CN107351788B - Dot matrix ranging anti-collision system and anti-collision control method - Google Patents
Dot matrix ranging anti-collision system and anti-collision control method Download PDFInfo
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- CN107351788B CN107351788B CN201710550830.5A CN201710550830A CN107351788B CN 107351788 B CN107351788 B CN 107351788B CN 201710550830 A CN201710550830 A CN 201710550830A CN 107351788 B CN107351788 B CN 107351788B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- 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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- 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
- B60Q5/00—Arrangement or adaptation of acoustic signal devices
- B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
- B60Q5/006—Arrangement or adaptation of acoustic signal devices automatically actuated indicating risk of collision between vehicles or with pedestrians
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
Abstract
The application provides a lattice ranging collision avoidance system, which comprises an identification part detachably arranged at the tail part of an identified vehicle and an identification part arranged on the identified vehicle and used for obtaining the distance between the identified vehicle and the identified vehicle by identifying the identification part; the identification part comprises at least more than 3 light source points embedded and installed at the tail part of the identified vehicle, and the plurality of light source points are distributed in a lattice manner; the identification part comprises a camera and a control processing part, wherein the camera is used for acquiring the position information of each light source point in the identification part, and the control processing part is used for processing the position information of the light source point acquired by the camera so as to acquire the distance between the identified vehicle and the identified vehicle. The system has simple structure, and is suitable for long distance (more than 50 meters) and all vehicles. The application also discloses an anti-collision control method adopting the system, which is simple in operation and high in practicability.
Description
Technical Field
The application relates to the technical field of vehicles, in particular to a lattice ranging collision avoidance system.
Background
Automobile anti-collision systems, in the prior art, are various in form, as follows:
the application patent with the application number of 200510034745.0 discloses an automobile anti-collision system, which comprises an automobile anti-collision system and an automobile anti-collision person system, wherein the automobile anti-collision system comprises an anti-collision strip, an elastic device, a pressure reducing box and an electronic control system, the electronic control system controls an ejection switch, the number of the anti-collision strips is 2, namely an anti-collision strip 1 and an anti-collision strip 2, one end of the anti-collision strip 1 is connected with the elastic device, the other end of the anti-collision strip 1 is sleeved with a sleeve, the sleeve is fixed on a vehicle body, the anti-collision strip 2 is arranged at the horizontal position of the anti-collision strip 1, the anti-collision strip 1 is in side contact with the anti-collision strip 2, and the anti-collision strip 2 is connected with the pressure reducing box; the automobile anti-collision system comprises a protection bed and an elastic device, wherein the protection bed is provided with four sides, two sides of the protection bed are fixed on a chassis of a vehicle body, the rear end of the protection bed is connected with the elastic device, and a protection net is arranged in the middle of the protection bed.
The application application of application number 201510522209.9 discloses a side collision avoidance system, and it includes detecting system, control system and car side collision avoidance device, side collision avoidance device includes: the fixed beam is fixedly arranged at the lateral direction of the automobile; the rotating rod is movably connected with the fixed beam; the rotary connecting block is movably connected with the rotating rod; an anti-collision pedal connected with the rotary connecting block; and under the condition that the detection system judges that the side face of the automobile collides, the control system controls the rotating rod to rotate, and the anti-collision pedal is turned over to be parallel to the side face of the automobile.
The application patent of application number 201310464894.5 discloses a vehicle anticollision control system, sets up on the vehicle, its characterized in that: the system comprises a control system, wherein the control system is connected with a ranging system and a speed measuring system through a transmission system, and is also connected with an alarm system and an indication system; the alarm system comprises an in-vehicle alarm system and an out-vehicle alarm system which are respectively connected with the control system; the control system is also connected with an emergency braking system or an emergency accelerating system through a time delay module.
The application application with the application number of 201410791838.7 discloses an intelligent automobile anti-collision system, and relates to the field of automobile anti-collision. In order to ensure the reliable action of the collision-proof machine at the moment of collision, the application comprises the following steps: after the impact contact sensor receives external impact force, an external impact force signal is transmitted to the control processor and the signal transmission system, and after the control processor judges the signal property, a command signal is sent to the signal transmission system and transmitted to the mechanical arm contraction connecting rod system; if the mechanical arm does not respond, the control processor sends a forced signal to the mechanical action signal system to drive the mechanical contraction connecting rod system to act.
The application application with the application number of 201610158821.7 discloses a reversing anti-collision system, which comprises an ultrasonic sensor, a radar host, a system host, a display, an adjusting switch, a brake control device and a server; the ultrasonic sensor is connected with the radar host, the radar host is connected with the system host, the regulating switch is in control connection with the system host, the system host is in control connection with the server, the system host is connected with the display, and the server is in control connection with the brake control device. The system can collect signals through the ultrasonic sensor and transmit the signals to the radar host and the system host, and the radar host and the system host compare the collected data, so that three different measures of no measure, language prompt and auxiliary braking are taken, the reversing safety in the reversing process is ensured, and the functions of the reversing anti-collision auxiliary control device are more perfect.
In addition, there are other crashproof structures, but the crashproof structures are mainly divided into the following two types: first, improve the structure of vehicle or increase auxiliary structure, play crashproof effect, this kind of shortcoming is: the structure of each vehicle is required to be modified, the construction is complicated, and the practicability is not strong; secondly, add crashproof control system, through the part cooperation realization anticollision such as monitoring interval (generally adopts the combination of visual identification and radar range finding), warning, execution, the system is complicated, and the practicality is not strong.
Therefore, the design of the collision avoidance system which is applicable to long distance (more than 50 meters), all vehicles and can realize simple ranging collision avoidance has important significance.
Disclosure of Invention
The first object of the present application is to provide a lattice ranging collision avoidance system which is applicable to long distance (more than 50 meters), is applicable to all vehicles, and can realize simple ranging collision avoidance, and the specific technical scheme is as follows:
a lattice ranging collision avoidance system includes a marking portion detachably mounted at a rear portion of a recognized vehicle, a recognition portion mounted on the recognized vehicle and obtaining a distance between the recognized vehicle and the recognized vehicle by recognizing the marking portion, and an alarm portion;
the identification part comprises at least more than 3 light source points embedded and installed at the tail part of the identified vehicle, and the plurality of light source points are distributed in a lattice manner;
the identification part comprises a camera and a control processing part, wherein the camera is used for acquiring the position information of each light source point in the identification part, and the control processing part is used for processing the position information of the light source point acquired by the camera so as to acquire the distance between the identified vehicle and the identified vehicle.
The alarming part is connected with the control processing part and is used for generating an alarm when the number of the light source points in the identification part obtained by the camera is more than 0 and less than 3, the light source points in the identification part obtained by the camera are missing, and the distance between the identified vehicle and the identified vehicle is smaller than any one of set thresholds.
In the above technical solution, preferably, the number of the light source points is 6-12.
In the above technical solution, preferably, the light source point is a cylindrical LED light source, and the LED light source emits invisible infrared light, and the light is diffused through ground glass installed at the tail of the vehicle.
In the above technical solution, preferably, the camera is a camera with an additional optical filter.
In the above technical solution, preferably, the control processing unit includes an element for bandpass filtering the light wave with a wavelength of 808 nm.
In the above technical solution, preferably, the alarm part is an audible alarm or a combination of an audible alarm and a lamplight alarm.
The technical scheme of the application has the following effects: (1) The lattice ranging anti-collision system comprises a marking part and an identification part, wherein the marking part comprises at least more than 2 light source points, and a plurality of light source points are arranged in a lattice manner; the identification part comprises a camera and a control processing part, so that the whole structure is simplified and the installation is convenient; (2) The identification part comprises at least more than 2 light source points, the light source points are distributed in a lattice mode, so that a camera of the identification part can collect information of the light source points conveniently, the identification part can be suitable for modeling of tail parts of various vehicle types, and identification accuracy is high; (3) The LED light source is cylindrical in light source point, emits invisible infrared light, diffuses light through ground glass arranged at the tail of the vehicle, and can identify the identified vehicle from different angles; (4) The LED light source emits invisible infrared light, or the camera is a camera additionally provided with an optical filter, or the control processing component comprises an element for carrying out band-pass filtering on light waves with the wavelength of 808nm, so that long-distance (more than 50 meters) identification can be realized; (5) The alarm adopts sound alarm or the combination of sound alarm and light alarm, so that relevant staff can acquire alarm information in time.
The second object of the present application is to provide a collision avoidance control method using the above-mentioned lattice ranging collision avoidance system, which has the following specific technical scheme: the method comprises the following steps:
the method comprises the steps of firstly, installing an identification part at the tail part of an identified vehicle; installing an identification part and an alarm part on the identification vehicle;
the second step, the position information of each light source point in the identification part is obtained through the camera in the identification part, and the position information is transmitted to the control processing part;
the third step, control the processing unit to judge for the first time, specifically: if the number of the light source points in the identification part obtained by the camera is 0, the front is considered to be free of vehicles; if the number of the light source points of the identification part acquired by the camera is smaller than 3, the control processing part controls the alarm part to alarm and controls and identifies the vehicle to stop; if the number of the light source points in the identification part acquired by the camera is more than or equal to 3, entering the next step;
fourthly, the control processing component processes the position information of each light source point to obtain the distance between the identified vehicle and the identified vehicle, and meanwhile, the number of the light source points of the identification part obtained by the camera is compared with whether the preset light source lattice is missing or not, and if the light source lattice is missing, the control processing component controls the alarm part to alarm; carrying out the next step;
fifth, the control processing part carries out second judgment, specifically: if the distance between the identified vehicle and the identified vehicle is less than or equal to the set threshold value, the control processing component controls the alarm part to alarm and controls the identified vehicle to stop; and if the distance between the identified vehicle and the identified vehicle is larger than the set threshold value, returning to the second step.
In the above technical solution, preferably, the obtaining the distance between the identified vehicle and the identified vehicle in the fourth step specifically includes:
expression 4) can be obtained from the calculation formulas of the lenses expression 1), expression 2), and expression 3):
wherein: l1 is the distance between the identification part and the camera, H2 is the height of the pixels in the obtained photo, H1 is the height of the identification part, f is the focal length of the camera, L2 is the distance between the lens and the negative film, and alpha is the included angle formed by the connecting line between the highest position of the identification part and the corresponding point in the obtained photo and the horizontal line.
The anti-collision control method is convenient to operate, can realize long-distance detection and has strong practicability.
In addition to the objects, features and advantages described above, the present application has other objects, features and advantages. The application will be described in further detail with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
fig. 1 is a schematic structural diagram of an array ranging collision avoidance system in embodiment 1;
FIG. 2 is a schematic diagram of the array arrangement of light sources in example 1;
fig. 3 is a schematic diagram of obtaining a distance between an identified vehicle and an identified vehicle in embodiment 1.
Detailed Description
Embodiments of the application are described in detail below with reference to the attached drawings, but the application can be implemented in a number of different ways, which are defined and covered by the claims.
Example 1:
a lattice ranging collision avoidance system, see fig. 1 in detail, includes a marking portion 1 detachably mounted at the rear of a vehicle to be identified, an identification portion 2 mounted on the vehicle to be identified and obtaining a distance between the vehicle to be identified and the vehicle to be identified by identifying the marking portion 1, and an alarm portion 3 connected to the identification portion 2.
The identification part 1 comprises at least 3 or more light source points (preferably 6-12) embedded in the tail of the identified vehicle, and the plurality of light source points are arranged in a lattice. Preferably, it is: the light source points are cylindrical LED light sources (preferably metal cylindrical shape with a diameter of 12 and a height of 40 cm), and the LED light sources emit invisible infrared light which diffuses through ground glass mounted at the tail of the vehicle.
The method for arranging the light source points in the actual process comprises the following steps: a plurality of light source lattices (which are arranged in i columns and j rows as shown in figure 2) are arranged on a plane according to a fixed grid on the tail of the vehicle to be identified, the position relation of the light source points is fixed, each point is numbered, the area where the light source points cannot be installed is removed, and each cross point in the transverse direction and the longitudinal direction is a light source point. When a new vehicle model is required to be matched, only a proper number of light source points suitable for being installed at a proper position of the new vehicle model are selected from the light source dot matrix, the light source points are embedded and installed on the vehicle, the number of the selected light source points is recorded, meanwhile, because the modeling of the vehicle is generally an arc surface, the front and rear position relations are different, and the numerical value of the front and rear positions of each light source point is required to be recorded at the same time. And recording the number of the selected light source point.
The identification part 2 comprises a camera 2.1 and a control processing part 2.2 (the control processing part can adopt a PLC controller), the camera 2.1 is used for acquiring the position information of each light source point in the identification part 1, and the control processing part 2.2 is used for processing the position information of the light source point acquired by the camera 2.1 so as to acquire the distance between the identified vehicle and the identified vehicle. The control processing unit 2.2 can be connected to a brake system that identifies the vehicle.
The camera 2.1 in this embodiment may be a camera with an additional filter, or the control processing unit 2.2 may include an element for bandpass filtering the light wave with the wavelength of 808nm (the light with the wavelength of 808nm is retained, and the rest is attenuated as much as possible).
The alarm part 3 is connected with the control processing part 2.2, and the alarm part 3 is used for generating an alarm when the number of the light source points in the identification part 1 acquired by the camera 2.1 is more than 0 and less than 3, the light source points in the identification part 1 are acquired by the camera 2.1, and the distance between the identified vehicle and the identified vehicle is smaller than any one of the set threshold values. The alarm part 3 is an audible alarm or a combination of an audible alarm and a lamplight alarm.
The collision avoidance control method adopted by the collision avoidance system of embodiment 1 includes the following steps:
the first step, install the identification part 1 in the tail of the identified vehicle; the recognition portion 2 and the warning portion 3 are installed on the recognition vehicle.
In a second step, position information of each light source point in the identification section 1 is acquired by means of a camera in the identification section 2 (here, six light source points numbered 11, 12, 21, 22, 31, 32 are preferably selected by the camera, denoted as a, and imaging thereof in the camera is denoted as B), and the position information is transmitted to the control processing section 2.2. ( Preferably, it is: at least 6 light sources of each vehicle type are adopted, when one to two light sources fail and do not emit light, the recognition accuracy of the recognition system is reduced, the recognition system can still recognize that the light source points are reduced, at the moment, the recognition system considers that the light source points fail, and the recognition system sends out failure alarm )
The third step, the control processing part 2.2 performs the first judgment, specifically: if the number of light source points in the camera acquisition identification part 1 is 0, no vehicle is considered in front; if the number of the light source points of the identification part acquired by the camera is smaller than 3, the control processing part 2.2 controls the alarm part 3 to alarm and controls and identifies the vehicle to stop; if the number of light source points in the camera acquisition identification part 1 is more than or equal to 3, the next step is entered.
Fourth, the control processing part 2.2 processes the position information of each light source point to obtain the distance between the identified vehicle and the identified vehicle, and the details are as follows:
as in fig. 3, expression 4) is obtainable from the calculation formulas of the lenses expression 1), expression 2), and expression 3):
wherein: l1 is the distance between the identification part and the camera, H2 is the height of the pixels in the obtained photo, H1 is the height of the identification part, f is the focal length of the camera, L2 is the distance (with small change and negligible) between the lens and the negative film (the photosensitive chip), and alpha is the included angle formed by the connecting line between the highest position of the identification part and the corresponding point in the obtained photo and the horizontal line.
Meanwhile, comparing the number of light source points of the identification part acquired by the camera with the preset light source dot matrix, and if the light source dot matrix is missing, controlling the alarm part 3 to alarm by the control processing part 2.2; the next step is performed.
Fifth, the control processing unit 2.2 performs a second judgment, specifically: if the distance between the identified vehicle and the identified vehicle is less than or equal to the set threshold value, the control processing part 2.2 controls the alarm part 3 to alarm and controls the identified vehicle to stop; and if the distance between the identified vehicle and the identified vehicle is larger than the set threshold value, returning to the second step.
The array ranging collision avoidance system and the collision avoidance control method are adopted for testing, and the specific test process is as follows:
step a, the simulation tool is prepared according to each test in the table 1, and meanwhile, the positions of 20m deceleration and 10m stopping at the position are set and marked on the line, and meanwhile, corresponding setting is carried out on the control processing component.
And b, installing the visual anti-collision system on the pick-up, wherein the simulation tool is opposite to the pick-up, but needs to avoid the travelling route of the pick-up. The pick-up truck was slowly driven from 50m at a speed of 5km/h towards the simulation tool, and the system test distance was recorded for each 1m forward.
And c, repeating the step b according to the settings of the other working conditions 1 and 2, and simultaneously observing whether warning and reminding exist.
And d, if the data are abnormal, the speed is increased to 10km/h, the vehicle runs from 50m to the simulated tool, the positions of the deceleration instruction and the stopping instruction are recorded, and the distance between the positions and the tool is measured. Repeating according to the setting of the other working conditions 1 and 2.
Step e, the speed is increased to 15km/h, 20km/h, 25km/h, 30km/h and 40km/h, and the step d is repeated.
Note that: when the speed is increased, the positions of the deceleration point and the parking point can be adjusted far according to actual needs, the distance is increased, and the starting distance of the pick-up is adjusted far; step e is a limit data test, recording only data.
Table 1 statistical table of test conditions for tests 1-12
Through the test, the parameters of the lattice spacing anti-collision system and the anti-collision control method can be obtained as follows:
the working range is as follows: 1-50 meters.
Identification frequency: 10Hz.
Viewing angle: 30 deg..
Measurement accuracy: 1m.
Minimum turning radius of line: the normal line is 20m; the station time is 12m.
Working environment: the outdoor vibration is generated in the running process of the vehicle, and the visibility is more than or equal to 50m.
Limit identification: the distance is 25m, the visibility is 50m, the identification mark is 50% blocked, and the horizontal deflection is 15 degrees, in this case, 60% identification reliability is required, namely, 10 times of identification within 1s of normal identification frequency needs at least 6 times of normal identification.
The adaptation performance is as follows: can adapt to the tail modeling of various existing vehicle models at present.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. What is intended to be modified, equivalent replaced, improved, etc., is included in the scope of the present application within the spirit and principles of the present application.
Claims (8)
1. A lattice ranging collision avoidance system is characterized in that: comprises an identification part (1) detachably mounted at the tail of the identified vehicle, an identification part (2) mounted on the identified vehicle and obtaining the distance between the identified vehicle and the identified vehicle by identifying the identification part (1), and an alarm part (3);
the identification part (1) comprises at least more than 3 light source points embedded and installed at the tail of the identified vehicle, and the plurality of light source points are distributed in a lattice manner;
the identification part (2) comprises a camera (2.1) and a control processing component (2.2), wherein the camera (2.1) is used for acquiring the position information of each light source point in the identification part (1), and the control processing component (2.2) is used for processing the position information of the light source point acquired by the camera (2.1) so as to acquire the distance between an identified vehicle and the identified vehicle;
the alarm part (3) is connected with the control processing component (2.2), and the alarm part (3) is used for generating an alarm when the number of light source points in the identification part (1) acquired by the coincidence camera (2.1) is more than 0 and less than 3, the light source points in the identification part (1) are acquired by the camera (2.1), and the distance between the identified vehicle and the identified vehicle is smaller than any one of set thresholds.
2. The lattice ranging collision avoidance system of claim 1 wherein: the number of the light source points is 6-12.
3. The lattice ranging collision avoidance system of claim 2 wherein: the light source points are cylindrical LED light sources, the LED light sources emit invisible infrared light, and the LED light sources diffuse light through ground glass arranged at the tail of a vehicle.
4. The lattice ranging collision avoidance system of claim 2 wherein: the camera (2.1) is a camera additionally provided with an optical filter.
5. The lattice ranging collision avoidance system of claim 2 wherein: the control processing means (2.2) comprise elements for bandpass filtering light waves of wavelength 808 nm.
6. The lattice ranging collision avoidance system of claim 1 wherein: the alarm part (3) is an audible alarm or a combination of the audible alarm and the lamplight alarm.
7. A collision control method using the lattice ranging collision avoidance system of claim 1, comprising the steps of:
the first step, installing an identification part (1) at the tail of the identified vehicle; an identification part (2) and an alarm part (3) are arranged on the identification vehicle;
secondly, acquiring position information of each light source point in the identification part (1) through a camera in the identification part (2), and transmitting the position information to the control processing part (2.2);
the third step, control the processing unit (2.2) to judge for the first time, specifically: if the number of light source points in the camera acquisition identification part (1) is 0, the front is considered to be free of vehicles; if the number of light source points of the identification part acquired by the camera is smaller than 3, the control processing part (2.2) controls the alarm part (3) to alarm and control and identify the vehicle to stop; if the number of the light source points in the camera acquisition identification part (1) is more than or equal to 3, entering the next step;
fourthly, the control processing component (2.2) processes the position information of each light source point to obtain the distance between the identified vehicle and the identified vehicle, meanwhile, the number of the light source points of the identification part obtained by the camera is compared with whether the preset light source dot matrix is missing or not, and if the light source dot matrix is missing, the control processing component (2.2) controls the alarm part (3) to alarm; carrying out the next step;
fifth, the control processing part (2.2) carries out second judgment, specifically: if the distance between the identified vehicle and the identified vehicle is less than or equal to a set threshold value, the control processing component (2.2) controls the alarm part (3) to alarm and controls the identified vehicle to stop; and if the distance between the identified vehicle and the identified vehicle is larger than the set threshold value, returning to the second step.
8. The collision avoidance control method of claim 7 wherein the fourth step of obtaining a separation between the identified vehicle and the identified vehicle is specifically:
expression 4) can be obtained from the calculation formulas of the lenses expression 1), expression 2), and expression 3):
wherein: l1 is the distance between the identification part and the camera, H2 is the height of the pixels in the obtained photo, H1 is the height of the identification part, f is the focal length of the camera, L2 is the distance between the lens and the negative film, and alpha is the included angle formed by the connecting line between the highest position of the identification part and the corresponding point in the obtained photo and the horizontal line.
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| JP2016110641A (en) * | 2014-12-02 | 2016-06-20 | 財團法人金屬工業研究發展中心Ｍｅｔａｌ Ｉｎｄｕｓｔｒｉｅｓ Ｒｅｓｅａｒｃｈ ＆ Ｄｅｖｅｌｏｐｍｅｎｔ Ｃｅｎｔｒｅ | Stereoscopic depth detection system for collision prevention and operation method therefor |
| CN106291520A (en) * | 2016-07-14 | 2017-01-04 | 江苏大学 | A kind of DAS (Driver Assistant System) based on coded laser light and binocular vision and method |
| CN206900320U (en) * | 2017-07-07 | 2018-01-19 | 株洲中车特种装备科技有限公司 | A kind of dot matrix ranging for preventing collision system |
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