CN105185160A - Pavement detection system and detection method - Google Patents
Pavement detection system and detection method Download PDFInfo
- Publication number
- CN105185160A CN105185160A CN201510644096.XA CN201510644096A CN105185160A CN 105185160 A CN105185160 A CN 105185160A CN 201510644096 A CN201510644096 A CN 201510644096A CN 105185160 A CN105185160 A CN 105185160A
- Authority
- CN
- China
- Prior art keywords
- grid
- light
- pavement
- detection system
- mobile trend
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Traffic Control Systems (AREA)
- Emergency Alarm Devices (AREA)
Abstract
The invention discloses a pavement detection system and detection method. The pavement detection system comprises a light grid projector, an image receiver, a movement trend identification system and an alarm module. The light emitted by the light grid projector is projected on a pavement to form a light grid; the image receiver collects images of the light grid on the pavement; the movement trend identification system performs image identification on collected grid images, finds distorted areas and tracks the movement trend of the distorted areas; and the alarm module gives a warning according to a movement trend identification result. The pavement detection system and detection method greatly can reduce computational complexity and hardware equipment costs, and meanwhile can adapt to daytime and night light change through an active luminescence mode, reduce environment interference and improve identification accuracy and reliability.
Description
Technical field
The invention belongs to vehicle and travel control and safety control technology field, be specifically related to a kind of pavement detection system and detection method thereof.
Background technology
Along with expanding economy, vehicle enters huge numbers of families as the important vehicles, the car that every day travels on road surface is countless, but the traffic hazard that every day occurs also remains high, along with the raising gradually of traffic safety consciousness, car is configured with various driving backup system, as vehicle body radar, track is changed auxiliary, the systems such as self-actuating brake, these systems are by the automatic sensing of vehicle-periphery information and identification, when identifying potential danger, give the alarm in time and remind driver to take effective counter-measure, the generation of traffic hazard is eliminated with this.
The perceptive mode of vehicle-periphery information has active mode and passive mode two kinds, wherein the means such as active mode many employings laser, ultrasonic, microwave carry out the detection of target and environment, passive mode then adopts the contactless detection and Identification carrying out target, coordinates image recognition to realize as adopted video sensor.It is usually abundant not that active mode obtains information, and there is environmental interference problem, and passive mode is realized by image recognition, affects greatly by ambient light, and implementation algorithm is complicated, and reliability and accuracy have much room for improvement.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of pavement detection system and detection method thereof, which reduce calculated amount and hardware device cost, active illuminating mode can adapt to the light change of day and night simultaneously, reduces environmental interference, improves correctness and the reliability of identification.
The present invention solves above-mentioned technical matters by following technical proposals: a kind of pavement detection system, it is characterized in that, it is made up of light grid grenade instrumentation, image received device, mobile trend recognition system, alarm module, and light grid grenade instrumentation emits beam and is incident upon road surface formation light grid; Light grid in figure receiving trap road pavement carries out image acquisition; Mobile trend recognition system carries out figure identification to the grid image collected, and finds out distorted region, and the mobile trend in tracing distortion region; Alarm module is driven to send prompting according to mobile trend recognition result.
Preferably, described mobile trend recognition system is connected with a communication interface.
Preferably, described mobile trend recognition system is connected with a video output interface.
Preferably, described image received device comprises imageing sensor and optical lens.
Preferably, described Grid Projection device is made up of two laser beam emitting devices being arranged on left and right vehicle wheel both sides respectively, or is made up of the single laser beam emitting device being arranged on vehicle headstock medium position.
Preferably, the light type of described laser beam emitting device projection is horizontal pattern or vertical mode.
Preferably, described light grid grenade instrumentation forms square network on ground.
The present invention also provides a kind of detection method of pavement detection system to comprise the following steps:
The first step: the ray cast that light grid grenade instrumentation sends forms light grid on road surface;
Second step: the light grid in figure receiving trap road pavement carries out image acquisition;
3rd step: mobile trend recognition system carries out figure identification to the grid image collected, and finds out distorted region, and the mobile trend in tracing distortion region;
4th step: according to mobile trend recognition result, when entering alarm region, drives alarm module to send prompting.
Positive progressive effect of the present invention is: the present invention projects grid by light grid grenade instrumentation on road surface, when bump or depression, grid regional area generation shape distortion, after figure receiving trap carries out image acquisition to grid, mobile trend recognition system only needs the grid pattern feature in road pavement to carry out identification can find road surface abnormal conditions, reduce calculated amount and hardware device cost, active illuminating mode can adapt to the light change of day and night simultaneously, reduce environmental interference, improve correctness and the reliability of identification.Light grid is projected owing to have employed active illuminating pattern, under night running pattern, native system effectively can improve the security of driving, the accident in low light environment is avoided to occur, vision dead zone is in short-term there is after disappearing for the high light of the excessively bright sight line blind area of causing of light intersection during night meeting and direct projection eyes, native system is unaffected, normally can identify the pavement behavior in blind area, send prompting in time, avoid accident to occur.After road surface virtual net is formatted by this pavement detection system, automatically the adjustment of alarm region can be carried out according to driving states, not only can be arranged on headstock front portion, also at vehicle rear, this system can be installed, for pavement state after inspection vehicle, detect rear car distance in travelling, inspection vehicle rear surface conditions during reversing, radar and reverse image deficiency can be made up; Also can install this system in vehicle arranged on left and right sides, elimination vision dead zone, realizes blind zone alert and the functions such as auxiliary are changed in track simultaneously, eliminates driving hidden danger.
Accompanying drawing explanation
Fig. 1 is the structural representation of pavement detection system of the present invention;
Fig. 2 is grid grenade instrumentation and image received device installation site schematic diagram;
Fig. 3 is the road surface schematic diagram after gridding;
Mesh distortion schematic diagram in image when Fig. 4 is bump;
Mesh distortion schematic diagram in image when Fig. 5 is road surface depression;
Fig. 6 is road surface object of which movement trend curve schematic diagram;
Fig. 7 is according to the variable alarm region schematic diagram of the speed of a motor vehicle;
Fig. 8 is according to the variable alarm region schematic diagram of vehicle heading.
Embodiment
Present pre-ferred embodiments is provided, to describe technical scheme of the present invention in detail below in conjunction with accompanying drawing.
Pavement detection mode detects for surface conditions, by the comparison to active mode and passive mode relative merits, in conjunction with the relative motion relation on vehicle and road surface, both active mode and passive mode are combined, after road surface virtual net is formatted, by the identification to grid search-engine, pavement behavior is detected according to grid search-engine, following embodiment is described as the pavement detection embodiment for vehicle heading front, and this detection system also may be used in the pavement detection such as rear view of vehicle and the left and right sides.
The composition of pavement detection system of the present invention as shown in Figure 1, is made up of light grid grenade instrumentation, image received device, mobile trend recognition system, alarm module, and light grid grenade instrumentation emits beam and is incident upon road surface formation light grid; Light grid in figure receiving trap road pavement carries out image acquisition; Mobile trend recognition system carries out figure identification to the grid image collected, and finds out distorted region, and the mobile trend in tracing distortion region; Alarm module is driven to send prompting according to mobile trend recognition result.Light grid grenade instrumentation, image received device, alarm module can all be connected with mobile trend recognition system, wherein light grid grenade instrumentation can be controlled by mobile trend recognition system or Vehicular power system controls, as controlled then to open and close light grid grenade instrumentation as required by mobile trend recognition system, as for rear detection etc. of moveing backward, then can be controlled by Vehicular power system when detecting for vehicle front, after vehicle startup, then open light grid grenade instrumentation.Mobile trend recognition system can be connected with a communication interface, through communication interface thus, the mutual transmission of information can be carried out by communications protocol with vehicle control syetem, as obtain vehicle speed of operation, the status information such as to turn to, simultaneously also the pavement state detected can be fed back to vehicle control syetem, be undertaken after data processing for other purposes by it.Mobile trend recognition system can be connected with a video output interface, the grid image collected can be outputted in Vehicular screen show through this video output interface.
Wherein light grid grenade instrumentation is made up of one or more laser beam emitting device, laser beam emitting device is made up of generating laser and optical lens, generating laser sends the sightless laser of human eye, via after optical lens process, pointolite being become many parallel line sources, or it is directly the special light sources of mesh shape; Image received device comprises imageing sensor and optical lens.Configure polarized lenses and light in optical lens and filter eyeglass, the light beyond restriction or filtering laser enters, and reduces extraneous light to the impact of imaging effect; Alarm module is made up of loudspeaker, highlighted LED, can send voice, light is reminded; Mobile trend recognition system hardware adopts the components and parts such as high-speed CPU and Large Copacity RAM, the driver of integrated graphics recognizer software and image received device, alarm module, communication interface, video output interface etc.
The detection method of pavement detection system of the present invention comprises the following steps:
The first step: the ray cast that light grid grenade instrumentation sends forms light grid on road surface, light grid can by two groups anyhow the light of different directions intersect and combine or directly form by from a single point light source projects;
Second step: the light grid in figure receiving trap road pavement carries out image acquisition, the high-speed image sampling carrying out multiframe per second, then color fortification and color filtering are carried out to the image collected, carry out grid search-engine strengthening, to reduce the calculated amount of later stage algorithm for pattern recognition;
3rd step: mobile trend recognition system carries out figure identification to the grid image collected, when there is projection according to road surface and cave in, grid there will be the feature of distortion, finds out distorted region, obtains the mesh coordinate of its correspondence, and the mobile trend in tracing distortion region;
4th step: according to mobile trend recognition result, when entering alarm region, drives alarm module to send prompting.In 4th step, the alarm region of mobile trend can adjust automatically according to the speed of a motor vehicle, direction.
Grid Projection device can be made up of two laser beam emitting devices being arranged on left and right vehicle wheel both sides respectively, or is made up of the single laser beam emitting device being arranged on vehicle headstock medium position.
The light type being arranged on the laser beam emitting device projection of left and right vehicle wheel both sides can adjust, not only can exchange, light is not limited to level, vertical two kinds of patterns simultaneously, can be other forms, is convenient to for the purpose of image recognition can be incident upon ground composition grid.
Image received device is arranged in car high-order, there is difference in height with grid grenade instrumentation vertical direction.The grid of projection is after image received device acquisition process, mobile trend recognition system is converted into visible image and outputs in Vehicular screen and show, when detecting that protruding and depression etc. are abnormal, the square network of Vehicular screen shows abnormality position, drive alarm module to send voice, light prompting, so that driver takes treatment measures in time simultaneously.
Mobile trend recognition system is connected with vehicle control syetem by communication interface, obtains Vehicle Speed, rotating of steering wheel angle and other vehicle parameters by communications protocol.
Pavement state is converted to data and is supplied to vehicle control syetem by communication interface by mobile trend recognition system, can by after its additional GPS position information stored in database, and upload to high in the clouds.Alarm module can be sounded, light.This detection system can be used for the pavement detection of vehicle front, rear and the left and right sides.
The installation site of light grid grenade instrumentation and image received device as shown in Figure 2, can project a square network by light grid grenade instrumentation 202 on road surface, and virtual net is carried out on road surface and formats, the road surface after gridding as shown in Figure 3.When there is the object or depression that protrude in road surface, local, road surface becomes uneven, in square network, the grid of relevant position is no longer straight line, there is the torsional deformation as Fig. 4, Fig. 5, because the imageing sensor 201 in image received device and light grid grenade instrumentation 202 there are differences in vertical height, imageing sensor 201 obviously can capture the local distortion of grid, is identified by the algorithm for pattern recognition in mobile trend recognition system, and follows the tracks of its mobile trend.Square network is formed on ground owing to adopting initiatively emission of light, road pavement virtual net gathers its grid search-engine information by imageing sensor after formatting, more excellent by carrying out image analysis effect after the passive collection of imageing sensor than simple, reduce calculated amount, imageing sensor hardware requirement is reduced, reduce hardware cost, active illuminating mode can adapt to the light change of day and night simultaneously, reduce environmental interference, night on daytime all can use, and improves correctness and the reliability of identification.
The square network on ground can be realized by one or more light grid grenade instrumentation, can be realized by the single light grid grenade instrumentation be arranged in the middle part of headstock, also can be coordinated by two the light grid grenade instrumentations 202 being arranged on the headstock left and right sides as shown in Figure 2 and realize, many the light projected on ground perpendicular to travel direction, another projects many light being parallel to travel direction on ground, specifically as the first light grid grenade instrumentation 301 in Fig. 3 projects vertical light, second light grid grenade instrumentation 302 projects the light of level, two groups of ray cast form grid after intersecting on the ground, describe based on the above-mentioned division of labor as follows in the present invention, in actual applications, the light type of the first light grid grenade instrumentation 301 projection, the light type of the second light grid grenade instrumentation 302 projection can adjust, not only can exchange, the light simultaneously projected is not limited to level, vertical two kinds of patterns, can be other forms, be convenient to for the purpose of image recognition so that ground composition grid can be incident upon.
The advantage of two light grid grenade instrumentations is the height that light intensity is more single, improve contrast and serviceable life, can not only in imageing sensor 201 imaging more clear, simultaneously because two grenade instrumentations are staggering at surface level, spatially there is distance, when running into the hole, hole of object and the depression protruded in front, distortion is more obvious, improves the sensitivity of identification, better can identify pavement state.
Imageing sensor 201 is more remarkable with the larger recognition effect of grid grenade instrumentation 202 vertical direction difference in height, and in order to collect the maximum distortion of grid, image received device can be arranged on the front of room mirror.
When vehicle launch, light light grid grenade instrumentation, light grid is projected on road surface, after imageing sensor collection identification, complete self-inspection and calibration, judge that whether detection system duty is normal, extremely can send self-inspection information, easy access for the light intensity deficiency etc. caused due to light decay or external dust.
In traveling, detection system detects in real time to road conditions, carries out high-speed computation, and immediately send warning for the exception found, imageing sensor is per second carries out the image acquisition being not less than 30 frames, through supercomputing, and Real time identification road conditions.Imageing sensor, without the need to the higher three-dimensional camera of cost, reduces hardware implementation cost, decreases the calculated amount of figure identification simultaneously, improve recognition speed.
In order to avoid interference is driven, the sightless laser of light choice for use human eye that light grid grenade instrumentation is used, because laser has the unicity of frequency, before image sensor lens, configuration polarized lenses and light filter eyeglass, restriction or filtering laser beyond light enter, reduce extraneous light to the impact of imaging effect, the interference of the highlighted light of subtend track headlight when particularly meeting at night, after image acquisition, first strengthening and the color filtering of image is carried out, carry out grid search-engine strengthening, to reduce the calculated amount of later stage algorithm for pattern recognition.Light grid is projected owing to have employed active illuminating pattern, under night running pattern, native system effectively can improve the security of driving, the accident in low light environment is avoided to occur, there is vision dead zone in short-term after disappearing for the high light of the excessively bright sight line blind area of causing of light intersection during night meeting and direct projection eyes simultaneously, native system is unaffected, normally can identify the pavement behavior in blind area, send prompting in time, avoid accident to occur.
The grid of projection is after image received device acquisition process, detection system is converted into visible image and shows in Vehicular screen through video output interface output, when detecting that protruding and depression etc. are abnormal, show abnormality in grid on screen position, drive alarm module to send voice reminder, so that driver processes in time simultaneously.
When driving a vehicle in the daytime, when the improper driving such as driver's dispersion attention, drowsiness fail to dodge preceding object thing in time, can send in time and report to the police and automatically take control measure, two side elevation barriers can be detected, make up blind area, as being arranged on vehicle body rear, then what can continue detects after car, avoids the security incident that front-and-rear vehicle distance excessively closely causes.Also may be used for reversing to detect simultaneously, eliminate reversing blind area, short projection and the depression of road can be identified, this is that current radar is irrealizable, effective solution radar can not detect the defect of short object and pit, when it also avoid insufficient light, reverse image cannot the defect of blur-free imaging simultaneously, and the barrier on display road surface and hole, hole etc. in real time in Vehicular screen, strengthen the security of driving.Not have on street lamp and the not enough road of illumination can effectively aid identification road surface and both sides obstacle and cheat hole, can pedestrian in recognition visible sensation blind area and object etc. when the high light of meeting.
On road surface, there is mobile and static two states in object, in grid, the mobile trend of object is relevant with longitudinal relative velocity with the transverse velocity of object, longitudinal relative velocity is the difference of the lengthwise travel rate between object and vehicle, and in image, distorted region can present mobile trends different as follows within a grid:
When object rest is motionless, as the object 606 in Fig. 6 grid A1, along with the movement of vehicle, enter grid A2 successively until grid A8 from grid A1, the mobile trend formed within a grid is for shown in the first curve 601; When the speed of a motor vehicle is constant, object reduces translational speed gradually, or object translational speed is constant, and when the speed of a motor vehicle increases, from grid A1 to grid B2 finally to grid F8, the mobile trend formed within a grid is as shown in the second curve 602; When the speed of a motor vehicle is constant, object increases translational speed gradually, or object translational speed is constant, and when the speed of a motor vehicle reduces, the mobile trend formed within a grid is as shown in the 3rd curve 603; When object translational speed and the speed of a motor vehicle all remain unchanged, trend is as shown in the 4th curve 604; When left side has vehicle to change lane to sail into, the trend of formation is as shown in the 5th curve 605.
When being identified as the first curve 601, sending prompting, reminding driver to note observing, carefully to pass through; When being identified as the second curve 602, the 3rd curve 603, the 4th curve 604, the 5th curve 605, according to its position within a grid and distance, judge whether in alarm region, drive alarm module to send sound when finding to affect traffic safety in alarm region, light is reported to the police.
Fig. 7 is according to the variable alarm region of the speed of a motor vehicle, according to the different speed of a motor vehicle, alarm region can adjust automatically, the different driving condition of automatic adaptation, avoid false alarm during low speed driving, take into account sensitivity when running at high speed simultaneously, as the modeling curve 701 of running at high speed in Fig. 7, high speed modeling curve 702, middling speed modeling curve 703, low-speed mode curve 704 the alarm region that formed.When mobile trend as object under the pattern of running at high speed enters Fig. 7 grey area, this detection system drives alarm module to send sound immediately, light is reported to the police, after time delay after a while, detecting that any control measure do not taked by vehicle, then automatically reducing the speed of a motor vehicle even brake hard brake.Alarm region during low speed driving then reduces a lot, avoids frequent wrong report interference to drive.
Fig. 8 is according to the self-adjusting variable alarm region of vehicle heading, 7th curve 801 is alarm region when vehicle turns left, 8th curve 802 is alarm region when vehicle is turned right, the identification of appointed area can be carried out according to turn signal, also automatically can adjust alarm region by the rotational angle obtaining bearing circle.
Fig. 7, in Fig. 8, the automatic adjustment of alarm region can be realized by communications protocol, connected with vehicle control syetem by communication interface, by the Vehicle Speed of communications protocol Real-time Obtaining with turn to, automatic adjustment alarm region, realize the self-adaptation under different drive manner, fed back the pavement behavior detected in time to vehicle control syetem by communications protocol simultaneously, exist protruding as found, during depression, vehicle control syetem can by the suspension of adjustment vehicle body, automatic adjustment terrain clearance and damping effect, adapt to different road surface, improve the level of comfort taken simultaneously.
The size of the light grid of projection is determined according to accuracy of identification needs and hardware computing power, simultaneously to the mobile trend Tracking Recognition of multiple target object, can improve the security of driving.
The present embodiment describes the Road Detection backup system at front part of vehicle, format due to virtual net has been carried out on road surface, be convenient to procedure identification, this detection system not only can detect vehicle front, also rear and left and right sides can be detected, can install this system at vehicle rear and the left and right sides, during for detecting rear car safe distance and reversing, report to the police and eliminate blind area, left and right in rear, also may be used for left and right blind zone alert and track and change auxiliary grade and apply.
Pavement state is converted to data and is supplied to vehicle control syetem by communication by native system, can by after its additional GPS position information stored in database, and upload to high in the clouds, the selectivity realizing road surface is safeguarded and the shared use of pavement state information.
Light grid grenade instrumentation projects reticule lattice on road surface, figure identification through image received device collection and to grid search-engine after road surface virtual net is formatted, find out distorted region, and the mobile trend in tracing distortion region, according to mobile trend recognition result, can detect the abnormal conditions on road surface, show abnormality in the square network in Vehicular screen position, drives alarm module to send voice simultaneously, light is reminded.Adopt active illuminating mode can adapt to the light change of day and night, reduce environmental interference, improve correctness and the reliability of identification.Automatically the adjustment of alarm region can be carried out according to driving states, not only can be used for the pavement detection before and after vehicle, make up radar and reverse image deficiency, also in vehicle arranged on left and right sides, this system can be installed simultaneously, eliminate vision dead zone, realize blind zone alert and track and change the functions such as auxiliary, eliminate driving hidden danger.
The foregoing is only the preferred embodiments of the present invention; be not limited to the present invention; for a person skilled in the art; the present invention can have various modifications and variations; all any amendments done within the spirit and principles in the present invention, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1. a pavement detection system, is characterized in that, it is made up of light grid grenade instrumentation, image received device, mobile trend recognition system, alarm module, and light grid grenade instrumentation emits beam and is incident upon road surface formation light grid; Light grid in figure receiving trap road pavement carries out image acquisition; Mobile trend recognition system carries out figure identification to the grid image collected, and finds out distorted region, and the mobile trend in tracing distortion region; Alarm module is driven to send prompting according to mobile trend recognition result.
2. pavement detection system as claimed in claim 1, it is characterized in that, described mobile trend recognition system is connected with a communication interface.
3. pavement detection system as claimed in claim 1, it is characterized in that, described mobile trend recognition system is connected with a video output interface.
4. pavement detection system as claimed in claim 1, it is characterized in that, described image received device comprises imageing sensor and optical lens.
5. pavement detection system as claimed in claim 1, it is characterized in that, described Grid Projection device is made up of two laser beam emitting devices being arranged on left and right vehicle wheel both sides respectively, or is made up of the single laser beam emitting device being arranged on vehicle headstock medium position.
6. pavement detection system as claimed in claim 1, is characterized in that, the light type of described laser beam emitting device projection is horizontal pattern or vertical mode.
7. pavement detection system as claimed in claim 1, it is characterized in that, described light grid grenade instrumentation projects square network on the ground.
8. the detection method of a pavement detection system comprises the following steps:
The first step: the ray cast that light grid grenade instrumentation sends forms light grid on road surface;
Second step: the light grid in figure receiving trap road pavement carries out image acquisition;
3rd step: mobile trend recognition system carries out figure identification to the grid image collected, and finds out distorted region, and the mobile trend in tracing distortion region;
4th step: according to mobile trend recognition result, when entering alarm region, drives alarm module to send prompting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510644096.XA CN105185160B (en) | 2015-10-09 | 2015-10-09 | The pavement detection method that distorted region mobile trend identifies in virtual grid |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510644096.XA CN105185160B (en) | 2015-10-09 | 2015-10-09 | The pavement detection method that distorted region mobile trend identifies in virtual grid |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105185160A true CN105185160A (en) | 2015-12-23 |
| CN105185160B CN105185160B (en) | 2017-11-24 |
Family
ID=54907198
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510644096.XA Active CN105185160B (en) | 2015-10-09 | 2015-10-09 | The pavement detection method that distorted region mobile trend identifies in virtual grid |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105185160B (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106324696A (en) * | 2016-08-02 | 2017-01-11 | 高功臣 | Active type road obstacle detecting instrument and obstacle avoidance determination method |
| CN106971627A (en) * | 2017-05-22 | 2017-07-21 | 佛山市神风航空科技有限公司 | A kind of avoidance prior-warning device and determination methods |
| CN107128311A (en) * | 2017-04-26 | 2017-09-05 | 奇瑞汽车股份有限公司 | Pavement behavior reminding method and device |
| CN107176095A (en) * | 2016-03-10 | 2017-09-19 | 松下电器（美国）知识产权公司 | Recognition result suggestion device and its method, identification object suggestion device and its method |
| CN107332612A (en) * | 2017-05-23 | 2017-11-07 | 上海交通大学 | Visible ray blind guiding system and hidden method based on temporal psycho-visual modulation |
| CN107621239A (en) * | 2017-09-25 | 2018-01-23 | 江苏大学 | A kind of vehicular road surface bumps monitoring method based on multigroup laser rays |
| CN108476307A (en) * | 2016-07-21 | 2018-08-31 | Jvc 建伍株式会社 | Display control unit, method, program and system |
| CN109839067A (en) * | 2017-11-29 | 2019-06-04 | 宝山钢铁股份有限公司 | Plate size measuring device and method |
| CN110856322A (en) * | 2019-11-13 | 2020-02-28 | 中设设计集团股份有限公司 | Road obstacle detection prompt alarm system and alarm method thereof |
| CN111091066A (en) * | 2019-11-25 | 2020-05-01 | 重庆工程职业技术学院 | Method and system for evaluating ground state of automatic driving automobile |
| CN113696896A (en) * | 2021-08-24 | 2021-11-26 | 中国第一汽车股份有限公司 | Road surface information processing method, device, electronic equipment and storage medium |
| CN115273039A (en) * | 2022-09-29 | 2022-11-01 | 中汽数据(天津)有限公司 | Small obstacle detection method based on camera |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050232463A1 (en) * | 2004-03-02 | 2005-10-20 | David Hirvonen | Method and apparatus for detecting a presence prior to collision |
| CN101283387A (en) * | 2005-09-09 | 2008-10-08 | 国立计算机与自动化研究所 | Vehicle steering aid method and improved related device |
| US20090015388A1 (en) * | 2007-07-12 | 2009-01-15 | Koito Manufacturing Co., Ltd. | Vehicle lighting device |
| CN101487222A (en) * | 2009-02-27 | 2009-07-22 | 长安大学 | Multifunctional laser road detection vehicle |
| CN101694084A (en) * | 2009-10-14 | 2010-04-14 | 武汉武大卓越科技有限责任公司 | Ground on-vehicle mobile detecting system |
| JP2011253302A (en) * | 2010-06-01 | 2011-12-15 | Toyota Motor Corp | Risk calculation device for vehicle |
| CN102722913A (en) * | 2012-05-29 | 2012-10-10 | 中山大学 | High-elevation collision combined detection method of three-dimensional dynamic pre-warning system |
| JP2012198207A (en) * | 2011-03-18 | 2012-10-18 | Enii Kk | Image processing device and method, and mobile-body collision prevention apparatus |
| WO2012144144A1 (en) * | 2011-04-22 | 2012-10-26 | 株式会社小糸製作所 | Obstacle detection device |
| CN203132515U (en) * | 2013-03-28 | 2013-08-14 | 江苏苏科畅联科技有限公司 | Vehicle-mounted road surface laser evenness detection device |
| CN103576154A (en) * | 2012-08-01 | 2014-02-12 | 通用汽车环球科技运作有限责任公司 | Fusion of obstacle detection using radar and camera |
| CN103625367A (en) * | 2013-12-11 | 2014-03-12 | 魏子安 | Road obstacle recognition device and recognition method thereof |
| CN103842230A (en) * | 2011-10-03 | 2014-06-04 | 丰田自动车株式会社 | Vehicle driving support system |
| CN104802796A (en) * | 2014-01-27 | 2015-07-29 | 罗伯特·博世有限公司 | Method for operating a driver assistance system, and driver assistance system |
-
2015
- 2015-10-09 CN CN201510644096.XA patent/CN105185160B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050232463A1 (en) * | 2004-03-02 | 2005-10-20 | David Hirvonen | Method and apparatus for detecting a presence prior to collision |
| CN101283387A (en) * | 2005-09-09 | 2008-10-08 | 国立计算机与自动化研究所 | Vehicle steering aid method and improved related device |
| US20090015388A1 (en) * | 2007-07-12 | 2009-01-15 | Koito Manufacturing Co., Ltd. | Vehicle lighting device |
| CN101487222A (en) * | 2009-02-27 | 2009-07-22 | 长安大学 | Multifunctional laser road detection vehicle |
| CN101694084A (en) * | 2009-10-14 | 2010-04-14 | 武汉武大卓越科技有限责任公司 | Ground on-vehicle mobile detecting system |
| JP2011253302A (en) * | 2010-06-01 | 2011-12-15 | Toyota Motor Corp | Risk calculation device for vehicle |
| JP2012198207A (en) * | 2011-03-18 | 2012-10-18 | Enii Kk | Image processing device and method, and mobile-body collision prevention apparatus |
| WO2012144144A1 (en) * | 2011-04-22 | 2012-10-26 | 株式会社小糸製作所 | Obstacle detection device |
| CN103842230A (en) * | 2011-10-03 | 2014-06-04 | 丰田自动车株式会社 | Vehicle driving support system |
| CN102722913A (en) * | 2012-05-29 | 2012-10-10 | 中山大学 | High-elevation collision combined detection method of three-dimensional dynamic pre-warning system |
| CN103576154A (en) * | 2012-08-01 | 2014-02-12 | 通用汽车环球科技运作有限责任公司 | Fusion of obstacle detection using radar and camera |
| CN203132515U (en) * | 2013-03-28 | 2013-08-14 | 江苏苏科畅联科技有限公司 | Vehicle-mounted road surface laser evenness detection device |
| CN103625367A (en) * | 2013-12-11 | 2014-03-12 | 魏子安 | Road obstacle recognition device and recognition method thereof |
| CN104802796A (en) * | 2014-01-27 | 2015-07-29 | 罗伯特·博世有限公司 | Method for operating a driver assistance system, and driver assistance system |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107176095A (en) * | 2016-03-10 | 2017-09-19 | 松下电器（美国）知识产权公司 | Recognition result suggestion device and its method, identification object suggestion device and its method |
| CN108476307A (en) * | 2016-07-21 | 2018-08-31 | Jvc 建伍株式会社 | Display control unit, method, program and system |
| CN106324696A (en) * | 2016-08-02 | 2017-01-11 | 高功臣 | Active type road obstacle detecting instrument and obstacle avoidance determination method |
| CN107128311A (en) * | 2017-04-26 | 2017-09-05 | 奇瑞汽车股份有限公司 | Pavement behavior reminding method and device |
| CN107128311B (en) * | 2017-04-26 | 2019-06-14 | 奇瑞汽车股份有限公司 | Pavement behavior reminding method and device |
| CN106971627A (en) * | 2017-05-22 | 2017-07-21 | 佛山市神风航空科技有限公司 | A kind of avoidance prior-warning device and determination methods |
| CN107332612A (en) * | 2017-05-23 | 2017-11-07 | 上海交通大学 | Visible ray blind guiding system and hidden method based on temporal psycho-visual modulation |
| CN107621239A (en) * | 2017-09-25 | 2018-01-23 | 江苏大学 | A kind of vehicular road surface bumps monitoring method based on multigroup laser rays |
| CN107621239B (en) * | 2017-09-25 | 2019-12-31 | 江苏大学 | Vehicle-mounted road surface concave-convex monitoring method based on multiple groups of laser lines |
| CN109839067A (en) * | 2017-11-29 | 2019-06-04 | 宝山钢铁股份有限公司 | Plate size measuring device and method |
| CN110856322A (en) * | 2019-11-13 | 2020-02-28 | 中设设计集团股份有限公司 | Road obstacle detection prompt alarm system and alarm method thereof |
| CN111091066A (en) * | 2019-11-25 | 2020-05-01 | 重庆工程职业技术学院 | Method and system for evaluating ground state of automatic driving automobile |
| CN111091066B (en) * | 2019-11-25 | 2023-09-22 | 重庆工程职业技术学院 | Automatic driving automobile ground state assessment method and system |
| CN113696896A (en) * | 2021-08-24 | 2021-11-26 | 中国第一汽车股份有限公司 | Road surface information processing method, device, electronic equipment and storage medium |
| CN113696896B (en) * | 2021-08-24 | 2023-02-28 | 中国第一汽车股份有限公司 | Road surface information processing method, device, electronic equipment and storage medium |
| CN115273039A (en) * | 2022-09-29 | 2022-11-01 | 中汽数据(天津)有限公司 | Small obstacle detection method based on camera |
| CN115273039B (en) * | 2022-09-29 | 2023-01-10 | 中汽数据(天津)有限公司 | Small obstacle detection method based on camera |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105185160B (en) | 2017-11-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105185160B (en) | The pavement detection method that distorted region mobile trend identifies in virtual grid | |
| CN103150560B (en) | The implementation method that a kind of automobile intelligent safety is driven | |
| US11798290B2 (en) | Obstacle detection and notification for motorcycles | |
| WO2019069581A1 (en) | Image processing device and image processing method | |
| CN109703460A (en) | The complex scene adaptive vehicle collision warning device and method for early warning of multi-cam | |
| CN103204123A (en) | Vehicle-pedestrian detecting, tracking and early-warning device and method | |
| US10832569B2 (en) | Vehicle detection systems | |
| CN103692993A (en) | Binocular far infrared intelligent assistant safety driving system | |
| CN112908034A (en) | Intelligent bus safe driving behavior auxiliary supervision system and control method | |
| CN113808418B (en) | Road condition information display system, method, vehicle, computer device and storage medium | |
| CN110428662A (en) | Right side intelligent collision pre-warning management system and working method based on millimeter wave | |
| CN112896159A (en) | Driving safety early warning method and system | |
| CN110816527A (en) | Vehicle-mounted night vision safety method and system | |
| CN114360210A (en) | Vehicle fatigue driving early warning system | |
| CN109747537A (en) | A kind of unmanned early warning system of automobile | |
| CN105679090B (en) | A kind of night driver driving householder method based on smart mobile phone | |
| CN113562005A (en) | Intelligent monitoring and obstacle intrusion limit detecting system for driver behaviors of rail train | |
| CN205003872U (en) | Pavement detection system of distorted region removal trend discernment in virtual net | |
| US20220121216A1 (en) | Railroad Light Detection | |
| Li | Anti-fatigue and collision avoidance systems for intelligent vehicles with ultrasonic and Li-Fi sensors | |
| CN108974014A (en) | Monitoring system and method for the cloud server to intelligent automobile safe driving | |
| CN111845560B (en) | Warning system for objects rushed out of locomotive | |
| CN105711492A (en) | Barrier alarm system and operation method thereof | |
| US20230356728A1 (en) | Using gestures to control machines for autonomous systems and applications | |
| CN215474804U (en) | Vehicle blind area anticollision early warning device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |