CN104590120B - Automotive self-adaptive Image-aided passes through method and system - Google Patents
Automotive self-adaptive Image-aided passes through method and system Download PDFInfo
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- CN104590120B CN104590120B CN201410720095.4A CN201410720095A CN104590120B CN 104590120 B CN104590120 B CN 104590120B CN 201410720095 A CN201410720095 A CN 201410720095A CN 104590120 B CN104590120 B CN 104590120B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/301—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8093—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for obstacle warning
Abstract
A kind of automotive self-adaptive Image-aided that the present invention provides, by method and system, starts the first detection device including a., measures barrier distance s to headstock1；B. will be apart from s1With default first threshold y1Compare；Work as s1≤y1Time, it is judged that obstacle identity, and judge that can vehicle body break the barriers；If can not break the barriers, send alarm；If c. vehicle body can break the barriers, continue detection barrier to headstock and distance s1, and will be apart from s1With Second Threshold y2Relatively；Work as s1≤y2Time, close the first detection device, open second detection device, distance s of detection barrier to vehicle body2；D. will be apart from s2With the 3rd threshold value y3Relatively, s is worked as2≤y3Time, open the 3rd detection device；E. detection barrier distance s to vehicle body is continued2, and with the 4th threshold value y4Relatively；Work as s2＞ y4Time, it is determined that automobile breaks the barriers.Can effectively avoid owing to vision field of driver is narrow, cause automobile to bump against with blind area barrier or wheel is absorbed in barrier, be greatly improved automobile safety in the process of moving.
Description
Technical field
The present invention relates to automotive field, particularly relate to a kind of automotive self-adaptive Image-aided and pass through method and system.
Background technology
In field of automobile design, the vehicle head part of automobile is generally designed to wedge shape by people, the most not only
Car conour can be made attractive in appearance, and can effectively reduce body drag, reduce fuel oil consumption.But this
Plant structure and but had a strong impact on the visual field of driver, reduce the visual line of sight of driver, cause driver couple
The particular location of barrier and size cannot be made and judging accurately, ignores the barrier being in blind area, thus
Cause the damage that vehicle is unnecessary.And existing reverse radar system and parking system are only capable of realizing falling
Impact auxiliary during car, during automobile advances, does not also have feasible aid system and method to come auxiliary
Helping driver to pass through barrier zone, also not having can the self adaptation system of automatic decision barrier region passability
System.
Summary of the invention
In view of this, the present invention provides a kind of automotive self-adaptive Image-aided to pass through method and system, to solve automobile
During advance, driver is assisted to pass through barrier zone by aid system and method.
A kind of automotive self-adaptive Image-aided that the present invention provides passes through method, including
A. start the first detection device, measure barrier distance s to headstock1；
B. will be apart from s1With default first threshold y1Compare, work as s1＞ y1Time, repeat step a；Work as s1≤y1
Time, it is judged that obstacle identity, and judge that can vehicle body break the barriers；If can not break the barriers, then send
Alarm；
If c. vehicle body can break the barriers, continue detection barrier to headstock and distance s1, and will be apart from s1With
Second Threshold y2Relatively, s is worked as1＞ y2Time, continue detecting distance s1；Work as s1≤y2Time, close the first detection device,
Open second detection device, distance s of detection barrier to vehicle body2；
D. will be apart from s2With the 3rd threshold value y3Relatively, s is worked as2＞ y3Time, continue detecting distance s2；Work as s2≤y3Time,
Open the 3rd detection device；
E. detection barrier distance s to vehicle body is continued2, and with the 4th threshold value y4Relatively, s is worked as2≤y4Time, continue
Continuous detecting distance s2；Work as s2＞ y4Time, it is determined that automobile breaks the barriers.
Further, obstacle identity described in step b includes: lateral clearance type barrier, boss type barrier
With concave groove type barrier.
Further, include in stepb:
If barrier is lateral clearance type barrier: calculate the distance between obstruction clearance, and judge car
Can body break the barriers gap, if gap can not be broken the barriers, sends alarm；
If barrier is boss type barrier: calculate the height of boss type barrier, and judge that can vehicle body
Straddle by boss barrier, if obstacle height is higher than automobile chassis minimum constructive height, send alarm；
If barrier is concave groove type barrier: calculate the maximum gauge of concave groove type barrier, and judge vehicle body
Can pass through groove barrier, if the maximum gauge of groove barrier is more than body width, vehicle body cannot pass through,
Send alarm.
Further, when described groove barrier maximum gauge is less than or equal to wheel diameter, the first detection is maintained to continue
Continuous work, until automobile is by groove barrier；
When the maximum gauge of described groove barrier is more than wheel diameter and less than body width, it is judged that vehicle body needs
Concave groove type barrier is passed through by the way of straddling.
Further, described first detection device is provided with the first laser scanning, detecting device, the second laser scanning
Detection device and the 3rd laser scanning, detecting device, by controlling the argument of described laser scanning, detecting device,
And the gap of angle calculation clearance type barrier, the boss type that laser is formed with the border of corresponding barrier hinders
Hinder height and the maximum gauge of concave groove type barrier of thing.
Further, described second detection device is ultrasonic sensor group, distance s of described barrier to vehicle body2
The barrier measured for all ultrasonic sensors is to the minima of the distance of vehicle body；Described 3rd detection device
For photographic head, when opening photographic head, the display screen being arranged in car shows the automobile that photographic head shoots automatically
Panorama immediately below surrounding panorama and automobile chassis.
A kind of automotive self-adaptive Image-aided is by system, including arriving for detecting obstacle identity and barrier
The detection control device that is connected with described detection device of device of car body distance and alarm device, described warning
The input of device is connected with the outfan controlling device.
Described detection device includes the first detection device, second detection device and the 3rd detection device；
Described first detection device is for measuring barrier distance s to headstock1；
Distance s that comparator in described control device will receive1With storage first threshold in a comparator
y1Compare, work as s1≤y1Time, control device disturbance in judgement species type, and judge that can vehicle body pass through obstacle
Thing；If it is determined that vehicle body can break the barriers, first detection device continue detection barrier to headstock and distance s1,
Controlling device will be apart from s1With Second Threshold y2Relatively, s is worked as1≤y2Time, control device and close the first detection device,
Open second detection device, distance s of detection barrier to vehicle body2；
Controlling device will be apart from s2With the 3rd threshold value y3Relatively, s is worked as2＞ y3Time, continue detecting distance s2；Work as s2≤y3
Time, open the 3rd detection device；
Continue detection barrier distance s to vehicle body2, controlling device will be apart from s2With the 4th threshold value y4Relatively, s is worked as2
＞ y4Time, control device and judge that automobile breaks the barriers；
Described alarm device is for when judging that automobile can not break the barriers, sending alarm.
Further, described first detection device includes that the first laser scanning, detecting device, the second laser scanning are visited
Survey device and the 3rd laser scanning, detecting device, described first laser scanning, detecting device and the second laser scanning
Detection device is arranged at headstock；3rd scanning probe device is arranged at roof.
Further, described control device is vehicle-mounted computer, and described vehicle-mounted computer at least includes comparator, described
Comparator in vehicle-mounted computer is provided with first threshold, Second Threshold, the 3rd threshold value and the 4th threshold value.
Further, described second detection device is ultrasonic sensor group, and described ultrasonic sensor group is by dividing
The ultrasonic sensor composition that cloth is arranged on around vehicle body.
Beneficial effects of the present invention: the present invention is by measuring the gap of lateral clearance type barrier, boss type barrier
Hindering height and the maximum gauge of concave groove type barrier of thing, whether automatic decision road environment meets automobile is passed through
Condition, and will determine that result feeds back to driver, when road environment meets by condition, system is passed through
The threshold value arranged, by different distance, uses different detection modes from dynamic auxiliary driver by gap, directly
Rolling automotive safety away from barrier region to driver, this method and system can effectively be avoided owing to driving
The person's of sailing field range is narrow, causes automobile to bump against with blind area barrier, is greatly improved automobile and is expert at
Safety during sailing.
Accompanying drawing explanation
The invention will be further described with embodiment below in conjunction with the accompanying drawings:
Fig. 1 is the structural representation of the present invention.
Fig. 2 is that the detection equipment of the present invention arranges schematic diagram.
Fig. 3 is the schematic flow sheet of the present invention.
Detailed description of the invention
Fig. 1 is the structural representation of the present invention, and Fig. 2 is that the detection equipment of the present invention arranges schematic diagram, Fig. 3
It it is the schematic flow sheet of the present invention.
As shown in Figure 1, 2, 3, the invention provides a kind of automotive self-adaptive Image-aided by method and is
System, system is as it is shown in figure 1, include detecting device 1, controlling device 2 and alarm device 3.Control device 2
For vehicle-mounted computer, vehicle-mounted computer at least includes a comparator, for storage, testing result is compared
Threshold value.
Automotive self-adaptive impact auxiliary is included by method:
A. start the first detection device, measure barrier distance s to headstock1；
B. will be apart from s1With default first threshold y1Compare, work as s1＞ y1Time, repeat step a；Work as s1≤y1
Time, it is judged that obstacle identity, and judge that can vehicle body break the barriers；If can not break the barriers, send police
Report；
If c. vehicle body can break the barriers, continue detection barrier to headstock and distance s1, and will be apart from s1With
Second Threshold y2Relatively, s is worked as1＞ y2Time, continue detecting distance s1；Work as s1≤y2Time, close the first detection device,
Open second detection device, distance s of detection barrier to vehicle body2；
D. will be apart from s2With the 3rd threshold value y3Relatively, s is worked as2＞ y3Time, continue detecting distance s2；Work as s2≤y3Time,
Open the 3rd detection device；
E. detection barrier distance s to vehicle body is continued2, and with the 4th threshold value y4Relatively, s is worked as2≤y4Time, continue
Continuous detecting distance s2；Work as s2＞ y4Time, it is determined that automobile breaks the barriers.
Selecting an embodiment to be specifically described below: in the present embodiment, it is vehicle-mounted for controlling device 2
Computer, detection device 1 includes the first detection device, second detection device and the 3rd detection device, such as Fig. 1
Shown in, the first detection device is laser scanning, detecting device, and second detection device is ultrasonic sensor group,
3rd detection device is photographic head.Wherein, laser scanning, detecting device is used for measuring long-distance barrier thing and car
Distance between Tou, and testing result is fed back to control device 2 come disturbance in judgement species type, laser scanning
Detection device is provided with the motor for changing generating laser corner, and vehicle-mounted computer can be by controlling motor
Corner changes the angle of Laser emission, measures the gap size of lateral clearance type barrier, boss type obstacle
The height of thing and the maximum gauge of concave groove type barrier；Ultrasonic sensor group is distributed in vehicle body week by each
The ultrasonic sensor composition enclosed.
As in figure 2 it is shown, the first detection device includes that first laser scanning, detecting device the 2.1, second laser is swept
Retouch detection device 2.2 and the 3rd laser scanning, detecting device 2.3；Second detection device includes that first is ultrasonic
Wave sensor the 2.4, second ultrasonic sensor the 2.5, the 3rd ultrasonic sensor the 2.6, the 4th ultrasound wave passes
Sensor the 2.7, the 5th ultrasonic sensor the 2.8, the 6th ultrasonic sensor 2.9 and the 7th ultrasonic sensor
2.10 composition second detection device；First vehicle-mounted camera the 2.11, second vehicle-mounted camera the 2.12, the 3rd
Vehicle-mounted camera 2.13 and the 4th vehicle-mounted camera 2.14 form the 3rd detection device.Wherein laser ranging dress
The detection range put may be set to 80 meters, and the measurable range of ultrasonic sensor may be set to 3 meters.
In the present embodiment, the corner original state of the motor in laser ranging system is 0 degree, vehicle-mounted
After computer sends work order, driven by motor the first laser scanning, detecting device, the second laser scanning, detecting dress
Put and the 3rd laser scanning, detecting device goes to the extreme position of one end, receive first according to laser ranging system
The angle of motor position during barrier and motor extreme position, and laser ranging system receives the second obstacle
The angle of motor position when motor position during thing and laser ranging system receive the first barrier；Utilize several
What relation, it can be deduced that the type of barrier；1., if lateral clearance type barrier, can be from which further followed that
Size between one barrier and the second barrier, is the gap size of barrier；If 2. boss type barrier
Hinder thing, the height of boss type barrier can be from which further followed that；If 3. concave groove type barrier, can be further
Go out concave groove type barrier maximum gauge.
In the present embodiment, during automobile starting, vehicle-mounted computer is started working, and is arranged in vehicle body front bumper
The first laser scanning, detecting device and the second laser scanning, detecting device and be arranged on the 3rd laser of roof and sweep
Retouching detection device, three motor corners of described three laser scanning, detecting devices make zero respectively, make laser send out
Penetrating and receive device and point to the dead ahead advanced, vehicle-mounted computer case Laser emission sends startup with reception device and refers to
Order, laser ranging system is started working.First threshold is chosen for 20 meters, and Second Threshold is chosen for 3 meters, the
Three threshold values are chosen for 10 centimetres, and the 4th threshold value is chosen for 3 meters.
When the distance of the barrier measured in real time with headstock is more than 20 meters, duplicate detection step；
When the distance of the barrier measured in real time with headstock is less than or equal to 20 meters, start disturbance in judgement species type,
And judging that can vehicle break the barriers, vehicle-mounted computer sends instruction makes installation motor start to rotate, and record connects
Corner during the laser return signal received, utilizes corner and vehicle forward information to calculate front clearance type barrier
Hinder the gap size of thing, boss type obstacle height and concave groove type barrier maximum gauge, and with vehicle body width
Degree, bodywork height, wheel diameter compare；
1. when the clearance type obstruction clearance, front calculated is less than or equal to the Breadth Maximum of vehicle body, vehicle mounted electric
Brain controls alarm device and opens, and alarm device sends voice message signal, and prompting preceding object thing cannot pass through；
When the clearance type obstruction clearance, front calculated is more than the Breadth Maximum of vehicle body, vehicle-mounted computer controls
Motor corner makes zero, and continues the distance measuring barrier with headstock, and the real time data of measurement is fed back to car
Carry computer to process；
When measuring the barrier distance to headstock more than 3 meters, continue detection；
When measuring the barrier distance to headstock less than or equal to 3 meters, vehicle-mounted computer controls laser ranging system
Close, open ultrasonic sensor group simultaneously, carry out distance measurement, during ultrasonic sensor group with car body is
The heart, the barrier in the range of detection surrounding automatically 3 meters, and by measurement data Real-time Feedback to vehicle-mounted computer；
When the ultrasonic sensor in car body front Yu both sides measures the barrier distance to car body less than or equal to 10
Centimetre time, vehicle-mounted computer controls vehicle-mounted camera and opens, and is automatically stopped present displays work at present, will
The full-view image around vehicle body captured by vehicle-mounted camera shows over the display, and whenever car body and barrier
When hindering thing to reduce 1 centimetre, report to the police once from trend driver, and inform driver's car body distance barrier
Distance；
When car body rear ultrasonic sensor detects the barrier distance to vehicle body more than 3 meters, show car
Body safety barrier；
2. when the front boss type obstacle height calculated is more than the minimum constructive height of vehicle body, vehicle-mounted computer control
Alarm device 3 processed is opened, and alarm device 3 sends voice message signal, and prompting preceding object thing cannot pass through；
When the boss type obstruction clearance, front calculated is less than or equal to the minimum constructive height of vehicle body, vehicle-mounted computer
Control motor corner zero, continue the distance measuring barrier with headstock, and the real time data feedback that will measure
Process to vehicle-mounted computer；
When measuring the barrier distance to headstock more than 3 meters, continue detection；
When measuring the barrier distance to headstock less than or equal to 3 meters, vehicle-mounted computer controls laser ranging system
Close, open ultrasonic sensor group simultaneously, carry out distance measurement, during ultrasonic sensor group with car body is
The heart, the boss type barrier in the range of detection surrounding automatically 3 meters, and measurement data Real-time Feedback is given vehicle-mounted
Computer；
Measure boss type barrier when the ultrasonic sensor in car body front with both sides to be less than to the distance of car body
During equal to 10 centimetres, vehicle-mounted computer controls vehicle-mounted camera and opens, and is automatically stopped the current work of present displays
Make, the full-view image immediately below around the vehicle body captured by vehicle-mounted camera and chassis shown over the display,
And when car body reduces 1 centimetre with barrier, report to the police once from trend driver, and inform driver
The distance of car body distance barrier；
When car body rear ultrasonic sensor detects the barrier distance to vehicle body more than 3 meters, show car
Body safety barrier；
3. when the maximum gauge of the front recess type barrier calculated is more than body width, vehicle-mounted computer control
Alarm device processed is opened, and alarm device sends voice message signal, and prompting preceding object thing cannot pass through；
When the maximum gauge of the front recess type barrier calculated is less than or equal to wheel diameter, vehicle-mounted computer
Not sending any instruction, automobile can safety concave groove type barrier；
When the maximum gauge of the front recess type barrier calculated is more than wheel diameter and the maximum less than vehicle body
During width, vehicle-mounted computer controls motor corner zero, continues the distance measuring barrier with headstock, and will survey
The real time data of amount feeds back to vehicle-mounted computer and processes；
When measuring the barrier distance to headstock more than 3 meters, continue detection；
When measuring the barrier distance to headstock less than or equal to 3 meters, vehicle-mounted computer controls laser ranging system
Close, open ultrasonic sensor group simultaneously, carry out distance measurement, during ultrasonic sensor group with car body is
The heart, the barrier in the range of detection surrounding automatically 3 meters, and by measurement data Real-time Feedback to vehicle-mounted computer；
When the ultrasonic sensor in car body front Yu both sides measures the barrier distance to car body less than or equal to 10
Centimetre time, vehicle-mounted computer controls vehicle-mounted camera and opens, and is automatically stopped present displays work at present, will
The full-view image around vehicle body captured by vehicle-mounted camera shows over the display, and whenever car body is with recessed
When grooved barrier reduces 1 centimetre, report to the police once from trend driver, and inform that driver's car body is apart from recessed
The distance of grooved barrier；
When car body rear ultrasonic sensor detects the barrier distance to vehicle body more than 3 meters, show car
Body safety barrier；
After vehicle-mounted computer receives car body rear sensor feedack, send instruction, close ultrasound wave and pass
Sensor group, phonetic alarm device and vehicle-mounted camera, the duty before Vehicular display device reply, simultaneously
Sending enabled instruction to laser ranging system, laser ranging system starts to work on.
Finally illustrate, above example only in order to technical scheme to be described and unrestricted, although
With reference to preferred embodiment, the present invention is described in detail, it will be understood by those within the art that,
Technical scheme can be modified or equivalent, without deviating from technical solution of the present invention
Objective and scope, it all should be contained in the middle of scope of the presently claimed invention.
Claims (10)
1. an automotive self-adaptive Image-aided passes through method, it is characterised in that: include
A. start the first detection device, measure barrier distance s to headstock1；
B. will be apart from s1With default first threshold y1Compare, work as s1＞ y1Time, repeat step a；Work as s1≤y1
Time, it is judged that obstacle identity, and judge that can vehicle body break the barriers；If can not break the barriers, then send
Alarm；
If c. vehicle body can break the barriers, continue detection barrier to headstock and distance s1, and will be apart from s1With
Second Threshold y2Relatively, s is worked as1＞ y2Time, continue detecting distance s1；Work as s1≤y2Time, close the first detection device,
Open second detection device, distance s of detection barrier to vehicle body2；
D. will be apart from s2With the 3rd threshold value y3Relatively, s is worked as2＞ y3Time, continue detecting distance s2；Work as s2≤y3Time,
Open the 3rd detection device；
E. detection barrier distance s to vehicle body is continued2, and with the 4th threshold value y4Relatively, s is worked as2≤y4Time, continue
Continuous detecting distance s2；Work as s2＞ y4Time, it is determined that automobile breaks the barriers.
The most according to claim 1, automotive self-adaptive Image-aided passes through method, it is characterised in that: step
Described in b, obstacle identity includes: lateral clearance type barrier, boss type barrier and concave groove type barrier.
The most according to claim 2, automotive self-adaptive Image-aided passes through method, it is characterised in that: in step
Rapid b includes:
If barrier is lateral clearance type barrier: calculate the distance between obstruction clearance, and judge car
Can body break the barriers gap, if gap can not be broken the barriers, sends alarm；
If barrier is boss type barrier: calculate the height of boss type barrier, and judge that can vehicle body
Straddle by boss barrier, if obstacle height is higher than automobile chassis minimum constructive height, send alarm；
If barrier is concave groove type barrier: calculate the maximum gauge of concave groove type barrier, and judge vehicle body
Can pass through concave groove type barrier, if the maximum gauge of concave groove type barrier is more than body width, vehicle body cannot
Pass through, send alarm.
The most according to claim 3, automotive self-adaptive Image-aided passes through method, it is characterised in that: described
When the maximum gauge of concave groove type barrier is less than or equal to wheel diameter, the first detection device is maintained to work on,
Until automobile is by concave groove type barrier；
When the maximum gauge of described concave groove type barrier is more than wheel diameter and less than body width, it is judged that vehicle body
Need by the way of straddling by concave groove type barrier.
The most according to claim 1, automotive self-adaptive Image-aided passes through method, it is characterised in that: described
First detection device is provided with the first laser scanning, detecting device, the second laser scanning, detecting device and the 3rd and swashs
Photoscanning detection device, by control described laser scanning, detecting device argument, and laser with corresponding hinder
Hinder the angle disturbance in judgement species type that the border of thing is formed, and the gap of calculated gap type barrier, boss type
The height of barrier and the maximum gauge of concave groove type barrier.
The most according to claim 5, automotive self-adaptive Image-aided passes through method, it is characterised in that: described
Second detection device is ultrasonic sensor group, distance s of described barrier to vehicle body2Pass for all ultrasound wave
The barrier that sensor is measured is to the minima of the distance of vehicle body；Described 3rd detection device is photographic head, when opening
When opening photographic head, the display screen being arranged in car shows the motor vehicle environment panorama and automobile that photographic head shoots automatically
Panorama immediately below chassis.
7. utilize the automotive self-adaptive Image-aided of method described in claim 1 by a system, its feature
It is: include for detecting obstacle identity and barrier to the detection device of car body distance and described detection
The control device of device connection and alarm device, the input of described alarm device and the outfan controlling device
Connect；
Described detection device includes the first detection device, second detection device and the 3rd detection device；
Described first detection device is for measuring barrier distance s to headstock1；
Distance s that described control device will receive1With storage first threshold y in a comparator1Compare,
Work as s1≤y1Time, control device disturbance in judgement species type, and judge that can vehicle body break the barriers；If it is determined that car
Body can break the barriers, first detection device continue detection barrier to headstock and distance s1, control device
Will be apart from s1With Second Threshold y2Relatively, s is worked as1≤y2Time, control device and close the first detection device, open the
Two detection devices, distance s of detection barrier to vehicle body2；
Controlling device will be apart from s2With the 3rd threshold value y3Relatively, s is worked as2＞ y3Time, continue detecting distance s2；Work as s2≤y3
Time, open the 3rd detection device；
Continue detection barrier distance s to vehicle body2, controlling device will be apart from s2With the 4th threshold value y4Relatively, s is worked as2
＞ y4Time, control device and judge that automobile breaks the barriers；
Described alarm device is for when judging that automobile can not break the barriers, sending alarm.
Automotive self-adaptive Image-aided the most according to claim 7 passes through system, it is characterised in that: institute
State the first detection device and include that the first laser scanning, detecting device, the second laser scanning, detecting device and the 3rd swash
Photoscanning detection device, described first laser scanning, detecting device and the second laser scanning, detecting device are arranged at
Headstock；3rd scanning probe device is arranged at roof.
Automotive self-adaptive Image-aided the most according to claim 8 passes through system, it is characterised in that: institute
Stating control device is vehicle-mounted computer, and described vehicle-mounted computer at least includes comparator, the ratio in described vehicle-mounted computer
Relatively device is provided with first threshold, Second Threshold, the 3rd threshold value and the 4th threshold value.
Automotive self-adaptive Image-aided the most according to claim 9 passes through system, it is characterised in that:
Described second detection device is ultrasonic sensor group, and described ultrasonic sensor group is arranged on vehicle body by distribution
Ultrasonic sensor composition around.
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| CN105046647B (en) * | 2015-06-19 | 2017-12-05 | 江苏新通达电子科技股份有限公司 | Complete 360 ° of panorama vehicle monitoring systems of liquid crystal instrument and its method of work |
| CN105007414B (en) * | 2015-06-30 | 2017-11-24 | 广东欧珀移动通信有限公司 | A kind of method and terminal for starting wide-angle camera based on environmental factor |
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| CN105150960B (en) * | 2015-09-21 | 2018-05-29 | 浙江吉利汽车研究院有限公司 | The picture method for handover control and device of a kind of auto-panorama image system |
| CN105270259B (en) * | 2015-11-11 | 2017-09-01 | 吉林大学 | A kind of steering wheel prompting device based on electric boosting steering system |
| CN106740476A (en) * | 2016-12-28 | 2017-05-31 | 深圳市赛格导航科技股份有限公司 | A kind of car steering environment control method, device and automobile |
| CN108725319B (en) * | 2017-10-31 | 2021-05-04 | 无锡职业技术学院 | Image type car backing guidance method |
| CN108238101A (en) * | 2017-12-26 | 2018-07-03 | 潍柴动力股份有限公司 | For the automatic control system and autocontrol method of sweeper |
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| CN112350457A (en) * | 2019-08-06 | 2021-02-09 | 广州汽车集团股份有限公司 | Vehicle-mounted wireless charging device, charging control method, charging control equipment and storage medium |
| CN110428664B (en) * | 2019-09-09 | 2023-04-25 | 湖南科技大学 | Traffic anti-collision method based on computer vision human body identification |
| CN113495264A (en) * | 2020-04-03 | 2021-10-12 | 北京钛方科技有限责任公司 | Monitoring method, monitoring device and monitoring control device |
| CN111722023A (en) * | 2020-06-23 | 2020-09-29 | 广东电网有限责任公司 | Power transmission line positioning device and positioning method |
| CN113052888B (en) * | 2020-11-03 | 2021-12-17 | 杭州尽享科技有限公司 | Abnormal environment real-time monitoring system |
| CN113341414A (en) * | 2021-04-22 | 2021-09-03 | 惠州市德赛西威汽车电子股份有限公司 | Chassis scratch prevention system and chassis scratch prevention method based on millimeter wave radar |
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| JP2003121547A (en) * | 2001-10-18 | 2003-04-23 | Fuji Heavy Ind Ltd | Outside-of-vehicle monitoring apparatus |
| KR20050093200A (en) * | 2004-03-18 | 2005-09-23 | 프리넥스 주식회사 | An alarm apparatus for car and method for operating the same |
| CN102923054A (en) * | 2012-11-16 | 2013-02-13 | 四川大学 | Method for prompting distance from barrier through rays of double lamp groups of car |
| CN103640522B (en) * | 2013-11-21 | 2015-11-18 | 江苏大学 | Based on the headstock of laser and obstacle spacing from detecting device and method |
| CN203946022U (en) * | 2014-06-26 | 2014-11-19 | 长沙凯瑞重工机械有限公司 | A kind of tank car collision prevention device of embracing |
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