CN106926779B - A kind of vehicle lane change auxiliary system - Google Patents
A kind of vehicle lane change auxiliary system Download PDFInfo
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- CN106926779B CN106926779B CN201710139127.5A CN201710139127A CN106926779B CN 106926779 B CN106926779 B CN 106926779B CN 201710139127 A CN201710139127 A CN 201710139127A CN 106926779 B CN106926779 B CN 106926779B
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- surrounding vehicles
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- 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
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- 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
- 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
- B60R16/023—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 for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- 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
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
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- 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
- B60R2300/8093—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 obstacle warning
Abstract
The present invention provides a kind of vehicle lane change auxiliary systems, are related to a kind of vehicle.The auxiliary system includes: audio-capture unit, the audio-frequency information that the surrounding vehicles for obtaining described vehicle issue, video capturing unit, for obtaining the image information of described vehicle periphery image；Radar contact unit, for obtaining the surrounding vehicles relative to the distance of described vehicle and the location information of speed；This vehicle information acquisition unit, for obtaining this information of vehicles of described vehicle running state；Processor, by the audio-frequency information, described image information, the location information and described information of vehicles convergence analysis, it predicts described vehicle driving trace and the surrounding vehicles driving trace, judges described vehicle and the surrounding vehicles with the presence or absence of risk of collision；And human-computer interaction terminal, for issuing conflict alert to the driver.Safety of this vehicle during lane change has been effectively ensured in the burden for thus greatly reducing driver.
Description
Technical field
The present invention relates to a kind of vehicles, more particularly to a kind of vehicle lane change auxiliary system.
Background technique
As the improvement of people's living standards, more and more people start to possess automobile, so that vehicle is in the process of moving
Safety problem become more prominent.Such as vehicle especially needs this vehicle periphery of lane change to have more vehicles in lane change
, driver is unable to judge accurately the mutual alignment of this vehicle and surrounding vehicles at this time so that this vehicle during lane change more
It is easy to happen collision.
Although existing vehicle can install various sensor elements, be able to detect this vehicle and surrounding vehicles away from
From and then reducing this vehicle in lane change to be supplied to driver more accurately the distance between this vehicle and surrounding vehicles
Cheng Zhongyu surrounding vehicles collide.But vehicle is in the process of moving, this vehicle still often occurs and surrounding vehicles occur
The phenomenon that collision.In addition, once the sensor element failure, cannot promptly and accurately send corresponding signal, so that driving
Member is simultaneously ignorant, will lead to this vehicle and collides during lane change with surrounding vehicles.Moreover, existing lane change auxiliary system
It is at high cost, cause the manufacturing cost of vehicle high, is unsuitable for vast consumer.
Summary of the invention
It is an object of the present invention to provide a kind of vehicle lane change auxiliary system, with reduce vehicle during lane change with
Surrounding vehicles collide.
A further object of the present invention is to when the sensor element failure to be made, vehicle lane change assists system
System can still work normally, and effectively this vehicle be avoided to collide with surrounding vehicles.
Another further object of the present invention is to the manufacturing costs of vehicle lane change auxiliary system to be reduced.
Particularly, the present invention provides a kind of vehicle lane change auxiliary system, whether there is when for judging this vehicle lane change
Danger avoids colliding to alert driver, and the auxiliary system includes:
Audio-capture unit, the audio-frequency information that the surrounding vehicles for obtaining described vehicle issue, the audio-frequency information
Whistle sound including the surrounding vehicles；
Video capturing unit, for obtaining the image information of described vehicle periphery image, described image information includes institute
Surrounding vehicles are stated relative to the image of described vehicle location and the image of the turn signal flashing of the surrounding vehicles；
Radar contact unit, for obtaining the surrounding vehicles relative to the distance of described vehicle and the position letter of speed
Breath；
This vehicle information acquisition unit, for obtaining this information of vehicles of described vehicle running state；
Processor, for receiving the audio-frequency information, described image information, the location information and described vehicle letter
Convergence analysis is ceased and carried out, described vehicle driving trace and the surrounding vehicles driving trace is predicted, judges described vehicle
It whether there is risk of collision with the surrounding vehicles；And
Human-computer interaction terminal judges institute in response to the processor for issuing conflict alert to the driver
Stating this vehicle, there are risks of collision with the surrounding vehicles；
Wherein, the surrounding vehicles have an at least vehicle.
Further, the video capturing unit is multiple and is arranged in around described vehicle, the processor energy
It is enough to splice described image information to form full-view image and carry out respective handling；Or
The corresponding described image information that the processor can obtain each video capturing unit is respectively processed；
Preferably, the processor judges turning for the surrounding vehicles using corresponding algorithm according to the mode of oscillation of light
Whether flashed to lamp.
Further, described image information further includes the road surface vehicle of the surrounding vehicles Yu described vehicle institute travel
Diatom, the processor can judge the relative position of described vehicle and the surrounding vehicles according to the road surface lane line；
Preferably, the video capturing unit is four cameras, and is respectively arranged in the headstock of described vehicle, the tailstock
And its left and right sides, to obtain the complete image of described vehicle periphery, wherein be installed on the institute of described left and right vehicle wheel two sides
Stating video capturing unit is wide-angle camera.
Further, the audio-capture unit for multiple ultrasonic radars or ultrasonic sensor and is respectively arranged in institute
This vehicle periphery is stated, processor sound intensity signal different between the array by the audio-capture unit received is sentenced
Relative position of the surrounding vehicles of breaking relative to described vehicle；
Preferably, sound intensity signal different between the array is different audio array signal.
Further, the audio-capture unit transmits its collected original audio signal to the processor, described
Processor amplifies the original audio signal, low-pass filtering and the characteristic value for extracting audio signal；
Preferably, the audio-capture unit has there are four and transmits respectively with the processor and connects, described vehicle
Headstock and the tailstock at be separately installed with two audio-capture units, two audio-capture units at the headstock
It is mutually in that spacing is arranged positioned at the centre of the headstock, and along the width direction of vehicle, described in two at the tailstock
Audio-capture unit is located at the centre of the tailstock, and is mutually in spacing setting along the width direction of vehicle.
Further, when the audio-capture unit, the video capturing unit or/and the radar contact unit damage
And when can not obtain the corresponding audio-frequency information, described image information or/and the location information, pass through the human-computer interaction
Terminal illustrates or/and explains to the driver；
Preferably, the processor can to damage and can not obtain accordingly the audio-frequency information, described image information
Or/and the audio-capture unit, video capturing unit or/and the radar contact unit of the location information carry out failure and examine
It is disconnected, and corresponding fault solution is provided to the driver by the human-computer interaction terminal.
Further, the human-computer interaction terminal has visual alerts unit, sound prompting unit and tactile alert list
Member is driven by the intercombination of the visual alerts unit, the sound prompting unit or/and the tactile alert unit to described
The person of sailing is reminded；
Preferably, the visual alerts unit is set at the meter interface of described vehicle；
Preferably, the visual alerts unit has alarm lamp；
Preferably, the sound prompting unit has buzzer；
Preferably, the tactile alert unit issues conflict alert to the driver by way of vibration；
Preferably, the processor judges described vehicle there are risk of collision, the processing with the surrounding vehicles
Device is divided into corresponding a variety of different risk of collision grades according to the size of the risk of collision,
The human-computer interaction terminal is according to a variety of different risk of collision grades and passes through the visual alerts unit, institute
Sound prompting unit or/and the tactile alert unit are stated, Xiang Suoshu driver issues corresponding different conflict alerts.
Further, the visual alerts unit is opposite with the surrounding vehicles by described vehicle by imaging modality
Position, the driving trace of the surrounding vehicles of prediction and the driving trace real-time display for the described vehicle predicted go out, with
Alert the driver；
Preferably, the turn signal flashing of described vehicle and the surrounding vehicles can be presented in the visual alerts unit,
The visual alerts unit can also show the state and its lane change state of the surrounding vehicles whistle sound；
Preferably, the visual alerts unit has display screen, is shown by the dynamic image of the display screen to described
Driver issues conflict alert；
Preferably, the display screen of the visual alerts unit is vertical by the upper pavement surface for showing described vehicle driving
The real-time dynamic top plan view animation mode overlooked downwards issues conflict alert to the driver.
Further, the radar contact unit is millimetre-wave radar, by emitting continuous variable-frequency electric magnetostatic wave signal,
And the electromagnetic wave energy that the surrounding vehicles are reflected back is received, the distance with the determination surrounding vehicles relative to described vehicle
And speed；
Preferably, the radar contact unit is by FM Doppler operating mode, with the determination surrounding vehicles
Distance and speed relative to described vehicle；
Preferably, the radar contact unit is four, and is respectively arranged and is located at four in horizontal plane in described vehicle
At angle, to obtain the surrounding vehicles relative to the distance of described vehicle and the location information of speed.
Further, described vehicle information acquisition unit has BCM module, IPK module or/and ECU module；
Preferably, described information of vehicles includes whether the left side of described vehicle, right hand steering lamp are opened, described vehicle
Real time running speed and described vehicle yaw velocity；
Preferably, described vehicle information acquisition unit is connected by the CAN network of described vehicle and the processor communication
It connects, what the audio-capture unit, the video capturing unit and the radar contact unit had by described vehicle
FlexRay network or high speed Ethernet are connect with the processor communication.
In conjunction with the background technique in present specification, inventor has found that this vehicle is sent out during lane change with surrounding vehicles
The main reason for raw collision is that lane change auxiliary system in the prior art cannot automatically judge lane change danger, is still needed
It wants driver oneself to judge, therefore increases the burden of driver, so that driver distraction, adds other factors,
Such as driver make a phone call or surrounding vehicles in Some vehicles within the scope of the blind area of the range of observation of driver or
Driver is in fatigue driving state, then is easier the generation for causing to collide during lane change.
Compared with the existing technology, in the vehicle lane change auxiliary system of the application, processor passes through audio-capture unit, video
Capture unit, radar contact unit and this vehicle information acquisition unit obtain respectively audio-frequency information, image information, location information with
And this information of vehicles and convergence analysis is carried out, and then predict this vehicle driving trace and surrounding vehicles driving trace；So
After judge this vehicle and surrounding vehicles with the presence or absence of risk of collision.Risk of collision if it exists is then alerted by human-computer interaction terminal
Driver.Rather than as auxiliary lane change system in the prior art, needs driver oneself to judge, thus greatly reduce
The burden of driver, concentrates driver attention more, sends out during lane change with surrounding vehicles so as to avoid this vehicle
Raw collision, has been effectively ensured safety of this vehicle during lane change.
In addition, since audio-capture unit, video capturing unit and radar contact unit send this to processor respectively
Audio-frequency information, image information and the location information of vehicle and surrounding vehicles relative position information.If audio-capture unit, video
Capture unit or radar contact unit break down and can not work, then can be sent by other above-mentioned capture units to processor
Information.Cause lane change auxiliary system function entirely ineffective and cannot be accurate because individual capture unit damages to solve
The problem of judgement prediction, to improve the reliability and redundancy complementary capabilities of the lane change auxiliary system of the application.
Meanwhile the lane change auxiliary system of the application due to audio-capture unit, video capturing unit, radar contact unit,
This vehicle information acquisition unit, processor and human-computer interaction terminal are established one's own system, therefore relative to fixed using networked environment or GPS
The lane change auxiliary system of the external network of position, the independence of its own is stronger, can be independent of said external network.Therefore,
When this vehicle and said external network disconnect, driver still can be helped to carry out risk of collision judgement.Therefore into one
Step increases its Stability and dependability.
According to the following detailed description of specific embodiments of the present invention in conjunction with the accompanying drawings, those skilled in the art will be brighter
The above and other objects, advantages and features of the present invention.
Detailed description of the invention
Some specific embodiments of the present invention is described in detail by way of example and not limitation with reference to the accompanying drawings hereinafter.
Identical appended drawing reference denotes same or similar part or part in attached drawing.It should be appreciated by those skilled in the art that these
What attached drawing was not necessarily drawn to scale.In attached drawing:
Fig. 1 is that the vehicle lane change auxiliary system according to an embodiment of the invention is installed on schematically bowing for this vehicle
View；
Fig. 2 is the schematic logic diagram of the vehicle lane change auxiliary system working principle shown in FIG. 1.
Specific embodiment
Fig. 1 is that the vehicle lane change auxiliary system according to an embodiment of the invention is installed on schematically bowing for this vehicle
View；Fig. 2 is the schematic logic diagram of the vehicle lane change auxiliary system working principle shown in FIG. 1.In conjunction with Fig. 1 and Fig. 2 into
Row explanation, vehicle lane change auxiliary system of the invention is for judging when 6 lane change of this vehicle with the presence or absence of danger to alert driver
It avoids colliding.The auxiliary system includes: audio-capture unit 1, video capturing unit 2, radar contact unit 3, this vehicle letter
Cease acquiring unit 4, processor 5 and human-computer interaction terminal.Audio-capture unit 1 is used to obtain surrounding's vehicle of described vehicle 6
Issue audio-frequency information.The audio-frequency information includes the whistle sound of the surrounding vehicles.Video capturing unit 2 is for obtaining institute
State the image information of 6 surrounding image of this vehicle.Described image information includes the surrounding vehicles relative to described 6 position of vehicle
Image and the surrounding vehicles turn signal flashing image.Radar contact unit 3 is for obtaining the surrounding vehicles phase
The location information of distance and speed for described vehicle 6.This vehicle information acquisition unit 4 is for obtaining described 6 row of vehicle
Sail 6 information of this vehicle of state.Processor 5 for receive the audio-frequency information, described image information, the location information and
Described 6 information of vehicle simultaneously carries out convergence analysis；Secondly described 6 driving trace of vehicle of prediction and the surrounding vehicles travel rail
Mark；Then judge described vehicle 6 and the surrounding vehicles with the presence or absence of risk of collision.Human-computer interaction terminal to described for driving
The person of sailing issues conflict alert.Human-computer interaction terminal judges described vehicle 6 and the surrounding vehicles in response to the processor 5
There are risks of collision.It should be noted that the surrounding vehicles have an at least vehicle.
In conjunction with the background technique in present specification, inventor has found this vehicle 6 during lane change and surrounding vehicles
The main reason for colliding is that lane change auxiliary system in the prior art cannot automatically judge lane change danger, still
Need driver oneself to judge, therefore increase the burden of driver so that driver distraction, along with other because
Element, for example, driver make a phone call or surrounding vehicles in Some vehicles within the scope of the blind area of the range of observation of driver or
Person driver is in fatigue driving state, then is easier the generation for causing to collide during lane change.
Compared with the existing technology, in the vehicle lane change auxiliary system of the application, processor 5 passes through audio-capture unit 1, view
Frequency capture unit 2, radar contact unit 3 and this vehicle information acquisition unit 4 obtain the audio-frequency information, described image letter respectively
Breath, the location information and described 6 information of vehicle are simultaneously carried out convergence analysis, and then predict described 6 row of vehicle
Sail track and the surrounding vehicles driving trace；Then judge described vehicle 6 and the surrounding vehicles with the presence or absence of collision danger
Danger.Risk of collision if it exists then alerts driver by human-computer interaction terminal.Rather than as auxiliary lane change system in the prior art
System like that, needs driver oneself to judge, thus greatly reduces the burden of driver, concentrate driver attention more,
It collides during lane change with surrounding vehicles so as to avoid this vehicle 6, this vehicle 6 has been effectively ensured during lane change
Safety.
In addition, since audio-capture unit 1, video capturing unit 2 and radar contact unit 3 are sent out to processor 5 respectively
Give the audio-frequency information, described image information and the location information of this vehicle 6 and surrounding vehicles relative position information.If
Audio-capture unit 1, video capturing unit 2 or radar contact unit 3 break down and can not work, then can be above-mentioned by other
Capture unit sends information to the processor 5.Lane change auxiliary system is caused because individual capture unit damages to solve
System function is entirely ineffective and is unable to the problem of accurate judgement is predicted, to improve the reliability of the lane change auxiliary system of the application
With redundancy complementary capabilities.
Meanwhile the lane change auxiliary system of the application is due to audio-capture unit 1, video capturing unit 2, radar contact unit
3, this vehicle information acquisition unit 4, processor 5 and human-computer interaction terminal are established one's own system, thus relative to using networked environment or
The lane change auxiliary system of the external network of GPS positioning, the independence of its own is stronger, can be independent of said external network.
Therefore, when this vehicle 6 and said external network disconnect, driver still can be helped to carry out risk of collision judgement.Cause
This further increases its Stability and dependability.
It is illustrated in conjunction with Fig. 1 and Fig. 2, further, the video capturing unit 2 is connected with the processor 5 transmission.
The video capturing unit 2 is multiple and is arranged in around described vehicle 6.The processor 5 can believe described image
Breath splicing carries out respective handling to form full-view image；Or the processor 5 can obtain each video capturing unit 2
The corresponding described image information taken is respectively processed.
It should be noted that the full-view image is 360 full-view images in horizontal plane.The video capturing unit 2 is short
When it is interior can detect bright object completely, can be also found that the color change of surrounding vehicles.
It is illustrated in conjunction with Fig. 1 and Fig. 2, further, the processor 5, which can be, uses phase according to the mode of oscillation of light
The algorithm answered judges whether the turn signal of the surrounding vehicles flashes.It can be with accurate judgement surrounding vehicles by the mode of oscillation of light
Turn signal whether flash.
It is illustrated in conjunction with Fig. 1 and Fig. 2, further, described image information further includes the surrounding vehicles and described
The road surface lane line of 6 travels of vehicle.The processor 5 can judge described vehicle 6 according to the road surface lane line
With the relative position of the surrounding vehicles.To make processor 5 judge that this vehicle 6 and surrounding vehicles relative position are more accurate.
It is illustrated in conjunction with Fig. 1, further, the video capturing unit 2 is four cameras, and is respectively arranged in institute
The headstock, the tailstock and its left and right sides of this vehicle 6 are stated, to obtain the complete image around described vehicle 6.Wherein, it is installed on
The video capturing unit 2 of described 6 left and right sides of vehicle is wide-angle camera.
It is comprehensive that above-mentioned arrangement covers the monitoring range around this vehicle 6, so that solving detection range contains blind area
The problem of.Further reduce the possibility that this vehicle 6 collides during lane change.In addition camera is existing vehicle warp
The monitoring device often installed, thus it is low in cost.
It is illustrated in conjunction with Fig. 1 and Fig. 2, further, the audio-capture unit 1 is multiple ultrasonic radars or ultrasound
Wave sensor is simultaneously respectively arranged around described vehicle 6.Between the array that the processor 5 passes through the audio-capture unit 1
Different sound intensity signals judges relative position of the surrounding vehicles relative to described vehicle 6.Different sound between the array
Strong signal can be different audio array signal.
The audio-capture unit 1 can also be sound transducer or audio sensor.As long as the audio capture list
The whistle sound of first 1 available surrounding vehicles.
The processor 5 is set to may determine that whether surrounding vehicles have whistle behavior by the audio-capture unit 1, in turn
The intention it is recognized that whether surrounding vehicles overtake other vehicles, in order to which driving path prediction of the processor 5 to surrounding vehicles is more quasi-
Really.
It is illustrated in conjunction with Fig. 1 and Fig. 2, its is collected original to the processor 5 transmission for the audio-capture unit 1
Audio signal, the processor 5 by the original audio signal amplify, low-pass filtering and extract audio signal characteristic value.
By the processor 5 by the original audio signal amplification, low-pass filtering and extract audio signal feature
Value solves the Spot detection frequency of ultrasonic sensor at supersonic band range (generally higher than 20kHz), and the ring of vehicle
Flute is the problem of ultrasonic sensor of audible frequency range (generally 20Hz-20kHz) is restricted.
To realize amplification surrounding vehicles whistle sound in supersonic band or close to the intensity of sound of supersonic band, put
The audible frequency range intensity of sound in information that the big audio-capture unit 1 obtains, and confirmed by the characteristic value of audio signal
There are whistle behaviors for surrounding vehicles.And by the difference of intensity of sound between four array of ultrasonic sensors of analysis, judge to blow a whistle
Vehicle and relative position from vehicle, that is, the vehicle blown a whistle it is left front from vehicle, just before, it is right before, it is positive it is right, right after, it is just rear, left back, just
Left equal different locations.
It is illustrated in conjunction with Fig. 1 and Fig. 2, there are four the tools of audio-capture unit 1 and transmits respectively with the processor 5
It connects, is separately installed with two audio-capture units 1 at the headstock and the tailstock of described vehicle 6.Two at the headstock
A audio-capture unit 1 is located at the centre of the headstock, and is mutually in spacing setting along the width direction of vehicle.Institute
The centre that two audio-capture units 1 at the tailstock are located at the tailstock is stated, and mutual along the width direction of vehicle
It is arranged in spacing.
The above-mentioned arrangement coverage area of the audio-capture unit 1 is comprehensive, and the audio-capture unit 1 is existing
There is the monitoring device that vehicle is often installed, therefore low in cost.
It is illustrated in conjunction with Fig. 1 and Fig. 2, when the audio-capture unit 1, the video capturing unit 2 or/and the thunder
When being damaged up to capture unit 3 and the corresponding audio-frequency information, described image information or/and the location information can not be obtained,
Illustrate or/and explain to the driver by the human-computer interaction terminal；Prompt driver's system failure, avoid driver because
Vehicle collision is caused to continue to use.
It is illustrated in conjunction with Fig. 1 and Fig. 2, the processor 5 can be believed damaging and can not obtain the corresponding audio
The audio-capture unit 1, video capturing unit 2 or/and the radar of breath, described image information or/and the location information are caught
It catches unit 3 and carries out fault diagnosis, and provide corresponding fault solution to the driver by the human-computer interaction terminal,
To instruct driver to carry out rapid-maintenance.
It is illustrated in conjunction with Fig. 1 and Fig. 2, the human-computer interaction terminal and the processor 5 communicate to connect.The man-machine friendship
Mutual terminal has visual alerts unit, sound prompting unit and tactile alert unit.By the visual alerts unit, described
The driver is reminded in sound prompting unit or/and tactile alert unit intercombination.
The human-computer interaction terminal is that timely, reliable, intuitionistic and concise early warning, fault cues are provided for driver.It is not required to
Driver itself judgement can intuitively give driver's danger prompting.The surrounding vehicles of auxiliary driver's identification sending whistle,
The flicker information of the turn signal of the vehicle of the position of dangerous vehicle and danger in surrounding vehicles.
It is illustrated in conjunction with Fig. 1 and Fig. 2, the visual alerts unit is set at the meter interface of described vehicle 6.Institute
Visual alerts unit is stated with alarm lamp.The sound prompting unit has buzzer.The tactile alert unit passes through vibration
Mode to the driver issue conflict alert.
It is illustrated in conjunction with Fig. 1 and Fig. 2, the processor 5 is judged that described vehicle 6 exists with the surrounding vehicles and touched
Hit danger.The processor 5 is divided into corresponding a variety of different risk of collision grades according to the size of the risk of collision.
The human-computer interaction terminal is according to a variety of different risk of collision grades and passes through the visual alerts unit, institute
Sound prompting unit or/and the tactile alert unit are stated, Xiang Suoshu driver issues corresponding different conflict alerts.
Be illustrated in conjunction with Fig. 1 and Fig. 2, the visual alerts unit by imaging modality by described vehicle 6 with it is described
The traveling rail of described vehicle 6 of the relative position of surrounding vehicles, the driving trace of the surrounding vehicles of prediction and prediction
Mark real-time display goes out, to alert the driver；
Preferably, the turn signal flashing of described vehicle 6 and the surrounding vehicles can be presented in the visual alerts unit,
The visual alerts unit can also show the surrounding vehicles left and right turn signal flashing state and lane change is intended to.
Preferably, the visual alerts unit has display screen, is shown by the dynamic image of the display screen to described
Driver issues conflict alert；
Preferably, the display screen of the visual alerts unit is perpendicular by the upper pavement surface for showing described vehicle 6 traveling
The real-time dynamic top plan view animation mode directly overlooked downwards issues conflict alert to the driver.
It is illustrated in conjunction with Fig. 1 and Fig. 2, the radar contact unit 3 is millimetre-wave radar, is become by the way that transmitting is continuous
Frequency electromagnetic waves signal, and the electromagnetic wave energy that the surrounding vehicles are reflected back is received, with the determination surrounding vehicles relative to institute
State the distance and speed of this vehicle 6.
The radar contact unit 3 is mainly to determine the target vehicle around this vehicle 6 or in driver's field of vision blind area
Relative position and speed with this vehicle 6.
Preferably, the radar contact unit 3 is by FM Doppler operating mode, with the determination surrounding vehicles
Distance and speed relative to described vehicle 6.
Preferably, the radar contact unit 3 is four, and is respectively arranged and is located in horizontal plane in described vehicle 6
Four corners, to obtain the surrounding vehicles relative to the distance of described vehicle 6 and the location information of speed.For described vehicle
Left end and right end at 6 headstocks, the left end of the tailstock of described vehicle 6 and right end.It is illustrated in conjunction with Fig. 1 and Fig. 2, described
Vehicle information acquisition unit 4 has BCM module 41, IPK module 42 or/and ECU module.By the left and right steering for obtaining this vehicle 6
Whether lamp open, current speed of operation, Vehicular yaw speed, determines that this vehicle 6 is anticipated with the presence or absence of lane change by information above
Figure, lane change direction and the speed of lane change.
It should be noted that IPK module refers to instrument and key control module (Instrument Pad&Key), it is mainly used for
The function of the human-computer interaction terminal is predominantly realized for the output of display and the input of key with the human-computer interaction of driver
Energy.
It should be noted that BCM module refers to car body control module, the function of car body control module includes: power window
Control, centrally controrlled locking system control, remote-control anti-theft, lighting system control, the adjusting of driven rearview mirrors computer heating control, instrument backlight, power supply
Distribution etc..ECU module refers to ECU (Electronic Control Unit) electronic control unit, also known as " car running computer ", " vehicle
Carry computer " etc..It is then automobile specified microcomputerized controller from purposes, is also automobile specified single-chip microcontroller.In the present invention, mainly
It realizes signal processing, logical decision and the control function of vehicle lane change auxiliary system of the present invention, there is microprocessor
(CPU), the modules such as input/output interface (I/O), wherein I/O interface includes the forms such as CAN interface and FlexRay interface,
To support the information of the sensor-based systems such as audio-capture unit, video capturing unit, radar contact unit to receive and processing.
Preferably, described 6 information of vehicle includes whether the left side of described vehicle 6, right hand steering lamp are opened, and described
The real time running speed of vehicle 6 and the yaw velocity of described vehicle 6；
Preferably, described vehicle information acquisition unit 4 is communicated by the CAN network of described vehicle 6 with the processor 5
Connection, the audio-capture unit 1, the video capturing unit 2 and the radar contact unit 3 pass through described vehicle 6
The FlexRay network or high speed Ethernet and the processor 5 having communicate to connect.To realize high speed data transfer.
CAN network is the abbreviation of controller local area network (Controller Area Network, CAN).
FlexRay network refers to FlexRay Consortium, young mobile internal network communications protocol.
So far, although those skilled in the art will appreciate that present invention has been shown and described in detail herein multiple shows
Example property embodiment still without departing from the spirit and scope of the present invention, still can according to the present disclosure directly
Determine or deduce out many other variations or modifications consistent with the principles of the invention.Therefore, the scope of the present invention is understood that and recognizes
It is set to and covers all such other variations or modifications.
Claims (24)
1. a kind of vehicle lane change auxiliary system avoids sending out with the presence or absence of danger when for judging this vehicle lane change to alert driver
Raw collision, the auxiliary system include:
Audio-capture unit, the audio-frequency information that the surrounding vehicles for obtaining described vehicle issue, the audio-frequency information include
The whistle sound of the surrounding vehicles；
Video capturing unit, for obtaining the image information of described vehicle periphery image, described image information includes the week
Vehicle is enclosed relative to the image of described vehicle location and the image of the turn signal flashing of the surrounding vehicles；
Radar contact unit, for obtaining the surrounding vehicles relative to the distance of described vehicle and the location information of speed；
This vehicle information acquisition unit, for obtaining this information of vehicles of described vehicle running state；
Processor, for receiving the audio-frequency information, described image information, the location information and described information of vehicles simultaneously
Convergence analysis is carried out, described vehicle driving trace and the surrounding vehicles driving trace is predicted, judges described vehicle and institute
Surrounding vehicles are stated with the presence or absence of risk of collision；And
Human-computer interaction terminal judges described in response to the processor for issuing conflict alert to the driver
There are risks of collision with the surrounding vehicles for vehicle；
Wherein, the surrounding vehicles have an at least vehicle；
Wherein, the audio-capture unit transmits its collected original audio signal to the processor, and the processor will
The original audio signal amplification, low-pass filtering and the characteristic value for extracting audio signal；
The human-computer interaction terminal has visual alerts unit, sound prompting unit and tactile alert unit, passes through the view
Feel that the driver is reminded in reminding unit, the sound prompting unit or/and tactile alert unit intercombination；
The processor judges described vehicle and the surrounding vehicles there are risk of collision, and the processor is touched according to
It hits dangerous size and is divided into corresponding a variety of different risk of collision grades, the human-computer interaction terminal is according to a variety of differences
Risk of collision grade and by the visual alerts unit, the sound prompting unit or/and the tactile alert unit, to institute
It states driver and issues corresponding different conflict alerts.
2. vehicle lane change auxiliary system according to claim 1, which is characterized in that the video capturing unit be it is multiple simultaneously
It is arranged in around described vehicle, the processor can splice described image information to form full-view image and carry out accordingly
Processing；Or
The corresponding described image information that the processor can obtain each video capturing unit is respectively processed.
3. vehicle lane change auxiliary system according to claim 2, which is characterized in that the processor is according to the oscillation side of light
Formula judges whether the turn signal of the surrounding vehicles flashes using corresponding algorithm.
4. vehicle lane change auxiliary system according to claim 1 or 2, which is characterized in that described image information further includes institute
The road surface lane line of surrounding vehicles Yu described vehicle institute travel is stated, the processor can be according to the road surface lane line
Judge the relative position of described vehicle and the surrounding vehicles.
5. vehicle lane change auxiliary system according to claim 4, which is characterized in that the video capturing unit is four and takes the photograph
As head, and it is respectively arranged in the headstock, the tailstock and its left and right sides of described vehicle, to obtain the complete of described vehicle periphery
Image, wherein the video capturing unit for being installed on described left and right vehicle wheel two sides is wide-angle camera.
6. vehicle lane change auxiliary system according to claim 1, which is characterized in that the audio-capture unit is multiple super
Sound radar or ultrasonic sensor are simultaneously respectively arranged in described vehicle periphery, and the processor passes through the sound received
Different sound intensity signal between the array of frequency capture unit, judges relative position of the surrounding vehicles relative to described vehicle.
7. vehicle lane change auxiliary system according to claim 6, which is characterized in that different sound intensity signal between the array
For different audio array signals.
8. vehicle lane change auxiliary system according to claim 1, which is characterized in that there are four the audio-capture unit tools
And transmit connect with the processor respectively, two audio captures are separately installed at the headstock and the tailstock of described vehicle
Unit, two audio-capture units at the headstock are located at the centre of the headstock, and along the width side of vehicle
To being mutually arranged in spacing, two audio-capture units at the tailstock are located at the centre of the tailstock, and along
The width direction of vehicle is mutually in spacing setting.
9. vehicle lane change auxiliary system according to claim 1, which is characterized in that when the audio-capture unit, described
Video capturing unit or/and the radar contact unit damage and can not obtain the corresponding audio-frequency information, described image letter
When breath or/and the location information, illustrates or/and explain to the driver by the human-computer interaction terminal.
10. vehicle lane change auxiliary system according to claim 9, which is characterized in that the processor can be to damage simultaneously
The corresponding audio-frequency information, described image information or/and the audio-capture unit of the location information, view can not be obtained
Frequency capture unit or/and radar contact unit carry out fault diagnosis, and are mentioned by the human-computer interaction terminal to the driver
For corresponding fault solution.
11. vehicle lane change auxiliary system according to claim 1, which is characterized in that the visual alerts unit is set to
At the meter interface of described vehicle.
12. vehicle lane change auxiliary system according to claim 1, which is characterized in that the visual alerts unit has report
Warning lamp.
13. vehicle lane change auxiliary system according to claim 1, which is characterized in that the sound prompting unit has bee
Ring device.
14. vehicle lane change auxiliary system according to claim 1, which is characterized in that the tactile alert unit passes through vibration
Dynamic mode issues conflict alert to the driver.
15. vehicle lane change auxiliary system according to claim 1, which is characterized in that the visual alerts unit passes through shadow
Image space formula by the relative position of described vehicle and the surrounding vehicles, the surrounding vehicles of prediction driving trace and
The driving trace real-time display of described vehicle of prediction goes out, to alert the driver.
16. vehicle lane change auxiliary system according to claim 15, which is characterized in that the visual alerts unit can be in
Existing described vehicle and the flashing of the turn signal of the surrounding vehicles, the visual alerts unit can also show the surrounding vehicle
Whistle sound state and its lane change state.
17. vehicle lane change auxiliary system according to claim 15, which is characterized in that the visual alerts unit has aobvious
Display screen is shown to the driver by the dynamic image of the display screen and issues conflict alert.
18. vehicle lane change auxiliary system according to claim 17, which is characterized in that the display of the visual alerts unit
Screen by show real-time dynamic top plan view animation mode that the upper pavement surface of described vehicle driving is overlooked straight down to
The driver issues conflict alert.
19. vehicle lane change auxiliary system according to claim 1, which is characterized in that
The radar contact unit is millimetre-wave radar, by emitting continuous variable-frequency electric magnetostatic wave signal, and receives the week
The electromagnetic wave energy that vehicle is reflected back is enclosed, the distance and speed with the determination surrounding vehicles relative to described vehicle.
20. vehicle lane change auxiliary system according to claim 19, which is characterized in that the radar contact unit passes through tune
Frequency Doppler radar operating mode, distance and speed with the determination surrounding vehicles relative to described vehicle.
21. vehicle lane change auxiliary system according to claim 19, which is characterized in that the radar contact unit is four
It is a, and be respectively arranged and be located at the four corners in horizontal plane in described vehicle, to obtain the surrounding vehicles relative to described
The distance of vehicle and the location information of speed.
22. vehicle lane change auxiliary system according to claim 1, which is characterized in that described vehicle information acquisition unit tool
There are BCM module, IPK module or/and ECU module.
23. vehicle lane change auxiliary system according to claim 22, which is characterized in that described information of vehicles includes described
Whether the left side of this vehicle, right hand steering lamp are opened, the real time running speed of described vehicle and the sideway of described vehicle
Speed.
24. vehicle lane change auxiliary system according to claim 22, which is characterized in that described vehicle information acquisition unit is logical
The CAN network for crossing described vehicle is connect with the processor communication, the audio-capture unit, the video capturing unit with
And the FlexRay network that has by described vehicle of the radar contact unit or high speed Ethernet and the processor communication
Connection.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710139127.5A CN106926779B (en) | 2017-03-09 | 2017-03-09 | A kind of vehicle lane change auxiliary system |
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| CN106926779A CN106926779A (en) | 2017-07-07 |
| CN106926779B true CN106926779B (en) | 2019-10-29 |
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