CN105882661B - The method of operation of motor vehicle driving curves auxiliary system - Google Patents

The method of operation of motor vehicle driving curves auxiliary system Download PDF

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Publication number
CN105882661B
CN105882661B CN201610219180.1A CN201610219180A CN105882661B CN 105882661 B CN105882661 B CN 105882661B CN 201610219180 A CN201610219180 A CN 201610219180A CN 105882661 B CN105882661 B CN 105882661B
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China
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data
bend
system control
processor
motor vehicle
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CN201610219180.1A
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CN105882661A (en
Inventor
石欣
付佳蕾
曾兴旺
王岳
邱雷
梁妙姝
魏跃东
韩可松
陆未定
刘昱岑
陈磊
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Chongqing University
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Chongqing University
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08Interaction between the driver and the control system
    • B60W50/14Means for informing the driver, warning the driver or prompting a driver intervention
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18Propelling the vehicle
    • B60W30/18009Propelling the vehicle related to particular drive situations
    • B60W30/18145Cornering
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062Adapting control system settings
    • B60W2050/0075Automatic parameter input, automatic initialising or calibrating means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08Interaction between the driver and the control system
    • B60W50/14Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143Alarm means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08Interaction between the driver and the control system
    • B60W50/14Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146Display means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00Input parameters relating to overall vehicle dynamics
    • B60W2520/10Longitudinal speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00Input parameters relating to occupants
    • B60W2540/18Steering angle
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00Input parameters relating to data
    • B60W2556/45External transmission of data to or from the vehicle
    • B60W2556/50External transmission of data to or from the vehicle for navigation systems

Abstract

The invention mainly relates to a kind of methods of operation of motor vehicle driving curves auxiliary system, the system comprises front end photographic device, image data processor, GPS positioning device, vehicle speed detector device, wheel turning angle detector, vehicle-mounted multimedia display device and system control processors, are a kind of motor vehicle driving curves auxiliary systems based on image processing techniques;Image data processor in system determines whether motor vehicle enters bend and analysis calculates and obtains bend radius of curvature data K by way of judging whether to occur complete obstacle background in motor-driven vehicle going road image;Simultaneously, using motor vehicle driving curves auxiliary system of the present invention, it can be during motor vehicle approaches and crosses bend, by multi-media display device accurately relevant curve data and drive advice are prompted to driver, it assists the especially primary driver safety of driver smoothly by bend road, reduces the possibility that curve traffic accident occurs.

Description

The method of operation of motor vehicle driving curves auxiliary system
Technical field
The present invention relates to a kind of motor vehicle driving auxiliary system and the methods of operation, especially a kind of to be based on image processing techniques Carry out the motor vehicle driving curves auxiliary system and the method for operation of bend monitoring.
Background technology
Driving curves technology is an important driving technology for driver, and ordinary motor vehicle is when by bend It is whether steadily related with factors, such as the curvature of bend, car speed, bend inclination angle, road friction coefficient and vehicle The weight and size etc. of itself.Although usually having caution sign for sharp turn, or it is marked with rate limitation, driver is sometimes simultaneously It does not notice that these caution signs or follows the rate limitation indicated and high speed is kept to pass through, gently then can lead to Vehicular occupant not Comfortably, heavy then can cause to lose control of one's vehicle, serious traffic accident to occur in some cases.In consideration of it, some present are motor-driven Vehicle supplementary controlled system also includes some corresponding bend monitoring technology, including by using GPS signal, map data base, vehicle The data such as speed, yaw rate and steering angle are appropriate to prompt vehicle that should be used when apart from bend different location Speed, but a problem present in above-mentioned technology is that accuracy is not high when calculating bend curvature data, and practical application is got up It is not well positioned to meet the demand of driver.
Invention content
In view of the deficiencies of the prior art, the present invention provides one kind being based on image processing techniques, in combination with GPS data meter Bend curvature is calculated to realize the method for operation of the motor vehicle driving curves auxiliary system of auxiliary driving.
The technical solution adopted by the present invention is as follows:A kind of method of operation of motor vehicle driving curves auxiliary system, system packet Include front end photographic device, image data processor, GPS positioning device, vehicle speed detector device, wheel turning angle detector, vehicle Carry multi-media display device and system control processor;The vision signal delivery outlet of the front end photographic device and described image number It is electrically connected according to the vision signal input port of processor, at the data transmission port of described image data processor and system control The data transmission port for managing device is electrically connected, the data transmission port of the GPS positioning device and the number of system control processor It is electrically connected according to transmission port, the data transmission port of the vehicle speed detector device and the data transmission terminal of system control processor Mouth is electrically connected, the data transmission port of the wheel turning angle detector and the data transmission port of system control processor It is electrically connected, the vision signal input port of the vehicle-mounted multimedia display device and the vision signal of system control processor export Mouth is electrically connected;
System includes two kinds of operating modes of standby mode of operation and bend real time data monitoring pattern, and carrying out practically mode is such as Under:
Standby mode of operation:
A1. when the system control processor is in standby mode of operation, the GPS positioning device real-time Transmission vehicle Location information and map information data are to system control processor;
B1. bend will occur when the system control processor is received from GPS data in front of motor-driven vehicle going After data, just controls described image data processor and start bend monitoring and curve data collecting work;
C1. described image data processor receives the picture signal number acquired from the front end of motor vehicle photographic device According to carrying out that motor-driven vehicle going road ahead information data is transferred back to system control processor after processing analysis;
D1. the system control processor is by real time road information data and GPS location from image data processor Signal and map information data carry out the comparison that coincide, if confirming, motor vehicle is just moving closer to and will drive into bend, enters curved Road real time data monitoring pattern, otherwise system control processor control system persistently standby mode of operation is kept to turn again to step a1;
Bend real time data monitoring pattern:
A2. after system control processor enters bend real time data monitoring pattern, described image data processor continues The bend image information that analyzing processing is passed back from front end photographic device, and calculate analysis and obtain including bend radius of curvature data Bend information data including K;
B2. the curve datas information such as bend radius of curvature data K are real-time transmitted to system by described image data processor Control processor, the GPS positioning device real-time Transmission vehicle position information data to system control processor, the speed For detection device real-time Transmission motor vehicle speed information data to system control processor, the wheel turning angle detector is real-time Motor vehicle wheel steering angle information data is transmitted to system control processor;
C2. the system control processor calculates the every operation data for analyzing motor vehicle after receiving above-mentioned data information Whether in the safe driving data area in negotiation of bends, and will treated that prompt data are sent to vehicle mounted multimedia and show Device;
D2. vehicle-mounted multimedia display device shows the bend prompt data received, informs the real-time bend letter of driver Breath and driving information;When system control processor monitors that the bend operating status of motor vehicle is in the safe driving of negotiation of bends When except range, it will pass through vehicle-mounted multimedia display device and carry out acousto-optic warning;When system control processor monitors motor vehicle Bend operating status seriously exceed negotiation of bends safe driving range except when, just force control driving mechanism of motor vehicle subtract Speed;When system control processor monitors that motor vehicle is driven out to bend, just control system enters standby mode of operation, otherwise keeps Bend real time data monitoring pattern turns again to step a2;
Described image data processor judges that motor vehicle enters bend and analysis calculates and obtains bend radius of curvature data K's Key step is as follows:
A. image data processor is divided after receiving the picture signal from front end photographic device in single-frame images Go out the Delta Region of image;
B. image data processor analyzes in the Delta Region top area complete obstacle background whether occur;If occurring Complete obstacle background is then judged as that bend occurs in motor vehicle front;
C. the outline data for extracting the complete obstacle background, is carried out at the same time bend walking direction, if occur in image Two bend path lines be in incline to the left it is ramp-like, can determine that the bend be left bend, if otherwise two bend path lines be in Right deviation is ramp-like, then can determine that the bend is right bend;
D. image data processor calculates complete obstacle background profile face according to the complete obstacle background profile data Product, analyzes the complete obstacle background profile area change data of adjacent two field pictures in motor vehicle driving process, and calculates curved Road image radius of curvature data k;
E. image data processor obtains GPS map data, and the bend figure that will be calculated from system control processor As the bend radius of curvature data provided in radius of curvature data k and GPS map data carry out global alignment, correct, obtain most Whole bend radius of curvature data K.
Preferably, the formula of described image data processor calculating bend image radius of curvature data k is as follows:
If α is the half of Delta Region apex angle described in single-frame images, if β is the second frame image in adjacent two field pictures The bevel edge that Delta Region is located at the point of contact side with the point of contact radius at bend intersection of locus with Delta Region is formed by angle, l1It is bend track in first frame image at a distance from the intersection point and apex of Delta Region, l2For bend rail in the second frame image For mark at a distance from the intersection point and apex of Delta Region, l is the bend arc length that motor-driven vehicle going passes through in Δ t time intervals, and d is The distance of motor-driven vehicle going in Δ t time intervals, then when adjacent two field pictures acquisition interval time Δ t is smaller, bend image The calculation of radius of curvature data k is as follows:
Using motor vehicle driving curves auxiliary system of the present invention, the process of bend can be approached and crossed in motor vehicle In, accurately prompt relevant curve data and drive advice, auxiliary driver special to driver by multi-media display device It is not the possibility that primary driver safety is smoothly occurred by bend road, reduction curve traffic accident.
Description of the drawings
Fig. 1 is the system block diagram of motor vehicle driving curves auxiliary system of the present invention;
Fig. 2 is first frame image Delta Region schematic diagram in the embodiment of the present invention;
Fig. 3 is the second frame image Delta Region schematic diagram in the embodiment of the present invention;
Fig. 4 is that motor vehicle driving curves auxiliary system of the present invention judges whether the flow chart for complete obstacle background occur.
1 front end photographic device in figure, 2 image data processors, 3 system control processors, 4 vehicle mounted multimedias display dress It sets, 5 vehicle speed detector devices, 6 GPS positioning devices, 7 wheel turning angle detectors.
Specific implementation mode
As shown in Figure 1, a kind of motor vehicle driving curves auxiliary system includes mainly front end photographic device 1, at image data It manages device 2, GPS positioning device 6, vehicle speed detector device 5, wheel turning angle detector 7, vehicle-mounted multimedia display device 4 and is System control processor 3;
Front end photographic device 1 is high definition CCD vehicle-mounted vidicons, is installed on vehicle cockpit front, motor-driven for acquiring Vehicle travels the image data of road ahead, the vision signal input port electricity of vision signal delivery outlet and image data processor 2 Property connection;
2 main work of image data processor is to carry out analysis meter to road image data using complete obstacle background method It calculates, to obtain the data such as bend radius of curvature in image, data transmission port and the system control process of image data processor 2 The data transmission port of device 3 is electrically connected;
The data transmission port of GPS positioning device 6 is electrically connected with the data transmission port of system control processor 3, vehicle The data transmission port of speed detector 5 is electrically connected with the data transmission port of system control processor 3, wheel turning angle inspection The data transmission port for surveying device 7 and the data transmission port of system control processor 3 are electrically connected;
Vehicle-mounted multimedia display device 4 uses vehicle-mounted projecting apparatus, vision signal input port and system control processor 3 Vision signal delivery outlet is electrically connected;
As shown in figure 4, image data processor 2 is as follows using the method for operation of complete obstacle background method:
The first step:Set Delta Region in the road image that front end photographic device 1 is acquired, Delta Region be one with The motor vehicle body width of traveling is mapped to the isosceles triangle that the width on image is bottom, i.e., uses dotted line in attached drawing 2 and attached drawing 3 The triangle of expression, vertical line and the center line of road of the triangle coincide;
Second step:The background image for whether occurring other than road boundary in Delta Region is judged, if occurring having formd Full obstacle background, can determine whether that bend occurs in motor vehicle front, and otherwise motor vehicle front is Through Lane.
The method of operation of motor vehicle driving curves auxiliary system is illustrated using specific embodiment below:
Under normal circumstances, motor vehicle driving curves auxiliary system is constantly in standby mode of operation in straight road, tool Running body mode is as follows:
A1. system control processor 3 is in standby mode of operation, 6 real-time Transmission vehicle position information of GPS positioning device With map information data to system control processor 3;
B1. the data of bend will occur when system control processor 3 is received from GPS data in front of motor-driven vehicle going Afterwards, just control image data processor 2 starts bend monitoring and curve data collecting work;
C1. image data processor 2 receives the image signal data acquired from the front end of motor vehicle photographic device 1, It carries out that motor-driven vehicle going road ahead information data is transferred back to system control processor 3 after processing analysis;
D1. system control processor 3 believes the real time road information data from image data processor 2 with GPS location Number and map information data carry out coincide comparison, if confirm motor vehicle just moving closer to and will drive into bend, enter bend Real time data monitoring pattern, otherwise 3 control system of system control processor persistently standby mode of operation is kept to turn again to step a1;
After motor vehicle driving curves auxiliary system enters bend real time data monitoring pattern from standby mode of operation, tool Running body mode is as follows:
A2. system control processor 3 enters bend real time data monitoring pattern, at 2 continual analysis of image data processor The bend image information passed back from front end photographic device 1 is managed, and calculates analysis and obtains including bend radius of curvature data K Bend information data;
B2. the curve datas information such as bend radius of curvature data K are real-time transmitted to system control by image data processor 2 Processor 3,6 real-time Transmission vehicle position information data of GPS positioning device to system control processor 3, vehicle speed detector device 5 Real-time Transmission motor vehicle speed information data is to system control processor 3,7 real-time Transmission motor vehicle of wheel turning angle detector Wheel turning angle information data is to system control processor 3;
C2. system control processor 3, which receives, calculates every operation data of analysis motor vehicle after above-mentioned data information and is In the no safe driving data area in negotiation of bends, and prompt data are sent to vehicle mounted multimedia display dress by treated Set 4;
D2. vehicle-mounted multimedia display device 4 shows the bend prompt data received, informs the real-time bend letter of driver Breath and driving information;When system control processor 3 monitors that the bend operating status of motor vehicle is in the safety of negotiation of bends and drives When sailing except range, it will pass through vehicle-mounted multimedia display device 4 and carry out acousto-optic warning;When system control processor 3 monitors machine When the bend operating status of motor-car is seriously exceeded except the safe driving range of negotiation of bends, control motor vehicle driving dress is just forced Set deceleration;When system control processor 3 monitors that motor vehicle is driven out to bend, just control system enters standby mode of operation, no Bend real time data monitoring pattern is then kept to turn again to step a2.
As shown in Figures 2 and 3, in the operational process of motor vehicle driving curves auxiliary system, image data processor 2 is sentenced Whether off line motor-car enters bend and the key step of analysis calculating acquisition bend radius of curvature data K is as follows:
A. image data processor 2 divides after receiving the picture signal from front end photographic device 1 in single-frame images Cut out the Delta Region of image;
Whether b. image data processor 2 is analyzed there is complete obstacle background in the Delta Region top area;If going out Now complete obstacle background is then judged as that bend occurs in motor vehicle front;
C. the outline data for extracting the complete obstacle background, is carried out at the same time bend walking direction, if occur in image Two bend path lines be in incline to the left it is ramp-like, can determine that the bend be left bend, if otherwise two bend path lines be in Right deviation is ramp-like, then can determine that the bend is right bend;
D. image data processor 2 calculates complete obstacle background profile face according to the complete obstacle background profile data Product, analyzes the complete obstacle background profile area change data of adjacent two field pictures in motor vehicle driving process, and calculates curved Road image radius of curvature data k;If α is the half of Delta Region apex angle described in single-frame images, if β is in adjacent two field pictures The Delta Region of second frame image is located at the bevel edge of the point of contact side with the point of contact radius at bend intersection of locus with Delta Region It is formed by angle, l1It is bend track in first frame image at a distance from the intersection point and apex of Delta Region, l2For the second frame At a distance from the intersection point and apex of Delta Region, l is that motor-driven vehicle going passes through in Δ t time intervals for bend track in image Bend arc length, d is the distance of motor-driven vehicle going in Δ t time intervals, then when adjacent two field pictures acquisition interval time Δ t is smaller When, the calculation of bend image radius of curvature data k is as follows:
E. image data processor 2 obtains GPS map data, and the bend that will be calculated from system control processor 3 The bend radius of curvature data provided in image radius of curvature data k and GPS map data carry out global alignment, correct, and obtain Final bend radius of curvature data K.
Using motor vehicle driving curves auxiliary system of the present invention, pass through the mileage chart captured by the photographic device As judging whether bend occur and calculating the radius of curvature of bend, in combination with the data such as GPS data, speed, steering angle, analysis Whether motor vehicle is in a safe condition during negotiation of bends, while prompting relevant curve data and driving to driver It is recommended that the especially primary driver safety of auxiliary driver reduces what curve traffic accident occurred smoothly by bend road Possibility.
The above embodiment of the present invention is only example to illustrate the invention, and is not the implementation to the present invention The restriction of mode.For those of ordinary skill in the art, other can also be made not on the basis of the above description With the variation and variation of form.Here can not all embodiments be exhaustive.It is every to belong to technical scheme of the present invention institute Row of the obvious changes or variations amplified out still in protection scope of the present invention.

Claims (2)

1. the method for operation of motor vehicle driving curves auxiliary system, which is characterized in that system includes front end photographic device, picture number According to processor, GPS positioning device, vehicle speed detector device, wheel turning angle detector, vehicle-mounted multimedia display device and system Control processor;The vision signal delivery outlet of the front end photographic device is inputted with the vision signal of described image data processor Mouth is electrically connected, and the data transmission port of described image data processor and the data transmission port of system control processor are electrical Connection, the data transmission port of the GPS positioning device and the data transmission port of system control processor are electrically connected, described The data transmission port of vehicle speed detector device and the data transmission port of system control processor are electrically connected, the wheel steering The data transmission port of angle detecting device and the data transmission port of system control processor are electrically connected, the vehicle mounted multimedia The vision signal input port of display device and the vision signal delivery outlet of system control processor are electrically connected;
System includes two kinds of operating modes of standby mode of operation and bend real time data monitoring pattern, and carrying out practically mode is as follows:
Standby mode of operation:
A1. when the system control processor is in standby mode of operation, the GPS positioning device real-time Transmission vehicle location Information and map information data are to system control processor;
B1. the data of bend will occur when the system control processor is received from GPS data in front of motor-driven vehicle going Afterwards, just control described image data processor starts bend monitoring and curve data collecting work;
C1. described image data processor receives the image signal data acquired from the front end of motor vehicle photographic device, into Motor-driven vehicle going road ahead information data is transferred back into system control processor after row processing analysis;
D1. the system control processor is by real time road information data and GPS location signal from image data processor The comparison that coincide is carried out with map information data, motor vehicle is just moving closer to and will drive into bend if confirming, it is real to enter bend When data monitoring pattern, otherwise system control processor control system persistently keep standby mode of operation to turn again to step a1;
Bend real time data monitoring pattern:
A2. after system control processor enters bend real time data monitoring pattern, described image data processor continual analysis The bend image information passed back from front end photographic device is handled, and calculates analysis and obtains including that bend radius of curvature data K exists Interior bend information data;
B2. the curve datas information such as bend radius of curvature data K are real-time transmitted to system control by described image data processor Processor, the GPS positioning device real-time Transmission vehicle position information data to system control processor, the Bus- Speed Monitoring Device real-time Transmission motor vehicle speed information data is to system control processor, the wheel turning angle detector real-time Transmission Motor vehicle wheel steering angle information data is to system control processor;
C2. the system control processor receive calculate after above-mentioned data information analysis motor vehicle every operation data whether In safe driving data area in negotiation of bends, and prompt data are sent to vehicle mounted multimedia display dress by treated It sets;
D2. vehicle-mounted multimedia display device show receive bend prompt data, inform the real-time bend information of driver and Driving information;When system control processor monitors that the bend operating status of motor vehicle is in the safe driving range of negotiation of bends Except when, will pass through vehicle-mounted multimedia display device carry out acousto-optic warning;When system control processor monitors the curved of motor vehicle When road operating status is seriously exceeded except the safe driving range of negotiation of bends, control driving mechanism of motor vehicle is just forced to slow down; When system control processor monitors that motor vehicle is driven out to bend, just control system enters standby mode of operation, otherwise keeps curved Road real time data monitoring pattern turns again to step a2;
Described image data processor judges that motor vehicle enters bend and analysis calculates and obtains the main of bend radius of curvature data K Steps are as follows:
A. image data processor is partitioned into figure after receiving the picture signal from front end photographic device in single-frame images The Delta Region of picture;
B. image data processor analyzes in the Delta Region top area complete obstacle background whether occur;If occurring complete Obstacle background is then judged as that bend occurs in motor vehicle front;
C. the outline data for extracting the complete obstacle background, is carried out at the same time bend walking direction, if two occurred in image Bend path line is ramp-like in inclining to the left, and can determine that the bend is left bend, if otherwise two bend path lines are in Right deviation It is ramp-like, then it can determine that the bend is right bend;
D. image data processor calculates complete obstacle background profile area according to the complete obstacle background profile data, point The complete obstacle background profile area change data of adjacent two field pictures during analysis motor-driven vehicle going, and calculate image of going off the curve Radius of curvature data k;
E. image data processor obtains GPS map data from system control processor, and the bend image being calculated is bent The bend radius of curvature data provided in rate radius data k and GPS map data carry out global alignment, correct, and obtain final Bend radius of curvature data K.
2. the method for operation of motor vehicle driving curves auxiliary system according to claim 1, which is characterized in that described image The formula that data processor calculates bend image radius of curvature data k is as follows:
If α is the half of Delta Region apex angle described in single-frame images, if β is the triangle of the second frame image in adjacent two field pictures The bevel edge that region is located at the point of contact side with the point of contact radius at bend intersection of locus with Delta Region is formed by angle, l1For Bend track is at a distance from the intersection point and apex of Delta Region in first frame image, l2For bend track in the second frame image with The intersection point of Delta Region and the distance of apex, l are the bend arc length that motor-driven vehicle going passes through in Δ t time intervals, and d is Δ t The distance of motor-driven vehicle going in time interval, then when adjacent two field pictures acquisition interval time Δ t is smaller, bend image curvature The calculation of radius data k is as follows:
CN201610219180.1A 2016-04-08 2016-04-08 The method of operation of motor vehicle driving curves auxiliary system Expired - Fee Related CN105882661B (en)

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