CN114670753A - Independent display screen switching system of electron outside rear-view mirror based on ADAS system - Google Patents
Independent display screen switching system of electron outside rear-view mirror based on ADAS system Download PDFInfo
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- CN114670753A CN114670753A CN202210463990.7A CN202210463990A CN114670753A CN 114670753 A CN114670753 A CN 114670753A CN 202210463990 A CN202210463990 A CN 202210463990A CN 114670753 A CN114670753 A CN 114670753A
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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
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/302—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 GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
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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
- B60R2300/70—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by an event-triggered choice to display a specific image among a selection of captured images
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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
- B60R2300/8046—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 replacing a rear-view mirror system
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Abstract
The invention provides an electronic outside rear-view mirror independent display screen switching system based on an ADAS system, which comprises: the system comprises an environment sensing module, an ADAS module and a switching module, wherein the environment sensing module is used for acquiring road condition video streams of the environment where a vehicle is located, the ADAS module is used for acquiring auxiliary video streams of the position where the vehicle is located and combining the road condition video streams to generate road condition information, the processing module is used for analyzing possible dangerous information of the vehicle in the current area based on the road condition information, the switching module is used for appointing an independent display screen to be switched according to dangerous attributes of the possible dangerous information, switching the current independent display screen to the independent display screen to be switched to display the corresponding dangerous video streams, and replacing an optical rearview mirror with an electronic rearview mirror, combining environmental data around the running vehicle acquired by the ADAS system with images acquired by the electronic rearview mirror, analyzing the safety of the running environment of the vehicle, and rapidly switching display images of a display combined screen under dangerous conditions.
Description
Technical Field
The invention relates to the technical field of automobile equipment, in particular to an electronic exterior rearview mirror independent display screen switching system based on an ADAS system.
Background
The rearview mirror is a necessary functional device of the automobile, and the traditional automobile rearview mirror is positioned at the left side and the right side of the head of the automobile and in front of the inside of the automobile. The rearview mirrors provide image information of the rear part, the side part and the lateral lower part of the automobile, so that a driver can conveniently check the conditions of the positions during driving the automobile, and information guarantee is provided for safe driving of the automobile;
the electronic rearview mirror is more favored by drivers along with the development of the times, but the traditional rearview mirror is replaced by the traditional electronic rearview mirror only through image acquisition, a driving suggestion cannot be provided for the drivers, an electronic external rearview mirror independent display screen switching system based on an ADAS system is provided by combining an advanced driving assistance system based on the problem, the ADAS system is used for acquiring environmental data around a driving vehicle and combining the environmental data with the image acquired by the electronic rearview mirror to analyze the safety of the driving environment of the vehicle, the display image of a display screen is rapidly switched and displayed under the dangerous condition, the timeliness is achieved, the drivers are reminded to pay attention to the safety around at the fastest speed, and traffic accidents are avoided.
Disclosure of Invention
The invention provides an ADAS system-based independent display screen switching system of an electronic exterior rearview mirror, which is used for replacing an optical rearview mirror with the electronic rearview mirror, combining environmental data around a running vehicle collected by the ADAS system with images collected by the electronic rearview mirror, analyzing the safety of the running environment of the vehicle and rapidly switching and displaying display images of a combined screen under dangerous conditions.
The invention provides an electronic outside rear-view mirror independent display screen switching system based on an ADAS system, which comprises:
the environment sensing module is used for acquiring a road condition video stream of the environment where the vehicle is located;
the ADAS module is used for acquiring an auxiliary video stream of the position of the vehicle and generating road condition information by combining the road condition video stream;
the processing module is used for analyzing possible dangerous information of the vehicle in the current area based on the road condition information;
and the switching module is used for appointing the independent display screen to be switched according to the danger attribute of the possible danger information, and switching to the independent display screen to be switched from the current independent display screen to display the corresponding dangerous video stream.
In one manner that may be implemented,
the environment awareness module comprises:
a first electronic exterior mirror for capturing a first video stream of a left side of the vehicle;
a second electronic exterior mirror for capturing a second video stream of the right side of the vehicle;
and the integration unit is used for inputting the first video stream and the second video stream on the same time axis to generate a road condition video stream.
In one manner that may be implemented,
the independent display screen includes:
the left screen is arranged below a window of a cab of the vehicle and used for displaying a first video stream;
the right linked screen is arranged below a vehicle copilot window and used for displaying a second video stream;
and the driving connection screen is arranged in the driving cab and used for displaying road condition information.
In one manner that may be implemented,
the ADAS module comprises:
the system comprises a preprocessing unit, a video processing unit and a video processing unit, wherein the preprocessing unit is used for acquiring forward video streams around a vehicle, and extracting regional video streams in an effective range of the vehicle from the forward video streams to obtain auxiliary video streams;
a recognition processing unit for recognizing lane information of an environment in which the vehicle is located in the auxiliary video stream;
and supplementing the lane information into the road condition video stream to generate road condition information.
In one manner that may be implemented,
the processing module comprises:
the traffic information processing unit is used for generating traffic information based on the traffic video stream and the auxiliary video stream, extracting ground information of the environment where the vehicle is located from the traffic information, and analyzing a driving path of the vehicle by combining the lane information;
the route processing unit is used for judging whether possible obstacles exist in a preset range of the driving route or not based on the road condition information;
and if so, acquiring the appearance characteristics and the moving speed of the possible obstacles to generate possible dangerous information of the possible obstacles.
In one manner that may be implemented,
the switching module includes:
the positioning unit is used for analyzing the danger attribute of the possible danger information, acquiring an obstacle based on the danger attribute, acquiring the position of the obstacle in a road condition video stream, and extracting a dangerous event from the road condition visual information;
the switching unit is used for judging whether the dangerous event is displayed on a driving linkage screen or not;
if not, cutting out the current picture of the driving screen, and cutting the dangerous event into the driving screen for displaying;
the switching unit is further used for controlling the driving screen to display a target picture specified by the switching instruction according to the switching instruction of the driver.
In one manner that may be implemented,
the ADAS module further comprises:
the information processing unit is used for analyzing the road condition information, acquiring a driving lane of the vehicle and extracting a driving requirement corresponding to the driving lane;
establishing an ADAS database according to the basic performance of the vehicle and the driving requirement;
marking a driving path of the vehicle on a current driving lane in the road condition information, and dividing the driving path into a plurality of sub-path sections;
respectively acquiring the running speed corresponding to each sub-path segment, and establishing a running-speed list;
respectively acquiring all advancing directions of each sub-road section, and establishing a driving-direction list;
an information matching unit for generating a history of travel characteristics of the vehicle based on the travel-speed list and the travel-direction list;
judging whether the historical driving characteristics meet safe driving requirements or not based on the ADAS database;
if not, analyzing the predicted driving characteristics of the vehicle according to the driving-speed list and the driving-direction list;
the safety adjusting unit is used for generating standard driving characteristics based on the ADAS database, acquiring a first characteristic difference between the predicted driving characteristics and the standard driving characteristics and generating first adjusting parameters;
acquiring a second characteristic difference between the predicted driving characteristic and the historical driving characteristic to generate a second adjusting parameter;
acquiring a parameter adjusting range according to the first adjusting parameter and the second adjusting parameter;
acquiring the current running speed and the current advancing direction of the vehicle, respectively adjusting the current running speed and the current advancing direction by taking a preset step length as a superposition adjustment quantity based on the parameter adjustment range, and generating a corresponding allowable running speed-allowable advancing direction pairing group;
establishing a corresponding driving sequence according to the allowable driving speed-allowable advancing direction pairing group; respectively acquiring error rates corresponding to each driving sequence, and extracting an optimal allowable driving speed-allowable advancing direction pairing group corresponding to the driving sequence with the lowest error rate as a standard driving speed and a standard advancing direction of the vehicle;
the safety adjusting unit is further used for acquiring the adjusting time length required by the vehicle to adjust to the standard running speed and the standard advancing direction;
acquiring and analyzing whether the adjusting speed and the adjusting direction of the vehicle meet the safe driving requirement or not after the adjusting time length;
and if not, generating a dangerous instruction and transmitting the dangerous instruction to the driving screen for display.
In one manner that may be implemented,
the processing module further comprises:
the road condition processing unit is further used for extracting all ground information contained in the road condition information and analyzing the road surface flatness of the environment where the vehicle is located;
the characteristic generating unit is used for acquiring the standard driving speed of the vehicle and generating a bumping characteristic by combining the ground information when the flatness is not within a preset range;
the attribute generating unit is used for acquiring the dangerous information and extracting a target image containing the dangerous information from a road condition video stream;
extracting closed outlines of all closed areas in the target image, generating corresponding comparison templates, and respectively acquiring a moving path corresponding to each comparison template in the road condition video stream;
rejecting the comparison template with the moving path of 0, and acquiring the rest comparison templates as dangerous objects;
respectively acquiring an object contour corresponding to each dangerous object, and matching the corresponding standard contour in a preset standard contour set;
according to the matching result, obtaining object attributes corresponding to the outlines of all the objects;
the feature generation unit is further configured to extract a ground area included in the target image, convert the ground area into area information, and obtain a remaining distance between the danger information and the vehicle according to the ground information;
meanwhile, generating movement characteristics of the dangerous object based on a dangerous movement path corresponding to the dangerous object and by combining the object attributes;
the simulation processing unit is used for establishing a collision model according to the residual distance;
inputting the bump feature and the movement feature into the collision model to analyze the collision probability of the vehicle and a dangerous object;
and analyzing the danger probability corresponding to the dangerous object according to the collision probability, generating a danger information list, and transmitting the danger information list to a driving screen for displaying.
In one manner that may be implemented,
and the road condition processing unit is also used for dividing the road surface flatness into dangerous grades, and when the dangerous grade of the current running road of the vehicle is greater than the preset grade, a reminding instruction is generated and transmitted to the driving connection screen for displaying.
In one manner that may be implemented,
the information processing unit is also used for establishing and storing a connection relation between the driving requirement and the ADAS database;
and when the vehicle reaches the road with the same driving requirement, extracting a corresponding ADAS database to judge whether the historical driving characteristics meet the safe driving requirement.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic diagram illustrating a switching system of an independent display screen of an electronic exterior mirror based on an ADAS system according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating an environment sensing module of an electronic exterior mirror independent display screen switching system based on an ADAS system according to an embodiment of the present invention;
fig. 3 is a schematic diagram illustrating an ADAS module composition of an electronic exterior mirror independent display screen switching system based on an ADAS system according to an embodiment of the present invention;
fig. 4 is a schematic diagram illustrating a processing module of an electronic exterior mirror independent display screen switching system based on an ADAS system according to an embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
Example 1
An electronic exterior mirror independent display screen switching system based on an ADAS system is shown in FIG. 1 and comprises:
the environment sensing module is used for acquiring a road condition video stream of the environment where the vehicle is located;
the ADAS module is used for acquiring an auxiliary video stream of the position of the vehicle and generating road condition information by combining the road condition video stream;
the processing module is used for analyzing possible dangerous information of the vehicle in the current area based on the road condition information;
and the switching module is used for appointing the independent display screen to be switched according to the danger attribute of the possible danger information, and switching to the independent display screen to be switched from the current independent display screen to display the corresponding dangerous video stream.
In this example, the traffic video stream represents a video stream collected during the driving of the vehicle;
in this example, the lane image represents an image extracted from the video stream of the road condition that can represent a lane in which the vehicle is traveling on the road;
in this example, the traffic information includes a vehicle driving video stream and driving information of a current lane;
in this example, the risk factor represents something that may cause a traffic accident;
in this example, the ADAS module represents an advanced driving assistance system.
The working principle and the beneficial effects of the technical scheme are as follows: in order to ensure the driving safety of the vehicle, the road condition video stream is collected in the driving process of the vehicle, the road condition information is generated by extracting the driving lane image of the vehicle, then whether dangerous information exists around the vehicle is judged by analyzing the road condition information, when the dangerous information exists around the vehicle, the position of the dangerous information is timely positioned, the original display content of the display screen is rapidly switched, and the position of the dangerous information is timely displayed.
Example 2
On the basis of embodiment 1, the system for switching independent display screens of electronic exterior mirrors based on the ADAS system includes, as shown in fig. 2:
a first electronic exterior mirror for capturing a first video stream of a left side of the vehicle;
a second electronic exterior mirror for capturing a second video stream of the right side of the vehicle;
and the integration unit is used for inputting the first video stream and the second video stream on the same time axis to generate a road condition video stream.
In this example, the first electronic exterior mirror captures a video stream of the left side of the vehicle;
in this example, the second electronic exterior mirror captures a video stream of the right side of the vehicle;
in this example, the time axis represents a time axis constituted by a length of time from when the vehicle starts traveling to the current time point.
The working principle and the beneficial effects of the technical scheme are as follows: when the vehicle starts to run, the first electronic external rear-view mirror and the second electronic external rear-view mirror acquire images around the vehicle, and then the integration unit integrates the two video streams to generate a road condition video stream, so that the subsequent work is based on.
Example 3
On the basis of embodiment 1, the electronic exterior mirror independent display screen switching system based on the ADAS system includes:
the left screen is arranged below a window of a cab of the vehicle and used for displaying a first video stream;
the right linked screen is arranged below a vehicle copilot window and used for displaying a second video stream;
and the driving connection screen is arranged in the driving cab and used for displaying road condition information.
In this example, the left screen is connected with the first electronic exterior rear view mirror in embodiment 2, and displays a first video stream collected by the first electronic exterior rear view mirror;
in this example, the right-hand screen is connected to the second electronic exterior mirror in embodiment 2, and displays the second video stream captured by the second electronic exterior mirror.
The working principle and the beneficial effects of the technical scheme are as follows: combine first electron outside rear-view mirror to act as the left rear-view mirror by the left side antithetical couplet screen to and act as the function that the right rear-view mirror not only has traditional rear-view mirror by the right side antithetical couplet screen with combining the second electron outside rear-view mirror, still saved the step save time of adjusting the rear-view mirror, it makes things convenient for the driver to know the information of advancing at any time to ally oneself with the screen display road conditions information by driving, brings the convenience for the driver.
Example 4
On the basis of embodiment 1, the electronic exterior mirror independent display screen switching system based on the ADAS system, as shown in fig. 3, includes:
the system comprises a preprocessing unit, a video processing unit and a video processing unit, wherein the preprocessing unit is used for acquiring forward video streams around a vehicle, and extracting regional video streams in an effective range of the vehicle from the forward video streams to obtain auxiliary video streams;
a recognition processing unit for recognizing lane information of an environment in which the vehicle is located in the auxiliary video stream;
and supplementing the lane information into the road condition video stream to generate road condition information.
The working principle and the beneficial effects of the technical scheme are as follows: in order to provide accurate driving suggestions for a driver, forward video streams around a vehicle are collected, then auxiliary video streams are extracted from the forward video streams, lane information of the environment where the vehicle is located is identified and supplemented into the road condition video streams, the integrity of the road condition video streams is guaranteed, then road condition information is regenerated, and the method is used as a basis for subsequent work.
Example 5
On the basis of embodiment 1, the system for switching independent display screens of electronic exterior mirrors based on the ADAS system includes, as shown in fig. 4:
the traffic information processing unit is used for generating traffic information based on the traffic video stream and the auxiliary video stream, extracting ground information of the environment where the vehicle is located from the traffic information, and analyzing a driving path of the vehicle by combining the lane information;
the route processing unit is used for judging whether possible obstacles exist in a preset range of the driving route or not based on the road condition information;
and if so, acquiring the appearance characteristics and the moving speed of the possible obstacles to generate possible dangerous information of the possible obstacles.
In this example, the ground information represents the ground of the environment in which the vehicle is located;
in this example, the travel path indicates a path on which the vehicle travels on a lane;
in this example, the danger information includes the appearance characteristics of the obstacle and the traveling speed.
The working principle and the beneficial effects of the technical scheme are as follows: in order to detect the safety of vehicle running, the running path of the vehicle is acquired and converted into running information, whether an obstacle exists around the vehicle is judged according to the intersection relation between the running information and the ground information, and then obstacle information is generated.
Example 6
On the basis of embodiment 1, the switching system for the independent display screen of the electronic exterior mirror based on the ADAS system includes:
the positioning unit is used for analyzing the danger attribute of the possible danger information, acquiring an obstacle based on the danger attribute, acquiring the position of the obstacle in a road condition video stream, and extracting a dangerous event from the road condition visual information;
the switching unit is used for judging whether the dangerous event is displayed on a driving linkage screen or not;
if not, cutting out the current picture of the driving screen, and cutting the dangerous event into the driving screen for displaying;
the switching unit is further used for controlling the driving screen to display a target picture specified by the switching instruction according to the switching instruction of the driver.
In this example, the dangerous event represents an event corresponding to the dangerous information, and the dangerous event may be: pedestrian events, other vehicle events, road object events.
The working principle and the beneficial effects of the technical scheme are as follows: when obstacles exist around the vehicle, the position of the obstacle is timely positioned, and the display image of the driving screen is quickly switched, so that a driver can quickly acquire dangerous information and make a correct response in the shortest time.
Example 7
On the basis of embodiment 4, the electronic exterior mirror independent display screen switching system based on the ADAS system, as shown in fig. 3, further includes:
the information processing unit is used for analyzing the road condition information, acquiring a driving lane of the vehicle and extracting a driving requirement corresponding to the driving lane;
establishing an ADAS database according to the basic performance of the vehicle and the driving requirement;
marking a driving path of the vehicle on a current driving lane in the road condition information, and dividing the driving path into a plurality of sub-path sections;
respectively acquiring the running speed corresponding to each sub-path segment, and establishing a running-speed list;
respectively acquiring all advancing directions of each sub-road section, and establishing a driving-direction list;
an information matching unit for generating a history of travel characteristics of the vehicle based on the travel-speed list and the travel-direction list;
judging whether the historical driving characteristics meet safe driving requirements or not based on the ADAS database;
if not, analyzing the predicted driving characteristics of the vehicle according to the driving-speed list and the driving-direction list;
the safety adjusting unit is used for generating standard driving characteristics based on the ADAS database, acquiring a first characteristic difference between the predicted driving characteristics and the standard driving characteristics and generating first adjusting parameters;
acquiring a second characteristic difference between the predicted driving characteristic and the historical driving characteristic to generate a second adjusting parameter;
acquiring a parameter adjusting range according to the first adjusting parameter and the second adjusting parameter;
acquiring the current running speed and the current advancing direction of the vehicle, respectively adjusting the current running speed and the current advancing direction by taking a preset step length as a superposition adjustment quantity based on the parameter adjustment range, and generating a corresponding allowable running speed-allowable advancing direction pairing group;
establishing a corresponding driving sequence according to the allowable driving speed-allowable advancing direction pairing group; respectively acquiring error rates corresponding to each driving sequence, and extracting an optimal allowable driving speed-allowable advancing direction pairing group corresponding to the driving sequence with the lowest error rate as a standard driving speed and a standard advancing direction of the vehicle;
the safety adjusting unit is further used for acquiring the adjusting time length required by the vehicle to adjust to the standard running speed and the standard advancing direction;
acquiring and analyzing whether the adjusting speed and the adjusting direction of the vehicle meet the safe driving requirement or not after the adjusting time length;
and if not, generating a dangerous instruction and transmitting the dangerous instruction to the driving screen for display.
In this example, the driving demand indicates the order that the vehicle needs to comply with in the lane;
in this example, the basic performance of the vehicle includes the emergency braking performance and the time-to-launch performance of the vehicle;
in this example, the ADAS database represents a driving database generated to be adaptable to driving requirements according to vehicle basic properties; in this example, the travel-speed list represents a statistical list of travel speeds of the vehicle for each sub-path segment;
in this example, the driving-direction list represents a statistical table of the directions of the vehicles between each sub-path segment and the previous path segment;
in this example, the first characteristic difference represents a difference between the predicted travel characteristic and the standard travel characteristic;
in this example, the first adjustment parameter indicates a parameter for adjusting the predicted travel speed based on the first characteristic difference, that is, a parameter for adjusting the predicted travel characteristic based on the standard travel characteristic; in this example, the history travel characteristic represents a driver's driving habit generated from a travel speed and a travel direction of the driver;
in this example, the predicted travel characteristic represents a future travel speed and a travel direction of the driver;
in this example, the second characteristic difference represents a difference between the predicted travel characteristic and the historical travel characteristic;
in this example, the second adjustment parameter indicates a parameter for adjusting the predicted travel speed based on the second characteristic difference, that is, a parameter for adjusting the predicted travel characteristic based on the history travel characteristic;
in this example, the parameter adjustment range indicates a parameter range for adjusting the predicted driving characteristics generated from the first adjustment parameter and the second adjustment parameter, that is, the actual adjustment parameter is a parameter in which any one of the first adjustment parameter and the second adjustment parameter is not 0;
in this example, the preset step length is 1;
in this example, the superimposed adjustment amount represents a unit adjustment amount generated when the predicted travel characteristic is adjusted in accordance with the parameter;
in this example, the set of allowable travel speed-allowable forward direction pairs represents a combination of several sets of speed and direction produced after adjustment;
in this example, the driving sequence represents driving details corresponding to each paired group;
in this example, the error rate indicates the probability of an error occurring when the vehicle executes each paired group;
in this example, the optimal allowable travel speed-allowable forward direction paired group indicates that the probability of error occurrence when the vehicle executes the paired group is lowest, and the safety is highest;
in this example, the hazard command indicates that the driver is in the process of traveling unsafe for a long time.
The working principle and the beneficial effects of the technical scheme are as follows: in order to provide driving advice for a driver, firstly, the driving requirement of a lane where the driver is located is obtained, an ADAS database is established by combining the basic performance of a vehicle, the driving characteristics of the driver are predicted through the database, then, a standard driving speed and a standard advancing direction are generated to remind the driver to drive according to the standard, and a group of schemes which can not only comply with traffic rules but also ensure the safety of the vehicle is generated by combining the actual condition of the vehicle.
Example 8
On the basis of embodiment 5, the system for switching independent display screens of electronic exterior mirrors based on the ADAS system includes, as shown in fig. 4, a processing module further including:
the road condition processing unit is further used for extracting all ground information contained in the road condition information and analyzing the road surface flatness of the environment where the vehicle is located;
the characteristic generating unit is used for acquiring the standard driving speed of the vehicle and generating a bumping characteristic by combining the ground information when the flatness is not within a preset range;
the attribute generating unit is used for acquiring the dangerous information and extracting a target image containing the dangerous information from a road condition video stream;
extracting closed outlines of all closed areas in the target image, generating corresponding comparison templates, and respectively acquiring a moving path corresponding to each comparison template in the road condition video stream;
rejecting the comparison template with the moving path of 0, and acquiring the rest comparison templates as dangerous objects;
respectively acquiring an object contour corresponding to each dangerous object, and matching the corresponding standard contour in a preset standard contour set;
according to the matching result, obtaining object attributes corresponding to the outlines of all the objects;
the feature generation unit is further configured to extract a ground area included in the target image, convert the ground area into area information, and obtain a remaining distance between the danger information and the vehicle according to the ground information;
meanwhile, generating movement characteristics of the dangerous object based on a dangerous movement path corresponding to the dangerous object and by combining the object attributes;
the simulation processing unit is used for establishing a collision model according to the residual distance;
inputting the bump feature and the movement feature into the collision model to analyze the collision probability of the vehicle and a dangerous object;
and analyzing the danger probability corresponding to the dangerous object according to the collision probability, generating a danger information list, and transmitting the danger information list to a driving screen for displaying.
In this example, the dangerous information represents information that threats the vehicle and hinders the vehicle from advancing, which is included in the traffic information;
in this example, the bump feature represents a bump feeling when the vehicle travels on roads of different flatness;
in this example, the target image represents an image containing danger information extracted from the traffic video stream;
in this example, the closed region represents a region in the target image where the gray levels are uniform;
in this example, the comparison template represents a template that is consistent with the outline features of the closed region;
in this example, the moving path represents a comparison result of a comparison template in the traffic video stream;
in this example, the object attributes include a pedestrian attribute, a vehicle attribute, and an irrelevant object attribute.
The working principle and the beneficial effects of the technical scheme are as follows: the method comprises the steps of analyzing the bumping characteristics of a road surface on which a vehicle runs, the attributes of dangerous objects around the vehicle and a moving path, analyzing the collision probability between the object and the vehicle according to the distance between the vehicle and the dangerous objects, judging whether the vehicle is safe according to the collision probability, and transmitting the safety information to a driving connection screen in time for displaying.
Example 9
On the basis of embodiment 8, the electronic exterior mirror independent display screen switching system based on the ADAS system comprises:
and the road condition processing unit is also used for dividing the road surface flatness into dangerous grades, and when the dangerous grade of the current running road of the vehicle is greater than the preset grade, a reminding instruction is generated and transmitted to the driving connection screen for displaying.
The working principle and the beneficial effects of the calculation scheme are as follows: when a vehicle runs on a road with low flatness, wheel slip is easy to occur, and a certain damage is caused to a driver, so that the flatness of the road surface is registered and divided, and a reminding instruction is generated if necessary.
Example 10
On the basis of embodiment 7, the electronic exterior mirror independent display screen switching system based on the ADAS system comprises:
the information processing unit is also used for establishing and storing a connection relation between the driving requirement and the ADAS database;
and when the vehicle reaches the road with the same driving requirement, extracting a corresponding ADAS database to judge whether the historical driving characteristics meet the safe driving requirement.
The working principle and the beneficial effects of the calculation scheme are as follows: in order to improve the stability of the system, a relation is established between the driving requirement and the ADAS database and is stored, and when the vehicle reaches the driving requirement again, the corresponding ADAS database is directly obtained to carry out the next work.
Example 11
On the basis of embodiment 8, the system for switching independent display screens of electronic exterior mirrors based on the ADAS system further includes:
the calculation subunit is used for respectively acquiring a first angle and a second angle between a first vehicle location point of the first external electronic rearview mirror and a danger point of the dangerous object and a second vehicle location point of the second external electronic rearview mirror;
judging the position relation between the dangerous object and the vehicle according to the first angle and the second angle;
marking the position relation between the vehicle and the dangerous object in a preset coordinate system, and marking a parking space point close to one side of the dangerous object and the dangerous point in the coordinate system; (ii) a
Acquiring the focal length of the rearview mirror corresponding to the parking spot, and acquiring a corresponding focal length coefficient from a preset focal length-coefficient list;
calculating the distance between the vehicle and the bottom end of the dangerous object according to formulas (I) and (II);
where α represents the actual angle between the vehicle and the hazardous object, scRepresents the abscissa, s, of the vehicle locus in the preset coordinate systemwRepresents the abscissa, r, of the hazard point in the predetermined coordinate systemcRepresents the ordinate, r, of the vehicle location point in the preset coordinate systemwRepresenting the ordinate of the dangerous point in the preset coordinate system, and delta represents the focal length coefficient;
wherein L represents a distance between the vehicle and the bottom end of the hazardous object, sdThe abscissa, r, representing the bottom end of the hazardous objectdThe ordinate of the bottom end of the dangerous object is represented, G represents the height F of the dangerous object represents the error time length of the calculation process, n represents the maximum error time length of the vehicle, F represents the advance distance of the vehicle in unit time length, and epsilonfRepresenting the amount of change in the angle of the vehicle to the hazardous object per unit time,
a change abscissa of the vehicle hazard point in the preset coordinate system after the vehicle travels for a unit time is represented,
a change abscissa indicating the bottom end of the dangerous object after the vehicle travels for a unit time,
a change ordinate of the vehicle danger point in the preset coordinate system after the vehicle runs for a unit time is represented,
a change ordinate of the bottom end of the dangerous object after the vehicle has traveled for a unit time is indicated,
representing the distance between the vehicle and the bottom end of the hazardous object at the time of calculation,
representing the distance between the vehicle and the bottom end of the dangerous object after the calculation is finished;
and (3) according to the calculation result of a formula (II), acquiring the residual distance between the dangerous objects in the preset coordinate system according to the distance between the bottom ends of the dangerous objects, and transmitting the residual distance to the feature generation unit for displaying.
The working principle and the beneficial effects of the technical scheme are as follows: in order to accurately obtain the distance between the vehicle and the dangerous object, the position relation between the dangerous object and the vehicle is analyzed according to the angle between the dangerous object and the two electronic external rear-view mirrors, then the distance between the vehicle and the bottom end of the dangerous object is calculated, so that the remaining distance between the vehicle and the bottom end of the dangerous object is determined, and the basis is taken for avoiding the dangerous object subsequently.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. The utility model provides an independent display screen switched systems of electron outside rear-view mirror based on ADAS system which characterized in that includes:
the environment sensing module is used for acquiring a road condition video stream of the environment where the vehicle is located;
the ADAS module is used for acquiring an auxiliary video stream of the position of the vehicle and generating road condition information by combining the road condition video stream;
the processing module is used for analyzing possible dangerous information of the vehicle in the current area based on the road condition information;
and the switching module is used for appointing the independent display screen to be switched according to the danger attribute of the possible danger information, and switching to the independent display screen to be switched from the current independent display screen to display the corresponding dangerous video stream.
2. The ADAS system-based electronic exterior mirror independent display screen switching system according to claim 1, wherein the environment sensing module comprises:
a first electronic exterior mirror for capturing a first video stream of a left side of the vehicle;
a second electronic exterior mirror for capturing a second video stream of the right side of the vehicle;
and the integration unit is used for inputting the first video stream and the second video stream on the same time axis to generate a road condition video stream.
3. The ADAS system-based electronic exterior rearview mirror independent display screen switching system according to claim 1, wherein the independent display screens are a left united screen, a right united screen and a driving united screen;
the left screen is arranged below a window of a cab of the vehicle and used for displaying a first video stream;
the right linked screen is arranged below a vehicle copilot window and used for displaying a second video stream;
and the driving connection screen is arranged in the driving cab and used for displaying road condition information.
4. An ADAS system based electronic exterior mirror independent display screen switching system according to claim 1, wherein said ADAS module comprises:
the system comprises a preprocessing unit, a video processing unit and a video processing unit, wherein the preprocessing unit is used for acquiring forward video streams around a vehicle, and extracting regional video streams in an effective range of the vehicle from the forward video streams to obtain auxiliary video streams;
a recognition processing unit for recognizing lane information of an environment in which the vehicle is located in the auxiliary video stream;
and supplementing the lane information into the road condition video stream to generate road condition information.
5. The ADAS system-based electronic exterior mirror independent display screen switching system according to claim 1, wherein the processing module comprises:
the road condition processing unit is used for generating road condition information based on the road condition video stream and the auxiliary video stream, extracting ground information of the environment where the vehicle is located from the road condition information, and analyzing a driving path of the vehicle by combining the lane information;
the route processing unit is used for judging whether possible obstacles exist in a preset range of the driving route or not based on the road condition information;
and if so, acquiring the appearance characteristics and the moving speed of the possible obstacles to generate possible dangerous information of the possible obstacles.
6. The ADAS system-based electronic exterior mirror independent display screen switching system according to claim 1, wherein the switching module comprises:
the positioning unit is used for analyzing the danger attribute of the possible danger information, acquiring an obstacle based on the danger attribute, acquiring the position of the obstacle in a road condition video stream, and extracting a dangerous event from the road condition visual information;
the switching unit is used for judging whether the dangerous event is displayed on a driving linkage screen or not;
if not, cutting out the current picture of the driving screen, and cutting the dangerous event into the driving screen for displaying;
the switching unit is further used for controlling the driving screen to display a target picture specified by the switching instruction according to the switching instruction of the driver.
7. The ADAS system-based electronic exterior mirror independent display screen switching system according to claim 4, wherein the ADAS module further comprises:
the information processing unit is used for analyzing the road condition information to obtain a driving lane of the vehicle and extracting a driving requirement corresponding to the driving lane;
establishing an ADAS database according to the basic performance of the vehicle and the driving requirement;
marking a driving path of the vehicle on a current driving lane in the road condition information, and dividing the driving path into a plurality of sub-path sections;
respectively acquiring the running speed corresponding to each sub-path segment, and establishing a running-speed list;
respectively acquiring all advancing directions of each sub-road section, and establishing a driving-direction list;
an information matching unit for generating a history of travel characteristics of the vehicle based on the travel-speed list and the travel-direction list;
judging whether the historical driving characteristics meet safe driving requirements or not based on the ADAS database;
if not, analyzing the predicted driving characteristics of the vehicle according to the driving-speed list and the driving-direction list;
the safety adjusting unit is used for generating standard driving characteristics based on the ADAS database, acquiring a first characteristic difference between the predicted driving characteristics and the standard driving characteristics and generating first adjusting parameters;
acquiring a second characteristic difference between the predicted driving characteristic and the historical driving characteristic to generate a second adjusting parameter;
acquiring a parameter adjusting range according to the first adjusting parameter and the second adjusting parameter;
acquiring the current running speed and the current advancing direction of the vehicle, respectively adjusting the current running speed and the current advancing direction by taking a preset step length as a superposition adjustment quantity based on the parameter adjustment range, and generating a corresponding allowable running speed-allowable advancing direction pairing group;
establishing a corresponding driving sequence according to the allowable driving speed-allowable advancing direction pairing group;
respectively acquiring error rates corresponding to each driving sequence, and extracting an optimal allowable driving speed-allowable advancing direction pairing group corresponding to the driving sequence with the lowest error rate as a standard driving speed and a standard advancing direction of the vehicle;
the safety adjusting unit is further used for acquiring the adjusting time length required by the vehicle to adjust to the standard running speed and the standard advancing direction;
acquiring and analyzing whether the adjusting speed and the adjusting direction of the vehicle meet the safe driving requirement or not after the adjusting time length;
and if not, generating a dangerous instruction and transmitting the dangerous instruction to the driving screen for display.
8. The ADAS system-based electronic exterior mirror independent display screen switching system according to claim 5, wherein the processing module further comprises:
the road condition processing unit is further used for extracting all ground information contained in the road condition information and analyzing the road surface flatness of the environment where the vehicle is located;
the characteristic generating unit is used for acquiring the standard driving speed of the vehicle and generating a bumping characteristic by combining the ground information when the flatness is not within a preset range;
the attribute generation unit is used for acquiring the dangerous information and extracting a target image containing the dangerous information from the road condition video stream;
extracting closed outlines of all closed areas in the target image, generating corresponding comparison templates, and respectively acquiring a moving path corresponding to each comparison template in the road condition video stream;
rejecting the comparison template with the moving path of 0, and acquiring the rest comparison templates as dangerous objects;
respectively acquiring an object contour corresponding to each dangerous object, and matching the corresponding standard contour in a preset standard contour set;
according to the matching result, obtaining object attributes corresponding to each object contour;
the feature generation unit is further configured to extract a ground area included in the target image, convert the ground area into area information, and obtain a remaining distance between the danger information and the vehicle according to the ground information;
meanwhile, generating movement characteristics of the dangerous object based on a dangerous movement path corresponding to the dangerous object and by combining the object attributes;
the simulation processing unit is used for establishing a collision model according to the residual distance;
inputting the bump feature and the movement feature into the collision model to analyze the collision probability of the vehicle and a dangerous object;
and analyzing the danger probability corresponding to the dangerous object according to the collision probability, generating a danger information list, and transmitting the danger information list to a driving screen for displaying.
9. The ADAS system-based electronic exterior mirror independent display screen switching system according to claim 8, wherein:
and the road condition processing unit is also used for dividing the road surface flatness into dangerous grades, and when the dangerous grade of the current running road of the vehicle is greater than the preset grade, a reminding instruction is generated and transmitted to the driving connection screen for displaying.
10. The ADAS system-based electronic exterior mirror independent display screen switching system according to claim 7, wherein:
the information processing unit is also used for establishing and storing the connection relationship between the driving requirement and the ADAS database;
and when the vehicle reaches the road with the same driving requirement, extracting a corresponding ADAS database to judge whether the historical driving characteristics meet the safe driving requirement.
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