CN109866780B - Self-checking method of automobile initial safety self-checking system - Google Patents
Self-checking method of automobile initial safety self-checking system Download PDFInfo
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Abstract
The invention relates to an automobile initial safety self-checking system which comprises an on-board processor, wherein a first signal input end of the on-board processor is connected with an output end of an ultrasonic sensor, a second signal input end of the on-board processor is connected with an output end of a visual camera, a third signal input end of the on-board processor is connected with an output end of a thermal imager, the on-board processor is in two-way communication with a man-machine interaction screen, and an output end of the man-machine interaction screen is connected with an input end of a voice module; the vehicle-related hardware comprises a vehicle control unit, a brake system, a gear system and a vehicle-mounted storage battery, the vehicle-mounted storage battery supplies power to the vehicle-mounted processor, and the vehicle-mounted processor and the vehicle control unit are in two-way communication. The invention firstly proposes that the image of the thermal imager is fused in the picture of the automobile panoramic camera, thus completing the automobile panoramic view in the complete sense and really achieving the safety detection without blind areas; the safety detection is completed by the driver, and the driver is helped to avoid possible safety problems through vehicle body control.
Description
Technical Field
The invention relates to the technical field of automobile safe driving, in particular to a self-checking method of an automobile initial safety self-checking system.
Background
Along with the development of economy, the automobile enters more and more families, people have higher and higher requirements on safe driving guarantee technology of the automobile, and people also want the automobile to be more and more intelligent and can help the driver to finish certain repeated and simple but necessary works, so that the life is simple and convenient, the safety coefficient is improved, and the driving experience is improved.
The old driver will generally go round the vehicle before going forward to confirm the safety of the surroundings. However, a novice driver rarely turns round the vehicle to confirm safety, and rarely people turn round the vehicle in bad weather, and the state of the vehicle bottom is unclear most of the time even if the driver turns round the vehicle, such as a person who knows a missing child or a kitten or a dog, which are potential safety hazards.
The vehicle has a panoramic all-round projection when parking, but the vehicle is the most relaxed driver when initially moving. The environment of the vehicle at the moment is actually unfamiliar to the driver, and if the information of the vehicle around the vehicle including the vehicle bottom can be integrated and processed for the driver definitely, the driving safety can be greatly improved, and the further operation of the driver is also facilitated. At present, no automobile safety self-checking system exists.
Disclosure of Invention
The invention aims to provide a self-checking method of an automobile initial safety self-checking system, which can quickly judge the safety condition of the periphery of a vehicle including the bottom by fusing multiple sensors such as a thermal imager and the like under the condition of poor illumination at night, in fog or in rainy days and the like, display a real-time panoramic all-round view picture on a screen and help a driver to avoid some possible safety problems by controlling a vehicle body.
In order to achieve the purpose, the invention adopts the following technical scheme: a self-checking method of an automobile initial safety self-checking system comprises the following steps in sequence:
(1) the method comprises the following steps that a key of an automobile is powered on by a driver, an automobile initial safety self-checking system is automatically started, an ultrasonic sensor, a visual camera and a thermal imager work simultaneously, and collected information is transmitted to an on-board processor respectively;
(2) and (3) carrying out security level division: firstly, the vehicle-mounted processor judges whether vital signs exist at the bottom of the vehicle in the thermal imaging information, and if so, the vehicle-mounted processor is in a high-risk level; and if no vital sign exists, judging the data of the ultrasonic waves:
when no obstacle is confirmed within 80cm, the safety level is the safest level; when no obstacle exists within 40cm, the safety is in a 'secondary safety' level; when an obstacle exists within 40cm, the obstacle is in a low-risk level, and the safety level is subjected to high-risk level each time;
(3) carrying out voice module sound: the safest grade has no voice announcement; the 'sub-safety' stage carries out low-frequency alarm sound; the low danger grade carries out high-frequency alarm sound; a "high risk" stage to warn;
(4) and (3) vehicle body state control: when the vehicle is in a high-risk level, the safety lock is dropped, the vehicle-mounted processor takes over the vehicle, the brake is controlled, and the driver is forbidden to engage the gear; when in other safety levels than the "high risk" level, the vehicle is not taken over; the three safety levels of 'safest', 'unsafe' and 'low-risk' are other safety levels which are not 'high-risk' levels;
(5) performing driver operation: when the vehicle is in a high-risk level, the vehicle is locked, the risk disappears, the safety level is reduced, the vehicle is automatically unlocked, and the vehicle is recovered to be taken over manually; or manually clicking a screen of the man-machine interaction screen to unlock, forcibly unlocking the safety lock, and recovering the vehicle to take over;
when the vehicle is in other safety levels which are not the high-risk level, the voice module sends an alarm for prompting the driver to confirm safety, and at the moment, the driver controls the vehicle;
(6) displaying a vehicle panoramic all-round view picture: processing and splicing 4 groups of pictures of the visual camera into a panoramic view shape, marking red for vital signs in a thermal imaging picture, and splicing the pictures in the panoramic view picture to form a panoramic view picture of the vehicle for a driver to refer;
(7) completing the initial safety self-check of the vehicle;
the automobile initial safety self-checking system comprises an on-board processor, an ultrasonic sensor, a visual camera, a thermal imager, a man-machine interaction screen, a voice module and automobile related hardware; the first signal input end of the vehicle-mounted processor is connected with the output end of the ultrasonic sensor, the second signal input end of the vehicle-mounted processor is connected with the output end of the visual camera, the third signal input end of the vehicle-mounted processor is connected with the output end of the thermal imager, the vehicle-mounted processor is in two-way communication with the man-machine interaction screen, and the output end of the man-machine interaction screen is connected with the input end of the voice module; the vehicle-related hardware comprises a vehicle control unit, a brake system, a gear system and a vehicle-mounted storage battery, the vehicle-mounted storage battery supplies power to the vehicle-mounted processor, and the vehicle-mounted processor and the vehicle control unit are in bidirectional communication;
the ultrasonic sensor and the vehicle-mounted processor are communicated by converting a serial port into a USB, so that direct communication between the ultrasonic sensor and the vehicle-mounted processor is realized; the visual camera and the vehicle-mounted processor realize video signal transmission through an HDMI (high-definition multimedia interface) line; the thermal imager and the vehicle-mounted processor realize video signal communication through an HDMI (high-definition multimedia interface) line; the man-machine interaction screen realizes video signal transmission with the vehicle-mounted processor through the HDMI interface and realizes feedback of information of the touch screen through the USB interface; the man-machine interaction screen provides an AUX interface to complete audio communication with the voice module; the vehicle-mounted processor is communicated with vehicle-mounted related hardware through a USB-CAN (Universal Serial bus-controller area network);
the number of the ultrasonic sensors is 12, wherein 4 ultrasonic sensors are positioned at the head of the vehicle, 4 ultrasonic sensors are positioned at the tail of the vehicle, and 4 ultrasonic sensors are positioned at the two sides of the vehicle body; the number of the vision cameras is 4, and the vision cameras are respectively arranged on the vehicle head and the vehicle tail number plate and under the left rear view mirror and the right rear view mirror; the number of the thermal imaging cameras is at least two, the thermal imaging cameras are respectively and additionally arranged under a front chassis and a rear chassis of the vehicle, the thermal imaging cameras positioned under the front chassis incline backwards, and the thermal imaging cameras positioned under the rear chassis incline forwards.
According to the technical scheme, the invention has the advantages that: firstly, the invention firstly proposes to fuse the image of the thermal imager in the picture of the automobile panoramic camera, complete the automobile panoramic view in the complete sense and really realize the safety detection without blind areas; secondly, the link before the automobile is started is usually finished by a driver for one circle around the automobile, so that the automobile safety detection system can help the driver to finish the safety detection, and help the driver to avoid some possible safety problems through automobile body control if necessary; thirdly, the lower three kinds of different grade type sensors of cost have been chooseed for use to this system multisensor to satisfy system steady operation under the different work condition, ultrasonic sensor also can regard as the safety redundancy of vision camera, and thermal imaging appearance and ultrasonic sensor are in fact all redundant mechanism, guarantee driving safety with this.
Drawings
FIG. 1 is a block diagram of the system components of the present invention;
FIG. 2 is a schematic view of the installation of the present invention;
FIG. 3 is a system interface diagram of a panoramic all-round view with fused thermal imaging information;
fig. 4 is a flow chart of the operation of the present invention.
Detailed Description
As shown in fig. 1, an automobile initial safety self-inspection system comprises an on-board processor, an ultrasonic sensor, a visual camera, a thermal imager, a man-machine interaction screen, a voice module and vehicle-related hardware; the first signal input end of the vehicle-mounted processor is connected with the output end of the ultrasonic sensor, the second signal input end of the vehicle-mounted processor is connected with the output end of the visual camera, the third signal input end of the vehicle-mounted processor is connected with the output end of the thermal imager, the vehicle-mounted processor is in two-way communication with the man-machine interaction screen, and the output end of the man-machine interaction screen is connected with the input end of the voice module; the vehicle-related hardware comprises a vehicle control unit, a brake system, a gear system and a vehicle-mounted storage battery, the vehicle-mounted storage battery supplies power to the vehicle-mounted processor, and the vehicle-mounted processor and the vehicle control unit are in two-way communication.
As shown in fig. 1, the ultrasonic sensor and the vehicle-mounted processor are communicated by converting a serial port into a USB, so as to realize direct communication between the ultrasonic sensor and the vehicle-mounted processor; the visual camera and the vehicle-mounted processor realize video signal transmission through an HDMI (high-definition multimedia interface) line; the thermal imager and the vehicle-mounted processor realize video signal communication through an HDMI (high-definition multimedia interface) line; the man-machine interaction screen realizes video signal transmission with the vehicle-mounted processor through the HDMI interface and realizes feedback of information of the touch screen through the USB interface; the man-machine interaction screen provides an AUX interface to complete audio communication with the voice module; the vehicle-mounted processor is communicated with vehicle-mounted related hardware through the USB to CAN.
As shown in fig. 2, the number of the ultrasonic sensors is 12, wherein 4 ultrasonic sensors are located at the head of the vehicle, 4 ultrasonic sensors are located at the tail of the vehicle, and 4 ultrasonic sensors are located at two sides of the vehicle; the number of the vision cameras is 4, and the vision cameras are respectively arranged on the vehicle head and the vehicle tail number plate and under the left rear view mirror and the right rear view mirror; the number of the thermal imaging cameras is at least two, the thermal imaging cameras are respectively and additionally arranged under a front chassis and a rear chassis of the vehicle, the thermal imaging cameras positioned under the front chassis incline backwards, the thermal imaging cameras positioned under the rear chassis incline forwards, a repeated imaging area is formed, and the absolute dead angle-free detection of the vehicle bottom is ensured. And after the imaging information is processed, splicing the processed imaging information in a panoramic all-around picture of a screen of the man-machine interaction screen.
As shown in fig. 3, the system interface fused with the thermal imaging panoramic surround view comprises: the vehicle panoramic all-round view screen 1, the security level 2, the current warning information 3, the confirmed security 4, the unlocking 5 and the closing screen 6. The vehicle panoramic all-round view picture 1 processes and splices four camera pictures and thermal imaging pictures in the same picture; when vital signs exist in the thermal imaging picture, the triangle marks red at the approximate position in the screen, and meanwhile, the safety lock is dropped, so that the vehicle can be moved only after the safety lock is ensured. Security level 2 is divided into four levels: the most safe level, the second safe level, the low risk level and the high risk level. The current warning information 3 includes alarm and prompt information at different states. The confirmation security 4 requests the driver to click confirmation, indicating that the driver has observed the all-round scene picture and confirmed the environmental status. The unlocking device 5 is used for manually releasing lock falling, the lock can automatically fall when vital signs exist at the bottom of the vehicle, namely braking is carried out, the driver is forbidden to put into gear, and when the vital signs disappear, the system can automatically unlock. The normal condition is used for removing the lock that the sensor misjudged, for example the car bottom does have the object of similar vital sign, and the driver is got off the bus and is observed the back, confirms that there is not the safety problem, can force the lock that falls this moment. The close screen 6 can select to close the panoramic all-around screen when driving.
As shown in fig. 1, the onboard processor is a single chip, a DSP or other onboard controller, and is used for processing information of each sensor and deciding related actions. The ultrasonic sensor is used for detecting objects around the vehicle, and basically uses the proximity sensors from front to back, and the two sides of the ultrasonic sensor have better service performance, and can use the remote sensors. The information of the sensor is transmitted into the vehicle-mounted processor through a digital channel, whether the periphery of the vehicle body is safe or not is judged, and meanwhile, a certain prompt is given. The vision camera is a vehicle-mounted device for imaging, and in principle, a proper camera is used to complete the acquisition of vision information around the vehicle, and the vision information is transmitted to a vehicle-mounted processor and then processed into a synthetic all-round view scene for a driver to know the surrounding environment.
The thermal imaging system is a device for judging vital signs through thermal analysis, and at least two thermal imaging systems are respectively additionally arranged under the front chassis and the rear chassis of the vehicle in principle, the thermal imaging system is inclined backwards under the front chassis, and the thermal imaging system is inclined forwards under the rear chassis, so that almost two times of thermal imaging can be completed on the vehicle bottom, and the imaging dead angle at the tire position is avoided. And then splicing imaging information of the vehicle in a panoramic scene, corresponding to the position of the vehicle in the panoramic scene, marking red at a position which is approximately corresponding to the imaged panoramic scene if a signal of a vital sign exists, simultaneously carrying out voice prompt, falling a safety lock, forbidding a driver to put into gear through CAN communication, and giving corresponding braking force.
The man-machine interaction screen is used for displaying related alarms and panoramic all-round scenes (including scenes spliced with thermal imaging information) and feeding back a driver confirmation signal (used for confirming safety, unlocking safety lock or closing pictures by the driver).
The voice module is used for prompting relevant alarms and corresponding operation prompts of a driver.
The giving of certain prompts to the driver includes various safety levels. At the safest level, only the panoramic surround view is displayed on the screen. And in the sub-safety level, the ultrasonic sensor detects that the object is within 80cm, and gives a corresponding panoramic all-round view picture to prompt 'front/back/left/right barrier, please take caution' by voice. And (4) low danger level, wherein obstacles exist within 40cm of the ultrasonic wave, and the corresponding panoramic all-round view picture is given to prompt 'attention and close-distance obstacles' by voice. High dangerous level, vehicle bottom thermal imaging system detects vital sign, with its formation of image in the scene of looking around, the suggestion vehicle bottom has the life body, falls the safety lock simultaneously, vehicle automatic braking, the driver can not put into gear. When the vehicle bottom has no vital signs, the vehicle is automatically unlocked. Or the driver clicks an 'unlocking' button on the touch screen to finish unlocking and restore the control right of the vehicle.
As shown in fig. 4, the working flow of the present invention is as follows:
(1) the method comprises the following steps that a key of an automobile is powered on by a driver, an automobile initial safety self-checking system is automatically started, an ultrasonic sensor, a visual camera and a thermal imager work simultaneously, and collected information is transmitted to an on-board processor respectively;
(2) and (3) carrying out security level division: firstly, the vehicle-mounted processor judges whether vital signs exist at the bottom of the vehicle in the thermal imaging information, and if so, the vehicle-mounted processor is in a high-risk level; and if no vital sign exists, judging the data of the ultrasonic waves:
when no obstacle is confirmed within 80cm, the safety level is the safest level; when no obstacle exists within 40cm, the safety is in a 'secondary safety' level; when an obstacle exists within 40cm, the obstacle is in a low-risk level, and the safety level is subjected to high-risk level each time;
(3) carrying out voice module sound: the safest grade has no voice announcement; the 'sub-safety' stage carries out low-frequency alarm sound; the low danger grade carries out high-frequency alarm sound; a "high risk" stage to warn;
(4) and (3) vehicle body state control: when the vehicle is in a high-risk level, the safety lock is dropped, the vehicle-mounted processor takes over the vehicle, the brake is controlled, and the driver is forbidden to engage the gear; when in other safety levels than the "high risk" level, the vehicle is not taken over; the three safety levels of 'safest', 'unsafe' and 'low-risk' are other safety levels which are not 'high-risk' levels;
(5) performing driver operation: when the vehicle is in a high-risk level, the vehicle is locked, the risk disappears, the safety level is reduced, the vehicle is automatically unlocked, and the vehicle is recovered to be taken over manually; or manually clicking a screen of the man-machine interaction screen to unlock, forcibly unlocking the safety lock, and recovering the vehicle to take over;
when the vehicle is in other safety levels which are not the high-risk level, the voice module sends an alarm for prompting the driver to confirm safety, and at the moment, the driver controls the vehicle; the driver may select to click the "close screen" to close the vehicle panoramic all-round screen 1.
(6) Displaying a vehicle panoramic all-round view picture: processing and splicing 4 groups of pictures of the visual camera into a panoramic view shape, marking red for vital signs in a thermal imaging picture, and splicing the pictures in the panoramic view picture to form a panoramic view picture of the vehicle for a driver to refer;
(7) and finishing the initial safety self-check of the vehicle.
As shown in fig. 4:
firstly, a driver gets on a key of an automobile, an initial safety self-checking system is automatically started, a plurality of sensors work simultaneously, relevant collected information is transmitted to an on-board processor to be processed and analyzed, and then relevant actions are decided.
And (3) dividing the security level: firstly, judging whether vital signs exist at the bottom of the vehicle in thermal imaging information, if so, judging the danger level is high, and sending out warning by voice and a screen, and simultaneously locking (automatically braking and forbidding a driver to put into gear); and if no vital sign exists, judging the data of the ultrasonic waves. When no obstacle is confirmed within 80cm, the safest level is displayed on a screen but no voice is given; when no obstacle exists within 40cm, the safety level is sub-safe, screen display is performed, and voice low-frequency alarm is performed; when an obstacle is present within 40cm, low risk level, screen alarm, voice high frequency alarm. The security level is subject to a high risk level each time.
4 groups of pictures of the vision camera are processed and spliced into a panoramic view shape, vital signs in the thermal imaging pictures need to be marked with red, and then the pictures are spliced in the panoramic view picture to form a vehicle panoramic view picture 1 for a driver to refer.
The driver operates: when the vehicle is not in the high-risk level, the driver needs to manually click a safety confirmation button to release the voice prompt of the system, namely, safety confirmation is required, and the current warning information 3, namely, safety confirmation is required, so that the system does not forcibly control the brake and the gear of the vehicle at the moment. When the vehicle is in a high-risk level, a driver needs to manually click to unlock and does not need to repeatedly click to confirm safety, so that voice and screen alarms can be relieved, and the braking and gear engaging authorities of the vehicle can be acquired; and in the period, if the vital signs of the vehicle bottom automatically disappear, the vehicle bottom returns to the non-high-risk state, and a driver needs to manually confirm the safety. The driver may select to click the "close screen" to close the vehicle panoramic all-round screen 1.
The initial safety self-check of the vehicle is completed, and the vehicle state after the confirmation of the driver is as follows: the vehicle is completely taken over by the driver; the vehicle panoramic all-round view picture 1 can provide convenience for safe driving, and can be selected to be closed or accessed by other vehicle-mounted screen function pictures.
In conclusion, the invention firstly proposes that the image of the thermal imager is fused in the picture of the automobile panoramic camera, so as to complete the automobile panoramic view in a complete sense and really realize the safety detection without blind areas; the safety detection system can help a driver to complete the safety detection, and help the driver to avoid some possible safety problems through vehicle body control if necessary; the multi-sensor system selects the sensors with three different types with lower cost so as to satisfy the stable operation of the system under different working conditions, the ultrasonic sensor can also be used as the safety redundancy of the visual camera, and the thermal imager and the ultrasonic sensor actually have redundancy mechanisms so as to ensure the driving safety.
Claims (1)
1. A self-checking method of an automobile initial safety self-checking system is characterized in that: the method comprises the following steps in sequence:
(1) the method comprises the following steps that a key of an automobile is powered on by a driver, an automobile initial safety self-checking system is automatically started, an ultrasonic sensor, a visual camera and a thermal imager work simultaneously, and collected information is transmitted to an on-board processor respectively;
(2) and (3) carrying out security level division: firstly, the vehicle-mounted processor judges whether vital signs exist at the bottom of the vehicle in the thermal imaging information, and if so, the vehicle-mounted processor is in a high-risk level; and if no vital sign exists, judging the data of the ultrasonic waves:
when no obstacle is confirmed within 80cm, the safety level is the safest level; when no obstacle exists within 40cm, the safety is in a 'secondary safety' level; when an obstacle exists within 40cm, the obstacle is in a low-risk level, and the safety level is subjected to high-risk level each time;
(3) carrying out voice module sound: the safest grade has no voice announcement; the 'sub-safety' stage carries out low-frequency alarm sound; the low danger grade carries out high-frequency alarm sound; a "high risk" stage to warn;
(4) and (3) vehicle body state control: when the vehicle is in a high-risk level, the safety lock is dropped, the vehicle-mounted processor takes over the vehicle, the brake is controlled, and the driver is forbidden to engage the gear; when in other safety levels than the "high risk" level, the vehicle is not taken over; the three safety levels of 'safest', 'unsafe' and 'low-risk' are other safety levels which are not 'high-risk' levels;
(5) performing driver operation: when the vehicle is in a high-risk level, the vehicle is locked, the risk disappears, the safety level is reduced, the vehicle is automatically unlocked, and the vehicle is recovered to be taken over manually; or manually clicking a screen of the man-machine interaction screen to unlock, forcibly unlocking the safety lock, and recovering the vehicle to take over;
when the vehicle is in other safety levels which are not the high-risk level, the voice module sends an alarm for prompting the driver to confirm safety, and at the moment, the driver controls the vehicle;
(6) displaying a vehicle panoramic all-round view picture: processing and splicing 4 groups of pictures of the visual camera into a panoramic view shape, marking red for vital signs in a thermal imaging picture, and splicing the pictures in the panoramic view picture to form a panoramic view picture of the vehicle for a driver to refer;
(7) completing the initial safety self-check of the vehicle;
the automobile initial safety self-checking system comprises an on-board processor, an ultrasonic sensor, a visual camera, a thermal imager, a man-machine interaction screen, a voice module and automobile related hardware; the first signal input end of the vehicle-mounted processor is connected with the output end of the ultrasonic sensor, the second signal input end of the vehicle-mounted processor is connected with the output end of the visual camera, the third signal input end of the vehicle-mounted processor is connected with the output end of the thermal imager, the vehicle-mounted processor is in two-way communication with the man-machine interaction screen, and the output end of the man-machine interaction screen is connected with the input end of the voice module; the vehicle-related hardware comprises a vehicle control unit, a brake system, a gear system and a vehicle-mounted storage battery, the vehicle-mounted storage battery supplies power to the vehicle-mounted processor, and the vehicle-mounted processor and the vehicle control unit are in bidirectional communication;
the ultrasonic sensor and the vehicle-mounted processor are communicated by converting a serial port into a USB, so that direct communication between the ultrasonic sensor and the vehicle-mounted processor is realized; the visual camera and the vehicle-mounted processor realize video signal transmission through an HDMI (high-definition multimedia interface) line; the thermal imager and the vehicle-mounted processor realize video signal communication through an HDMI (high-definition multimedia interface) line; the man-machine interaction screen realizes video signal transmission with the vehicle-mounted processor through the HDMI interface and realizes feedback of information of the touch screen through the USB interface; the man-machine interaction screen provides an AUX interface to complete audio communication with the voice module; the vehicle-mounted processor is communicated with vehicle-mounted related hardware through a USB-CAN (Universal Serial bus-controller area network);
the number of the ultrasonic sensors is 12, wherein 4 ultrasonic sensors are positioned at the head of the vehicle, 4 ultrasonic sensors are positioned at the tail of the vehicle, and 4 ultrasonic sensors are positioned at the two sides of the vehicle body; the number of the vision cameras is 4, and the vision cameras are respectively arranged on the vehicle head and the vehicle tail number plate and under the left rear view mirror and the right rear view mirror; the number of the thermal imaging cameras is at least two, the thermal imaging cameras are respectively and additionally arranged under a front chassis and a rear chassis of the vehicle, the thermal imaging cameras positioned under the front chassis incline backwards, and the thermal imaging cameras positioned under the rear chassis incline forwards.
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| CN112572419B (en) * | 2020-12-22 | 2021-11-30 | 英博超算(南京)科技有限公司 | Improve car week blind area monitored control system of start security of riding instead of walk |
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| JP6609970B2 (en) * | 2015-04-02 | 2019-11-27 | アイシン精機株式会社 | Perimeter monitoring device |
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