CN115027365B - 360-degree panoramic wireless safety auxiliary management system for rear-mounted motor vehicle - Google Patents
360-degree panoramic wireless safety auxiliary management system for rear-mounted motor vehicle Download PDFInfo
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- CN115027365B CN115027365B CN202210958032.7A CN202210958032A CN115027365B CN 115027365 B CN115027365 B CN 115027365B CN 202210958032 A CN202210958032 A CN 202210958032A CN 115027365 B CN115027365 B CN 115027365B
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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
- B60R1/20—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
- B60R1/22—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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/23—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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
- B60R1/27—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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view providing all-round vision, e.g. using omnidirectional cameras
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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
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/102—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using 360 degree surveillance camera system
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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
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
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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
- B60R2300/8093—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 obstacle warning
Abstract
The invention discloses a 360-degree panoramic wireless safety auxiliary management system after a motor vehicle is mounted, when the motor vehicle needs to pass on a target road, a panoramic camera on the motor vehicle is used for shooting an entrance of the target road, so that whether the motor vehicle can pass on the target road is intelligently judged, the intelligent passing permission judgment of the road is realized, the accuracy of a judgment result is improved, the integrity of a motor vehicle body is ensured to the maximum extent, meanwhile, when the motor vehicle is corrected in a running state, specific correction mode analysis and prompt can be carried out according to the detected driving distance between the motor vehicle and the two sides of the road, a targeted correction scheme is provided for a driver, the potential safety hazard existing in the correction process is favorably reduced, the correction safety degree is improved, in addition, the obstacle avoidance prediction management is added in the running process of the motor vehicle, the obstacle avoidance management mode practically plays a role in obstacle avoidance guidance, and the obstacle avoidance safety guarantee level of the motor vehicle is improved.
Description
Technical Field
The invention relates to the technical field of motor vehicle panoramic driving auxiliary management, in particular to a 360-degree panoramic wireless safety auxiliary management system for rear loading of a motor vehicle.
Background
With the rapid development of the current society, the quantity of automobile reserves in the society is larger and larger, so that a plurality of drivers with new hands are increased every year, the traffic flow is huge due to the fact that a large number of automobiles go on the road, the driving risk is increased, and the problem of potential safety hazards in driving is gradually highlighted. In this case, as a novice driver, in order to improve the driving safety level of the driver, it is necessary to have an intelligent configuration to assist the driver in avoiding various safety problems. The 360-degree panoramic image system is generated based on the consideration of driving safety and parking safety of the automobile.
The current 360-degree panoramic image system is limited in use due to single function in the process of carrying out assistant driving management on a motor vehicle, cannot meet the assistant management requirement of a driver in the driving process, and is embodied in the following points: 1. the existing 360-degree panoramic image system is lack of judgment on road passing conditions, in some narrow rural roads, when a motor vehicle passes through the road, the passing adaptation degree of the vehicle body and the rural road needs to be judged, however, the current judgment mode is subjective judgment by a driver, and the judgment mode cannot objectively and truly judge the road passing, so that the judgment reference is insufficient, further the passing smoothness cannot be guaranteed, and serious people can damage the vehicle body.
2. When the existing 360-degree panoramic image system corrects the running state of a motor vehicle, warning prompt is only carried out when unsafe driving distances between the motor vehicle and two sides of a road are detected, and the targeted auxiliary management of a specific correction mode is lacked.
3. When the existing 360-degree panoramic image system is used for managing the running safety and the parking safety of a motor vehicle, the panoramic images of the periphery of the motor vehicle are only collected through the panoramic camera, the blind-area-free visual perception is provided for a driver, once a barrier exists in the running process or the parking process, the judgment can be carried out only according to the running state of the driver, the barrier avoidance prediction management cannot be actively carried out, the barrier avoidance guide effect is difficult to play, the barrier avoidance effect is poor, the barrier avoidance level of the motor vehicle is reduced, the practicability is poor, and the driving auxiliary experience of the driver is influenced to a certain degree.
Disclosure of Invention
The application aims to solve one of the technical problems in the related art to at least a certain extent by providing a 360-degree panoramic wireless safety auxiliary management system after a motor vehicle is installed.
The technical scheme adopted by the application is as follows: the utility model provides a 360 degree panorama wireless safety auxiliary management systems after motor vehicle, includes: the motor vehicle panoramic camera marking module is used for counting the number of panoramic cameras installed on a motor vehicle and respectively marking the panoramic cameras installed under the head, the tail and the left and right rearview mirrors as the head camera, the tail camera, the left camera and the right camera.
And the motor vehicle driving auxiliary management equipment setting module is used for setting driving auxiliary management equipment in the motor vehicle.
And the motor vehicle body basic information acquisition module is used for acquiring the vehicle body basic information corresponding to the motor vehicle.
And the driving management database is used for storing the required steering angles corresponding to various correction intervals.
And the target road passing judgment management module is used for recording the road where the motor vehicle is going to pass as a target road, and then shooting the target road entrance by a head camera, a left side camera and a right side camera on the motor vehicle, so that whether the motor vehicle can pass on the target road is intelligently judged according to the shooting result and the basic information of the vehicle body corresponding to the motor vehicle, and the judgment result is transmitted to the driver.
And the target road running state correction management module is used for automatically correcting the running state of the motor vehicle passing through the target road entrance through the driving auxiliary management equipment when the motor vehicle can pass through the target road.
And the target road passing obstacle avoidance management module is used for identifying the road surface obstacles of the motor vehicle in the target road passing process by the panoramic camera arranged on the motor vehicle and carrying out obstacle avoidance management by means of the driving auxiliary management equipment.
As a further optimization of the scheme, the driving auxiliary management equipment comprises a GPS locator, a distance meter, a speed sensor, a voice prompt and a large display screen, wherein the distance meter is respectively arranged at the head, the tail, the left side and the right side of the motor vehicle.
As a further optimization of the above solution, the basic information of the vehicle body includes a vehicle body width and a vehicle body height.
As a further optimization of the above scheme, the target road traffic judgment management module includes a target road entrance image acquisition and splicing unit and a target road traffic judgment and transmission unit.
As a further optimization of the above scheme, the target road entrance image acquiring and splicing unit is configured to start a head camera, a left side camera and a right side camera on the motor vehicle to perform image shooting on the target road entrance, and splice the shot images to obtain a panoramic image corresponding to the target road entrance.
As a further optimization of the above solution, the target road passing judgment and communication unit is configured to intelligently judge that the motor vehicle can pass through the target road based on the panoramic image corresponding to the target road entrance and the basic vehicle body information corresponding to the motor vehicle, and communicate the judgment result, and specifically executes the following steps: and extracting the height and width corresponding to the target road entrance from the panoramic image corresponding to the target road entrance.
Comparing the basic information of the automobile body corresponding to the motor vehicle with the height and width corresponding to the target road entrance, and calculating the formula through the traffic allowable coefficient
Calculating to obtain the traffic allowable coefficient corresponding to the target road entrance
W and h are respectively expressed as the width and the height corresponding to the entrance of the target road,
、
respectively expressed as the corresponding vehicle body width and height of the motor vehicle,
、
respectively expressed as a safe passing width interval difference and a safe passing height interval difference,
、
respectively expressed as the ratio coefficients corresponding to the width and the height,
expressed as natural constants.
And comparing the traffic permission coefficient corresponding to the target road entrance with a set traffic permission coefficient threshold, if the traffic permission coefficient corresponding to the target road entrance is smaller than the traffic permission coefficient threshold, judging that the motor vehicle can pass through the target road, otherwise, judging that the motor vehicle cannot pass through the target road, and further carrying out voice transmission on the judgment result through a voice prompter.
As a further optimization of the above solution, the automatic correction of the driving state of the motor vehicle passing target road entrance through the driving assistance management device specifically refers to the following steps: calculating the safety distance between the left side and the right side of the motor vehicle and the target road based on the width of the entrance of the target road and the width of the corresponding vehicle body of the motor vehicle, wherein the calculation formula is
，
Expressed as the safe following distance between the left and right sides of the motor vehicle and the target road,
expressed as a set compensation factor.
In the process of the motor vehicle running through the entrance of the target road, the distance between the left side and the right side of the motor vehicle and the target road is detected in real time through the distance measuring instruments arranged on the left side and the right side of the motor vehicle, and compared with the safe distance between the left side and the right side of the motor vehicle and the target road, and then a formula is calculated according to the distance coincidence degree
And if the corresponding running space conformity of any one side of the motor vehicle is smaller than the standard running space conformity, judging that the running state of the motor vehicle passing target road entrance needs to be corrected.
Comparing the inter-vehicle distance between the left side and the right side of the motor vehicle and the target road with the safe inter-vehicle distance, calculating the inter-vehicle distance difference between the left side and the right side of the motor vehicle and the target road, extracting the sign of the inter-vehicle distance difference, recording the side of the left side and the right side of the motor vehicle, which is positive in the inter-vehicle distance difference sign, as a main correction side, and recording the other side of the motor vehicle as a corrected side.
And recording the driving distance difference between the corrected side of the motor vehicle and the target road as a correction distance, matching the correction distance with the required steering angles corresponding to various correction distances in the driving management database, and screening out the required steering angles corresponding to the motor vehicle.
The motor vehicle is subjected to voice broadcast through the voice prompter by the corrected side to the main correction side and the required steering angle.
As a further optimization of the scheme, the target road passing obstacle avoidance management module comprises a motor vehicle advancing obstacle avoidance management unit and a motor vehicle backing obstacle avoidance management unit.
As a further optimization of the above scheme, the motor vehicle forward obstacle avoidance management unit is used for identifying a road obstacle of the motor vehicle in a target road forward process by a head camera, a left side camera and a right side camera mounted on the motor vehicle, and performing obstacle avoidance management by using a driving auxiliary management device, and specifically comprises the following steps: when the motor vehicle passes through a target road, a panoramic image is collected in real time to the front of the motor vehicle through the vehicle head camera, the left side camera and the right side camera, whether an obstacle exists in the front of the motor vehicle is identified based on the collected front panoramic image, and if the obstacle exists in the front of the motor vehicle in the front panoramic image collected at the current moment, the state type of the front obstacle is obtained.
If the state type of the front obstacle is a static type, the distance between the placement position of the front obstacle and the middle position of the target road is acquired from the acquired front panoramic image and is recorded as a blocking distance, the blocking distance corresponding to the front obstacle is compared with a set safe blocking distance, if the blocking distance corresponding to the front obstacle is smaller than the set safe blocking distance, it is judged that obstacle avoidance processing needs to be carried out on the front obstacle, obstacle avoidance driving track planning is carried out according to the placement position of the front obstacle, at the moment, obstacle avoidance prompting is carried out through a voice prompter, and the planned obstacle avoidance driving track is displayed on a large display screen.
If the state type of the front obstacle is a dynamic type, comparing the front panoramic image acquired at the next moment with the front panoramic image acquired at the current moment, and identifying the traveling direction and the current traveling speed corresponding to the front obstacle.
Comparing the advancing direction of the front obstacle with the traveling direction of the motor vehicle, if the advancing direction of the front obstacle is perpendicular to the traveling direction of the motor vehicle, extracting the current advancing position of the front obstacle from the front panoramic image acquired at the current moment, positioning the traveling position of the motor vehicle at the current moment through a GPS locator, and recording the position as the current traveling position of the motor vehicle.
The intersection position of the front barrier and the motor vehicle is defined based on the traveling direction of the front barrier and the driving direction of the motor vehicle.
And acquiring the travel distance of the front barrier from the current travel position to the intersection position according to the current travel position and the intersection position of the front barrier, and recording the travel distance as the intersection travel distance corresponding to the front barrier.
And acquiring the running distance of the motor vehicle from the current running position to the intersection position according to the current running position and the intersection position of the motor vehicle, and recording the running distance as the corresponding intersection running distance of the motor vehicle.
The current driving speed of the motor vehicle is detected by a speed sensor.
Calculating the time difference of the motor vehicle and the front barrier to reach the intersection position based on the intersection advancing distance and the current advancing speed corresponding to the front barrier, the intersection traveling distance and the current traveling speed corresponding to the motor vehicle
The calculation formula is
Wherein
、
Respectively representing the corresponding intersection running distance and the current running speed of the motor vehicle,
、
respectively expressed as the intersection advancing distance and the current advancing speed corresponding to the front obstacle,
expressed as a junction time difference correction factor.
The time difference of the motor vehicle and the front barrier when reaching the intersection position is compared with the set safe time difference, if the time difference of the motor vehicle and the front barrier when reaching the intersection position is larger than the set safe time difference, the front barrier is judged to be required to be avoided, the speed reduction of the motor vehicle is prompted through a voice prompt, meanwhile, the dynamic distance between the driving position of the motor vehicle and the advancing position of the front barrier is obtained in real time, and then the dynamic distance is displayed on a large display screen.
As a further optimization of the above scheme, the vehicle reversing management unit is configured to identify an obstacle of the vehicle in the target road reversing garage process by a vehicle tail camera, a left side camera and a right side camera mounted on the vehicle, and perform obstacle avoidance management by using a driving auxiliary management device, and specifically includes the following steps: when the motor vehicle backs a car on a target road, the tail camera, the left camera and the right camera are used for collecting panoramic images of the corresponding backing car positions of the motor vehicle in real time, and whether obstacles exist in the corresponding backing car positions of the motor vehicle is identified based on the collected rear panoramic images.
If the obstacles exist in the backing parking space corresponding to the motor vehicle in the rear panoramic image acquired at the current moment, the voice prompter is used for carrying out obstacle avoidance prompting, backing and obstacle avoidance trajectory planning is carried out, and then the obstacles are displayed on a large display screen.
Compared with the prior art, the invention has the following advantages: 1. when the motor vehicle needs to pass through the target road, the panoramic camera on the motor vehicle is used for shooting the target road entrance, so that whether the motor vehicle can pass through the target road is intelligently judged according to the shooting result and the basic information of the vehicle body corresponding to the motor vehicle, and the intelligent passing permission judgment of the road is realized.
2. When the driving state of the motor vehicle is corrected, the method can analyze and prompt a specific correction mode according to the detected distance between the motor vehicle and the two sides of the road, overcomes the defect of lack of specific correction mode in the prior art when the driving state of the motor vehicle is corrected, and provides a specific correction scheme for a driver, thereby improving the correction efficiency, reducing the correction times, avoiding the over-correction condition, being beneficial to reducing the potential safety hazard in the correction process and improving the correction safety.
3. When the driving safety and parking safety management of the motor vehicle is carried out, the obstacle avoidance prediction management in the driving process and the parking process is increased, compared with the traditional obstacle avoidance management, the following judgment can be carried out only according to the driving state of a driver, the obstacle avoidance management mode practically plays the role of obstacle avoidance guidance, the practicability is strong, the obstacle avoidance efficiency is improved, the obstacle avoidance safety guarantee level of the motor vehicle is improved to a certain extent, and the driving auxiliary experience of the driver is favorably enhanced.
Drawings
The invention is further illustrated by means of the attached drawings, but the embodiments in the drawings do not constitute any limitation to the invention, and for a person skilled in the art, other drawings can be obtained on the basis of the following drawings without inventive effort.
FIG. 1 is a schematic diagram of the system connection of the present invention.
Fig. 2 is a schematic connection diagram of a target road traffic judgment management module according to the present invention.
Fig. 3 is a schematic view of the driving state correction of the present invention.
Fig. 4 is a schematic connection diagram of the target road passing obstacle avoidance management module according to the present invention.
Fig. 5 is a schematic view of a junction position between a front obstacle and a vehicle according to the present invention.
Fig. 6 is a schematic diagram illustrating a method for establishing a rectangular plane coordinate system according to the present invention.
Fig. 7 is a schematic diagram of the vehicle reversing obstacle avoidance trajectory planning of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a 360-degree panoramic wireless safety auxiliary management system after a motor vehicle is loaded, which comprises a motor vehicle panoramic camera head marking module, a motor vehicle driving auxiliary management device setting module, a motor vehicle body basic information acquisition module, a driving management database, a target road passing judgment management module, a target road driving state correction management module and a target road passing obstacle avoidance management module, wherein the motor vehicle panoramic camera head marking module, the motor vehicle driving auxiliary management device setting module and the motor vehicle body basic information acquisition module are all connected with the target road passing judgment management module, the motor vehicle driving auxiliary management device setting module and the driving management database are respectively connected with the target road driving state correction management module, and the motor vehicle panoramic camera head marking module and the motor vehicle driving auxiliary management device setting module are both connected with the target road passing obstacle avoidance management module.
The motor vehicle panoramic camera marking module is used for counting the number of panoramic cameras mounted on a motor vehicle, and respectively marking the panoramic cameras mounted under the head, the tail and the left and right rearview mirrors as the head camera, the tail camera, the left camera and the right camera.
The motor vehicle driving auxiliary management device setting module is used for setting driving auxiliary management devices in a motor vehicle, wherein the driving auxiliary management devices comprise a GPS locator, a distance meter, a speed sensor, a voice prompter and a display screen, and the distance meter is respectively installed at the head, the tail, the left side and the right side of the motor vehicle.
The vehicle body basic information acquisition module is used for acquiring vehicle body basic information corresponding to a motor vehicle, wherein the vehicle body basic information comprises vehicle body width and vehicle body height.
The driving management database is used for storing required steering angles corresponding to various correction intervals.
The target road passing judgment management module is used for recording a road where the motor vehicle is going to pass as a target road, and then a head camera, a left side camera and a right side camera on the motor vehicle pick up images of a target road entrance, so that the motor vehicle can be intelligently judged to pass on the target road according to the image pick-up result and the basic information of the vehicle body corresponding to the motor vehicle, and the judgment result is transmitted to a driver.
In an embodiment of the present invention, referring to fig. 2, the target road passage judgment management module includes a target road entrance image acquisition and splicing unit and a target road passage judgment and transmission unit.
The target road entrance image acquisition and splicing unit is used for starting a head camera, a left side camera and a right side camera on the motor vehicle to shoot images of a target road entrance and splicing the shot images to obtain a panoramic image corresponding to the target road entrance.
As further optimization of the invention, compared with the method that the image shooting is carried out on the target road inlet by adopting the vehicle head camera, the left side camera and the right side camera, the image shooting is carried out on the target road inlet by adopting the vehicle head camera only, so that the completeness of the shot picture can be improved, and the shooting blind area is avoided.
The target road passing judgment and transmission unit is used for intelligently judging whether the motor vehicle can pass on the target road or not based on the panoramic image corresponding to the target road entrance and the basic information of the vehicle body corresponding to the motor vehicle and transmitting the judgment result, and specifically executes the following steps: and extracting the height and the width corresponding to the target road entrance from the panoramic image corresponding to the target road entrance.
It should be noted that, when there is no height limit for the target road, the height parameter is not considered.
Comparing the basic information of the automobile body corresponding to the motor vehicle with the height and width corresponding to the target road entrance, and calculating the formula through the traffic allowable coefficient
Obtaining the traffic allowable coefficient corresponding to the target road entrance
W and h are respectively expressed as the width and the height corresponding to the entrance of the target road,
、
respectively expressed as the corresponding vehicle body width and the corresponding vehicle body height of the motor vehicle,
、
respectively expressed as a safe passing width interval difference and a safe passing height interval difference,
、
the ratio coefficients are respectively expressed as width and height, wherein the larger the width and height corresponding to the target road entrance are than the width and height of the vehicle body corresponding to the motor vehicle, the larger the traffic permission coefficient is, the more traffic is permitted,
expressed as natural constants.
And comparing the traffic permission coefficient corresponding to the target road entrance with a set traffic permission coefficient threshold, if the traffic permission coefficient corresponding to the target road entrance is smaller than the traffic permission coefficient threshold, judging that the motor vehicle can pass through the target road, otherwise, judging that the motor vehicle cannot pass through the target road, and further carrying out voice transmission on the judgment result through a voice prompter.
According to the embodiment of the invention, when the motor vehicle needs to pass on the target road, the panoramic camera on the motor vehicle is used for shooting the target road entrance, so that the motor vehicle can be intelligently judged to pass on the target road according to the shooting result and the basic information of the vehicle body corresponding to the motor vehicle, and the intelligent passing permission judgment of the road is realized.
The target road running state correction management module is used for automatically correcting the running state of a motor vehicle passing target road entrance through the driving auxiliary management equipment when judging that the motor vehicle can pass through the target road, and the method specifically comprises the following steps: based on target roadThe width of the entrance and the width of the corresponding body of the motor vehicle calculate the safe distance between the left side and the right side of the motor vehicle and the target road, and the calculation formula is
，
Expressed as the safe following distance between the left and right sides of the motor vehicle and the target road,
expressed as a set compensation factor.
The purpose of calculating the safety distance between the left side and the right side of the motor vehicle and the target road is to enable the motor vehicle to run in the middle of the target road, so that the running safety is guaranteed.
In the process of the motor vehicle running through the entrance of the target road, the distance between the left side and the right side of the motor vehicle and the target road is detected in real time through the distance measuring instruments arranged on the left side and the right side of the motor vehicle, and compared with the safe distance between the left side and the right side of the motor vehicle and the target road, and then a formula is calculated according to the distance coincidence degree
And if the corresponding inter-vehicle distance conformity of any one side of the motor vehicle is smaller than the standard inter-vehicle distance conformity, judging that the driving state of the motor vehicle passing target road entrance needs to be corrected.
Comparing the inter-vehicle distance between the left side and the right side of the motor vehicle and the target road with the safe inter-vehicle distance, calculating the inter-vehicle distance difference between the left side and the right side of the motor vehicle and the target road, and extracting the sign of the inter-vehicle distance difference, referring to fig. 3, recording the side of the left side and the right side of the motor vehicle where the inter-vehicle distance difference sign is positive as the main correction side, and recording the other side of the motor vehicle as the corrected side.
And recording the driving distance difference between the corrected side of the motor vehicle and the target road as a correction distance, matching the correction distance with the required steering angles corresponding to various correction distances in the driving management database, and screening out the required steering angles corresponding to the motor vehicle.
The motor vehicle is subjected to voice broadcast through the voice prompter by steering from the corrected side to the main correction side and the required steering angle.
When the driving state of the motor vehicle is corrected, the embodiment of the invention can analyze and prompt the specific correction mode according to the detected distance between the motor vehicle and the two sides of the road, overcomes the defect of lack of specific correction mode in the prior art when the driving state of the motor vehicle is corrected, and provides a specific correction scheme for a driver, thereby improving the correction efficiency, reducing the correction times, avoiding the over-correction condition, being beneficial to reducing the potential safety hazard in the correction process and improving the correction safety.
The target road passing obstacle avoidance management module is used for identifying road surface obstacles of the motor vehicle in the target road passing process by the panoramic camera installed on the motor vehicle and carrying out obstacle avoidance management by means of the driving auxiliary management equipment.
As an optimized technical scheme of the invention, referring to fig. 4, the target road traffic obstacle avoidance management module comprises a motor vehicle forward obstacle avoidance management unit and a motor vehicle reverse obstacle avoidance management unit.
The motor vehicle advancing obstacle avoidance management unit is used for identifying road obstacles in the advancing process of the motor vehicle on a target road by a vehicle head camera, a left side camera and a right side camera which are arranged on the motor vehicle, and carrying out obstacle avoidance management by means of driving auxiliary management equipment, and the motor vehicle advancing obstacle avoidance management unit specifically comprises the following execution steps: when the motor vehicle passes through a target road, a panoramic image is collected in real time to the front of the motor vehicle through a vehicle head camera, a left side camera and a right side camera, whether an obstacle exists in the front of the motor vehicle is identified based on the collected front panoramic image, if the obstacle exists in the front of the motor vehicle in the front panoramic image collected at the current moment, the state type of the front obstacle is obtained, wherein the state type comprises a static type and a dynamic type.
If the state type of the front obstacle is a static type, the distance between the placement position of the front obstacle and the middle position of the target road is acquired from the acquired front panoramic image and is recorded as a blocking distance, the blocking distance corresponding to the front obstacle is compared with a set safe blocking distance, if the blocking distance corresponding to the front obstacle is smaller than the set safe blocking distance, it is judged that obstacle avoidance processing needs to be carried out on the front obstacle, obstacle avoidance driving track planning is carried out according to the placement position of the front obstacle, at the moment, obstacle avoidance prompting is carried out through a voice prompter, and the planned obstacle avoidance driving track is displayed on a large display screen.
In a specific embodiment, the obstacle avoidance driving track is specifically planned by positioning a safe driving position when the motor vehicle drives to the front obstacle placing position according to the placing position of the front obstacle, and then planning the obstacle avoidance driving track according to the current driving position of the motor vehicle and the safe driving position when the motor vehicle drives to the front obstacle placing position, and the planning can be performed by referring to a reverse obstacle avoidance track.
If the state type of the front obstacle is a dynamic type, comparing the front panoramic image acquired at the next moment with the front panoramic image acquired at the current moment, and identifying the traveling direction and the current traveling speed corresponding to the front obstacle.
Comparing the advancing direction of the front obstacle with the traveling direction of the motor vehicle, if the advancing direction of the front obstacle is perpendicular to the traveling direction of the motor vehicle, extracting the current advancing position of the front obstacle from a front panoramic image acquired at the current moment, positioning the traveling position of the motor vehicle at the current moment through a GPS locator, and recording the position as the current traveling position of the motor vehicle.
Referring to fig. 5, a junction position between the front obstacle and the vehicle is defined based on the traveling direction of the front obstacle and the traveling direction of the vehicle.
And acquiring the travel distance of the front barrier from the current travel position to the intersection position according to the current travel position and the intersection position of the front barrier, and recording the travel distance as the intersection travel distance corresponding to the front barrier.
And acquiring the running distance of the motor vehicle from the current running position to the intersection position according to the current running position and the intersection position of the motor vehicle, and recording the running distance as the corresponding intersection running distance of the motor vehicle.
The current driving speed of the motor vehicle is detected by a speed sensor.
Calculating the time difference of the motor vehicle and the front barrier to reach the intersection position based on the intersection travel distance and the current travel speed corresponding to the front barrier and the intersection travel distance and the current travel speed corresponding to the motor vehicle
The calculation formula is
Wherein
、
Respectively expressed as the corresponding intersection running distance and the current running speed of the motor vehicle,
、
respectively expressed as the intersection advancing distance and the current advancing speed corresponding to the front obstacle,
expressed as a junction time difference correction factor.
Comparing the time difference of the motor vehicle and the front barrier to the intersection position with the set safe time difference, if the time difference of the motor vehicle and the front barrier to the intersection position is greater than the set safe time difference, judging that the front barrier needs to be avoided, carrying out motor vehicle deceleration prompting through a voice prompting device, and meanwhile, acquiring the dynamic distance between the driving position of the motor vehicle and the advancing position of the front barrier in real time, and further displaying the dynamic distance on a large display screen.
The vehicle reversing management unit is used for identifying obstacles of the motor vehicle in the target road reversing and warehousing process by a vehicle tail camera, a left side camera and a right side camera which are installed on the motor vehicle, and carrying out obstacle avoidance management by means of driving auxiliary management equipment, and the vehicle reversing management unit specifically comprises the following execution steps: when the motor vehicle backs a car on a target road, panoramic images are collected from a backing car position corresponding to the motor vehicle in real time through the tail camera, the left camera and the right camera, and whether an obstacle exists in the backing car position corresponding to the motor vehicle is identified based on the collected rear panoramic images.
If the obstacles exist in the reversing parking space corresponding to the motor vehicle in the rear panoramic image collected at the current moment, obstacle avoidance prompting is carried out through a voice prompter, and coordinate system establishment is carried out on the reversing parking space according to a preset plane rectangular coordinate system, wherein the establishment mode of the preset plane rectangular coordinate system refers to fig. 6.
And acquiring the coordinates of the placing position of the obstacle and the coordinates of the current running position of the motor vehicle according to the established rectangular plane coordinate system.
The position coordinate of placing with the barrier is the centre of a circle, uses preset safe distance to make the circle as the radius, and the region outside its circle is the region of backing a car safely promptly, and then in the regional position of backing a car safe with the nearest position of backing a car parking stall central point as the position of backing a car safely, and then fixes a position the position coordinate of backing a car safely according to the plane rectangular coordinate system of establishing on backing a car parking stall.
Referring to fig. 7, a backing obstacle avoidance track from the current driving position to the safe backing position of the motor vehicle is planned according to the current driving position coordinates of the motor vehicle and the safe backing position coordinates of the motor vehicle in the backing parking space, and the backing obstacle avoidance track is displayed on a large display screen.
When the embodiment of the invention is used for carrying out driving safety and parking safety management on the motor vehicle, the obstacle avoidance prediction management in the driving process and the parking process is increased, compared with the traditional obstacle avoidance management, the following judgment can be carried out only according to the driving state of a driver, the obstacle avoidance management mode practically plays a role in obstacle avoidance guidance, the practicability is strong, the obstacle avoidance efficiency is improved, the obstacle avoidance safety guarantee level of the motor vehicle is also improved to a certain extent, and the driving auxiliary experience of the driver is favorably enhanced.
The foregoing is merely illustrative and explanatory of the present invention and various modifications, additions or substitutions may be made to the specific embodiments described by those skilled in the art without departing from the scope of the invention as defined in the accompanying claims.
Claims (6)
1. The utility model provides a 360 degrees panorama wireless safety auxiliary management systems after motor vehicle is adorned which characterized in that includes:
the motor vehicle panoramic camera marking module is used for counting the number of panoramic cameras mounted on a motor vehicle and respectively marking the panoramic cameras mounted under the head, the tail and the left and right rearview mirrors as the head camera, the tail camera, the left camera and the right camera;
the driving auxiliary management device setting module of the motor vehicle is used for setting driving auxiliary management devices in the motor vehicle;
the motor vehicle body basic information acquisition module is used for acquiring the vehicle body basic information corresponding to the motor vehicle;
the driving management database is used for storing required steering angles corresponding to various correction intervals;
the target road passing judgment management module is used for recording a road where the motor vehicle is going to pass as a target road, and then shooting a target road entrance by a head camera, a left side camera and a right side camera on the motor vehicle, so that whether the motor vehicle can pass on the target road is intelligently judged according to a shooting result and basic information of a vehicle body corresponding to the motor vehicle, and the judgment result is transmitted to a driver;
the target road running state correction management module is used for automatically correcting the running state of a motor vehicle passing target road entrance through the driving auxiliary management equipment when the motor vehicle can pass through the target road;
the target road traffic obstacle avoidance management module is used for identifying road obstacles of the motor vehicle in the target road traffic process by a panoramic camera arranged on the motor vehicle and carrying out obstacle avoidance management by means of driving auxiliary management equipment;
the basic information of the vehicle body comprises the width and the height of the vehicle body;
the target road traffic judgment management module comprises a target road entrance image acquisition splicing unit and a target road traffic judgment transmission unit;
the target road entrance image acquisition and splicing unit is used for starting a head camera, a left camera and a right camera on a motor vehicle to shoot images of a target road entrance and splicing the shot images to obtain a panoramic image corresponding to the target road entrance;
the target road passing judgment and transmission unit is used for intelligently judging whether the motor vehicle can pass through the target road or not based on the panoramic image corresponding to the target road entrance and the basic vehicle body information corresponding to the motor vehicle and transmitting a judgment result, and specifically executes the following steps:
extracting the height and width corresponding to the target road entrance from the panoramic image corresponding to the target road entrance;
comparing the basic information of the automobile body corresponding to the motor vehicle with the height and width corresponding to the target road entrance, and calculating the formula through the traffic allowable coefficient
Calculating to obtain the traffic allowable coefficient corresponding to the target road entrance
W and h are respectively expressed as the width and the height corresponding to the entrance of the target road,
、
respectively expressed as the corresponding vehicle body width and height of the motor vehicle,
、
respectively expressed as a safe passing width interval difference and a safe passing height interval difference,
、
respectively expressed as the ratio coefficients corresponding to the width and the height,
expressed as natural constants;
and comparing the traffic permission coefficient corresponding to the target road entrance with a set traffic permission coefficient threshold, if the traffic permission coefficient corresponding to the target road entrance is smaller than the traffic permission coefficient threshold, judging that the motor vehicle can pass on the target road, otherwise, judging that the motor vehicle cannot pass on the target road, and further carrying out voice transmission on the judgment result through a voice prompter.
2. The vehicle afterloading 360-degree panoramic wireless safety auxiliary management system according to claim 1, characterized in that: the driving auxiliary management equipment comprises a GPS locator, a distance meter, a speed sensor, a voice prompt and a display screen, wherein the distance meter is respectively installed at the head, the tail, the left side and the right side of the motor vehicle.
3. The vehicle afterloading 360-degree panoramic wireless security auxiliary management system according to claim 1, characterized in that: the automatic correction of the driving state of the motor vehicle passing target road entrance through the driving auxiliary management device specifically refers to the following steps:
calculating the safety distance between the left side and the right side of the motor vehicle and the target road based on the width of the entrance of the target road and the width of the corresponding vehicle body of the motor vehicle, wherein the calculation formula is
,
Expressed as the safe following distance between the left and right sides of the motor vehicle and the target road,
expressed as a set compensation factor;
in the process of the motor vehicle running through the entrance of the target road, the distance between the left side and the right side of the motor vehicle and the target road is detected in real time by the distance measuring instruments arranged on the left side and the right side of the motor vehicle, and compared with the safe distance between the left side and the right side of the motor vehicle and the target road, and then a formula for calculating the driving distance conformity degree is calculated
If the corresponding inter-vehicle distance conformity of any one side of the motor vehicle is smaller than the standard inter-vehicle distance conformity, judging that the driving state of the motor vehicle passing target road entrance needs to be corrected;
comparing the inter-vehicle distance between the left side and the right side of the motor vehicle and the target road with the safe inter-vehicle distance, calculating the inter-vehicle distance difference between the left side and the right side of the motor vehicle and the target road, extracting the sign of the inter-vehicle distance difference, recording one side of the left side and the right side of the motor vehicle, which has a positive inter-vehicle distance difference sign, as a main correction side, and recording the other side of the motor vehicle as a corrected side;
recording the driving distance difference between the corrected side of the motor vehicle and the target road as a corrected distance, matching the corrected distance with the required steering angles corresponding to various corrected distances in the driving management database, and screening out the required steering angles corresponding to the motor vehicle;
the motor vehicle is subjected to voice broadcast through the voice prompter by the corrected side to the main correction side and the required steering angle.
4. The vehicle afterloading 360-degree panoramic wireless safety auxiliary management system according to claim 1, characterized in that: the target road passing obstacle avoidance management module comprises a motor vehicle advancing obstacle avoidance management unit and a motor vehicle backing obstacle avoidance management unit.
5. The vehicle afterloading 360-degree panoramic wireless security auxiliary management system according to claim 4, characterized in that: the motor vehicle barrier-avoiding management unit is used for identifying road barriers of the motor vehicle in the advancing process of a target road by a vehicle head camera, a left side camera and a right side camera which are arranged on the motor vehicle, and carrying out barrier-avoiding management by means of driving auxiliary management equipment, and specifically comprises the following execution steps:
when the motor vehicle passes through a target road, acquiring a panoramic image in front of the motor vehicle in real time through a vehicle head camera, a left side camera and a right side camera, identifying whether an obstacle exists in front of the motor vehicle or not based on the acquired panoramic image in front, and if the obstacle exists in front of the motor vehicle in the panoramic image acquired at the current moment, acquiring the state type of the obstacle in front;
if the state type of the front obstacle is a static type, acquiring the distance between the placement position of the front obstacle and the middle position of a target road from the acquired front panoramic image, recording the distance as a blocking distance, comparing the blocking distance corresponding to the front obstacle with a set safe blocking distance, judging that the front obstacle needs to be subjected to obstacle avoidance processing if the blocking distance corresponding to the front obstacle is smaller than the set safe blocking distance, planning an obstacle avoidance driving track according to the placement position of the front obstacle, performing obstacle avoidance prompting through a voice prompter at the moment, and displaying the planned obstacle avoidance driving track on a large display screen;
if the state type of the front obstacle is a dynamic type, comparing the front panoramic image acquired at the next moment with the front panoramic image acquired at the current moment, and identifying the corresponding advancing direction and the current advancing speed of the front obstacle;
comparing the advancing direction of the front obstacle with the traveling direction of the motor vehicle, if the advancing direction of the front obstacle is vertical to the traveling direction of the motor vehicle, extracting the current advancing position of the front obstacle from a front panoramic image acquired at the current moment, positioning the traveling position of the motor vehicle at the current moment through a GPS locator, and recording the position as the current traveling position of the motor vehicle;
defining an intersection position of the front obstacle and the motor vehicle based on the traveling direction of the front obstacle and the driving direction of the motor vehicle;
acquiring the travel distance of the front barrier from the current travel position to the intersection position according to the current travel position and the intersection position of the front barrier, and recording the travel distance as the intersection travel distance corresponding to the front barrier;
acquiring the running distance of the motor vehicle from the current running position to the intersection position according to the current running position and the intersection position of the motor vehicle, and recording the running distance as the corresponding intersection running distance of the motor vehicle;
detecting the current running speed of the motor vehicle through a speed sensor;
calculating the time difference of the motor vehicle and the front barrier to reach the intersection position based on the intersection travel distance and the current travel speed corresponding to the front barrier and the intersection travel distance and the current travel speed corresponding to the motor vehicle
The calculation formula is
In which
、
Respectively representing the corresponding intersection running distance and the current running speed of the motor vehicle,
、
respectively expressed as the intersection advancing distance and the current advancing speed corresponding to the front obstacle,
expressed as a junction time difference correction factor;
the time difference of the motor vehicle and the front barrier when reaching the intersection position is compared with the set safe time difference, if the time difference of the motor vehicle and the front barrier when reaching the intersection position is larger than the set safe time difference, the front barrier is judged to be required to be avoided, the speed reduction of the motor vehicle is prompted through a voice prompt, meanwhile, the dynamic distance between the driving position of the motor vehicle and the advancing position of the front barrier is obtained in real time, and then the dynamic distance is displayed on a large display screen.
6. The vehicle afterloading 360-degree panoramic wireless security auxiliary management system according to claim 4, characterized in that: the motor vehicle backing management unit is used for identifying obstacles of a motor vehicle in a target road backing and warehousing process by a vehicle tail camera, a left side camera and a right side camera which are arranged on the motor vehicle, and carrying out obstacle avoidance management by means of driving auxiliary management equipment, and the motor vehicle backing management unit specifically comprises the following execution steps:
when the motor vehicle backs a car on a target road, carrying out panoramic image acquisition on a backing car position corresponding to the motor vehicle in real time through a vehicle tail camera, a left side camera and a right side camera, and identifying whether an obstacle exists in the backing car position corresponding to the motor vehicle or not based on the acquired rear panoramic image;
if the obstacles exist in the backing parking space corresponding to the motor vehicle in the rear panoramic image acquired at the current moment, the voice prompter is used for carrying out obstacle avoidance prompting, backing and obstacle avoidance trajectory planning is carried out, and then the obstacles are displayed on a large display screen.
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Denomination of invention: A 360 degree panoramic wireless safety assistance management system for rear mounted motor vehicles Effective date of registration: 20230615 Granted publication date: 20221021 Pledgee: Shenzhen Rural Commercial Bank Co.,Ltd. Pingdi Sub branch Pledgor: EAGLE DRIVE TECHNOLOGY (SHENZHEN) Co.,Ltd. Registration number: Y2023980044107 |