CN111231831B - Vehicle narrow-road passage detection method, electronic equipment and automobile - Google Patents
Vehicle narrow-road passage detection method, electronic equipment and automobile Download PDFInfo
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- CN111231831B CN111231831B CN202010158798.8A CN202010158798A CN111231831B CN 111231831 B CN111231831 B CN 111231831B CN 202010158798 A CN202010158798 A CN 202010158798A CN 111231831 B CN111231831 B CN 111231831B
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8093—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for obstacle warning
Abstract
The invention discloses a vehicle narrow-road traffic detection method, electronic equipment and an automobile, wherein the method comprises the following steps: detecting the minimum driving distance between the obstacles on two sides in front of the road and the maximum height of the obstacles on the two sides as the height of the obstacle; and selecting the vehicle body detection width according to the height of the obstacle, and determining the passing operation according to the difference between the vehicle body detection width and the minimum driving distance. The invention selects and applies different detection algorithms according to the height of the obstacle aiming at different typical obstacles, thereby achieving more accurate detection. The invention adds the function of narrow-road auxiliary traffic through software and algorithm design without adding extra hardware on the basis of fusing hardware of the automatic parking system. Reliable auxiliary reminding is provided for the old and the new drivers in dangerous narrow road scenes through a reasonable software logic algorithm.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a narrow-road vehicle passing detection method, electronic equipment and an automobile.
Background
The diversification of present road, when faced the narrow way, the driver need judge by oneself according to experience both sides or unilateral barrier distance height when the narrow way, and especially to novice driver the degree of difficulty is quite big, detects the environmental aspect through ultrasonic wave or camera among the present prior art and reports to the police or show the concatenation image so that the driver judges whether can pass or not, or provides barrier information for the driver reference in the current process and prevents scraping. At present, the prior patent proposes that the width or height of a lane is detected by a sensor unit to be compared with the width or height of a vehicle, and if the vehicle cannot pass through the lane, an alarm is given, even under dangerous conditions, assistance such as braking can be provided, but the technologies are not intelligent enough, a system can only calculate the comparison relation between the vehicle and the environment through a preset threshold value, and the system prompts that the alarm cannot pass through and even braking intervention is carried out beyond the range of the set threshold value of the system, and ignores the matching degree of the driving capacity of a driver and the actual environment, for example, the threshold value of a novice driver passing through a narrow road needs to be larger than the threshold value of a skilled driver. In addition, the types of the obstacles are not classified, and the same algorithm is used for calculating whether the obstacles exist in the driving direction or not as long as the obstacles exist in the driving direction, so that the prior art is not flexible enough and not intelligent enough.
Disclosure of Invention
Based on this, it is necessary to provide a vehicle narrow-road passage detection method, an electronic device, and an automobile, for solving the technical problems that the narrow-road passage detection technology in the prior art is not flexible enough, not intelligent enough, and cannot identify different scenes.
The invention provides a vehicle narrow road passing detection method, which comprises the following steps:
detecting the minimum driving distance between the obstacles on two sides in front of the road and the maximum height of the obstacles on the two sides as the height of the obstacle;
and selecting the vehicle body detection width according to the height of the obstacle, and determining the passing operation according to the difference between the vehicle body detection width and the minimum driving distance.
The invention selects and applies different detection algorithms according to the height of the obstacle aiming at different typical obstacles, thereby achieving more accurate detection. The invention adds the function of narrow-road auxiliary traffic through software and algorithm design without adding extra hardware on the basis of fusing hardware of the automatic parking system. Reliable auxiliary reminding is provided for the old and the new drivers in dangerous narrow road scenes through a reasonable software logic algorithm.
Further, the selecting the vehicle body detection width according to the height of the obstacle specifically includes:
if the height of the obstacle is smaller than a preset height threshold value, selecting the vehicle body detection width as the width of a vehicle without an external rearview mirror;
and if the height of the obstacle is greater than or equal to a preset height threshold value, selecting the vehicle body detection width as the vehicle width including the external rearview mirror.
According to the embodiment, the height of the obstacle on the narrow road is detected to distinguish the high and low obstacles, typical obstacles such as wall surfaces and stone piers are distinguished, and different obstacle algorithm reference parameters are selected by judging whether the vehicle exterior rearview mirror is damaged or not.
Further, the determining the passing operation according to the difference between the detected width of the vehicle body and the minimum distance that can be traveled specifically includes:
if the vehicle body detection width is larger than or equal to the minimum driving distance, executing the illegal passing operation;
if the sum of the vehicle body detection width and the system safety distance parameter is larger than or equal to the minimum travelable distance, performing a cautious passing operation;
and if the sum of the vehicle body detection width and the system safety distance parameter is less than the minimum travelable distance, executing the risk-free passing operation.
The embodiment selects corresponding pass operation according to different detection results.
Further:
the impassable operation is to execute impassable warning reminding; or
The cautious passage operation is to execute slow passage reminding, activate a look-around system, activate a reversing radar system, and/or display obstacle actual distance information in the look-around system; or
The risk-free passing operation is a prompt-free operation.
The current minimum distance in road surface is calculated through detecting the barrier when this embodiment passes through the narrow way, when the system predicts current when having the risk, initiatively activates the look around system to the real-time barrier distance that superposes ultrasonic detection assists the driver to pass through safely.
Still further, still include:
responding to a safe distance adjusting request, and acquiring a user safe distance parameter;
and updating the system safety distance parameter to the user safety distance parameter.
The embodiment designs the vehicle passing safety distance into the driver self-defined parameter to adapt to the drivers with different proficiency, avoid the frequent triggering of the system to induce the aversion, also provide high-tech intelligent experience for the new driver.
The invention provides a vehicle narrow road passing detection electronic device, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the one processor to cause the at least one processor to:
detecting the minimum driving distance between the obstacles on two sides in front of the road and the maximum height of the obstacles on the two sides as the height of the obstacle;
and selecting the vehicle body detection width according to the height of the obstacle, and determining the passing operation according to the difference between the vehicle body detection width and the minimum driving distance.
The invention selects and applies different detection algorithms according to the height of the obstacle aiming at different typical obstacles, thereby achieving more accurate detection. The invention adds the function of narrow-road auxiliary traffic through software and algorithm design without adding extra hardware on the basis of fusing hardware of the automatic parking system. Reliable auxiliary reminding is provided for the old and the new drivers in dangerous narrow road scenes through a reasonable software logic algorithm.
Further, the selecting the vehicle body detection width according to the height of the obstacle specifically includes:
if the height of the obstacle is smaller than a preset height threshold value, selecting the vehicle body detection width as the width of a vehicle without an external rearview mirror;
and if the height of the obstacle is greater than or equal to a preset height threshold value, selecting the vehicle body detection width as the vehicle width including the external rearview mirror.
According to the embodiment, the height of the obstacle on the narrow road is detected to distinguish the high and low obstacles, typical obstacles such as wall surfaces and stone piers are distinguished, and different obstacle algorithm reference parameters are selected by judging whether the vehicle exterior rearview mirror is damaged or not.
Further, the determining the passing operation according to the difference between the detected width of the vehicle body and the minimum distance that can be traveled specifically includes:
if the vehicle body detection width is larger than or equal to the minimum driving distance, executing the illegal passing operation;
if the sum of the vehicle body detection width and the system safety distance parameter is larger than or equal to the minimum travelable distance, performing a cautious passing operation;
and if the sum of the vehicle body detection width and the system safety distance parameter is less than the minimum travelable distance, executing the risk-free passing operation.
The embodiment selects corresponding pass operation according to different detection results.
Further:
the impassable operation is to execute impassable warning reminding; or
The cautious passage operation is to execute slow passage reminding, activate a look-around system, activate a reversing radar system, and/or display obstacle actual distance information in the look-around system; or
The risk-free passing operation is a prompt-free operation.
The current minimum distance in road surface is calculated through detecting the barrier when this embodiment passes through the narrow way, when the system predicts current when having the risk, initiatively activates the look around system to the real-time barrier distance that superposes ultrasonic detection assists the driver to pass through safely.
Still further, the processor is further capable of:
responding to a safe distance adjusting request, and acquiring a user safe distance parameter;
and updating the system safety distance parameter to the user safety distance parameter.
The embodiment designs the vehicle passing safety distance into the driver self-defined parameter to adapt to the drivers with different proficiency, avoid the frequent triggering of the system to induce the aversion, also provide high-tech intelligent experience for the new driver.
The invention provides an automobile which comprises an automobile body and the electronic equipment, wherein the electronic equipment is used for detecting narrow-path passing of the automobile body.
The invention selects and applies different detection algorithms according to the height of the obstacle aiming at different typical obstacles, thereby achieving more accurate detection. The invention adds the function of narrow-road auxiliary traffic through software and algorithm design without adding extra hardware on the basis of fusing hardware of the automatic parking system. Reliable auxiliary reminding is provided for the old and the new drivers in dangerous narrow road scenes through a reasonable software logic algorithm.
Drawings
Fig. 1 is a flowchart illustrating a method for detecting narrow-road traffic of a vehicle according to an embodiment of the present invention;
FIG. 2 is a diagram illustrating an exemplary embodiment of the present invention;
FIG. 3 is a system diagram of the preferred embodiment of the present invention;
FIG. 4 is a flowchart of the operation of the preferred embodiment of the present invention when the system detects an obstacle height H < H1;
FIG. 5 is a flowchart illustrating the operation of the preferred embodiment of the present invention when the system detects that the height H ≧ H1;
fig. 6 is a schematic diagram of a hardware structure of the electronic device for detecting vehicle narrow passage according to the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples.
Fig. 1 is a flowchart illustrating a method for detecting narrow-path passage of a vehicle according to an embodiment of the present invention, which includes:
step S101, detecting the minimum driving distance between the obstacles on two sides in front of the road and the maximum height of the obstacles on two sides as the height of the obstacle;
and S102, selecting the vehicle body detection width according to the height of the obstacle, and determining the passing operation according to the difference between the vehicle body detection width and the minimum driving distance.
Fig. 2 shows a suitable scenario of the present invention, where B1 is the minimum distance between two obstacles on a road detected by a system, and the system can detect a specific value of B1 by performing obstacle fusion through an internal algorithm after detecting through a camera and ultrasonic waves; b1 is the width of the vehicle (not including the outer rearview mirror), and is set by the inside of the system; b2 is the width of the vehicle (including the outer rearview mirror) and is set through the inside of the system; b is a passing safety distance, a user can set the passing safety distance through a central control screen, and the threshold range can be set to be 0, bmax inside the system; h is the height of the barrier, and if the barriers are arranged on the two sides, the highest barrier is taken as the standard.
Specifically, the present invention is mainly applied to an on-vehicle Electronic Control Unit (ECU). The vehicle executes step S101 during traveling, and detects a minimum travelable distance B1 between the obstacles on both sides in front of the road and the maximum height of the obstacles on both sides as an obstacle height H. Then, step S102 is executed to select a vehicle body detection width according to the height of the obstacle, and determine a passing operation according to a difference between the vehicle body detection width and the minimum travelable distance. For example, when the system detects that the height H ≧ H1 of the obstacle, the system interior is judged as a high obstacle type, and when H < H1, the system interior is judged as a low obstacle type. Then, the vehicle body detection width related to the high obstacle type or the vehicle body detection width related to the low obstacle type is selected, respectively. And determining the passing operation according to the difference between the detected width of the vehicle body and the minimum driving distance.
The invention selects and applies different detection algorithms according to the height of the obstacle aiming at different typical obstacles, thereby achieving more accurate detection. The invention adds the function of narrow-road auxiliary traffic through software and algorithm design without adding extra hardware on the basis of fusing hardware of the automatic parking system. Reliable auxiliary reminding is provided for the old and the new drivers in dangerous narrow road scenes through a reasonable software logic algorithm.
In one embodiment, the selecting the vehicle body detection width according to the height of the obstacle specifically includes:
if the height of the obstacle is smaller than a preset height threshold value, selecting the vehicle body detection width as the width of a vehicle without an external rearview mirror;
and if the height of the obstacle is greater than or equal to a preset height threshold value, selecting the vehicle body detection width as the vehicle width including the external rearview mirror.
Specifically, as shown in fig. 2, when the system detects that the height H of the obstacle is less than the height threshold H1, the system determines that the inside of the system is a low obstacle type, such as a stone pillar, and the vehicle exterior mirror is not scratched, and the vehicle body detection width is selected to be the vehicle width b1 without the exterior mirror. When H is more than or equal to H1, the system internally judges the type of the high obstacle, for example: the wall can produce the scratch to the outside rear-view mirror of vehicle, then selects the automobile body to detect the width and be the vehicle width b2 who contains the outside rear-view mirror.
According to the embodiment, the height of the obstacle on the narrow road is detected to distinguish the high and low obstacles, typical obstacles such as wall surfaces and stone piers are distinguished, and different obstacle algorithm reference parameters are selected by judging whether the vehicle exterior rearview mirror is damaged or not.
In one embodiment, the determining the passing operation according to the difference between the detected width of the vehicle body and the minimum distance to be traveled specifically includes:
if the vehicle body detection width is larger than or equal to the minimum driving distance, executing the illegal passing operation;
if the sum of the vehicle body detection width and the system safety distance parameter is larger than or equal to the minimum travelable distance, performing a cautious passing operation;
and if the sum of the vehicle body detection width and the system safety distance parameter is less than the minimum travelable distance, executing the risk-free passing operation.
The embodiment selects corresponding pass operation according to different detection results.
In one embodiment:
the impassable operation is to execute impassable warning reminding; or
The cautious passage operation is to execute slow passage reminding, activate a look-around system, activate a reversing radar system, and/or display obstacle actual distance information in the look-around system; or
The risk-free passing operation is a prompt-free operation.
The current minimum distance in road surface is calculated through detecting the barrier when this embodiment passes through the narrow way, when the system predicts current when having the risk, initiatively activates the look around system to the real-time barrier distance that superposes ultrasonic detection assists the driver to pass through safely.
In one embodiment, the method further comprises the following steps:
responding to a safe distance adjusting request, and acquiring a user safe distance parameter;
and updating the system safety distance parameter to the user safety distance parameter.
Specifically, the system has a default safety distance parameter b, which is obtained by later calibration. The safe distance parameter that accuse screen set up arbitrary threshold value within range in the driver accessible is with the driver's ability of driving that adapts to different proficiency, and to skilled driver, the b value can set up for a short time, avoids the system frequently to trigger the warning and reduces user experience, can set up the b value for novice driver big partially, in time provides driver assistance when through narrow road surface a little, promotes science and technology and feels. The setting may be designed to be memorable, i.e., the value will not return to the default value upon powering up the vehicle again after powering down.
The embodiment designs the vehicle passing safety distance into the driver self-defined parameter to adapt to the drivers with different proficiency, avoid the frequent triggering of the system to induce the aversion, also provide high-tech intelligent experience for the new driver.
FIG. 3 is a system diagram of the preferred embodiment of the present invention, including: sensor unit (12 ultrasonic transducer and 4 all around looking at the camera), system control unit are controller, man-machine interaction warning unit instrument and well accuse screen (HU) device promptly, when the system detects current when having the risk, send image and sound through instrument and HU device and remind and assist the driver current, specifically:
the ultrasonic remote probes S1, S6, S7 and S12 have the detection distance of 4.5m, are arranged on the left side surface and the right side surface of the front protector and the rear protector, and have the installation height of 500 mm;
the ultrasonic probes S2, S3, S4, S5, S8, S9, S10 and S11 are arranged in front and back retainers at a detection distance of 2.2m according to the installation requirement of a reversing radar system;
the around-looking cameras C1, C2, C3, C4 and 200 ten thousand pixels effectively output 1080P;
Fig. 2 shows a suitable scenario of the preferred embodiment of the present invention, in which:
b1 is that the system detects the minimum driving distance between two obstacles on the road, the system can detect the obstacle fusion through the camera and the ultrasonic wave, and detects the specific value of B1;
b1 is the width of the vehicle (not including the outer rearview mirror), and is set by the inside of the system;
b2 is the width of the vehicle (including the outer rearview mirror) and is set through the inside of the system;
b is a passing safety distance, a user can set the passing safety distance through a central control screen, and the threshold range can be set to be 0, bmax inside the system;
h is the height of the barrier, if the barriers are arranged on the two sides, the highest barrier is taken as the standard, when the system detects that the height H of the barrier is larger than or equal to H1, the interior of the system is judged to be a high barrier type, and when the height H is smaller than H1, the interior of the system is judged to be a low barrier type;
h1: high barrier and low barrier distinguish threshold value, obtain through later stage mark, the purpose is that the barrier can not scratch outside of the vehicle rear-view mirror.
FIG. 4 is a flow chart showing the operation of the preferred embodiment of the present invention when the system detects the height H < H1 of the obstacle, which includes:
step S401, when the system detects that the height H of the obstacle is less than H1, the system judges that the obstacle is a short obstacle (a stone pier) and cannot scratch the outside rearview mirror of the vehicle, and the width of the vehicle is calculated by taking b1 as a reference;
step S402, if B1 is not less than B1, the system judges that the vehicle cannot pass through, and the system reminds that the front road cannot pass through an instrument and accompanies sound reminding;
and S403, if B1+ B is larger than or equal to B1, the system judges that the vehicle is scratched when passing or the driver is difficult to pass, the system reminds the driver of 'please slowly pass in a narrow road ahead' through an instrument in a text mode, the system actively activates the 360-around vision system at the moment, automatically activates the reversing radar system, displays the actual distance information of the obstacle in 360-around vision, and reminds the user of assisting the driver to slowly pass by the actual distance of the obstacle to the vehicle.
And S404, if B1+ B is less than B1, the system judges that the driver is not at risk of passing and does not give any prompt.
FIG. 5 is a flowchart illustrating the operation of the preferred embodiment of the present invention when the system detects the height H ≧ H1, which includes:
s501, when the system detects that the height H of the obstacle is larger than or equal to H1, the system judges that the obstacle is a high obstacle (such as a wall surface) and scratches an outside rearview mirror of the vehicle, and the width of the vehicle is calculated by taking b2 as a reference;
step S502, if B2 is not less than B1, the system judges that the vehicle cannot pass through, and the system reminds that the front road cannot pass through an instrument and reminds along with sound;
step S503, if B2+ B is larger than or equal to B1, the system judges that the vehicle has a scratch risk or the driver has difficulty in passing, the system reminds the driver of 'please slowly pass the narrow road ahead' through an instrument in a text mode, at the moment, the system actively activates a 360-around vision system, automatically activates a reversing radar system, displays the actual distance information of the obstacle in 360-around vision, and reminds a user of assisting the driver to slowly pass the obstacle and the actual distance from the vehicle;
and step S504, if B2+ B is less than B1, the system judges that the driver is not at risk of passing and does not make any prompt.
The system has a default safety distance parameter b, which is obtained by later calibration. The safe distance parameter that accuse screen set up arbitrary threshold value within range in the driver accessible is with the driver's ability of driving that adapts to different proficiency, and to skilled driver, the b value can set up for a short time, avoids the system frequently to trigger the warning and reduces user experience, can set up the b value for novice driver big partially, in time provides driver assistance when through narrow road surface a little, promotes science and technology and feels. The setting may be designed to be memorable, i.e., the value will not return to the default value upon powering up the vehicle again after powering down.
The invention adds the function of narrow-road auxiliary traffic through software and algorithm design without adding extra hardware on the basis of fusing hardware of the automatic parking system. Reliable auxiliary reminding is provided for the old and the new drivers in dangerous narrow road scenes through a reasonable software logic algorithm.
The invention distinguishes high and low obstacles by detecting the height of the obstacles on the narrow road, distinguishes typical obstacles such as wall surfaces, stone piers and the like, and selects different algorithm reference parameters of vehicle body width by judging whether the vehicle exterior rearview mirrors are damaged or not for different obstacles. Secondly, the minimum distance of road surface passing is calculated by detecting the obstacles in the narrow road, when the system predicts the passing risk, 360 is actively activated, and the real-time obstacle distance detected by ultrasonic waves is superposed to assist the driver to safely pass. Finally, the vehicle passing safety distance is designed into a driver self-defined parameter so as to adapt to drivers with different proficiency levels, avoid the frequent triggering of the system to induce the aversion, and provide high-tech intelligent experience for new drivers.
Fig. 6 is a schematic diagram of a hardware structure of an electronic device for detecting narrow-path passage of a vehicle according to the present invention, which includes:
at least one processor 601; and the number of the first and second groups,
a memory 602 communicatively coupled to the at least one processor 601; wherein the content of the first and second substances,
the memory 602 stores instructions executable by the one processor to cause the at least one processor to:
detecting the minimum driving distance between the obstacles on two sides in front of the road and the maximum height of the obstacles on the two sides as the height of the obstacle;
and selecting the vehicle body detection width according to the height of the obstacle, and determining the passing operation according to the difference between the vehicle body detection width and the minimum driving distance.
The Electronic device is preferably an Electronic Control Unit (ECU) of the current vehicle. In fig. 6, one processor 601 is taken as an example.
The electronic device may further include: an input device 603 and a display device 604.
The processor 601, the memory 602, the input device 603, and the display device 604 may be connected by a bus or other means, and are illustrated as being connected by a bus.
The memory 602, serving as a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the vehicle narrow-road passage detection method in the embodiment of the present application, for example, the method flow shown in fig. 1. The processor 601 executes various functional applications and data processing by running nonvolatile software programs, instructions and modules stored in the memory 602, that is, implements the vehicle narrow passage detection method in the above-described embodiment.
The memory 602 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the vehicle narrow passage detection method, and the like. Further, the memory 602 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 602 optionally includes memory remotely located from the processor 601, and these remote memories may be connected over a network to a device that performs the vehicle narrow passage detection method. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 603 may receive input user clicks and generate signal inputs related to user settings and functional control of the vehicle narrow passage detection method. The display device 604 may include a display screen or the like.
When the one or more modules are stored in the memory 602, and when executed by the one or more processors 601, the vehicle narrow-path passage detection method in any of the above-described method embodiments is performed.
The invention selects and applies different detection algorithms according to the height of the obstacle aiming at different typical obstacles, thereby achieving more accurate detection. The invention adds the function of narrow-road auxiliary traffic through software and algorithm design without adding extra hardware on the basis of fusing hardware of the automatic parking system. Reliable auxiliary reminding is provided for the old and the new drivers in dangerous narrow road scenes through a reasonable software logic algorithm.
In one embodiment, the selecting the vehicle body detection width according to the height of the obstacle specifically includes:
if the height of the obstacle is smaller than a preset height threshold value, selecting the vehicle body detection width as the width of a vehicle without an external rearview mirror;
and if the height of the obstacle is greater than or equal to a preset height threshold value, selecting the vehicle body detection width as the vehicle width including the external rearview mirror.
According to the embodiment, the height of the obstacle on the narrow road is detected to distinguish the high and low obstacles, typical obstacles such as wall surfaces and stone piers are distinguished, and different obstacle algorithm reference parameters are selected by judging whether the vehicle exterior rearview mirror is damaged or not.
In one embodiment, the determining the passing operation according to the difference between the detected width of the vehicle body and the minimum distance to be traveled specifically includes:
if the vehicle body detection width is larger than or equal to the minimum driving distance, executing the illegal passing operation;
if the sum of the vehicle body detection width and the system safety distance parameter is larger than or equal to the minimum travelable distance, performing a cautious passing operation;
and if the sum of the vehicle body detection width and the system safety distance parameter is less than the minimum travelable distance, executing the risk-free passing operation.
The embodiment selects corresponding pass operation according to different detection results.
In one embodiment:
the impassable operation is to execute impassable warning reminding; or
The cautious passage operation is to execute slow passage reminding, activate a look-around system, activate a reversing radar system, and/or display obstacle actual distance information in the look-around system; or
The risk-free passing operation is a prompt-free operation.
The current minimum distance in road surface is calculated through detecting the barrier when this embodiment passes through the narrow way, when the system predicts current when having the risk, initiatively activates the look around system to the real-time barrier distance that superposes ultrasonic detection assists the driver to pass through safely.
In one embodiment, the processor is further capable of:
responding to a safe distance adjusting request, and acquiring a user safe distance parameter;
and updating the system safety distance parameter to the user safety distance parameter.
The embodiment designs the vehicle passing safety distance into the driver self-defined parameter to adapt to the drivers with different proficiency, avoid the frequent triggering of the system to induce the aversion, also provide high-tech intelligent experience for the new driver.
The invention provides an automobile which comprises an automobile body and the electronic equipment, wherein the electronic equipment is used for detecting narrow-path passing of the automobile body.
The invention selects and applies different detection algorithms according to the height of the obstacle aiming at different typical obstacles, thereby achieving more accurate detection. The invention adds the function of narrow-road auxiliary traffic through software and algorithm design without adding extra hardware on the basis of fusing hardware of the automatic parking system. Reliable auxiliary reminding is provided for the old and the new drivers in dangerous narrow road scenes through a reasonable software logic algorithm.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (9)
1. A vehicle narrow-road passage detection method is characterized by comprising the following steps:
detecting the minimum driving distance between the obstacles on two sides in front of the road and the maximum height of the obstacles on the two sides as the height of the obstacle;
selecting the vehicle body detection width according to the height of the obstacle, and determining the passing operation according to the difference between the vehicle body detection width and the minimum driving distance;
according to the height of the obstacle selects the vehicle body detection width, the method specifically comprises the following steps:
if the height of the obstacle is smaller than a preset height threshold value, selecting the vehicle body detection width as the width of a vehicle without an external rearview mirror;
and if the height of the obstacle is greater than or equal to a preset height threshold value, selecting the vehicle body detection width as the vehicle width including the external rearview mirror.
2. The method for detecting narrow-path passage of a vehicle according to claim 1, wherein the determining a passage operation based on the difference between the detected width of the vehicle body and the minimum travelable distance specifically comprises:
if the vehicle body detection width is larger than or equal to the minimum driving distance, executing the illegal passing operation;
if the sum of the vehicle body detection width and the system safety distance parameter is larger than or equal to the minimum travelable distance, performing a cautious passing operation;
and if the sum of the vehicle body detection width and the system safety distance parameter is less than the minimum travelable distance, executing the risk-free passing operation.
3. The vehicle narrow-road passage detection method according to claim 2, characterized in that:
the impassable operation is to execute impassable warning reminding; or
The cautious passage operation is to execute slow passage reminding, activate a look-around system, activate a reversing radar system, and/or display obstacle actual distance information in the look-around system; or
The risk-free passing operation is a prompt-free operation.
4. The vehicle narrow-road passage detection method according to claim 2, characterized by further comprising:
responding to a safe distance adjusting request, and acquiring a user safe distance parameter;
and updating the system safety distance parameter to the user safety distance parameter.
5. A vehicle narrow passage detection electronic device, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to:
detecting the minimum driving distance between the obstacles on two sides in front of the road and the maximum height of the obstacles on the two sides as the height of the obstacle;
selecting the vehicle body detection width according to the height of the obstacle, and determining the passing operation according to the difference between the vehicle body detection width and the minimum driving distance;
according to the height of the obstacle selects the vehicle body detection width, the method specifically comprises the following steps:
if the height of the obstacle is smaller than a preset height threshold value, selecting the vehicle body detection width as the width of a vehicle without an external rearview mirror;
and if the height of the obstacle is greater than or equal to a preset height threshold value, selecting the vehicle body detection width as the vehicle width including the external rearview mirror.
6. The vehicle narrow-road passage detection electronic device according to claim 5, wherein the determining a passage operation based on the difference between the vehicle body detection width and the minimum travelable distance specifically includes:
if the vehicle body detection width is larger than or equal to the minimum driving distance, executing the illegal passing operation;
if the sum of the vehicle body detection width and the system safety distance parameter is larger than or equal to the minimum travelable distance, performing a cautious passing operation;
and if the sum of the vehicle body detection width and the system safety distance parameter is less than the minimum travelable distance, executing the risk-free passing operation.
7. The vehicle narrow passage detection electronic device according to claim 6, characterized in that:
the impassable operation is to execute impassable warning reminding; or
The cautious passage operation is to execute slow passage reminding, activate a look-around system, activate a reversing radar system, and/or display obstacle actual distance information in the look-around system; or
The risk-free passing operation is a prompt-free operation.
8. The vehicle narrow passage detection electronic device of claim 6, wherein the processor is further configured to:
responding to a safe distance adjusting request, and acquiring a user safe distance parameter;
and updating the system safety distance parameter to the user safety distance parameter.
9. An automobile characterized by comprising an automobile body, and the electronic device according to any one of claims 5 to 8, which performs narrow passage detection on the automobile body.
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| CN112207826A (en) * | 2020-09-28 | 2021-01-12 | 深圳市优必选科技股份有限公司 | Robot and path planning method and device thereof |
| CN112172828B (en) * | 2020-10-14 | 2022-03-08 | 斑马网络技术有限公司 | Narrow road passing method and device, electronic equipment and computer readable storage medium |
| CN112498237A (en) * | 2020-12-04 | 2021-03-16 | 广州小鹏自动驾驶科技有限公司 | Driving assistance method, system, equipment and storage medium in narrow environment |
| CN112622896B (en) * | 2020-12-31 | 2022-04-29 | 东风小康汽车有限公司重庆分公司 | Vehicle injury prevention system and method |
| CN113421432B (en) * | 2021-06-21 | 2023-02-28 | 北京百度网讯科技有限公司 | Traffic restriction information detection method and device, electronic equipment and storage medium |
| CN114312305A (en) * | 2021-12-22 | 2022-04-12 | 东软睿驰汽车技术（沈阳）有限公司 | Driving prompting method, vehicle and computer readable storage medium |
| CN115009305B (en) * | 2022-06-29 | 2023-04-11 | 北京易航远智科技有限公司 | Narrow road passing processing method and narrow road passing processing device |
| CN115641748A (en) * | 2022-10-13 | 2023-01-24 | 中国第一汽车股份有限公司 | Control method and device for narrow road traffic |
| CN117261929B (en) * | 2023-11-13 | 2024-02-13 | 北京斯年智驾科技有限公司 | Remote driving assistance method, system, device and storage medium |
| CN117549914B (en) * | 2024-01-12 | 2024-03-29 | 钧捷科技（北京）有限公司 | Vehicle-mounted vision auxiliary driving system and control method thereof |
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| DE102012201905A1 (en) * | 2012-02-09 | 2013-08-14 | Robert Bosch Gmbh | Device for protecting the exterior mirrors of the motor vehicle from colliding with lateral obstacles |
| DE102012215093A1 (en) * | 2012-08-24 | 2014-02-27 | Robert Bosch Gmbh | Driver assistance system and method for operating the driver assistance system |
| KR102406502B1 (en) * | 2016-12-14 | 2022-06-10 | 현대자동차주식회사 | Apparatus and method for controlling narrow road driving of vehicle |
| KR102408743B1 (en) * | 2017-07-27 | 2022-06-14 | 주식회사 에이치엘클레무브 | Method and system for determining whether a vehicle can enter a road |
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