CN109435847A - A kind of vehicle anti-rear collision method for early warning based on camera and millimetre-wave radar - Google Patents
A kind of vehicle anti-rear collision method for early warning based on camera and millimetre-wave radar Download PDFInfo
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- CN109435847A CN109435847A CN201811071319.8A CN201811071319A CN109435847A CN 109435847 A CN109435847 A CN 109435847A CN 201811071319 A CN201811071319 A CN 201811071319A CN 109435847 A CN109435847 A CN 109435847A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/804—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for lane monitoring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8093—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for obstacle warning
Abstract
The invention discloses a kind of vehicle anti-rear collision method for early warning based on camera and millimetre-wave radar specifically comprises the following steps: S1, calibration camera；S2, identification vehicle；S3, the relative distance d i that this vehicle periphery object and this vehicle are detected by millimetre-wave radar, relative velocity vi and be positive integer with the angle α i, i of radar emission face vertical direction；S4, the sampled point for rejecting null object and invalid targets；The corresponding sampled point of vehicle come is sailed in S5, the opposite lane of rejecting；S6, the corresponding sampled point of selection effective target；S7, the smallest effective target of fore-and-aft distance si is determined as the potential target that knocks into the back；S8, th=si/V is calculated, according to as a result, issuing different standby signals.The present invention can reject the vehicle sampled point of null object and invalid targets, reject opposite lane and sail the corresponding sampled point of vehicle come, realize more accurately detection identification front vehicles, and remind driver in time, can more effectively guarantee the safety of driving conditions.
Description
Technical field
The present invention relates to automobile anti-rear end collision early warning technology field, specially a kind of vehicle based on camera and millimetre-wave radar
The anti-method for early warning that knocks into the back.
Background technique
With the development of China's communication, car ownership is continuously increased, and in this bring traffic safety thing
Therefore especially rear-end collision is high, according to statistics, in all traffic accidents of China, 34.29% is rear-end impact.
A large amount of rear-end collisions caused by driver attention does not concentrate have been identified as the main safety problem of automobile.And it is effective
Vehicle anti-rear collision prior-warning device can play an important role to traffic accident is reduced.
Onboard sensor for having the ADAS system of active safety technologies mainly has camera, and ultrasonic radar swashs
Optical radar and millimetre-wave radar.Wherein ultrasonic radar monitoring distance is small, camera limited performance at night, strong light direct beam,
And laser radar can be influenced by weather, in heavy snow, haze, function can be limited, and expensive.In contrast, millimetre-wave radar
Detection range is longer, up to more than 200 meters, can carry out whether there is or not detection, ranging, test the speed and azimuthal measurement to target.It has
Good angular resolution can detecte lesser object.Meanwhile millimetre-wave radar has extremely strong penetrance, can pass through
Illumination, rainfall, fugitive dust, mist or frost come accurate detecting object, can be in completely black environmental work, can all weather operations.But
It is that millimetre-wave radar does not have separating capacity to detection target, can detects other objects in addition to vehicle.How more accurately to examine
Identification front vehicles are surveyed, and remind driver to become urgent problem to be solved in time.
Summary of the invention
The purpose of the present invention is to provide a kind of vehicle anti-rear collision method for early warning based on camera and millimetre-wave radar, with
Solve the problems mentioned above in the background art.
To achieve the above object, the invention provides the following technical scheme:
A kind of vehicle anti-rear collision method for early warning based on camera and millimetre-wave radar, specifically comprises the following steps:
S1, calibration camera: installation camera, so that the optical axis of camera is overlapped with the central axes of vehicle, camera is logical
It crosses image processing module to connect with microprocessor, millimetre-wave radar is connect by signal processing module with microprocessor, micro process
Device is also connected with warning device and display screen；
S2, identification vehicle: on the image that display screen show, to be set separately at the distance 1.5m of the optical axis left and right sides and light
The parallel parallel lines of axis are left margin and right margin, and setting at road disappearance with image bottom edge is respectively coboundary and lower boundary,
The region that left margin, right margin, coboundary and lower boundary surround is set as detection zone, vehicle is carried out in detection zone
Visual identity shows that screen display Green Vehicle mark, millimetre-wave radar are started to work when visual identity detects vehicle；
S3, the location information and velocity information that this vehicle periphery object is detected by millimetre-wave radar, by each periphery object
Separately as sampled point, the serial number i of sampled point, the location information and velocity information of sampled point include the relative distance with this vehicle
Di, relative velocity vi and be positive integer with the angle α i, i of radar emission face vertical direction；
S4, the information sending cycle of sampled point are primary for 50ms, by the information of (n+1)th sampled point and n-th sampled point
Information comparison, select null object and invalid targets, reject the sampled point of null object and invalid targets, wherein n is that sampled point is believed
Cease transmission times；
The corresponding sampled point of vehicle come, the goal condition of opposite lane vehicle sampled point are sailed in S5, the opposite lane of rejecting are as follows:
V+vicos α i < -2m/s, wherein V is this vehicle current vehicle speed, sets speed of the detections of radar target far from millimetre-wave radar
It is positive, the speed of setting detections of radar target close to millimetre-wave radar is negative；
S6, the corresponding sampled point of selection effective target, the condition of effective target be | disin α i-D | < or=1.5m,
Wherein, D is installation translational movement of the millimetre-wave radar relative to this vehicle central axes；For millimetre-wave radar on the left of central axes, installation is flat
Numerical quantity is moved to be positive；When millimetre-wave radar is on the right side of central axes, installation translation numerical quantity is negative；
Fore-and-aft distance si of the sampled point relative to this vehicle of S7, all effective targets of comparison, wherein si=dicos α i,
The smallest effective target of fore-and-aft distance si is determined as the potential target that knocks into the back；
S8, the corresponding potential target that knocks into the back, calculate th=si/V, while calculating tf=si/vi；As th < or=2.5s,
Issue prompting vehicle distance signal；As th < or=0.6s, the excessively close signal of spacing is issued；As tf < or=3s, police of knocking into the back is issued
The number of notifying.
As a further solution of the present invention: the condition of the step S4 medium altitude target are as follows: α i=0, di=0.
As a further solution of the present invention: the condition of invalid targets in the step S4 are as follows: the echo signal of sampled point
Continuous frequency of occurrence is less than 5.
As a further solution of the present invention: the condition of invalid targets in the step S4 are as follows: α i (n+1)-α i (n) > or
=3 °.
As a further solution of the present invention: the condition of invalid targets in the step S4 are as follows: di (n+1)-di (n) > or
=3m.
As a further solution of the present invention: the condition of invalid targets in the step S4 are as follows: vi (n+1)-vi (n) > or
=3m/s.
As a further solution of the present invention: the prompting vehicle distance signal in the step S8 are as follows: display screen shows green number
Word, the numerical value of green digital are th.
As a further solution of the present invention: the excessively close signal of spacing in the step S8 are as follows: show the green of screen display
Color vehicle mark becomes red, while display screen is displayed in red number, and the numerical value of red numerical is th, and warning device is warned 3 sound.
As a further solution of the present invention: the alarm signal that knocks into the back in the step S8 are as follows: show the green of screen display
Color vehicle mark becomes red and flashes, and warning device is warned 5 sound.
As a further solution of the present invention: in the step S8, the precondition for starting to calculate th is: this vehicle vehicle velocity V
> or=30km/h.
Compared with prior art, the beneficial effects of the present invention are: the present invention is in the base using camera and millimetre-wave radar
On plinth, a kind of vehicle anti-rear collision prior-warning device is proposed, under the premise of vision-based detection is to front vehicles, obtain this vehicle current vehicle speed
Position, velocity information with periphery object, then target information is filtered and is verified, obtain the sport(s) car in this vehicle lane
, effective target is determined further according to minimum fore-and-aft distance, finally, calculating collision time and setting by relative distance and speed
Collision time threshold comparison, it is determined whether signal an alert；The present invention can reject null object and the vehicle of invalid targets is adopted
Sampling point rejects opposite lane and sails the corresponding sampled point of vehicle come, realizes more accurately detection identification front vehicles, and mention in time
Wake up driver, can more effectively guarantee the safety of driving conditions.
Detailed description of the invention
Fig. 1 is the schematic diagram of the course of work of the present invention；
Fig. 2 is the hardware circuit connection schematic diagram that the present invention uses；
Fig. 3 is the principle of the present invention schematic diagram.
Fig. 4 is the photo that display screen shows prompting vehicle distance signal in the present invention；
Fig. 5 is the photo that display screen shows the excessively close signal of spacing in the present invention；
Fig. 6 is the photo that display screen shows the alarm signal that knocks into the back in the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1~6 are please referred to, the present invention provides a kind of technical solution: a kind of vehicle based on camera and millimetre-wave radar
The anti-method for early warning that knocks into the back, specifically comprises the following steps:
S1, calibration camera: installation camera, so that the optical axis of camera is overlapped with the central axes of vehicle, camera is logical
It crosses image processing module to connect with microprocessor, millimetre-wave radar is connect by signal processing module with microprocessor, micro process
Device is also connected with warning device and display screen；
S2, identification vehicle: on the image that display screen show, to be set separately at the distance 1.5m of the optical axis left and right sides and light
The parallel parallel lines of axis are left margin and right margin, and setting at road disappearance with image bottom edge is respectively coboundary and lower boundary,
The region that left margin, right margin, coboundary and lower boundary surround is set as detection zone, vehicle is carried out in detection zone
Visual identity shows that screen display Green Vehicle mark, millimetre-wave radar are started to work when visual identity detects vehicle；
S3, the location information and velocity information that this vehicle periphery object is detected by millimetre-wave radar, by each periphery object
Separately as sampled point, the serial number i of sampled point, the location information and velocity information of sampled point include the relative distance with this vehicle
Di, relative velocity vi and be positive integer with the angle α i, i of radar emission face vertical direction；ESR milli can be used in millimetre-wave radar
Metre wave radar, ESR millimetre-wave radar maximum can detect 64 targets；Millimetre-wave radar is mountable in headstock part.
S4, the information sending cycle of sampled point are primary for 50ms, by the information of (n+1)th sampled point and n-th sampled point
Information comparison, select null object and invalid targets, reject the sampled point of null object and invalid targets, wherein n is that sampled point is believed
Cease transmission times；
Wherein, the condition of null object are as follows: α i=0, di=0；
The condition of invalid targets are as follows: (1) the continuous frequency of occurrence of the echo signal of sampled point is less than 5；(2)αi(n+1)-αi
(n) > or=3 °；(3) di (n+1)-di (n) > or=3m；(4) vi (n+1)-vi (n) > or=3m/s, due to ESR millimeter wave
Radar most multipotency detects 64 objects, i.e. i be from 1 to 64 between integer, the information sending cycle of sampled point is 50ms mono-
Secondary, therefore, the information of sampled point includes a large amount of null object and invalid targets, and the target for meeting any of the above-described condition is picked
It removes；
The corresponding sampled point of vehicle come, the goal condition of opposite lane vehicle sampled point are sailed in S5, the opposite lane of rejecting are as follows:
V+vicos α i < -2m/s, wherein V is this vehicle current vehicle speed, sets speed of the detections of radar target far from millimetre-wave radar
It is positive, the speed of setting detections of radar target close to millimetre-wave radar is negative；Due to it is an object of the present invention to the vehicle in same lane,
Therefore it needs to reject opposite lane and sails the vehicle come.
S6, the corresponding sampled point of selection effective target, the condition of effective target be | disin α i-D | < or=1.5m,
Wherein, D is installation translational movement of the millimetre-wave radar relative to this vehicle central axes；For millimetre-wave radar on the left of central axes, installation is flat
Numerical quantity is moved to be positive；When millimetre-wave radar is on the right side of central axes, installation translation numerical quantity is negative；Since target of the invention is
There are the front vehicles for the risk that knocks into the back, therefore, it is necessary to select the corresponding sampled point of effective target.
Fore-and-aft distance si of the sampled point relative to this vehicle of S7, all effective targets of comparison, wherein si=dicos α i,
The smallest effective target of fore-and-aft distance si is determined as the potential target that knocks into the back；
S8, the corresponding potential target that knocks into the back, calculate th=si/V, while calculating tf=si/vi；As th < or=2.5s,
Issue prompting vehicle distance signal；As th < or=0.6s, the excessively close signal of spacing is issued；As tf < or=3s, police of knocking into the back is issued
The number of notifying.
Wherein, the prompting vehicle distance signal in the step S8 are as follows: display screen shows that green digital, the numerical value of green digital are
th；The excessively close signal of spacing in the step S8 are as follows: show that the Green Vehicle mark of screen display becomes red, while display screen
It is displayed in red number, the numerical value of red numerical is th, and warning device is warned 3 sound；The alarm signal that knocks into the back in the step S8 are as follows:
The Green Vehicle mark of display screen display becomes red and flashes, and warning device is warned 5 sound.Buzzer can be used in warning device
Or loudspeaker.
Wherein, the numerical signal of th, it is just significant in the case where there is certain speed, so will from vehicle vehicle velocity V > or
When=30km/h, th signal is just issued, and the signal tf that knocks into the back is not needed.
The present invention proposes a kind of vehicle anti-rear collision prior-warning device on the basis of using camera and millimetre-wave radar,
Under the premise of vision-based detection to front vehicles, then by millimetre-wave radar obtain this vehicle current vehicle speed and periphery object position,
Velocity information, then target information is filtered and is verified, obtains the moving vehicle in this vehicle lane, further according to it is minimum it is longitudinal away from
From effective target is determined, finally, calculating the collision time threshold comparison of collision time and setting by relative distance and speed, really
It is fixed whether signal an alert.
In the case where detecting vehicle in the detection range of camera, illustrate that there are vehicle, millimetre-wave radar in this front side
Work；If camera does not detect vehicle, millimetre-wave radar does not work；If individually being examined using millimetre-wave radar
It surveys, is often readily detected the stationary objects such as street lamp, fence and generates wrong report.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (10)
1. a kind of vehicle anti-rear collision method for early warning based on camera and millimetre-wave radar, it is characterised in that: specifically include as follows
Step:
S1, calibration camera: installation camera, so that the optical axis of camera is overlapped with the central axes of vehicle, camera passes through figure
Picture processing module is connect with microprocessor, and millimetre-wave radar is connect by signal processing module with microprocessor, and microprocessor is also
It is connected with warning device and display screen；
S2, identification vehicle: flat with optical axis to be set separately at distance 1.5m at left and right sides of optical axis on the image that display screen is shown
Capable parallel lines are left margin and right margin, and setting at road disappearance with image bottom edge is respectively coboundary and lower boundary, will be left
The region that boundary, right margin, coboundary and lower boundary surround is set as detection zone, carries out vision to vehicle in detection zone
Identification shows that screen display Green Vehicle mark, millimetre-wave radar are started to work when visual identity detects vehicle；
S3, the location information and velocity information that this vehicle periphery object is detected by millimetre-wave radar, each periphery object is independent
As sampled point, the serial number i of sampled point, the location information and velocity information of sampled point include with the relative distance d i of this vehicle,
Relative velocity vi and be positive integer with the angle α i, i of radar emission face vertical direction；
S4, the information sending cycle of sampled point are primary for 50ms, by the letter of the information of (n+1)th sampled point and n-th sampled point
Breath comparison, selects null object and invalid targets, rejects the sampled point of null object and invalid targets, wherein n is sampling point information hair
Send number；
The corresponding sampled point of vehicle come, the goal condition of opposite lane vehicle sampled point are as follows: V+ are sailed in S5, the opposite lane of rejecting
Vicos α i < -2m/s, wherein V be this vehicle current vehicle speed, set speed of the detections of radar target far from millimetre-wave radar as
Just, the speed for setting detections of radar target close to millimetre-wave radar is negative；
S6, the corresponding sampled point of selection effective target, the condition of effective target be | disin α i-D | < or=1.5m, wherein
D is installation translational movement of the millimetre-wave radar relative to this vehicle central axes；Millimetre-wave radar installs translational movement number on the left of central axes
Value is positive；When millimetre-wave radar is on the right side of central axes, installation translation numerical quantity is negative；
Fore-and-aft distance si of the sampled point relative to this vehicle of S7, all effective targets of comparison, wherein si=dicos α i will be indulged
It is determined as the potential target that knocks into the back to the smallest effective target of distance si；
S8, the corresponding potential target that knocks into the back, calculate th=si/V, while calculating tf=si/vi；As th < or=2.5s, issue
Prompting vehicle distance signal；As th < or=0.6s, the excessively close signal of spacing is issued；As tf < or=3s, the alarm signal that knocks into the back is issued
Number.
2. a kind of vehicle anti-rear collision method for early warning based on camera and millimetre-wave radar according to claim 1, special
Sign is: the condition of the step S4 medium altitude target are as follows: α i=0, di=0.
3. a kind of vehicle anti-rear collision method for early warning based on camera and millimetre-wave radar according to claim 1, special
Sign is: the condition of invalid targets in the step S4 are as follows: the continuous frequency of occurrence of the echo signal of sampled point is less than 5.
4. a kind of vehicle anti-rear collision method for early warning based on camera and millimetre-wave radar according to claim 1, special
Sign is: the condition of invalid targets in the step S4 are as follows: α i (n+1)-α i (n) > or=3 °.
5. a kind of vehicle anti-rear collision method for early warning based on camera and millimetre-wave radar according to claim 1, special
Sign is: the condition of invalid targets in the step S4 are as follows: di (n+1)-di (n) > or=3m.
6. a kind of vehicle anti-rear collision method for early warning based on camera and millimetre-wave radar according to claim 1, special
Sign is: the condition of invalid targets in the step S4 are as follows: vi (n+1)-vi (n) > or=3m/s.
7. a kind of vehicle anti-rear collision method for early warning based on camera and millimetre-wave radar according to claim 1, special
Sign is: the prompting vehicle distance signal in the step S8 are as follows: display screen shows that green digital, the numerical value of green digital are th.
8. a kind of vehicle anti-rear collision method for early warning based on camera and millimetre-wave radar according to claim 1, special
Sign is: the excessively close signal of spacing in the step S8 are as follows: shows that the Green Vehicle mark of screen display becomes red, shows simultaneously
Display screen is displayed in red number, and the numerical value of red numerical is th, and warning device is warned 3 sound.
9. a kind of vehicle anti-rear collision method for early warning based on camera and millimetre-wave radar according to claim 1, special
Sign is: the alarm signal that knocks into the back in the step S8 are as follows: show that the Green Vehicle mark of screen display becomes red and flashes,
Warning device is warned 5 sound.
10. a kind of vehicle anti-rear collision method for early warning based on camera and millimetre-wave radar according to claim 1, special
Sign is: in the step S8, the precondition for starting to calculate th is: this vehicle vehicle velocity V > or=30km/h.
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| CN110949395A (en) * | 2019-11-15 | 2020-04-03 | 江苏大学 | Curve ACC target vehicle identification method based on multi-sensor fusion |
| CN111798698A (en) * | 2020-06-24 | 2020-10-20 | 中国第一汽车股份有限公司 | Method and device for determining front target vehicle and vehicle |
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