CN109649408B - Vehicle peripheral obstacle detection method and vehicle - Google Patents
Vehicle peripheral obstacle detection method and vehicle Download PDFInfo
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- CN109649408B CN109649408B CN201910052006.6A CN201910052006A CN109649408B CN 109649408 B CN109649408 B CN 109649408B CN 201910052006 A CN201910052006 A CN 201910052006A CN 109649408 B CN109649408 B CN 109649408B
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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
- 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
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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
- 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
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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
- B60W2554/00—Input parameters relating to objects
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention provides a method for detecting peripheral obstacles of a vehicle, which comprises the following steps: acquiring a plurality of image signals of a plurality of detection points which are acquired by a plurality of photoelectric collectors arranged on a vehicle and are arranged on a road in advance; converting the image signal into an electrical signal; judging whether the corresponding groups of electric signals are respectively the same; if yes, judging that no barrier exists on the current road; if not, judging that the obstacle exists on the current road. The invention provides a method for detecting peripheral obstacles of a vehicle, which converts image information into an electric signal for processing through the cooperation of detection of a photoelectric collector and a controller, greatly reduces the workload of analyzing and processing the image through software, and effectively solves the problems of high price of detection equipment, large processing workload or slow processing speed.
Description
Technical Field
The invention relates to the field of obstacle detection, in particular to a method for detecting obstacles around a vehicle and the vehicle.
Background
The existing vehicle driving auxiliary system generally adopts a camera to acquire images, namely scenery around a vehicle is imaged on an image sensor, and the images acquired by the image sensor are processed through subsequent hardware circuit and software analysis so as to judge whether obstacles exist around the vehicle.
However, the software analysis processing of the method has the disadvantages of large workload, low processing efficiency, time and labor waste and high software and hardware cost.
Disclosure of Invention
The invention provides a method for detecting peripheral obstacles of a vehicle, which converts image information into an electric signal for processing through the cooperation of detection of a photoelectric collector and a controller, greatly reduces the workload of analyzing and processing the image through software, and effectively solves the problems of high price of detection equipment, large processing workload or slow processing speed.
A first embodiment of the present invention provides a vehicle peripheral obstacle detection method, including:
acquiring a plurality of image signals of a plurality of detection points which are acquired by a plurality of photoelectric collectors arranged on a vehicle and are arranged on a road in advance;
converting the image signal into an electrical signal;
judging whether the corresponding groups of electric signals are respectively the same;
if yes, judging that no barrier exists on the current road;
if not, judging that the obstacle exists on the current road.
Preferably, the detection points include a vehicle front detection point, a left front side detection point, a right front side detection point, a left side detection point and a right side detection point;
preferably, the plurality of photo-collectors includes a first photo-collector and a second photo-collector;
the first photoelectric collector is arranged on the upper left side of the windshield, and the second photoelectric collector is arranged on the upper right side of the windshield.
Preferably, the plurality of photo-collectors further comprises: a third photoelectric collector, a fourth photoelectric collector, a fifth photoelectric collector and a sixth photoelectric collector;
the third photoelectric collector is arranged at the rear-view mirror at the left side of the vehicle, and the fourth photoelectric collector is arranged at the rear-view mirror at the right side of the vehicle; the fifth photoelectric collector is arranged on the upper portion of the left side vehicle body of the vehicle, and the sixth photoelectric collector is arranged on the upper portion of the right side vehicle body of the vehicle.
Preferably, the first photoelectric collector and the second photoelectric collector are used for acquiring electrical signals of a detection point at the front of the vehicle, the first photoelectric collector and the third photoelectric collector are used for acquiring electrical signals of a detection point at the left front side of the vehicle, the third photoelectric collector and the fifth photoelectric collector are used for acquiring electrical signals of a detection point at the left side of the vehicle, the second photoelectric collector and the fourth photoelectric collector are used for acquiring electrical signals of a detection point at the right front side of the vehicle, and the fourth photoelectric collector and the sixth photoelectric collector are used for acquiring electrical signals of a detection point at the right front side of the vehicle.
Preferably, the longitudinal distance between the detection points is 0.2-30m, the transverse distance between the detection points is 5-20cm, the longitudinal direction is the automobile advancing direction, and the transverse direction is perpendicular to the automobile advancing direction.
The second embodiment of the invention provides a vehicle, which comprises a controller and a plurality of photoelectric collectors arranged on a vehicle body, wherein the controller comprises a memory and a processor, the memory and the photoelectric collectors are connected with the processor, executable codes are stored in the memory, and the executable codes can be executed by the processor, so as to realize the vehicle peripheral obstacle detection method.
Preferably, the method further comprises the following steps: an alarm device;
the alarm device is connected with the output end of the controller, and when the controller judges that the electric signals from the same detection point of different photoelectric collectors are different, an alarm signal is sent out.
Preferably, the method further comprises the following steps: a relay;
the output end of the controller is connected with a coil of the relay, and a normally open contact of the relay is used for being connected with a double-flash indicator lamp in the vehicle.
The invention provides a vehicle peripheral obstacle detection method, which converts image information into an electric signal for processing through the cooperation of photoelectric collector detection and a controller, judges whether different photoelectric collectors at the same detection point detect the same signal to judge whether an obstacle exists in the front or not through the controller, judges whether the obstacle exists or not if the signals are the same, judges that no obstacle exists if the signals are the same, and judges that an obstacle exists if the obstacles do not exist, and outputs the electric signal to an alarm device through the output end of the controller to remind a driver.
Drawings
FIG. 1 is a schematic flow chart of a method for detecting obstacles around a vehicle according to an embodiment of the present invention;
FIG. 2 is a top view of a vehicle inspection point arrangement according to an embodiment of the present invention;
fig. 3 is a front view of a vehicle detection point arrangement according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The following detailed description of specific embodiments of the invention refers to the accompanying drawings.
Referring to fig. 1, the present invention provides a method for detecting obstacles around a vehicle, which converts image information into electrical signals for processing through the cooperation of a photoelectric collector and a controller, thereby greatly reducing the workload of analyzing and processing images through software, and effectively solving the problems of high price of detection equipment, large processing workload or slow processing speed.
A first embodiment of the present invention provides a vehicle peripheral obstacle detection method, including:
s101, acquiring a plurality of image signals of a plurality of detection points which are acquired by a plurality of photoelectric collectors arranged on a vehicle and are arranged on a road in advance;
referring to fig. 2 to 3, the plurality of photoelectric collectors include a first photoelectric collector 01 and a second photoelectric collector 02;
first photoelectric collector 01 sets up in windshield upper left side, second photoelectric collector 02 sets up in windshield upper right side.
Preferably, the plurality of photo-collectors further comprises: a third photoelectric collector 03, a fourth photoelectric collector 04, a fifth photoelectric collector 05 and a sixth photoelectric collector 06;
the third photoelectric collector 03 is arranged at the rear-view mirror at the left side of the vehicle, and the fourth photoelectric collector 04 is arranged at the rear-view mirror at the right side of the vehicle; the fifth photoelectric collector 05 is arranged on the upper portion of the left side of the vehicle body, and the sixth photoelectric collector 06 is arranged on the upper portion of the right side of the vehicle body.
Preferably, the detection points include a vehicle front detection point, a left front side detection point, a right front side detection point, a left side detection point and a right side detection point;
preferably, the first and second photoelectric collectors 01 and 02 are used for acquiring electrical signals of a detection point at the front of a vehicle, the first and third photoelectric collectors 01 and 02 are used for acquiring electrical signals of a detection point at the left front side of the vehicle, the third and fifth photoelectric collectors 03 and 05 are used for acquiring electrical signals of a detection point at the left side of the vehicle, the second and fourth photoelectric collectors 02 and 04 are used for acquiring electrical signals of a detection point at the right front side of the vehicle, and the fourth and sixth photoelectric collectors 04 and 06 are used for acquiring electrical signals of a detection point at the right front side of the vehicle.
S102, converting the image signal into an electric signal;
s103, judging whether the corresponding groups of electric signals are respectively the same;
s104, if yes, judging that no barrier exists on the current road;
and S105, if not, judging that the obstacle exists on the current road.
Preferably, the longitudinal distance between the detection points is 0.2-30m, and the transverse distance between the detection points is 5-20 cm. The longitudinal direction is the automobile advancing direction, and the transverse direction is perpendicular to the automobile advancing direction.
The front-side detection points are arranged on the front side of the vehicle, wherein the longitudinal distance between the detection points is 0.2-30m, the transverse distance between the detection points is 5-20cm, when the first photoelectric collector 01 and the second photoelectric collector 02 obtain different electric signals of the same detection point, it is judged that a certain photoelectric collector blocks the acquisition of a signal of the certain detection point by an obstacle, for example, the height of the obstacle on a road surface exceeds a preset value (such as 0.2m) and blocks the acquisition of the signal of the certain photoelectric collector, and the controller outputs an electric signal to the alarm device to remind a driver of paying attention.
The left side detection point and the right side detection point are arranged on the left side and the right side of the vehicle, wherein the longitudinal distance between the detection points is 0.2-30m, the transverse distance between the detection points is 5-20cm, when the electric signals of the same detection point acquired by the third photoelectric collector 03 and the fifth photoelectric collector 05 are different, or when the electric signals of the same detection point acquired by the fourth photoelectric collector 04 and the sixth photoelectric collector 06 are different, the left side and the right side of the vehicle are judged to have obstacles, and the controller outputs an electric signal to the alarm device to remind a driver of paying attention.
The left front side and the right front side of the vehicle are arranged at the left front side detection point and the right front side detection point, wherein the longitudinal distance between the detection points is 0.2-30m, the transverse distance between the detection points is 5-20cm, when the electric signals acquired by the first photoelectric collector 01 and the third photoelectric collector 03 are different, or when the electric signals acquired by the second photoelectric collector 02 and the fourth photoelectric collector 04 are different, the left side or the right side of the vehicle is judged to have an obstacle, and the controller outputs an electric signal to the alarm device to remind a driver of paying attention.
The second embodiment of the invention provides a vehicle, which comprises a controller and a plurality of photoelectric collectors arranged on a vehicle body, wherein the controller comprises a memory and a processor, the memory and the photoelectric collectors are connected with the processor, executable codes are stored in the memory, and the executable codes can be executed by the processor, so as to realize the vehicle peripheral obstacle detection method.
Preferably, the method further comprises the following steps: an alarm device;
the alarm device is connected with the output end of the controller, and when the controller judges that the electric signals from the same detection point of different photoelectric collectors are different, an alarm signal is sent out.
Preferably, the method further comprises the following steps: a relay;
the output end of the controller is connected with a coil of the relay, and a normally open contact of the relay is used for being connected with a double-flash indicator lamp in the vehicle.
When the vehicle is in the driving process, under the condition that the obstacle is judged to be in contact with the vehicle, the controller outputs an electric signal to the coil of the relay, so that the normally open contact is closed, the double-flashing indicating lamp in the vehicle is switched on, the double-flashing indicating lamp jumps at a certain frequency to remind a driver, and part of the drivers dislike the alarm device with sound.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention.
Claims (7)
1. A vehicle peripheral obstacle detection method characterized by comprising:
acquiring a plurality of image signals of a plurality of detection points which are acquired by a plurality of photoelectric collectors arranged on a vehicle and are arranged on a road in advance, wherein the detection points comprise a front detection point, a left front side detection point, a right front side detection point, a left side detection point and a right side detection point of the vehicle, and the plurality of photoelectric collectors comprise a first photoelectric collector and a second photoelectric collector;
converting the image signal into an electrical signal;
judging whether the corresponding groups of electric signals are respectively the same;
if yes, judging that no barrier exists on the current road;
if not, judging that the obstacle exists on the current road.
2. The vehicle peripheral obstacle detection method according to claim 1, wherein the plurality of photoelectric collectors further include: a third photoelectric collector, a fourth photoelectric collector, a fifth photoelectric collector and a sixth photoelectric collector;
the third photoelectric collector is arranged at the rear-view mirror at the left side of the vehicle, and the fourth photoelectric collector is arranged at the rear-view mirror at the right side of the vehicle; the fifth photoelectric collector is arranged on the upper portion of the left side vehicle body of the vehicle, and the sixth photoelectric collector is arranged on the upper portion of the right side vehicle body of the vehicle.
3. The method for detecting the obstacle around the vehicle according to claim 2, wherein the first and second photoelectric collectors are used for acquiring electrical signals at a detection point at the front of the vehicle, the first and third photoelectric collectors are used for acquiring electrical signals at a detection point at the left front side of the vehicle, the third and fifth photoelectric collectors are used for acquiring electrical signals at a detection point at the left side of the vehicle, the second and fourth photoelectric collectors are used for acquiring electrical signals at a detection point at the right front side of the vehicle, and the fourth and sixth photoelectric collectors are used for acquiring electrical signals at a detection point at the right front side of the vehicle.
4. The vehicle peripheral obstacle detection method according to claim 1, wherein a longitudinal distance between the detection points is 0.2 to 30m, a lateral distance between the detection points is 5 to 20cm, the longitudinal direction is a vehicle advancing direction, and the lateral direction is perpendicular to the vehicle advancing direction.
5. A vehicle is characterized by comprising a controller and a plurality of photoelectric collectors arranged on a vehicle body, wherein the controller comprises a memory and a processor, the memory and the photoelectric collectors are connected with the processor, executable codes are stored in the memory, and the executable codes can be executed by the processor to realize the vehicle peripheral obstacle detection method according to any one of claims 1 to 4.
6. The vehicle of claim 5, further comprising: an alarm device;
the alarm device is connected with the output end of the controller, and when the controller judges that the electric signals from the same detection point of different photoelectric collectors are different, an alarm signal is sent out.
7. The vehicle of claim 5, further comprising: a relay;
the output end of the controller is connected with a coil of the relay, and a normally open contact of the relay is used for being connected with a double-flash indicator lamp in the vehicle.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910052006.6A CN109649408B (en) | 2019-01-21 | 2019-01-21 | Vehicle peripheral obstacle detection method and vehicle |
| PCT/CN2019/127136 WO2020151435A1 (en) | 2019-01-21 | 2019-12-20 | Method for detecting obstacle around vehicle, and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910052006.6A CN109649408B (en) | 2019-01-21 | 2019-01-21 | Vehicle peripheral obstacle detection method and vehicle |
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| CN109649408A CN109649408A (en) | 2019-04-19 |
| CN109649408B true CN109649408B (en) | 2020-09-25 |
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| CN201910052006.6A Active CN109649408B (en) | 2019-01-21 | 2019-01-21 | Vehicle peripheral obstacle detection method and vehicle |
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| WO (1) | WO2020151435A1 (en) |
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| CN109649408B (en) * | 2019-01-21 | 2020-09-25 | 厦门理工学院 | Vehicle peripheral obstacle detection method and vehicle |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105109484A (en) * | 2015-08-21 | 2015-12-02 | 奇瑞汽车股份有限公司 | Target-barrier determining method and device |
| CN107590444A (en) * | 2017-08-23 | 2018-01-16 | 深圳市易成自动驾驶技术有限公司 | Detection method, device and the storage medium of static-obstacle thing |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202015003992U1 (en) * | 2015-06-02 | 2015-09-10 | Conrad Leuthaeuser | Door opening safety system for motor vehicles |
| CN205010260U (en) * | 2015-08-11 | 2016-02-03 | 陕西世翔电子科技有限公司 | Rail vehicle positioner based on multisensor photoelectric detection |
| CN105372209A (en) * | 2015-11-30 | 2016-03-02 | 南京信息工程大学 | Road visibility detection and early-warning system |
| KR102153581B1 (en) * | 2016-02-26 | 2020-09-08 | 한화디펜스 주식회사 | The Apparatus For Around View Monitoring |
| CN106740634A (en) * | 2016-12-27 | 2017-05-31 | 潘荣昌 | A kind of automobile collision preventing distance measurement alarm system |
| CN207747879U (en) * | 2017-12-14 | 2018-08-21 | 南京航空航天大学 | A kind of vehicle prevents knock into the back early warning and avoiding system in case of the high-speed travel state |
| CN109649408B (en) * | 2019-01-21 | 2020-09-25 | 厦门理工学院 | Vehicle peripheral obstacle detection method and vehicle |
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- 2019-01-21 CN CN201910052006.6A patent/CN109649408B/en active Active
- 2019-12-20 WO PCT/CN2019/127136 patent/WO2020151435A1/en active Application Filing
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105109484A (en) * | 2015-08-21 | 2015-12-02 | 奇瑞汽车股份有限公司 | Target-barrier determining method and device |
| CN107590444A (en) * | 2017-08-23 | 2018-01-16 | 深圳市易成自动驾驶技术有限公司 | Detection method, device and the storage medium of static-obstacle thing |
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| CN109649408A (en) | 2019-04-19 |
| WO2020151435A1 (en) | 2020-07-30 |
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Effective date of registration: 20220209 Address after: 510000 No. 202 Fish Road, Dongyong Town, Nansha District, Guangzhou City, Guangdong Province Patentee after: GUANGZHOU YOUBAO AIJIA TECHNOLOGY Co.,Ltd. Address before: 361024 No. 600, science and engineering road, Jimei District, Fujian, Xiamen Patentee before: XIAMEN University OF TECHNOLOGY |
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Denomination of invention: A vehicle surrounding obstacle detection method and vehicle Effective date of registration: 20230110 Granted publication date: 20200925 Pledgee: Zhaoqing SME Financing Guarantee Co.,Ltd. Pledgor: GUANGZHOU YOUBAO AIJIA TECHNOLOGY Co.,Ltd. Registration number: Y2023980030399 |
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