CN105984407B - Situation monitoring and alarming device after a kind of vehicle - Google Patents
Situation monitoring and alarming device after a kind of vehicle Download PDFInfo
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- CN105984407B CN105984407B CN201510245383.3A CN201510245383A CN105984407B CN 105984407 B CN105984407 B CN 105984407B CN 201510245383 A CN201510245383 A CN 201510245383A CN 105984407 B CN105984407 B CN 105984407B
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- vehicle
- rear car
- image
- situation
- alarm
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
-
- 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
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8066—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 rearward traffic
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Multimedia (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention relates to situation monitoring and alarming devices after a kind of vehicle.Situation monitoring device after vehicle, including：Image collecting device is installed on the image of situation after tailstock collecting vehicle；And central control unit, the presence of rear car is determined according to the image of situation after the vehicle from image collecting device.Alarming device further comprises warning device；Wherein, whether central control unit less than or equal to scheduled threshold value indicating alarm device sends out alarm according to the distance of this vehicle with the rear car under current rear car speed.Technical scheme of the present invention, by image, the presence of automatic identification rear car and the speed of rear car after the vehicle that the image collecting device of the tailstock obtains, monitors the situation after vehicle by image recognition technology；And alarm can be sent out according to the risk that rear-end collision occurs, so as to reduce the risk to knock into the back.
Description
Technical field
The present invention relates to a kind of field of vehicle safety, particularly situation monitoring and alarming device after a kind of vehicle.
Background technology
With the development of economy, the quantity of vehicle continues to increase, and the quantity of car accident is also increasing.Wherein, the most often
The accident seen exactly " knocks into the back ".The reason of causing " knocking into the back " accident essentially consists in the speed of the hypotelorism of rear car and front truck and rear car
It spends fast.One method of " knocking into the back " accident of reduction is to monitor the situation after vehicle in time, and to rear car driver to responding
Show so that rear car driver can maintain safe distance and reduce speed.
Invention content
For the technical problems in the prior art, the present invention proposes situation monitoring device after a kind of vehicle, including：Figure
As harvester, it is installed on the image of situation after tailstock collecting vehicle；And central control unit, according to from Image Acquisition
The image of situation determines the presence of rear car after the vehicle of device.
Situation monitoring device after vehicle as described above, wherein central control unit includes Car license recognition module, and identification comes
Car plate from the image of situation after the vehicle of image collecting device determines the presence of rear car.
Situation monitoring device after vehicle as described above, wherein central control unit includes speed identification module, according to next
Size and location variation from the car plate in the image of situation after the continuous vehicle of image collecting device and image collecting device
The position for being installed on the tailstock calculates the speed of rear car.
Situation monitoring device after vehicle as described above, wherein central control unit further comprise supplementary module, identify
Wheel in the image of situation or driver after vehicle from image collecting device, determine the presence of rear car.
Situation monitoring device after vehicle as described above, wherein central control unit includes speed identification module, according to next
Size and location variation from the car plate in the image of situation after the continuous vehicle of image collecting device and wheel or driver
Size and location variation and image collecting device be installed on the tailstock position calculate rear car speed.
Situation monitoring device after vehicle as described above, further comprises laser range finder, is connected to central control unit.
Situation monitoring device after vehicle as described above, wherein image collecting device are connected further to the display of driver's cabin
Screen；Wherein when in state of rolling backward, the video of situation after vehicle is sent to the display screen of driver's cabin by image collecting device.
According to another aspect of the present invention, a kind of alarming device is proposed, including：As above situation is supervised after any vehicle
View apparatus；And warning device；Wherein, central control unit is according to the distance of this vehicle with the rear car under current rear car speed
It is no to send out alarm less than or equal to scheduled threshold value indicating alarm device.
Alarming device as described above, wherein the warning device includes：
Light warning part, the distance of this vehicle with the rear car is less than or equal to scheduled threshold value under current rear car speed
More than the threshold value 80% when by change car light shine or color send out alarm；
Word alarm part, the distance of this vehicle with the rear car is less than or equal to scheduled threshold value under current rear car speed
80% by word sends out alarm when being more than the 40% of the threshold value；And
Audible alarm part, the distance of this vehicle with the rear car is less than or equal to scheduled threshold value under current rear car speed
Alarm is loudly sent out by sound when 40%.
Alarming device as described above, wherein central control unit and image collecting device are connected to Train-borne recorder,
Whether middle central control unit is less than or equal to scheduled threshold value according to the distance of this vehicle with the rear car under current rear car speed
Start Train-borne recorder and records situation after vehicle.
Technical scheme of the present invention passes through the vehicle of the image collecting device acquisition mounted on the tailstock by image recognition technology
Image afterwards, the presence of automatic identification rear car and the speed of rear car monitor the situation after vehicle；And it can be according to the thing that knocks into the back
Therefore risk send out alarm, so as to reduce the risk to knock into the back.
Description of the drawings
In the following, the preferred embodiment of the present invention will be described in more detail in conjunction with attached drawing, wherein：
Fig. 1 is the structural schematic diagram of alarming device according to an embodiment of the invention；And
Fig. 2 is the schematic diagram that alarming device according to an embodiment of the invention sends out alarm.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
The every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the following detailed description, the specific embodiment for being used for illustrating the application as the application part may refer to
Each Figure of description.In the accompanying drawings, similar reference numeral describes substantially similar component in different drawings.This Shen
Each specific embodiment please has carried out description detailed enough following so that has the general of ability domain-dependent knowledge and technology
Logical technical staff can implement the technical solution of the application.It should be appreciated that other embodiments can also be utilized or to the application
Embodiment carry out structure, logic or electrical change.
It will be appreciated by those skilled in the art that if not including warning device in the device of the invention, become independent
Situation monitoring device after vehicle；If the device of the invention includes warning device, become independent alarming device.Exist herein
It is uniformly described in the embodiment of alarming device, no longer distinguishes in detail.
Fig. 1 is the structural schematic diagram of alarming device according to an embodiment of the invention.With reference to figure 1, alarming device 100
Including central control unit 101, image collecting device 102 and warning device 103；Wherein image collecting device 102 and alarm fills
It sets 103 and is connected respectively to central control unit 101.An example according to the present invention, image collecting device 102 are typically mounted at
The tailstock is used for the image of collection vehicle last case.An example according to the present invention, image collecting device 102 is with fixed
The image of time interval continuous acquisition vehicle back, and send images to central control unit 101.Central control unit 101
Rear car is identified from each image, and from which further follows that the speed of the distance between rear car and this vehicle and rear car, is then judged
Under the speed of current rear car, whether the distance of this vehicle with the rear car is less than or equal to scheduled threshold value；And in response to preceding
Whether the distance of vehicle with the rear car is less than or equal to scheduled threshold value, and 101 indicating alarm device 103 of central control unit is to originally
The driver of vehicle or rear car propose alarm.
Central control unit 101 can be implemented in a manner of hardware or software and realize control work(related to the present invention
Energy.For example, central control unit 101 may include the software related to the present invention run on processor and the processor,
Or the hardware including having firmware.Image collecting device 102 can be the various hardware that can be adapted for the solution of the present invention
Device, including but not limited to various cameras, video camera, imaging sensor etc..An example according to the present invention, Image Acquisition
Device 102 includes infrared or low-light pattern, is used in night with facilitating.Warning device 103 can also be various types of
Hardware device and the software coordinated with it, the driving with word, sound, light, color or combinations thereof to driver or rear car
Member proposes warning.
The key for determining whether there is the risk to knock into the back is to measure this vehicle distance with the rear car and rear car is opposite
In the speed of this vehicle.The side that this vehicle distance with the rear car is judged using the mode of laser range finder exists in the prior art
Formula.Technical scheme of the present invention can also use laser range finder as additional project.For example, as shown in Figure 1, alarming device
100 may include laser ranging system 104, such as laser range finder.The measurement of laser ranging system 104 has very high essence
Degree, but have the problem of of high cost and reliability can not ensure.If rear car has reflection, bad or position is bad
The geographical limitation such as situation or bend, laser ranging system 104 may not be able to play a role.This is also that laser ranging can not be utilized to fill
Set a reason of 104 carry out spacings and vehicle speed measurement.Therefore, for the solution of the present invention, laser ranging system 104 is
Optionally.Similarly, there is also use expensive tachymeter the speed that measures rear car relative to this vehicle in the prior art.
However, tachymeter reliability is not equally high, and installs and safeguard also cumbersome.Therefore, it is seldom used in practice.
Even if there be no rangefinder and tachymeter, the present invention determines rear car and this by image recognition technology
The distance between vehicle and relative velocity, to estimate the possibility of " knocking into the back " and send out indicating alarm.One according to the present invention
Embodiment, central control unit 101 is after receiving the consecutive image from image collecting device 102, after identifying in image
Vehicle；And Ben Che and rear car distance and opposite speed are obtained according to the variation of rear car in consecutive image.For example, Image Acquisition
Device 102 is spaced at a fixed time, such as 1 second or 0.5 second or shorter time, the subsequent multiple figures of this vehicle of continuous acquisition
Picture.Central control unit 101 receives continuous multiple images, and one or more rear cars are identified from each image.Then, root
The speed of distance and rear car of the rear car apart from this vehicle is determined according to the variation of rear car in the picture.Next, center control dress
Set whether the distance of 101 determination this vehicle with the rear car is less than or equal to scheduled threshold value, and indicating alarm device 103 is sent out accordingly
Go out alarm.
The first problem that the present invention faces is how to identify rear car.Because there are many type of vehicle, identification is got up with non-
Often high difficulty.An example according to the present invention, central control unit 101 include Car license recognition module 110.Car license recognition mould
Block 110, which passes through, identifies that the car plate in image that image collecting device 102 acquires identifies rear car.Although there are many type of vehicle,
But the car plate of all vehicles is all standard, therefore discrimination is very high.By technologies such as image compensations, in the prior art
Through that can accomplish except far distance, the car plate of automobile is accurately identified.Further, in certain realities of the present invention
It applies in example, and woth no need to identify the content of car plate completely.As long as identifying the presence of car plate, it will be able to after accurately identifying
Vehicle.Further, image collecting device 102 can have wide-angle view, cover in the subsequent prodigious range of this vehicle and own
Rear car.In this way, central control unit 101 can identify multiple car plates simultaneously, so that it is determined that the presence of multiple rear cars.
An example according to the present invention, central processing unit can also include supplementary module (not shown), use
Other technologies means are independent or are used in conjunction with Car license recognition module, preferably solve the problems, such as that rear car identifies.Specifically,
Other technological means of supplementary module include：By identifying the side such as wheel and/or the driver by identifying rear car in image
Formula carrys out the presence of rear car.An example according to the present invention, for example, the equipment such as laser range finder or vehicle mounted infrared device survey
Amount result can also be combined with the result of image recognition to determine the presence of rear car.An example according to the present invention, far away from
Except the safe distance that may be knocked into the back, central control unit 101 of the invention can accurately identify depositing for rear car
.
How another problem that the present invention faces determines this vehicle at a distance from rear car and rear car after identifying rear car
Speed.An example according to the present invention, central control unit 101 include speed identification module 111.Speed identification module 111
On the basis of identifying the car plate of rear car, according to car plate size and location in the picture and this vehicle epigraph harvester
The distance of this vehicle with the rear car can be accurately calculated in 102 installation site.Since car plate is standard, in single figure
Rear car can be easily calculated relative to this by the variation of the distance with the rear car of this vehicle in consecutive image as in
The variation of the distance of vehicle, to obtain relative velocity between the two.An example according to the present invention, due to most of vehicles
Wheel spacing is about before 2.5-3 meters, and speed identification module 111 is by identifying in image between the wheel and wheel of rear car
Spacing, can also estimate and estimate the distance of this vehicle with the rear car using same method.Similarly, schemed by identifying
Driver can also estimate the distance of this vehicle with the rear car as in.It is opposite rear car can also relatively accurately to be estimated in this way
In the relative velocity of this vehicle.An example according to the present invention, above-mentioned a variety of methods of estimation can be used in combination, accurate to improve
Degree.An example according to the present invention, such as the measurement result of the equipment such as laser range finder or vehicle mounted infrared device can also
It is combined with the result of image recognition to determine rear car relative at a distance from this vehicle and relative velocity.
Central control unit further comprises decision-making module 112 of alarming.Alarm decision-making module 112 according to the risk to knock into the back come
Determine that indicating alarm device 103 sends out alarm.
According to one embodiment of present invention, the risk to knock into the back is estimated by safe distance.For example, current vehicle is made suddenly
After dynamic, rear car is therewith braking and the unlikely distance for bumping against front truck, i.e. safe distance.The purpose for being only used for citing below illustrates how
Obtain safe distance.
Table 1 is the reaction distance that the differential responses time obtains under different speeds.
Table 1
Table 2 is different coefficient of road adhesion and different speeds obtains different reaction distances.
Table 2
In general, time of driver's reaction is 0.3-1 seconds, the braking time of brake is 0.2-0.8 seconds.Utilize table 1
After can showing that the two is added can obtain again by time of driver's reaction distance corresponding with the braking time of brake
The reaction distance of vehicle.And the braking distance after braking can be obtained by table 2.The reaction distance of rear car is added with braking distance
It can obtain the safe distance of actual needs.
An example according to the present invention, if rear car is oversize vehicle, the judgment mode of simple " distance+speed " can
It can be not inaccurate enough.An example according to the present invention judges rear car by identifying the color of word and car plate in car plate
Type.Then, when calculating safe distance, consider the car weight of rear car and suitably extend required safe distance.For example, such as
Fruit rear car is oversize vehicle, and safe distance can extend 20%-50%, preferably 35%.It is this to use " rear car type+distance+speed
The mode of degree " can largely improve alarm accuracy, ensure traffic safety.
Another common problem is frequently to alarm existing for existing warning device, interferes.It is according to the present invention
One embodiment, alarm decision-making module 112 is according to the height for the risk that knocks into the back, the indicating alarm device by the way of multiple levels of alert
103 propose alarm.
Fig. 2 is the schematic diagram that situation monitoring and alarming device send out alarm after vehicle according to an embodiment of the invention.
As shown in Fig. 2, and with reference to figure 1, warning device 103 includes light warning part, word alarm part and/or audible alarm portion
Point.Different alarm portions corresponds to the threshold value of different stage.According to one embodiment of present invention, first order threshold value indicates possible
Risky, light warning part changes tailstock portion's light or the color or light-emitting mode of other light parts, prompts rear car；The
Secondary threshold indicates risky, and LED display is popped up in word alarm part, with text prompt rear car；Third level threshold value indicates not
Taking immediate steps can cause danger, the big acoustic alarm of audible alarm part sound.
An example according to the present invention, according to the relationship between the actual range and safe distance of this vehicle with the rear car
Decision carrys out the rank of threshold value.For example, if the actual range and safe distance of this vehicle with the rear car, without alarm；Such as
The actual range of fruit this vehicle with the rear car then shows to be more than first order threshold between 80% and safe distance of safe distance
Value；If the actual range of this vehicle with the rear car shows to surpass between the 40% of safe distance and the 80% of safe distance
Cross second level threshold value；If the actual range of this vehicle with the rear car is less than the 40% of safe distance, show to be more than the third level
Threshold value.It will be appreciated by those skilled in the art that above threshold level is only in the purpose of citing.Other modes can also
Applied in the solution of the present invention.Type of alarm of the invention had both improved the accuracy of alarm as a result, will not be due to frequent
User is interfered using prompting modes such as acousto-optics.
An example according to the present invention, in order to avoid judging difficult burden, Image Acquisition of the invention after generation accident
Device 102 is connected to Train-borne recorder 105 automatically to record the situation after vehicle.For example, when central control unit 101 is more than the
When level-one threshold value or second level threshold value or third level threshold value, it is automatically activated Train-borne recorder 105 and records image collecting device
Image acquired in 102 or video.
Another example according to the present invention, image collecting device of the invention can also be connected to the display screen of driver's cabin
For being used when reversing.For example, when central control unit 101 finds that vehicle is in state of rolling backward, then by image collecting device
Image pickup mode is set in and by the display screen of the video stream of acquisition to driver's cabin, to replace reverse image.
Above-described embodiment is used for illustrative purposes only, and is not limitation of the present invention, in relation to the general of technical field
Logical technical staff can also make a variety of changes and modification without departing from the present invention, therefore, all equivalent
Technical solution should also belong to scope disclosed by the invention.
Claims (6)
1. situation monitoring device after a kind of vehicle, including：
Image collecting device, is installed on the tailstock, the image of situation after collecting vehicle；And
Central control unit determines the presence of rear car according to the image of situation after the vehicle from image collecting device；
The wherein described central control unit includes Car license recognition module, supplementary module and speed identification module；Wherein, Car license recognition
Car plate after vehicle of the module identification from image collecting device in the image of situation；Supplementary module identification comes from image collecting device
Vehicle after situation image in wheel or driver；Speed identification module is according to the continuous vehicle from image collecting device
The size and location variation of car plate in the image of situation and the variation of the size and location of wheel or driver and image afterwards
Harvester is installed on the speed of the position calculating rear car of the tailstock.
2. situation monitoring device after vehicle according to claim 1, further comprises laser range finder, it is connected to central control
Device processed.
3. situation monitoring device after vehicle according to claim 1, wherein image collecting device are connected further to driver's cabin
Display screen；Wherein when in state of rolling backward, the video of situation after vehicle is sent to the display of driver's cabin by image collecting device
Screen.
4. a kind of alarming device, including：
Situation monitoring device after vehicle as described in any in claim 1-3；And
Warning device；
Wherein, whether central control unit is less than or equal to predetermined according to the distance of this vehicle with the rear car under current rear car speed
Threshold value indicating alarm device send out alarm.
5. alarming device according to claim 4, wherein the warning device includes：
Light warning part, under current rear car speed the distance of this vehicle with the rear car be less than or equal to scheduled threshold value and
More than the threshold value 80% when by change car light shine or color send out alarm；
Word alarm part, the distance of this vehicle with the rear car is less than or equal to scheduled threshold value under current rear car speed
80% and more than the threshold value 40% when alarm sent out by word；And
Audible alarm part, when the distance of this vehicle with the rear car is less than or equal to scheduled threshold value 40% under current rear car speed
Alarm is sent out by sound.
6. alarming device according to claim 4, wherein central control unit and image collecting device are connected to vehicle-mounted note
Instrument is recorded, whether wherein central control unit is less than or equal to predetermined according to the distance of this vehicle with the rear car under current rear car speed
Threshold value start Train-borne recorder record vehicle after situation.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510245383.3A CN105984407B (en) | 2015-05-15 | 2015-05-15 | Situation monitoring and alarming device after a kind of vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510245383.3A CN105984407B (en) | 2015-05-15 | 2015-05-15 | Situation monitoring and alarming device after a kind of vehicle |
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| CN105984407A CN105984407A (en) | 2016-10-05 |
| CN105984407B true CN105984407B (en) | 2018-09-25 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106371107A (en) * | 2016-10-11 | 2017-02-01 | 嘉兴普朗克光电科技有限公司 | Laser driving distance measurement system |
| CN106427777A (en) * | 2016-11-09 | 2017-02-22 | 山东国金汽车工程技术有限公司 | Automotive tail lamp automatic alarming device |
| CN107539210A (en) * | 2017-02-06 | 2018-01-05 | 昆山市苞蕾众创投资管理有限公司 | The anti-monitor display that knocks into the back |
| CN107187384B (en) * | 2017-05-08 | 2018-08-03 | 王文婧 | A kind of automobile front-and-rear vehicle distance monitoring and warning system |
| CN108621924A (en) * | 2018-02-08 | 2018-10-09 | 常州星宇车灯股份有限公司 | A kind of control system for rear light and its control method with prompt facility |
| CN108924499A (en) * | 2018-07-18 | 2018-11-30 | 上海小蚁科技有限公司 | Detection method and device, storage medium, the terminal of follow the bus exception |
| CN109204141A (en) * | 2018-09-19 | 2019-01-15 | 深圳市众鸿科技股份有限公司 | Method for early warning and device in vehicle travel process |
| CN110774980A (en) * | 2019-11-06 | 2020-02-11 | 南京酷沃智行科技有限公司 | Rear vehicle distance monitoring system and method during emergency braking of vehicle |
| CN112686209A (en) * | 2021-01-25 | 2021-04-20 | 深圳市艾为智能有限公司 | Vehicle rear blind area monitoring method based on wheel identification |
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| CN204821399U (en) * | 2015-05-15 | 2015-12-02 | 李俊 | Condition is kept watch on and warning device behind car |
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| JP2010231415A (en) * | 2009-03-26 | 2010-10-14 | Denso Corp | Monitoring device for vehicle |
| CN101811488A (en) * | 2010-04-29 | 2010-08-25 | 曾昭兴 | Speed control method and speed control device for automobiles |
| CN103105174B (en) * | 2013-01-29 | 2016-06-15 | 四川长虹佳华信息产品有限责任公司 | A kind of vehicle-mounted outdoor scene safety navigation method based on AR augmented reality |
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| CN204821399U (en) * | 2015-05-15 | 2015-12-02 | 李俊 | Condition is kept watch on and warning device behind car |
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