CN106809217A - Surrounding objects detection system and the vehicle with the system - Google Patents
Surrounding objects detection system and the vehicle with the system Download PDFInfo
- Publication number
- CN106809217A CN106809217A CN201710202572.1A CN201710202572A CN106809217A CN 106809217 A CN106809217 A CN 106809217A CN 201710202572 A CN201710202572 A CN 201710202572A CN 106809217 A CN106809217 A CN 106809217A
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- vehicle
- surrounding objects
- detection
- detection device
- detection system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT 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
- B60W50/00—Details 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V11/00—Prospecting or detecting by methods combining techniques covered by two or more of main groups G01V1/00 - G01V9/00
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT 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
- B60W50/00—Details 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT 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
- B60W50/00—Details 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geophysics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Environmental & Geological Engineering (AREA)
- Geology (AREA)
- Remote Sensing (AREA)
- Mathematical Physics (AREA)
- Acoustics & Sound (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention relates to a kind of surrounding objects detection system, it is adapted to mount to be used to detect the surrounding objects that may influence vehicle driving safety in vehicle, the surrounding objects detection system includes at least one detection device, the detection device is detected to the peripheral region of vehicle, to obtain the information of presence or absence and its motion state on surrounding objects.The detection device is installed on vehicle bottom, and is configured to detect the underlying space of Adjacent vehicles and the distal region of Adjacent vehicles.The invention further relates to a kind of vehicle including the surrounding objects detection system.
Description
Technical field
The present invention relates to motor vehicle-detecting system, more specifically, it is related to a kind of object to being present in vehicle periphery to carry out
The surrounding objects detection system of detection.
Background technology
At present, many vehicles are equipped with object detection and CAS, for detecting the object of vehicle periphery, and are based on
Result of detection controls vehicle movement to prevent it from bumping against with surrounding objects.For example, can be used radar, video camera, ultrasonic wave to visit
Device, laser detector etc. are surveyed as detection device.These detection devices are generally arranged on the forward and backward bumper of vehicle or it
Near.
Although existing surrounding objects detection system helps to detect the object in vehicle blind zone, it is still present
Weak point.For example, when vehicle is started in intersection when green light is let pass, may make a dash across the red light in the transverse direction
Other vehicles or pedestrians quickly through the crossing, and due to being hindered by Adjacent vehicles, existing detection device is not
Can detect other vehicles or pedestrians laterally sailed and, thus cannot reliably collision free accident generation.Additionally, working as
Vehicle there may be toy, even child when residential parking etc. is started below Adjacent vehicles, existing
Detection device can not detect the presence of these toys.
The content of the invention
In view of the above-mentioned problems in the prior art, a kind of surrounding objects detection system of present invention offer, it can be right
Another vehicle adjacent with main vehicle or other underbelly regions and/or distal region are detected.
The first aspect of the present invention is related to a kind of surrounding objects detection system, and it can for detection in being adapted to mount to vehicle
The surrounding objects of vehicle driving safety can be influenceed, the surrounding objects detection system includes at least one detection device, the spy
Survey device to detect the peripheral region of vehicle, to obtain the letter of presence or absence and its motion state on surrounding objects
Breath, wherein, the detection device is installed on vehicle bottom, and be configured to detect Adjacent vehicles underlying space and/or
The distal region of Adjacent vehicles." distal region " is referred to being located at away from the region of main vehicle side, and " main vehicle " is referred to
It is provided with the vehicle of the surrounding objects detection system.
According to a kind of preferred embodiment, the detection device is telescopically installed on vehicle bottom, and is configured to
Switch between extended position and retracted position, when vehicle is started from halted state, the detection device is in extended position
To detect surrounding objects, when vehicle is moved with high speed, the detection device is in retracted position to reduce the windage of underbody
Coefficient.As an alternative solution, the detection device can also be fixably attached to vehicle bottom.
According to a kind of preferred embodiment, the detection device is rotatably installed on vehicle bottom, with to vehicle each
Peripheral region on direction is detected.As an alternative solution, it is also possible to which in the diverse location of vehicle bottom, multiple detections are set
Device, is respectively used to detect the vehicle periphery region on different directions, and for this configuration, each detection device need not be configured to
Rotatably.
According to a kind of preferred embodiment, the detection device is in the vehicle longitudinal direction positioned at the substantial middle of vehicle antero posterior axis
Position.Thereby, it is possible to the influence that the wheel for reducing main vehicle as much as possible is caused to the investigative range of detection device.
The detection device may include at least one of radar, video camera, ultrasonic detector and laser detector.
The surrounding objects detection system may also include graphical analysis and object identification module, described image analysis and object
Identification module to the detection to surrounding objects information be analyzed and recognize.
The surrounding objects detection system may also include display device, and the display device shows the detection to driver
The result of detection of device.
The surrounding objects detection system may also include alarming device, and the alarming device is arrived in the detection
Surrounding objects give a warning information just when being moved from car to driver.
The second aspect of the present invention is related to a kind of vehicle including surrounding objects detection system as described above.The vehicle
Can be the vehicle with automatic Pilot control system or drive assist system, the surrounding objects detection system will can be detected
To surrounding objects information be sent to the automatic Pilot control system or drive assist system.
According to the present invention, because detection device is installed on vehicle bottom and is configured to detect the lower section of Adjacent vehicles
Space and the distal region of Adjacent vehicles, expand the investigative range of surrounding objects detection system.
Brief description of the drawings
Fig. 1 is the schematic diagram of the vehicle for including surrounding objects detection system according to an embodiment of the present invention.
Specific embodiment
Hereinafter, with reference to the accompanying drawings of the preferred embodiment of the present invention.It should be appreciated that disclosed implementation method is only
The way of example of certain aspects of the invention is can be achieved on, not representing can implement the detailed clear of all modes of the invention
It is single.In fact, it should be appreciated that vehicle, system and detection device described in text can be implemented with various alternative forms.It is attached
Figure is not necessarily drawn to scale, and some features may be extended or minimize to show the details of particular elements.
Fig. 1 schematically shows vehicle 1, and it includes car body 2 and wheel 3.Vehicle 1 is also included around detection surrounding objects
Object detection system, it includes being installed on the detection device 4 on front side of car body and the detection device 5 being installed on rear side of car body.Detection
Device 4 and detection device 5 are it is known in the art that not being described further herein.
The surrounding objects detection system of vehicle 1 shown in Fig. 1 also includes being installed at least one detection device of vehicle bottom
6.Detection device 6 in the vehicle longitudinal direction be located at vehicle antero posterior axis between substantial middle position, but this it is not necessary to.Can be with
Understand as long as detection device 6 is installed on the appropriate location of vehicle bottom, then exist in the left and right sides of vehicle 1 or front and back
During Adjacent vehicles, the detection device 6 can not only detect the underlying space of the Adjacent vehicles, additionally it is possible to through under Adjacent vehicles
Side space detects the distal region of the Adjacent vehicles.
For example, when vehicle 1 and Adjacent vehicles are parked in crossroad and wait green light to let pass side by side, there is other cars in the horizontal
Or pedestrian pass through the crossing when, other vehicles or pedestrians only reach vehicle 1 near when can be by driver or installation
Detection device 4 on front side of car body is found.And pass through to set other detection device 6 in the bottom of vehicle 1 as shown in Figure 1,
Other vehicles or pedestrians then can be detected through the underlying space of Adjacent vehicles by the detection device 6 earlier.Thus, energy
Enough automated driving systems to driver or vehicle provide the enough reaction time, so as to reliably avoid being started in vehicle 1
When crash.
Detection device 6 is telescopically installed on the bottom of vehicle 1.When vehicle 1 is started from halted state, detection device 6
The position stretched out from car body 2 is can be at, to detect surrounding objects.When vehicle 1 is in motion, the risk that foregoing collision occurs is big
It is big to reduce, thus detection device 6 is retracted into and is arranged in the recess of the bottom of car body 2, thus reduces the air resistance coefficient of underbody.
Detection device 6 is configured to be rotated around vertical axis such that it is able to the peripheral region in all directions of vehicle 1
Domain is detected.
As detection device 4 and detection device 5, detection device 6 may include radar, video camera, ultrasonic detector and
At least one of laser detector.
The surrounding objects detection system of vehicle 1 can also include being shown to driver the result of detection of detection device 4,5,6
Display device, and detected in detection device 6 and given a warning information to driver when surrounding objects are just moved towards vehicle 1
Alarming device.Display device can be integrated in onboard navigation system, it is also possible to be located at as single display unit and driven
The front of the person of sailing, as long as not influenceing the driving sight of driver；Can also be shown on windshield.Alarming device
May include at least one of alarm lamp and buzzer.
A kind of implementation method of the invention, the surrounding objects detection system of vehicle 1 can also include graphical analysis and
Object identification module, is analyzed and recognizes to the surrounding objects information that detection device 6 is detected.Can for example recognize and judge
The surrounding objects for being detected are object (such as pedestrian, animal, the bicycle or other are motor-driven of fixed object or movement
Vehicle etc.).The distal region of the Adjacent vehicles detected through the underlying space of Adjacent vehicles for detection device 6
Object signal or image, a part (leg and/or pin of such as human or animal, bicycle that it is likely to object
Wheel, other vehicle wheels etc.), described image analysis and object identification module can be according to the local signals of these objects
Or the feature of image is analyzed and recognizes.Certain graphical analysis and object identification module can also be used as the one of vehicle 1
Independently of the module of surrounding objects detection system, the surrounding objects information that surrounding objects detection system is detected is received.
A kind of implementation method of the invention, vehicle 1 can be with Function for Automatic Pilot or drive assist system
Vehicle.Information (the especially detection device of the surrounding objects that the surrounding objects detection system of vehicle 1 can be detected it
The information of the object of the underlying space of 6 Adjacent vehicles for being detected and/or the distal region of Adjacent vehicles) or by above-mentioned
Information after graphical analysis and object identification module analysis and identification is sent to automatic Pilot control system or drives auxiliary system
System, so as to expand the scope that automatic Pilot control system or drive assist system are perceived to surrounding enviroment, makes automatic Pilot control
System processed or drive assist system more fully make anticipation and reaction to surrounding enviroment earlier, improve automatic Pilot control system
The performance and security of system or drive assist system.
The preferred embodiment of the present invention is illustrated above, but the invention is not restricted to above-mentioned implementation method.Not
Depart from the range of thought of the invention, various variants and modifications can be made to above-mentioned implementation method.
Claims (10)
1. a kind of surrounding objects detection system, is adapted to mount to be used to detect and may influence around vehicle driving safety in vehicle
Object, the surrounding objects detection system includes at least one detection device, and the detection device is entered to the peripheral region of vehicle
Row detection, to obtain the information of presence or absence and its motion state on surrounding objects, it is characterised in that the detection device
Vehicle bottom is installed on, and is configured to detect the underlying space of Adjacent vehicles and the distal region of Adjacent vehicles.
2. surrounding objects detection system according to claim 1, it is characterised in that the detection device is telescopically installed
In vehicle bottom, and it is configured to switch between extended position and retracted position, when vehicle is started from halted state, institute
State detection device and be in extended position to detect surrounding objects, when vehicle is moved with high speed, the detection device is in contracting
Return is put to reduce the air resistance coefficient of underbody.
3. surrounding objects detection system according to claim 1, it is characterised in that the detection device is rotatably mounted
In vehicle bottom, detected with to the peripheral region in vehicle all directions.
4. surrounding objects detection system according to any one of claim 1 to 3, it is characterised in that the detection device
The substantial middle position between vehicle antero posterior axis is located in the vehicle longitudinal direction.
5. surrounding objects detection system according to any one of claim 1 to 3, it is characterised in that the detection device
Including at least one of radar, video camera, ultrasonic detector and laser detector.
6. surrounding objects detection system according to any one of claim 1 to 3, it is characterised in that also including image point
Analysis and object identification module, the surrounding objects information that described image analysis and object identification module are arrived to the detection
It is analyzed and recognizes.
7. surrounding objects detection system according to any one of claim 1 to 3, it is characterised in that also filled including display
Put, the display device shows the result of detection of the detection device to driver.
8. surrounding objects detection system according to any one of claim 1 to 3, it is characterised in that also filled including warning
Put, the alarming device gives a warning letter when the detection to surrounding objects is just moved towards vehicle to driver
Breath.
9. a kind of vehicle, it is characterised in that including the surrounding objects detection system according to any one of the claims.
10. vehicle according to claim 9, it is characterised in that the vehicle has automatic Pilot control system or driving
Accessory system, the surrounding objects information that the surrounding objects detection system will be detected is sent to the automatic Pilot control system
System or drive assist system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710202572.1A CN106809217A (en) | 2017-03-30 | 2017-03-30 | Surrounding objects detection system and the vehicle with the system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710202572.1A CN106809217A (en) | 2017-03-30 | 2017-03-30 | Surrounding objects detection system and the vehicle with the system |
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| Publication Number | Publication Date |
|---|---|
| CN106809217A true CN106809217A (en) | 2017-06-09 |
Family
ID=59115914
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710202572.1A Pending CN106809217A (en) | 2017-03-30 | 2017-03-30 | Surrounding objects detection system and the vehicle with the system |
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| CN (1) | CN106809217A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107765088A (en) * | 2017-10-18 | 2018-03-06 | 长沙冰眼电子科技有限公司 | Control device is swept in movement week and control method, movement sweep equipment and unmanned vehicle week |
| CN109808600A (en) * | 2019-01-07 | 2019-05-28 | 北京百度网讯科技有限公司 | The method for visualizing and device of the perception information of automatic driving vehicle |
| CN110626351A (en) * | 2019-09-29 | 2019-12-31 | 王飞 | Real-time detection display device for trace of objects around vehicle |
| WO2020181583A1 (en) * | 2019-03-14 | 2020-09-17 | 华域视觉科技 (上海) 有限公司 | Infrared ray-based road surface monitoring system and method, and vehicle |
-
2017
- 2017-03-30 CN CN201710202572.1A patent/CN106809217A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107765088A (en) * | 2017-10-18 | 2018-03-06 | 长沙冰眼电子科技有限公司 | Control device is swept in movement week and control method, movement sweep equipment and unmanned vehicle week |
| CN109808600A (en) * | 2019-01-07 | 2019-05-28 | 北京百度网讯科技有限公司 | The method for visualizing and device of the perception information of automatic driving vehicle |
| WO2020181583A1 (en) * | 2019-03-14 | 2020-09-17 | 华域视觉科技 (上海) 有限公司 | Infrared ray-based road surface monitoring system and method, and vehicle |
| US11340063B2 (en) | 2019-03-14 | 2022-05-24 | Hasco Vision Technology Co., Ltd. | Infrared-based road surface monitoring system and method, and automobile |
| CN110626351A (en) * | 2019-09-29 | 2019-12-31 | 王飞 | Real-time detection display device for trace of objects around vehicle |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170609 |
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| WD01 | Invention patent application deemed withdrawn after publication |