CN112298040A - Auxiliary driving method based on transparent A column - Google Patents
Auxiliary driving method based on transparent A column Download PDFInfo
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- CN112298040A CN112298040A CN202011032979.2A CN202011032979A CN112298040A CN 112298040 A CN112298040 A CN 112298040A CN 202011032979 A CN202011032979 A CN 202011032979A CN 112298040 A CN112298040 A CN 112298040A
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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
- 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
- B60R2300/20—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used
- B60R2300/202—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used displaying a blind spot scene on the vehicle part responsible for the blind spot
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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
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/301—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
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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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Abstract
A driving assisting method based on a transparent A column belongs to the field of driving safety. The method is applied to a control device; the method comprises the following steps: step S01, receiving the image in front of the vehicle collected by the front-view camera; step S02, judging the space position of the target object based on the image in front of the vehicle; step S03, based on the spatial position of the target object, performs distance measurement: if the target object is located in the lane, distance measurement is carried out through target object images collected by the two A-column cameras; if the target object is positioned on the left side of the lane, distance measurement and calculation are carried out through target object images collected by the left A-pillar camera and the front-view camera; if the target object is positioned at the right side of the lane, distance measurement and calculation are carried out through target object images collected by the A-pillar camera and the front-looking camera at the right side; and step S04, performing driving assistance judgment based on the distance measurement result, and displaying the driving assistance judgment result on the A-pillar flexible display screen. The invention can realize higher binocular/multi-ocular distance measuring and calculating precision.
Description
The invention belongs to the technical field of driving safety, and particularly relates to an auxiliary driving method based on a transparent A column.
Background
The conventional driving assistance system generally has the following implementation modes:
1. a forward millimeter wave radar (77 GHz) is fused with the intelligent camera, wherein the forward millimeter wave radar is used as a sensor for distance detection;
2. a single vision system (forward-looking intelligent camera) is used as a distance detection sensor;
3. a multi-view vision system (binocular, multi-view), wherein tesla mainly measures obstacles in different distance ranges by adopting 3 cameras with different focal lengths;
all three solutions described above have certain limitations
1. Although the forward millimeter wave radar can meet the requirement of high ranging accuracy, the cost of the forward millimeter wave radar is higher than that of a camera, and in addition, due to the fact that the angular resolution of the millimeter wave radar is low, objects (such as metal plates on the ground and metal plates in the air) with different heights and different angles in front are not easy to distinguish, false triggering is easy to occur, and therefore the reliability of the system is reduced;
2. although the single vision system has a great advantage in cost, the distance measurement precision is low, and the functions of ACC (Adaptive Cruise Control), AEB (automatic Braking system) and the like with high Control precision requirements cannot be met;
3. the multi-view vision system has the problems that a plurality of cameras are arranged, and on one hand, the distance between the cameras is too close to meet the precision requirement of binocular distance measurement; on the other hand, the camera is arranged too far, the arrangement difficulty is increased, a plurality of supports are required to be arranged on the inner side of the front windshield, and the attractiveness and even the visual field of a driver are affected.
The utility model patent CN204641550U discloses a vehicle vision blind area display system and a vehicle, and specifically discloses that the system comprises a flexible display device, a first camera device and a processor; the first camera device is arranged outside the cab and close to the lower end of the A column of the vehicle and is used for shooting images of the surrounding environment of the vehicle; the processor receives and processes the image of the surrounding environment of the vehicle shot by the first camera device, so that the image of the environment outside the vehicle is obtained from the image and is transmitted to the flexible display device to be displayed. According to the system, the two A-column camera devices are used for acquiring and judging images in all directions in the front of the vehicle, effective pixels in a visual angle range cannot be ensured, the target cannot be accurately identified, and the distance measurement result precision difference is large for vehicles driving in front of the vehicle, in front of the left and in front of the right, so that accurate driving assistance prompt cannot be given.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an auxiliary driving method based on a transparent A column, which can realize higher binocular/multi-eye distance measuring and calculating precision.
The invention is realized by the following technical scheme:
a driving assistance method based on a transparent A column is realized based on a driving system comprising a forward-looking camera, two A column cameras, an A column flexible display screen and a control device, and the method is applied to the control device; the method comprises the following steps:
step S01, receiving the image in front of the vehicle collected by the front-view camera;
step S02, judging the space position of the target object based on the image in front of the vehicle;
step S03, based on the spatial position of the target object, performs distance measurement:
if the target object is located in the lane, distance measurement is carried out through target object images collected by the two A-column cameras;
if the target object is positioned on the left side of the lane, distance measurement and calculation are carried out through target object images collected by the left A-pillar camera and the front-view camera;
if the target object is positioned at the right side of the lane, distance measurement and calculation are carried out through target object images collected by the A-pillar camera and the front-looking camera at the right side;
and step S04, performing driving assistance judgment based on the distance measurement result, and displaying the driving assistance judgment result on the A-pillar flexible display screen.
According to the invention, 3 cameras are used for collecting images in front of the vehicle, and all spaces in front of the vehicle can be covered after the three cameras are synthesized in view angle ranges. The camera setting that is located the vehicle both sides is in A post side, and the installation of a plurality of cameras both guaranteed enough interval in order to satisfy the range finding required precision like this, has considered the aesthetic property of arranging of front windshield again. According to the invention, the spatial position of the target object is judged, and a proper camera is selected for accurate distance measurement and calculation, so that accurate judgment is provided for driving assistance.
Preferably, the two A-pillar cameras are respectively arranged at the top ends of the A-pillars at the two sides.
Preferably, the two a-pillar cameras are respectively provided on the outer mirror on the a-pillar side.
Preferably, the two A-pillar cameras and the front-view camera both adopt narrow-view cameras.
Preferably, the step S02 specifically includes: based on the picture area in the image in front of the vehicle collected by the front-view camera, the spatial position of the target object is judged: if the target object is located in the middle area of the picture, the target object is located in the lane; if the target object is located in the left area of the picture, the target object is located on the left side of the lane; and if the target object is positioned in the right area of the picture, the target object is positioned on the right side of the lane.
Preferably, the step S02 specifically includes: judging the spatial position between the target objects based on the lane lines in the images in front of the vehicle collected by the front-view camera: if the target object is located between the two lane lines, the target object is located in the lane; if the target object is positioned on the left side of the left lane line, the target object is positioned on the left side of the lane; and if the target object is positioned on the right side of the right lane line, the target object is positioned on the right side of the lane.
Preferably, the distance measurement in step S03 is implemented by a binocular camera distance measurement method.
Preferably, the step S03 further includes: and based on the target object images collected by the two A-column cameras and the front-view camera, distance measurement and calculation are carried out by a multi-view distance measurement and calculation method.
Preferably, the step S04 includes: and performing front collision early warning judgment based on the distance measurement result, the running speed of the vehicle and the speed of the target object, and sending a collision early warning signal and displaying the collision early warning signal on the A-pillar flexible display screen when judging that the relative distance between the target object and the vehicle and the ratio of the relative speed do not exceed a safety threshold value.
Preferably, the step S04 further includes: and judging lane line deviation based on the distance measurement result, and sending out lane deviation signals and displaying the lane deviation signals on the A-pillar flexible display screen when judging that the relative position of the vehicle wheels and the lane line deviates.
The invention has the following beneficial effects:
compared with the traditional assistant driving method, the assistant driving method based on the transparent A column has the following advantages:
1. the advantages of the installation position of the transparent A column are fully exerted, and higher binocular/multi-eye distance measurement precision is realized;
2. the method comprises the steps that the transparent A column is used for displaying the condition of a front road in real time, the working state of an intelligent driving system and related set information;
3. the alarm prompt can be more clearly given to the driver, so that better user experience is brought, and the technological sense of the whole vehicle can be improved;
4. the driver does not need to look over instrument or central control large-screen alarm information in a head-down mode, the condition that the traffic of surrounding roads is observed in a head-up mode can be restrained, and driving safety is improved.
Drawings
FIG. 1 is a flow chart of a driving assistance method based on a transparent A-pillar according to the present invention;
FIG. 2a is a rear view of a first embodiment of two A-pillar cameras, a front view camera, mounted on a vehicle;
FIG. 2b is a top view of the first embodiment in which two A-pillar cameras and a front-view camera are mounted on a vehicle;
FIG. 3a is a rear view of a second embodiment of two A-pillar cameras, a front view camera, mounted on a vehicle;
FIG. 3b is a second embodiment of two A-pillar cameras, a front view camera, mounted on a vehicle, this view being a top view;
fig. 4 is a specific example of binocular ranging, where P is the target object and L, R are two cameras.
Detailed Description
The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.
The auxiliary driving method based on the transparent A column is realized based on a driving system. The driving system comprises a front-view camera, two A-column cameras, an A-column flexible display screen and a control device. The front view camera is arranged in the middle of the vehicle, such as the middle above the front windshield.
In one embodiment, two a-pillar cameras are respectively disposed at the top ends of the a-pillars at two sides (see fig. 2a and 2 b). In another embodiment, two a-pillar cameras are respectively arranged on the a-pillar side exterior mirror, especially on the exterior mirror above the height of the vehicle hood (see fig. 3a and 3 b). The flexible screen of A post adopts the OLED screen, arranges the A post in for whole A post is transparent display state, can shelter from the image projection of the driver blind area that brings with driving in-process A post on the screen of A post in the car, promotes the security of driving. The control device is a driving control device and is used for receiving the camera information and sending the information to be displayed on the display screen. The two modes ensure enough space to meet the requirement of distance measurement precision and also consider the arrangement attractiveness of the front windshield.
The two A-column cameras and the front-view camera both adopt narrow-view cameras. The narrow viewing angle camera has a viewing angle of about 50 °. The images synthesized by the three cameras can cover all the space in front of the vehicle. The camera with a narrow visual angle range is selected, so that effective pixels in the visual angle range can be guaranteed, and the accuracy of target identification is guaranteed.
Referring to fig. 1, the method of the present invention is applied to a control device; the method comprises the following steps:
step S01, receiving the image in front of the vehicle collected by the front-view camera;
step S02, judging the space position of the target object based on the image in front of the vehicle;
step S03, based on the spatial position of the target object, performs distance measurement:
if the target object is located in the lane, distance measurement is carried out through target object images collected by the two A-column cameras;
if the target object is positioned on the left side of the lane, distance measurement and calculation are carried out through target object images collected by the left A-pillar camera and the front-view camera;
if the target object is positioned at the right side of the lane, distance measurement and calculation are carried out through target object images collected by the A-pillar camera and the front-looking camera at the right side;
and step S04, performing driving assistance judgment based on the distance measurement result, and displaying the driving assistance judgment result on the A-pillar flexible display screen.
The step S02 specifically includes: judging the spatial position between the target objects based on the lane lines in the images in front of the vehicle collected by the front-view camera: if the target object is located between the two lane lines, the target object is located in the lane; if the target object is positioned on the left side of the left lane line, the target object is positioned on the left side of the lane; and if the target object is positioned on the right side of the right lane line, the target object is positioned on the right side of the lane.
When the lane line does not exist in the video received in step S01 or the lane line is blurred, another embodiment of step S02 includes: based on the picture area in the image in front of the vehicle collected by the front-view camera, the spatial position of the target object is judged: if the target object is located in the middle area of the picture, the target object is located in the lane; if the target object is located in the left area of the picture, the target object is located on the left side of the lane; and if the target object is positioned in the right area of the picture, the target object is positioned on the right side of the lane.
In addition, both embodiments may be provided, and the image in front of the vehicle received in step S01 may be determined before the determination of the spatial position of the target object is performed. For example, step S01 further includes: identifying whether the image in front of the vehicle collected by the front-view camera contains a lane line or not and whether the lane line can be identified or not, and if so, identifying the spatial position of the target object by using the lane line; if the image in front of the vehicle collected by the front-view camera does not contain lane lines or cannot be identified, the spatial position of the target object is identified by using the position of the picture area.
When the distance measurement is performed in step S03, the images collected by the different cameras are synthesized into an image covering the front view of the vehicle, and then the distance measurement is performed. Fig. 4 illustrates a binocular camera ranging method. The distance (depth) z of the target object P from the camera is calculated based on the data in the map, that is, the relative distance between the target object and the host vehicle is obtained. Specifically, the method comprises the following steps:
according to the similarity law of triangles:
solving the equation by the formula (1):
f is the focal length of the camera, b is the reference line of the left camera and the right camera, and f and b can be obtained through prior information or camera calibration; parallax d = xl-xrI.e. left camera pixel point (x)l，yl) And right camera pixel point (x)r，yr）。
The step S03 further includes: and based on the target object images collected by the two A-column cameras and the front-view camera, distance measurement and calculation are carried out by a multi-view distance measurement and calculation method. If the target object is judged to be located in the lane, multi-view distance measurement can be adopted. The images collected by different cameras are synthesized into an image covering the front view of the vehicle, and then distance measurement is carried out.
The step S04 includes: and performing front collision early warning judgment based on the distance measurement result, the running speed of the vehicle and the speed of the target object, and sending a collision early warning signal and displaying the collision early warning signal on the A-pillar flexible display screen when judging that the relative distance between the target object and the vehicle and the ratio of the relative speed do not exceed a safety threshold value. The distance measurement result is obtained based on the relative distance of the measurement target object and the host vehicle in step S03. The running speed of the vehicle is acquired by acquiring the running speed of the vehicle through the control device, and the speed of the target object is acquired by acquiring the speed of the target object through the control device. The driving speed of the vehicle, the speed of a target object and the distance between the target object and the vehicle can be shown in real time on the A-column flexible display screen. When collision occurs, displaying collision early warning signals, such as alarm information and the like, on the A-pillar flexible display screen; meanwhile, the control device controls the emergency braking of the vehicle. Compared with the traditional instrument panel for displaying the alarm information or the traditional central control host for displaying the alarm information on a large screen, the display mode of the invention does not need the driver to look over the alarm information by lowering the head, the sight line is always kept in front, and the safety is high.
The step S04 further includes: and judging lane line deviation based on the distance measurement result, and sending out lane deviation signals and displaying the lane deviation signals on the A-pillar flexible display screen when judging that the relative position of the vehicle wheels and the lane line deviates. The distance measurement result is obtained based on the measurement of the relative position of the wheels of the host vehicle and the lane line in step S03. When lane departure occurs, lane departure warning information is displayed on the A-pillar flexible display screen, and the control device can also control steering wheel vibration, sound alarm and the like.
The flexible display screen of the A column can display the information related to the distance measurement and can also display the alarm state of the alarm auxiliary driving function in real time, such as traffic sign identification, traffic signal lamp identification, front vehicle starting prompt and the like; the traffic state around the vehicle can also be displayed in real time, including the speed, the acceleration and deceleration state, the state of the front vehicle (speed, distance, etc.), and the like. The control device can carry out relevant setting on the driving assisting function based on the distance measuring result, such as function opening and closing, function sensitivity, self-adaptive cruise following time interval, maximum set speed and the like.
It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are given by way of example only and are not limiting of the invention. The objects of the present invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the examples, and any variations or modifications of the embodiments of the present invention may be made without departing from the principles.
Claims (10)
1. A driving assistance method based on a transparent A column is characterized by being realized based on a driving system comprising a front-view camera, two A column cameras, an A column flexible display screen and a control device, and the method is applied to the control device; the method comprises the following steps:
step S01, receiving the image in front of the vehicle collected by the front-view camera;
step S02, judging the space position of the target object based on the image in front of the vehicle;
step S03, based on the spatial position of the target object, performs distance measurement:
if the target object is located in the lane, distance measurement is carried out through target object images collected by the two A-column cameras;
if the target object is positioned on the left side of the lane, distance measurement and calculation are carried out through target object images collected by the left A-pillar camera and the front-view camera;
if the target object is positioned at the right side of the lane, distance measurement and calculation are carried out through target object images collected by the A-pillar camera and the front-looking camera at the right side;
and step S04, performing driving assistance judgment based on the distance measurement result, and displaying the driving assistance judgment result on the A-pillar flexible display screen.
2. The driving assistance method according to claim 1, wherein the two A-pillar cameras are respectively arranged at the top ends of the A-pillars at two sides.
3. The driving assistance method based on the transparent A-pillar as claimed in claim 1, wherein the two A-pillar cameras are respectively disposed on the external rearview mirror at the side of the A-pillar.
4. The driving assistance method based on the transparent A-pillar as claimed in claim 1, wherein the two A-pillar cameras and the front-view camera both use narrow-view cameras.
5. The driving assistance method based on the transparent a-pillar as claimed in claim 1, wherein the step S02 specifically comprises: based on the picture area in the image in front of the vehicle collected by the front-view camera, the spatial position of the target object is judged: if the target object is located in the middle area of the picture, the target object is located in the lane; if the target object is located in the left area of the picture, the target object is located on the left side of the lane; and if the target object is positioned in the right area of the picture, the target object is positioned on the right side of the lane.
6. The driving assistance method based on the transparent a-pillar as claimed in claim 1, wherein the step S02 specifically comprises: judging the spatial position between the target objects based on the lane lines in the images in front of the vehicle collected by the front-view camera: if the target object is located between the two lane lines, the target object is located in the lane; if the target object is positioned on the left side of the left lane line, the target object is positioned on the left side of the lane; and if the target object is positioned on the right side of the right lane line, the target object is positioned on the right side of the lane.
7. The driving assistance method based on the transparent A-pillar as claimed in claim 1, wherein the distance estimation of the step S03 is implemented by a binocular camera ranging method.
8. The driving assistance method based on the transparent a-pillar as claimed in claim 1, wherein the step S03 further comprises: and based on the target object images collected by the two A-column cameras and the front-view camera, distance measurement and calculation are carried out by a multi-view distance measurement and calculation method.
9. The driving assistance method based on the transparent a-pillar as claimed in claim 1, wherein the step S04 includes: and performing front collision early warning judgment based on the distance measurement result, the running speed of the vehicle and the speed of the target object, and sending a collision early warning signal and displaying the collision early warning signal on the A-pillar flexible display screen when judging that the relative distance between the target object and the vehicle and the ratio of the relative speed do not exceed a safety threshold value.
10. The driving assistance method based on the transparent a-pillar as claimed in claim 9, wherein the step S04 further comprises: and judging lane line deviation based on the distance measurement result, and sending out lane deviation signals and displaying the lane deviation signals on the A-pillar flexible display screen when judging that the relative position of the vehicle wheels and the lane line deviates.
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| CN202011032979.2A CN112298040A (en) | 2020-09-27 | 2020-09-27 | Auxiliary driving method based on transparent A column |
| PCT/CN2020/121761 WO2022062000A1 (en) | 2020-09-27 | 2020-10-19 | Driver assistance method based on transparent a-pillar |
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| TWI777646B (en) * | 2021-07-01 | 2022-09-11 | 新煒科技有限公司 | System, method and vehicle for vheicle warning |
| CN115626159A (en) * | 2021-07-01 | 2023-01-20 | 信扬科技(佛山)有限公司 | Vehicle warning system and method and automobile |
| CN114655222A (en) * | 2022-04-18 | 2022-06-24 | 重庆长安汽车股份有限公司 | Method and system for displaying target vehicle in real time |
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