CN108928346A - It is a kind of for driving the DAS (Driver Assistant System) and method of vehicle - Google Patents
It is a kind of for driving the DAS (Driver Assistant System) and method of vehicle Download PDFInfo
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- CN108928346A CN108928346A CN201810917974.4A CN201810917974A CN108928346A CN 108928346 A CN108928346 A CN 108928346A CN 201810917974 A CN201810917974 A CN 201810917974A CN 108928346 A CN108928346 A CN 108928346A
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- vehicle
- target vehicle
- driving
- risk
- ultrasonic sensor
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
Abstract
The present invention provides a kind of DAS (Driver Assistant System)s and method for vehicle.The DAS (Driver Assistant System) includes: image acquiring device, for obtain it is described driving the first side of vehicle rear area in include target vehicle ambient image；Ultrasonic sensor, for obtaining the motion information of target vehicle in driving vehicle second side rear area；Alarm, for alarm signal to occur；Controller, for judging that driving vehicle whether there is the risk collided with target vehicle according to the motion information of the ambient image and/or target vehicle, and alarm signal occurs for control alarm after determining that the driving vehicle has the risk collided with target vehicle.Due to integrating image acquiring device and ultrasonic sensor, vehicle side rear area can be detected complementaryly, to improve detection accuracy in conjunction with the two advantage.
Description
Technical field
The present invention relates to safe driving technical field more particularly to a kind of DAS (Driver Assistant System)s and side for driving vehicle
Method.
Background technique
Blind spot vehicle identification system (Blind spot vehicle Discern System, BSD) is to utilize high-tech
Detection adjacent lane rear is either with or without car either with or without car in close and rear view mirror blind zone.When there is car close or
When having vehicle in blind area, monitoring system will remind driver by modes such as sound, light.
Blind spot vehicle identification system is mainly used in lane change, driving rearview mirror in misty rain day obscures and driving at night is by below
The twinkling scene of high beam in.Using the BSD system primarily to avoiding colliding because blind area has vehicle, misty rain day when lane change
It is ineffective with rearview mirror is primarily due to using the BSD system when driving at night.
Existing blind spot vehicle identification system is realized using three kinds of modes.One is use ultrasonic radar, ultrasonic wave
Radar detection has the advantages that price is low, it is lesser to be influenced by light, but it has that detection range is close and detection accuracy is low simultaneously
The shortcomings that.One is use camera, camera detection have the advantages that it is low-cost, but itself at the same have by weather, light
Influence the disadvantage big, detection accuracy is low and rate of false alarm is high.There are also one is millimetre-wave radar sensor is used, millimetre-wave radar is passed
Sensor can detect the distance and angle of target vehicle simultaneously, therefore, can accurately detect target vapour using millimetre-wave radar sensor
Vehicle avoids reporting by mistake, and its detection range is remote, it is small to be influenced by weather and light, however, the cost of millimetre-wave radar sensor
It is excessively high.
Summary of the invention
It is an object of the invention to the features that realization detection accuracy is high under lower cost and rate of false alarm is low.
A further object of the invention is to solve the single mode of use in the prior art to detect side rear vehicle
When detection device break down or detection it is unpunctual, lead to not detect target vehicle or detection accurately technology is not asked
Topic.
Particularly, the present invention provides a kind of for driving the DAS (Driver Assistant System) of vehicle, comprising:
Image acquiring device, for obtain it is described driving the first side of vehicle rear area in include target vehicle environment
Image；
Ultrasonic sensor, for obtaining the movement letter of the target vehicle in driving vehicle second side rear area
Breath；
Alarm, for alarm signal to occur；
Controller, for being driven according to the judgement of the motion information of the ambient image and/or the target vehicle
Sailing vehicle whether there is risk collide with the target vehicle, and determine the driving vehicle in the presence of and the target vehicle
The alarm is controlled after the risk of collision, and alarm signal occurs.
Optionally, first side rear area has the rear view mirror blind zone being overlapped with second side rear area；
The controller is configured in the rear view mirror blind zone for driving vehicle, the comprehensive ambient image and described
The motion information of target vehicle judges that the driving vehicle whether there is the risk collided with the target vehicle.
Optionally, the controller is configured to, and in the rear view mirror blind zone for driving vehicle, and is obtained in described image
When the information for the target vehicle for taking device and the ultrasonic sensor to obtain is inconsistent, according to the ultrasonic sensor
The motion information of the target vehicle obtained judges that the driving vehicle whether there is and collides with the target vehicle
Risk.
Optionally, the controller is configured to, and in the rear view mirror blind zone for driving vehicle, and is obtained in described image
When device or the ultrasonic sensor being taken to break down, according to the described image acquisition device or the ultrasound not broken down
Data acquired in wave sensor judge that the driving vehicle whether there is the risk collided with the target vehicle.
Optionally, described image acquisition device and the ultrasonic sensor share the controller.
Optionally, the alarm is configured to the turn signal for driving vehicle in the rear view mirror blind zone and is in closing
State and with the target vehicle have risk of collision when issue level-one alarm signal；
The turn signal for driving vehicle is in the open state in the rear view mirror blind zone and has with the target vehicle
Secondary alarm signal is issued when having risk of collision.
Particularly, the present invention provides a kind of for driving the auxiliary driving method of vehicle, includes the following steps:
Using image acquiring device obtain it is described driving the first side of vehicle rear area in include target vehicle environment
Image, and/or the movement for driving the target vehicle in vehicle second side rear area is obtained using ultrasonic sensor
Information；
Judge whether the driving vehicle is deposited according to the motion information of the ambient image and/or the target vehicle
In the risk collided with the target vehicle, and after determining that the driving vehicle has the risk collided with the target vehicle
It controls the alarm and alarm signal occurs.
Optionally, first side rear area has the rear view mirror blind zone being overlapped with second side rear area；
Judge whether the driving vehicle is deposited according to the motion information of the ambient image and/or the target vehicle
In the risk collided with the target vehicle, include the following steps:
In the rear view mirror blind zone for driving vehicle, the fortune of the comprehensive ambient image and the target vehicle
Dynamic information judges that the driving vehicle whether there is the risk collided with the target vehicle.
Optionally, the driving vehicle is judged according to the motion information of the ambient image and/or the target vehicle
With the presence or absence of the risk collided with the target vehicle, include the following steps:
In the rear view mirror blind zone for driving vehicle, and in described image acquisition device and the ultrasonic sensor
When the information of the target vehicle obtained is inconsistent, according to the target vehicle of ultrasonic sensor acquisition
Motion information judges that the driving vehicle whether there is the risk collided with the target vehicle；And/or
In the rear view mirror blind zone for driving vehicle, and in described image acquisition device or the ultrasonic sensor
When breaking down, judged according to data acquired in the described image acquisition device or the ultrasonic sensor that do not break down
The vehicle that drives whether there is the risk collided with the target vehicle.
Optionally, the alarm is controlled after determining that the driving vehicle has the risk collided with the target vehicle
Alarm signal occurs, comprising:
The turn signal for driving vehicle is in close state and has with the target vehicle in the rear view mirror blind zone
Level-one alarm signal is issued when having risk of collision；
The turn signal for driving vehicle is in the open state in the rear view mirror blind zone and has with the target vehicle
Secondary alarm signal is issued when having risk of collision.
According to the solution of the present invention, it due to integrating image acquiring device and ultrasonic sensor, can combine
The two advantage, the detection range of image acquiring device are 3m*10m, and the detection range of ultrasonic sensor is 3m*3m, and image obtains
Take device and ultrasonic sensor can be complementary detect vehicle side rear area, to improve detection accuracy.And with make
It is compared with the mode of millimetre-wave radar sensor, cost is lower, but effect is similar even more excellent.In addition, image acquiring device
A controller is shared with the ultrasonic sensor to further reduce the cost to reduce the arrangement space of controller.
In addition, the advantages of opening image acquiring device and ultrasonic sensor simultaneously is, the two can be made to have complementary advantages,
The side front vehicle information that the undetectable position of ultrasonic sensor uses image acquiring device to obtain, in image acquiring device
When the fogging image detected in rear view mirror blind zone, the data of ultrasonic sensor detection can be used to judge and side rear
Risk of collision between target vehicle can be used image and obtain dress in ultrasonic sensor failure or other problems
The ambient image of acquisition is set to judge the risk of collision between the rear area target vehicle of side.And it can be with synthetic image acquisition device
The motion information for the target vehicle that the ambient image and ultrasonic sensor of acquisition obtain mutually is corrected, to obtain more
Add accurately data, so as to judge the risk collided with side front vehicle more accurately.
According to the following detailed description of specific embodiments of the present invention in conjunction with the accompanying drawings, those skilled in the art will be brighter
The above and other objects, advantages and features of the present invention.
Detailed description of the invention
Some specific embodiments of the present invention is described in detail by way of example and not limitation with reference to the accompanying drawings hereinafter.
Identical appended drawing reference denotes same or similar part or part in attached drawing.It should be appreciated by those skilled in the art that these
What attached drawing was not necessarily drawn to scale.In attached drawing:
Fig. 1 is according to an embodiment of the invention for driving the schematic diagram of the DAS (Driver Assistant System) of vehicle；
Fig. 2 is the schematic structure in the ultrasonic sensor detective region according to an embodiment of the invention for driving vehicle
Figure；
Fig. 3 is the schematic structure in the image acquiring device detective region according to an embodiment of the invention for driving vehicle
Figure；
Fig. 4 is according to an embodiment of the invention for driving the schematic flow chart of the auxiliary driving method of vehicle.
Specific embodiment
The DAS (Driver Assistant System) for vehicle of the embodiment of the present invention not only has the function of automatic parking and full-view image function
Can, but also BSD system function is expanded on the basis of the two functions, the vehicle driving shape of visor blind area can be detected
Condition, to be warned to driver.The BSD system plays a role in the rear view mirror blind zone for driving vehicle.The BSD system is silent
Think to open after the engine start of vehicle.The BSD system includes the LED warning lamp being arranged at the rearview mirror of vehicle.?
When BSD system is opened, which enters Auto-Sensing Mode and carries out self-test, automatic distinguishing again after self-test.If the BSD system function
It can not disabled by driver, the functional indicator light on the instrument board of vehicle is remain on state.If the BSD system function is driven
The person's of sailing disabling, the functional indicator light on the instrument board of vehicle extinguish, and BSD system is fully closed.
The BSD system can be disabled under activation and unactivated state.As long as the BSD system meets in the off state
Following either condition can restart: by the human-computer interaction interface of vehicle open BSD system, vehicle engine again
Starting.When the BSD system failure, function is closed.The velocity interval section of BSD system activation work can be set, for example, 30km/
H to 140km/h will not send warning message in this speed interval with external system.
Fig. 1 is according to an embodiment of the invention for driving the schematic diagram of the DAS (Driver Assistant System) of vehicle.
As shown in Figure 1, the DAS (Driver Assistant System) is for the target vehicle with its side rear, there are the progress of the driving vehicle of risk of collision
Monitoring, DAS (Driver Assistant System) includes image acquiring device 100, ultrasonic sensor 200, alarm 400 and controller 300.
The image acquiring device 100 is used to obtain the environment map for driving that vehicle includes target vehicle in its first side rear area
Picture.The ultrasonic sensor 200 is used to obtain the motion information for driving target vehicle of the vehicle in its second side rear area.
The alarm 400 is for occurring alarm signal.The controller 300 is used to be believed according to the movement of ambient image and/or target vehicle
Breath judgement driving vehicle whether there is the risk collided with target vehicle, and determine that driving vehicle exists and target vehicle collision
Risk after control alarm 400 occur alarm signal.In this embodiment, image acquiring device 100 and ultrasonic sensor
200 shared control units 300.
According to the solutions of the embodiments of the present invention, since image acquiring device 100 and ultrasonic sensor 200 are integrated in one
It rises, it can be in conjunction with the two advantage, as shown in Fig. 2, the detection range of ultrasonic sensor 200 is 3m*3m, as shown in figure 3, image
The detection range of acquisition device 100 is 3m*10m, image acquiring device 100 and ultrasonic sensor 200 can be complementary visit
Vehicle side rear area is surveyed, to improve detection accuracy.And compared with the mode for using millimetre-wave radar sensor, cost is more
It is low, but effect is similar even more excellent.In addition, image acquiring device 100 and ultrasonic sensor 200 share a controller
300, to reduce the arrangement space of controller 300, further reduce the cost.
The image acquiring device 100 can be with the device of shooting environmental image, below with camera shooting such as can be camera
It is illustrated for head.The quantity of the camera can be to be multiple, such as are mounted on to drive and can shoot driving vehicle on vehicle
Four cameras of rear or the ambient image in the region 3m*10m of side rear.The ultrasonic sensor 200 is, for example, ultrasonic wave
Radar etc. can detect and the rear region 3m*3m between target vehicle distance device, below by taking ultrasonic radar as an example into
Row explanation.The quantity of the ultrasonic radar can be multiple, such as be installed on vehicle to detect and drive rear of vehicle or side
12 ultrasonic radars in rear area.100 first side rear area of image acquiring device and ultrasonic sensor 200 are visited
Second side rear area that probing is surveyed has the rear view mirror blind zone being overlapped.
In a preferred embodiment, in the rear view mirror blind zone, image acquiring device 100 can be opened simultaneously and is surpassed
Sonic sensor 200.Controller 300 is configured in the rear view mirror blind zone for driving vehicle, integrated environment image and target vehicle
Motion information judgement, which drives vehicle, whether there is the risk collided with target vehicle.But it is not limited to this, can also individually open
Image acquiring device 100 individually opens ultrasonic sensor 200.Correspondingly, controller 300 is configured to after driving vehicle
Visor blind area drives vehicle according to ambient image or the judgement of the motion information of target vehicle and whether there is and collides with target vehicle
Risk.
The advantages of opening image acquiring device 100 and ultrasonic sensor 200 simultaneously is that the two can be made to have complementary advantages,
In the side front vehicle information that the undetectable position of ultrasonic sensor 200 is obtained using image acquiring device 100, in image
When the fogging image that acquisition device 100 detects in rear view mirror blind zone, the data of the detection of ultrasonic sensor 200 can be used
Judge the risk of collision between the rear area target vehicle of side, breaks down in ultrasonic sensor 200 or when other problems, it can
The risk of collision between the rear area target vehicle of side is judged with the ambient image for using image acquiring device 100 to obtain.And
It can be with the movement of the ambient image that synthetic image acquisition device 100 obtains and the target vehicle that ultrasonic sensor 200 obtains
Information is mutually corrected, to obtain more accurate data, so as to judge and side front vehicle more accurately
The risk of collision.
In one case, which is configured to, and obtains in the rear view mirror blind zone for driving vehicle, and in image
When the information for the target vehicle that device 100 and ultrasonic sensor 200 obtain is inconsistent, obtained according to ultrasonic sensor 200
The motion information judgement of target vehicle drive vehicle and whether there is the risk collided with target vehicle.Herein, image obtains dress
Set 100 and ultrasonic sensor 200 obtain target vehicle information it is inconsistent refer to, judged by image acquiring device 100
Side rear area target vehicle judges side rear area target vehicle and drives with the risk of collision for driving vehicle with by ultrasonic sensor 200
The risk of collision for sailing vehicle is inconsistent, in other words, judging result and the ultrasonic sensor 200 of image acquiring device 100
Judging result is inconsistent.Detection data of the ultrasonic sensor 200 in the rear view mirror blind zone for driving vehicle is more accurate, therefore
Select the judging result of ultrasonic sensor 200 can be more accurate.
In another case, any in image acquiring device 100 and ultrasonic sensor 200 in rear view mirror blind zone
A when breaking down, either one or two of selection, which is not broken down, carries out Data Detection.I.e. the controller 300 is configured to, and is driving vehicle
Rear view mirror blind zone in, and when image acquiring device 100 or ultrasonic sensor 200 break down, according to not occurring therefore
The judgement driving vehicle of data acquired in the image acquiring device 100 or ultrasonic sensor 200 of barrier whether there is and target carriage
Collision risk.
In rear view mirror blind zone, which has BSD system function as BSD system.The alarm 400
The hair when turn signal for being configured to the driving vehicle in rear view mirror blind zone is in close state and has risk of collision with target vehicle
Level-one alarm signal out.The turn signal of driving vehicle is in the open state in rear view mirror blind zone and has collision with target vehicle
Secondary alarm signal is issued when risk.Level-one alarm signal can be audible ringing signal or optics alarm signal, secondary alarm
Signal may include audible ringing signal and optics alarm signal, and but it is not limited to this, such as can also be vibration alarming etc..
If detecting target vehicle in rear view mirror blind zone, alarm 400 issues level-one alarm signal.Wherein level-one report
When alert, the police instruction light signal delay of BSD system judges 500ms, is always at least 2000ms until target vehicle is in rear view mirror blind zone
It disappears or switches to secondary alarm, at this time alarm free sound.When level-one is alarmed, meter panel of motor vehicle is believed according to the CAN that controller is sent
Number, issue visual alarm.
If turning to modulating signal to open and have target vehicle to be located in rear view mirror blind zone, alarm 400 issues secondary alarm
Signal.Wherein when secondary alarm, police instruction light signal delay judges 500ms, and is started at least with the frequency of preset frequency such as 5Hz
Flashing 2000ms is until target vehicle is in rear view mirror blind zone disappearance or switches to level-one alarm.In this case, police instruction
After lamp delay judgement 500ms long time of alarm sound equipment rise, at least maintenance 2000ms until target vehicle rear view mirror blind zone disappear or
Switch to level-one alarm.Secondary alarm is the CAN signal that meter panel of motor vehicle is sent according to controller, issues vision and sound report
It is alert.
In rear view mirror blind zone, when which executes BSD function as BSD system, image acquiring device
100 or 200 surface of ultrasonic sensor by accumulated snow, sludge etc. cover when, system function be suppressed, meter panel of motor vehicle is inhibited
Prompt, and related voice is issued, such as " asking cleaning sensing surface ".
After BSD system jam, failure number is sent, meter panel of motor vehicle carries out fault cues, and issues related voice, such as
" BSD function limitation ".In order to ensure the safety of DAS (Driver Assistant System), when the ultrasonic wave for detecting any execution BSD function passes
When sensor 200 or image acquiring device 100 break down, blind spot detection enters fault mode state immediately.Only in BSD system
During system function is activated, if faulty, meter panel of motor vehicle just prompts corresponding malfunction coefficient.
Fig. 4 shows according to an embodiment of the invention for driving the schematic structure of the auxiliary driving method of vehicle
Figure.The auxiliary driving method is used to be monitored the target vehicle in the rear view mirror blind zone for driving vehicle, comprising:
Step S100, being obtained using image acquiring device and driving vehicle includes target carriage in its first side rear area
Ambient image, and/or obtained using ultrasonic sensor and drive target vehicle of the vehicle in its second side rear area
Motion information；
Step S200, according to ambient image and/or the motion information of target vehicle judgement driving vehicle whether there is and mesh
The risk of vehicle collision is marked, and is determining that driving control alarm after vehicle has the risk collided with target vehicle alarms
Signal.
Wherein, the first side rear area has the rear view mirror blind zone being overlapped with second side rear area.
In step s 200, driving vehicle according to ambient image and/or the judgement of the motion information of target vehicle whether there is
With the risk of target vehicle collision, include the following steps: in the rear view mirror blind zone for driving vehicle, integrated environment image and target carriage
Motion information judgement drive vehicle and whether there is the risk collided with target vehicle.
In step s 200, driving vehicle according to ambient image and/or the judgement of the motion information of target vehicle whether there is
With the risk of target vehicle collision, include the following steps: in the rear view mirror blind zone for driving vehicle, and in image acquiring device 100
When inconsistent with the information of the target vehicle of the acquisition of ultrasonic sensor 200, according to the target carriage of the acquisition of ultrasonic sensor 200
Motion information judgement drive vehicle and whether there is the risk collided with target vehicle；And/or in the rearview mirror for driving vehicle
Blind area, and when image acquiring device 100 or ultrasonic sensor 200 break down, it is obtained according to the image not broken down
The judgement of data acquired in device 100 or ultrasonic sensor 200, which drives vehicle, whether there is the risk collided with target vehicle.
Determining that driving control alarm 400 after vehicle has the risk collided with target vehicle occurs alarm signal, packet
Include: the turn signal that vehicle is driven in rear view mirror blind zone is in close state and issues one when having risk of collision with target vehicle
Grade alarm signal；The turn signal of driving vehicle is in the open state in rear view mirror blind zone and has risk of collision with target vehicle
When issue secondary alarm signal；Level-one alarm signal can be audible ringing signal or optics alarm signal, secondary alarm signal
It may include audible ringing signal and optics alarm signal, but it is not limited to this, such as can also be vibration alarming etc..The present invention
The other feature of the auxiliary driving method of embodiment is corresponded with DAS (Driver Assistant System), and details are not described herein again.
So far, although those skilled in the art will appreciate that present invention has been shown and described in detail herein multiple shows
Example property embodiment still without departing from the spirit and scope of the present invention, still can according to the present disclosure directly
Determine or deduce out many other variations or modifications consistent with the principles of the invention.Therefore, the scope of the present invention is understood that and recognizes
It is set to and covers all such other variations or modifications.
Claims (10)
1. a kind of for driving the DAS (Driver Assistant System) of vehicle characterized by comprising
Image acquiring device, for obtain it is described driving the first side of vehicle rear area in include target vehicle environment map
Picture；
Ultrasonic sensor, for obtaining the motion information of the target vehicle in driving vehicle second side rear area；
Alarm, for alarm signal to occur；
Controller, for judging the driving vehicle according to the motion information of the ambient image and/or the target vehicle
With the presence or absence of risk collide with the target vehicle, and determining the drivings vehicle in the presence of and target vehicle collision
Risk after control the alarm alarm signal occur.
2. DAS (Driver Assistant System) according to claim 1, which is characterized in that first side rear area and described second
Side rear area has the rear view mirror blind zone being overlapped；
The controller is configured in the rear view mirror blind zone for driving vehicle, the comprehensive ambient image and the target
The motion information of vehicle judges that the driving vehicle whether there is the risk collided with the target vehicle.
3. DAS (Driver Assistant System) according to claim 2, which is characterized in that the controller is configured to, in the driving
The rear view mirror blind zone of vehicle, and the target vehicle obtained in described image acquisition device and the ultrasonic sensor
Information it is inconsistent when, according to the ultrasonic sensor obtain the target vehicle the motion information judgement described in drive
Sailing vehicle whether there is the risk collided with the target vehicle.
4. DAS (Driver Assistant System) according to claim 2, which is characterized in that the controller is configured to, in the driving
The rear view mirror blind zone of vehicle, and when described image acquisition device or the ultrasonic sensor break down, according to not
Whether data acquired in the described image acquisition device or the ultrasonic sensor to break down judge the driving vehicle
In the presence of the risk collided with the target vehicle.
5. DAS (Driver Assistant System) according to claim 1, which is characterized in that described image acquisition device and the ultrasonic wave
Sensor shares the controller.
6. DAS (Driver Assistant System) according to any one of claims 1-5, which is characterized in that the alarm is configured to
The turn signal for driving vehicle is in close state and has risk of collision with the target vehicle in the rear view mirror blind zone
When issue level-one alarm signal；
In the rear view mirror blind zone it is described drive vehicle turn signal it is in the open state and with the target vehicle have touch
Secondary alarm signal is issued when hitting risk.
7. a kind of for driving the auxiliary driving method of vehicle characterized by comprising
Using image acquiring device obtain it is described driving the first side of vehicle rear area in include target vehicle ambient image,
And/or the motion information of the target vehicle in driving vehicle second side rear area is obtained using ultrasonic sensor；
According to the motion information of the ambient image and/or the target vehicle judge the driving vehicle whether there is with
The risk of the target vehicle collision, and controlled after determining that the driving vehicle has the risk collided with the target vehicle
Alarm signal occurs for the alarm.
8. auxiliary driving method according to claim 7, which is characterized in that first side rear area and described second
Side rear area has the rear view mirror blind zone being overlapped；
The motion information according to the ambient image and/or the target vehicle judges whether the driving vehicle is deposited
In the risk collided with the target vehicle, comprising:
In the rear view mirror blind zone for driving vehicle, the movement letter of the comprehensive ambient image and the target vehicle
Breath judges that the driving vehicle whether there is the risk collided with the target vehicle.
9. auxiliary driving method according to claim 8, which is characterized in that described in the backsight for driving vehicle
The motion information of mirror blind area, the comprehensive ambient image and the target vehicle judge driving vehicle with the presence or absence of with
The risk of the target vehicle collision, comprising:
It is obtained in the rear view mirror blind zone for driving vehicle, and in described image acquisition device and the ultrasonic sensor
The target vehicle information it is inconsistent when, according to the ultrasonic sensor obtain the target vehicle the movement
Information judges that the driving vehicle whether there is the risk collided with the target vehicle；And/or
Occur in the rear view mirror blind zone for driving vehicle, and in described image acquisition device or the ultrasonic sensor
When failure, according to the judgement of data acquired in the described image acquisition device or the ultrasonic sensor that do not break down
Driving vehicle whether there is the risk collided with the target vehicle.
10. the auxiliary driving method according to any one of claim 7-9, which is characterized in that described to drive described in the determination
It sails after vehicle has the risk collided with the target vehicle and controls the alarm generation alarm signal, comprising:
The turn signal for driving vehicle is in close state and has with the target vehicle and touches in the rear view mirror blind zone
Level-one alarm signal is issued when hitting risk；
In the rear view mirror blind zone it is described drive vehicle turn signal it is in the open state and with the target vehicle have touch
Secondary alarm signal is issued when hitting risk.
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| CN201810917974.4A CN108928346A (en) | 2018-08-13 | 2018-08-13 | It is a kind of for driving the DAS (Driver Assistant System) and method of vehicle |
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| CN201810917974.4A CN108928346A (en) | 2018-08-13 | 2018-08-13 | It is a kind of for driving the DAS (Driver Assistant System) and method of vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109799508A (en) * | 2019-01-29 | 2019-05-24 | 肇庆奥迪威传感科技有限公司 | Vehicle blind zone monitoring device, method and system |
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