CN111267734A - Safety protection system for large transport vehicle and early warning method thereof - Google Patents
Safety protection system for large transport vehicle and early warning method thereof Download PDFInfo
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- CN111267734A CN111267734A CN202010252050.4A CN202010252050A CN111267734A CN 111267734 A CN111267734 A CN 111267734A CN 202010252050 A CN202010252050 A CN 202010252050A CN 111267734 A CN111267734 A CN 111267734A
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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
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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
- 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
- B60R2300/802—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 monitoring and displaying vehicle exterior blind spot views
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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
- 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 relates to a safety protection system of a large transport vehicle and an early warning method thereof, wherein the safety protection system comprises the following steps: s1, system power-on self-test; s2, the millimeter wave radar component transmits the obstacle target information detected in real time and the road image information shot and recorded in real time by the camera component to a system processing terminal; s3, the system processing terminal endows each target with a radar confidence factor and a camera confidence factor in real time; s4, calculating the total confidence of each target in real time, and judging whether the target is a real target in real time according to the total confidence; and S5, according to the current vehicle speed and the real target, early warning is carried out on a right front target when starting, or a right front target when driving, or a side target when steering, or a side target when changing lanes, or a rear target when changing lanes. The invention combines the radar, the camera and the vehicle running parameter information, enlarges the detection range, and is used for detecting the front blind area, the side anti-collision and the rear blind area of the vehicle.
Description
Technical Field
The invention relates to a safety protection system of a large transport vehicle and an early warning method thereof, in particular to a target detection technology for a visual blind area of a driver.
Background
With the development of ADAS (Advanced Driving assistance System) technology and the improvement of vehicle informatization technology, vehicle safety protection means have been developed from the previous passive display and notification only by means of rearview mirrors, turn signals and the like, toward active detection technology by means of ultrasonic probes, radars, cameras and the like.
Although the related art is popularized and developed on passenger cars in the first place, the demand for the related art is more urgent and necessary because the larger vehicles, whether colliding with small cars or rolling onto pedestrians or non-motor vehicles, often cause worse social impact and serious economic loss in the event of accidents. Large vehicles are often heavy and inflexible to brake and steer, such as a muck truck; or the fixed line requirement is met, and the operations of lane changing, exit and entry and the like, such as buses, must be frequently carried out; meanwhile, the influence area of the large vehicle is large when the large vehicle turns, and a driver has a visual blind area, so that traffic accidents that other vehicles and people are collided frequently occur.
At present, the detection means for the road target mainly comprises an ultrasonic probe, a millimeter wave radar, a video camera, a laser radar and the like, and various means have respective advantages in a specific scene. For example, the ultrasonic probe is low in cost, the millimeter wave radar has all-weather detection capability, the video camera can accurately give target characteristic attributes, and the laser radar has the best angle resolution capability. However, if it is only by some technical means, the above techniques have disadvantages respectively. If the detection distance of the ultrasonic probe is too close, the angle resolution capability of the millimeter wave radar is not easy to be improved, the video camera is greatly influenced by weather, and the laser radar is high in cost.
An invention patent of an intelligent anti-collision device for right turning of a vehicle (publication number: CN109229096) applied by Shandong Tianhai science and technology Co., Ltd introduces a method for detecting a blind area on the right side of the vehicle by using a laser radar module, a millimeter wave radar module and a camera module. Although the patent uses a mode of fusing a plurality of technical means, the laser radar is too expensive at present, the actual large-scale industrial use is not facilitated, and the scheme only aims at detecting the blind area on the right side of the vehicle.
An invention patent (publication number: CN108944671A) applied by Wuhan Shuoshuo electronics Limited company introduces a method for accurately identifying and marking turning intersections by intervening electronic maps and vehicle body information, comparing the vehicle body information when the vehicle prepares to turn right, and reminding right-side pedestrians and vehicles. Besides the function of only turning right, the patent does not use an active detection type sensor, so that whether a target exists in a blind area or not can be alarmed, a clear indication of danger exists or not can not be given to a driver and a target vehicle, and all parties can not judge the danger; especially when there is a chance or no gift on one side, there is still a danger of collision, and its effect will continue to decline over time until it is the same as the existing turn signal.
The invention patent of multifunctional vehicle advanced driving auxiliary system and method (publication number: CN105966312B) applied by Shandong academy of sciences, province, Shandong province introduces a scheme of using at least 4 fisheye cameras and at least one high-dynamic narrow-angle analog camera to complete the functions of anti-collision early warning and the like. This patent uses the sensor combination of pure vision, and certainly can receive the influence of bad weather conditions such as rainwater, raise dust.
In addition, the prior art has been relatively sparked in its research and elucidation concerning specific alarm strategies. At present of the high-speed development of sensor technology, the detection of dangerous targets is not a main technical bottleneck, the driving habit of human drivers is better fitted, the targets which are detected but are not dangerous are actively filtered, the driver can not make a false alarm when driving normally, the driving feeling of the driver is not influenced, and the safety protection system on a large quantity of small cars is insufficient at present. Therefore, in this regard, it is more necessary that the different sensors mutually complement each other to be fused.
Based on the above, the invention provides a safety protection system for a large transport vehicle and an early warning method thereof, which effectively solve the defects and limitations in the prior art.
Disclosure of Invention
The invention aims to provide a safety protection system of a large transport vehicle and an early warning method thereof, which combine the advantages of various detection technologies such as radar and camera and vehicle running parameter information, reduce the cost, enlarge the application scene and the detection range, and can be used for early warning functions of front blind area detection, side anti-collision, rear blind area detection and the like of the vehicle.
In order to achieve the above object, the present invention provides a safety protection system for a large transportation vehicle, comprising: the system processing terminal is used for acquiring the driving parameter information of the vehicle; the millimeter wave radar component is arranged on the outer body of the vehicle, is connected with the system processing terminal, detects the obstacle targets around the vehicle and transmits the obstacle targets to the system processing terminal; the camera assembly is arranged on the body outside the vehicle, is connected with the system processing terminal, shoots and records road images around the vehicle and transmits the road images to the system processing terminal; and the system processing terminal judges the current vehicle running state according to the road image shot by the camera assembly, extracts the characteristic target from the road image, matches the characteristic target with the obstacle target detected by the millimeter wave radar assembly, judges and finds the high-confidence-degree target by combining the acquired running parameter information, and triggers the alarm display terminal to send alarm information.
The millimeter wave radar component comprises: the forward radar is arranged in the middle of the head of the vehicle and is used for detecting a barrier target in a blind area in the front of the vehicle; the left turning auxiliary radar is arranged at the vertex angle of the front end of the left side of the vehicle and is used for detecting an obstacle target of a blind area of the front side of the left side of a vehicle driving platform; the right turning auxiliary radar is arranged at the top corner of the front end of the right side of the vehicle and is used for detecting an obstacle target of a blind area on the right front side of a driving platform of the vehicle; the left lane changing auxiliary radar is arranged at the vertex angle of the left rear end of the vehicle and is used for detecting an obstacle target of a blind area on the left rear side of the vehicle; and the right lane-changing auxiliary radar is arranged at the vertex angle of the rear end of the right side of the vehicle and is used for detecting the obstacle target of the blind area of the right rear side of the vehicle.
The camera assembly comprises: the front-view camera is arranged in the middle of the head of the vehicle and is used for shooting and recording a road image of a blind area in the front of the vehicle; the monitoring camera is arranged at the top corner of the rear part of the left vehicle body of the vehicle and is used for shooting a road image of a blind area of the left vehicle body of the vehicle; and the right vehicle body side monitoring camera is arranged at the top corner of the rear part of the right vehicle body of the vehicle and is used for shooting and recording the road image of the blind area of the right vehicle body of the vehicle.
The invention also provides a safety protection early warning method for the large transport vehicle, which is realized by adopting the safety protection system and comprises the following steps:
s1, carrying out power-on self-test on the safety protection system;
s2, each radar in the millimeter wave radar component transmits the obstacle target information detected in real time to a system processing terminal; each camera in the camera assembly transmits road image information shot and recorded in real time to a system processing terminal;
s3, the system processing terminal endows a radar confidence factor and a camera confidence factor to each target in real time according to the received obstacle target information and the received road image information;
s4, calculating the total confidence of each target in real time, and judging whether the target is a real target in real time according to the total confidence;
and S5, according to the current vehicle speed and the real target obtained in S4, giving an early warning to a right front target when the vehicle starts, a right front target when the vehicle runs, a side target when the vehicle turns, a side target when the vehicle changes the lane, or a rear target when the vehicle changes the lane.
The step S3 specifically includes the following steps:
s31, the system processing terminal judges the current vehicle driving state according to the received road images shot by the cameras;
s32, the system processing terminal endows radar confidence factors for each obstacle target according to the vehicle running state, the current time and the received obstacle targets detected by the radars;
s33, the system processing terminal extracts a characteristic target from the received road images shot by the cameras; the system processing terminal endows a camera confidence factor to each characteristic target according to the vehicle running state, the current time and the extracted characteristic targets;
and S34, the system processing terminal matches the obstacle targets with the characteristic targets, and respectively assigns camera confidence factors to each obstacle target and assigns radar confidence factors to each characteristic target according to the matching result and the current time.
When a certain target is detected by a certain radar, setting a camera confidence factor to be 0; or when a certain target is only recorded by a certain camera, the radar confidence factor is set to be 0.
The step S4 specifically includes the following steps:
s41, for each obstacle target and each characteristic target, adding the radar confidence factor and the camera confidence factor of each obstacle target by the system processing terminal to obtain the initial total confidence of each target;
s42, the system processing terminal fuses the initial total confidence of each target with the obtained driving parameter information respectively to obtain the total confidence of each target;
s43, for each target, the system processing terminal judges whether the total confidence is larger than a preset confidence threshold; if yes, judging the target to be a real target; if not, the target is filtered.
The step S5 specifically includes the following steps:
s51, if the current vehicle speed is less than the preset static detection speed threshold value, the real-time vehicle running state is straight, and a target in front of the vehicle exists in the real targets obtained in S4, and if the real-time distance between the target and the vehicle is within the range of 5 meters, the system processing terminal triggers an alarm display terminal to send alarm information;
s52, if the current speed is larger than a preset static detection speed threshold value, the real-time vehicle running state is straight, and a target in front of the vehicle exists in the real targets obtained in S4, the system processing terminal triggers an alarm display terminal to send out alarm information according to the real-time distance between the target and the vehicle and the real-time vehicle speed of the vehicle if the TTC obtained by calculation is smaller than 3 seconds;
s53, if the current vehicle speed is greater than a preset static detection speed threshold value, the real-time vehicle driving state is steering, and a vehicle side front target exists in the real targets obtained in the S4, the system processing terminal triggers an alarm display terminal to send out alarm information;
s54, if the current speed is larger than a preset static detection speed threshold value, and the real-time vehicle driving state is lane change, and a vehicle side rear target exists in the real targets obtained in S4, if the real-time distance between the target and the vehicle is within 4 meters obtained by the system processing terminal through judgment, or if the TTC obtained through calculation is smaller than 3 seconds according to the real-time distance between the target and the vehicle and the real-time speed of the vehicle, the system processing terminal triggers an alarm display terminal to send alarm information;
and S55, if the current vehicle speed is greater than the preset static detection speed threshold value, the real-time vehicle driving state is lane change, and the real targets obtained in S4 have targets on two sides of the vehicle body, and if the system processing terminal judges that the distance between the target and the side face of the vehicle body is smaller than the side distance limit value distance, the system processing terminal triggers an alarm display terminal to send alarm information.
In S52, the method further includes the steps of: when the TTC is less than 3 seconds and the alarm display terminal sends alarm information, the system processing terminal judges whether the real-time speed of the vehicle is greater than a dangerous vehicle speed threshold value; if yes, triggering the alarm display terminal to improve the alarm grade.
The static detection speed threshold value is 5 kilometers per hour, the dangerous vehicle speed threshold value is 30 kilometers per hour, and the side distance limit value distance is 1.5 meters.
In summary, the safety protection system for large transport vehicles and the early warning method thereof provided by the invention fully exploit the advantages of different detection technologies by combining different detection means such as millimeter wave radar and camera, and achieve mutual compensation and mutual correction. Meanwhile, the modern vehicle information technology is used as assistance, so that the alarm information of the safety protection system is more accurate and credible, the false alarm rate is lower, and the driving habit of a driver is better met. The invention expands the protection range from the simple turning to the periphery of the whole vehicle body and a certain distance in front of the whole vehicle body, simultaneously cancels the use of a laser radar, reduces the cost and is easier for industrialized popularization.
Drawings
FIG. 1 is a schematic structural diagram of a safety protection system of a large transport vehicle according to the present invention;
FIG. 2 is a schematic diagram of the detection zone of the safety protection system of a large transport vehicle according to the present invention;
fig. 3 is a flow chart of the safety protection early warning method for the large transport vehicle in the invention.
Detailed Description
The technical contents, construction features, achieved objects and effects of the present invention will be described in detail by preferred embodiments with reference to fig. 1 to 3.
As shown in fig. 1, the safety protection system for large transportation vehicles provided by the present invention comprises: the system processing terminal 1 based on the STM32F7xx platform is provided with communication interfaces such as CAN, RS485, Ethernet and the like, is connected with a vehicle driving system and acquires the driving parameter information of a vehicle; the millimeter wave radar component 2 is arranged on the outer body of the vehicle, is connected with the system processing terminal 1, detects the obstacle target information around the vehicle and transmits the obstacle target information to the system processing terminal 1; the camera assembly 3 is arranged on the body outside the vehicle, is connected with the system processing terminal 1, shoots and records road image information around the vehicle and transmits the road image information to the system processing terminal 1; the system processing terminal 1 judges the current vehicle driving state (including whether lane changing or steering exists, whether conditions of passing exist or not and the like) according to the road image information shot by the camera assembly 3, extracts characteristic targets (including pedestrians, non-motor vehicles, motor vehicles and the like) from the road image information, matches the characteristic targets with obstacle targets detected by the millimeter wave radar assembly 2, filters low-confidence targets by combining the acquired driving parameter information (including information of whether gears, vehicle speeds, turning lamps are turned on and the like), judges and finds high-confidence targets, and further triggers the alarm display terminal 4 to send alarm information (including alarm positions, alarm levels and the like).
As shown in fig. 2, the millimeter wave radar module 2 at least includes: the forward radar 21 is arranged at a position with a proper height in the middle of the head of the vehicle, faces the front of a road, detects an obstacle target in a blind area A at the front of the vehicle and prevents the front of the vehicle from colliding; a left turn assist radar 22 installed at a front apex angle of a left side (driver side) of the vehicle, for detecting an obstacle target of a left front side blind zone B of the vehicle console, and preventing a short-distance collision and a left-hand steering collision of the left front side of the vehicle console; a right turn assist radar 23 installed at a front apex angle of a right side (passenger side) of the vehicle to detect an obstacle target of a right front side blind zone B of the vehicle console, and to prevent a short-distance collision and a right-turn collision of the right front side of the vehicle console; a left lane-changing auxiliary radar 24 installed at a rear end vertex angle of the left side (driver side) of the vehicle, for detecting an obstacle target of a blind area C of the left rear side of the vehicle, and preventing a lane-changing collision of the left side of the vehicle; and the right lane changing auxiliary radar 25 is installed at the top corner of the rear end of the right side (the side of the passenger) of the vehicle, detects the obstacle target of the blind area C at the right rear side of the vehicle and prevents the right side of the vehicle from lane changing collision.
As shown in fig. 2, the camera assembly 3 at least includes: the front-view camera 31 is arranged at a position with a proper height in the middle of the head of the vehicle, faces the front of the road, and shoots and records a road image of a blind area A in the front of the vehicle to prevent the front of the vehicle from colliding; the left vehicle body side monitoring camera 32 is arranged at the top corner of the rear part of the left vehicle body of the vehicle and faces the downward direction of the front of the vehicle, and is used for shooting a road image of a blind area E of the left vehicle body of the vehicle so as to prevent the left vehicle body of the vehicle from colliding; the right vehicle body side monitoring camera 33 is installed at the top corner of the rear portion of the vehicle body on the right side of the vehicle, faces the downward direction of the front of the vehicle, and shoots a road image of a vehicle body dead zone E on the right side of the vehicle to prevent the vehicle body on the right side of the vehicle from colliding.
In the preferred embodiment of the invention, the system processing terminal 1 is connected with a vehicle driving system through an I/O interface, an RS485 interface or a CAN0 high-speed interface, and CAN be matched with large transportation vehicles with different informatization degrees to acquire running parameter information such as vehicle speed, gear, steering and the like. The system processing terminal 1 is connected with each radar in the millimeter wave radar component 2 through a CAN1 high-speed interface (isolated from a vehicle bus), and the detected target information of the obstacle is obtained. The system processing terminal 1 is connected with each camera in the camera assembly 3 through an AV interface to acquire the recorded road image information.
As shown in fig. 3, the invention further provides a large transportation vehicle safety protection early warning method, which is implemented by using the safety protection system and comprises the following steps:
s1, carrying out power-on self-test on the safety protection system;
s2, each radar in the millimeter wave radar component 2 transmits the obstacle target information detected in real time to the system processing terminal 1; each camera in the camera assembly 3 transmits road image information shot and recorded in real time to the system processing terminal 1;
s3, the system processing terminal 1 endows a radar confidence factor and a camera confidence factor to each target in real time according to the received obstacle target information and the received road image information;
s4, calculating the total confidence of each target in real time, and judging whether the target is a real target in real time according to the total confidence; completing target detection, and entering alarm logic in subsequent steps;
and S5, according to the current vehicle speed and the real target obtained in S4, giving an early warning to a right front target when the vehicle starts, a right front target when the vehicle runs, a side target when the vehicle turns, a side target when the vehicle changes the lane, or a rear target when the vehicle changes the lane.
In S1, the system processing terminal 1 controls each radar or camera to perform hardware self-check, and if a fault is found, the alarm display terminal 4 is triggered to send an alarm signal and display corresponding fault information.
The step S3 specifically includes the following steps:
s31, the system processing terminal 1 determines the current driving state of the vehicle according to the received road image captured by each camera, including: standing, straight running in a lane, changing lanes and turning;
s32, the system processing terminal 1 endows a radar confidence factor α for each obstacle target according to the running state of the vehicle, the current time and the received obstacle targets detected by the radars;
s33, extracting characteristic targets including pedestrians, non-motor vehicles and motor vehicles from the road image shot by each camera by the system processing terminal 1 according to the received road image shot by each camera, and giving a camera confidence factor β to each characteristic target by the system processing terminal 1 according to the vehicle driving state, the current time and the extracted characteristic targets;
and S34, the system processing terminal 1 matches the obstacle targets with the characteristic targets, and respectively assigns a camera confidence factor β to each obstacle target and assigns a radar confidence factor α to each characteristic target according to the matching result and the current time.
In a preferred embodiment of the present invention, the camera confidence factor is set to 0 when an object is detected by radar alone, or 0 when an object is recorded by a camera alone, specifically, for example, when the vehicle is turning right, the right turn assist radar 23 detects the presence of a flower bed on the front right side, which is assigned the corresponding radar implementation factor α, but no flower bed is detected in the image recorded by the right body side monitoring camera 33, the camera confidence factor β of the flower bed is 0.
In the preferred embodiment of the present invention, when the vehicle changes lane to the rightmost lane, the right turn assisting radar 23 detects a roadside tree and gives the corresponding radar implementation factor α equal to 0.5, but no pedestrian or non-motor vehicle is found in the image recorded by the right vehicle body side monitoring camera 33, or the tree is judged to be actually located behind the barrier rail from the image, and the tree belongs to an object which cannot be collided with, so the camera confidence factor β is 0.
The step S4 specifically includes the following steps:
s41, for each obstacle target and each characteristic target, the system processing terminal 1 adds the radar confidence factor and the camera confidence factor of each obstacle target to obtain the initial total confidence of each target;
s42, the system processing terminal 1 fuses the initial total confidence of each target with the obtained driving parameter information respectively, wherein the information includes vehicle position (namely representing the relative distance between the target and the vehicle), vehicle speed and the like, and the total confidence of each target is obtained;
s43, for each target, the system processing terminal 1 judges whether the total confidence is larger than a preset confidence threshold; if yes, judging the target to be a real target; if not, the target is filtered.
The step S5 specifically includes the following steps:
s51, if the current vehicle speed is less than the preset static detection speed threshold value, the real-time vehicle running state is straight, and a target in front of the vehicle exists in the real targets obtained in S4, and if the system processing terminal 1 judges that the real-time distance between the target and the vehicle is within the range of 5 meters, the system processing terminal 4 is triggered to send alarm information; the judgment logic is mainly used for preventing the collision of the large transport vehicle to pedestrians, non-motor vehicles and the like which cross the vehicle head when starting;
s52, if the current vehicle speed is greater than a preset static detection speed threshold value, the real-time vehicle running state is straight, and a target in front of the vehicle exists in the real target obtained in S4, the system processing terminal 1 triggers the alarm display terminal 4 to send alarm information according to the real-time distance between the target and the vehicle and the real-time vehicle speed of the vehicle if TTC (pre-collision time) obtained by calculation is less than 3 seconds;
s53, if the current vehicle speed is greater than the preset static detection speed threshold value, the real-time vehicle driving state is steering, and a vehicle side front target exists in the real targets obtained in the S4, the system processing terminal 1 triggers the alarm display terminal 4 to send out alarm information; in the process, the real-time vehicle running state is required to be correctly judged to be steering, so that false alarm when the vehicle runs on a normal straight road can be avoided;
s54, if the current speed is larger than a preset static detection speed threshold value, and the real-time vehicle driving state is lane change, and a vehicle side rear target exists in the real targets obtained in S4, if the real-time distance between the target and the vehicle is within 4 meters obtained by judging by the system processing terminal 1, or if the TTC obtained by calculating according to the real-time distance between the target and the vehicle and the real-time speed of the vehicle is smaller than 3 seconds, triggering the alarm display terminal 4 to send alarm information; the judgment logic is mainly used for preventing the rear-end collision of the large transport vehicle by the rear vehicle when changing lanes;
s55, if the current vehicle speed is greater than a preset static detection speed threshold value, the real-time vehicle driving state is lane change, and the real targets obtained in S4 have targets on two sides of the vehicle body, and if the system processing terminal 1 judges that the distance between the target and the side face of the vehicle body is smaller than the side distance limit value distance, the system processing terminal triggers the alarm display terminal 4 to send alarm information; the judgment logic is mainly used for preventing the large transport vehicle from colliding with the side vehicle when changing lanes and avoiding false alarm when the vehicle runs on a normal straight lane.
In S52, the method further includes the steps of: when the TTC is less than 3 seconds and the alarm display terminal 4 sends alarm information, the system processing terminal 1 judges whether the real-time speed of the vehicle is greater than a dangerous vehicle speed threshold value; if yes, the alarm display terminal 4 is triggered to increase the alarm level, for example, the color of the alarm to be sent can be increased, or the sound of the alarm to be sent can be increased.
In a preferred embodiment of the present invention, the static detection speed threshold is 5 km/h, the dangerous vehicle speed threshold is 30 km/h, and the side distance limit distance is 1.5 m.
In summary, the safety protection system for large transport vehicles and the early warning method thereof provided by the invention fully exploit the advantages of different detection technologies by combining different detection means such as millimeter wave radar and camera, and achieve mutual compensation and mutual correction. Meanwhile, the modern vehicle information technology is used as assistance, so that the alarm information of the safety protection system is more accurate and credible, the false alarm rate is lower, and the driving habit of a driver is better met. The invention expands the protection range from the simple turning to the periphery of the whole vehicle body and a certain distance in front of the whole vehicle body, simultaneously cancels the use of a laser radar, reduces the cost and is easier for industrialized popularization.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (10)
1. A large transportation vehicle safety protection system, comprising:
the system processing terminal is used for acquiring the driving parameter information of the vehicle;
the millimeter wave radar component is arranged on the outer body of the vehicle, is connected with the system processing terminal, detects the obstacle targets around the vehicle and transmits the obstacle targets to the system processing terminal;
the camera assembly is arranged on the body outside the vehicle, is connected with the system processing terminal, shoots and records road images around the vehicle and transmits the road images to the system processing terminal;
and the system processing terminal judges the current vehicle running state according to the road image shot by the camera assembly, extracts the characteristic target from the road image, matches the characteristic target with the obstacle target detected by the millimeter wave radar assembly, judges and finds the high-confidence-degree target by combining the acquired running parameter information, and triggers the alarm display terminal to send alarm information.
2. A large haulage vehicle safety shield system according to claim 1, wherein the millimeter wave radar module includes:
the forward radar is arranged in the middle of the head of the vehicle and is used for detecting a barrier target in a blind area in the front of the vehicle;
the left turning auxiliary radar is arranged at the vertex angle of the front end of the left side of the vehicle and is used for detecting an obstacle target of a blind area of the front side of the left side of a vehicle driving platform;
the right turning auxiliary radar is arranged at the top corner of the front end of the right side of the vehicle and is used for detecting an obstacle target of a blind area on the right front side of a driving platform of the vehicle;
the left lane changing auxiliary radar is arranged at the vertex angle of the left rear end of the vehicle and is used for detecting an obstacle target of a blind area on the left rear side of the vehicle;
and the right lane-changing auxiliary radar is arranged at the vertex angle of the rear end of the right side of the vehicle and is used for detecting the obstacle target of the blind area of the right rear side of the vehicle.
3. The large haulage vehicle safety shield system according to claim 1, wherein the camera assembly comprises:
the front-view camera is arranged in the middle of the head of the vehicle and is used for shooting and recording a road image of a blind area in the front of the vehicle;
the monitoring camera is arranged at the top corner of the rear part of the left vehicle body of the vehicle and is used for shooting a road image of a blind area of the left vehicle body of the vehicle;
and the right vehicle body side monitoring camera is arranged at the top corner of the rear part of the right vehicle body of the vehicle and is used for shooting and recording the road image of the blind area of the right vehicle body of the vehicle.
4. A safety protection early warning method for a large transport vehicle is realized by adopting the safety protection system as claimed in any one of claims 1-3, and comprises the following steps:
s1, carrying out power-on self-test on the safety protection system;
s2, each radar in the millimeter wave radar component transmits the obstacle target information detected in real time to a system processing terminal; each camera in the camera assembly transmits road image information shot and recorded in real time to a system processing terminal;
s3, the system processing terminal endows a radar confidence factor and a camera confidence factor to each target in real time according to the received obstacle target information and the received road image information;
s4, calculating the total confidence of each target in real time, and judging whether the target is a real target in real time according to the total confidence;
and S5, according to the current vehicle speed and the real target obtained in S4, giving an early warning to a right front target when the vehicle starts, a right front target when the vehicle runs, a side target when the vehicle turns, a side target when the vehicle changes the lane, or a rear target when the vehicle changes the lane.
5. The safety protection and early warning method for large transportation vehicles according to claim 4, wherein the step S3 specifically comprises the following steps:
s31, the system processing terminal judges the current vehicle driving state according to the received road images shot by the cameras;
s32, the system processing terminal endows radar confidence factors for each obstacle target according to the vehicle running state, the current time and the received obstacle targets detected by the radars;
s33, the system processing terminal extracts a characteristic target from the received road images shot by the cameras; the system processing terminal endows a camera confidence factor to each characteristic target according to the vehicle running state, the current time and the extracted characteristic targets;
and S34, the system processing terminal matches the obstacle targets with the characteristic targets, and respectively assigns camera confidence factors to each obstacle target and assigns radar confidence factors to each characteristic target according to the matching result and the current time.
6. The large haulage vehicle safety protection early warning method according to claim 5, wherein when a certain target is detected by only a certain radar, the camera confidence factor is set to 0; or when a certain target is only recorded by a certain camera, the radar confidence factor is set to be 0.
7. The safety protection and early warning method for large transportation vehicles according to claim 5, wherein the step S4 specifically comprises the following steps:
s41, for each obstacle target and each characteristic target, adding the radar confidence factor and the camera confidence factor of each obstacle target by the system processing terminal to obtain the initial total confidence of each target;
s42, the system processing terminal fuses the initial total confidence of each target with the obtained driving parameter information respectively to obtain the total confidence of each target;
s43, for each target, the system processing terminal judges whether the total confidence is larger than a preset confidence threshold; if yes, judging the target to be a real target; if not, the target is filtered.
8. The safety protection and early warning method for large transportation vehicles according to claim 7, wherein the step S5 specifically comprises the following steps:
s51, if the current vehicle speed is less than the preset static detection speed threshold value, the real-time vehicle running state is straight, and a target in front of the vehicle exists in the real targets obtained in S4, and if the real-time distance between the target and the vehicle is within the range of 5 meters, the system processing terminal triggers an alarm display terminal to send alarm information;
s52, if the current speed is larger than a preset static detection speed threshold value, the real-time vehicle running state is straight, and a target in front of the vehicle exists in the real targets obtained in S4, the system processing terminal triggers an alarm display terminal to send out alarm information according to the real-time distance between the target and the vehicle and the real-time vehicle speed of the vehicle if the TTC obtained by calculation is smaller than 3 seconds;
s53, if the current vehicle speed is greater than a preset static detection speed threshold value, the real-time vehicle driving state is steering, and a vehicle side front target exists in the real targets obtained in the S4, the system processing terminal triggers an alarm display terminal to send out alarm information;
s54, if the current speed is larger than a preset static detection speed threshold value, and the real-time vehicle driving state is lane change, and a vehicle side rear target exists in the real targets obtained in S4, if the real-time distance between the target and the vehicle is within 4 meters obtained by the system processing terminal through judgment, or if the TTC obtained through calculation is smaller than 3 seconds according to the real-time distance between the target and the vehicle and the real-time speed of the vehicle, the system processing terminal triggers an alarm display terminal to send alarm information;
and S55, if the current vehicle speed is greater than the preset static detection speed threshold value, the real-time vehicle driving state is lane change, and the real targets obtained in S4 have targets on two sides of the vehicle body, and if the system processing terminal judges that the distance between the target and the side face of the vehicle body is smaller than the side distance limit value distance, the system processing terminal triggers an alarm display terminal to send alarm information.
9. The large transportation vehicle safety protection early warning method of claim 8, wherein the step of S52 further comprises the steps of: when the TTC is less than 3 seconds and the alarm display terminal sends alarm information, the system processing terminal judges whether the real-time speed of the vehicle is greater than a dangerous vehicle speed threshold value; if yes, triggering the alarm display terminal to improve the alarm grade.
10. The safety protection and early warning method for large transport vehicles according to claim 9, wherein the static detection speed threshold is 5 km/h, the dangerous vehicle speed threshold is 30 km/h, and the side distance limit distance is 1.5 m.
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