CN108749708B - Device and method for automatically turning on fog lamp of vehicle under low visibility - Google Patents
Device and method for automatically turning on fog lamp of vehicle under low visibility Download PDFInfo
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- CN108749708B CN108749708B CN201810448154.5A CN201810448154A CN108749708B CN 108749708 B CN108749708 B CN 108749708B CN 201810448154 A CN201810448154 A CN 201810448154A CN 108749708 B CN108749708 B CN 108749708B
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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
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
- B60Q1/18—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights being additional front lights
- B60Q1/20—Fog lights
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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
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/0017—Devices integrating an element dedicated to another function
- B60Q1/0023—Devices integrating an element dedicated to another function the element being a sensor, e.g. distance sensor, 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
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/0076—Switches therefor
Abstract
The invention belongs to the technical field of vehicle safety, and discloses a device and a method for automatically turning on a vehicle fog light under low visibility, which comprises the following steps: the system comprises a camera arranged in the center of a front windshield of the vehicle, a radar sensor arranged in the center of a front bumper of the vehicle and facing the advancing direction of the vehicle, an ARM processor arranged in an engine compartment of the vehicle, and an electromagnetic switch connected in series with a fog lamp opening branch; the signal output part of the camera is connected with the first signal input part of the ARM processor, the signal output part of the radar sensor is connected with the second signal input part of the ARM processor, the signal output part of the ARM processor is connected with the control end of the electromagnetic switch, and the output end of the electromagnetic switch is connected with the opening branch of the vehicle fog lamp.
Description
Technical Field
The invention belongs to the technical field of vehicle safety, and particularly relates to a device and a method for automatically turning on a vehicle fog lamp under the condition of low visibility.
Background
The fog lamp has the function of enabling surrounding vehicle drivers to notice the existence of the own vehicle under the condition of low visibility, thereby prompting other vehicle drivers to take reasonable measures to avoid traffic accidents. All vehicles must be equipped with fog lights, but the reality is that many drivers do not know the presence of fog lights at all, or even if it is known but unclear how to turn them on.
From the design of the fog light, the fog light is only necessary to be turned on in low visibility situations, and is not needed to be turned on in other situations. Therefore, if the visibility of the road ahead can be automatically recognized, a related art scheme may be adopted to automatically turn on the fog lamp.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a device and a method for automatically turning on a fog light of a vehicle under low visibility conditions, which have the characteristics of low investment, suitability for large-scale popularization, intelligence, automation, no need of operation, and high reliability.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme.
The first technical scheme is as follows:
an apparatus for automatically turning on a fog light of a vehicle in low visibility, the apparatus comprising: the system comprises a camera arranged in the center of a front windshield of the vehicle, a radar sensor arranged in the center of a front bumper of the vehicle and facing the advancing direction of the vehicle, an ARM processor arranged in an engine compartment of the vehicle, and an electromagnetic switch connected in series with a fog lamp opening branch;
the signal output end of the camera is connected with the first signal input end of the ARM processor, the signal output end of the radar sensor is connected with the second signal input end of the ARM processor, the signal output end of the ARM processor is connected with the control end of the electromagnetic switch, and the output end of the electromagnetic switch is connected with the opening branch of the vehicle fog lamp.
The first technical scheme of the invention has the characteristics and further improvements that:
(1) the camera is used for acquiring a road image in front of the vehicle in real time and sending the road image to the ARM processor;
the radar sensor is used for acquiring the relative distance and the relative speed between the vehicle and each vehicle in front in real time and sending the relative distance and the relative speed between the vehicle and each vehicle in front to the ARM processor;
the ARM processor is used for acquiring the contour of each front vehicle in the road image according to the road image sent by the camera, so as to determine the coordinates (X1, Y1) of the contour center of each front vehicle in the road image;
the ARM processor is further used for determining each front vehicle with the speed greater than the speed of the vehicle according to the relative distance and the relative speed between the vehicle and each front vehicle, which are sent by the radar sensor, and acquiring the radar coordinates (X2, Y2) of each front vehicle with the speed greater than the speed of the vehicle;
the ARM processor is further used for pairing coordinates (X1, Y1) of the contour center of each front vehicle in the road image with radar coordinates (X2, Y2) of each front vehicle with the speed higher than the speed of the vehicle to obtain the same front vehicle which is simultaneously acquired by the camera and the radar sensor and has the speed higher than the speed of the vehicle;
the ARM processor is further used for determining the relative distance between the same front vehicle and the own vehicle, which is sent by the radar sensor at the last sampling moment, as the visibility of the current road according to the last sampling moment before the same front vehicle disappears in the road image sent by the camera;
the ARM processor is further used for sending a first control signal to the electromagnetic switch when the visibility of the current road is smaller than or equal to a preset visibility threshold value, and the first control signal is used for controlling the electromagnetic switch to be communicated with a fog lamp circuit, so that a fog lamp of a vehicle is turned on.
(2) The preset visibility threshold is 150 meters.
(3) The ARM processor is further used for pairing coordinates (X1, Y1) of the contour center of each front vehicle in the road image with radar coordinates (X2, Y2) of each front vehicle with the speed larger than the speed of the vehicle, and obtaining the same front vehicle which is simultaneously collected by the camera and the radar sensor and has the speed larger than the speed of the vehicle, and specifically comprises the following steps:
the camera and the radar sensor are fixedly arranged behind the vehicle, and a fixed functional relation exists between a coordinate system of a road image acquired by the camera and a coordinate system of a vehicle in front acquired by the radar sensor;
the ARM processor acquires coordinates (X1, Y1) of the contour center of each front vehicle in a road image and two coordinates of the same front vehicle, which meet the fixed functional relation, in radar coordinates (X2, Y2) of each front vehicle with the speed greater than the speed of the vehicle, so that the two coordinates are successfully paired, and the same front vehicle which is acquired by a camera and a radar sensor at the same time and has the speed greater than the speed of the vehicle is obtained.
The second technical scheme is as follows:
a method for automatically turning on a fog light of a vehicle in low visibility, which is applied to the device in the first technical scheme, and comprises the following steps:
the method comprises the following steps that a camera collects road images in front of a self-vehicle in real time and sends the road images to an ARM processor;
the radar sensor collects the relative distance and the relative speed between the self-vehicle and each front vehicle in real time and sends the relative distance and the relative speed between the self-vehicle and each front vehicle to the ARM processor;
the ARM processor acquires the contour of each front vehicle in the road image according to the road image sent by the camera, so as to determine the coordinates (X1, Y1) of the contour center of each front vehicle in the road image;
the ARM processor determines each front vehicle with the speed greater than the speed of the vehicle according to the relative distance and the relative speed between the vehicle and each front vehicle sent by the radar sensor, and acquires the radar coordinates (X2, Y2) of each front vehicle with the speed greater than the speed of the vehicle;
the ARM processor is used for pairing coordinates (X1, Y1) of the contour center of each front vehicle in a road image with radar coordinates (X2, Y2) of each front vehicle with the speed higher than the speed of the vehicle to obtain the same front vehicle which is simultaneously acquired by the camera and the radar sensor and has the speed higher than the speed of the vehicle;
the ARM processor determines the relative distance between the same front vehicle and the own vehicle sent by the radar sensor at the last sampling moment as the visibility of the current road according to the last sampling moment before the same front vehicle disappears in the road image sent by the camera;
when the visibility of the current road is smaller than or equal to a preset visibility threshold value, the ARM processor sends a first control signal to the electromagnetic switch, and the first control signal is used for controlling the electromagnetic switch to be communicated with a fog lamp circuit, so that a fog lamp of a vehicle is turned on.
The second technical scheme of the invention has the characteristics and further improvements that:
(1) the ARM processor pairs coordinates (X1, Y1) of the contour center of each front vehicle in a road image with radar coordinates (X2, Y2) of each front vehicle with the speed higher than the speed of the vehicle to obtain the same front vehicle which is simultaneously collected by the camera and the radar sensor and has the speed higher than the speed of the vehicle, and specifically comprises the following steps:
the camera and the radar sensor are fixedly arranged behind the vehicle, and a fixed functional relation exists between a coordinate system of a road image acquired by the camera and a coordinate system of a vehicle in front acquired by the radar sensor;
the ARM processor acquires coordinates (X1, Y1) of the contour center of each front vehicle in a road image and two coordinates of the same front vehicle, which meet the fixed functional relation, in radar coordinates (X2, Y2) of each front vehicle with the speed greater than the speed of the vehicle, so that the two coordinates are successfully paired, and the same front vehicle which is acquired by a camera and a radar sensor at the same time and has the speed greater than the speed of the vehicle is obtained.
Related sensors, processors and the like related to the technical scheme of the invention are widely applied to the current automobiles, the technical scheme of the invention does not actually need to additionally purchase the devices in the process of popularization and use, the automatic starting of the fog lamp can be realized only by operating the idea method of the invention in the on-board processor, and the process is full-automatic and does not need any operation of a driver.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic circuit structure diagram of an apparatus for automatically turning on a fog lamp of a vehicle in low visibility according to an embodiment of the present invention;
fig. 2 is an installation schematic diagram of a device for automatically turning on a fog light of a vehicle in low visibility according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of a method for automatically turning on a fog light of a vehicle in low visibility according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a schematic circuit structure of a device for automatically turning on a fog light of a vehicle under low visibility according to an embodiment of the present invention includes an ARM9 processor 3 disposed at a free position below a hood of the vehicle, and an ARM9 processor 3 for signal transmission with the outside through a wire. The specific model of the ARM9 processor 7 is S3C 2410.
A camera 2 is fixed at the center of a front windshield of the vehicle, referring to fig. 2, the camera 2 is fixed below the center of the front windshield of the vehicle by adopting an adhesive method, a lens of the camera 2 horizontally faces the front, and the camera 2 is used for collecting road images in front of the vehicle. The camera 2 adopts a Zhongxing YJS-01 USB2.0 camera, and the effective pixel is 600 ten thousand. With reference to fig. 1, the camera 2 is connected to the USB interface of the ARM9 processor 3 through a USB data cable, and the camera 2 is configured to send the acquired road image to the ARM9 processor 3.
In the embodiment of the invention, a radar sensor 1 is further fixed on the outer side of the vehicle air inlet grille (referring to fig. 2, the radar sensor 1 is fastened on the outer side of the vehicle air inlet grille by adopting a fine-grained bolt), and the radar sensor 1 is used for detecting the relative distance, the relative angle and the relative speed between a front vehicle and a self vehicle by transmitting signals to the front of the vehicle. With reference to fig. 1, a signal output terminal of the radar sensor 2 is electrically connected to a signal input terminal of the ARM9 processor 3. After the radar sensor collects the relative distance, the relative angle and the relative speed of the front vehicle and the self vehicle, the radar sensor sends the relative distance, the relative angle and the relative speed to the ARM9 processor. In an embodiment of the present invention, the radar sensor is an ESR radar sensor.
With reference to fig. 1, the present invention further provides an electromagnetic switch 4, wherein the electromagnetic switch 4 is electrically connected to the ARM9 processor 3, and is configured to receive the output information of the ARM9 processor 3. The electromagnetic switch is arranged in a circuit of the fog lamp, when the ARM9 processor 3 sends a corresponding instruction, the electromagnetic switch 4 conducts the circuit to light the fog lamp, otherwise, the electromagnetic switch disconnects the circuit to light the fog lamp.
The fog light may be a front fog light, a rear fog light, or both.
Since the present invention belongs to the field of vehicle safety, it is desirable that the present invention have good real-time performance. The working frequency of the invention is set to 10Hz, which can basically meet the real-time requirement of the active safety system.
With reference to fig. 3, the following describes in detail the working process of the method for automatically turning on the fog lights of the vehicle under low visibility conditions, according to the present invention:
s1: after the system is started, the camera acquires road images in front of the vehicle in real time, and the radar sensor acquires the relative distance, the relative angle and the relative speed between the vehicle and the vehicle in front in real time. The road image from the camera, the relative distance from the radar sensor, the relative angle and the relative speed are received in real time using an ARM9 processor.
S2: the ARM9 processor carries out edge contour analysis on the real-time road image and extracts a contour image of a front vehicle. For each vehicle contour, the coordinate (X1.Y1) of the contour center in the image is calculated.
S3: the ARM9 processor analyzes the radar data, and according to the positive and negative of the relative speed, the front vehicle data of each front vehicle are eliminated, and only the front vehicle data with the speed higher than that of the front vehicle are reserved.
S4: the radar target and the image data are paired. For a vehicle with a faster forward speed than the own vehicle, the radar returns the coordinate position of the vehicle (X2, Y2). Because the radar sensor and the camera simultaneously collect the front, the radar data (X2, Y2) and the camera data (X1, Y1) of the front vehicle can be simultaneously acquired as long as the front vehicle is within the monitoring range of the radar and the camera. After the radar sensor and the camera are fixed, a certain corresponding relation exists between (X1, Y1) and (X2, Y2) and is expressed by f (X, Y) function.
For each acquisition of 1 group (X1, Y1) and 1 group (X2, Y2), if the 2 groups of data belong to the same preceding vehicle and are acquired by the radar sensor and the camera at the same time, the function f (X, Y) should be satisfied between (X1, Y1) and (X2, Y2). Therefore, if the function f (X, Y) is satisfied between (X1, Y1) and (X2, Y2), it indicates that the vehicle in front has been tracked and acquired by the radar sensor and the camera simultaneously, and the data pairing of the radar sensor and the camera is successful. If the function f (X, Y) is not satisfied between (X1, Y1) and (X2, Y2), the pairing fails, and the data of the preceding vehicle is discarded.
S5: for a preceding vehicle object successfully paired, since the speed of the object is higher than that of the own vehicle, the object gradually moves away from the own vehicle and gradually disappears in the image. In the case of low visibility, when the target disappears in the image, the radar sensor can still detect the data of the target and continue to return to the relative speed, the relative angle and the relative distance between the target and the own vehicle.
Therefore, for the target which is successfully paired, the pairing will continue to be successful in a subsequent period of time, and only radar data is left until image data disappears for a certain time. At this time, the last pairing data before disappearance is taken out, and the distance d between the vehicle and the target collected by the radar sensor at the sampling time is obtained. d is the visibility data of the road section.
In the above process, the embodiment of the invention only focuses on vehicles within the range of 200 meters. When the distance is more than 200 m, the image processing effect is poor, and the system does not process the image. The necessity of turning on the fog light is not high when the visibility exceeds 200 meters.
S6: analyzing and judging whether the fog lamp needs to be turned on: if the value d is less than or equal to 150m, the microprocessor judges that the fog lamp needs to be turned on, and at the moment, the microprocessor controls the electromagnetic switch to be switched on by the output signal to light the front fog lamp and the rear fog lamp of the vehicle. If the circuit of the fog lamp is already in the on state at this time, the system does not work.
Those of ordinary skill in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (3)
1. An apparatus for automatically turning on a fog light of a vehicle in low visibility, the apparatus comprising: the system comprises a camera arranged in the center of a front windshield of the vehicle, a radar sensor arranged in the center of a front bumper of the vehicle and facing the advancing direction of the vehicle, an ARM processor arranged in an engine compartment of the vehicle, and an electromagnetic switch connected in series with a fog lamp opening branch;
the signal output end of the camera is connected with the first signal input end of the ARM processor, the signal output end of the radar sensor is connected with the second signal input end of the ARM processor, the signal output end of the ARM processor is connected with the control end of the electromagnetic switch, and the output end of the electromagnetic switch is connected with the opening branch of the vehicle fog lamp;
the camera is used for acquiring a road image in front of the vehicle in real time and sending the road image to the ARM processor;
the radar sensor is used for acquiring the relative distance and the relative speed between the vehicle and each vehicle in front in real time and sending the relative distance and the relative speed between the vehicle and each vehicle in front to the ARM processor;
the ARM processor is used for acquiring the contour of each front vehicle in the road image according to the road image sent by the camera, so as to determine the coordinates (X1, Y1) of the contour center of each front vehicle in the road image;
the ARM processor is further used for determining each front vehicle with the speed greater than the speed of the vehicle according to the relative distance and the relative speed between the vehicle and each front vehicle, which are sent by the radar sensor, and acquiring the radar coordinates (X2, Y2) of each front vehicle with the speed greater than the speed of the vehicle;
the ARM processor is further used for pairing coordinates (X1, Y1) of the contour center of each front vehicle in the road image with radar coordinates (X2, Y2) of each front vehicle with the speed higher than the speed of the vehicle to obtain the same front vehicle which is simultaneously acquired by the camera and the radar sensor and has the speed higher than the speed of the vehicle;
the ARM processor is further used for determining the relative distance between the same front vehicle and the own vehicle, which is sent by the radar sensor at the last sampling moment, as the visibility of the current road according to the last sampling moment before the same front vehicle disappears in the road image sent by the camera;
the ARM processor is further used for sending a first control signal to the electromagnetic switch when the visibility of the current road is smaller than or equal to a preset visibility threshold value, and the first control signal is used for controlling the electromagnetic switch to be communicated with a fog lamp circuit, so that a fog lamp of a vehicle is turned on;
the ARM processor is further used for pairing coordinates (X1, Y1) of the contour center of each front vehicle in the road image with radar coordinates (X2, Y2) of each front vehicle with the speed larger than the speed of the vehicle, and obtaining the same front vehicle which is simultaneously collected by the camera and the radar sensor and has the speed larger than the speed of the vehicle, and specifically comprises the following steps:
the camera and the radar sensor are fixedly arranged behind the vehicle, and a fixed functional relation exists between a coordinate system of a road image acquired by the camera and a coordinate system of a vehicle in front acquired by the radar sensor;
the ARM processor acquires coordinates (X1, Y1) of the contour center of each front vehicle in a road image and two coordinates of the same front vehicle, which meet the fixed functional relation, in radar coordinates (X2, Y2) of each front vehicle with the speed greater than the speed of the vehicle, so that the two coordinates are successfully paired, and the same front vehicle which is acquired by a camera and a radar sensor at the same time and has the speed greater than the speed of the vehicle is obtained.
2. The device for automatically turning on the fog lights of the vehicles in the low visibility range as claimed in claim 1, wherein the preset visibility threshold is 150 meters.
3. A method for automatically turning on a fog light of a vehicle in low visibility, which is applied to the device as claimed in any one of claims 1-2, wherein the method comprises:
the method comprises the following steps that a camera collects road images in front of a self-vehicle in real time and sends the road images to an ARM processor;
the radar sensor collects the relative distance and the relative speed between the self-vehicle and each front vehicle in real time and sends the relative distance and the relative speed between the self-vehicle and each front vehicle to the ARM processor;
the ARM processor acquires the contour of each front vehicle in the road image according to the road image sent by the camera, so as to determine the coordinates (X1, Y1) of the contour center of each front vehicle in the road image;
the ARM processor determines each front vehicle with the speed greater than the speed of the vehicle according to the relative distance and the relative speed between the vehicle and each front vehicle sent by the radar sensor, and acquires the radar coordinates (X2, Y2) of each front vehicle with the speed greater than the speed of the vehicle;
the ARM processor is used for pairing coordinates (X1, Y1) of the contour center of each front vehicle in a road image with radar coordinates (X2, Y2) of each front vehicle with the speed higher than the speed of the vehicle to obtain the same front vehicle which is simultaneously acquired by the camera and the radar sensor and has the speed higher than the speed of the vehicle;
the ARM processor determines the relative distance between the same front vehicle and the own vehicle sent by the radar sensor at the last sampling moment as the visibility of the current road according to the last sampling moment before the same front vehicle disappears in the road image sent by the camera;
when the visibility of the current road is smaller than or equal to a preset visibility threshold value, the ARM processor sends a first control signal to the electromagnetic switch, and the first control signal is used for controlling the electromagnetic switch to be communicated with a fog lamp circuit, so that a fog lamp of a vehicle is turned on;
the ARM processor pairs coordinates (X1, Y1) of the contour center of each front vehicle in a road image with radar coordinates (X2, Y2) of each front vehicle with the speed higher than the speed of the vehicle to obtain the same front vehicle which is simultaneously collected by the camera and the radar sensor and has the speed higher than the speed of the vehicle, and specifically comprises the following steps:
the camera and the radar sensor are fixedly arranged behind the vehicle, and a fixed functional relation exists between a coordinate system of a road image acquired by the camera and a coordinate system of a vehicle in front acquired by the radar sensor;
the ARM processor acquires coordinates (X1, Y1) of the contour center of each front vehicle in a road image and two coordinates of the same front vehicle, which meet the fixed functional relation, in radar coordinates (X2, Y2) of each front vehicle with the speed greater than the speed of the vehicle, so that the two coordinates are successfully paired, and the same front vehicle which is acquired by a camera and a radar sensor at the same time and has the speed greater than the speed of the vehicle is obtained.
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