CN108313124A - The method and apparatus for detecting vehicle-surroundings barrier - Google Patents
The method and apparatus for detecting vehicle-surroundings barrier Download PDFInfo
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- CN108313124A CN108313124A CN201710037307.2A CN201710037307A CN108313124A CN 108313124 A CN108313124 A CN 108313124A CN 201710037307 A CN201710037307 A CN 201710037307A CN 108313124 A CN108313124 A CN 108313124A
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- 230000004888 barrier function Effects 0.000 title claims abstract description 93
- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000001514 detection method Methods 0.000 claims abstract description 59
- 238000005259 measurement Methods 0.000 claims description 3
- 239000000523 sample Substances 0.000 description 15
- 238000010586 diagram Methods 0.000 description 8
- 230000006399 behavior Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000003786 synthesis reaction Methods 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 206010057855 Hypotelorism of orbit Diseases 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 238000010009 beating Methods 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
-
- 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
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
- B60R2011/004—Arrangements for holding or mounting articles, not otherwise provided for characterised by position outside the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
- B60R2011/008—Adjustable or movable supports
- B60R2011/0085—Adjustable or movable supports with adjustment by rotation in their operational position
-
- 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
-
- 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
- B60R2300/802—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 monitoring and displaying vehicle exterior blind spot views
- B60R2300/8026—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 monitoring and displaying vehicle exterior blind spot views in addition to a rear-view mirror system
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- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of method and apparatus of detection vehicle-surroundings barrier.Wherein, this method includes：At least one operating parameter of current vehicle is obtained, operating parameter includes at least：The rotational angle of the speed of vehicle, the steering wheel of vehicle；The deflection angle of one or more detecting devices on vehicle is determined according at least one operating parameter, wherein detecting devices is deployed on the predeterminated position of vehicle, the barrier situation for detecting vehicle-surroundings；According to deflection angle, controls one or more detecting devices and vehicle-surroundings barrier is detected.The present invention solves the technical issues of prior art cannot achieve according to Vehicular behavior the search coverage dynamically to adjust the detecting devices installed on vehicle.
Description
Technical field
The present invention relates to vehicle safety control fields, in particular to a kind of method of detection vehicle-surroundings barrier
And device.
Background technology
With the development of the social economy, automobile in social life increasingly improve by status, increase year by year in automobile quantity
In the case of, automotive safety problem is also increasingly paid close attention to by everybody.For vehicle safety, most important basis for estimation is
Relative distance and relative velocity between two vehicles, if the vehicle hypotelorism in running at high speed, be easy to cause the thing that knocks into the back
Therefore.
In this field, car radar can be well as the safety assistant driving device of detection vehicle-surroundings barrier
For detecting the distance between vehicle travel process and other vehicles, vehicle is driven for car owner and plays prodigious help.But
It is to turn around, turn or overtake other vehicles etc. in vehicle to involve the need for by beating steering wheel come in the case of realization, existing car radar
Since dynamic regulation cannot be carried out with vehicle hand-wheel angle, speed of operation, detection blind area is caused, there are security risks.
It cannot achieve and set according to Vehicular behavior dynamically to adjust the detection installed on vehicle for the above-mentioned prior art
The problem of standby search coverage, currently no effective solution has been proposed.
Invention content
An embodiment of the present invention provides a kind of method and apparatus of detection vehicle-surroundings barrier, at least to solve existing skill
Art cannot achieve the technical issues of search coverage dynamically to adjust the detecting devices installed on vehicle according to Vehicular behavior.
One side according to the ... of the embodiment of the present invention provides a kind of method of detection vehicle-surroundings barrier, including：It obtains
At least one operating parameter of current vehicle, operating parameter is taken to include at least：The angle of rotation of the speed of vehicle, the steering wheel of vehicle
Degree；The deflection angle of one or more detecting devices on vehicle is determined according at least one operating parameter, wherein detecting devices portion
It is deployed on the predeterminated position of vehicle, the barrier situation for detecting vehicle-surroundings；According to deflection angle, control is one or more
Detecting devices detects vehicle-surroundings barrier.
Another aspect according to the ... of the embodiment of the present invention additionally provides a kind of device of detection vehicle-surroundings barrier, including：
First acquisition module, at least one operating parameter for obtaining current vehicle, operating parameter include at least：The speed of vehicle,
The rotational angle of the steering wheel of vehicle；First determining module, for according at least one operating parameter determine on vehicle one or
The deflection angle of multiple detecting devices, wherein detecting devices is deployed on the predeterminated position of vehicle, for detecting vehicle-surroundings
Barrier situation；First control module, for according to deflection angle, controlling one or more detecting devices to vehicle-surroundings obstacle
Object is detected.
In embodiments of the present invention, by obtaining at least one operating parameter of current vehicle, operating parameter includes at least：
The rotational angle of the speed of vehicle, the steering wheel of vehicle；One or more spies on vehicle are determined according at least one operating parameter
The deflection angle of measurement equipment, wherein detecting devices is deployed on the predeterminated position of vehicle, the barrier for detecting vehicle-surroundings
Situation；According to deflection angle, controls one or more detecting devices and vehicle-surroundings barrier is detected, reached according to vehicle
The detection angle of detecting devices and the purpose in direction on current operating condition dynamic adjustment vehicle body, to realize as far as possible
The technique effect for the case where detecting vehicle-surroundings barrier for driver to no blind area, and then solving the prior art can not
The technical issues of realizing according to search coverage of the Vehicular behavior dynamically to adjust the detecting devices installed on vehicle.
Description of the drawings
Attached drawing described herein is used to provide further understanding of the present invention, and is constituted part of this application, this hair
Bright illustrative embodiments and their description are not constituted improper limitations of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 is a kind of method flow diagram of detection vehicle-surroundings barrier according to the ... of the embodiment of the present invention；
Fig. 2 is a kind of method flow diagram of optional detection vehicle-surroundings barrier according to the ... of the embodiment of the present invention；
Fig. 3 is a kind of method flow diagram of optional detection vehicle-surroundings barrier according to the ... of the embodiment of the present invention；
Fig. 4 is a kind of schematic diagram of optionally overtaking other vehicles according to the ... of the embodiment of the present invention；
Fig. 5 is a kind of method flow diagram of optional detection vehicle-surroundings barrier according to the ... of the embodiment of the present invention；
Fig. 6 is a kind of method flow diagram of optional detection vehicle-surroundings barrier according to the ... of the embodiment of the present invention；And
Fig. 7 is a kind of schematic device of detection vehicle-surroundings barrier according to the ... of the embodiment of the present invention；
Fig. 8 is a kind of system schematic of detection vehicle-surroundings barrier according to the ... of the embodiment of the present invention；And
Fig. 9 is a kind of system schematic of optional detection vehicle-surroundings barrier according to the ... of the embodiment of the present invention.
Specific implementation mode
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The every other embodiment that member is obtained without making creative work should all belong to the model that the present invention protects
It encloses.
It should be noted that term " first " in description and claims of this specification and above-mentioned attached drawing, "
Two " etc. be for distinguishing similar object, without being used to describe specific sequence or precedence.It should be appreciated that using in this way
Data can be interchanged in the appropriate case, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that cover
It includes to be not necessarily limited to for example, containing the process of series of steps or unit, method, system, product or equipment to cover non-exclusive
Those of clearly list step or unit, but may include not listing clearly or for these processes, method, product
Or the other steps or unit that equipment is intrinsic.
Embodiment 1
According to embodiments of the present invention, a kind of embodiment of the method for detection vehicle-surroundings barrier is provided, needs to illustrate
It is that step shown in the flowchart of the accompanying drawings can execute in the computer system of such as a group of computer-executable instructions,
Also, although logical order is shown in flow charts, and it in some cases, can be to be executed different from sequence herein
Shown or described step.
Fig. 1 is a kind of method flow diagram of detection vehicle-surroundings barrier according to the ... of the embodiment of the present invention, as shown in Figure 1,
This method comprises the following steps：
Step S102, obtains at least one operating parameter of current vehicle, and operating parameter includes at least：The speed of vehicle,
The rotational angle of the steering wheel of vehicle；
Step S104 determines the deflection angle of one or more detecting devices on vehicle according at least one operating parameter,
Wherein, detecting devices is deployed on the predeterminated position of vehicle, the barrier situation for detecting vehicle-surroundings；
Step S106 controls one or more detecting devices and is detected to vehicle-surroundings barrier according to deflection angle.
As a kind of optional embodiment, above-mentioned operating parameter can be each ginseng of characterization vehicle current operating situation
It counts, may include：The current speed of vehicle, direction, the current steering wheel of vehicle rotational angle；A kind of optional embodiment
In, vehicle, quality, body dimensions, the turning radius etc. of vehicle can also be included；Above-mentioned detecting devices can be for assisting driving
The mobile units such as radar, the camera sailed are deployed on multiple predeterminated positions of vehicle body, the barrier for detecting vehicle-surroundings
Situation can detect vehicle at a distance from the barrier on periphery by one or more radar probes, can also pass through one
Or multiple cameras the case where obtaining vehicle-surroundings barrier, can also be and be combined with camera by one or more radars
To detect the barrier of vehicle-surroundings.Based on technical solution disclosed in above-mentioned steps S102 to S106, worked as by detecting and obtaining
At least one operating parameter of vehicle in front, and multiple default positions on vehicle body are adjusted come dynamic according to the operating parameter of vehicle
The deflection angle for the detecting devices set, and then vehicle-surroundings barrier is detected.
In a kind of optional embodiment, the speed of vehicle can be detected by the velocity sensor installed on vehicle, is led to
Cross the rotational angle of the steering wheel for the angular transducer detection vehicle installed on vehicle.
As an alternative embodiment, the camera in multiple and different directions can be installed on vehicle body, vehicle is obtained
The environmental aspect on periphery, 360 degree of panoramic pictures after the synthesis of car-mounted display screen display, so that driver can understand intuitively
The environment appearance that vehicle is presently in is seen on ground, so as to better avoiding obstacles, it is preferable that in conjunction with the thunder of different directions
Up to probe, can the early warning information with obstacle distance be provided to driver in real time, vehicle is preferably controlled convenient for driver
Speed and direction are reduced unnecessary collision and are occurred.
Herein it should be noted that the vehicle due to vehicle is of different sizes, the turning radius of vehicle is different, and turning radius is
Refer to when steering wheel goes to extreme position, outside front wheel track radius of circle.According to the rotational angle of steering wheel for vehicle come dynamic
In the case of the detection direction for adjusting vehicle camera and radar probe, in conjunction with the turning radius and body dimensions of vehicle, according to
Steering wheel angle calculates the deflection angle of vehicle detection equipment, can more accurately estimate the detection being installed on vehicle and sets
Standby best detection direction.
From the foregoing, it will be observed that the operating condition current by detecting and obtaining vehicle, and according to vehicle currently at least one operation
Parameter come determine on vehicle predeterminated position for assist driving one or more detecting devices deflection angle, Yi Zhongke
In the embodiment of choosing, the rotational angle of steering wheel can be beaten according to the current speed of vehicle and driver and installed on vehicle body to determine
One or more cameras or radar probe deflection angle, finally using adjust the angle after one or more detecting devices
The barrier of vehicle-surroundings is detected, has reached and has set according to being detected on the current operating condition dynamic adjustment vehicle body of vehicle
The purpose of standby detection angle and direction detects vehicle-surroundings obstacle without blind area for driver as far as possible to realize
The technique effect of the case where object, and then solve the prior art and cannot achieve and dynamically adjusted on vehicle according to Vehicular behavior
The technical issues of search coverage of the detecting devices of installation.
In a kind of optional embodiment, as shown in Fig. 2, in the case where detecting devices is multiple, according at least one
Operating parameter determines the deflection angle of one or more detecting devices on vehicle, including：
Step S202 obtains the spatial position on vehicle body of multiple detecting devices；
Step S204 determines multiple deflections of multiple detecting devices according at least one operating parameter according to spatial position
Angle.
Specifically, in the above-described embodiments, above-mentioned detecting devices can be the vehicles such as radar, camera for assisting driving
Equipment is carried, is deployed on multiple predeterminated positions of vehicle body, the barrier situation for detecting vehicle-surroundings；It is multiple feelings in detection
Under condition, since position of the detecting devices on vehicle body is different, the region for detection is also different, needs to be based on each detecting devices
Location information on vehicle body, to determine the deflection angle of each detecting devices according to the current steering wheel angle of vehicle and speed
Degree.
It herein it should be noted that can be according to information such as the vehicle of vehicle, body dimensions, turning radius, according to each
The investigative range of detecting devices determines the quantity for the detecting devices for needing to be installed on vehicle, and each detecting devices in vehicle
Installation site with it, in the case where vehicle is in transport condition, according to the steering wheel rotational angle and speed of vehicle dynamic
Adjust the deflection angle of each detecting devices so that multiple detecting devices on vehicle body may be at that vehicle body week can be detected always
The direction of the barrier of side all areas.
By above-described embodiment, the deflection angle of the self-defined each detecting devices of adjustment may be implemented, eliminate detection blind area
Effect.
As an alternative embodiment, in the case where being equipped with multiple detecting devices on vehicle body, and detect
In the case of multiple barriers, it can be determined to the warning information provided is driven, be hindered according to the type of barrier and/or size
Hinder the type of object that can be divided into：People, stands object at movable body, in the case of detecting these three barriers at the same time, preferentially will
The information alert of that detecting devices of people is detected to driver, then will detect the letter of that detecting devices of movable body
Breath is prompted to driver, will finally detect the information alert for that detecting devices for standing object to driver, it is preferable that also
According to the size for standing object, the information alert of the detecting devices of big standing object can will be preferentially detected to driver.
As another optional embodiment, it in the case where being equipped with multiple detecting devices on vehicle body, and detects
In the case of multiple barriers, it can be determined to the warning information for driving offer according to the damage to vehicle, it is a kind of
In optional embodiment, in the case where the multiple detecting devices installed on vehicle body detect barrier, will preferentially it detect
The information alert of barrier that detecting devices larger to vehicle damage is to driver, will most or by big data analysis
Preferred scheme is supplied to driver.
It should be noted that driver can the self-defined priority that each detecting devices is arranged.
In a kind of optional embodiment, above-mentioned detecting devices includes：Camera, and/or, radar.
Optionally, radar can be microwave radar and/or laser radar.
Specifically, in the above-described embodiments, above-mentioned detecting devices is deployed on multiple predeterminated positions of vehicle body, for detecting
The barrier situation of vehicle-surroundings, can by one or more radar probes come detect vehicle and periphery barrier away from
From the case where obtaining vehicle-surroundings barrier, can also being can also be by one or more by one or more cameras
A radar combines to detect the barrier of vehicle-surroundings with camera.
Preferably, above-mentioned radar can be microwave radar.Compared to conventional ultrasonic wave radar, the interference that microwave radar is received is wanted
It is much smaller, it is not influenced by foggy weather and temperature etc., detecting distance is larger (being typically larger than 100m), and ultrasonic radar is disturbed
More, detecting distance is smaller (usually less than 1m).
It, can be by camera and radar collectively as the detection of detection vehicle-surroundings barrier in a kind of optional embodiment
Equipment obtains the image of vehicle-surroundings barrier, the intuitive barrier situation for reflecting vehicle-surroundings using camera；Utilize radar
Probe obtains vehicle at a distance from barrier in real time, and according to the rotational angle and speed of the current steering wheel of vehicle, and dynamic adjusts
The deflection angle of vehicle camera and radar probe, to obtain best detection direction.
In a kind of optional embodiment, as shown in figure 3, determining on vehicle one or more according at least one operating parameter
The deflection angle of a detecting devices, may include steps of：
Step S302 determines the deflection of one or more detecting devices on vehicle according to the rotation direction of the steering wheel of vehicle
The direction of angle；
Step S304 determines deflection angle according to the size of the speed size of vehicle and the rotational angle of steering wheel for vehicle
Size.
Specifically, in the above-described embodiments, the rotation direction that driver beats steering wheel is exactly the direction of turn inside diameter, because
And the direction of the angle of one or more detecting devices deflections on vehicle can be determined according to the rotation direction of steering wheel, then
According to the size of the rotational angle of steering wheel for vehicle and speed size, the track arc of turn inside diameter is estimated, and then according to vehicle
The size of body determines the size of the deflection angle of each detecting devices on vehicle, under normal circumstances, 15 to 16 degree of steering wheel rotation,
1 degree of tyre rotation, actual conditions will be determined according to parameters such as the vehicle of vehicle, size and turning radius.
In a kind of optional embodiment, Fig. 4 is a kind of schematic diagram, such as Fig. 4 of optionally overtaking other vehicles according to the ... of the embodiment of the present invention
Shown, in the case that the vehicle 401 on the left of road surmounts the vehicle 403 of vehicle right side, 401 vehicles in left side will currently keep right
Traveling, needs to beat steering wheel to the right, and the rotational angle in steering wheel is identical, and the travel speed of vehicle 401 is different, vehicle
401 turn right camber is also different, travel speed v is bigger, and the radius r of turning is bigger, that is, the traveling for the turn inside diameter predicted
Track is different, thus needs the size according to the speed size of vehicle and the rotational angle of steering wheel for vehicle, common to determine detection
The deflection angle size of equipment.
By above-described embodiment, may be implemented to predict vehicle according to the current speed of vehicle and steering wheel rotational angle
Driving trace, and then determine the deflection angle of each detecting devices, and the direction of each detecting devices is controlled according to deflection angle
Into horizontal deflection, to realize that dynamic adjusts the purpose of the search coverage of detecting devices.
In a kind of optional embodiment, as shown in figure 5, according to the speed size of vehicle and the rotation of steering wheel for vehicle
The size of angle, after the size for determining deflection angle, the above method can also include the following steps：
Step S502 obtains the relative position of vehicle and vehicle-surroundings barrier in real time；
Step S504, according to relative position, dynamic adjusts the deflection angle of one or more detecting devices.
Specifically, in the above-described embodiments, in the angle of rotation according to the current speed size and steering wheel for vehicle of vehicle
The size of degree, and after the size of the deflection angle of determining each detecting devices, barrier is detected in some detecting devices
In the case of, the deflection angle of each detecting devices can be dynamically adjusted according to the relative position of vehicle and barrier, so that
Barrier may be at always within the field range of driver.
It is real during the entire process of vehicle 401 surmounts vehicle 403 still by taking Fig. 4 as an example in a kind of optional embodiment
When obtain the relative position of vehicle 401 and vehicle 403, and dynamically adjust installed on vehicle 401 one according to its relative position
The direction of a or multiple detecting devices so that vehicle 403 is constantly in the search coverage of vehicle 401, until entirely overtaking other vehicles
Journey is completed.
By above-described embodiment, the barrier that may be implemented to detect is constantly in the search coverage of detecting devices,
So as to avoid with the traveling of vehicle, barrier exceeds the problem of causing security risk outside search coverage, is particularly suitable for surpassing
The scene of vehicle.
In a kind of optional embodiment, as shown in fig. 6, according to deflection angle, one or more detecting devices are controlled
After being detected to vehicle-surroundings barrier, the above method can also include the following steps：
Whether step S602, the steering wheel for detecting vehicle reset；
Step S604 controls one or more detecting devices and restores to default angle in the case where steering wheel resets.
Specifically, in the above-described embodiments, with the rotation of the steering wheel of vehicle, dynamic adjusts one or more on vehicle
Detection of the detecting devices to vehicle-surroundings barrier shows turn inside diameter or completion of overtaking other vehicles after the steering wheel of vehicle resets, this
When, the direction for controlling each detecting devices installed on vehicle is also restored to default angle,
By above-described embodiment, may be implemented according to Vehicular behavior dynamic adjustment detecting devices, and dynamic will detection
The purpose of equipment playback, the effect of search coverage is adaptively adjusted to realize detecting devices according to the operating condition of vehicle,
It is more intelligent, improve user experience.
Embodiment 2
According to embodiments of the present invention, a kind of device embodiment of detection vehicle-surroundings barrier is additionally provided.The present invention is real
The method for applying the detection vehicle-surroundings barrier in example 1 can execute in the device of the embodiment of the present invention 2.
Fig. 7 is a kind of schematic device of detection vehicle-surroundings barrier according to the ... of the embodiment of the present invention, as shown in fig. 7,
The device includes：First acquisition module 701, the first determining module 703 and the first control module 705.
Wherein, the first acquisition module 701, at least one operating parameter for obtaining current vehicle, operating parameter is at least
Including：The rotational angle of the speed of vehicle, the steering wheel of vehicle；First determining module 703, for being joined according at least one operation
Number determines the deflection angle of one or more detecting devices on vehicle, wherein detecting devices is deployed on the predeterminated position of vehicle,
Barrier situation for detecting vehicle-surroundings；First control module 705, for according to deflection angle, control to be one or more
Detecting devices detects vehicle-surroundings barrier.
It detects from the foregoing, it will be observed that the first acquisition module 701 obtains and obtains the current operating condition of vehicle, the first determining module
703 according to vehicle currently at least one operating parameter come determine on vehicle predeterminated position for assist driving one or more
The deflection angle of a detecting devices in a kind of optional embodiment, can beat direction according to the current speed of vehicle and driver
The rotational angle of disk determines the deflection angle of the one or more cameras or radar probe installed on vehicle body, last first control
Molding block 705 detects the barrier of vehicle-surroundings using one or more detecting devices after adjustment angle, reaches
According to the detection angle of detecting devices and the purpose in direction on the current operating condition dynamic adjustment vehicle body of vehicle, to realize
The technique effect for the case where detecting vehicle-surroundings barrier without blind area for driver as far as possible, and then solve existing
Technology, which cannot achieve, asks according to Vehicular behavior dynamically to adjust the technology of the search coverage for the detecting devices installed on vehicle
Topic.
In a kind of optional embodiment, above-mentioned first acquisition module 701 may include：First detection unit, for leading to
Cross the speed for the velocity sensor detection vehicle installed on vehicle；Second detection unit, for by installing on vehicle
Angular transducer detects the rotational angle of the steering wheel of vehicle.
In a kind of optional embodiment, in the case where detecting devices is multiple, the first determining module 703 can wrap
It includes：Acquiring unit, the spatial position on vehicle body for obtaining multiple detecting devices；Determination unit, for according to space bit
It sets, multiple deflection angles of multiple detecting devices is determined according at least one operating parameter.
In a kind of optional embodiment, above-mentioned detecting devices may include：Camera, and/or, radar.
Optionally, above-mentioned radar can be microwave radar and/or laser radar.
In a kind of optional embodiment, above-mentioned first determining module includes：Second determining module, for according to vehicle
The rotation direction of steering wheel determines the direction of the deflection angle of one or more detecting devices on vehicle；Third determining module is used
In the size according to the rotational angle of the speed size and steering wheel for vehicle of vehicle, the size of deflection angle is determined.
In a kind of optional embodiment, above-mentioned apparatus can also include：Second acquisition module, for obtaining vehicle in real time
With the relative position of vehicle-surroundings barrier；Module is adjusted, for according to relative position, dynamic to adjust one or more detections and sets
Standby deflection angle.
In a kind of optional embodiment, above-mentioned apparatus can also include：Detection module, the steering wheel for detecting vehicle
Whether reset；Second control module is restored in the case where steering wheel resets, controlling one or more detecting devices to silent
Recognize angle.
Embodiment 3
According to embodiments of the present invention, a kind of system embodiment of detection vehicle-surroundings barrier is additionally provided.The present invention is real
The method for applying the detection vehicle-surroundings barrier in example 1 can execute in the system of the embodiment of the present invention 3.
Fig. 8 is a kind of system schematic of detection vehicle-surroundings barrier according to the ... of the embodiment of the present invention, as shown in figure 8,
The system includes：Angular transducer 801, controller 803 and at least one detecting devices 805.
Wherein, angular transducer 801 are connect with the steering wheel of vehicle, the rotational angle for detecting steering wheel for vehicle；
Controller 803 is connect by data transmission bus with angular transducer, and the angle of rotation from angular transducer is received
Spend signal；
At least one detecting devices 805, connect with controller, the control information for receiving controller transmission, and according to
Control the barrier situation of signal detection vehicle-surroundings；
Wherein, controller is additionally operable to determine the deflection angle of at least one detecting devices according to rotational angle signal.
As a kind of optional embodiment, the steering wheel of above-mentioned angular transducer and vehicle connects, for detecting vehicle side
Controller is transmitted to by data transmission bus to the rotational angle of disk, and by the rotational angle of the steering wheel for vehicle detected,
Controller receives the rotational angle signal from angular transducer, and is calculated often according to the rotational angle of steering wheel for vehicle
The deflection angle of a detecting devices, to the corresponding control signal of one or more detecting devices transmission for being connected with the controller,
Control the barrier situation that each detecting devices detected after being deflected according to respective deflection angle vehicle-surroundings.
In a kind of optional embodiment, above-mentioned detecting devices can be that radar, camera for assist driving etc. are vehicle-mounted
Equipment is deployed on multiple predeterminated positions of vehicle body, the barrier situation for detecting vehicle-surroundings, can pass through one or more
A radar probe detects vehicle at a distance from the barrier on periphery, can also obtain vehicle by one or more cameras
The case where periphery barrier, can also be and be combined with camera to detect the obstacle of vehicle-surroundings by one or more radars
Object.It should be noted that above-mentioned detecting devices is rotatable detecting devices, such as rotatable camera or radar probe.
Optionally, above-mentioned radar can be microwave radar and/or laser radar.
As an alternative embodiment, the camera in multiple and different directions can be installed on vehicle body, vehicle is obtained
The environmental aspect on periphery, 360 degree of panoramic pictures after the synthesis of car-mounted display screen display, so that driver can understand intuitively
The environment appearance that vehicle is presently in is seen on ground, so as to better avoiding obstacles, it is preferable that in conjunction with the thunder of different directions
Up to probe, can the early warning information with obstacle distance be provided to driver in real time, vehicle is preferably controlled convenient for driver
Speed and direction are reduced unnecessary collision and are occurred.
Herein it should be noted that the vehicle due to vehicle is of different sizes, the turning radius of vehicle is different, and turning radius is
Refer to when steering wheel goes to extreme position, outside front wheel track radius of circle.According to the rotational angle of steering wheel for vehicle come dynamic
In the case of the detection direction for adjusting vehicle camera and radar probe, in conjunction with the turning radius and body dimensions of vehicle, according to
Steering wheel angle calculates the deflection angle of vehicle detection equipment, can more accurately estimate the detection being installed on vehicle and sets
Standby best detection direction.
From the foregoing, it will be observed that being detected in real time by the angular transducer being connect with steering wheel for vehicle and obtaining the current steering wheel of vehicle
Rotational angle, it is current in conjunction with the vehicle of vehicle, quality, body dimensions and vehicle and according to the rotational angle of steering wheel
The speed of service predicts vehicle driving trace, and then determines the one or more being located on vehicle predeterminated position for assisting driving
The deflection angle of detecting devices is controlled by controller after the deflection angle of each detecting devices of determination and adjusts each spy
Measurement equipment has reached and has been moved according to the rotational angle of steering wheel for vehicle into being detected to the barrier of vehicle-surroundings after horizontal deflection
State adjusts the detection angle of multiple detecting devices and the purpose in direction on vehicle body, is without blind area as far as possible to realize
Driver detects the technique effect of the case where vehicle-surroundings barrier, and then solves and do not run in the prior art according to vehicle
Situation carrys out the technical issues of detecting devices for detecting vehicle-surroundings barrier of automatic adjusument direction.
In a kind of optional embodiment, as shown in figure 9, above system further includes：Velocity sensor 807, with controller
Connection, the speed for detecting vehicle, and speed signal is transmitted to controller.
Specifically, in the above-described embodiments, identical in the rotational angle of steering wheel, due to speed difference, vehicle
The angle and driving trace of turning are also different, thus can pass through the vehicle that the velocity sensor installed on vehicle detects vehicle
Speed, and speed signal is transmitted to controller, controller can be according to the size and speed of the rotational angle of steering wheel for vehicle
Size determines the deflection angle of each detecting devices.
By above-described embodiment, in the case where driver beats steering wheel, it can more accurately determine that vehicle each detects
The deflection angle of equipment.
In a kind of optional embodiment, above-mentioned detecting devices is camera and/or radar.
Optionally, above-mentioned radar can be microwave radar and/or laser radar.
It, can be by camera and radar collectively as the detection of detection vehicle-surroundings barrier in a kind of optional embodiment
Equipment obtains the image of vehicle-surroundings barrier, the intuitive barrier situation for reflecting vehicle-surroundings using camera；Utilize radar
Probe obtains vehicle at a distance from barrier in real time, and according to the rotational angle and speed of the current steering wheel of vehicle, and dynamic adjusts
The deflection angle of vehicle camera and radar probe, to obtain best detection direction.
In a kind of optional embodiment, above-mentioned detecting devices is multiple, is deployed on multiple predeterminated positions of vehicle.
In a kind of optional embodiment, as shown in figure 9, above system further includes：Processor 809, connect with controller,
For in the case where detecting devices is multiple, being set for determining each to detect according to multiple predeterminated positions of multiple detecting devices
Standby deflection angle.
Specifically, in the above-described embodiments, the position due to detecting devices on vehicle body is different, the region for detection
Difference needs the location information on vehicle body based on each detecting devices, according to the current steering wheel angle of vehicle and speed
Determine the deflection angle of each detecting devices.Above-mentioned processor can be used for, in the case where detecting devices is multiple, being used for root
The deflection angle of each detecting devices is determined according to multiple predeterminated positions of multiple detecting devices on vehicle body.
In a kind of optional embodiment, above-mentioned data transmission bus is CAN bus.
In a kind of optional embodiment, as shown in figure 9, above system further includes：Drive mechanism 811, with detecting devices
Connection, for driving detecting devices to rotate.
Specifically, in the above-described embodiments, above-mentioned drive mechanism 811 can receive the control signal from controller, and
Multiple detecting devices are connected thereto according to control signal control to be rotated.
In a kind of optional embodiment, as shown in figure 9, above system further includes：Output equipment 813, with detecting devices
In the case of barrier situation for detecting vehicle-surroundings in detecting devices, corresponding prompt letter is exported to car owner for connection
Breath.
Specifically, in the above-described embodiments, above-mentioned output equipment can be voice or video equipment, be set for that will detect
The barrier situation detected is exported in the form of voice or video to the driver of vehicle.
In a kind of optional embodiment, as shown in figure 9, above system further includes：Power supply 815, for powering.
Additionally provide a kind of vehicle according to embodiments of the present invention, including above-mentioned any one is optional or preferred probe vehicles
The system of periphery barrier.
The embodiments of the present invention are for illustration only, can not represent the quality of embodiment.
In the above embodiment of the present invention, all emphasizes particularly on different fields to the description of each embodiment, do not have in some embodiment
The part of detailed description may refer to the associated description of other embodiment.
In several embodiments provided herein, it should be understood that disclosed technology contents can pass through others
Mode is realized.Wherein, the apparatus embodiments described above are merely exemplary, for example, the unit division, Ke Yiwei
A kind of division of logic function, formula that in actual implementation, there may be another division manner, such as multiple units or component can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some interfaces, unit or module
It connects, can be electrical or other forms.
The unit illustrated as separating component may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, you can be located at a place, or may be distributed over multiple
On unit.Some or all of unit therein can be selected according to the actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
It is that each unit physically exists alone, it can also be during two or more units be integrated in one unit.Above-mentioned integrated list
The form that hardware had both may be used in member is realized, can also be realized in the form of SFU software functional unit.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can be stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server or network equipment etc.) execute each embodiment the method for the present invention whole or
Part steps.And storage medium above-mentioned includes：USB flash disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic disc or CD etc. are various can to store program code
Medium.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of method of detection vehicle-surroundings barrier, which is characterized in that including：
At least one operating parameter of current vehicle is obtained, the operating parameter includes at least：The speed of the vehicle, the vehicle
Steering wheel rotational angle；
The deflection angle of one or more detecting devices on the vehicle is determined according at least one operating parameter, wherein
The detecting devices is deployed on the predeterminated position of the vehicle, the barrier situation for detecting the vehicle-surroundings；
According to the deflection angle, controls one or more of detecting devices and the vehicle-surroundings barrier is detected.
2. according to the method described in claim 1, it is characterized in that, the detecting devices includes：Camera, and/or, radar.
3. according to the method described in claim 1, it is characterized in that, determining the vehicle according at least one operating parameter
The deflection angle of upper one or more detecting devices, including：
The deflection angle of one or more detecting devices on the vehicle is determined according to the rotation direction of the steering wheel of the vehicle
Direction；
According to the size of the speed size of the vehicle and the rotational angle of the steering wheel for vehicle, the deflection angle is determined
Size.
4. according to the method described in claim 3, it is characterized in that, according to the vehicle speed size and the vehicle side
To the size of the rotational angle of disk, after the size for determining the deflection angle, the method further includes：
The relative position of the vehicle and the vehicle-surroundings barrier is obtained in real time；
According to the relative position, the deflection angle of one or more of detecting devices is dynamically adjusted.
5. according to the method described in claim 1, it is characterized in that, according to the deflection angle, control is one or more
After a detecting devices detects the vehicle-surroundings barrier, the method further includes：
Whether the steering wheel for detecting the vehicle resets；
In the case where the steering wheel resets, controls one or more of detecting devices and restore to default angle.
6. a kind of device of detection vehicle-surroundings barrier, which is characterized in that including：
First acquisition module, at least one operating parameter for obtaining current vehicle, the operating parameter include at least：It is described
The speed of vehicle, the vehicle steering wheel rotational angle；
First determining module, for determining one or more detecting devices on the vehicle according at least one operating parameter
Deflection angle, wherein the detecting devices is to be deployed on the predeterminated position of the vehicle, for detecting the vehicle-surroundings
Barrier situation；
First control module, for according to the deflection angle, controlling one or more of detecting devices to vehicle week
Side barrier is detected.
7. device according to claim 6, which is characterized in that the detecting devices includes：Camera, and/or, radar.
8. device according to claim 6, which is characterized in that first determining module includes：
Second determining module, the rotation direction for the steering wheel according to the vehicle determine one or more spies on the vehicle
The direction of the deflection angle of measurement equipment；
Third determining module is used for the size of the rotational angle of the speed size and steering wheel for vehicle according to the vehicle,
Determine the size of the deflection angle.
9. device according to claim 8, which is characterized in that described device further includes：
Second acquisition module, the relative position for obtaining the vehicle and the vehicle-surroundings barrier in real time；
Module is adjusted, for according to the relative position, dynamically adjusting the deflection angle of one or more of detecting devices.
10. device according to claim 6, which is characterized in that described device further includes：
Whether detection module, the steering wheel for detecting the vehicle reset；
Second control module is restored in the case where the steering wheel resets, controlling one or more of detecting devices
To default angle.
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| CN201710037307.2A CN108313124B (en) | 2017-01-17 | 2017-01-17 | Method and device for detecting obstacle around vehicle |
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