CN111688722A - Vehicle self-starting method based on visual perception - Google Patents
Vehicle self-starting method based on visual perception Download PDFInfo
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- CN111688722A CN111688722A CN202010365633.8A CN202010365633A CN111688722A CN 111688722 A CN111688722 A CN 111688722A CN 202010365633 A CN202010365633 A CN 202010365633A CN 111688722 A CN111688722 A CN 111688722A
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- vehicle
- safety belt
- method based
- visual perception
- starting method
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- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R22/00—Safety belts or body harnesses in vehicles
- B60R22/48—Control systems, alarms, or interlock systems, for the correct application of the belt or harness
-
- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R22/00—Safety belts or body harnesses in vehicles
- B60R22/48—Control systems, alarms, or interlock systems, for the correct application of the belt or harness
- B60R2022/4808—Sensing means arrangements therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R22/00—Safety belts or body harnesses in vehicles
- B60R22/48—Control systems, alarms, or interlock systems, for the correct application of the belt or harness
- B60R2022/4808—Sensing means arrangements therefor
- B60R2022/4816—Sensing means arrangements therefor for sensing locking of buckle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R22/00—Safety belts or body harnesses in vehicles
- B60R22/48—Control systems, alarms, or interlock systems, for the correct application of the belt or harness
- B60R2022/4866—Displaying or indicating arrangements thereof
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- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
Abstract
The invention relates to a vehicle self-starting method based on visual perception, which specifically comprises the following steps: step S1: the vehicle camera detects that a passenger gets on the vehicle and sits, the safety belt sensor detects whether a safety belt is inserted into a safety belt clamping groove, if the safety belt is not inserted, safety belt prompt information is sent to the passenger, and if the safety belt is inserted, the step S2 is executed; step S2: the vehicle door sensor detects whether the vehicle door is closed, if not, vehicle door prompt information is sent to passengers, and if the vehicle door is closed, step S3 is executed; step S3: the method comprises the steps that an external sensing device detects whether obstacles exist around a vehicle or not and calculates the distance between the obstacles and the vehicle, if the distance between the obstacles is smaller than a set safe distance, the external sensing device sends a starting instruction to a central decision-making system, the central decision-making system starts an engine according to the starting instruction, and otherwise, the external sensing device sends obstacle cleaning prompt information to passengers. Compared with the prior art, the method has the advantages of improving the starting experience and the safety factor of automatic driving, improving the information processing performance, shortening the information transmission time and the like.
Description
Technical Field
The invention relates to the field of automobile driving, in particular to a vehicle self-starting method based on visual perception.
Background
The current automatic driving technology mainly relates to how to make the vehicle realize automatic driving better and safer, and the problem to be handled is mainly how to drive after the vehicle is started. For how to automatically start a vehicle, no related technology exists at present, automatic driving can realize automatic side parking after reaching a destination, but the starting needs manual triggering, and the vehicle can only run according to a set route after the manual triggering, so that the integration of the automatic driving is still to be improved.
Chinese patent CN200910167567.7 discloses a control method for automatic stop and automatic start of an engine, which detects whether the current vehicle meets basic engine conditions, safety conditions, comfort conditions, battery conditions and power steering conditions to determine whether the engine can be automatically started, but lacks detection of the surrounding environment of the vehicle, has a high risk coefficient, and is not suitable for automatic driving.
Disclosure of Invention
The invention aims to overcome the defects that the automatic driving needs to manually start an engine and lacks detection of the surrounding environment of a vehicle in the prior art, and provides a vehicle self-starting method based on visual perception.
The purpose of the invention can be realized by the following technical scheme:
a vehicle self-starting method based on visual perception specifically comprises the following steps:
step S1: the vehicle camera detects that a passenger gets on the vehicle and sits, the safety belt sensor detects whether a safety belt is inserted into a safety belt clamping groove, if the safety belt is not inserted, safety belt prompt information is sent to the passenger, and if the safety belt is inserted, the step S2 is executed;
step S2: the vehicle door sensor detects whether the vehicle door is closed, if not, vehicle door prompt information is sent to passengers, and if the vehicle door is closed, step S3 is executed;
step S3: the method comprises the steps that an external sensing device detects whether obstacles exist around a vehicle or not and calculates the distance between the obstacles and the vehicle, if the distance between the obstacles is smaller than a set safe distance, the external sensing device sends a starting instruction to a central decision-making system, the central decision-making system starts an engine according to the starting instruction, and otherwise, the external sensing device sends obstacle cleaning prompt information to passengers.
The camera in the vehicle, the safety belt sensor, the vehicle door sensor and the sensing equipment outside the vehicle are respectively connected with the central decision-making system.
Furthermore, the connection mode of the camera in the vehicle, the safety belt sensor, the vehicle door sensor, the sensing equipment outside the vehicle and the central decision-making system is an ROS distributed system.
Further, the start instruction is sent to a central decision system in the form of a testopic command.
Furthermore, the communication mode of the camera in the vehicle, the safety belt sensor, the vehicle door sensor, the sensing equipment outside the vehicle and the central decision-making system is a CAN controller local area network.
The vehicle exterior sensing equipment comprises a radar and a vehicle exterior camera.
Furthermore, the quantity of the outer camera of car is 4, is located both ends and both sides around the automobile body respectively.
Further, a seat belt clamping groove detected by the seat belt sensor is a seat belt clamping groove of the driver seat.
The transmission mode of the safety belt prompt message, the vehicle door prompt message and the barrier cleaning prompt message comprises voice broadcasting through a sound box or displaying in literature on a display screen in the vehicle.
A face detection module is arranged in the camera in the automobile, and whether passengers get on the automobile or take seats is detected through the face detection module.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the external sensing equipment is arranged, and the traveling environment of the vehicle is detected through the external sensing equipment, so that the influence of obstacles on the traveling of the vehicle is avoided, and the starting experience and the safety coefficient of the vehicle are improved.
2. According to the invention, the camera in the vehicle, the safety belt sensor, the vehicle door sensor, the sensing equipment outside the vehicle and the central decision system are deployed according to the ROS distributed system, so that the expansion is convenient, the information processing performance is improved, and the time delay of information transmission is reduced.
3. The communication mode of the camera in the vehicle, the safety belt sensor, the vehicle door sensor, the sensing equipment outside the vehicle and the central decision system is a CAN controller local area network, so that the real-time transmission performance is stronger, the information transmission efficiency between each module and the central decision system is improved, and the reaction time of the system is shortened.
Drawings
FIG. 1 is a schematic flow diagram of the present invention;
fig. 2 is a schematic structural diagram of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
As shown in fig. 1, a vehicle self-starting method based on visual perception improves the starting experience and safety factor of vehicle automatic driving, and specifically includes the following steps:
step S1: the vehicle camera detects that a passenger gets on the vehicle and sits, the safety belt sensor detects whether a safety belt is inserted into a safety belt clamping groove, if the safety belt is not inserted, safety belt prompt information is sent to the passenger, and if the safety belt is inserted, the step S2 is executed;
step S2: the vehicle door sensor detects whether the vehicle door is closed, if not, vehicle door prompt information is sent to passengers, and if the vehicle door is closed, step S3 is executed;
step S3: the vehicle exterior sensing device detects whether obstacles exist around the vehicle or not and calculates the distance from the obstacles to the vehicle, if the distance from the obstacles is smaller than a set safe distance, the vehicle exterior sensing device sends a starting instruction to the central decision-making system, the central decision-making system starts the engine according to the starting instruction, the vehicle runs according to a planned path, and otherwise, the vehicle exterior sensing device sends obstacle cleaning prompt information to passengers.
As shown in fig. 2, the camera inside the vehicle, the seat belt sensor, the door sensor, and the sensing device outside the vehicle are connected to the central decision system, respectively.
The connection mode of the camera in the vehicle, the safety belt sensor, the vehicle door sensor, the sensing equipment outside the vehicle and the central decision-making system is an ROS distributed system, and the central decision-making system uniformly regulates and controls the camera in the vehicle, the safety belt sensor, the vehicle door sensor and the sensing equipment outside the vehicle.
The start instruction is sent to the central decision system in the form of a testopic command.
The communication mode of the camera in the vehicle, the safety belt sensor, the vehicle door sensor, the sensing equipment outside the vehicle and the central decision-making system is a CAN controller local area network, so that the central decision-making system CAN obtain the states of the safety belt and the vehicle door in a short time.
The vehicle exterior sensing equipment comprises a radar and a vehicle exterior camera.
The quantity of the outer camera of car is 4, is located both ends and both sides around the automobile body respectively, if there are two outer cameras of car to detect that there is the barrier and the barrier distance is not less than safe distance, then outer perception equipment of car sends barrier clearance prompt message to the passenger.
The safety distance is 2 meters.
The safety belt clamping groove detected by the safety belt sensor is a safety belt clamping groove of the driver seat.
The transmission modes of the safety belt prompt message, the vehicle door prompt message and the barrier cleaning prompt message comprise voice broadcasting through a sound device or displaying in literature on a display screen in the vehicle.
A face detection module is arranged in the camera in the car, and whether passengers get on the car or not are seated is detected through the face detection module.
In addition, it should be noted that the specific embodiments described in the present specification may have different names, and the above descriptions in the present specification are only illustrations of the structures of the present invention. Minor or simple variations in the structure, features and principles of the present invention are included within the scope of the present invention. Various modifications or additions may be made to the described embodiments or methods may be similarly employed by those skilled in the art without departing from the scope of the invention as defined in the appending claims.
Claims (10)
1. A vehicle self-starting method based on visual perception is characterized by comprising the following steps:
step S1: the vehicle camera detects that a passenger gets on the vehicle and sits, the safety belt sensor detects whether a safety belt is inserted into a safety belt clamping groove, if the safety belt is not inserted, safety belt prompt information is sent to the passenger, and if the safety belt is inserted, the step S2 is executed;
step S2: the vehicle door sensor detects whether the vehicle door is closed, if not, vehicle door prompt information is sent to passengers, and if the vehicle door is closed, step S3 is executed;
step S3: the method comprises the steps that an external sensing device detects whether obstacles exist around a vehicle or not and calculates the distance between the obstacles and the vehicle, if the distance between the obstacles is smaller than a set safe distance, the external sensing device sends a starting instruction to a central decision-making system, the central decision-making system starts an engine according to the starting instruction, and otherwise, the external sensing device sends obstacle cleaning prompt information to passengers.
2. The vehicle self-starting method based on visual perception according to claim 1, wherein the in-vehicle camera, the safety belt sensor, the door sensor and the out-of-vehicle perception device are respectively connected with a central decision system.
3. The vehicle self-starting method based on visual perception according to claim 2, wherein the connection mode of the in-vehicle camera, the safety belt sensor, the door sensor, the out-vehicle perception device and the central decision system is an ROS distributed system.
4. A visual perception-based vehicle self-starting method as claimed in claim 3, wherein the starting instruction is sent to a central decision-making system in the form of a rostoplac command.
5. The vehicle self-starting method based on visual perception according to claim 2, wherein the communication mode of the in-vehicle camera, the safety belt sensor, the door sensor, the out-vehicle perception device and the central decision system is a controller area network.
6. The vehicle self-starting method based on visual perception according to claim 1, wherein the vehicle exterior perception device comprises a radar and an vehicle exterior camera.
7. The vehicle self-starting method based on visual perception according to claim 6, wherein the number of the outer cameras is 4, and the outer cameras are respectively located at the front end, the rear end and the two sides of the vehicle body.
8. The vehicle self-starting method based on visual perception according to claim 1, wherein the seat belt clamping groove detected by the seat belt sensor is a seat belt clamping groove of a driver seat.
9. The vehicle self-starting method based on visual perception according to claim 1, wherein the modes of transmission of the seat belt prompt message, the door prompt message and the obstacle clearing prompt message comprise voice broadcasting through sound or literature display on an in-vehicle display screen.
10. The vehicle self-starting method based on visual perception according to claim 1, wherein a face detection module is arranged in the in-vehicle camera.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010365633.8A CN111688722A (en) | 2020-04-30 | 2020-04-30 | Vehicle self-starting method based on visual perception |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010365633.8A CN111688722A (en) | 2020-04-30 | 2020-04-30 | Vehicle self-starting method based on visual perception |
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| CN202010365633.8A Pending CN111688722A (en) | 2020-04-30 | 2020-04-30 | Vehicle self-starting method based on visual perception |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113479166A (en) * | 2021-07-28 | 2021-10-08 | 北京百度网讯科技有限公司 | Detection method and device for automatic driving vehicle, electronic equipment and readable storage medium |
| CN113715758A (en) * | 2021-09-02 | 2021-11-30 | 潍柴动力股份有限公司 | Wire harness fault detection method, device and system |
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| CN106627463A (en) * | 2016-12-22 | 2017-05-10 | 深圳市招科智控科技有限公司 | Unmanned bus visual perception system and work method for same |
| CN107176136A (en) * | 2016-06-14 | 2017-09-19 | 徐建俭 | A kind of safety alarm electronic equipment of motor vehicle |
| CN108973898A (en) * | 2018-07-25 | 2018-12-11 | 吉林大学 | A kind of unmanned vehicle and its safe starting method, device and equipment |
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2020
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Patent Citations (5)
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| CN101761404A (en) * | 2008-12-25 | 2010-06-30 | 上海通用汽车有限公司 | Control method for automatically stopping and starting engine |
| CN103253228A (en) * | 2012-12-31 | 2013-08-21 | 湖南吉利汽车部件有限公司 | Monitoring and speed control method using automobile safety belt |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113479166A (en) * | 2021-07-28 | 2021-10-08 | 北京百度网讯科技有限公司 | Detection method and device for automatic driving vehicle, electronic equipment and readable storage medium |
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| CN113715758A (en) * | 2021-09-02 | 2021-11-30 | 潍柴动力股份有限公司 | Wire harness fault detection method, device and system |
| CN113715758B (en) * | 2021-09-02 | 2024-04-16 | 潍柴动力股份有限公司 | Wire harness fault detection method, device and system |
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Application publication date: 20200922 |
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