CN109334598A - A kind of retractable component collision-proof method of vehicle based on TOF camera module - Google Patents

A kind of retractable component collision-proof method of vehicle based on TOF camera module Download PDF

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Publication number
CN109334598A
CN109334598A CN201811009639.0A CN201811009639A CN109334598A CN 109334598 A CN109334598 A CN 109334598A CN 201811009639 A CN201811009639 A CN 201811009639A CN 109334598 A CN109334598 A CN 109334598A
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CN
China
Prior art keywords
camera module
door
axis
tof camera
barrier
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CN201811009639.0A
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Chinese (zh)
Inventor
黎伟
李炳光
杨峰
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Huizhou Foryou General Electronics Co Ltd
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Huizhou Foryou General Electronics Co Ltd
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Application filed by Huizhou Foryou General Electronics Co Ltd filed Critical Huizhou Foryou General Electronics Co Ltd
Priority to CN201811009639.0A priority Critical patent/CN109334598A/en
Publication of CN109334598A publication Critical patent/CN109334598A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60J—WINDOWS, WINDSCREENS, NON-FIXED ROOFS, DOORS, OR SIMILAR DEVICES FOR VEHICLES; REMOVABLE EXTERNAL PROTECTIVE COVERINGS SPECIALLY ADAPTED FOR VEHICLES
    • B60J5/00—Doors
    • B60J5/04—Doors arranged at the vehicle sides
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R5/00—Compartments within vehicle body primarily intended or sufficiently spacious for trunks, suit-cases, or the like
    • B60R5/04—Compartments within vehicle body primarily intended or sufficiently spacious for trunks, suit-cases, or the like arranged at rear of vehicle

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Lock And Its Accessories (AREA)
  • Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
  • Closed-Circuit Television Systems (AREA)

Abstract

The invention discloses a kind of retractable component collision-proof methods of vehicle based on TOF camera module, comprising steps of installation TOF camera module, in the check bit of the retractable component of vehicle body, the check bit is the position in the unlatching region that the TOF camera module can detect the retractable component；Obtain the dimensional parameters of the retractable component, and the aperture parameter of the calibration retractable component；The unlatching region of the retractable component is determined according to the dimensional parameters, the aperture parameter；When determining vehicle stopping, whether there are obstacles in the TOF camera module detection unlatching region, if then issuing barrier prompt information, does not otherwise react or issue safe opening prompt information.The beneficial effects of the practice of the present invention is: imaging processing technique using newest TOF, can extremely effective reduce the vehicle risk that car door, boot static state are hit when stopping enabling, saves unnecessary maintenance spending.

Description

A kind of retractable component collision-proof method of vehicle based on TOF camera module
Technical field
The present invention relates to drive ancillary technique field more particularly to a kind of retractable portion of vehicle based on TOF camera module Part collision-proof method.
Background technique
The daily trip of automobile and people are closely related, and in the more and more limited city in parking stall, stop to many driving Person brings many worries, the unlatching area of the retractable component such as the safe distance between vehicle and vehicle is too small, car door, boot There are other barriers etc. in domain, this makes troubles to normally-open car door, boot, in some instances it may even be possible to car door, boot be caused to be hit Etc. hidden danger.
In the prior art, the retractable component such as car door, boot is opened avoidance scheme and is mainly used: 1. 360 ° of panorama skills Art；2. the lateral the radar exploration technique in front and back.Their main shortcomings are shown:
1,360 ° of panoramic techniques obtain the image of different zones using 4 cameras of vehicle body, complete to be spliced into a width Image, but it can not provide the distance of exact obstacle distance vehicle body, and the cost is relatively high；
2, there are part blind areas for the lateral the radar exploration technique in front and back, i.e., in car door opening region, there are steps or concrete column When, because it is not in radar detection area, therefore there is also the risks that car door opening is hit.
Therefore, the prior art is further improved.
Summary of the invention
The present invention provides a kind of retractable component collision-proof method of the vehicle based on TOF camera module, and the technology of solution is asked Topic is that existing retractable component opens avoidance scheme such as 360 ° of panoramic techniques, the lateral the radar exploration technique in front and back etc., retractable portion Part is opened the risk hit and is still remained.
In order to solve the above technical problems, the present invention provides a kind of retractable component anti-collision of the vehicle based on TOF camera module Hit method, comprising the following steps:
S1. for installation TOF camera module in the check bit of the retractable component of vehicle body, the check bit is that the TOF images mould Group can detect the position in the unlatching region of the retractable component；
S2. the dimensional parameters of the retractable component, and the aperture parameter of the calibration retractable component are obtained；
S3. the unlatching region of the retractable component is determined according to the dimensional parameters, aperture parameter；
When S4. determining vehicle stopping, whether there are obstacles in the TOF camera module detection unlatching region, If then issuing barrier prompt information, safe opening prompt information is not otherwise reacted or issued.
Preferably, the retractable component is car door；The car door includes front door and rear door；
The check bit of the retractable component is left and right vehicle wheel headlight or B pillar, and a TOF camera module is corresponding Side car door；
The dimensional parameters of the retractable component are the car door dimensional parameters corresponding to the car door；The retractable component Aperture parameter be door opening degree parameter corresponding to the car door；The unlatching region of the retractable component is corresponding to described The unlatching region of car door.
In the preferred embodiment of the present invention, when the TOF camera module is installed in left and right vehicle wheel headlight, in institute It states in step S4, whether there are obstacles in the detection unlatching region includes, if barrier (xi,yi,zi) meet first Preset relation formula then determines that barrier influences the normally-open of front door, issues front door barrier prompt information, otherwise sentences Determine barrier and do not interfere with the normally-open of front door, does not react or be further sent out front door safety enabling prompt information；
The first preset relation formula are as follows:
Wherein, DiIndicate distance of the barrier to TOF camera module, the length of L1 expression front door, L3 indicates TOF camera shooting Distance of the mould group apart from Chinese herbaceous peony door edge, θ indicate the maximum car door opening angle of front door, and H1 indicates the height of front door, h1 Indicate the standoff height that front door is withstood in the first car door anti-collision detection coordinate system Y-axis；
The first car door anti-collision detection coordinate system is horizontal with vertical vehicle using the left and right vehicle wheel headlight as coordinate origin Truncated is upwardly Z axis, using parallel cart horizontal middle spindle as Y-axis, using vertical Y axis, Z-direction as X-axis.
In another preferred embodiment of the invention, when the TOF camera module is installed in left and right vehicle wheel headlight, In the step S4, whether there are obstacles in the detection unlatching region includes, if barrier (xi,yi,zi) meet the Two preset relation formulas then determine that barrier influences the normally-open of rear door, issue rear door barrier prompt information, otherwise Determine that barrier does not interfere with the normally-open of rear door, does not react or be further sent out rear door enabling prompt letter safely Breath；
The second preset relation formula are as follows:
Wherein, DiIndicate distance of the barrier to TOF camera module, the length of L1 expression expression front door, L2 indicates table Show the length of rear door, L3 indicates distance of the TOF measurement device apart from Chinese herbaceous peony door edge, and L4 indicates TOF measurement device apart from vehicle The distance at back door edge, β indicate that the maximum opening angle of rear door, H2 indicate the height of rear door, and h1 indicates that front door is withstood on First car door anti-collision detects the standoff height in coordinate system Y-axis, and h2 indicates that rear door withstands on the first car door anti-collision detection coordinate system Y Standoff height on axis；
The first car door anti-collision detection coordinate system is horizontal with vertical vehicle using the left and right vehicle wheel headlight as coordinate origin Truncated is upwardly Z axis, using parallel cart horizontal middle spindle as Y-axis, using vertical Y axis, Z-direction as X-axis.
In another preferred embodiment of the invention, when the TOF camera module is installed in B pillar structure, In the step S4, whether there are obstacles in the detection unlatching region includes, if barrier (xi,yi,zi) meet the Three preset relation formulas then determine that barrier influences the normally-open of front door, issue front door barrier prompt information, otherwise Determine that barrier does not interfere with the normally-open of front door, does not react or be further sent out front door enabling prompt letter safely Breath；
The third preset relation formula are as follows:
Wherein, DiIndicate distance of the barrier to TOF camera module, the length of L1 expression front door, L2 indicates rear door Length, θ indicate rear door maximum opening angle, H2 indicate rear door height, h1 indicate front door withstand on the second car door Anticollision detects the standoff height in coordinate system Y-axis, and h2 indicates the throwing that rear door is withstood in the second car door anti-collision detection coordinate system Y-axis Shadow height；
The second car door anti-collision detection coordinate system is horizontal with vertical vehicle using the B pillar structure as coordinate origin Truncated is upwardly Z axis, using parallel cart horizontal middle spindle as Y-axis, using vertical Y axis, Z-direction as X-axis.
In another preferred embodiment of the invention, when the TOF camera module is installed in B pillar structure, In the step S4, whether there are obstacles in the detection unlatching region includes, if barrier (xi,yi,zi) meet the Four preset relation formulas then determine that barrier influences the normally-open of rear door, issue rear door barrier prompt information, otherwise Determine that barrier does not interfere with the normally-open of rear door, does not react or be further sent out rear door enabling prompt letter safely Breath；
The 4th preset relation formula are as follows:
Wherein, DiIndicate distance of the barrier to TOF camera module, the length of L1 expression front door, L2 indicates rear door Length, θ indicate rear door maximum opening angle, H2 indicate rear door height, h1 indicate front door withstand on the second car door Anticollision detects the standoff height in coordinate system Y-axis, and h2 indicates the throwing that rear door is withstood in the second car door anti-collision detection coordinate system Y-axis Shadow height；
The second car door anti-collision detection coordinate system is horizontal with vertical vehicle using the B pillar structure as coordinate origin Truncated is upwardly Z axis, using parallel cart horizontal middle spindle as Y-axis, using vertical Y axis, Z-direction as X-axis.
In another preferred embodiment of the invention, the retractable component is boot；The inspection of the retractable component Location is shark fins；
The dimensional parameters of the retractable component are boot dimensional parameters；After the aperture parameter of the retractable component is Standby case aperture parameter；The retractable component opens the unlatching region that region is the boot.
Specifically, in the step S4, whether there are obstacles in the detection unlatching region includes, if obstacle Object (xi,yi,zi) meet the 5th preset relation formula, then determine that barrier influences the normally-open of boot, after being further sent out Standby case barrier prompt information；Otherwise do not react or be further sent out the unpacking prompt information of safety；
The 5th preset relation formula are as follows:
Wherein, DiIndicate distance of the barrier to TOF camera module, L1 expression boot length, L2 indicates that boot is wide Degree, L3 indicate the TOF camera module at a distance from the central point of case cover tail portion, and L4 indicates the TOF camera module with after The distance of standby case lid end center point, α indicate the TOF camera module to the line and boot of case cover tail portion central point Anticollision detects the angle of coordinate system Y-axis, and β indicates line and standby of the TOF camera module to case cover end center point Case anticollision detects the angle of coordinate system Y-axis, after θ indicates that the maximum opening angle of boot, γ indicate that the TOF camera module arrives The line and the TOF camera module of standby case lid end center point are to the angle between the line of case cover end vertex, h1 table Highest point detects the vertical range of coordinate system Y-axis to boot anticollision when showing boot unlatching, when h2 indicates that case cover is closed Cross section to boot anticollision detection coordinate system Y-axis vertical range；
The boot anticollision detection coordinate system is using the shark fins as coordinate origin, with vehicle transversal plane upwards for Z Axis, using parallel cart horizontal middle spindle as Y-axis, using vertical Z axis and Y direction as X-axis.
The retractable component collision-proof method of a kind of vehicle based on TOF camera module provided by the invention, wherein retractable Component is preferably car door and boot.The present invention images processing technique using newest TOF, stops car door in automobile and is opened Before, whether there are obstacles in automatic detection unlatching region, if then issuing barrier prompt information, driver can be readjusted Otherwise safe enabling prompt information is not reacted or issued in parking position, inform that driver or passenger can open car door and get off；When When boot unlatching switch is pressed, whether there are obstacles in automatic detection unlatching region, if then issuing barrier prompt Information, driver can readjust parking position, otherwise do not react or issue the unpacking prompt information of safety, inform driver or multiply Visitor can be safely opened boot and take object.The present invention can extremely effective reduce the car door of vehicle or boot is hit when opening Risk, save unnecessary maintenance and pay wages.
Detailed description of the invention
Fig. 1 is a kind of retractable component collision-proof method of vehicle based on TOF camera module provided in an embodiment of the present invention Step flow chart；
Fig. 2 is the schematic diagram that the TOF camera module that the embodiment of the present invention 1,2 provides is mounted in left and right vehicle wheel headlight；
Fig. 3 is the schematic diagram that the TOF camera module that the embodiment of the present invention 3,4 provides is mounted in B pillar structure；
Fig. 4 is the schematic diagram that the TOF camera module that the embodiment of the present invention 5 provides is mounted in shark fins.
Specific embodiment
Embodiments of the present invention are specifically illustrated with reference to the accompanying drawing, embodiment is only given for illustrative purposes, It can not be interpreted as limitation of the invention, including attached drawing is only for reference and illustrates use, not constitute and the invention patent is protected The limitation of range, because on the basis of not departing from spirit and scope of the invention many changes can be carried out to the present invention.
The embodiment of the present invention provides a kind of retractable component collision-proof method of the vehicle based on TOF camera module, step Process is as shown in Figure 1, comprising the following steps:
S1. for installation TOF camera module in the check bit of the retractable component of vehicle body, the check bit is that the TOF images mould Group can detect the position in the unlatching region of the retractable component；
S2. the dimensional parameters of the retractable component, and the aperture parameter of the calibration retractable component are obtained；
S3. the unlatching region of the retractable component is determined according to the dimensional parameters, aperture parameter；
When S4. determining vehicle stopping, whether there are obstacles in the TOF camera module detection unlatching region, If then issuing barrier prompt information, safe opening prompt information is not otherwise reacted or issued.
Wherein, the retractable component is preferably car door or boot.
When retractable component is car door, the check bit is preferably left and right vehicle wheel headlight or B pillar structure；It is described The dimensional parameters of retractable component are the car door dimensional parameters corresponding to the car door, described mainly including car door length, height Distance etc. of the TOF camera module apart from Chinese herbaceous peony door edge；The aperture parameter of the retractable component is corresponding to the car door Door opening degree parameter mainly includes car door maximum opening angle；The unlatching region of the retractable component is corresponding to the vehicle The unlatching region of door.
When the retractable component is car door, and the check bit is left and right vehicle wheel headlight, a TOF images mould The corresponding side car door of group, that is, the TOF camera module for being mounted on the left headlight of vehicle are responsible for opening for the left front car door of vehicle and left back car door Region detection is opened, the TOF camera module for being mounted on the right headlight of vehicle is responsible for the unlatching region of the right front door of vehicle and right rear door Detection.
When the retractable component is boot, the check bit is preferably shark fins.The retractable component Dimensional parameters are boot dimensional parameters, mainly include boot length, width, the TOF camera module and case cover tail The distance of portion's central point；The aperture parameter of the retractable component is boot aperture parameter, and main includes the maximum of boot Opening angle；The retractable component opens the unlatching region that region is the boot.
In the specific implementation process, average distance D of the different barriers to TOF camera moduleiIt may be expressed as:
Wherein, c is the light velocity；F is the modulating frequency of TOF infrared lamp in TOF camera module；For being averaged for different barriers Phase difference.
The door check as used in every money vehicle has a certain difference, and answers when demarcating door opening degree parameter It is demarcated according to specific vehicle.
The door check of current main-stream mainly has following two categories:
1. rubber spring type.Front door maximum opening angle and rear door maximum opening angle are not more than 70 °；
2. torsion spring type.Front door maximum opening angle and rear door maximum opening angle are between 60 °~65 °.
The present embodiment also may include the door check of other classifications, in theory, front door maximum opening angle Degree and rear door maximum opening angle (0 °, 90 °] between, from practical application for, should for convenience of upper and lower passenger conjunction Suitable angle, such as 55 ° to 75 °, the present embodiment is particularly limited to not to this.
In the present embodiment, all prompt informations can be issued for some specific door, after can also being directed to Standby case issues, and under the premise of meeting prompt facility, the prompt information is preferably but not limited to can be and remind user for sound Know any information that corresponding car door cannot be safely opened.
Embodiment 1
The present embodiment is mounted on the left headlight of vehicle with TOF camera module 100 and carries out to the unlatching region of left front car door 201 It is illustrated for detection.
As shown in Fig. 2, whether there are obstacles in the detection unlatching region includes in the step S4, if Barrier (xi,yi,zi) meet the first preset relation formula and then determine that barrier influences the normally-open of front door, issue front truck Door barrier prompt information；
The first preset relation formula are as follows:
Wherein,
DiIndicate distance of the barrier to TOF camera module, the length of L1 expression front door, L3 indicates TOF camera module Distance apart from Chinese herbaceous peony door edge, θ indicate the maximum car door opening angle of front door, and H1 indicates the height of front door, and h1 is indicated Front door withstands on the standoff height in the first car door anti-collision detection coordinate system Y-axis；
The first car door anti-collision detection coordinate system is horizontal with vertical vehicle using the left and right vehicle wheel headlight as coordinate origin Truncated is upwardly Z axis, using parallel cart horizontal middle spindle as Y-axis, using vertical Y axis, Z-direction as X-axis.
In Fig. 2, front door maximum opening angle θ, that is, ∠ BAC, the front door opens region, that is, VBAC-FDE.Its In SABEDRepresent the state when front door of vehicle left side is opened to maximum, SADCFWhen representing the front door closing of vehicle left side State.
If barrier (xi,yi,zi) it is unsatisfactory for the constraint relationship of the first preset relation formula, meet described in other words The inverse relation formula of one preset relation formula then determines that barrier does not interfere with the normally-open of front door, does not react or further Issue front door safety enabling prompt information.
The inverse relation formula of the first preset relation formula are as follows:
Embodiment 2
The present embodiment is mounted on the left headlight of vehicle with TOF camera module 100 and carries out to the unlatching region of left back car door 202 It is illustrated for detection.
As shown in Fig. 2, whether there are obstacles in the detection unlatching region includes in the step S4, if Barrier (xi,yi,zi) meet the second preset relation formula and then determine that barrier influences the normally-open of rear door, issue rear car Otherwise door barrier prompt information determines that barrier does not interfere with the normally-open of rear door, does not react or is further sent out Rear door safety enabling prompt information；
The second preset relation formula are as follows:
Wherein, DiIndicate distance of the barrier to TOF camera module, the length of L1 expression expression front door, L2 indicates table Show the length of rear door, L3 indicates distance of the TOF measurement device apart from Chinese herbaceous peony door edge, and L4 indicates TOF measurement device apart from vehicle The distance at back door edge, β indicate that the maximum opening angle of rear door, H2 indicate the height of rear door, and h1 indicates that front door is withstood on First car door anti-collision detects the standoff height in coordinate system Y-axis, and h2 indicates that rear door withstands on the first car door anti-collision detection coordinate system Y Standoff height on axis；
The first car door anti-collision detection coordinate system is horizontal with vertical vehicle using the left and right vehicle wheel headlight as coordinate origin Truncated is upwardly Z axis, using parallel cart horizontal middle spindle as Y-axis, using vertical Y axis, Z-direction as X-axis.
In Fig. 2, rear door maximum opening angle β, that is, ∠ B'A'C', rear door opens region, that is, VB'A'C'-F'D'E'。 S thereinA’B’E’D’Represent the state when rear door of vehicle left side is opened to maximum, SA’D’C’F’Represent the rear car of vehicle left side State when door is closed.
If barrier (xi,yi,zi) it is unsatisfactory for the constraint relationship of the second preset relation formula, it is pre- to meet second in other words If the inverse relation formula of relational expression then determines that barrier does not interfere with the normally-open of rear door, does not react or be further sent out Rear door safety enabling prompt information.
The inverse relation formula of the second preset relation formula are as follows:
Embodiment 3
The present embodiment is mounted on TOF camera module 100 in B pillar structure and to the unlatching region of left front car door 201 It is illustrated for being detected.
As shown in figure 3, whether there are obstacles in the detection unlatching region includes in the step S4, if Barrier (xi,yi,zi) meet third preset relation formula and then determine that barrier influences the normally-open of front door, issue front truck Otherwise door barrier prompt information determines that barrier does not interfere with the normally-open of front door, does not react or is further sent out Front door safety enabling prompt information；
The third preset relation formula are as follows:
Wherein, DiIndicate distance of the barrier to TOF camera module 100, the length of L1 expression front door, L2 indicates rear car The length of door, θ indicate that the maximum opening angle of rear door, H2 indicate the height of rear door, and h1 indicates that front door withstands on the second vehicle Standoff height in door anticollision detection coordinate system Y-axis, h2 indicate that rear door is withstood in the second car door anti-collision detection coordinate system Y-axis Standoff height；
The second car door anti-collision detection coordinate system is horizontal with vertical vehicle using the B pillar structure as coordinate origin Truncated is upwardly Z axis, using parallel cart horizontal middle spindle as Y-axis, using vertical Y axis, Z-direction as X-axis.
In Fig. 3, front door maximum opening angle θ, that is, ∠ BAC, the front door opens region, that is, VBAC-FDE.Its In SABEDRepresent the state when front door of vehicle left side is opened to maximum, SADCFWhen representing the front door closing of vehicle left side State.
If barrier (xi,yi,zi) it is unsatisfactory for the constraint relationship of the third preset relation formula, meet described in other words The inverse relation formula of three preset relation formulas then determines that barrier does not interfere with the normally-open of front door, does not react or further Issue front door safety enabling prompt information.
The inverse relation formula of the third preset relation formula are as follows:
Embodiment 4
The present embodiment is mounted on the TOF camera module in B pillar structure and to the unlatching region of left back car door 202 It is illustrated for being detected.
As shown in figure 3, being directed to the situation of left back car door, in the step S4, it is in the detection unlatching region No there are barriers to include, if barrier (xi,yi,zi) meet the 4th preset relation formula then determine that barrier influences rear door It is normally-open, issue rear door barrier prompt information, otherwise determine barrier do not interfere with the normally-open of rear door, Do not react or be further sent out rear door safety enabling prompt information；
The 4th preset relation formula are as follows:
Wherein, DiIndicate distance of the barrier to TOF camera module 100, the length of L1 expression front door, L2 indicates rear car The length of door, θ indicate that the maximum opening angle of rear door, H2 indicate the height of rear door, and h1 indicates that front door withstands on the second vehicle Standoff height in door anticollision detection coordinate system Y-axis, h2 indicate that rear door is withstood in the second car door anti-collision detection coordinate system Y-axis Standoff height；
The second car door anti-collision detection coordinate system is horizontal with vertical vehicle using the B pillar structure as coordinate origin Truncated is upwardly Z axis, using parallel cart horizontal middle spindle as Y-axis, using vertical Y axis, Z-direction as X-axis.
In Fig. 3, rear door maximum opening angle β, that is, ∠ B'A'C', rear door opens region, that is, VB'A'C'-F'D'E'。 S thereinA’B’E’D’Represent the state when rear door of vehicle left side is opened to maximum, SA’D’C’F’Represent the rear car of vehicle left side State when door is closed.
If barrier (xi,yi,zi) it is unsatisfactory for the constraint relationship of the 4th preset relation formula, meet described in other words The inverse relation formula of four preset relation formulas then determines that barrier does not interfere with the normally-open of rear door, does not react or further Issue rear door safety enabling prompt information.
The inverse relation formula of the 4th preset relation formula are as follows:
Embodiment 5
The present embodiment is mounted on the unlatching region in shark fins and to boot 203 with the TOF camera module 100 and carries out It is illustrated for detection.
As shown in figure 4, needing the unlatching region to boot to detect, in the step S4, described in the detection Whether there are obstacles in unlatching region includes, if barrier (xi,yi,zi) meet the 5th preset relation formula, then determine barrier The normally-open of boot is influenced, boot barrier prompt information is further sent out；Otherwise it does not react or is further sent out The unpacking prompt information of safety；
The 5th preset relation formula are as follows:
Wherein, DiIndicate distance of the barrier to TOF camera module 100, L1 expression boot length, L2 indicates boot Width, L3 indicate the TOF camera module 100 at a distance from the central point of case cover tail portion, and L4 indicates the TOF camera module 100 at a distance from case cover end center point, and α indicates that the TOF camera module 100 arrives the company of case cover tail portion central point The angle of line and boot anticollision detection coordinate system Y-axis, β indicate that the TOF camera module 100 arrives case cover end center point Line and boot anticollision detection coordinate system Y-axis angle, θ indicates that the maximum opening angle of boot, γ indicate the TOF Camera module 100 connects to the line of case cover end center point and the TOF camera module 100 to case cover end vertex Angle between line, h1 indicate vertical range of the highest point to boot anticollision detection coordinate system Y-axis, h2 table when boot is opened Show that cross section when case cover is closed detects the vertical range of coordinate system Y-axis to boot anticollision；
The boot anticollision detection coordinate system is using the shark fins as coordinate origin, with vehicle transversal plane upwards for Z Axis, using parallel cart horizontal middle spindle as Y-axis, using vertical Z axis and Y direction as X-axis.
In Fig. 4, θ=∠ BAC, the unlatching region is set as VABC-DEF；What ACFD was represented is that case cover unlatching is arrived Cross section when maximum angle, ABED represent cross section when case cover is closed；L1=AB, L2=BE, L3=OG, α OG With the angle of Y-axis, L4 is that the distance of BE to central point P are, β is the angle of OP and Y-axis, and γ is the angle of OP and OB, and ABED is Rectangle, and AB=DE, AD=BE；The maximum height that boot is opened is CR=H, and AB is projected in the distance AR in Y-axis at this time =L5；
H1 represent its highest point during case cover opens or closes to Y-axis vertical range CQ length, h2 represents During case cover opens or closes its cross section to Y-axis vertical range QR length.
If barrier (xi,yi,zi) be unsatisfactory for the constraint relationship of the 5th preset relation formula, then determine that barrier will not The normally-open of boot is influenced, does not react or be further sent out boot safety enabling prompt information.
The retractable component collision-proof method of a kind of vehicle based on TOF camera module provided in an embodiment of the present invention, wherein Retractable component is preferably car door and boot.The present invention images processing technique using newest TOF, stops car door quilt in automobile Before opening, whether there are obstacles in automatic detection unlatching region, if then issuing barrier prompt information, driver can be again Parking position is adjusted, if otherwise not reacting or issuing safe enabling prompt information, informs that driver or passenger can open car door It gets off；When boot, which opens switch, to be pressed, whether there are obstacles in automatic detection unlatching region, if then issuing obstacle Object prompt information, driver can readjust parking position, if otherwise not reacting or issuing the unpacking prompt information of safety, informing is driven The person of sailing or passenger, which can be safely opened car door and can be safely opened boot, takes object.The present invention can extremely effective reduce vehicle and exist The risk that car door or boot static state are hit when parking opens the door, unpacks saves unnecessary maintenance spending.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment Limitation, the retractable component can also be bonnet, skylight etc., and others are any without departing from Spirit Essence and original of the invention Changes, modifications, substitutions, combinations, simplifications made by reason is lower, should be equivalent substitute mode, are included in protection of the invention Within the scope of.

Claims (8)

1. a kind of retractable component collision-proof method of vehicle based on TOF camera module, which comprises the following steps:
S1. for installation TOF camera module in the check bit of the retractable component of vehicle body, the check bit is the TOF camera module energy Detect the position in the unlatching region of the retractable component；
S2. the dimensional parameters of the retractable component, and the aperture parameter of the calibration retractable component are obtained；
S3. the unlatching region of the retractable component is determined according to the dimensional parameters, the aperture parameter；
When S4. determining vehicle stopping, whether there are obstacles in the TOF camera module detection unlatching region, if Barrier prompt information is then issued, safe opening prompt information is not otherwise reacted or issue.
2. a kind of retractable component collision-proof method of vehicle based on TOF camera module as described in claim 1, feature exist In:
The retractable component is car door；The car door includes front door and rear door；
The check bit of the retractable component is left and right vehicle wheel headlight or B pillar, and a TOF camera module corresponds to side Car door；
The dimensional parameters of the retractable component are the car door dimensional parameters corresponding to the car door；The retractable component is opened Spending parameter is the door opening degree parameter corresponding to the car door；The unlatching region of the retractable component is corresponding to the car door Unlatching region.
3. a kind of retractable component collision-proof method of vehicle based on TOF camera module as claimed in claim 2, feature exist In, when the TOF camera module is installed in left and right vehicle wheel headlight, in the step S4, the detection unlatching area Whether there are obstacles in domain includes, if barrier (xi,yi,zi) meet the first preset relation formula then determine that barrier influences Normally-open, the sending front door barrier prompt information of front door, otherwise determines that barrier is not interfering with front door just It is normally open, do not react or be further sent out front door safety enabling prompt information；
The first preset relation formula are as follows:
Wherein, DiIndicate distance of the barrier to TOF camera module, the length of L1 expression front door, L3 indicates TOF camera module Distance apart from Chinese herbaceous peony door edge, θ indicate the maximum car door opening angle of front door, and H1 indicates the height of front door, and h1 is indicated Front door withstands on the standoff height in the first car door anti-collision detection coordinate system Y-axis；
The first car door anti-collision detection coordinate system is transversal flat with vertical vehicle using the left and right vehicle wheel headlight as coordinate origin It is upwardly Z axis, using parallel cart horizontal middle spindle as Y-axis, using vertical Y axis, Z-direction as X-axis.
4. a kind of retractable component collision-proof method of vehicle based on TOF camera module as claimed in claim 2, feature exist In, when the TOF camera module is installed in left and right vehicle wheel headlight, in the step S4, the detection unlatching area Whether there are obstacles in domain includes, if barrier (xi,yi,zi) meet the second preset relation formula then determine that barrier influences Normally-open, the sending rear door barrier prompt information of rear door, otherwise determines that barrier is not interfering with rear door just It is normally open, do not react or be further sent out rear door safety enabling prompt information；
The second preset relation formula are as follows:
Wherein, DiIndicate distance of the barrier to TOF camera module, the length of L1 expression expression front door, L2 indicates rear car The length of door, L3 indicate distance of the TOF measurement device apart from Chinese herbaceous peony door edge, and L4 indicates TOF measurement device apart from vehicle back door side The distance on edge, β indicate that the maximum opening angle of rear door, H2 indicate the height of rear door, and h1 indicates that front door withstands on the first vehicle Standoff height in door anticollision detection coordinate system Y-axis, h2 indicate that rear door is withstood in the first car door anti-collision detection coordinate system Y-axis Standoff height；
The first car door anti-collision detection coordinate system is transversal flat with vertical vehicle using the left and right vehicle wheel headlight as coordinate origin It is upwardly Z axis, using parallel cart horizontal middle spindle as Y-axis, using vertical Y axis, Z-direction as X-axis.
5. a kind of retractable component collision-proof method of vehicle based on TOF camera module as claimed in claim 2, feature exist In: when the TOF camera module is installed in B pillar structure, in the step S4, the detection unlatching region In whether there are obstacles includes, if barrier (xi,yi,zi) meet before third preset relation formula then determines that barrier influences Normally-open, the sending front door barrier prompt information of car door, otherwise determines that barrier does not interfere with the normal of front door It opens, does not react or be further sent out front door safety enabling prompt information；
The third preset relation formula are as follows:
Wherein, DiIndicate distance of the barrier to TOF camera module, the length of L1 expression front door, L2 indicates the length of rear door Degree, θ indicate that the maximum opening angle of rear door, H2 indicate the height of rear door, and h1 indicates that front door withstands on the second car door anti-collision The standoff height in coordinate system Y-axis is detected, the projection that h2 indicates that rear door is withstood in the second car door anti-collision detection coordinate system Y-axis is high Degree；
The second car door anti-collision detection coordinate system is transversal flat with vertical vehicle using the B pillar structure as coordinate origin It is upwardly Z axis, using parallel cart horizontal middle spindle as Y-axis, using vertical Y axis, Z-direction as X-axis.
6. a kind of retractable component collision-proof method of vehicle based on TOF camera module as claimed in claim 2, feature exist In: when the TOF camera module is installed in B pillar structure, in the step S4, the detection unlatching region In whether there are obstacles includes, if barrier (xi,yi,zi) meet after the 4th preset relation formula then determines that barrier influences Normally-open, the sending rear door barrier prompt information of car door, otherwise determines that barrier does not interfere with the normal of rear door It opens, does not react or be further sent out rear door safety enabling prompt information；
The 4th preset relation formula are as follows:
Wherein, DiIndicate distance of the barrier to TOF camera module, the length of L1 expression front door, L2 indicates the length of rear door Degree, θ indicate that the maximum opening angle of rear door, H2 indicate the height of rear door, and h1 indicates that front door withstands on the second car door anti-collision The standoff height in coordinate system Y-axis is detected, the projection that h2 indicates that rear door is withstood in the second car door anti-collision detection coordinate system Y-axis is high Degree；
The second car door anti-collision detection coordinate system is transversal flat with vertical vehicle using the B pillar structure as coordinate origin It is upwardly Z axis, using parallel cart horizontal middle spindle as Y-axis, using vertical Y axis, Z-direction as X-axis.
7. a kind of retractable component collision-proof method of vehicle based on TOF camera module as described in claim 1, feature exist In:
The retractable component is boot；The check bit of the retractable component is shark fins；
The dimensional parameters of the retractable component are boot dimensional parameters；The aperture parameter of the retractable component is boot Aperture parameter；The retractable component opens the unlatching region that region is the boot.
8. a kind of retractable component collision-proof method of vehicle based on TOF camera module as claimed in claim 7, feature exist In in the step S4, whether there are obstacles in the detection unlatching region includes, if barrier (xi,yi,zi) Meet the 5th preset relation formula, then determines that barrier influences the normally-open of boot, be further sent out boot barrier Prompt information；Otherwise do not react or be further sent out the unpacking prompt information of safety；
The 5th preset relation formula are as follows:
Wherein, DiIndicate distance of the barrier to TOF camera module, L1 expression boot length, L2 indicates boot width, L3 The TOF camera module is indicated at a distance from the central point of case cover tail portion, L4 indicates the TOF camera module and case cover The distance of end center point, α indicate that the TOF camera module is examined to the line of case cover tail portion central point and boot anticollision The angle of coordinate system Y-axis is surveyed, β indicates line and boot anticollision of the TOF camera module to case cover end center point The angle of coordinate system Y-axis is detected, θ indicates that the maximum opening angle of boot, γ indicate the TOF camera module to case cover To the angle between the line of case cover end vertex, h1 indicates standby for the line of end center point and the TOF camera module Highest point detects the vertical range of coordinate system Y-axis to boot anticollision when case is opened, and h2 indicates transversal when case cover is closed Vertical range of the face to boot anticollision detection coordinate system Y-axis；
The boot anticollision detection coordinate system is using the shark fins as coordinate origin, with vehicle transversal plane upwards for Z axis, with Parallel cart horizontal middle spindle is Y-axis, using vertical Z axis and Y direction as X-axis.
CN201811009639.0A 2018-08-31 2018-08-31 A kind of retractable component collision-proof method of vehicle based on TOF camera module Pending CN109334598A (en)

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CN112498235A (en) * 2020-12-09 2021-03-16 浙江合众新能源汽车有限公司 Voice prompt method and system for preventing vehicle from being scratched and bumped
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Application publication date: 20190215