CN207502722U - Vehicle and vehicle sensory perceptual system - Google Patents
Vehicle and vehicle sensory perceptual system Download PDFInfo
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- CN207502722U CN207502722U CN201721748921.1U CN201721748921U CN207502722U CN 207502722 U CN207502722 U CN 207502722U CN 201721748921 U CN201721748921 U CN 201721748921U CN 207502722 U CN207502722 U CN 207502722U
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Abstract
This disclosure relates to a kind of vehicle and vehicle sensory perceptual system.The system comprises：Visual perception device, mounted on outside vehicle, for determining the object information of vehicle periphery according to the picture signal of acquisition；Radar sensor, mounted on outside vehicle, for determining the object information of vehicle periphery according to the radar signal of acquisition；Sound transducer, mounted on outside vehicle, for obtaining the voice signal of vehicle periphery；Audio processor is connect with sound transducer, for determining the object information of vehicle periphery according to the voice signal that sound transducer obtains；Use processing device is connect respectively with visual perception device, radar sensor, audio processor, and the object information of fusion is determined for the object information that is determined according to visual perception device, radar sensor, audio processor this three.In this way so that object information is more accurate, makes vehicle assisted system more efficient, and vehicle traveling is safer.
Description
Technical field
This disclosure relates to technical field of vehicle, and in particular, to a kind of vehicle and vehicle sensory perceptual system.
Background technology
With the continuous development of modern science and technology, various DAS (Driver Assistant System)s have carried out real in the car more and more
The application on border.For example, automatic cruising system, automated parking system, track keep auxiliary system, brake assist system, reversing it is auxiliary
Auxiliary system etc..With the help of these auxiliary systems, driver can more easily and safely drive vehicle.In various auxiliary
In control loop, vehicle is most important to extraneous perception.The environment of vehicle itself is only perceived accurately and timely, it is various auxiliary
Auxiliary system could really play its due effect.
The device of perception environment installed in vehicle at present includes various sensors and processor.For example, mounted on vehicle
The camera of rear end can be with pavement image after collecting vehicle, and by the display screen of image transmitting to driver's cabin, helps to drive
Member observes surface conditions after vehicle in reversing.For another example, radar is installed in front of the car, front truck or barrier is determined by radar signal
Hinder object range information, the data that real time environment is provided for automatic cruising system are supported.
Utility model content
The purpose of the disclosure is to provide a kind of vehicle and vehicle that can accurately and timely detect vehicle-periphery situation
Sensory perceptual system.
To achieve these goals, the disclosure provides a kind of vehicle sensory perceptual system.The system comprises：Visual perception fills
It puts, mounted on the outside vehicle, for determining the object information of the vehicle periphery according to the picture signal of acquisition；Radar
Sensing device, mounted on the outside vehicle, for determining that the object of the vehicle periphery is believed according to the radar signal of acquisition
Breath；Sound transducer, mounted on the outside vehicle, for obtaining the voice signal of the vehicle periphery；Audio processor, with
The sound transducer connection, the voice signal for being obtained according to the sound transducer determine the target of the vehicle periphery
Object information；Use processing device, respectively with the visual perception device, the radar sensor, the audio processor
Connection, for the target determined according to the visual perception device, the radar sensor, the audio processor this three
Object information come determine fusion object information.
Optionally, the sound transducer is one or more microphones.
Optionally, the sound transducer is mounted on the roof or surrounding of the vehicle.
Optionally, the sound transducer is four wheats of the front, rear, left and right four direction for being respectively facing the vehicle
Gram wind.
Optionally, the sound transducer is multiple microphones, and the direction of the multiple microphone is equal in the horizontal plane
Even distribution.
Optionally, the audio processor includes：Memory, for by target species category information and corresponding sound characteristic
It is associated storage；Characteristic extracting module is connect with the sound transducer, for the sound obtained from the sound transducer
Sound characteristic is extracted in signal；Characteristic matching module is connect respectively with the memory and the characteristic extracting module, for inciting somebody to action
The sound characteristic of the characteristic extracting module extraction is matched with the sound characteristic in the memory, to determine the vehicle
The target species category information of surrounding.
Optionally, the sound transducer is multiple microphones, and the audio processor includes：Walking direction module, with
The multiple microphone connection, for determining the object of the vehicle periphery according to the microphone information for getting voice signal
Directional information.
Optionally, the audio processor includes：Calculator is connect with the sound transducer, for according to the sound
The voice signal that sound sensor obtains calculates the object range information of the vehicle periphery.
Optionally, the radar sensor includes：Laser radar and/or millimetre-wave radar, for obtaining the vehicle
The radar signal of surrounding；Radar processor is connect with the laser radar and/or the millimetre-wave radar, for according to being obtained
The radar signal taken determines the object information of the vehicle periphery.
The disclosure also provides a kind of vehicle, including above-mentioned vehicle sensory perceptual system.
Through the above technical solutions, vehicle sensory perceptual system includes sound transducer and audio processor, passed by sound
Sensor obtains ambient sound, so as to determine object information according to ambient sound.Also, the system is further included at information fusion
Device is managed, the object information that the much information source including sound determines can be merged, so that it is determined that going out final
Object information.In this way so that object information is more accurate, makes vehicle assisted system more efficient, and vehicle traveling is more pacified
Entirely.
Other feature and advantage of the disclosure will be described in detail in subsequent specific embodiment part.
Description of the drawings
Attached drawing is for providing further understanding of the disclosure, and a part for constitution instruction, with following tool
Body embodiment is used to explain the disclosure, but do not form the limitation to the disclosure together.In the accompanying drawings：
Fig. 1 is the structure diagram for the vehicle sensory perceptual system that an exemplary embodiment provides；
Fig. 2 is the schematic view of the mounting position for multiple microphones that an exemplary embodiment provides；
Fig. 3 is the sound field schematic diagram of microphone shown in Fig. 2.
Specific embodiment
The specific embodiment of the disclosure is described in detail below in conjunction with attached drawing.It should be understood that this place is retouched
The specific embodiment stated is only used for describing and explaining the disclosure, is not limited to the disclosure.
In the disclosure, in the case where not making to illustrate on the contrary, the noun of locality such as " up, down, left, right, before and after " used is logical
It is often the direction for driver.
At present, the sensing device commonly used in vehicle environmental detection has radar and visual perception device.Inventor expects, can
To add perception of sound device in the car, such as perceive the sound that automobile, bicycle, tricycle etc. are sent out, from sound
Angle detects surrounding objects object information, and by the fusion to each testing result, be finally reached the purpose accurately detected.
Fig. 1 is the structure diagram for the vehicle sensory perceptual system that an exemplary embodiment provides.As shown in Figure 1, the vehicle sense
Know that system 10 can include visual perception device 11, radar sensor 12, sound transducer 13, audio processor 14, information
Fusion treatment device 15.
Visual perception device 11 is mounted on outside vehicle, for determining the target of vehicle periphery according to the picture signal of acquisition
Object information.
Radar sensor 12 is mounted on outside vehicle, for determining the target of vehicle periphery according to the radar signal of acquisition
Object information.
Sound transducer 13 is mounted on outside vehicle, for obtaining the voice signal of vehicle periphery.
Audio processor 14 is connect with sound transducer, for determining vehicle according to the voice signal that sound transducer obtains
The object information of surrounding.
Use processing device 15 is connect respectively with visual perception device 11, radar sensor 12, audio processor 14,
For the object information that is determined according to visual perception device 11, radar sensor 12, audio processor 14 this three come really
Surely the object information merged.
Wherein, object information letter such as can include the type of barrier of vehicle periphery, distance, speed, height
Breath.After the object information of vehicle periphery determines, it will be able to carry out the auxiliary driving of vehicle using the information or directly will
Information is exported, and rational counte-rplan are made convenient for driver.
Visual perception device 11 can include camera and the image processor being connect with camera.Camera can be installed
At vehicle front bumper, rear vehicle end and vehicular sideview.Image processor can be used for the image that camera obtains into
Row processing, obtains object information.
Radar sensor 12 can include various radars (for example, laser radar and millimetre-wave radar) and radar is handled
Device.Laser radar and millimetre-wave radar are used to obtain the radar signal of vehicle periphery.Radar processor is connect with radar, for root
According to acquired radar signal, the object information of vehicle periphery is determined.
In use processing device 15, the object that a variety of fusion methods are determined according to above-mentioned various devices may be used
Object information after the final fusion of information output.It determines or adopts for example, the common method for calculating average value may be used
Object information is calculated with the method for weighted sum.
Through the above technical solutions, vehicle sensory perceptual system includes sound transducer and audio processor, passed by sound
Sensor obtains ambient sound, so as to determine object information according to ambient sound.Also, the system is further included at information fusion
Device is managed, the object information that the much information source including sound determines can be merged, so that it is determined that going out final
Object information.In this way so that object information is more accurate, makes vehicle assisted system more efficient, and vehicle traveling is more pacified
Entirely.
In one embodiment, sound transducer can be one or more microphones.When including multiple microphones, Mike
Wind can form different arrays, to strengthen perception of sound effect.The sound transducer may be mounted at vehicle roof or
Surrounding.For example, sound transducer is four microphones of the front, rear, left and right four direction for being respectively facing vehicle.Fig. 2 is to show
The schematic view of the mounting position of multiple microphones that example property embodiment provides.As shown in Fig. 2, four microphones a, b, c, d are mounted on
Roof is respectively facing the front, rear, left and right four direction of vehicle.Fig. 3 is the sound field schematic diagram of microphone shown in Fig. 2.If
Sound source is in the region that the sound field of microphone does not cover, which cannot receive the acoustic information that sound source is sent out.
In addition, when sound transducer is multiple microphones, the direction of multiple microphones can uniformly divide in the horizontal plane
Cloth.It is, when having n microphone, this n microphone can be located on n vertex of the positive n sides shape in horizontal plane respectively,
Direction is all along outside with the line of the central point of positive n sides shape.When the direction of multiple microphones is uniformly distributed in the horizontal plane, energy
Enough it is uniformly distributed the sound field of each microphone, in this way, making data processing simple, processing speed is fast.
Object information can include target species category information, for example, object is automobile, bicycle or tricycle.
Can object type be identified by the method for comparison by the sound characteristic for the object for prestoring related specy.
In one embodiment of the disclosure, audio processor can include memory, characteristic extracting module and characteristic matching module.
Memory is used to target species category information being associated storage with corresponding sound characteristic.Characteristic extracting module with
Sound transducer connects, for extracting sound characteristic from the voice signal that sound transducer obtains.Characteristic matching module is distinguished
It is connect with memory and characteristic extracting module, it is special for the sound in the sound characteristic and memory that extract characteristic extracting module
Sign is matched, to determine the target species category information of vehicle periphery.
Wherein, memory can for example be equipped with 128MB memories and 64MB flash memories.Characteristic extracting module can be with for example
The audio of the frequency collection microphone input of 44.1kHz.The input interface of microphone can be Digital Signal Processing (Digital
Signal Processing, DSP) chip McAsp interfaces.Audio processor can for example select TI's
TMS320C674XDSP。
In the embodiment, audio processor is capable of determining that the type of object, identifies that object type contributes to point
The environmental aspect of vehicle periphery is analysed, so as to be conducive to take suitable countermeasure.
In another embodiment, audio processor also is able to determine the direction of object.In this embodiment, sound passes
Sensor is multiple microphones, and audio processor includes walking direction module.Walking direction module is connect with multiple microphones, according to
The microphone information for getting voice signal determines the object directional information of vehicle periphery.
As described above, each microphone has respective sound field.When wherein some or multiple microphones receive sound letter
During breath, it is possible to determine that the direction of object is in the corresponding sound field of one or more microphone.In the embodiment, audio frequency process
Device is capable of determining that the direction of object, identifies that object direction helps to analyze the environmental aspect of vehicle periphery, so as to have
Conducive to taking suitable countermeasure.
In another embodiment, audio processor also is able to determine the distance of object and vehicle.In this embodiment,
The audio processor includes calculator.Calculator is connect with sound transducer, for the sound obtained according to sound transducer
Signal calculates the object range information of vehicle periphery.
Wherein, calculator can calculate the distance of object according to the timestamp information of intensity of sound information, sound.
The attenuation of intensity of sound and apart from directly proportional in air, time of propagation and apart from directly proportional, so as to calculate sound source (mesh
Mark object) distance.The range difference of microphone and object in the vertical direction can be ignored during calculating because automobile, bicycle,
The objects such as tricycle and this height difference are compared to being negligible for the two distance in the horizontal direction.
In the embodiment, audio processor is capable of determining that the distance of object, identifies that object distance contributes to point
The environmental aspect of vehicle periphery is analysed, so as to be conducive to take suitable countermeasure.
The disclosure also provides a kind of vehicle, including above-mentioned vehicle sensory perceptual system.
The preferred embodiment of the disclosure is described in detail above in association with attached drawing, still, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical solution of the disclosure
Monotropic type, these simple variants belong to the protection domain of the disclosure.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case of shield, it can be combined by any suitable means.In order to avoid unnecessary repetition, the disclosure to it is various can
The combination of energy no longer separately illustrates.
In addition, arbitrary combination can also be carried out between a variety of different embodiments of the disclosure, as long as it is without prejudice to originally
Disclosed thought should equally be considered as disclosure disclosure of that.
Claims (10)
1. a kind of vehicle sensory perceptual system, which is characterized in that the system comprises：
Visual perception device, mounted on the outside vehicle, for determining the vehicle periphery according to the picture signal of acquisition
Object information；
Radar sensor, mounted on the outside vehicle, for determining the vehicle periphery according to the radar signal of acquisition
Object information；
Sound transducer, mounted on the outside vehicle, for obtaining the voice signal of the vehicle periphery；
Audio processor is connect with the sound transducer, and the voice signal for being obtained according to the sound transducer determines
The object information of the vehicle periphery；
Use processing device connects respectively with the visual perception device, the radar sensor, the audio processor
It connects, for the object determined according to the visual perception device, the radar sensor, the audio processor this three
Information come determine fusion object information.
2. system according to claim 1, which is characterized in that the sound transducer is one or more microphones.
3. system according to claim 1, which is characterized in that the sound transducer be mounted on the vehicle roof or
Surrounding.
4. system according to claim 1, which is characterized in that the sound transducer is to be respectively facing the vehicle
Four microphones of front, rear, left and right four direction.
5. system according to claim 1, which is characterized in that the sound transducer is multiple microphones, and described more
The direction of a microphone is uniformly distributed in the horizontal plane.
6. system according to claim 1, which is characterized in that the audio processor includes：
Memory, for target species category information to be associated storage with corresponding sound characteristic；
Characteristic extracting module is connect with the sound transducer, for being carried from the voice signal that the sound transducer obtains
Take sound characteristic；
Characteristic matching module is connect respectively with the memory and the characteristic extracting module, for by the feature extraction mould
The sound characteristic of block extraction is matched with the sound characteristic in the memory, to determine the target species of the vehicle periphery
Category information.
7. system according to claim 1, which is characterized in that the sound transducer be multiple microphones, the audio
Processor includes：
Walking direction module is connect with the multiple microphone, for being determined according to the microphone information for getting voice signal
The object directional information of the vehicle periphery.
8. system according to claim 1, which is characterized in that the audio processor includes：
Calculator is connect with the sound transducer, calculate for the voice signal that is obtained according to the sound transducer described in
The object range information of vehicle periphery.
9. system according to claim 1, which is characterized in that the radar sensor includes：
Laser radar and/or millimetre-wave radar, for obtaining the radar signal of the vehicle periphery；
Radar processor is connect with the laser radar and/or the millimetre-wave radar, for according to acquired radar letter
Number, determine the object information of the vehicle periphery.
10. a kind of vehicle, which is characterized in that perceive system including the vehicle according to any claim in claim 1-9
System.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721748921.1U CN207502722U (en) | 2017-12-14 | 2017-12-14 | Vehicle and vehicle sensory perceptual system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721748921.1U CN207502722U (en) | 2017-12-14 | 2017-12-14 | Vehicle and vehicle sensory perceptual system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110706496A (en) * | 2018-07-10 | 2020-01-17 | 北京耘科科技有限公司 | Acoustic-based environment sensing method and system |
| CN111357011A (en) * | 2019-01-31 | 2020-06-30 | 深圳市大疆创新科技有限公司 | Environment sensing method and device, control method and device and vehicle |
| CN113734207A (en) * | 2020-05-29 | 2021-12-03 | 比亚迪股份有限公司 | Vehicle safety protection system and method and vehicle |
-
2017
- 2017-12-14 CN CN201721748921.1U patent/CN207502722U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110706496A (en) * | 2018-07-10 | 2020-01-17 | 北京耘科科技有限公司 | Acoustic-based environment sensing method and system |
| CN111357011A (en) * | 2019-01-31 | 2020-06-30 | 深圳市大疆创新科技有限公司 | Environment sensing method and device, control method and device and vehicle |
| WO2020155020A1 (en) * | 2019-01-31 | 2020-08-06 | 深圳市大疆创新科技有限公司 | Environment perception method and device, control method and device, and vehicle |
| CN111357011B (en) * | 2019-01-31 | 2024-04-30 | 深圳市大疆创新科技有限公司 | Environment sensing method and device, control method and device and vehicle |
| CN113734207A (en) * | 2020-05-29 | 2021-12-03 | 比亚迪股份有限公司 | Vehicle safety protection system and method and vehicle |
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