CN114228704B - Obstacle detection control system and detection method thereof - Google Patents
Obstacle detection control system and detection method thereof Download PDFInfo
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- CN114228704B CN114228704B CN202111457654.3A CN202111457654A CN114228704B CN 114228704 B CN114228704 B CN 114228704B CN 202111457654 A CN202111457654 A CN 202111457654A CN 114228704 B CN114228704 B CN 114228704B
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- 238000002592 echocardiography Methods 0.000 claims description 5
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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Abstract
The invention belongs to the technical field of automobiles, and particularly relates to an obstacle detection control system and a detection method thereof. The conventional detection mode is suitable for the conventional working condition, and after the camera recognizes the obstacle, the guiding detection mode can be applied to enable the ranging probes adjacent to the obstacle to form a temporary ranging group to intensively and intensively detect the area where the target obstacle is located. The camera and the range finding probe are linked to detect, so that more timely and accurate obstacle information can be fully provided for a driver, and the parking auxiliary function under the complex working condition is further improved.
Description
Technical Field
The invention belongs to the technical field of automobiles, and particularly relates to an obstacle detection control system and a detection method thereof.
Background
In recent years, the automobile possession is greatly improved, so that the problems of road congestion and limited parking space are brought, and the phenomenon of difficult parking is more and more annoying for drivers. The newly marketed vehicles are generally configured with reversing radar and reversing image functions, however, under the complex working conditions of small foreign matters and the like in a narrow space, the situations of blind areas, echo interference and the like exist in ultrasonic waves, so that false alarm can occur in ultrasonic ranging, and in an irregular space, even if the reversing radar and the reversing radar are combined for ranging prompt, the distance between a vehicle body and an obstacle is difficult for a driver to judge. In order to realize auxiliary parking in narrow parking spaces and irregular spaces, some manufacturers push out auxiliary parking images of 360-degree scenes on the periphery of a vehicle body by splicing a plurality of camera images, however, because of blind areas and errors in image splicing, the distance reference meaning of objects on video images is not great.
Disclosure of Invention
The invention aims to provide an obstacle detection control system and a detection method thereof, which can fully utilize reversing images and reversing radar equipment to greatly improve the auxiliary parking effect under complex working conditions.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the control unit receives image data acquired by the camera, obstacle distance data measured by the ranging probe and vehicle running signals, and outputs instructions to the camera and the ranging probe to control the opening and closing of the camera and the ranging probe or adjust the working mode of the ranging probe; the cameras comprise a front camera arranged in the center of the vehicle head, a rear camera arranged in the center of the vehicle tail, a left camera arranged on the left side of the vehicle body and a right camera arranged on the right side of the vehicle body; the ranging probe comprises a front probe arranged on the head of the vehicle, a rear probe arranged on the tail of the vehicle and a side probe arranged on the side part of the vehicle body.
The distance measuring probes respectively form a head distance measuring group, a tail distance measuring group and a side distance measuring group, and obstacle distance information is acquired according to the respective wheel cruising distance of the groups; the guiding detection is that the control unit designates three adjacent ranging probes to form a temporary ranging group, the ranging probes of the temporary ranging group are used for detecting obstacles in a round manner, other ranging probes form a new head ranging group, a tail ranging group and a side ranging group according to the installation positions of the ranging probes, and the distance information of the obstacles is acquired according to the respective round-robin ranging of the groups.
Compared with the prior art, the invention has the following technical effects: the control unit can coordinate and control the camera and the ranging probe to realize two detection modes of conventional detection and guided detection so as to adapt to different driving working conditions. The conventional detection mode is suitable for the conventional working condition, and after the camera recognizes the obstacle, the guiding detection mode can be applied to enable the ranging probes adjacent to the obstacle to form a temporary ranging group to intensively and intensively detect the area where the target obstacle is located. The camera and the range finding probe are linked to detect, so that more timely and accurate obstacle information can be fully provided for a driver, and the parking auxiliary function under the complex working condition is further improved.
Drawings
The contents expressed in the drawings of the present specification and the marks in the drawings are briefly described as follows:
FIG. 1 is a schematic diagram of an obstacle detection system;
fig. 2 is a schematic view of the detection range of the ranging probe.
In the figure: 21. front camera, 22, rear camera, 23, left camera, 24, right camera, 31, front probe, 32, rear probe, 33, side probe.
Detailed Description
The following describes the embodiments of the present invention in further detail by way of examples with reference to the accompanying drawings.
The control unit 10 receives image data acquired by the camera 20, obstacle distance data measured by the ranging probe 30 and a vehicle running signal 40, and the control unit 10 outputs instructions to the camera 20 and the ranging probe 30 to control the opening and closing of the camera 20 and the ranging probe 30 or adjust the working mode of the ranging probe 30. As shown in fig. 1, the camera 20 comprises a front camera 21 arranged in the center of a vehicle head, a rear camera 22 arranged in the center of a vehicle tail, a left camera 23 arranged on the left side of the vehicle body and a right camera 24 arranged on the right side of the vehicle body; the range finding probe 30 includes a front probe 31 provided at the head of a vehicle, a rear probe 32 provided at the tail of the vehicle, and a side probe 33 provided at the side of the vehicle body. In the present embodiment, the ranging probe 30 includes four front probes 31, four rear probes 32, and four side probes 33, and the side probes 33 include a left front probe 33a located in the front left side of the vehicle body, a right front probe 33b located in the front right side of the vehicle body, a left rear probe 33c located in the rear left side of the vehicle body, and a right rear probe 33d located in the rear right side of the vehicle body. Further, the vehicle running signal 40 includes vehicle running speed information and vehicle movement direction information, wherein the vehicle running speed information includes data uploaded by a wheel speed sensor or a vehicle positioning system, and the vehicle movement direction information includes data uploaded by a steering wheel position sensor or a gear signal and a turn signal for opening and closing a turn signal opening.
The obstacle detection method using the obstacle detection control system is applied when the vehicle is in a forward or backward running state as a whole: the ranging probe 30 has two detection modes, conventional detection and guided detection. The conventional detection is that the ranging probes 30 positioned at the head, the tail and the side parts of the vehicle body respectively form a head ranging group, a tail ranging group and a side ranging group, and obstacle distance information is acquired according to the respective wheel cruising ranges of the groups. The guiding detection is that the control unit 10 designates three adjacent ranging probes 30 to form a temporary ranging group, the ranging probes 30 of the temporary ranging group are used for detecting obstacles in a round way, other ranging probes 30 form a new head ranging group, a new tail ranging group and a new side ranging group according to the installation positions of the temporary ranging probes, and the distance information of the obstacles is acquired according to the respective round of the ranging groups.
In this embodiment, the control unit 10 receives and analyzes the scene acquired by the camera 20, and controls the ranging probe 30 to perform conventional detection or guiding detection of the obstacle according to the condition of the obstacle in the scene acquired by the camera 20, and the selection method of the detection mode is as follows:
if no obstacle exists in the scene image acquired by the camera 20 or an obstacle which does not influence the running of the vehicle exists, the ranging probe 30 maintains or detects the obstacle normally;
if there is an obstacle affecting the running of the vehicle in the scene acquired by the camera 20, the ranging probe 30 ranges according to the following steps:
when the distance between the obstacle and the vehicle is greater than the set distance, the ranging probe 30 maintains or performs regular detection of the obstacle and monitors the distance between the obstacle and the vehicle;
when the distance between the obstacle and the vehicle is smaller than or equal to the set distance, the ranging probe 30 performs guiding detection of the obstacle, the control unit 10 designates the ranging probe 30 with the smallest distance to the obstacle to be detected as a main probe, the ranging probes 30 at two sides of the main probe are auxiliary probes, and the main probe and the auxiliary probes form a temporary ranging group.
This allows for the focused detection of obstacles identified by the camera 20 and thus the timely detection of obstacle information. In the guiding detection mode, the control system 10 monitors the vehicle body and surrounding obstacles according to the images collected by the camera 20, and preferentially guides and detects obstacles with small distance from the vehicle body when two or more obstacles with smaller distance from the vehicle body than the set distance exist around the vehicle body.
In the prior art, the image captured by the camera 20 for driving assistance is usually combined with the vehicle driving signal 40 to identify an auxiliary line, so as to predict the vehicle track. In this embodiment, when no obstacle is identified in the auxiliary line identified by the scene acquired by the camera 20 or the distance between the identified obstacles is large, the ranging probe 30 maintains or performs conventional detection of the obstacle; when an obstacle is recognized in the auxiliary line identified by the scene captured by the camera 20 and the distance between the obstacle and the vehicle is small, the range finder 30 maintains or detects the obstacle.
When the vehicle turns, the control unit 10 controls the range probe 30 to detect an obstacle according to the turning direction of the vehicle. The specific control method comprises the following steps:
the control unit 10 receives and analyzes the vehicle travel signal 40, and controls the ranging probe 30 to range the obstacle according to the vehicle travel direction as follows:
when the vehicle moves forwards and the steering wheel deflection angle is smaller than the set angle, the ranging probe 30 maintains or performs conventional detection of the obstacle, the control unit 10 firstly analyzes the obstacle distance data uploaded by the head ranging group and analyzes the obstacle data uploaded by other ranging groups;
when the vehicle moves forwards and the steering wheel deflection angle is larger than or equal to a set angle, the ranging probe 30 conducts guiding detection of an obstacle, the control unit 10 designates a front probe 31 positioned at the most lateral side of the steering wheel deflection direction as a main probe, one front probe 31 and one side probe 33 positioned at two sides of the main probe are auxiliary probes, the main probe and the auxiliary probes form a temporary ranging group, the control unit 10 firstly analyzes obstacle distance data uploaded by the temporary ranging group and analyzes obstacle data uploaded by other ranging groups;
when the vehicle moves backward and the steering wheel deflection angle is smaller than the set angle, the ranging probe 30 maintains or performs the conventional detection of the obstacle, the control unit 10 analyzes the obstacle distance data uploaded by the tail ranging group and analyzes the obstacle data uploaded by other ranging groups;
when the vehicle moves backward and the steering wheel deflection angle is greater than or equal to the set angle, the ranging probe 30 performs guiding detection of the obstacle, the control unit 10 designates the rear probe 32 positioned at the most lateral position of the steering wheel deflection direction as a main probe, one rear probe 32 and one side probe 33 positioned at two sides of the main probe as auxiliary probes, the main probe and the auxiliary probes form a temporary ranging group, the control unit 10 firstly analyzes the obstacle distance data uploaded by the temporary ranging group, and analyzes the obstacle data uploaded by other ranging groups. For example, when the vehicle turns forward and left, the left two front probes 31 and the left front probe 33a are preferentially analyzed; when the vehicle is reversed and the steering wheel turns left, the left two rear probes 32 and the right rear probe 33d are preferentially analyzed.
That is, when the steering angle of the steering wheel is smaller than the set value, it is determined that the vehicle is traveling forward or backward, and the steering angle of the steering wheel is larger than the set value, the steering pattern of the vehicle is determined, and the guiding detection is performed according to the steering direction of the vehicle.
Under the driving state, the specific control steps of the control method are as follows:
step a, the control unit 10 receives the vehicle running signal 40 and determines the running state of the vehicle;
and B, when the vehicle speed is less than or equal to the set vehicle speed, the control unit 10 starts the camera 20 and the ranging probe 30. The distance measuring probe 30 in this embodiment has a detection distance of less than 10m, and is mainly used for detecting obstacles in low-speed driving states such as parking assistance and other scenes.
After the camera 20 is turned on, the control unit 10 defines the scene images collected by the camera 20 installed in the corresponding direction as a main vision area according to the driving direction of the vehicle, the scene images collected by other cameras 20 as auxiliary vision areas, and the control unit 10 analyzes the obstacle information in the main vision area and analyzes the obstacle information in the auxiliary vision area; the scene picture of the main visual area is displayed on an in-vehicle electronic screen.
For example, when the vehicle is traveling forward and the steering wheel deflection angle is smaller than the set value, the scene acquired by the front camera 21 is defined as the main view area, and when the vehicle is traveling forward and the steering wheel is deflected leftward and the deflection angle is larger than the set value, the scene acquired by the left camera 23 is defined as the main view area. In this embodiment, the steering wheel deflection angle set value in the forward running state of the vehicle is α, and the steering wheel deflection angle set value in the backward running state of the vehicle is β, where β is equal to or greater than α in order to ensure the safety performance in the reverse running state.
Step B2: after the ranging probe 30 is turned on, the ranging probe 30 performs conventional detection of the obstacle first until the control unit 10 issues an instruction to control the ranging probe 30 to perform guided detection.
Steps B1 and B2 are operations after the control unit 10 turns on the camera 20 and the ranging probe 30, and no sequence is found.
Step C: the ranging probe 30 is controlled to perform normal detection or guided detection of an obstacle according to the condition of the obstacle in the scene captured by the camera 20 and the traveling direction of the vehicle, and preferentially performs guided detection induced according to the condition of the obstacle in the scene captured by the camera 20.
In the prior art, when applied to a car with a smaller length, in the step B1, if the car moves forward, the front scene acquired by the front camera 21 is defined as a main view area, and the scene acquired by the other cameras 20 is defined as an auxiliary view area; if the vehicle moves backward, the rear scene captured by the rear camera 22 is defined as a main view area, and the scene captured by the other cameras 20 is defined as an auxiliary view area.
Further, the ranging probes 30 of the head ranging group, the tail ranging group and the side ranging group adopt a remote mode and perform obstacle detection according to a mode of sequentially and circularly detecting probes in the groups, and reference symbol Y in fig. 2 is a detection range of the ranging probe 30 located at the side of the vehicle body in the remote mode.
The ranging probe 30 of the temporary ranging group performs obstacle detection in a short range mode, and reference symbol J in fig. 2 is a detection range of the ranging probe 30 located at the side of the vehicle body in the short range mode.
When the distance between the obstacle and the vehicle is smaller than or equal to a set distance and larger than a limit distance, the temporary ranging group performs error frequency detection, and when the distance between the obstacle and the vehicle is smaller than or equal to the limit distance, the temporary ranging group performs main transmitting and adjacent receiving detection;
the error frequency detection is that the main probe uses the frequency f 0 Transmitting detection waves, and respectively down-converting f by two adjacent auxiliary probes 0- Transmitting a probe wave, up-converting f 0+ Transmitting detection waves, wherein each probe independently receives echoes of the detection waves;
the main transmitting and receiving detection is that the main probe transmits detection waves, and two adjacent auxiliary probes receive echoes of the detection waves transmitted by the main probe.
For example, the probes 33d, 32c form a temporary ranging group, and the probe 32d is the main probe, and in the error frequency detection mode, the main probe 32d is at the frequency f 0 Transmitting the probe wave, the auxiliary probe 33d down-converts f 0- Transmitting probe waves, assisting probe 32c in up-converting f 0+ And transmitting the detection waves, and respectively and independently receiving echoes of the detection waves sent by the probes. In the primary transmit-receive detection mode, the primary probe 32d is at a frequency f 0 The probe wave is emitted, and the auxiliary probes 33d and 32c receive the echo of the probe wave emitted from the main probe 32d, and in this state, the wave emission interval of the main probe 32d is smaller than the wave emission interval in the error frequency detection mode.
Claims (7)
1. An obstacle detection method is characterized in that: the applied obstacle detection control system comprises a control unit (10), wherein the control unit (10) receives image data acquired by a camera (20), obstacle distance data measured by a ranging probe (30) and a vehicle running signal (40), and the control unit (10) outputs instructions to the camera (20) and the ranging probe (30) to control the opening and closing of the camera (20) and the ranging probe (30) or adjust the working mode of the ranging probe (30); the camera (20) comprises a front camera (21) arranged in the center of the vehicle head, a rear camera (22) arranged in the center of the vehicle tail, a left camera (23) arranged on the left side of the vehicle body and a right camera (24) arranged on the right side of the vehicle body; the ranging probe (30) comprises a front probe (31) arranged on the head of the vehicle, a rear probe (32) arranged on the tail of the vehicle and a side probe (33) arranged on the side part of the vehicle body; the vehicle running signal (40) comprises vehicle running speed information and vehicle movement direction information, wherein the vehicle running speed information comprises data uploaded by a wheel speed sensor or a vehicle positioning system, and the vehicle movement direction information comprises data uploaded by a steering wheel position sensor or a gear signal and a turn signal of a turn signal opening;
the ranging probe (30) has two detection modes of conventional detection and guiding detection, wherein the conventional detection is that the ranging probe (30) positioned at the side part of the vehicle head, the vehicle tail and the vehicle body respectively form a vehicle head ranging group, a vehicle tail ranging group and a side ranging group, and obstacle distance information is acquired according to group respectively wheel cruising distance; the guiding detection is that the control unit (10) designates three adjacent ranging probes (30) to form a temporary ranging group, the ranging probes (30) of the temporary ranging group are used for detecting obstacles in a wheel-patrol way, other ranging probes (30) form a new vehicle head ranging group, a vehicle tail ranging group and a side ranging group according to the installation positions of the ranging probes, and obstacle distance information is acquired according to the respective wheel-patrol distance of the groups.
2. The obstacle detection method according to claim 1, wherein: the control unit (10) receives and analyzes scene images acquired by the camera (20), and controls the ranging probe (30) to perform conventional detection or guided detection of the obstacle according to the obstacle condition in the scene images acquired by the camera (20);
if no obstacle exists in the scene picture acquired by the camera (20) or an obstacle which does not influence the running of the vehicle exists, the ranging probe (30) maintains or detects the obstacle normally;
if an obstacle affecting the running of the vehicle exists in the scene picture acquired by the camera (20), the ranging probe (30) ranges according to the following steps:
when the distance between the obstacle and the vehicle is larger than the set distance, the distance measuring probe (30) maintains or detects the obstacle regularly and monitors the distance between the obstacle and the vehicle;
when the distance between the obstacle and the vehicle is smaller than or equal to the set distance, the distance measuring probe (30) guides and detects the obstacle, the control unit (10) designates the distance measuring probe (30) with the smallest distance between the obstacle and the vehicle to be detected as a main probe, the distance measuring probes (30) at two sides of the main probe are auxiliary probes, and the main probe and the auxiliary probes form a temporary distance measuring group.
3. The obstacle detection method as claimed in claim 2, wherein: the control unit (10) receives and analyzes the vehicle running signal (40), controls the ranging probe (30) to range the obstacle according to the vehicle running direction, and measures the distance according to the following steps:
when the vehicle moves forwards and the steering wheel deflection angle is smaller than the set angle, the ranging probe (30) maintains or detects the obstacle normally, the control unit (10) analyzes the obstacle distance data uploaded by the head ranging group firstly and analyzes the obstacle data uploaded by other ranging groups;
when the vehicle moves forwards and the steering wheel deflection angle is larger than or equal to a set angle, the ranging probe (30) conducts guiding detection of an obstacle, the control unit (10) designates a front probe (31) positioned at the most lateral side of the steering wheel deflection direction as a main probe, one front probe (31) and one side probe (33) positioned at two sides of the main probe are auxiliary probes, the main probe and the auxiliary probes form a temporary ranging group, and the control unit (10) analyzes obstacle distance data uploaded by the temporary ranging group firstly and analyzes obstacle data uploaded by other ranging groups;
when the vehicle moves backwards and the steering wheel deflection angle is smaller than the set angle, the ranging probe (30) maintains or detects the obstacle normally, the control unit (10) analyzes the obstacle distance data uploaded by the tail ranging group and analyzes the obstacle data uploaded by other ranging groups;
when the vehicle moves backwards and the steering wheel deflection angle is larger than or equal to a set angle, the ranging probe (30) conducts guiding detection of an obstacle, the control unit (10) designates a rear probe (32) positioned at the most lateral side of the steering wheel deflection direction as a main probe, one rear probe (32) and one side probe (33) positioned at two sides of the main probe are auxiliary probes, the main probe and the auxiliary probes form a temporary ranging group, the control unit (10) firstly analyzes obstacle distance data uploaded by the temporary ranging group, and analyzes obstacle data uploaded by other ranging groups.
4. The obstacle detection method according to claim 3, comprising the steps of:
step A: the control unit (10) receives a vehicle running signal (40) and judges the running state of the vehicle;
and (B) step (B): when the vehicle speed is smaller than or equal to the set vehicle speed, the control unit (10) starts the camera (20) and the ranging probe (30);
step B1: after the cameras (20) are started, the control unit (10) defines scene images collected by the cameras (20) installed in corresponding directions as a main vision area according to the running direction of the vehicle, scene images collected by other cameras (20) as auxiliary vision areas, and the control unit (10) analyzes barrier information in the main vision area and analyzes barrier information in the auxiliary vision area;
step B2: after the ranging probe (30) is started, the ranging probe (30) performs conventional detection on the obstacle first until the control unit (10) sends out an instruction to control the ranging probe (30) to perform guiding detection;
step C: the ranging probe (30) is controlled to conduct normal detection or guiding detection of the obstacle according to the obstacle condition in the scene acquired by the camera (20) and the vehicle running direction, and guiding detection triggered according to the obstacle condition in the scene acquired by the camera (20) is conducted preferentially.
5. The obstacle detection method as claimed in claim 4, wherein: in the step B1, if the vehicle moves forward, defining the front scene collected by the front camera (21) as a main view area and the scene collected by the other cameras (20) as auxiliary view areas;
if the vehicle moves backwards, defining tail scene pictures acquired by the rear camera (22) as a main visual area, and scene pictures acquired by other cameras (20) as auxiliary visual areas;
the scene picture of the main visual area is displayed on an in-vehicle electronic screen.
6. The obstacle detection method according to claim 1, wherein: the ranging probes (30) of the head ranging group, the tail ranging group and the side ranging group adopt a remote mode and detect obstacles in a mode of sequentially and circularly detecting probes in the groups.
7. The obstacle detection method according to claim 1, wherein: the ranging probe (30) of the temporary ranging group adopts a short-range mode to detect obstacles;
when the distance between the obstacle and the vehicle is smaller than or equal to a set distance and larger than a limit distance, the temporary ranging group performs error frequency detection, and when the distance between the obstacle and the vehicle is smaller than or equal to the limit distance, the temporary ranging group performs main transmitting and adjacent receiving detection;
the error frequency detection is that the main probe uses the frequency f 0 Transmitting detection waves, and respectively down-converting f by two adjacent auxiliary probes 0- Transmitting a probe wave, up-converting f 0+ Transmitting detection waves, wherein each probe independently receives echoes of the detection waves;
the main transmitting and receiving detection is that the main probe transmits detection waves, and two adjacent auxiliary probes receive echoes of the detection waves transmitted by the main probe.
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