CN106476689A - A kind of road limit for width alert device and method for vehicle - Google Patents
A kind of road limit for width alert device and method for vehicle Download PDFInfo
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- CN106476689A CN106476689A CN201510534591.5A CN201510534591A CN106476689A CN 106476689 A CN106476689 A CN 106476689A CN 201510534591 A CN201510534591 A CN 201510534591A CN 106476689 A CN106476689 A CN 106476689A
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- vehicle
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Abstract
The present invention relates to road limit for width reminding technology field, provides a kind of road limit for width alert device for vehicle and method, include for the road limit for width alert device of vehicle：Detection means, installed in the front portion of vehicle, for detecting to the direction azimuth-range of the limit for width barrier of both sides on the road in the front of vehicle；Controller, according to the direction azimuth-range of limit for width barrier, judge vehicle can pass through limit for width barrier, and execute following at least one：Carry out road limit for width prompting；In the case of judging that vehicle can not be by limit for width barrier, control vehicle is braked.Can the road limit for width alert device for vehicle of the present invention achieves automatic decision vehicle by the function of front limit for width barrier; vehicle can not only be protected and drive the safety of indoor occupant; can also improve limit for width road driving passability, improve vehicle hommization and comfortableness, be bringing great convenience property of driver.
Description
Technical field
The present invention relates to road limit for width reminding technology field, more particularly to a kind of road limit for width for vehicle
Alert device and method.
Background technology
In vehicle travel process, usually because location estimation of the driver to both sides of the road limit for width barrier
Inaccurate and the accident such as cause to scratch, can not only bring certain economic loss, it is also desirable to which driver spends
Regular hour goes process accident.Thus, the use in vehicle becomes a kind of today of custom, needs one badly
The mode of kind can replace driver accurately to estimate the position of both sides of the road limit for width barrier, and provide corresponding
Measure prevents from scratching the generation of accident.
The technology of detection runway mark is only existed in prior art, is generally realized using camera, tool
For body, it is vehicle travel to be imaged using camera, in left and right in captured image
Image processing region is set respectively, and the runway being then based in image processing region identifies to recognize car
Road.Obviously, the technology of this employing camera is only to detect runway mark, and to other object not
Process, single function, it is impossible to recognize limit for width barrier or other barriers of both sides of the road, certainly
Cannot also avoid scratching the generation of accident.
Content of the invention
In view of this, it is contemplated that proposing a kind of road limit for width alert device for vehicle, for
Judge in the case of there is limit for width barrier on road that can vehicle pass through and be reminded, it is ensured that drive
Security.
For above-mentioned purpose is reached, the technical scheme is that and be achieved in that：
A kind of road limit for width alert device for vehicle, the road limit for width alert device for vehicle
Including：Detection means (101), installed in the front portion of the vehicle, for the front to the vehicle
On road, the azimuth-range of the limit for width barrier of both sides is detected；And controller (102), according to
The azimuth-range of the limit for width barrier detected by detection means (101), judges described
Vehicle can by the limit for width barrier, and execute following at least one：Carry out road limit for width prompting；
And in the case of judging that the vehicle can not be by the limit for width barrier, control the vehicle to carry out
Braking.
Further, the road limit for width alert device for vehicle also includes：Velocity sensor
(103), for detecting the speed of the vehicle；Acceleration transducer (104), for detecting the car
Acceleration；And angular-rate sensor (105), for detecting the yaw velocity of the vehicle,
Wherein, described controller (102) limit for width barrier according to detected by the detection means (101)
Hinder the azimuth-range of thing, and the speed with reference to the vehicle, the acceleration of the vehicle, the vehicle
Yaw velocity and the vehicle local width, judge that can the vehicle by the limit for width obstacle
Thing.
Further, described controller (102) speed according to the vehicle, the acceleration of the vehicle
Degree, the yaw velocity of the vehicle obtain the driving trace of the vehicle, then in conjunction with the vehicle
Local width and the azimuth-range of the limit for width barrier obtained by the detection means (101),
Judge that can the vehicle by the limit for width barrier.
Further, described controller (102) judging that the vehicle can not be by the limit for width obstacle
In the case of thing, judge whether the vehicle has the trend that travels forward, have in the vehicle and transport forward
The vehicle is controlled to be braked by ESP ESP in the case of dynamic trend.
Further, described detection means (101) include：Radar, for the front to the vehicle
Road on the azimuth-range of limit for width barrier of both sides detected；And camera, installed in institute
The front portion of vehicle is stated, and IMAQ is carried out for the road in the front to the vehicle；The controller
(102) obtained according to the camera acquired image and show the limit for width barrier shape,
Highly, volume.
With respect to prior art, the road limit for width alert device for vehicle of the present invention has following
Advantage：
(1) of the present invention by detection means detect vehicle front road on both sides limit for width
The azimuth-range of barrier, controller judge car according to the azimuth-range of the limit for width barrier for being detected
Can pass through limit for width barrier, the trade road limit for width of going forward side by side is reminded and/or judging that vehicle can not pass through limit for width
In the case of barrier, control vehicle is braked, it is achieved that can automatic decision vehicle pass through front limit for width
The function of barrier, it is impossible to vehicle can be protected and drive the safety of indoor occupant, can also improve in limit
The passability of wide road driving, raising vehicle hommization and comfortableness, are that driver brings greatly just
Profit.
(2) of the present invention controlled by ESP judging that vehicle has to travel forward in the case of trend
Vehicle is braked, and can not have recognized the need in the case that control vehicle is braked certainly in driver
Dynamic control vehicle is braked, and ensure that the safety of vehicle and personnel well.
(3) of the present invention IMAQ is carried out to the road in the front of vehicle by camera, and
And obtained according to acquired image and show limit for width barrier shape, highly, volume, can make to drive
The person of sailing more is visually known the situation of limit for width barrier, preferably to judge the operation of next step.
Another object of the present invention is to a kind of road limit for width based reminding method for vehicle is proposed, for
Judge in the case of there is limit for width barrier on road that can vehicle pass through and be reminded, it is ensured that drive
Security.
For above-mentioned purpose is reached, the technical scheme is that and be achieved in that：
A kind of road limit for width based reminding method for vehicle, the road limit for width based reminding method for vehicle
Including：Azimuth-range to the limit for width barrier of both sides on the road in the front of the vehicle is examined
Survey；And the azimuth-range according to the limit for width barrier, judge that can the vehicle by the limit
Wide barrier, and execute following at least one：Carry out road limit for width prompting；And judging the vehicle
In the case of can not be by the limit for width barrier, the vehicle be controlled to be braked.
Further, the road limit for width based reminding method for vehicle also includes：Detect the vehicle
Speed；Detect the acceleration of the vehicle；Detect the yaw velocity of the vehicle；And according to described
The azimuth-range of limit for width barrier, and the speed with reference to the vehicle, the acceleration of the vehicle, institute
The yaw velocity of vehicle and the local width of the vehicle is stated, judges that can the vehicle by the limit
Wide barrier.
Further, the azimuth-range of the limit for width barrier the speed, described of the vehicle is combined
The local width of the acceleration of vehicle, the yaw velocity of the vehicle and the vehicle is carrying out road limit
Wide prompting includes：Speed, the acceleration of the vehicle according to the vehicle, the yaw angle of the vehicle
Speed obtains the driving trace of the vehicle；And the local width with reference to the vehicle and limit for width barrier
Hinder the azimuth-range of thing, judge that can the vehicle by the limit for width barrier.
Further, in the case of judging that the vehicle can not be by the limit for width barrier, control institute
State vehicle be braked including：In the case of judging that the vehicle can not be by the limit for width barrier,
Judge whether the vehicle has the trend that travels forward, there is the trend of travelling forward in the vehicle
The vehicle is controlled to be braked by ESP ESP down.
Further, the road limit for width based reminding method for vehicle also includes：Before the vehicle
The road of side carries out IMAQ；And the limit for width barrier is obtained and is shown according to acquired image
Shape, highly, volume.
The road limit for width based reminding method for vehicle is reminded with the above-mentioned road limit for width for vehicle and is set
Identical for being had the advantage that with respect to prior art, will not be described here.
Other features and advantages of the present invention will be described in detail in subsequent specific embodiment part.
Description of the drawings
The accompanying drawing for constituting the part of the present invention is used for providing a further understanding of the present invention, the present invention's
Schematic description and description does not constitute inappropriate limitation of the present invention for explaining the present invention.?
In accompanying drawing：
Fig. 1 is the block diagram of the road limit for width alert device for vehicle described in the embodiment of the present invention；
Fig. 2 is the road limit for width reminder process for vehicle described in the embodiment of the present invention；And
Fig. 3 is the flow chart of the road limit for width based reminding method for vehicle described in the embodiment of the present invention.
Description of reference numerals：
101- detection means, 102- controller, 103- velocity sensor, 104- acceleration transducer, 105-
Angular-rate sensor.
Specific embodiment
It should be noted that in the case of not conflicting, the embodiment in the present invention and the spy in embodiment
Levy and can be mutually combined.
In addition, the limit for width barrier being previously mentioned in an embodiment of the present invention, refer to guardrail on road,
Object occurred on the external wall of house of limited road both sides, the trees of countryside both sides of the road, road etc. can shadow
Ring all metals, object nonmetallic and of different shapes that vehicle passes through.
Below with reference to the accompanying drawings and in conjunction with the embodiments describing the present invention in detail.
Fig. 1 is the block diagram of the road limit for width alert device for vehicle described in the embodiment of the present invention, such as schemes
Shown in 1, the equipment includes detection means 101 and controller 102.Detection means 101 is arranged on vehicle
Front portion, for examining to the azimuth-range of the limit for width barrier of both sides on the road in the front of vehicle
Survey, the azimuth-range of limit for width barrier of the controller 102 according to detected by detection means 101, sentence
Disconnected vehicle can pass through limit for width barrier, and execute following at least one：Carry out road limit for width prompting；With
And in the case of judging that vehicle can not be by limit for width barrier, control vehicle is braked.
Detection means 101 detected to the azimuth-range of the limit for width barrier in the front of vehicle in real time,
The azimuth-range of limit for width barrier of the controller 102 according to detected by detection means 102 is judging car
Can pass through limit for width barrier, here, operating personnel can select according to demand following any one
Subsequent operation：(1) road limit for width prompting is carried out, for example, can be passed through or can not pass through；(2) sentencing
Disconnected vehicle can be by the case of limit for width barrier, and vehicle can be with normally travel, thus can be without entering
Any operation of row, however, in the case of judging that vehicle can not be by limit for width barrier, vehicle may go out
Existing accident, so can now control vehicle to be braked, to avoid the occurrence of accident；(3) enter trade
Road limit for width is reminded, and in the case of judging that vehicle can not be by limit for width barrier, controls vehicle system
Dynamic, the safety of vehicle was so both ensure that, driver can be made again intuitively to recognize limit for width barrier to car
Impact.
In order to judge that vehicle can be by limit for width barrier, provided by the present invention for the road of vehicle
First closing alert device also includes some other sensors, as shown in figure 1, these other sensors include speed
Degree sensor 103, acceleration transducer 104, angular-rate sensor 105.
Wherein, velocity sensor 103 is used for detecting the speed of vehicle that acceleration transducer 104 to be used for examining
The acceleration of measuring car, angular-rate sensor 105 are used for detecting the yaw velocity of vehicle, controller 102
The azimuth-range of the limit for width barrier according to detected by detection means 101, and the speed with reference to vehicle,
The local width of the acceleration of vehicle, the yaw velocity of vehicle and vehicle, judges that can vehicle by limit
Wide barrier.
As detection means is installed in the front portion of vehicle, and it is both sides on the road to the front of vehicle
Limit for width barrier is detected, so needing the horizontal stroke with reference to the speed of vehicle, the acceleration of vehicle and vehicle
The local width of pivot angle speed and vehicle is fast with current speed, acceleration and yaw angle in vehicle to judge
Can degree pass through when reaching at the position of the limit for width barrier in front.It will be appreciated by those skilled in the art that
Detection means 101 is that the limit for width barrier in real time to both sides on the road in the front of vehicle is detected,
So no matter limit for width barrier is continuous or discontinuous, can be carried out by detection means 101
Detection.
Specifically, controller 102 can according to the speed of vehicle, the acceleration of vehicle, vehicle horizontal stroke
Pivot angle speed obtains the driving trace of vehicle, and (technical characteristic is technological means commonly used in the art, in this
Do not launch description), local width then in conjunction with vehicle and the limit for width barrier obtained by detection means 101
Hinder the azimuth-range of thing, judge that can vehicle pass through limit for width barrier.
Generally, driver is being had found that it is likely that and can not carried by the limit for width barrier in front or controller 102
Awake driver vehicle can not be by, in the case of limit for width barrier, being actively braked to vehicle, so
Just being not required to controller 102 controls vehicle to be braked.Thus, it is preferable in the case of, controller 102 can
To judge to control vehicle to be braked in the case that vehicle has the trend that travels forward.Specifically, control
Device processed 102 judges whether vehicle has forward in the case of judging that vehicle can not be by limit for width barrier
Movement tendency, is controlled by ESP (ESP) in the case that vehicle has the trend that travels forward
Vehicle processed is braked.
Here the trend of travelling forward refers to whether vehicle has forward acceleration and whether carried out
Braking (for example, driver touches on the brake), speed of the prior art typically with reference to vehicle, longitudinal direction add
The information such as speed, master cylinder pressure, accelerator pedal position travel forward judging that whether vehicle has
Gesture.
Fig. 2 is the road limit for width reminder process for vehicle described in the embodiment of the present invention, as shown in Fig. 2
The process has following operation：
Step 201, detection means 101 detect the side of the limit for width barrier of both sides in the road ahead of vehicle
Position and distance, velocity sensor 103 detect the speed of vehicle, and acceleration transducer 104 detects vehicle
Acceleration, angular-rate sensor 105 detect the yaw velocity of vehicle.
Step 202, controller 102 is according to the data detected in step 201 and the local width of vehicle
To judge whether vehicle can be situation about can pass through in judged result by the limit for width barrier in front
Under, execution step 203, in judged result in the case of intransitable, execution step 204.
Step 203, it is " can pass through " that controller 102 carries out the content of road limit for width prompting, a kind of real
Apply in mode, the prompting can be shown by being arranged on the display of driver's cabin, it is also possible to by being arranged on
Driver it can be seen that the light of position reminded, such as when reminded contents are " can pass through ",
Light shows to be, for example, green, can also be reminded by being arranged on the audio parts for driving interior.
Step 204, it is " can not pass through " that controller 102 carries out the content of road limit for width prompting, in one kind
In embodiment, corresponding with step 203, the prompting can be shown by being arranged on the display of driver's cabin
Show, it is also possible to by be arranged on driver it can be seen that the light of position reminded, for example reminding
When content is " can not pass through ", light shows to be, for example, redness, naturally it is also possible to by being arranged on driving
Indoor audio parts are reminded.
Step 205, controller 102 judges whether vehicle has movement tendency forward, is yes in judged result
In the case of execution step 206, otherwise do not execute any operation.
Step 206, controller control vehicle to be braked by ESP, to ensure vehicle safety.
Detection means 101 described above can be realized by radar, certainly, in order that driver's energy
The direct feel to barrier is accessed, detection means 101 can also include camera, the camera peace
The front portion of vehicle is mounted in, and IMAQ is carried out for the road in the front to vehicle, then controller 102
Obtained according to camera acquired image and show limit for width barrier shape, highly, volume, here,
Controller 102 shows shape, the height of limit for width barrier generally by the display of driver's cabin is arranged on
Degree, volume.It will be appreciated by those skilled in the art that collecting the mileage chart in the front of vehicle in camera
As afterwards, image processing module can be passed through by its feature with the image of the various barriers for prestoring
Vector is fitted, so that it is determined that the shape of limit for width barrier in gathered image, highly, volume.
Radar employed in the present invention can be using the millimetre-wave radar of 76Hz, and its feature is detection essence
Degree is high, bumper penetration capacity is strong, under small volume, low cost, complex environment adaptability high, to static
Object identification rate is high.
Camera employed in the present invention can be using vehicle-mounted CMOS (the complementary metal oxygen for tending to main flow
Compound semiconductor) sensor, this sensor have low cost, frame rate high, nothing specific noise, send out
The features such as hot low, dynamic range is wide, can work under various weather environments (except heavy snow, dense fog,
Weather of the visibility less than 500m).
Additionally, the function that the above road limit for width provided by the present invention for vehicle is reminded can be by arranging
Carry out opening/closing in the button for driving indoor, driver can stop using the work(when unwanted
Energy.
Fig. 3 is the flow chart of the road limit for width based reminding method for vehicle described in the embodiment of the present invention, such as
Shown in Fig. 3, the method includes：To the orientation of the limit for width barrier of both sides on the road in the front of vehicle and
Distance is detected；And the azimuth-range according to limit for width barrier, judge that can vehicle pass through limit for width
Barrier, and execute following at least one：Carry out road limit for width prompting；Judging that vehicle can not be by limit
In the case of wide barrier, control vehicle is braked.
It should be noted that the detail of the road limit for width based reminding method provided by the present invention for vehicle
And benefit is similar with the road limit for width alert device provided by the present invention for vehicle, in this, it will not go into details.
Presently preferred embodiments of the present invention is the foregoing is only, not in order to limit the present invention, all at this
Within the spirit and principle of invention, any modification, equivalent substitution and improvement that is made etc., should be included in
Within protection scope of the present invention.
Claims (10)
1. a kind of road limit for width alert device for vehicle, it is characterised in that described for vehicle
Road limit for width alert device includes：
Detection means (101), installed in the front portion of the vehicle, for the road in the front to the vehicle
On road, the azimuth-range of the limit for width barrier of both sides is detected；And
Controller (102), the limit for width barrier according to detected by the detection means (101)
Azimuth-range, judge that can the vehicle by the limit for width barrier, and execute following at least one
Person：
Carry out road limit for width prompting；And
In the case of judging that the vehicle can not be by the limit for width barrier, control the vehicle
It is braked.
2. the road limit for width alert device for vehicle according to claim 1, it is characterised in that
The road limit for width alert device for vehicle also includes：
Velocity sensor (103), for detecting the speed of the vehicle；
Acceleration transducer (104), for detecting the acceleration of the vehicle；And
Angular-rate sensor (105), for detecting the yaw velocity of the vehicle,
Wherein, described controller (102) limit according to detected by the detection means (101)
The azimuth-range of wide barrier, and the speed with reference to the vehicle, the acceleration of the vehicle, described
The yaw velocity of vehicle and the local width of the vehicle, judge that can the vehicle by the limit for width
Barrier.
3. the road limit for width alert device for vehicle according to claim 2, it is characterised in that
Controller (102) are according to the speed of the vehicle, the acceleration of the vehicle, the vehicle
Yaw velocity obtains the driving trace of the vehicle, local width then in conjunction with the vehicle and passes through
The azimuth-range of the limit for width barrier that detection means (101) obtain, judges the vehicle
Can be by the limit for width barrier.
4. the road limit for width alert device for vehicle according to claim 3, it is characterised in that
Controller (102) are sentenced in the case of judging that the vehicle can not be by the limit for width barrier
Whether the vehicle that breaks has the trend that travels forward, in the case that the vehicle has the trend that travels forward
The vehicle is controlled to be braked by ESP ESP.
5. the road limit for width for vehicle according to any one of claim 1-4 claim is carried
Awake equipment, it is characterised in that detection means (101) include：
Radar, for the azimuth-range of the limit for width barrier of both sides on the road in the front to the vehicle
Detected；And
Camera, installed in the front portion of the vehicle, carries out figure for the road in the front to the vehicle
As collection；
Controller (102) obtain and show the limit for width according to the camera acquired image
The shape of barrier, highly, volume.
6. a kind of road limit for width based reminding method for vehicle, it is characterised in that described for vehicle
Road limit for width based reminding method includes：
Azimuth-range to the limit for width barrier of both sides on the road in the front of the vehicle is detected；
And
According to the azimuth-range of the limit for width barrier, judge that can the vehicle be hindered by the limit for width
Hinder thing, and execute following at least one：
Carry out road limit for width prompting；And
In the case of judging that the vehicle can not be by the limit for width barrier, control the vehicle
It is braked.
7. the road limit for width based reminding method for vehicle according to claim 6, it is characterised in that
The road limit for width based reminding method for vehicle also includes：
Detect the speed of the vehicle；
Detect the acceleration of the vehicle；
Detect the yaw velocity of the vehicle；And
According to the azimuth-range of the limit for width barrier, and the speed with reference to the vehicle, the vehicle
Acceleration, the yaw velocity of the vehicle and the vehicle local width, judge the vehicle energy
No by the limit for width barrier.
8. the road limit for width based reminding method for vehicle according to claim 7, it is characterised in that
Azimuth-range according to the limit for width barrier the acceleration of the speed with reference to the vehicle, the vehicle
Degree, the local width of the yaw velocity of the vehicle and the vehicle remind bag carrying out road limit for width
Include：
Speed, the acceleration of the vehicle according to the vehicle, the yaw velocity of the vehicle are obtained
The driving trace of the vehicle；And
The azimuth-range of local width and the limit for width barrier in conjunction with the vehicle, judges the car
Can be by the limit for width barrier.
9. the road limit for width based reminding method for vehicle according to claim 8, it is characterised in that
In the case of judging that the vehicle can not be by the limit for width barrier, the vehicle is controlled to be braked
Including：
In the case of judging that the vehicle can not be by the limit for width barrier, whether the vehicle is judged
There is the trend that travels forward, by electronic stability journey in the case that the vehicle has the trend that travels forward
Sequence ESP controls the vehicle to be braked.
10. the road limit for width for vehicle according to any one of claim 6-9 claim is carried
Awake method, it is characterised in that the road limit for width based reminding method for vehicle also includes：
Road to the front of the vehicle carries out IMAQ；And
Obtained according to acquired image and show the limit for width barrier shape, highly, volume.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510534591.5A CN106476689A (en) | 2015-08-27 | 2015-08-27 | A kind of road limit for width alert device and method for vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510534591.5A CN106476689A (en) | 2015-08-27 | 2015-08-27 | A kind of road limit for width alert device and method for vehicle |
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| CN106476689A true CN106476689A (en) | 2017-03-08 |
Family
ID=58233240
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| CN201510534591.5A Pending CN106476689A (en) | 2015-08-27 | 2015-08-27 | A kind of road limit for width alert device and method for vehicle |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106991389A (en) * | 2017-03-29 | 2017-07-28 | 蔚来汽车有限公司 | The apparatus and method for determining road edge |
| CN111665828A (en) * | 2019-03-08 | 2020-09-15 | 深圳市速腾聚创科技有限公司 | Vehicle sensing method and device, computer equipment and storage medium |
| CN112141095A (en) * | 2019-06-28 | 2020-12-29 | 北京新能源汽车股份有限公司 | Vehicle control method, vehicle controller and automobile |
| CN114347990A (en) * | 2021-12-29 | 2022-04-15 | 深圳云天励飞技术股份有限公司 | Vehicle control method through width-limited door column and related equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106991389A (en) * | 2017-03-29 | 2017-07-28 | 蔚来汽车有限公司 | The apparatus and method for determining road edge |
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| CN114347990A (en) * | 2021-12-29 | 2022-04-15 | 深圳云天励飞技术股份有限公司 | Vehicle control method through width-limited door column and related equipment |
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Application publication date: 20170308 |