CN111655541B - 用于工业车辆的驾驶员辅助系统 - Google Patents

用于工业车辆的驾驶员辅助系统 Download PDF

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CN111655541B
CN111655541B CN201880088202.2A CN201880088202A CN111655541B CN 111655541 B CN111655541 B CN 111655541B CN 201880088202 A CN201880088202 A CN 201880088202A CN 111655541 B CN111655541 B CN 111655541B
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CN111655541A (zh
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尼古拉斯·贝内
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Volvo Truck Corp
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Abstract

一种用于工业车辆的驾驶员辅助系统。本发明涉及一种用于工业车辆(1)的驾驶员辅助系统，包括：‑第一相机(3)，其安装在车辆驾驶室(2)上，以用于观察车辆(1)前方的区域；‑图像处理单元(8)，其操作性地连接到所述第一相机(3)，以用于从所述第一相机(3)接收图像数据；‑显示单元(9)，其操作性地连接到所述图像处理单元(8)，以用于基于所述图像数据而向用户显示图像；‑控制单元(10)，其操作性地连接到所述第一相机(3)，以用于修改所述第一相机(3)的操作参数；其特征在于，第一相机(3)适用于提供广角视野，并且所述第一相机(3)相对于车辆(1)的视野可以由控制单元(10)调整。

Description

用于工业车辆的驾驶员辅助系统
技术领域
本发明涉及一种用于工业车辆的驾驶员辅助系统。
本发明可应用到若干工业车辆，诸如，卡车、公共汽车和施工设备。
背景技术
许多工业车辆，特别是卡车，当前采用后视镜和侧视镜，以使驾驶员能够看到后方或侧方，例如来检测左侧或右侧和后方的障碍物。然而，并不总是能够使用这些后视镜和侧视镜看到隐藏区域或盲点。因此，除了这些后视镜和侧视镜之外，许多工业车辆还配备摄像机，以帮助驾驶员看到后方或侧方的盲点。此外，为了在操纵或停车时辅助驾驶员，许多工业车辆可配备安装在车辆驾驶室上的摄像机，所述摄像机提供紧接车辆的保险杠附近延伸的区域的图像。当符合UN ECE第46条法规中规定的要求时，这种类型的相机被称为VI类相机。
当今，VI类相机仅用于帮助驾驶员较好地看到距离车辆的保险杠至多两米远的道路上的情况。由于VI类相机相对于车辆驾驶室的固定取向，不可能使用这些VI类相机来观察车辆的其它周围区域。此外，只有当车辆的速度较低，明确地说低于15km/h时，才控制VI类相机操作。因此，当车辆移动得超过15km/h时，相机停止拍摄。
考虑到工业车辆的驾驶员会对驾驶辅助系统感兴趣，以在低车速下操纵和停车时以及在恶劣环境状况下(例如，在夜间或在正下雨时)、在中车速或高车速下驾驶时帮助他们，当前的VI类相机无法完全满足驾驶员的需要。
发明内容
本发明的目标是提供一种用于工业车辆的驾驶员辅助系统，该驾驶员辅助系统允许出于不同于传统VI类相机的目而优化安装在车辆的前部的相机的使用，并且在能见度和安全性方面为驾驶员提供改进的辅助。
该目标由一种用于工业车辆的驾驶员辅助系统实现，该驾驶员辅助系统包括：
-第一相机，其安装在车辆驾驶室上，以用于观察车辆前方的区域；
-图像处理单元，其操作性地连接到所述第一相机，以用于从所述第一相机接收图像数据；
-显示单元，其操作性地连接到所述图像处理单元，以用于基于所述图像数据而向用户显示图像；
-控制单元，其操作性地连接到所述第一相机，以用于修改所述第一相机的操作参数；
其特征在于，第一相机适用于提供广角视野，并且所述第一相机相对于车辆的视野可由控制单元调整。
通过如此配置，本发明的驾驶员辅助系统允许修改安装在车辆前方的相机的视野。因此，相机的视野可有利地根据车辆的速度而自动改变，以使得相机在低于15km/h的速度下作为VI类相机操作，并且在高于15km/h的速度下作为提供扩展视野的相机操作。相机的这种扩展视野因此可为驾驶员提供改进的能见度，其中驾驶员可在显示单元上看到由相机捕获的图像。因此，即使在中车速或高车速下，驾驶员也可看到道路上的较多细节。当能见度状况低(例如，在恶劣天气状况下或在夜间)时，这种优势可特别重要。
驾驶员辅助系统还可以单独地或组合地包含以下特征中的一个或更多个。
根据一个实施例，控制单元适用于接收车辆操作数据，并响应于所述车辆操作数据而修改第一相机的视野。
根据又一实施例，车辆操作数据包含车速数据。
根据又一实施例，当车速在0与15km/h之间时，第一相机的视野被调整成使得所述第一相机的视野对应于根据UN ECE n°46法规的VI类前视装置的视野，并且当车速高于15km/h时，第一相机的视野被调整成使得所述第一相机的视野覆盖根据UN ECE n°46法规的VI类前视装置未覆盖的区域。
根据又一实施例，当车速高于15km/h时，第一相机的视野被调整成使得所述第一相机的视野覆盖从距离车辆前方至少2米的竖直平面起的区域。
根据又一实施例，控制单元适用于从手动输入端接收输入数据，并响应于所述输入数据而修改第一相机的视野。
根据又一实施例，手动输入端容纳在车辆的仪表板中。
根据又一实施例，系统还包括安装在车辆上以用于观察车辆后方的区域的第二相机，图像处理单元操作性地连接到所述第二相机，以用于从所述第二相机接收图像数据。
根据又一实施例，图像处理单元适用于接收车辆操作数据，并响应于所述车辆操作数据而选择性地将第一相机或第二相机的图像数据传输到显示单元。
根据又一实施例，车辆操作数据包含齿轮系(gear train)位置。
根据又一实施例，图像处理单元适用于在倒挡被接合时选择性地将第二相机的图像数据传输到显示单元。
根据又一实施例，图像处理单元适用于从手动输入端接收输入数据，并响应于所述输入数据而选择性地将第一相机或第二相机的图像数据传输到显示单元。
根据又一实施例，手动输入端容纳在车辆的仪表板中。
根据又一实施例，图像处理单元适用于根据环境状况和/或车辆操作数据而修改第一相机和/或第二相机的图像数据。
根据又一实施例，控制单元适用于控制第一相机和/或第二相机的光学变焦，以更改所述第一相机和/或所述第二相机的视野。
下文描述和随附权利要求书中公开了本发明的其它优点和有利特征。
附图说明
参照附图，下文是作为实例引述的本发明的实施例的更详细描述。
在附图中：
图1是配备有根据本发明的驾驶员辅助系统的卡车的示意性侧视图。
具体实施方式
图1示出工业车辆1，更具体地说为卡车。虽然关于卡车而描述本发明，但本发明不限于此特定车辆，而是还可用于其它车辆，诸如公共汽车。
车辆1包括由前轮和后轮支撑的框架以及位于其前侧的驾驶室2。前轮和后轮与道路11接触。如图1所示，Z被定义为垂直于道路11的方向，X被定义为车辆1的纵向方向，Y被定义为车辆1的横向方向。
车辆1配备有一对相机3、5，分别是安装在位于车辆1前方处的驾驶室2上的前相机3和安装在车辆1的后方的后相机5，所述相机3、5在相应的视野4、6内捕获围绕车辆1的区域的图像。相机3、5与图像处理单元8通信，所述图像处理单元8被配置成用以从相机3、5接收代表所捕获的图像的图像数据。有利的是，图像处理单元8还被配置成用以在将所述图像数据传输到与所述图像处理单元8通信的显示单元9之前，处理从相机3、5接收的图像数据。显示单元9被配置成用以基于从图像处理单元8接收的图像数据而显示图像，并且有利地的是，所述显示单元9位于驾驶室2内，且位于驾驶员前方。
图像处理单元8可有利地被配置成用以修改分别从前相机3和后相机5接收的图像数据，以便分别在车辆1的前侧和后侧提高驾驶员的能见度。明确地说，当车辆外部的环境状况过于恶劣、而造成妨碍驾驶员用肉眼正确地看到道路11时，图像处理单元8适用于向显示单元9提供改进的图像数据，以便当驾驶员看着显示单元9时，向驾驶员提供良好的能见度。这些恶劣环境状况包含例如恶劣天气状况(即，在下雨或下雪时)或者恶劣时间状况(即，在夜间)。此外，图像处理单元8可有利地被配置成用以从传感器(未示出)接收车辆操作数据，并且根据所述车辆操作数据而修改从相机3、5接收的图像数据。在本发明的又一有利实施例中，图像处理单元8适用于从传感器(未示出)接收车辆操作数据，并且响应于所述车辆操作数据而选择性地将前相机3或后相机5的图像数据传输到显示单元9。在本发明的具体实施例中，车辆操作数据包含与齿轮系位置相关的数据。明确地说，当适用于检测齿轮系的位置的特定传感器将倒挡被接合的信息传输到图像处理单元8时，图像处理单元8选择性地将后相机5的图像数据传输到显示单元9，以使得驾驶员只可看到车辆1的后侧，因此例如在停车期间提高驾驶员的能见度。
在本发明的又一附加实施例中，车辆1可包括手动输入端12，所述手动输入端12被安装在驾驶室2内，并且优选地被容纳在车辆1的仪表板中，所述手动输入端12与图像处理单元8和控制单元10通信(以下段落中进行详述)。手动输入端12可有利地包括一组按钮或开关，每个按钮或开关对应于图像处理单元8和/或控制单元10的具体动作或功能。明确地说，手动输入端12可由驾驶员致动，以便激活由显示单元9提供的图像的更改。该更改可对应于通过缩放和/或平移从相机3、5接收的图像数据而进行的所显示的视野的改变。手动输入端12也可由驾驶员致动，以便在第一操作模式与第二操作模式之间切换图像处理单元8，其中，在第一操作模式中，图像处理单元8选择性地将前相机3的图像数据传输到显示单元9，在第二操作模式中，图像处理单元8选择性地将后相机5的图像数据传输到显示单元9。如以下段落中详释，在本发明中，相机3、5的这种手动控制只是可选项，相机3、5的主控制由控制单元10自动完成。
有利的是，前相机3和后相机5是选自适用于提供广角视野的广角相机。明确地说，这些广角相机能够提供类似于根据联合国欧洲经济委员会(UN ECE)第46条法规的IV类广角相机的视野。因此，广角相机的视野应使得相机可对道路11的至少15m宽、平坦、水平部分并且在距车辆前方至少10m、优选至少25m的距离处成像。
前相机3有利地由控制单元10控制，以使得可自动调整前相机3的视野。控制单元10可有利地被配置成用以从传感器(未示出)接收车辆操作数据，并且根据所述车辆操作数据而修改前相机3的视野。在本发明的具体实施例中，车辆操作数据包含车速数据。明确地说，控制单元10适用于从具体速度传感器接收速度数据，并调整前相机3的视野，以使得当车速在0与15km/h之间时，所述前相机3的视野对应于根据联合国欧洲经济委员会(UN ECE)第46条法规的VI类前视装置的视野(其在图1中由区域4图示)，并且当车速高于15km/h时，所述前相机3的视野覆盖VI类前视装置未覆盖的区域(其在图1中由区域4'图示)。更具体来说，当车速在0与15km/h之间时，前相机3的视野可有利地覆盖从车辆前方起并延伸到距离车辆前方2米的竖直平面的第一区域，如图1所示，并且当车速高于15km/h时，前相机3的视野可有利地覆盖从距离车辆前方至少2米的竖直平面起的第二区域。根据车辆的类型，第二区域开始的距离当然可不同于2米。明确地说，对于具有较高高度的卡车，此距离可大于2米。通过如此配置，驾驶员辅助系统优化了前相机3的使用，并为驾驶员提供了改进的辅助。实际上，这种可调整的前相机3可在低车速下操纵或停车时以及在中车速或高车速下驾驶时辅助驾驶员。在后一种情况下，特别是当环境状况恶劣时，驾驶员可利用前相机3的广角视野以及由图像处理单元提供的改进的图像数据。
应理解，本发明不限于上文所述且附图所图示的实施例；实际上，本领域的技术人员应认识到可在随附权利要求书的范围内进行许多改变和修改。
明确地说，除了前相机和后相机之外，本发明的驾驶员辅助系统还可包括其它相机，以覆盖车辆的其它周围区域。所述附加相机以及前相机和后相机可被配置成用以捕获人眼可见的图像(即，对应于约400到800nm的波长)和人眼不可见的图像(例如，对应于红外视觉)。通过如此配置，即使能见度不好或不够(明确地说，在夜间)，相机也可以向显示单元9提供图像。

Claims (12)

1.一种用于工业车辆(1)的驾驶员辅助系统，包括：
-第一相机(3)，所述第一相机安装在车辆驾驶室(2)上，以用于观察工业车辆(1)前方的区域；
-图像处理单元(8)，所述图像处理单元操作性地连接到所述第一相机(3)，以用于从所述第一相机(3)接收图像数据；
-显示单元(9)，所述显示单元操作性地连接到所述图像处理单元(8)，以基于所述图像数据而向用户显示图像；
-控制单元(10)，所述控制单元操作性地连接到所述第一相机(3)，以用于修改所述第一相机(3)的操作参数；
其中，所述第一相机(3)适用于提供广角视野，并且所述第一相机(3)相对于工业车辆(1)的视野能够由所述控制单元(10)调整，
其中，所述控制单元(10)适用于接收车辆操作数据，并响应于所述车辆操作数据而修改所述第一相机(3)的所述视野，所述车辆操作数据包含车速数据，
其特征在于，当所述车速在0与15km/h之间时，所述第一相机(3)的所述视野被调整成使得所述第一相机(3)的所述视野对应于根据UN ECE n°46法规的VI类前视装置的视野，并且当所述车速高于15km/h时，所述第一相机(3)的所述视野被调整成使得所述第一相机(3)的所述视野覆盖根据UN ECE n°46法规的VI类前视装置未覆盖的区域。
2.根据权利要求1所述的驾驶员辅助系统，其特征在于，当所述车速高于15km/h时，所述第一相机(3)的所述视野被调整成使得所述第一相机(3)的所述视野覆盖从距离所述工业车辆(1)前方至少2米的竖直平面起的区域。
3.根据权利要求1所述的驾驶员辅助系统，其特征在于，所述控制单元(10)适于从手动输入端(12)接收输入数据，并响应于所述输入数据而修改所述第一相机(3)的所述视野。
4.根据权利要求3所述的驾驶员辅助系统，其特征在于，所述手动输入端(12)容纳在所述工业车辆(1)的仪表板中。
5.根据权利要求1所述的驾驶员辅助系统，其特征在于，所述系统还包括第二相机(5)，所述第二相机(5)安装在所述工业车辆(1)上，以用于观察所述工业车辆(1)后方的区域，所述图像处理单元(8)操作性地连接到所述第二相机(5)，以用于从所述第二相机(5)接收图像数据。
6.根据权利要求5所述的驾驶员辅助系统，其特征在于，所述图像处理单元(8)适用于接收车辆操作数据，并响应于所述车辆操作数据而选择性地将所述第一相机(3)或所述第二相机(5)的图像数据传输到所述显示单元(9)。
7.根据权利要求6所述的驾驶员辅助系统，其特征在于，所述车辆操作数据包含齿轮系的位置数据。
8.根据权利要求7所述的驾驶员辅助系统，其特征在于，所述图像处理单元(8)适用于在倒挡被接合时选择性地将所述第二相机(5)的图像数据传输到所述显示单元(9)。
9.根据权利要求5所述的驾驶员辅助系统，其特征在于，所述图像处理单元(8)适用于从手动输入端(12)接收输入数据，并响应于所述输入数据而选择性地将所述第一相机(3)或所述第二相机(5)的图像数据传输到所述显示单元(9)。
10.根据权利要求9所述的驾驶员辅助系统，其特征在于，所述手动输入端(12)容纳在所述工业车辆(1)的仪表板中。
11.根据权利要求5所述的驾驶员辅助系统，其特征在于，所述图像处理单元(8)适用于根据环境状况和/或车辆操作数据而修改所述第一相机(3)和/或所述第二相机(5)的图像数据。
12.根据权利要求5所述的驾驶员辅助系统，其特征在于，所述控制单元(10)适用于控制所述第一相机(3)和/或所述第二相机(5)的光学变焦，以更改所述第一相机(3)和/或所述第二相机(5)的所述视野。
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