CN107826034A - A kind of car door scratch method for early warning - Google Patents
A kind of car door scratch method for early warning Download PDFInfo
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- CN107826034A CN107826034A CN201711052063.1A CN201711052063A CN107826034A CN 107826034 A CN107826034 A CN 107826034A CN 201711052063 A CN201711052063 A CN 201711052063A CN 107826034 A CN107826034 A CN 107826034A
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- car door
- car
- door
- scratch
- binocular camera
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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
- B60Q9/002—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle
- B60Q9/004—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors
- B60Q9/005—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors using a video camera
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Transportation (AREA)
- Human Computer Interaction (AREA)
- Mechanical Engineering (AREA)
- Image Analysis (AREA)
Abstract
The present invention provides a kind of car door scratch method for early warning, it is related to technical field of vehicle safety, the present invention is respectively to install a binocular camera additional on the both sides of car, when user pulls open vehicle door handle from in-car to be wanted to open the door, start camera simultaneously the object near car door is identified by image recognition technology, judge the object whether be likely to result in car door scratch problem (such as：Shrub etc. will not, building or car are then possible to), then object is calculated near car door to the distance of car door according to binocular camera range measurement principle, when causing enabling insufficient space when object distance car door is relatively near, pass through voice reminder user's enabling insufficient space, then user's control door opening degree or adjustment parking stall, and then the problem of avoid car door from scratching.
Description
Technical field
The present invention relates to technical field of vehicle safety, more particularly to a kind of car door scratch method for early warning.
Background technology
With the development of society, the quantity of vehicle is more and more, Global Auto owning amount has broken through 1,000,000,000 according to statistics, with
Being continuously increased for vehicle, the parking space possessed in city is less and less.Just because of the deficiency of parking space, car owner in addition
It can not can guarantee that the position stopped every time can allow the car door of both sides to have enough spaces to open, so after vehicle parking,
When opening car door, car door is easy to collide with the building on periphery or other vehicles, causes the scratch of car door so that car
The main loss suffered economically.
Existing common vehicle-mounted avoidance ranging camera head, is that distance scale line is drawn on the image collected in camera,
Then it is shown on automobile display screen, driver is by contrast images and scale line, the approximate distance of disturbance in judgement thing and car
Existing radar for backing car adds camera scheme (scheme that part ranging camera head uses), is to utilize radar range finding, takes the photograph
As head shooting image.There are some defects in radar range finding, such as insensitive to some tiny object reactions, such as certain product
Measurement parameter shown in, 75mm pipe effective detection range is only 100cm, less than the car door size of many vehicles.And for
The tiny thing such as wire netting does not almost react then；In addition, radar for backing car uses ultrasonic wave scheme substantially now, the program is general
It is required that radar need to apart from the cm of ground 50, automobile side can installation site it is less.
The content of the invention
In order to solve the above technical problems, the present invention proposes a kind of car door scratch method for early warning.Detection enabling space is
No abundance, to remind car owner and passenger, reach the purpose for preventing that car door from scratching.
The technical scheme is that：
A kind of car door scratch method for early warning, the thing for the car door that judges whether to scratch using binocular camera shooting machine testing
Body, the state whether to be opened of car door is detected using vehicle door handle detection means, and loudspeaker is equipped with to carry in each car door
Wake up passenger, and the workflow of whole car door scratch early warning system.
A binocular camera is respectively installed additional on the both sides of car, when user pulls open vehicle door handle from in-car to be wanted to open the door, is opened
Dynamic camera simultaneously identifies the object near car door by image recognition technology, judges whether the object is likely to result in car door and scrapes
Problem is rubbed, object near car door is then calculated to the distance of car door according to binocular camera range measurement principle, when object distance car door
It is relatively near and when causing enabling insufficient space, by voice reminder user's enabling insufficient space, then user's control door opening degree or
The problem of adjusting parking stall, and then avoiding car door from scratching.
Binocular camera connects controller respectively, and signal is transmitted to controller by vehicle door handle detection means, and controller receives
Enabling signal then obtains camera review.
The binocular camera range measurement principle of the present invention is as follows：
It can be seen from similar triangle theory：
Wherein, T is the distance between two cameras, and Z is the distance between tested point and binocular camera, xlFor left side phase
The position of tested point in the picture, x in machinerFocal length can be treated simply as the position of tested point in the picture, f in the camera of the right,
Need to be a constant in the mark timing determination after camera installation.It can therefore be concluded that the distance Z for going out the point is：
Because there is aberration problems, i.e., the picture that camera lens focal plane different zones are formed to image magnification difference in camera
Torsional deformation phenomenon, so the x in formula 2l,xr, f and T are required to, by demarcating acquisition, pass through matlab camera calibration instrument
Case and OpenCV image rectification function cvStereoRectify can obtain calibrated f, T and xl,xrCorrection function, enter
And try to achieve pixel Z distance.
The beneficial effects of the invention are as follows
It can remind whether user's surrounding space opens car door enough in time, to avoid economic caused by car door scratches damage
Lose.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the workflow schematic diagram of the present invention；
Fig. 3 is binocular camera range measurement principle figure.
Embodiment
More detailed elaboration is carried out to present disclosure below：
As shown in figure 3, the binocular camera range measurement principle of the present invention is as follows：
It can be seen from similar triangle theory：
Wherein, T is the distance between two cameras, and Z is the distance between tested point and binocular camera, xlFor left side phase
The position of tested point in the picture, x in machinerFocal length can be treated simply as the position of tested point in the picture, f in the camera of the right,
Need to be a constant in the mark timing determination after camera installation.It can therefore be concluded that the distance Z for going out the point is：
Because there is aberration problems, i.e., the picture that camera lens focal plane different zones are formed to image magnification difference in camera
Torsional deformation phenomenon, so the x in formula 2l,xr, f and T are required to, by demarcating acquisition, pass through matlab camera calibration instrument
Case and OpenCV image rectification function cvStereoRectify can obtain calibrated f, T and xl,xrCorrection function, enter
And try to achieve pixel Z distance.
As shown in Figure 1, respectively install a binocular camera additional outside automobile both sides, a car is installed additional in each car door
Catch detection means (button such as to be linked with handle) and a loudspeaker, video camera, detection means and loudspeaker connect
It is connected on controller.
As shown in Figure 2, when user pulls open vehicle door handle, vehicle door handle detection means is triggered.
At this moment controller will receive the signal that user wants door opening, then obtain the image by car door from video camera,
The object near car door is identified by image recognition technology.
Judge whether car door surrounding objects belong to the object for being possible to that car door scratch problem can be caused.
If there is the object that may result in car door scratch problem, then the thing is calculated according to binocular ranging camera principle
Body to car door distance, if it does not exist, then terminating this judgement.
If object distance car door is nearer, when can cause to open insufficient space needed for car door, then raised by controller control
Sound device reminds car owner or passenger, adjusts door opening degree or parking spot, if object distance farther out, has the opening car door of abundance
Space, then terminate this judgement.
Claims (3)
- A kind of 1. car door scratch method for early warning, it is characterised in thatJudge whether to scratch the object of car door using binocular camera shooting machine testing, is detected using vehicle door handle detection means The state whether to be opened of car door, and loudspeaker is equipped with reminding passengers in each car door, and whole car door scratch early warning The workflow of system.
- 2. the method according to power requires 2, it is characterised in thatA binocular camera is respectively installed additional on the both sides of car, and when user pulls open vehicle door handle from in-car to be wanted to open the door, startup is taken the photograph The object near car door is identified as head and by image recognition technology, judges whether the object is likely to result in car door scratch and asks Topic, object near car door is then calculated to the distance of car door according to binocular camera range measurement principle, when object distance car door is nearer And when causing enabling insufficient space, pass through voice reminder user's enabling insufficient space, then user's control door opening degree or adjustment Parking stall, and then the problem of avoid car door from scratching.
- 3. according to the method for claim 2, it is characterised in thatBinocular camera connects controller respectively, and signal is transmitted to controller by vehicle door handle detection means, and controller receives enabling Signal then obtains camera review.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711052063.1A CN107826034A (en) | 2017-10-30 | 2017-10-30 | A kind of car door scratch method for early warning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711052063.1A CN107826034A (en) | 2017-10-30 | 2017-10-30 | A kind of car door scratch method for early warning |
Publications (1)
| Publication Number | Publication Date |
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| CN107826034A true CN107826034A (en) | 2018-03-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711052063.1A Pending CN107826034A (en) | 2017-10-30 | 2017-10-30 | A kind of car door scratch method for early warning |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108868388A (en) * | 2018-06-18 | 2018-11-23 | 宁波市鄞州智伴信息科技有限公司 | Vehicle safety early warning system |
| CN111915852A (en) * | 2020-05-29 | 2020-11-10 | 济南浪潮高新科技投资发展有限公司 | Vehicle scratch alarm system, method, equipment and medium |
| CN113605804A (en) * | 2021-09-02 | 2021-11-05 | 广州小鹏自动驾驶科技有限公司 | Method and device for opening vehicle door |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108868388A (en) * | 2018-06-18 | 2018-11-23 | 宁波市鄞州智伴信息科技有限公司 | Vehicle safety early warning system |
| CN111915852A (en) * | 2020-05-29 | 2020-11-10 | 济南浪潮高新科技投资发展有限公司 | Vehicle scratch alarm system, method, equipment and medium |
| CN113605804A (en) * | 2021-09-02 | 2021-11-05 | 广州小鹏自动驾驶科技有限公司 | Method and device for opening vehicle door |
| CN113605804B (en) * | 2021-09-02 | 2023-02-03 | 广州小鹏自动驾驶科技有限公司 | Method and device for opening vehicle door |
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Application publication date: 20180323 |