CN112009416A - Vehicle protection method and system and automobile - Google Patents
Vehicle protection method and system and automobile Download PDFInfo
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- CN112009416A CN112009416A CN202010800595.4A CN202010800595A CN112009416A CN 112009416 A CN112009416 A CN 112009416A CN 202010800595 A CN202010800595 A CN 202010800595A CN 112009416 A CN112009416 A CN 112009416A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/02—Occupant safety arrangements or fittings, e.g. crash pads
- B60R21/11—Overhead guards, e.g. against loads falling down
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/02—Occupant safety arrangements or fittings, e.g. crash pads
- B60R21/16—Inflatable occupant restraints or confinements designed to inflate upon impact or impending impact, e.g. air bags
- B60R21/20—Arrangements for storing inflatable members in their non-use or deflated condition; Arrangement or mounting of air bag modules or components
- B60R21/214—Arrangements for storing inflatable members in their non-use or deflated condition; Arrangement or mounting of air bag modules or components in roof panels
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- Image Analysis (AREA)
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Abstract
The invention provides a vehicle protection method, a vehicle protection system and an automobile, wherein the method comprises the steps of controlling a camera to be started and shooting a video of an object falling from the high altitude when the object falling from the high altitude passes through a camera opening area located at a first preset height above the top of the vehicle; identifying the real object type of the falling object according to the video of the falling object; when the falling object is detected to pass through a roof protection range at a second preset height above the top of the vehicle, acquiring the position and the speed of the falling object; judging whether the falling object damages the top of the vehicle according to the type, the position and the speed of the falling object; if yes, the roof airbag is controlled to open to cover the top of the vehicle. The invention solves the problem that the vehicle ceiling and the panoramic sunroof are damaged due to the fact that the existing vehicle is parked outside and falls into high-altitude objects without protective measures.
Description
Technical Field
The invention relates to the technical field of automobile safety, in particular to a vehicle protection method, a vehicle protection system and an automobile.
Background
With the development of automobile technology, the active and passive safety protection technology of the automobile is well applied. However, as the vehicles grow, the vehicles can be stopped outdoors many times, and no effective protective measures are provided for objects falling from high altitude. At present, most vehicles are provided with panoramic skylights, and objects falling from high altitude easily cause damage to the panoramic skylights, thereby bringing great troubles to vehicle owners.
Disclosure of Invention
The invention aims to provide a vehicle protection method, a vehicle protection system and an automobile, which are used for solving the problem that a vehicle ceiling and a panoramic sunroof are damaged due to the fact that the existing vehicle is parked outside and falls into high-altitude falling objects without protection measures.
The invention provides a vehicle protection method, which comprises the following steps:
step S11, when detecting that the falling object passes through a camera opening area with a first preset height above the top of the vehicle, controlling the camera to open and shooting a video of the falling object;
step S12, identifying the object type of the falling object according to the video of the falling object;
step S13, when the falling object is detected to pass through the roof protection range of a second preset height above the top of the vehicle, the position and the speed of the falling object are obtained;
step S14, judging whether the falling object damages the top of the vehicle according to the type, position and speed of the falling object; if yes, the roof airbag is controlled to open to cover the top of the vehicle.
Further, the step S12 specifically includes:
converting the video of the falling object into a plurality of continuous images;
and inputting the multiple continuous images into a trained image classification deep learning network, and identifying the type of the object falling from the high altitude.
Further, the image classification deep learning network adopts an AlexNet network structure.
Further, the step S14 specifically includes:
acquiring estimated quality corresponding to the object type of the falling object according to the object type of the falling object;
calculating the kinetic energy of the falling object passing through the roof protection range according to the estimated mass and the speed of the falling object;
when the kinetic energy of the falling object passing through the roof protection range is larger than or equal to a preset safety kinetic energy threshold value, and the position of the falling object is within the roof protection range, it is judged that the falling object damages the top of the vehicle.
Further, the method further comprises:
when the kinetic energy of the falling object passing through the roof protection range is smaller than the preset safe kinetic energy threshold value, or the position of the falling object is outside the roof protection range, it is judged that the falling object does not harm the top of the vehicle.
The invention provides a vehicle protection system which comprises an ECU (electronic control unit), a radar, a camera and an air bag, wherein the radar, the camera and the air bag are arranged on the top of a vehicle and are electrically connected with a control ECU;
the ECU is used for triggering and opening the camera to shoot the video of the falling object when the falling object passes through a camera opening area with a first preset height above the top of the vehicle as detected by the radar, and identifying the object type of the falling object according to the video of the falling object;
the ECU is also used for acquiring the position and the speed of the high-altitude falling object when the radar detects that the high-altitude falling object passes through a roof protection range at a second preset height above the top of the vehicle;
the ECU is also used for judging whether the falling object damages the top of the vehicle according to the type, the position and the speed of the falling object; and if so, controlling the safety airbag to open to cover the top of the vehicle.
Further, the radar is arranged in the middle or the rear of the vehicle and is arranged along the center line of the vehicle, the detection angle range of the radar along the length direction of the vehicle body is [ -15 °, +15 ° ], and the detection angle range along the width direction of the vehicle body is [ -20 °, +20 ° ].
Further, the identifying, by the ECU, the object type of the falling object according to the video of the falling object specifically includes:
converting the video of the falling object into a plurality of continuous images;
and inputting the multiple continuous images into a trained image classification deep learning network, and identifying the type of the object falling from the high altitude.
Further, the step of judging whether the falling object damages the top of the vehicle by the ECU according to the type, the position and the speed of the falling object specifically comprises the following steps:
acquiring estimated quality corresponding to the object type of the falling object according to the object type of the falling object;
calculating the kinetic energy of the falling object passing through the roof protection range according to the estimated mass and the speed of the falling object;
when the kinetic energy of the falling object passing through the roof protection range is larger than or equal to a preset safety kinetic energy threshold value, and the position of the falling object is within the roof protection range, it is judged that the falling object damages the top of the vehicle.
The invention provides an automobile which is provided with the automobile protection system.
The implementation of the invention has the following beneficial effects:
according to the invention, the camera and the radar are combined to obtain the type, the speed and the position of the object falling from a certain height above the top of the vehicle, the kinetic energy of the object falling from the high altitude is calculated and the position is judged, and when the kinetic energy of the object falling from the high altitude reaches a threshold condition and the object falling from the high altitude is within the protection range of the roof, the safety airbag is controlled to be opened to protect the roof and the panoramic sunroof of the vehicle; the problem of current parking at outdoor vehicle, meet the high altitude and fall the thing and lead to vehicle ceiling and panorama skylight to damage because of not having safeguard procedures.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a front view of an operation background of a vehicle protection method according to an embodiment of the present invention.
Fig. 2 is a left side view of an operation background of a vehicle protection method provided by the embodiment of the invention.
Fig. 3 is a top view of an operation background of a vehicle protection method provided by an embodiment of the invention.
Fig. 4 is a structural diagram of a vehicle protection system provided in an embodiment of the present invention.
Fig. 5 is a flowchart of a vehicle protection method according to an embodiment of the present invention.
Fig. 6 is a structural diagram of an AlexNet network according to an embodiment of the present invention.
Detailed Description
In this patent, the following description will be given with reference to the accompanying drawings and examples.
As shown in fig. 1, an embodiment of the present invention provides a background for a vehicle protection method, in which a millimeter wave radar is disposed on a roof of a vehicle, and a detection angle range of the millimeter wave radar in an X-axis direction (i.e., a vehicle body length direction) in fig. 1 is [ -15 °, +15 ° ], and a detection angle range of the millimeter wave radar in a Z-axis direction (i.e., a vehicle body width direction) in fig. 20 °, +20 ° ]; with the help of figure 2 can see that the vehicle top is provided with the camera, in order to guarantee under different environment can both normally work, the camera adopts infrared camera, avoids being disturbed by the environment. If other special requirements are required for the environment, the types of the radar and the camera can be properly replaced; when the types or parameters of the radar and the camera are changed, the installation angles of the radar and the camera need to be calibrated and adjusted, and the best effect of preventing the vehicle from falling down can be ensured.
The radar and the camera are installed at the top of the vehicle and need to form a certain angle with the top of the vehicle, so that falling object information can be better collected, and meanwhile, a part of safety time is reserved for opening of an air bag arranged at the top of the vehicle. Referring to fig. 1, the radar center line is at an angle of 10 ° to the perpendicular to the radar installation position, and assuming that the vehicle roof length l is 2.5m, the roof protection range S to the roof plane height h can be calculated:
it should be noted that the height h from the roof protection range S to the roof plane is the second preset height in this embodiment.
Referring to fig. 2, the radar and the camera are installed in the middle or rear of the vehicle, wherein the radar needs to be installed on the vehicle centerline, which can ensure that the detection range of the radar along the Z-axis direction is symmetrical, but the camera can be slightly deviated from the vehicle centerline, because the camera has a large wide shooting angle and slightly deviates from the centerline, the protection effect is not affected;
if radar central line is a to radar detection scope unilateral along Z axle distance, and vehicle roof width is d 2m, then can prove through calculating that radar detection scope contains vehicle roof guard range S, can play fine guard action to the vehicle:
a＝h*tan20°＝5.36*tan20°＝1.95m>1m。
with reference to fig. 1 and 2, a camera opening position S' is located at a height h ═ 2m above the Z-axis projection of the roof protection space S, and is an area having a size and a shape consistent with the roof protection space S. When the falling object is detected by the radar and falls into the area, the ECU triggers and opens the intelligent camera to start video shooting of the falling object. The distance from the area to the roof protection range S is h', and the video information is transmitted to the camera, the ECU identifies the type of the falling object entity and makes a decision to reserve whether to open the air bag or not.
It should be noted that the sum of the heights h + h' above is the first preset height.
Referring to fig. 3, the roof protection range S is a rectangular area having a size consistent with the size of the roof of the real vehicle, a length of 2.5m, and a width of 2m, and is one of the bases for the radar to determine whether the falling position of the falling object damages the roof of the vehicle, and the ECU sends an airbag opening command to the start position of the roof airbag. According to different motorcycle types, the roof protection scope S has different shapes and sizes, and when the shapes and the sizes are changed, the radar installation angle needs to be adjusted and calibrated, so that the best effect of preventing the vehicle from falling can be ensured.
As shown in fig. 4, an embodiment of the present invention provides a vehicle protection system including a radar 41 provided on the roof of a vehicle, a camera 42 provided on the roof of the vehicle, an ECU43, and an airbag 44 provided on the roof of the vehicle, the ECU43 electrically connecting the radar 41, the camera 42, and the airbag 44, respectively, wherein:
the ECU43 is used for triggering the camera 42 to shoot the video of the falling object when the radar 41 detects that the falling object passes through a camera opening area located at a first preset height above the top of the vehicle, and identifying the real object type of the falling object according to the video of the falling object;
the ECU43 is also used for acquiring the position and the speed of the high-altitude falling object when the radar 41 detects that the high-altitude falling object passes through the roof protection range at a second preset height above the top of the vehicle;
the ECU43 is also used for judging whether the falling object damages the top of the vehicle according to the real object type, position and speed of the falling object; if so, the airbag 44 is controlled to open to cover the roof of the vehicle.
Further, the identifying, by the ECU43, the physical type of the falling object according to the video of the falling object specifically includes:
converting the video of the falling object into a plurality of continuous images;
and inputting the multiple continuous images into a trained image classification deep learning network, and identifying the type of the object falling from the high altitude.
Further, the step of determining, by the ECU43, whether the falling object is harmful to the top of the vehicle according to the physical type, position and speed of the falling object specifically includes:
acquiring estimated quality corresponding to the object type of the falling object according to the object type of the falling object;
calculating the kinetic energy of the falling object passing through the roof protection range according to the estimated mass and the speed of the falling object;
when the kinetic energy of the falling object passing through the roof protection range is larger than or equal to a preset safety kinetic energy threshold value, and the position of the falling object is within the roof protection range, it is judged that the falling object damages the top of the vehicle.
It should be noted that, in this embodiment, a table corresponding to the actual type of the falling object and the estimated quality is preset.
As shown in fig. 5, an embodiment of the present invention provides a vehicle protection method, including:
step S11, when the falling object is detected to pass through a camera lens opening area located at a first preset height above the top of the vehicle, controlling the camera to open and shoot the video of the falling object;
the camera opening area is located in a virtual area with a first preset height above the top of the vehicle, is consistent with the shape and size of the top of the vehicle, and is located right above the top of the vehicle; when the radar detects that the falling object passes through the virtual area, the ECU is informed to control the camera to be started and shoot the video of the falling object.
Step S12, identifying the object type of the falling object according to the video of the falling object;
step S12 specifically includes:
converting the video of the falling object into a plurality of continuous images;
and inputting the multiple continuous images into a trained image classification deep learning network, and identifying the type of the object falling from the high altitude.
It should be noted that the AlexNet network structure is adopted for the image classification deep learning network trained by the training sample set; reference may be made to fig. 6 with respect to the AlexNet network structure.
The image recognition algorithm utilizes other trained artificial intelligence networks, such as the AlexNet network structure in the embodiment, to directly implement the image recognition in the embodiment, which can save a lot of time.
Step S13, when the falling object is detected to pass through a roof protection range of a second preset height above the top of the vehicle, acquiring the position and the speed of the falling object, wherein the second preset height is smaller than the first preset height;
the second preset height is set to provide time for judging the actual type of the falling object and opening the air bag.
Step S14, judging whether the falling object damages the top of the vehicle according to the type, position and speed of the falling object;
if yes, the roof airbag is controlled to open to cover the top of the vehicle.
The step S14 specifically includes:
acquiring estimated quality corresponding to the object type of the falling object according to the object type of the falling object;
calculating the kinetic energy of the falling object passing through the roof protection range according to the estimated mass and the speed of the falling object;
when the kinetic energy of the falling object passing through the roof protection range is larger than or equal to a preset safety kinetic energy threshold value, and the position of the falling object is within the roof protection range, it is judged that the falling object damages the top of the vehicle.
It should be noted that the roof protection range is located right above the top of the vehicle and at a second preset height from the top of the vehicle, and is also a virtual area, and if a high-altitude falling object passes through the area and has certain kinetic energy, the high-altitude falling object must be protected.
Further, the method further comprises:
when the kinetic energy of the falling object passing through the roof protection range is smaller than the preset safe kinetic energy threshold value, or the position of the falling object is outside the preset roof protection range, it is judged that the falling object does not harm the top of the vehicle.
To verify the effectiveness of this solution, the range of heights at which the protectable drop falls was calculated. According to market data, the opening time of the air bag is generally 0.03s, and in order to ensure that the air bag has sufficient opening time, a safety factor of 3.5 is selected, namely the opening time of the air bag is assumed to be t20.105 s. The calculation is divided into the following two cases:
the first condition is as follows: making free falling bodies from the articles at the height of h + h', and calculating the free falling body time t;
case two: if the time from the falling object entering the roof protection range S to the air bag being completely opened is t2The system can perform effective protection by calculating the falling height of the falling object from 0.105 s.
The speed from the high falling object to the area S of the protective range of the roof is V0And then:
the height of an area S from the position where the falling object starts to fall freely to the falling object to the roof protection range is delta h, the free falling time is T, and then:
and the distance from the object starting free falling body position to the roof is H, then:
H＝Δh+h＝127.5+5.36＝132.86m。
in conclusion, if the height of the vehicle is 1.7m, the scheme has good protection effect on high falling objects with the height of 9.06-134.56m (the height of a floor is 3 m/floor, and the height of the floor is 3-45 floors).
The invention further provides an automobile which is provided with the automobile protection system.
The implementation of the invention has the following beneficial effects:
according to the invention, the camera and the radar are combined to obtain the type, the speed and the position of the object falling from a certain height of the top of the vehicle, the kinetic energy of the object falling from the height is calculated and the position is judged, and when the kinetic energy of the object falling from the height reaches a threshold condition and the object falling from the height is within the protection range of the top of the vehicle, the safety airbag is controlled to be opened to protect the ceiling and the panoramic sunroof of the vehicle; the problem of current parking at outdoor vehicle, meet the high altitude and fall the thing and lead to vehicle ceiling and panorama skylight to damage because of not having safeguard procedures.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (10)
1. A method of vehicle protection, the method comprising:
step S11, when detecting that the falling object passes through a camera opening area with a first preset height above the top of the vehicle, controlling the camera to open and shooting a video of the falling object;
step S12, identifying the object type of the falling object according to the video of the falling object;
step S13, when the falling object is detected to pass through the roof protection range of a second preset height above the top of the vehicle, the position and the speed of the falling object are obtained;
step S14, judging whether the falling object damages the top of the vehicle according to the type, position and speed of the falling object; if yes, the roof airbag is controlled to open to cover the top of the vehicle.
2. The method according to claim 1, wherein the step S12 specifically includes:
converting the video of the falling object into a plurality of continuous images;
and inputting the multiple continuous images into a trained image classification deep learning network, and identifying the type of the object falling from the high altitude.
3. The method of claim 2, wherein the image classification deep learning network adopts an AlexNet network structure.
4. The method according to claim 1, wherein the step S14 specifically includes:
acquiring estimated quality corresponding to the object type of the falling object according to the object type of the falling object;
calculating the kinetic energy of the falling object passing through the roof protection range according to the estimated mass and the speed of the falling object;
when the kinetic energy of the falling object passing through the roof protection range is larger than or equal to a preset safety kinetic energy threshold value, and the position of the falling object is within the roof protection range, it is judged that the falling object damages the top of the vehicle.
5. The method of claim 4, wherein the method further comprises:
when the kinetic energy of the falling object passing through the roof protection range is smaller than the preset safe kinetic energy threshold value, or the position of the falling object is outside the roof protection range, it is judged that the falling object does not harm the top of the vehicle.
6. A vehicle protection system is characterized by comprising an ECU, a radar, a camera and an airbag, wherein the radar, the camera and the airbag are arranged on the top of a vehicle and are electrically connected with the ECU;
the ECU is used for triggering and opening the camera to shoot the video of the falling object when the falling object passes through a camera opening area with a first preset height above the top of the vehicle as detected by the radar, and identifying the object type of the falling object according to the video of the falling object;
the ECU is also used for acquiring the position and the speed of the high-altitude falling object when the radar detects that the high-altitude falling object passes through a roof protection range at a second preset height above the top of the vehicle;
the ECU is also used for judging whether the falling object damages the top of the vehicle according to the type, the position and the speed of the falling object; and if so, controlling the safety airbag to open to cover the top of the vehicle.
7. The system of claim 6, wherein the radar is provided in the middle or rear portion of the vehicle and is disposed along the vehicle center line, and the radar detects an angular range of [ -15 °, +15 ° ] in the vehicle body length direction and [ -20 °, +20 ° ] in the vehicle body width direction.
8. The system of claim 6, wherein the ECU identifying the physical type of the falling object from the video of the falling object specifically comprises:
converting the video of the falling object into a plurality of continuous images;
and inputting the multiple continuous images into a trained image classification deep learning network, and identifying the type of the object falling from the high altitude.
9. The system of claim 6, wherein the ECU determining whether the falling object constitutes an injury to the roof of the vehicle based on the physical type, location, and speed of the falling object comprises:
acquiring estimated quality corresponding to the object type of the falling object according to the object type of the falling object;
calculating the kinetic energy of the falling object passing through the roof protection range according to the estimated mass and the speed of the falling object;
when the kinetic energy of the falling object passing through the roof protection range is larger than or equal to a preset safety kinetic energy threshold value, and the position of the falling object is within the roof protection range, it is judged that the falling object damages the top of the vehicle.
10. A vehicle, characterized in that it has a vehicle protection system according to any one of claims 6 to 9.
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| CN202010800595.4A CN112009416A (en) | 2020-08-11 | 2020-08-11 | Vehicle protection method and system and automobile |
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| CN202010800595.4A CN112009416A (en) | 2020-08-11 | 2020-08-11 | Vehicle protection method and system and automobile |
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Application publication date: 20201201 |