CN110341640A - A kind of visual early warning system of car and its mobile detection alarming method for power - Google Patents
A kind of visual early warning system of car and its mobile detection alarming method for power Download PDFInfo
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- CN110341640A CN110341640A CN201810284960.3A CN201810284960A CN110341640A CN 110341640 A CN110341640 A CN 110341640A CN 201810284960 A CN201810284960 A CN 201810284960A CN 110341640 A CN110341640 A CN 110341640A
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- vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Multimedia (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention relates to a kind of visual early warning system of car and its mobile detection alarming method for power, specially when vehicle is within the scope of setting speed, when in steering or starting state, and the interior object with vehicle body relative movement of setting range around real-time detection vehicle body；If detecting the object for existing in setting range around vehicle body and relatively moving with vehicle body, show that image is around vehicle body to show corresponding object.The present invention is applied to the field vehicle ADAS, so that vehicle periphery relative movement object is effectively detected and is looked around image by 360 ° and is clearly apparent barrier, solves the problems, such as to easily lead to accident due to vehicle body blind area.
Description
Technical field
The present invention relates to a kind of visual early warning system of car and its mobile detection alarming method for power, belong to vehicle assistant drive skill
Art field.
Background technique
Due to factors such as body of a motor car, height of seat, headstock length, driver's height, vehicle sizes, deposit vehicle periphery
In physics blind area, and the bigger blind area range of car body is bigger, and the vehicle blind area range that chassis is higher, wheelbase is longer is also bigger, and vehicle
Turned, moved backward etc. operation when easily cause the safety accident as caused by blind area, so vehicle blind zone detection is for car row
It is most important for vehicle safety.
Some vehicles currently on the market have been equipped with 360 ° of viewing systems, are put in storage safely when for vehicle backing, but vehicle
Straight trip and the biggish car in Ackermann steer angle, especially blind area, it is difficult to notice the barrier around vehicle body, and cannot pass through
Image detection identifies the relative movement object of vehicle periphery and reminds driver in time, it is difficult to effectively avoid the non-reversing of vehicle
The safety accident as caused by blind area under state.
Summary of the invention
The object of the present invention is to provide a kind of visual early warning system of car and its mobile detection alarming method for power, to solve by
There are security risks when the long car of the high wheelbase of vehicle body has larger physics blind area and car is caused to start to walk and turn to.
To achieve the above object, the solution of the present invention includes:
A kind of mobile detection alarming method for power of vehicle vision early warning system of the invention, includes the following steps:
1) when vehicle is within the scope of setting speed, when in steering or starting state, model is set around real-time detection vehicle body
The object relatively moved in enclosing with vehicle body；
If 2) detect the object for existing in setting range around vehicle body and relatively moving with vehicle body, shows and scheme around vehicle body
As to show corresponding object.
Further, in step 2), image looks around image for 360 ° around the vehicle body.
Further, in step 2), audible alarm is also carried out.
Further, in step 2), image subscript is also looked around at 360 ° by framework and knows the object relatively moved with vehicle body.
Further, it in step 1), when the vehicle is stopped, also detects around vehicle body and is relatively moved in setting range with vehicle body
Object.
Further, it is opened by detection steering signal of vehicle lamp to confirm that vehicle is in steering state.
Further, 0km/h is greater than by detection car speed and is less than 5km/h to confirm that vehicle is in starting state.
Further, it includes higher than roof height looking around picture, being higher than in face of vehicle rear that described 360 °, which are looked around image,
Roof height is higher than roof height and looks around picture in face of two sides of vehicle in face of look around picture and two of front part of vehicle.
A kind of vehicle vision early warning system of the invention, including processor, the processor realize following sides for executing
The instruction of method:
1) when vehicle is within the scope of setting speed, when in steering or starting state, model is set around real-time detection vehicle body
The object relatively moved in enclosing with vehicle body；
If 2) detect the object for existing in setting range around vehicle body and relatively moving with vehicle body, shows and scheme around vehicle body
As to show corresponding object.
Further, in step 2), image looks around image for 360 ° around the vehicle body.
Further, in step 2), audible alarm is also carried out.
Further, in step 2), image subscript is also looked around at 360 ° by framework and knows the object relatively moved with vehicle body.
Further, it in step 1), when the vehicle is stopped, also detects around vehicle body and is relatively moved in setting range with vehicle body
Object.
Further, it is opened by detection steering signal of vehicle lamp to confirm that vehicle is in steering state.
Further, 0km/h is greater than by detection car speed and is less than 5km/h to confirm that vehicle is in starting state.
Further, it includes higher than roof height looking around picture, being higher than in face of vehicle rear that described 360 °, which are looked around image,
Roof height is higher than roof height and looks around picture in face of two sides of vehicle in face of look around picture and two of front part of vehicle.
The invention has the benefit that
Method of the invention is based on Image Acquisition around vehicle body, increases mobile detection function on the basis of travelling image,
When vehicle periphery exists relative to the mobile object of vehicle body, driver is reminded by sound-light alarm in time, is effectively prevent because of vehicle
The probability that accident occurs caused by the presence of blind area.
Detailed description of the invention
Fig. 1 is mobile detection alert logic chart；
Fig. 2 (a) is 360 degree of viewing system mobile detection effect pictures；
Fig. 2 (b) is that 360 degree of viewing systems look around the functional effect figure that rotates；
Fig. 3 is mobile detection algorithm flow chart.
Specific embodiment
The present invention will be further described in detail with reference to the accompanying drawing.
The mobile detection alarming method for power control logic figure of vehicle vision early warning system of the invention as shown in Figure 1, passes through
Image collecting device provided around vehicle body (such as fish-eye camera) obtains vehicle body ambient condition information and passes through image procossing
Identify the object of relative movement.In the present embodiment, image information around car body is obtained by 360 ° of viewing systems and be fitted
Look around picture at 360 °, and detect the relative movement object in early warning range around car body in addition to road surface, for example, pedestrian, vehicle and
Other are higher by the road adjunct on road surface, fixed buildings etc..360 ° of viewing system real-time monitoring car speeds simultaneously, work as vehicle
When speed is higher than a given threshold, it is set to 60 kilometers per hour in the present embodiment, it is believed that it is good open that vehicle is in road conditions
It runs at high speed on road surface, does not alarm at this time the relative movement object detected in early warning range.The early warning range can be with
It is set, such as is detected opposite with animal within 3 meters around car body according to vehicle blind zone situation.
When car speed is lower than 60 kilometers of threshold speeds hourly, system judges three kinds of situations of vehicle, and at this
Mobile detection alert is carried out in the case of three kinds；Three kinds of situations are respectively astern condition, steering situation and run at a low speed operating condition.When
When 360 ° of viewing systems judge that vehicle is in reverse gear by the gear position sensor of vehicle, it is believed that vehicle is in astern condition, opens
Mobile detection in dynamic setting range, and after detecting the object for meeting relative movement condition, it issues buzz prompt and drives
Member, and corresponding relative movement is identified with red frame on 360 ° of fitting monitoring images of the interior monitor of 360 ° of viewing systems
Object, or the red collimation mark in car body side for relative movement object occur is known, (with the vehicle right side in figure as shown in Fig. 2 (a), Fig. 2 (b)
The black surround of side indicates).When steering wheel angle sensor is opened or passed through to the side marker light that 360 ° of viewing systems detect vehicle
When judging that vehicle is in steering state, and detecting that vehicle speed per hour is in 5~60km/h by velocity sensor, it is believed that vehicle
In steering situation, start the mobile detection in setting range, in the setting range that can also only start that side turned to
Mobile detection, and after detecting the object for meeting relative movement condition, it issues buzz and prompts driver, and looked around at 360 °
Corresponding relative movement object is identified with red frame on 360 ° of fitting monitoring images of the interior monitor of system, or phase will occur
The red collimation mark in car body side of motive objects is known, (is indicated as shown in Fig. 2 (a), Fig. 2 (b) in figure with the black surround of vehicle right side)；When
360 ° of viewing systems detect that speed is in 5~60km/h, and vehicle is not detected has to turn to and be intended to or when steering state, no
Start mobile detection.When detecting that vehicle speed per hour is in 0~5km/h by velocity sensor, (speed is greater than 0, including speed
It is extremely low but still in drive shift), it is believed that vehicle is in and runs at a low speed operating condition, starts the mobile detection in setting range, and detecing
After measuring the object for meeting relative movement condition, issues buzz and prompt driver, and in the interior monitoring of 360 ° of viewing systems
Corresponding relative movement object, or the car body that relative movement object will occur are identified with red frame on 360 ° of fitting monitoring images of device
Side is known with red collimation mark, (is indicated as shown in Fig. 2 (a), Fig. 2 (b) in figure with the black surround of vehicle right side).
In addition, (speed is equal to zero, but still in starting state, including but not limited to vehicle is in sky when the vehicle is stopped
Situations such as shelves, park position), start the mobile detection in setting range, and after detecting the object for meeting relative movement condition,
Not buzzing prompts driver, is only identified on 360 ° of fitting monitoring images of the interior monitor of 360 ° of viewing systems with red frame
Corresponding relative movement object, or the red collimation mark in car body side for relative movement object occur is known, as shown in Fig. 2 (a), Fig. 2 (b)
(being indicated in figure with the black surround of vehicle right side).
It moves backward, turn to, running at a low speed under three kinds of operating conditions, the highest priority of astern condition, i.e., when vehicle speed is lower than
60km/h, and when vehicle is in reverse gear, centainly start mobile detection；It is high to run at a low speed preferential level, i.e., when vehicle speed is lower than
5km/h, and when being not in dead ship condition, centainly start mobile detection；When speed is in 5~60km/h, system judges vehicle again
Whether have turn to be intended to or whether be in steering state, if having turn to be intended to or steering state, start mobile detection；
Intention or steering state are turned to if not having, does not start mobile detection.
Look around around rotating function: for example when there is a passenger getting on/off, vehicle opened the door, shutdown movement when, triggering look around around
Turn effect.Circulation display or four visual angles of split screen display available vehicle periphery is quasi- on the interior monitor of specially 360 ° viewing systems
Monitoring image is closed, four visual angles are respectively；Front upper place visual angle, including vehicle frontal are fitted monitoring image；Back upper place visual angle, including
Vehicle back is fitted monitoring image (shown in such as Fig. 2 (b))；Visual angle above left side, including vehicle left side face are fitted monitoring image；It is right
Upper side visual angle, including vehicle right side face are fitted monitoring image.In circulation display, each visual angle shows 3-10S on a monitor,
It can according to circumstances adjust.Vehicle body circle-of-sight visibility can be seen without dead angle around rotating function by looking around, and detect vehicle periphery
Warning note driver is carried out when in the presence of relative movement object, guarantees that vehicle is started to walk in the secure state, vehicle is effectively reduced and rises
Safety accident caused by step.
Mobile detection principle is as shown in figure 3, realize moving Object Detection by optical flow method, front and back two is detectd image comparison, sentenced
Break its variable quantity, judges whether there is relative movement object according to variable quantity, to detect relative movement object.
The present invention is comprehensive, seeing around vehicle body without dead angle by 360 ° of viewing systems, in vehicle stationary state
It (< 60km/h) mobile detection and can be realized alarm under lower and driving status, in vehicle start, park, turn, meeting, rule
When obstacle avoidance, facilitate driver safety driving, effectively reduce lane change risk and avoids vehicle from scratching, even collides rolloff
Etc. accidents generation.And different early warning forms is carried out according to vehicle different condition, guarantees do not influencing driver's impression
Meanwhile improving drive safety.
Main idea of the invention is to pass through the processing to image around vehicle body, detecting real-time week under specific driving states
Mobile barrier is enclosed, and is sounded an alarm to driver, driver is reminded to pay attention to avoiding；360 degree of rings are used in above-described embodiment
Acquisition device of the viewing system as image around vehicle body can also be using other sensings around vehicle body as other embodiments
Device identifies the moving obstacle of surrounding, and is shown on the picture of other image acquisition devices.
Claims (10)
1. a kind of mobile detection alarming method for power of vehicle vision early warning system, which comprises the steps of:
1) when vehicle is within the scope of setting speed, when in steering or starting state, around real-time detection vehicle body in setting range
With the object of vehicle body relative movement；
If 2) detect the object for existing in setting range around vehicle body and relatively moving with vehicle body, show around vehicle body image with
Show corresponding object.
2. a kind of mobile detection alarming method for power of vehicle vision early warning system according to claim 1, which is characterized in that step
It is rapid 2) in, around the vehicle body image be 360 ° look around image.
3. a kind of mobile detection alarming method for power of vehicle vision early warning system according to claim 1, which is characterized in that step
It is rapid 2) in, also progress audible alarm.
4. a kind of mobile detection alarming method for power of vehicle vision early warning system according to claim 2, which is characterized in that step
It is rapid 2) in, also by framework looked around at 360 ° image subscript know with vehicle body relative movement object.
5. a kind of mobile detection alarming method for power of vehicle vision early warning system according to claim 1, which is characterized in that step
It is rapid 1) in, when the vehicle is stopped, also detect the object around vehicle body in setting range with vehicle body relative movement.
6. a kind of mobile detection alarming method for power of vehicle vision early warning system according to claim 1, which is characterized in that logical
Detection steering signal of vehicle lamp is crossed to open to confirm that vehicle is in steering state.
7. a kind of mobile detection alarming method for power of vehicle vision early warning system according to claim 1, which is characterized in that logical
Detection car speed is crossed greater than 0km/h and is less than 5km/h to confirm that vehicle is in starting state.
8. a kind of mobile detection alarming method for power of vehicle vision early warning system according to claim 2, which is characterized in that institute
Stating 360 ° and looking around image includes that looking around picture, being higher than roof height in face of front part of vehicle for vehicle rear is faced higher than roof height
Look around picture and two be higher than roof height and look around picture in face of two sides of vehicle.
9. a kind of vehicle vision early warning system, including processor, which is characterized in that the processor realizes following sides for executing
The instruction of method:
1) when vehicle is within the scope of setting speed, when in steering or starting state, around real-time detection vehicle body in setting range
With the object of vehicle body relative movement；
If 2) detect the object for existing in setting range around vehicle body and relatively moving with vehicle body, show around vehicle body image with
Show corresponding object.
10. a kind of vehicle vision early warning system according to claim 9, which is characterized in that in step 2), the vehicle body week
It encloses image and looks around image for 360 °.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810284960.3A CN110341640A (en) | 2018-04-02 | 2018-04-02 | A kind of visual early warning system of car and its mobile detection alarming method for power |
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| CN201810284960.3A CN110341640A (en) | 2018-04-02 | 2018-04-02 | A kind of visual early warning system of car and its mobile detection alarming method for power |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112389287A (en) * | 2020-10-19 | 2021-02-23 | 恒大新能源汽车投资控股集团有限公司 | Vehicle seat safety control method and device, terminal and vehicle seat |
| CN112818726A (en) * | 2019-11-15 | 2021-05-18 | 杭州海康威视数字技术股份有限公司 | Vehicle violation early warning method, device, system and storage medium |
| WO2022016730A1 (en) * | 2020-07-23 | 2022-01-27 | 深圳市健创电子有限公司 | Safety alert method and system for vehicle driving, and related apparatus |
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