CN109895697A - A kind of driving aid prompting system and method - Google Patents
A kind of driving aid prompting system and method Download PDFInfo
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- CN109895697A CN109895697A CN201910207174.8A CN201910207174A CN109895697A CN 109895697 A CN109895697 A CN 109895697A CN 201910207174 A CN201910207174 A CN 201910207174A CN 109895697 A CN109895697 A CN 109895697A
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Abstract
The present invention provides a kind of driving aid prompting system and method, it include it is multiple front of the car be set be electrically connected for acquiring the acquisition module of obstacle information, acquisition module with main control module, main control module is electrically connected with projection module.Following steps are used when use, establish dummy model；Set the spatial position of driver；Information collection is carried out by acquisition module；Carry out information sifting；By the information MAP after screening to dummy model；Projection module projects the information after screening to windshield with contour images.The present invention, which can be obtained, threatens biggish information to traffic safety, and is incident upon the information graphic is outstanding on windshield, so as to pay close attention to important information under the premise of not influencing driver-operated, avoid the occurrence of traffic accident.
Description
Technical field
The present invention relates to automobile assistant driving field, especially a kind of driving aid prompting system and method.
Background technique
In driving procedure, due to driver sight, blind area or attention and the influence of weather conditions, make to drive
The person of sailing is easy to ignore some important running informations, for example, at night and foggy weather being easy that driver is made to ignore pedestrian or dynamic
The information of object passed through, and fall in the obstacle informations such as the stone on highway or the cavity of well lid facility damage generation.It is existing
Having in technology has using some driving auxiliary systems, is related to barrier and the information of pedestrian to help driver to pay attention to these.
Chinese patent literature CN105825711A describes the method for early warning and module of a kind of vehicle barrier, passes through acquisition
Barrier and early warning, to remind driver's attention deficit disorder object.Warning information is sent in middle control display screen in that patent, still
The information of middle control display screen needs driver to bow observation, is easy to disperse the attention of driver, there are larger security risks.
Chinese patent literature CN103123687A describes a kind of fast obstacle detection, by the operation to video flowing come
Detect barrier.This method is related to a large amount of image pixel operation, and the demand to hardware resource is higher, not so as to cause real-time
Foot.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of driving aid prompting system and methods, can be not disperse
The information for being related to the pedestrian for having threat to traffic safety, animal and barrier is passed to driving by the mode of driver attention
Member, improves the safety of driving；Preferably, the data volume of real-time operation can be greatly reduced, the timely of information warning is improved
Property.The information warning of prompt can also be made to be overlapped with practical pedestrian, animal and the barrier observed from position of driver,
To assist improving the judgement disposal efficiency of driver.
In order to solve the above technical problems, the technical scheme adopted by the invention is that: a kind of driving aid prompting system, it is wrapped
Multiple acquisition modules that front of the car is set and is used to acquire obstacle information are included, acquisition module is electrically connected with main control module, main
Control module is electrically connected with projection module.
In preferred scheme, the acquisition module includes the first acquisition module and the second acquisition that the left and right sides is arranged in
Module；
First acquisition module and the second acquisition module respectively includes ultrasound acquisition module, infrared collecting module and view
Frequency acquisition module；
Wherein infrared image movable row humans and animals for identification, video image barrier for identification, ultrasonic image
For determining pedestrian, animal and the spatial position of barrier；
The projection module includes that the first projection module of the left and right sides and the second projection below windshield is arranged in
Module；
Projection module is for projecting information to windshield；
It is additionally provided with steering wheel angle sensor, steering wheel angle sensor is electrically connected with main control module.
A method of using above-mentioned driving aid prompting system, comprising the following steps:
S1, dummy model is established；
S2, the spatial position for setting driver；
S3, information collection is carried out by acquisition module；
S4, information sifting is carried out；
S5, by the information MAP after screening to dummy model；
S6, projection module project the information after screening to windshield with contour images.
In preferred scheme, in step S1, the dummy model of foundation includes the spatial position of driver's eyes, windshield
Spatial position, the spatial position of acquisition module and the spatial position of projection module.
In preferred scheme, in step S2, the spatial position of driver is set, is setting driver's eyes and windshield
Between relative tertiary location.
In preferred scheme, in step S3, the information of acquisition module acquisition includes the infrared image of left-right position, video figure
Picture and ultrasonic image, wherein infrared image movable row humans and animals for identification, video image barrier for identification, ultrasound
Image is used to determine the spatial position of pedestrian, animal and barrier；
It further include the steering wheel angle information of steering wheel angle sensor acquisition, steering wheel angle information is for generating vehicle
Move running track region.
In preferred scheme, in step S4, infrared image and video and graph compound cover infrared image highlight regions
Video image, according between pixel color difference threshold generate first profile figure；
By running track region and video and graph compound, the video image except running track region is deleted, is searched remaining
Pixel color and jump in brightness region in video image generate the second contour pattern according to color difference threshold between pixel；
It is positioned according to spatial position of the ultrasound image to first profile figure and the second contour pattern.
In preferred scheme, in position fixing process, positioned using the midpoint between acquisition module as coordinate origin；
The spatial position of driver's eyes, the spatial position of windshield, the spatial position of acquisition module and projection module
Spatial position three dimensional space coordinate is determined according to the relative position with coordinate origin.
In preferred scheme, the spatial position of first profile figure and the second contour pattern is introduced into dummy model, is obtained
To first profile figure and the second contour pattern in the position of windshield；From the spatial position of virtual driver's eyes to
One contour pattern and the second contour pattern draw line segment, and the point that line segment intersects with the windshield in dummy model is the first round
The mapping of wide figure and the second contour pattern on dummy model；
First projection module and the second projection module project the first profile figure of mapping and the second contour pattern to preceding
Keep off glass.
In preferred scheme, the first projection module and the second projection module emit the mutually perpendicular polarization of polarization angle respectively
The polarized lightwave of light wave, the first projection module and the second projection module respectively corresponds binocular vision, and driver passes through polarising glass
Obtain stereopsis.
Driving aid prompting system provided by the invention and method can obtain and threaten biggish information to traffic safety,
And be incident upon the information graphic is outstanding on windshield, so as to be paid close attention to important under the premise of not influencing driver-operated
Information avoids the occurrence of traffic accident.By using the combination of ultrasound acquisition module, infrared collecting module and video acquisition module,
So that each acquisition module is specially collected corresponding information, passes through the combinatorial operation to these information.Reduce the knowledge to video image
Other operation greatly improves the speed of aid prompting, reduces the dependence to image recognition algorithm.It is further used as preferably, by right
Image operation amount may be further reduced to the selection in the region that traffic safety impends in image, improve aid prompting
Efficiency.It is mapped by the dummy model of setting, and by information and dummy model, so that highlighted contour pattern
With the position of barrier, row human or animal, coincide with driver side to the image of observation, to greatly improve aid prompting
Effect.Driving aid prompting system of the invention and method, can be obtained with lower hsrdware requirements and less calculation amount compared with
For effective safe driving aid prompting, the safety of driving can be greatly improved.Especially for traffic safety threaten compared with
Barrier in front of big wheelpath, street both sides possibly into security risks such as the row human or animals of front side, have compared with
High prompt effect.And by making aid prompting hit rate with higher, thus improve driver to the confidence level of prompt,
So that driving aid prompting obtains the abundant attention of driver, also can front vehicles be provided with warning, avoid knocking into the back.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples:
Fig. 1: the schematic diagram of aid prompting is obtained for driver's seat in the present invention；
Fig. 2: for schematic front view of the invention；
Fig. 3: for schematic top plan view of the invention；
Fig. 4: for the flow diagram of the method for the present invention；
Fig. 5: for the connection block diagram of system of the invention；
Fig. 6: for image recognition, screening and the flow chart of projection in the present invention；
Fig. 7: for the vertical view X-Y coordinate space schematic diagram in the present invention when identification of pedestrian's distance；
Fig. 8: main view Y-Z coordinate space schematic diagram when being identified for pedestrian in the present invention.
In figure: windshield 1, barrier 2, the first projection module 3, wheelpath 4, pedestrian 5, ultrasound acquisition module 6, red
Outer acquisition module 7, video acquisition module 8, the second projection module 9, animal 10, the first acquisition module 100, the second acquisition module
101, main control module 102, steering wheel angle sensor 103.
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.
In Fig. 1 to 5, a kind of driving aid prompting system, it includes that multiple settings are used to acquire obstacle in front of the car
The acquisition module of object information, acquisition module are electrically connected with main control module, and main control module is electrically connected with projection module；
Main control module of the invention preferably reaches GPU chip using tall and handsome, and the solid-state of Intel's CPU master chip and high speed is hard
The combination of disk storage；
Preferably, the acquisition module includes the first acquisition module 100 and the second acquisition that the left and right sides is arranged in
Module 101；
First acquisition module 100 and the second acquisition module 101 respectively includes ultrasound acquisition module 6, infrared collecting
Module 7 and video acquisition module 8；According to the unmanned experiment of Google, identified only with video image to assist
Automatic Pilot needs very abundant computing resource, uses the video card of 6 pieces of GTX1080 ranks in one experiment, and produce
Raw data volume is very big.Dedicated acquisition module is used in the present invention, acquires infrared image, ultrasonic figure and video figure respectively
Picture carries out identification to video image using the auxiliary of infrared image and ultrasonic figure and rice steamer selects, graphic operation is greatly reduced
Calculation amount improves the efficiency and real-time of aid prompting.With advanced optimizing for algorithm, additionally it is possible to further decrease to hardware
Requirement.Ultrasound acquisition module preferably uses the HG-C40U ultrasonic sensor of Hagisonic company in this example, is improving electricity
Under the premise of pressure and reduction required precision, it is able to detect that the barrier more than 50M.Infrared collecting module 7 is preferably public using RNO
The thermal imaging system of department.Video acquisition module 8 uses commercially available 1080P or more Cam for automobile.
The projection module includes the first projection module 3 and the second throwing that the left and right sides below windshield 1 is arranged in
Shadow module 9；Projection module in this example preferably uses the projection device of dmd chip, will be schemed using the micro-reflector on dmd chip
As projecting windshield 1, since driving aid prompting is to the of less demanding of image, the lower production of resolution ratio can be used
Product, such as the product of 800 × 600 resolution ratio with further decreasing for chip cost, then use higher rule to reduce cost
The chip of lattice.The light source of further preferred projection module uses laser light source or LED light source.
It is additionally provided with steering wheel angle sensor 103, steering wheel angle sensor 103 is electrically connected with main control module.The side of passing through
The wheelpath of vehicle is obtained to disk rotary angle transmitter 103.Can example for reference, such as backing track.
In Fig. 4 to 6, a method of using above-mentioned driving aid prompting system, comprising the following steps:
S1, dummy model is established；
Preferably, the dummy model of foundation includes the spatial position of driver's eyes, windshield 1 in step S1
Spatial position, the spatial position of acquisition module and projection module spatial position；
In modeling process, preferably to be between the first acquisition module 100 and the second acquisition module 101 between acquisition module
Midpoint be coordinate origin carry out space orientation；
The spatial position of driver's eyes, the spatial position of windshield 1, the spatial position of acquisition module and projection module
Spatial position three dimensional space coordinate is determined according to the relative position with coordinate origin；Preferably, driver's eyes can be two
Between midpoint as particle, windshield 1 is the fitting surface in glass inner layer face, and acquisition module is with video acquisition module 8
The position ccd is as particle, and projection module is using the position of dmd chip as particle.Operand is greatly decreased.
Dummy model in this example is using the midpoint between the first acquisition module 100 and the second acquisition module 101 as coordinate
X, Y, Z three-axis reference of origin.The spatial position of windshield 1, the spatial position of acquisition module and projection module space
The each vehicle in position has differences, and is demarcated before factory by producer.
S2, the spatial position for setting driver；
Preferably, the spatial position of setting driver, i.e., relatively empty between setting driver's eyes and windshield 1
Between position.The spatial position of driver's eyes is configured when driver uses for the first time.Set-up mode is arranged using artificial,
It is voluntarily adjusted according to the height sitting posture of driver.Since each individual human is different, it is therefore desirable to secondary adjustment.Specifically
Verification step be to be projected the video image acquired in real time to windshield 1 by projection module, driver is according to the weight of image
Folded degree is judged in place whether the spatial position of driver's eyes is adjusted.
Although there is error in the set-up mode, but after projecting to windshield 1, which can be ignored, or
Even if there are the usage experiences that slight error nor affects on driver by person.Data in step S1 and S2, store to master control set
Memory in, such as the solid state hard disk memory based on high speed.For the data that part high-frequency uses, then DRAM is stored in
In.
S3, information collection is carried out by acquisition module；
Preferably, the information of acquisition module acquisition includes the infrared image of left-right position, left-right position in step S3
The ultrasonic image of video image and left-right position；The information of acquisition is stored into the memory of master control set.
Wherein, the infrared image of left-right position movable pedestrian 5 and animal 10 for identification, the video image of left-right position
Barrier 2 for identification, the ultrasonic image of left-right position are used to determine the spatial position of pedestrian 5, animal 10 and barrier 2；
The ultrasonic image of left-right position obtains the coordinate of spatial position by triangle algorithm, according to the calculating energy of hardware
Power selects suitable floating-point operation precision.It should be noted that since the operating condition of the application is in high-speed motion state, such as 60
~100 kilometers/hour.In this state, if a large amount of hash will be generated by being all subject to identify in real time.Therefore pass through choosing
Select lesser floating-point operation precision.Such as only with 4~6 after decimal point floating point precisions, to improve arithmetic speed.
It further include the steering wheel angle information that steering wheel angle sensor 103 acquires, steering wheel angle information is for generating
Vehicle movement running track region, vehicle movement running track region are stored into the memory of master control set.The specific steps are,
The deflection angle of wheel is calculated according to steering wheel angle, wheel rolls to obtain the running track of vehicle along deflection angle.It will fortune
Row track is extended according to the width of vehicle to get to vehicle running track region, and the coordinate in running track region is converted
For preset coordinate system, by video image textures to dummy model Y-Z plane as shown in Figure 8.Running track region is from driving
The region of the video image of the person of sailing visual angle covering is the overlap-add region of running track region and video image.The driver
Visual angle refers in dummy model in the virtual video camera institute acquired image of the eye position setting of driver, this example
For the contour images in vehicle running track region.In the case of single acquisition module, one group of overlap-add region is only generated, in double acquisitions
In the case of module, two groups of overlap-add regions are generated, individually processing, subsequent image processing step are identical.It is further preferred that
In double acquisition module high-speed motions, one group of overlap-add region can also be retained only to improve arithmetic speed.
S4, information sifting is carried out；
Preferably, by infrared image and video and graph compound, the video image that highlight regions in infrared image are covered,
First profile figure is generated according to color difference threshold between pixel；The contour pattern facilitate prompt driver's seat in pedestrian 5 or
Animal 10, especially advantageous, the program is used to prompt the child positioned at driver's visual angle blind zone.As shown in figure 1, due to small
The awareness of safety of child is insufficient, also have in reality it is many because child driver's visual angle blind zone play and caused by traffic thing
Therefore.Scheme in the present invention can greatly avoid the generation of this tragedy.In the case of single acquisition module, one group is only generated
Superposed graph generates two groups of superposed graphs in the case of double acquisition modules, individually processing, subsequent image processing step
It is identical.
Highlight regions be object have heat actively diverging and by the collected region of infrared collecting module 7, pass through setting
Threshold value obtains the profile of highlight regions, which is arranged as the case may be.By taking RGB color domain as an example, infrared collecting module 7 is generated
Single color colour gamut be 0~255 range, take some median as threshold value, such as 180 as needed, the color more than 180
Value is judged as highlight regions.
By running track region and video and graph compound, the video image except running track region is deleted, deletes mode
For the anti-video image selected except vehicle movement running track region, delete.Search the pixel saltation zone in remaining video image
Domain generates the second contour pattern according to color difference threshold between pixel, and the specific steps are the adjacent pixel of remaining video image is done phase
Subtract operation, seek the absolute value of difference, set some value as threshold value, such as the absolute value of difference reaches 50 and is judged as that pixel is prominent
Become region, with the profile of curve matching pixel sudden change region to get to the second contour pattern.Second contour pattern helps to identify
The front truck tailstock, road surface falling rocks collapse well head, usually will form pixel sudden change region between the edge of these objects and road surface.
The operand of image recognition can be greatly decreased in the program, for the region except wheelpath 4 be not necessarily into
Row image recognition.And the second contour pattern for being labeled out is all to threaten safe driving biggish barrier 2, to make this
The driving aid prompting of invention can obtain the attention of driver, be neglected to avoid because of more invalid information by driver
Slightly.It is described that biggish barrier 2 is threatened to safe driving, such as the well head or front truck of falling rocks, well lid damage positioned at road surface
The tailstock.
It is positioned according to spatial position of the ultrasound image to first profile figure and the second contour pattern.Preferably herein
Ultrasound image be to be returned by the HG-C40U ultrasonic sensor of Hagisonic company to barrier and pedestrian 5, animal 10
Distance matrix parameterized graphics, usual precision is higher, then matrix parameter data are huger, and corresponding relationship is exponential relationship.It should
Distance matrix parameterized graphics are Chong Die with first profile figure and the second contour pattern.Due to ultrasonic sensor and video sensor it
Between distance it is close, parallax can be ignored both in overlay process, as the scape between ultrasonic sensor and video sensor
Deep error needs to be demarcated in producer according to different sensors, and different zoom factors is arranged for different sensors,
So that it is guaranteed that the precise overlay of figure.By the spatial position that can be calculated first profile figure and the second contour pattern.I.e.
By distance matrix parameter assignment to first profile figure and the second contour pattern, then according to distance matrix parameter conversion at unified
The space coordinate of coordinate origin.Specific calculation referring to figs. 7 and 8, space coordinate usually in video identification scheme
It accurately calculates and needs to carry out operation using disparity computation combination three-dimensional coordinate formula, operand is larger.And in this application, pass through
Operand is greatly reduced using the combination of ultrasound acquisition module 6, infrared collecting module 7, video acquisition module 8.Such as Fig. 7
In, need to know the coordinate of the E point in pedestrian 5, due to the coordinate of the first acquisition device 100 and the second acquisition device 101
Setting, and it is known, the coordinate of available E point on the y axis is projected from first profile figure in Y-axis.Because before
The step of in, by video image textures to dummy model Y-Z plane as shown in Figure 8, therefore the seat of E point on the y axis
Coordinate on mark and z-axis is it is known that need coordinate of the only E point found out in x-axis.As shown in Figure 7, when the coordinate of EY
Know, then the distance of O2EY and O1EY is it is known that by ultrasound acquisition module 6 apart from assignment, then the distance of O2E and O1E is it is known that by straight
Angle Triangle Formula can find out the value of EX.
That is EX2=O2E2-O2EY2；And
EX2=O1E2-O1EY2；
Due to the acquisition device position of left and right, leading to the coordinate of E point on the y axis, there are errors, can be by average public affairs
Formula reduces error so that operand is greatly decreased.That is OEY=OEY1+OEY2/2；
OEY is the length of practical OEY, OEY1 for the first profile figure of the first acquisition device 100 E point on the y axis
For coordinate to the distance of origin O, OEY2 is the E point coordinate on the y axis of the first profile figure of the second acquisition device 101 to origin
The distance of O.
Preferably, carrying out space orientation by coordinate origin of the midpoint between acquisition module in position fixing process.Thus
Scheme, to reduce operand.
S5, by the information MAP after screening to dummy model；
Preferably, the spatial position of first profile figure and the second contour pattern, which is introduced into dummy model, obtains first
Contour pattern and the second contour pattern are in the position of windshield 1；
Specific mapping process is, from the spatial position of virtual driver's eyes to first profile figure and the second profile
Figure draws multiple line segments, and the point that each line segment intersects with the windshield 1 in dummy model is first profile figure and the
Mapping of two contour patterns on dummy model is preferably drawn from the jagged position of first profile figure and the second contour pattern
One line segment, and smoothed curve then draws at least three line segments, respectively two-end-point and midpoint.By various discrete point with straight line or
Curve connection is fitted to first profile figure and the second contour pattern and exists to get to first profile figure and the second contour pattern
Projection coordinate on windshield 1.Different fitting precisions is used according to hardware resource.By the mapping in dummy model,
The position and specific shape of first profile figure and the second contour pattern in windshield 1 are obtained.
S6, projection module project the information after screening to windshield 1 with contour images.
First projection module 3 and the second projection module 9 project first profile figure and the second contour pattern to front glass
Glass 1, wherein the half of the first projection module 3 and each responsible projection windshield 1 of the second projection module 9.Thus step obtain from
Object equitant driving aid prompting image of the driver side into observation and reality.I.e. from the visual angle of driver, to driving
Safety most dangerous barrier 2, pedestrian 5 and animal 10 are sketched the contours of by first profile figure and the second contour pattern with highlighted
It has been shown that, to remind driver to pay attention to avoiding, to greatly improve traffic safety.Driving aid prompting can obtain after screening
The abundant trust of driver.Calculation amount can be greatly reduced in the mode that each acquisition module is combined, and improve treatment effeciency.
In another optional scheme, it is orthogonal that the first projection module 3 and the second projection module 9 emit polarization angle respectively
Polarized lightwave, the polarized lightwave of the first projection module 3 and the second projection module 9 respectively corresponds binocular vision, and driver passes through
Polarising glass obtains stereopsis, and the first projection module 3 and the second projection module 9 are responsible for the projection of entire windshield 1 at this time.
First projection module 3 and the second projection module 9 use laser projection module.The scheme of modulating polarization light wave is: in the first projection
One piece of polarized lens is respectively provided in the projecting light path of module 3 and the second projection module 9, which can pass through inclined
The polarization angle of vibration light wave is orthogonal.
The above embodiments are only the preferred technical solution of the present invention, and are not construed as limitation of the invention, this hair
Bright protection scope should be with the technical solution of claim record, technical characteristic in the technical solution recorded including claim
Equivalents are protection scope.Equivalent replacement i.e. within this range is improved, also within protection scope of the present invention.By
It is limited in length, is difficult to record whole composite structures of each technical characteristic in this example, therefore, under the premise of not conflicting mutually,
Combination that can be mutual between each technical characteristic, to obtain more composite structures.
Claims (10)
1. a kind of driving aid prompting system, it is characterized in that: it includes that multiple settings are believed in front of the car for acquiring barrier
The acquisition module of breath, acquisition module are electrically connected with main control module, and main control module is electrically connected with projection module.
2. driving aid prompting system according to claim 1, it is characterized in that: the acquisition module includes being arranged on a left side
The first acquisition module (100) and the second acquisition module (101) of right two sides；
First acquisition module (100) and the second acquisition module (101) respectively includes ultrasound acquisition module (6), infrared adopts
Collect module (7) and video acquisition module (8)；
Wherein infrared image movable pedestrian (5) and animal (10) for identification, video image barrier (2) for identification, surpasses
Sound shadow picture is used to determine the spatial position of pedestrian (5), animal (10) and barrier (2)；
The projection module includes that setting first projection module (3) of the left and right sides and second below windshield (1) is thrown
Shadow module (9)；
Projection module is for projecting information to windshield (1)；
It is additionally provided with steering wheel angle sensor (103), steering wheel angle sensor (103) is electrically connected with main control module.
3. a kind of method using driving aid prompting system as claimed in claim 2, it is characterized in that the following steps are included:
S1, dummy model is established；
S2, the spatial position for setting driver；
S3, information collection is carried out by acquisition module；
S4, information sifting is carried out；
S5, by the information MAP after screening to dummy model；
S6, projection module project the information after screening to windshield (1) with contour images.
4. the method for driving aid prompting system according to claim 3, it is characterized in that: in step S1, foundation it is virtual
Model includes the spatial position of driver's eyes, the spatial position of windshield (1), the spatial position of acquisition module and projective module
The spatial position of block.
5. the method for driving aid prompting system according to claim 3, it is characterized in that: setting driver in step S2
Spatial position, be the relative tertiary location being arranged between driver's eyes and windshield (1).
6. the method for driving aid prompting system according to claim 3, it is characterized in that: acquisition module is adopted in step S3
The information of collection includes the infrared image, video image and ultrasonic image of left-right position, and wherein infrared image is movable for identification
Pedestrian (5) and animal (10), barrier (2), ultrasonic image are used to determine pedestrian (5), animal (10) video image for identification
With the spatial position of barrier (2)；
It further include the steering wheel angle information of steering wheel angle sensor (103) acquisition, steering wheel angle information is for generating vehicle
Movement running track region.
7. the method for driving aid prompting system according to claim 6, it is characterized in that: in step S4, by infrared image
With video and graph compound, the video image that infrared image highlight regions are covered generates the first round according to color difference threshold between pixel
Wide figure；
By running track region and video and graph compound, the video image except running track region is deleted, searches remaining video
Pixel color and jump in brightness region in image generate the second contour pattern according to color difference threshold between pixel；
It is positioned according to spatial position of the ultrasound image to first profile figure and the second contour pattern.
8. the method for driving aid prompting system according to claim 7, it is characterized in that: in position fixing process, with acquisition
Midpoint between module is that coordinate origin is positioned；
The spatial position of driver's eyes, the spatial position of windshield (1), the spatial position of acquisition module and projection module
Spatial position determines three dimensional space coordinate according to the relative position with coordinate origin.
9. the method for driving aid prompting system according to claim 7 or 8, it is characterized in that: by first profile figure and
The spatial position of second contour pattern is introduced into dummy model, obtains first profile figure and the second contour pattern in windshield
(1) position；Line segment, line are drawn from the spatial position of virtual driver's eyes to first profile figure and the second contour pattern
The point that section is intersected with the windshield (1) in dummy model is first profile figure and the second contour pattern on dummy model
Mapping；
First projection module (3) and the second projection module (9) by the first profile figure of mapping and the second contour pattern project to
Windshield (1).
10. the method for driving aid prompting system according to claim 9, it is characterized in that: the first projection module (3) and the
Two projection modules (9) emit the mutually perpendicular polarized lightwave of polarization angle, the first projection module (3) and the second projection module respectively
(9) polarized lightwave respectively corresponds binocular vision, and driver obtains stereopsis by polarising glass.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112966668A (en) * | 2021-04-06 | 2021-06-15 | 中交三公局第一工程有限公司 | Intelligent fire-fighting early warning system |
| CN112987002A (en) * | 2021-02-22 | 2021-06-18 | 广州大学 | Obstacle danger identification method, system and device |
| CN115273552A (en) * | 2022-09-19 | 2022-11-01 | 南通立信自动化有限公司 | HMI control system of automobile instrument |
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| CN115273552A (en) * | 2022-09-19 | 2022-11-01 | 南通立信自动化有限公司 | HMI control system of automobile instrument |
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| CN109895697B (en) | 2020-06-09 |
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