CN205113303U - To anti -collision system before vehicle based on infrared laser is supplementary - Google Patents
To anti -collision system before vehicle based on infrared laser is supplementary Download PDFInfo
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Abstract
The utility model discloses a to anti -collision system before vehicle based on infrared laser is supplementary, including infrared laser, camera, DSP data processor, controller, precaution device and speed reduction actuating mechanism, infrared laser and camera are connected to DSP data processor respectively, and DSP data processor is connected to the controller, precaution device, speed reduction actuating mechanism are connected to the controller respectively. The utility model provides a to anti -collision system before vehicle based on infrared laser is supplementary plants, can be real -time apart from the function of calculating with laser instrument cooperation achieve your goals vehicle test and two cars through the camera, under unsafe condition, through actuating mechanism control vehicle deceleration, to keeping away the mesh that hits before reaching, the problem of more vehicle test recognition function disappearance or two cars that exist based on millimeter wave radar or simple camera technique of present adoption not high apart from detecting the precision is solved, the real -time of system under actual road environment has been promoted, robustness and accuracy nature.
Description
Technical field
The present invention relates to field of vehicle safety, particularly a kind of vehicle forward direction anti-collision system auxiliary based on infrared laser.
Background technology
In recent years, China's arteries of communication construction achieves lasting, quick and orderly development generally, but incident all kinds of traffic accident becomes day by day serious public safety problem, wherein, about 40% of rear-end impact occupied road traffic accident, death toll accounting nearly 50%, be take place frequently most in all kinds of traffic accident, lose the most heavy, therefore, the research of vehicle forward direction anti-collision system receives the great attention of China and even countries in the world traffic management system.
Forward direction anti-collision system refers to by sensor-based system moment monitoring front vehicles, judge the distance of this car between front truck, orientation and relative velocity, when there is potential collision risk, driver is warned, and in case of emergency controlling car retardation or stopping, this system can effectively suppress rear-end impact accident to occur root.The better scheme that current front truck anti-collision system adopts mainly utilizes millimeter wave radar sensor or machine vision technique, namely millimeter wave radar scheme utilizes target to millimeter reflection of wave to find target and to measure its position, as Honda " HondaSensing " system, the image that namely machine vision scheme is taken by intelligent camera and vision algorithm complete and identify and measuring ability, as the monocular cam technology of Mobileye.
Although such scheme achieves the function of forward direction collision avoidance to a certain extent, but also there is obvious defect, as millimeter wave radar possesses the function of objects in front identification and cost is high hardly, although machine vision technique can identify objects in front, range accuracy is not high.Because road environment is complicated, vehicle class is various, and prior art also cannot meet the requirement to system real time, robustness and particularity in actual use procedure completely.
Summary of the invention
The present invention seeks to: a kind of vehicle forward direction anti-collision system auxiliary based on infrared laser is provided, namely realize target detecting test of vehicle, two cars are coordinated in real time apart from the function calculated by camera with laser, under unsafe condition, by actuating mechanism controls car retardation, reach the object of forward direction collision avoidance.
Technical scheme of the present invention is:
Based on the vehicle forward direction anti-collision system that infrared laser is auxiliary, comprise infrared laser, camera, DSP data handler, controller, precaution device and deceleration actuating unit; Described infrared laser and camera are connected respectively to DSP data handler, and DSP data handler is connected to controller, and described precaution device, deceleration actuating unit are connected respectively to controller.
Preferably, described infrared laser and camera form vehicle distances sensory perceptual system jointly, described infrared laser is square lattice shape structured light laser, infrared laser produces gridiron light beam after projecting front, the distortion graticule picture that ground, front or obstacle produce reflection is caught on camera head reception, and camera view scope is consistent with the signal transmitting boundary of infrared laser.
Preferably, the distortion graticule picture that described DSP data handler receives according to camera and camera parameter carry out three-dimensional reconstruction to object space, and extract the target be above the ground level, profile according to the target that is above the ground level determines whether vehicle, the distance from car and target carriage is calculated according to target width, according to the time headway calculated from the distance of car and target carriage, relative velocity from car and target carriage, judge whether within the chaufeur normal reaction time.
Preferably, described controller controls the startup of precaution device and deceleration actuating unit according to the judgement of DSP data handler.
Preferably, when time headway >=time of driver's reaction, system judges now collisionless risk; When time headway < time of driver's reaction, system judges now have risk of collision, sends actuation signal by controller to precaution device and deceleration actuating unit simultaneously; Precaution device sends acousto-optic early warning after receiving actuation signal, and car retardation actuating unit controls car retardation after receiving actuation signal, to reach collision avoidance object.
Preferably, described DSP data processing module receives the distortion graticule picture reflected at camera after, judge that front exceeds the presence or absence of local obstacle according to the presence or absence of the grid reflected image be above the ground level in this distortion graticule picture.
Preferably, described data processing module utilizes laser border to confirm vehicle width, realizes the judgement of two spacings according to vehicle width and other corresponding scale parameters.
Advantage of the present invention is:
The present invention proposes a kind of vehicle forward direction anti-collision system auxiliary based on infrared laser, it can coordinate realize target detecting test of vehicle and two cars in real time apart from the function calculated with laser by camera, under unsafe condition, by actuating mechanism controls car retardation, reach the object of forward direction collision avoidance, solve and adopt at present the more detecting test of vehicle recognition function disappearance that exists based on millimeter wave radar or simple camera technology or the problem such as two spacing accuracy of detection are not high, improve the real-time of system under real road environment, robustness and particularity, the application popularization of further promotion vehicle drive assist system.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described:
Fig. 1 is the structure principle chart of vehicle forward direction anti-collision system of assisting based on infrared laser of the present invention;
Fig. 2 is the workflow diagram of vehicle forward direction anti-collision system of assisting based on infrared laser of the present invention;
Fig. 3 is the road work schematic diagram of vehicle forward direction anti-collision system of assisting based on infrared laser of the present invention.
Detailed description of the invention
embodiment:
As shown in Figure 1, the disclosed vehicle forward direction anti-collision system auxiliary based on infrared laser, comprises infrared laser, camera, DSP data handler, controller, precaution device and deceleration actuating unit; Described infrared laser and camera are connected respectively to DSP data handler, and DSP data handler is connected to controller, and described precaution device, deceleration actuating unit are connected respectively to controller.As shown in Figure 3, described infrared laser and camera are installed on correct position on headstock and Windshield respectively, and laser probe scope is consistent with camera coverage; Data processing module and early warning deceleration control module form system control box and are placed in vehicle interior; Precaution device is not to block driving sight for being placed in vision field of driver; Deceleration actuating unit is placed in vehicle speed control device correct position.
As shown in Figure 2, the workflow of vehicle forward direction anti-collision system of assisting based on infrared laser of the present invention is as follows:
(1) after vehicle launch, this system starts;
(2) infrared laser produces cooperative target and projects front, square grid shape light beam as shown in Figure 3, and ground, front or obstacle are projected rear generation reflecting anamorphotic graticule picture.
(3) target image be reflected back is caught on camera head and receives, and data processing module carries out three-dimensional reconstruction according to this image medium square deflection and camera parameter to vehicle front object space, and extracts the target be above the ground level;
(4) according to the extracted objective contour be above the ground level, data processing module judges whether this obstacle is vehicle, vehicle reflection grid deformation pattern as shown in Figure 3, when judging that preceding object thing is vehicle, calculate the distance from car and target carriage according to target width;
(5) according to the time headway calculated from the distance of car and target carriage, relative velocity from car and target carriage, and it is judged whether within the chaufeur normal reaction time;
(6) when time headway >=time of driver's reaction, system judges now collisionless risk; When time headway < time of driver's reaction, system judges now have risk of collision, sends actuation signal by controller to precaution device and car retardation actuating unit simultaneously.
(7) precaution device sends acousto-optic early warning after receiving actuation signal, and car retardation actuating unit controls car retardation after receiving actuation signal, successfully realizes collision avoidance function.
Above-described embodiment, only for technical conceive of the present invention and feature are described, its object is to person skilled in the art can be understood content of the present invention and implement according to this, can not limit the scope of the invention with this.All modifications done according to the Spirit Essence of main technical schemes of the present invention, all should be encompassed within protection scope of the present invention.
Claims (2)
1., based on the vehicle forward direction anti-collision system that infrared laser is auxiliary, it is characterized in that: comprise infrared laser, camera, DSP data handler, controller, precaution device and deceleration actuating unit; Described infrared laser and camera are connected respectively to DSP data handler, and DSP data handler is connected to controller, and described precaution device, deceleration actuating unit are connected respectively to controller.
2. the vehicle forward direction anti-collision system auxiliary based on infrared laser according to claim 1, it is characterized in that: described infrared laser and camera form vehicle distances sensory perceptual system jointly, described infrared laser is square lattice shape structured light laser, infrared laser produces gridiron light beam after projecting front, the distortion graticule picture that ground, front or obstacle produce reflection is caught on camera head reception, and camera view scope is consistent with the signal transmitting boundary of infrared laser.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520858847.3U CN205113303U (en) | 2015-11-02 | 2015-11-02 | To anti -collision system before vehicle based on infrared laser is supplementary |
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| CN201520858847.3U CN205113303U (en) | 2015-11-02 | 2015-11-02 | To anti -collision system before vehicle based on infrared laser is supplementary |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105292085A (en) * | 2015-11-02 | 2016-02-03 | 清华大学苏州汽车研究院（吴江） | Vehicle forward collision avoidance system based on infrared laser aid |
| CN108995584A (en) * | 2018-07-27 | 2018-12-14 | 合肥市智信汽车科技有限公司 | To anti-collision system after a kind of vehicle based on infrared laser auxiliary |
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2015
- 2015-11-02 CN CN201520858847.3U patent/CN205113303U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105292085A (en) * | 2015-11-02 | 2016-02-03 | 清华大学苏州汽车研究院（吴江） | Vehicle forward collision avoidance system based on infrared laser aid |
| CN105292085B (en) * | 2015-11-02 | 2018-05-04 | 清华大学苏州汽车研究院（吴江） | To anti-collision system before a kind of vehicle based on infrared laser auxiliary |
| CN108995584A (en) * | 2018-07-27 | 2018-12-14 | 合肥市智信汽车科技有限公司 | To anti-collision system after a kind of vehicle based on infrared laser auxiliary |
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