CN208665057U - It is a kind of for detecting the obstacle detection sensory perceptual system and automobile of vehicle body short distance - Google Patents
It is a kind of for detecting the obstacle detection sensory perceptual system and automobile of vehicle body short distance Download PDFInfo
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- CN208665057U CN208665057U CN201821357715.2U CN201821357715U CN208665057U CN 208665057 U CN208665057 U CN 208665057U CN 201821357715 U CN201821357715 U CN 201821357715U CN 208665057 U CN208665057 U CN 208665057U
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Abstract
The utility model discloses a kind of for detecting the obstacle detection sensory perceptual system and automobile of vehicle body short distance, which includes: vision camera and ultrasonic radar and use processing device；Vision camera acquires the image information of vehicle-periphery, and is sent to use processing device, and at least two vision cameras are oppositely arranged, and two vision camera investigative ranges partly overlap；Ultrasonic radar detects the target information of obstacles around the vehicle, and is sent to use processing device, and at least two ultrasonic radars are oppositely arranged, and the investigative range of two ultrasonic radars partly overlaps；Use processing device receives described image information, target information and velocity information, determines the barrier of vehicle body short distance.The embodiments of the present invention solve vehicle itself and closely perceive problem with the barrier of lateral blind area, and the arrangement of ultrasonic radar and vision camera is small on vehicle appearance influence, and economic cost is low.
Description
Technical field
The utility model relates to field of automotive active safety more particularly to a kind of for detecting the barrier of vehicle body short distance
Detect sensory perceptual system and automobile.
Background technique
With the continuous development of sensor technology, information technology, control technology etc., various car steering auxiliary systems have been got over
It is more applied in volume production vehicle, such as automatic emergency brake system, Lane Keeping System, self-adaption cruise system, automatic
Parking system etc.；And based on American Society of Automotive Engineers (Society of Automotive Engineers, abbreviation
SAE) the L3 grade automatic Pilot of standard also brings the planned range of major vehicle factor into.The hair of these automobile intelligent driving technologies
Exhibition brings lighter, safe and environment-friendly riding experience for user vehicle.And all kinds of Intelligent Vehicle Driving System functions are real
In existing process, detection and perception of the vehicle to external environment are a most important rings；System only timely and accurately perceives
From the environment around vehicle, correctly judgement and decision can be just made.
The external environment sensory perceptual system applied on automobile at present, either volume production vehicle still test sample car, mainly there is milli
Metre wave radar, ultrasonic radar, infrared camera, vision camera, laser radar etc., and combinations thereof formed mounting arrangements system
System scheme；Such as " 12 millimetre-wave radar+9 of ultrasonic radar+1 cameras " sensory perceptual system, Audi of tesla Model X
"+1 laser radar of 12 cameras of millimetre-wave radar+5 of ultrasonic radar+5 " sensory perceptual system, Cadillac CT6 of A8
" 12 millimetre-wave radar+5 of ultrasonic radar+6 cameras " sensory perceptual system, Google Waymo " 4 millimetre-wave radars+
+ 5 laser radars of 1 camera " sensory perceptual system.The environment sensing range of these sensory perceptual systems generally in 0.5m~250m,
It can satisfy the extreme portions duty requirements of running car；But it for some limited road meetings or limit for width pier road etc.,
It asks vehicle that can detect and recognizes 0.5m around itself, even more the barrier of short distance, to assist or control vehicle driving.
Utility model content
In order to solve the above-mentioned technical problem, the utility model provides a kind of for detecting the obstacle physical prospecting of vehicle body short distance
Sensory perceptual system and automobile are surveyed, vehicle super close distance barrier cannot promptly and accurately be identified by solving external environment sensory perceptual system
Problem.
According to the one aspect of the utility model, a kind of obstacle detection perception for detecting vehicle body short distance is provided
System, comprising: multiple vision cameras and multiple ultrasonic radars and use processing device；
Multiple vision cameras, setting is in vehicle body side, for acquiring the image information of vehicle-periphery, and will be described
Image information is sent to the use processing device, wherein at least two vision cameras are oppositely arranged, so that at least
The detection direction of two vision cameras is different, and the investigative range of at least two vision cameras has part weight
It is folded；
Multiple ultrasonic radars, setting detect the target information of obstacles around the vehicle in vehicle body side, and by the mesh
Mark information is sent to the use processing device, wherein at least two ultrasonic radars are oppositely arranged, so that at least two
The detection direction of a ultrasonic radar is different, and the investigative range of at least two ultrasonic radars has part weight
It is folded；
The use processing device is connect with the vision camera and the ultrasonic radar respectively, for receiving
Image information, the target information and velocity information are stated, determines the barrier of vehicle body short distance.
Optionally, the use processing device is also connect with the anti-lock braking system of vehicle, for obtaining anti-lock
The velocity information that braking system is sent.
Optionally, the use processing device includes memory module, for storing the vision camera and described super
The location information of sound radar.
Optionally, the vision camera is at least four, and front and back fender on the left and right sides of vehicle is respectively set
On；
Wherein, the vision camera in front fender is set towards rear of vehicle, is arranged on rear fender
The vision camera is towards vehicle front.
Optionally, the vision camera is binocular camera, including main camera and secondary camera, the main camera
In the top of the secondary camera.
Optionally, on the front and back fender of the ultrasonic radar setting on the left and right sides of vehicle, and in each wing
At least two ultrasonic radars are provided on plate.
Optionally, the use processing device is also connect with the electronic control unit of vehicle, is used for the barrier
Specifying information be sent to the electronic control unit.
According to the other side of the utility model, a kind of automobile is provided, including above-mentioned for detecting vehicle body low coverage
From obstacle detection sensory perceptual system.
The beneficial effect of the embodiments of the present invention is:
It is close not only to solve vehicle itself for the obstacle detection sensory perceptual system for being used to detect vehicle body short distance in above scheme
The perception problem of barrier in distance, the perception problem of distance within especially 0.5m assist driver or directly control vehicle
Safely and conveniently pass through limited road；And can extend to vehicle laterally longer-distance obstacle detection, solve vehicle
Lateral blind area problem, assist driver or directly control vehicle lane change, intersection turning etc..The system uses front and back fender cloth
The scheme for setting ultrasonic radar and vision camera, it is small on vehicle appearance influence, especially hardly change windage；And it is economical
It is at low cost.
Detailed description of the invention
Fig. 1 shows the structures of the obstacle detection sensory perceptual system for detecting vehicle body short distance of the utility model embodiment
Block diagram；
Fig. 2 indicate the arrangement schematic diagram of the vision camera and ultrasonic radar of the utility model embodiment on vehicle it
One；
Fig. 3 indicate the arrangement schematic diagram of the vision camera and ultrasonic radar of the utility model embodiment on vehicle it
Two.
Wherein in figure: 1, vision camera, 2, ultrasonic radar, 3, use processing device, 4, anti-lock braking system,
5, electronic control unit.
Specific embodiment
The exemplary embodiment of the utility model is more fully described below with reference to accompanying drawings.Although showing this in attached drawing
The exemplary embodiment of utility model, it being understood, however, that may be realized in various forms the utility model without should be by here
The embodiment of elaboration is limited.It is to be able to thoroughly understand the utility model, and energy on the contrary, providing these embodiments
It is enough to be fully disclosed to those skilled in the art the scope of the utility model.
As shown in Figure 1-3, the embodiments of the present invention provide it is a kind of for detecting the obstacle physical prospecting of vehicle body short distance
Survey sensory perceptual system, comprising: multiple vision cameras 1 and multiple ultrasonic radars 2 and use processing device 3；
Multiple vision cameras 1, setting is in vehicle body side, for acquiring the image information of vehicle-periphery, and by institute
It states image information and is sent to the use processing device 3, wherein at least two vision cameras 1 are oppositely arranged, so that
The detection direction of at least two vision cameras 1 is different, and the investigative range of at least two vision cameras 1 has
It partly overlaps；
Multiple ultrasonic radars 2, setting detect the target information of obstacles around the vehicle in vehicle body side, and will be described
Target information is sent to the use processing device 3, wherein at least two ultrasonic radars 2 are oppositely arranged, so that extremely
The detection direction of few two ultrasonic radars 2 is different, and the investigative range of at least two ultrasonic radars 2 has portion
Divide overlapping；
The use processing device 3 is connect with the vision camera 1 and the ultrasonic radar 2 respectively, for connecing
Described image information, the target information and velocity information are received, determines the barrier of vehicle body short distance.
In the embodiment, the short distance refers to that the distance between barrier and vehicle body range are 0.5 meter, and the vision is taken the photograph
As first 1 for acquiring the image information of vehicle-periphery, and it is sent to the use processing device 3, multiple visions
On the fender of the setting of camera 1 on the left and right sides of vehicle, it is lateral blind to guarantee that vision camera 1 can get vehicle itself
Ambient image in area, identify in time close vehicle from barrier, vision camera 1 described in wherein at least two is opposite to be set
It sets, i.e. the vision camera in the ipsilateral front fender of vehicle body and the vision camera detection direction being arranged on rear fender
Difference, and investigative range partly overlaps.Multiple ultrasonic radars 2 are also provided on fender on the left and right sides of vehicle,
For the target information of the obstacles around the vehicle detected to be sent to use processing device 3, wherein described at least two
Ultrasonic radar 2 is oppositely arranged, i.e., the ultrasonic radar in the ipsilateral front fender of vehicle body and is arranged on rear fender
Ultrasonic radar detection direction is different, and investigative range partly overlaps.It can use ultrasonic radar and detect disturbance of perception in advance
Object, auxiliary vision camera carry out the identification of short distance barrier.
The use processing device 3 is also connect with the anti-lock braking system of vehicle 4, for obtaining anti-skid braking system
The velocity information that system 4 is sent.Image information that the use processing device 3 is sent according to vision camera, ultrasonic wave
The target information for the barrier that radar is sent, and the velocity information that sends of the anti-lock braking system that gets is by above- mentioned information
Carry out fusion treatment, the information such as position, the classification of available target obstacle.It is worth noting that use processing device 3
It itself is also stored with the location information of the vision camera 1 and the ultrasonic radar 2, according to described image information, target
The location information of information, velocity information and the vision camera 1 and the ultrasonic radar 2,3 energy of use processing device
The specifying information for enough finally obtaining barrier, classification, distance, orientation, size including barrier etc..The use processing
The specifying information of barrier is sent to the electronic control unit of vehicle by device 3, and electronic control unit can be according to the letter of barrier
Breath judges whether to need to remind driver by sound-light alarm of emergency braking or instrument etc..
The vision camera of the program and the arrangement form of ultrasonic radar, not only solve the low coverage within itself 0.5m
Perception problem from barrier assists driver or directly controls vehicle safety, easily passes through limited road；And it can expand
Vehicle laterally longer-distance obstacle detection is opened up, the lateral blind area problem of vehicle is solved, assist driver or directly controls vehicle
Lane change, intersection turning etc..
Specifically, the use processing device 3 includes memory module, for storing the vision camera 1 and described
The location information of ultrasonic radar 2.It is worth noting that the location information of the vision camera 1 and the ultrasonic radar 2
It can store in the memory module in the use processing device 3, also can store in own controller, as vision is taken the photograph
As first 1 itself position information of the stored memory storage vision camera on vehicle, image information is being sent to information
When fusion treatment device 3, while sending own location information；The stored memory storage ultrasonic radar of ultrasonic radar 2 itself is in vehicle
Position information on when the target information of barrier is sent to use processing device 3, while sending itself position
Confidence breath, in conjunction with the location information of vision camera 1 and ultrasonic radar 2, the available barrier of use processing device 3
The information such as the specific distance of specific orientation and vehicle body each section, convenient for use processing device 3 according to image information, barrier
Target information, velocity information and the vision camera 1 and the ultrasonic radar 2 location information, determine barrier
Specifying information, classification, distance, orientation, size including barrier etc..
In the above embodiments of the present invention, the vision camera 1 is at least four, is separately positioned on a left side for vehicle
On the front and back fender of right two sides；Wherein, the vision camera 1 in front fender is set towards rear of vehicle, is arranged
The vision camera 1 on rear fender is towards vehicle front.
The vision camera 1 is binocular camera, including main camera and secondary camera, and the main camera is described
The top of secondary camera.
In the embodiment, the vision camera 1 is binocular camera, including main camera and secondary camera, the master
Camera is in the top of the secondary camera.Since main camera and secondary camera are upper and lower arrangement on vehicle, then lead
The level detection range of camera covering covers the level detection range of secondary camera, can guarantee that the vision camera obtains
Get image of the close vehicle from the environment within even 0.5m.As depicted in figs. 1 and 2, the vision camera 1 is at least four
It is a, it is respectively set on front and back fender on the left and right sides of vehicle；Wherein, the vision camera shooting in front fender is set
First 1 towards rear of vehicle, and the vision camera 1 on rear fender is arranged in towards vehicle front, so that two visions are taken the photograph
As first 1 detection direction difference, and the investigative range of two vision cameras 1 overlaps, and guarantees the vision
Camera sufficiently gets the ambient image in the lateral blind area of vehicle.The arrangement of the vision camera 1 can make the barrier
Hinder physical prospecting to survey the barrier that sensory perceptual system recognizes short distance around vehicle itself in time, assist driver or directly controls vehicle
Safely and conveniently pass through limited road.
Vision camera 1 is arranged on the front and back fender of vehicle by the embodiment, small on vehicle appearance influence, especially
Hardly change windage；And economic cost is low.
In the above embodiments of the present invention, the front and back wing of the setting of ultrasonic radar 2 on the left and right sides of vehicle
On daughter board, and at least two ultrasonic radars 2 are provided on each fender.
Preferably, ultrasonic radar is arranged on the front and back fender of left and right vehicle wheel side, is respectively arranged 2, and totally 8, such as
Shown in Fig. 2 and Fig. 3；Available characteristic and vehicle according to ultrasonic radar detection range in 0.5m~3m are first followed by with barrier
Close physical state, disturbance of perception object is detected using ultrasonic radar in advance, and auxiliary binocular camera carries out short distance barrier
Identification.Ultrasonic radar 2 is arranged on the front and back fender of vehicle, and the ultrasonic radar 2 on the fender of front and back
Detection direction it is different, and the investigative range of the ultrasonic radar 2 on the fender of front and back overlaps, and can guarantee ultrasonic wave
It includes the barrier in lateral blind area that radar 2, which sufficiently obtains and detects each orientation of vehicle, small on vehicle appearance influence, especially several
Do not change windage；And economic cost is low.
In the above embodiments of the present invention, the use processing device 3 also connects with the electronic control unit of vehicle 5
It connects, for the specifying information of the barrier to be sent to the electronic control unit 5.
In the embodiment, use processing device 3 is by image information, the target information of barrier, velocity information and institute
After stating vision camera 1 and the location information progress fusion treatment of the ultrasonic radar 2, the specific letter of final barrier is obtained
Breath, classification, distance, orientation, size including barrier etc., and fused obstacle information is sent to electronic control unit
5, influence of the electronic control unit 5 according to obstacle information disturbance in judgement object to vehicle driving, and then to the urgent of vehicle
The electronic control unit such as braking system, self-adaption cruise system or instrument controller send control information, are mentioned by sound and light signal warning
Show driver's current dangerous driving states, and after Brake stop, prompts driver's Current electronic parking braking system state
And shifting state, it assists driver or directly controls vehicle safety, easily passes through limited road.
The embodiments of the present invention additionally provide a kind of automobile, including above-mentioned obstacle detection sensory perceptual system.
The embodiment of the utility model not only solves the perception problem of the barrier in vehicle itself short distance, especially
It is the perception problem of distance within 0.5m, assists driver or directly control vehicle safety, easily pass through limited road；And
It can extend to vehicle laterally longer-distance obstacle detection, solve the lateral blind area problem of vehicle, assist driver or direct
Control vehicle lane change, intersection turning etc..The system uses the side of front and back fender arrangement ultrasonic radar and vision camera
Case, it is small on vehicle appearance influence, especially hardly change windage；And economic cost is low.
Above-described is preferred embodiments of the present invention, it should be pointed out that for the ordinary person of the art
For, it can also make several improvements and retouch under the premise of not departing from principle described in the utility model, these are improved and profit
It adorns also within the protection scope of the present utility model.
Claims (8)
1. a kind of for detecting the obstacle detection sensory perceptual system of vehicle body short distance characterized by comprising multiple vision camera shootings
Head (1) and multiple ultrasonic radars (2) and use processing device (3)；
Multiple vision cameras (1), setting is in vehicle body side, for acquiring the image information of vehicle-periphery, and will be described
Image information is sent to the use processing device (3), wherein at least two vision cameras (1) are oppositely arranged, and make
The detection direction for obtaining at least two vision cameras (1) is different, and the detection of at least two vision cameras (1)
Range overlaps；
Multiple ultrasonic radars (2), setting detect the target information of obstacles around the vehicle in vehicle body side, and by the mesh
Mark information is sent to the use processing device (3), wherein and at least two ultrasonic radars (2) are oppositely arranged, so that
The detection direction of at least two ultrasonic radars (2) is different, and the detection model of at least two ultrasonic radars (2)
It is with and partly overlaps；
The use processing device (3) connect with the vision camera (1) and the ultrasonic radar (2) respectively, is used for
Described image information, the target information and velocity information are received, determines the barrier of vehicle body short distance.
2. according to claim 1 for detecting the obstacle detection sensory perceptual system of vehicle body short distance, which is characterized in that institute
It states use processing device (3) also to connect with the anti-lock braking system of vehicle (4), for obtaining anti-lock braking system (4)
The velocity information sent.
3. according to claim 1 for detecting the obstacle detection sensory perceptual system of vehicle body short distance, which is characterized in that institute
Stating use processing device (3) includes memory module, for storing the vision camera (1) and the ultrasonic radar (2)
Location information.
4. according to claim 1 for detecting the obstacle detection sensory perceptual system of vehicle body short distance, which is characterized in that institute
It states vision camera (1) and is at least four, be respectively set on front and back fender on the left and right sides of vehicle；
Wherein, the vision camera (1) in front fender is set towards rear of vehicle, the institute on rear fender is set
Vision camera (1) is stated towards vehicle front.
5. according to claim 1 for detecting the obstacle detection sensory perceptual system of vehicle body short distance, which is characterized in that institute
Stating vision camera (1) is binocular camera, including main camera and secondary camera, and the main camera is in the secondary camera
Top.
6. according to claim 1 for detecting the obstacle detection sensory perceptual system of vehicle body short distance, which is characterized in that institute
It states on the front and back fender of ultrasonic radar (2) setting on the left and right sides of vehicle, and is provided at least on each fender
Two ultrasonic radars (2).
7. according to claim 1 for detecting the obstacle detection sensory perceptual system of vehicle body short distance, which is characterized in that institute
It states use processing device (3) also to connect with the electronic control unit of vehicle (5), for sending out the specifying information of the barrier
It send to the electronic control unit (5).
8. a kind of automobile, which is characterized in that described in any item for detecting the barrier of vehicle body short distance including claim 1~7
Physical prospecting is hindered to survey sensory perceptual system.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111751824A (en) * | 2020-06-24 | 2020-10-09 | 杭州海康汽车软件有限公司 | Method, device and equipment for detecting obstacles around vehicle |
| CN111812675A (en) * | 2020-07-16 | 2020-10-23 | 深圳裹动智驾科技有限公司 | Vehicle and blind area sensing method thereof |
| CN112084810A (en) * | 2019-06-12 | 2020-12-15 | 杭州海康威视数字技术股份有限公司 | Obstacle detection method and device, electronic equipment and storage medium |
| CN113283273A (en) * | 2020-04-17 | 2021-08-20 | 上海锐明轨交设备有限公司 | Front obstacle real-time detection method and system based on vision technology |
| CN113650613A (en) * | 2021-09-13 | 2021-11-16 | 雄狮汽车科技(南京)有限公司 | Automobile steering or lane changing auxiliary system and method |
| CN114312846A (en) * | 2022-01-11 | 2022-04-12 | 株式会社Iat | Obstacle recognition method based on automatic driving vehicle and automatic driving vehicle |
| CN115027413A (en) * | 2022-05-27 | 2022-09-09 | 东风汽车集团股份有限公司 | New energy vehicle parking security system and implementation method |
| CN115116267A (en) * | 2021-03-18 | 2022-09-27 | 上海汽车集团股份有限公司 | Vehicle lane changing processing system and vehicle |
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| CN112084810A (en) * | 2019-06-12 | 2020-12-15 | 杭州海康威视数字技术股份有限公司 | Obstacle detection method and device, electronic equipment and storage medium |
| CN112084810B (en) * | 2019-06-12 | 2024-03-08 | 杭州海康威视数字技术股份有限公司 | Obstacle detection method and device, electronic equipment and storage medium |
| CN113283273A (en) * | 2020-04-17 | 2021-08-20 | 上海锐明轨交设备有限公司 | Front obstacle real-time detection method and system based on vision technology |
| CN113283273B (en) * | 2020-04-17 | 2024-05-24 | 上海锐明轨交设备有限公司 | Method and system for detecting front obstacle in real time based on vision technology |
| CN111751824A (en) * | 2020-06-24 | 2020-10-09 | 杭州海康汽车软件有限公司 | Method, device and equipment for detecting obstacles around vehicle |
| CN111751824B (en) * | 2020-06-24 | 2023-08-04 | 杭州海康汽车软件有限公司 | Method, device and equipment for detecting obstacles around vehicle |
| CN111812675A (en) * | 2020-07-16 | 2020-10-23 | 深圳裹动智驾科技有限公司 | Vehicle and blind area sensing method thereof |
| CN111812675B (en) * | 2020-07-16 | 2023-08-25 | 深圳安途智行科技有限公司 | Vehicle and blind area sensing method thereof |
| CN115116267A (en) * | 2021-03-18 | 2022-09-27 | 上海汽车集团股份有限公司 | Vehicle lane changing processing system and vehicle |
| CN113650613A (en) * | 2021-09-13 | 2021-11-16 | 雄狮汽车科技(南京)有限公司 | Automobile steering or lane changing auxiliary system and method |
| CN114312846A (en) * | 2022-01-11 | 2022-04-12 | 株式会社Iat | Obstacle recognition method based on automatic driving vehicle and automatic driving vehicle |
| CN115027413A (en) * | 2022-05-27 | 2022-09-09 | 东风汽车集团股份有限公司 | New energy vehicle parking security system and implementation method |
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