- CN104571101A CN104571101A CN201310487103.0A CN201310487103A CN104571101A CN 104571101 A CN104571101 A CN 104571101A CN 201310487103 A CN201310487103 A CN 201310487103A CN 104571101 A CN104571101 A CN 104571101A
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Abstract
The invention discloses a system capable of realizing any position movement. Radar and a camera device are connected with a surrounding image processing unit, acquire information of barriers around a vehicle, generate an unreal picture and transmit the unreal picture to the surrounding image processing unit; the surrounding image processing unit virtualizes the unreal picture into an aerial view, is connected with a CPU (central processing unit) and transmits the aerial view to the CPU; a steering control module and a brake control module are connected with the CPU respectively and transmit vehicle information to the CPU; the CPU is connected with a display unit and a touch control unit respectively and transmits the processed picture to the display unit, a vehicle position vector block is formed, the touch control unit transmits a user command to the CPU, and the CPU calculates the running track of a vehicle target position and decomposes the running track into steering and brake control signals. By the aid of the system, automatic parking and turning of the vehicle under harsh environment conditions can be realized.
Description
Technical field
The present invention relates to a kind of drive assist system, refer in particular to a kind of system realizing the movement of vehicle optional position.
Background technology
In prior art, the parking scene that automated parking system can be tackled only has vertical warehouse-in and level warehouse-in, and service condition is too harsh, and the environment of parking that can tackle is single, the demand of parking in all kinds of situation cannot be met, environment comparatively complicated situation of especially parking.Meanwhile, prior art automated parking system mainly contains two kinds: a kind of in order directly to carry out automatic parking by radar detection, its defect is: inessential factor such as leaf and the first-class easy influential system of gravelstone judge with parking, automatic parking difficulty; The another kind of line for dividing by stopping carries out identification and stops, and its defect is: if stop line is failed to understand, cannot judge, automatic parking is still more difficult.
Publication number is that CN1953553A discloses a kind of drive assist system, by by mounted on a vehicle and be transformed into general view image respectively to the image that multiple camera heads that vehicle-surroundings is made a video recording are made a video recording, and synthesis is carried out generate synthesis general view image to obtained each general view image, and make generated synthesis general view image display over the display, this drive assist system possesses a kind of mechanism, this mechanism is when each overlapping portion of synthesis two general view picture registrations, overlapping portion setting is alternately configured to the boundary line in two regions, the general view image of a side is adopted in region by the side divided by boundary line in overlapping portion, the general view image of the opposing party is adopted in the region of the opposing party divided by boundary line, synthesize overlapping portion thus.
Described drive assist system carries out collection image by being arranged on vehicle body camera all around, and synthesizes general view, and four width figure synthesize a width figure, and the general view of this synthesis is realistic picture, by general view display on a monitor.Its defect is:
One, general view is in order to realize outdoor scene display, and being limited in scope of display, can only show the image of vehicle body periphery small distance substantially.
Two, four width pictures before synthesis, through flake process, when synthesis one width general view, the joining place between picture has some contents to embody, and causes dead angle, if increase many cover image capture devices and treatment facility, to solve outdoor scene Dead Core Problems, use cost must be increased.
Three, owing to carrying out picture transmission, to transmission equipment, bandwidth etc. require large, and disturbing factor is many, easily causes distortion, and transfer rate is slow, cannot reach real-time monitoring, and higher to vehicle-speed limit.
Summary of the invention
The object of the present invention is to provide a kind of system realizing the movement of vehicle optional position, to realize under environment harsh conditions vehicle automatic parking and to turn around.
For reaching above-mentioned purpose, solution of the present invention is:
Realize a system for optional position movement, comprise radar mounted on a vehicle and camera head, be arranged on vehicle around image process unit, central processing unit, display unit, touch control unit, course changing control module and brake control module; Radar is connected with around image process unit with camera head, and radar and camera head collection vehicle periphery obstacle information, generate non-outdoor scene picture and be transferred to around image process unit; Around image process unit virtual formation simulated scenario plane general view; Be connected with central processing unit around image process unit, send general view to central processing unit; Course changing control module and brake control module are connected with central processing unit respectively, and information of vehicles is transferred to central processing unit; Central processing unit is connected with display unit and touch control unit respectively, central processing unit by process after picture transmission to display unit, form vehicle location vector block, and touch control unit transmission user is indicated to central processing unit, the wheelpath of vehicle target position is calculated by central processing unit, wheelpath resolves into and turns to and brake control signal by central processing unit, controls course changing control module and brake control module.
After adopting such scheme, operationally, radar and camera head collection vehicle periphery obstacle information, comprise the distance of vehicle from barrier, generate non-outdoor scene picture and be transferred to around image process unit in the present invention; Around image process unit dummy synthesis simulated scenario plane general view, and send central processing unit to.
Meanwhile, course changing control module and brake control module transmission information of vehicles, to central processing unit, comprise the speed of a motor vehicle, angle etc.; Processed by central processing unit, integrate, draw situation and position belonging to current car, also has the obstacle etc. of surrounding enviroment, picture is transported to display unit and shows by central processing unit, and according to headstock direction, forms the vector block of a current car position; User adjusts vector block by picture, determines target parking position; Touch control unit transmission user is indicated to central processing unit, by central processing unit in conjunction with body dimensions, and peripheral position calculates the wheelpath of car to target location, wheelpath resolves into and turns to and brake control signal by central processing unit, controls course changing control module and brake control module; Vehicle arrives target location by course changing control module and brake control module.
Therefore, the present invention can be implemented in environmental baseline harsher when, as road surface is very narrow, or vehicle-periphery is complicated, and vehicle moves to target location arbitrarily by initial position.
The present invention adopts the information of radar and camera head collection vehicle periphery barrier, and its acquisition range is large, and negligible delay substantially, reach and monitor object in real time; Around image process unit dummy synthesis one simulated scenario plane general view in a big way, but not the realistic picture described in prior art, it can not produce the dead angle at visual angle, and picture is truer; The present invention can transmission of data signals, and without the need to signal of video signal, the reliability of signal transmission is large, and speed is fast, and immunity to interference is strong.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is the application schematic diagram of the present invention in vehicle parking;
Fig. 3 is the application schematic diagram of the present invention in vehicle turns around.
Label declaration
Radar 1 camera head 2
Around image process unit 3 central processing unit 4
Display unit 5 touch control unit 6
Course changing control module 7 brake control module 8
Initial position 10 target location 20.
Embodiment
Below in conjunction with drawings and the specific embodiments, the present invention is described in detail.
Consult shown in Fig. 1, a kind of system realizing optional position movement that the present invention discloses, comprise radar 1 mounted on a vehicle and camera head 2, be arranged on vehicle around image process unit 3, central processing unit 4, display unit 5, touch control unit 6, course changing control module 7 and brake control module 8.
Radar 1 is connected with around image process unit 3 with camera head 2, camera head 2 is generally camera, radar 1 and camera head 2 collection vehicle periphery obstacle information, periphery barrier is judged, and the road conditions in driving process are noted down, calculate the obstacle distance of vehicle-surroundings, pass through inter-process, draw out the picture of non-outdoor scene, and be transferred to around image process unit 3.
Around the plane general view of an image process unit 3 virtual formation simulated scenario.Be connected with central processing unit 4 around image process unit 3, general view sent to central processing unit 4.
Course changing control module 7 and brake control module 8 are connected with central processing unit 4 respectively, are generally connected by CAN, information of vehicles are transferred to central processing unit 4, comprise the speed of a motor vehicle and angle etc.Undertaken processing and integrating by central processing unit 4, draw situation and position belonging to current vehicle, determine vehicle initial position, also have the obstacle etc. of surrounding enviroment.
Central processing unit 4 is connected with display unit 5 and touch control unit 6 respectively, central processing unit 4 by process after picture transmission to display unit 5, form vehicle location vector block, and touch control unit 6 transmission user is indicated to central processing unit 4, user adjusts vector block by picture, determine parking target position, by central processing unit 4 in conjunction with body dimensions, and peripheral position calculates the wheelpath of vehicle to target location.Wheelpath resolves into and turns to and brake control signal by central processing unit 4, controls course changing control module 7 and brake control module 8, and vehicle arrives target location by course changing control module 7 and brake control module 8.
As shown in Figure 2, the application of the present invention in vehicle parking, when radar 1 and camera head 2 scan parking stall, display unit 5 is formed vehicle initial position 10 vector block, user adjusts vector block by picture, vector block is dragged to parking target position 20, determines parking target position 20.By central processing unit 4 in conjunction with body dimensions, and peripheral position calculates the wheelpath of vehicle to parking target position 20, wheelpath is resolved into and turns to and brake control signal, control course changing control module 7 and brake control module 8, vehicle arrives parking target position 20 by course changing control module 7 and brake control module 8.
As shown in Figure 3, the application of the present invention in vehicle turns around, vehicle needs when narrow median U-turn, radar 1 and camera head 2 collection signal, by synthesizing general view around image process unit 3, and on display unit 5, forming vehicle initial position 10 vector block, user adjusts vector block by picture, vector block is dragged to target location 20.By central processing unit 4 in conjunction with body dimensions, and peripheral position calculates the wheelpath of vehicle to target location 20, wheelpath is resolved into and turns to and brake control signal, control course changing control module 7 and brake control module 8, vehicle arrives target location 20 by course changing control module 7 and brake control module 8.
The foregoing is only preferred embodiment of the present invention, not to the restriction of this case design, all equivalent variations done according to the design key of this case, all fall into the protection domain of this case.
Claims (1)
1. one kind can realize the system of optional position movement, it is characterized in that: comprise radar mounted on a vehicle and camera head, be arranged on vehicle around image process unit, central processing unit, display unit, touch control unit, course changing control module and brake control module; Radar is connected with around image process unit with camera head, and radar and camera head collection vehicle periphery obstacle information, generate non-outdoor scene picture and be transferred to around image process unit; Around image process unit virtual formation simulated scenario plane general view; Be connected with central processing unit around image process unit, send general view to central processing unit; Course changing control module and brake control module are connected with central processing unit respectively, and information of vehicles is transferred to central processing unit; Central processing unit is connected with display unit and touch control unit respectively, central processing unit by process after picture transmission to display unit, form vehicle location vector block, and touch control unit transmission user is indicated to central processing unit, the wheelpath of vehicle target position is calculated by central processing unit, wheelpath resolves into and turns to and brake control signal by central processing unit, controls course changing control module and brake control module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310487103.0A CN104571101A (en) | 2013-10-17 | 2013-10-17 | System capable of realizing any position movement of vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310487103.0A CN104571101A (en) | 2013-10-17 | 2013-10-17 | System capable of realizing any position movement of vehicle |
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| CN104571101A true CN104571101A (en) | 2015-04-29 |
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| CN201310487103.0A Pending CN104571101A (en) | 2013-10-17 | 2013-10-17 | System capable of realizing any position movement of vehicle |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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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 |
| CN107272671A (en) * | 2016-03-31 | 2017-10-20 | 福特全球技术公司 | Remote control for motor vehicles remote control |
| CN107514173A (en) * | 2017-08-11 | 2017-12-26 | 安徽鸿路钢结构(集团)股份有限公司 | A kind of efficiently automatic parking method |
| CN109491375A (en) * | 2017-09-13 | 2019-03-19 | 百度（美国）有限责任公司 | The path planning based on Driving Scene for automatic driving vehicle |
| CN110293961A (en) * | 2018-03-23 | 2019-10-01 | 比亚迪股份有限公司 | A kind of automated parking system, method and vehicle |
| WO2020147360A1 (en) * | 2019-01-15 | 2020-07-23 | 北京百度网讯科技有限公司 | Driverless vehicle control method and device |
| CN112896149A (en) * | 2021-01-23 | 2021-06-04 | 行云智能(深圳)技术有限公司 | Automatic parking system based on computer vision |
| WO2023240667A1 (en) * | 2022-06-17 | 2023-12-21 | 魔门塔(苏州)科技有限公司 | Parking interaction method and apparatus, storage medium, electronic device, and vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105109480A (en) * | 2015-08-24 | 2015-12-02 | 奇瑞汽车股份有限公司 | Intelligent u-turn method and device |
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| CN107514173A (en) * | 2017-08-11 | 2017-12-26 | 安徽鸿路钢结构(集团)股份有限公司 | A kind of efficiently automatic parking method |
| CN109491375A (en) * | 2017-09-13 | 2019-03-19 | 百度（美国）有限责任公司 | The path planning based on Driving Scene for automatic driving vehicle |
| CN110293961A (en) * | 2018-03-23 | 2019-10-01 | 比亚迪股份有限公司 | A kind of automated parking system, method and vehicle |
| CN110293961B (en) * | 2018-03-23 | 2021-01-01 | 比亚迪股份有限公司 | Automatic parking system and method and vehicle |
| WO2020147360A1 (en) * | 2019-01-15 | 2020-07-23 | 北京百度网讯科技有限公司 | Driverless vehicle control method and device |
| CN112896149A (en) * | 2021-01-23 | 2021-06-04 | 行云智能(深圳)技术有限公司 | Automatic parking system based on computer vision |
| WO2023240667A1 (en) * | 2022-06-17 | 2023-12-21 | 魔门塔(苏州)科技有限公司 | Parking interaction method and apparatus, storage medium, electronic device, and vehicle |
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