CN211642027U - Lane keeping detection system for automobile rearview mirror - Google Patents
Lane keeping detection system for automobile rearview mirror Download PDFInfo
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- CN211642027U CN211642027U CN202020139695.2U CN202020139695U CN211642027U CN 211642027 U CN211642027 U CN 211642027U CN 202020139695 U CN202020139695 U CN 202020139695U CN 211642027 U CN211642027 U CN 211642027U
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- rearview mirror
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- lane keeping
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Abstract
The utility model provides a lane keeping detection system for automobile rearview mirrors, a lane keeping module is arranged on the rearview mirror, a lane keeping actuating mechanism is arranged on the automobile, and the lane keeping module comprises an edge calculation processing unit of an information processing core, a vehicle-mounted CCD camera, a millimeter wave radar and a buzzer; the vehicle-mounted CCD camera and the millimeter wave radar are connected with the input end of the edge calculation processing unit, the lane keeping executing mechanism and the buzzer are connected with the output end of the edge calculation processing unit, image information of a detected lane line, vehicles and pedestrians can be obtained in real time, information such as the distance from the front vehicle and the distance between the left lane line and the right lane line can be measured, and a lane keeping function is achieved.
Description
Technical Field
The utility model belongs to the technical field of the car safety technique and specifically relates to a lane keeps detecting system based on millimeter wave radar, camera and marginal calculation processing unit to with rear-view mirror integration, form the rear-view mirror that has lane and keep detecting and control function, concretely relates to lane keeps detecting system for automobile rearview mirror.
Background
It is known that the vague feeling of drivers, fatigue driving, insensitivity to the emergency, etc. are important causes of traffic accidents. Statistically, about 14% of highway traffic accidents are caused by the departure of cars from lanes. If the driver does not concentrate his attention within 3s, 80% of the drivers will cause lane departure and rear-end accidents. Therefore, the lane keeping system is developed, and the lane keeping system can effectively reduce the occurrence of lane departure accidents under the condition that the attention of a driver is dispersed. From the existing lane keeping research results, most of lane keeping devices are independent products, lane line recognition equipment adopts a monocular or binocular camera, the lane line recognition equipment is easily influenced by environmental factors, and the distance measuring and calculating precision is not high; and a part of the system adopts a laser radar sensor, so that the measurement precision is high, but the cost is very high. Therefore, on the basis of traditional monocular camera lane keeping, a lane keeping detection and control device integrating a millimeter wave radar, an edge calculation processing unit and a vehicle-mounted rearview mirror is designed, the lane keeping detection and control device can adapt to bad weather environments, is high in measurement precision and moderate in cost, can detect and identify obstacles such as road lines, vehicles and pedestrians according to constantly changing road environments, calculates information such as lane line distance in real time, improves accuracy and reliability of lane keeping, and improves safety of vehicle driving.
SUMMERY OF THE UTILITY MODEL
In order to overcome the not enough of prior art, the utility model discloses a lane keeps detecting system based on millimeter wave radar, camera and edge calculation processing unit with road environment detection, lane keep control, vehicle rear road environment observation function of traveling.
The utility model discloses a solve the technical scheme that above-mentioned technical problem adopted and be: a lane keeping detection system for an automobile rearview mirror is characterized in that the rearview mirror is mounted on a front windshield of an automobile, a lane keeping module is arranged on the rearview mirror, a lane keeping executing mechanism is arranged on a steering system of the automobile, and the lane keeping module comprises an edge calculation processing unit of an information processing core;
the vehicle-mounted CCD camera is used for acquiring road image information, detecting an original image of a road and transmitting the original image to the edge calculation processing unit in real time;
the millimeter wave radar is used for detecting the distance between the radar and obstacles such as a front vehicle, a pedestrian and the like and measuring and calculating information such as lane line distance and the like;
the buzzer is used for reminding a driver of the deviation of the vehicle;
the vehicle-mounted CCD camera and the millimeter wave radar are both connected with the input end of the edge calculation processing unit, and the lane keeping executing mechanism and the buzzer are both connected with the output end of the edge calculation processing unit.
Further, the lens of the vehicle-mounted CCD camera faces to the front of the vehicle running direction.
Furthermore, an opening button and a closing button for controlling the working state of the lane keeping module and an indicator light for displaying the working state of the lane keeping module are arranged on the rearview mirror, and the opening button and the closing button are connected with the indicator light.
Furthermore, a USB interface used for providing an expansion interface for the lane keeping module is arranged on the rearview mirror.
Furthermore, a power interface for supplying power to the lane keeping module is arranged on the rearview mirror.
Furthermore, a CAN communication interface used for communicating the lane keeping executing mechanism and the lane keeping module and controlling the vehicle steering is arranged on the rearview mirror.
Furthermore, the opening button, the closing button, the indicator light, the buzzer and the USB interface are all arranged on one side of the rearview mirror with the mirror; the power supply interface, the CAN communication interface, the vehicle-mounted CCD camera and the millimeter wave radar are arranged on one side of the rearview mirror, which is far away from the mirror; the edge calculation processing unit is arranged inside the rearview mirror.
Further, the lane keeping actuator includes an electric power steering EPS.
Further, one side that the mirror was kept away from to the rear-view mirror is provided with installation slot, and the rear-view mirror passes through the mount and links to each other with the car, and this mount is installed on car front windshield, is provided with coupling assembling on the mount, and the mount passes through coupling assembling and links to each other with the rear-view mirror, coupling assembling includes connecting rod and universal ball, and the one end of connecting rod links to each other with the mount, and the other end and the universal ball of connecting rod rotate to be connected, and this universal ball is installed in installation slot.
The beneficial effects of the utility model are mainly shown in following several aspects: this patent has designed one kind and CAN carry on CCD camera, millimeter wave radar and marginal calculation processing unit's rear-view mirror, not only CAN acquire the image information who detects lane line, vehicle and pedestrian in real time, CAN also measure and calculate the distance apart from the place ahead vehicle, controls information such as the distance of lane line, combines together through CAN communication and lane keeping detecting system, with the help of lane keeping algorithm, realizes lane keeping function, and technical characterstic is as follows:
1. the millimeter wave radar has the advantages that the millimeter wave radar is small in size, light in weight, high in spatial resolution, strong in fog and dust penetrating capability and capable of working all day long (except in rainy days), and is fused with an image-based intelligent target detection technology, on the basis of image-based human-vehicle target detection and identification, spatial measurement information is added, and target distance information such as lane lines, vehicles, pedestrians and the like is accurately measured, so that the detection accuracy and reliability of vehicle driving environment perception are improved, the millimeter wave radar can adapt to severe environments, and compared with a laser radar visual fusion scheme in the field of unmanned driving, the millimeter wave radar is low in cost and high in cost performance;
2. this patent is with millimeter wave radar and camera information collection, utilizes the marginal calculation processing unit of high performance, small to handle and fuse, through the lane line on the deep learning algorithm real-time detection discernment road, judges through deviating early warning algorithm whether the vehicle can take place to deviate. If the vehicle deviates and the driver does not intervene, the lane keeping control function is activated, the correction torque is calculated, the vehicle steering system interacts with the vehicle through the CAN communication interface, and the vehicle is controlled to correct, so that the vehicle is guaranteed to keep running in the lane;
3. this patent keeps detecting system and rear-view mirror integration as an organic whole with the lane, installs on front windshield, on the basis of conventional back vision observation, has increased lane and has kept control function, has effectively utilized the interior space of car.
Drawings
Fig. 1 is a schematic structural view of a rearview mirror of the present invention;
fig. 2 is a schematic structural view of the rearview mirror of the present invention;
fig. 3 is a schematic structural view of the fixing frame of the present invention;
fig. 4 is a schematic structural view of the rearview mirror and the fixing frame of the present invention;
FIG. 5 is a schematic view of the working flow structure of the lane keeping detection system of the present invention;
the labels in the figure are: 1. rearview mirror, 2, pilot lamp, 3, start button, 4, close button, 5, bee calling organ, 6, USB interface, 7, power source, 8, CAN communication interface, 9, on-vehicle CCD camera, 10, installation draw-in groove, 11, millimeter wave radar, 12, universal ball, 13, mount.
Detailed Description
The embodiments of the present invention will be described in detail with reference to the accompanying drawings, and the present embodiment is based on the technical solution of the present invention and provides a detailed implementation manner and a specific operation process, but the scope of the present invention is not limited to the following embodiments.
According to the attached drawings, the rearview mirror 1 is installed in the middle of a front windshield of an automobile, the rearview mirror 1 is used as a carrier of the lane keeping detection system besides a conventional function for observing the running condition of a rear vehicle, a mounting clamping groove 10 is formed in one side, away from the side with the mirror, of the rearview mirror 1, the rearview mirror 1 is connected with the automobile through a fixing frame 13, and the fixing frame 13 is fixed in the position above the middle of the front windshield of the automobile and plays a supporting role;
the fixing frame 13 is provided with a connecting assembly, the fixing frame 13 is connected with the rearview mirror 1 through the connecting assembly, the connecting assembly comprises a connecting rod and a universal ball 12, one end of the connecting rod is connected with the fixing frame 13, the other end of the connecting rod is rotatably connected with the universal ball 12, the universal ball 12 is arranged in the mounting clamping groove 10, the universal ball 12 is clamped in the mounting clamping groove, and the angle of the rearview mirror can be adjusted in a 360-degree rotating mode;
the rearview mirror 1 is provided with a lane keeping module, a steering system of the automobile is provided with a lane keeping actuating mechanism, and the lane keeping module comprises an edge calculation processing unit of an information processing core,
The vehicle-mounted CCD camera 9 is used for acquiring road image information, detecting an original image of a road and transmitting the original image to the edge calculation processing unit in real time;
a millimeter wave radar 11 for detecting a distance to an obstacle such as a preceding vehicle or a pedestrian, and measuring information such as a lane line distance; the millimeter wave radar is selected from ARS408-21 of continental corporation,
The buzzer 5 is used for reminding a driver of the deviation of the vehicle; the buzzer 5 plays a role in alarming deviation;
the vehicle-mounted CCD camera and the millimeter wave radar 11 are connected with the input end of the edge calculation processing unit, and the lane keeping executing mechanism and the buzzer 5 are connected with the output end of the edge calculation processing unit.
Further, the lens of the on-vehicle CCD camera 9 is directed directly forward in the vehicle traveling direction.
Furthermore, an opening button and a closing button for controlling the working state of the lane keeping module and an indicator light 2 for displaying the working state of the lane keeping module are arranged on the rearview mirror 1, the opening button and the closing button are both connected with the indicator light 2, and the switch button can select the opening and the closing of the lane keeping module according to the requirements of a driver;
further, a USB interface 6 for providing an expansion interface for the lane keeping module is disposed on the rearview mirror 1.
Further, a power interface 7 for supplying power to the lane keeping module is arranged on the rearview mirror 1.
Furthermore, a CAN communication interface 8 for communicating the lane keeping actuator with the lane keeping module and controlling the vehicle steering is arranged on the rearview mirror 1.
Further, the opening button, the closing button, the indicator light 2, the buzzer 5 and the USB interface 6 are all arranged on one side of the rearview mirror 1 with the mirror; the power supply interface, the CAN communication interface 8, the vehicle-mounted CCD camera 9 and the millimeter wave radar 11 are arranged on one side of the rearview mirror 1 away from the mirror; the edge calculation processing unit is arranged in the rearview mirror 1, can be used as a processing core of the system, can select a small-volume and high-computation-power edge calculation platform such as NVIDIA Jetson TX2 and the like, and can detect and identify the targets of vehicles, lane lines and pedestrians after processing the original image shot by the vehicle-mounted CCD camera through a deep learning algorithm, and can execute a lane keeping detection and control algorithm to realize the function of lane keeping control.
Further, the lane keeping actuating mechanism comprises an Electronic Power Steering (EPS) which adopts a pipe column type electric power steering system, and belongs to the prior art.
The lane keeping detection system can be further provided with a liquid crystal screen, is connected with a rear camera through a USB interface, collects and displays images behind the vehicle on the liquid crystal screen, and realizes the functions of rear observation and backing assistance.
A method of a lane keeping detection system for an automobile rearview mirror includes the following steps:
the method comprises the following steps: turning on a starting button, enabling an indicator light 2 to be on to indicate that a lane keeping module is in a working state, enabling a vehicle-mounted CCD camera 9 to collect road image information in real time, enabling a millimeter wave radar 11 to detect information such as the distance between a left lane line and a right lane line and the curvature of a lane, and transmitting the collected image information, the collected distance information and the like to an edge calculation processing unit;
step two: the edge calculation processing unit is a control core unit of the lane keeping module, processes information acquired by the vehicle-mounted CCD camera 9 and the millimeter wave radar 11 through a lane line detection algorithm and an object identification algorithm, and identifies obstacles such as lane lines, road vehicles, pedestrians and the like;
step three: the edge calculation processing unit carries a lane departure early warning/keeping control algorithm to realize the functions of vehicle departure early warning and lane keeping control, firstly judges whether the vehicle has the tendency of deviating from a lane line according to the acquired information such as the distance between a left lane line and a right lane line, the curvature of the lane and the like, and if the vehicle deviates from the lane line and a driver does not intervene, the control unit of the edge calculation processing unit sends a signal to trigger a buzzer 5 to give an alarm; after a certain time, if the driver still does not take measures to control the vehicle, the control unit of the edge calculation processing unit outputs a deviation correcting torque through a lane keeping control algorithm to act on the Electric Power Steering (EPS);
step four: the electric power steering EPS detects the power-assisted torque signal calculated by the edge calculation processing unit, the control unit of the EPS can carry out intelligent operation according to the torque signal, the vehicle speed signal, the steering wheel corner signal and the like to obtain the steering and power-assisted current of the power-assisted motor, the power conversion circuit is used for completing the power-assisted steering control, the vehicle is corrected to run in a lane line, and finally the lane keeping control function is realized.
This patent has designed one kind and CAN carry on CCD camera, millimeter wave radar and marginal calculation processing unit's rear-view mirror, not only CAN acquire the image information who detects lane line, vehicle and pedestrian in real time, CAN also measure and calculate the distance apart from the place ahead vehicle, controls information such as the distance of lane line, combines together through CAN communication and lane keeping detecting system, with the help of lane keeping algorithm, realizes lane keeping function, and technical characterstic is as follows:
1. the millimeter wave radar has the advantages that the millimeter wave radar is small in size, light in weight, high in spatial resolution, strong in fog and dust penetrating capability and capable of working all day long (except in rainy days), and is fused with an image-based intelligent target detection technology, on the basis of image-based human-vehicle target detection and identification, spatial measurement information is added, and target distance information such as lane lines, vehicles, pedestrians and the like is accurately measured, so that the detection accuracy and reliability of vehicle driving environment perception are improved, the millimeter wave radar can adapt to severe environments, and compared with a laser radar visual fusion scheme in the field of unmanned driving, the millimeter wave radar is low in cost and high in cost performance;
2. this patent is with millimeter wave radar and camera information collection, utilizes the marginal calculation processing unit of high performance, small to handle and fuse, through the lane line on the deep learning algorithm real-time detection discernment road, judges through deviating early warning algorithm whether the vehicle can take place to deviate. If the vehicle deviates and the driver does not intervene, the lane keeping control function is activated, the correction torque is calculated, the vehicle steering system interacts with the vehicle through the CAN communication interface, and the vehicle is controlled to correct, so that the vehicle is guaranteed to keep running in the lane;
3. this patent keeps detecting system and rear-view mirror integration as an organic whole with the lane, installs on front windshield, on the basis of conventional back vision observation, has increased lane and has kept control function, has effectively utilized the interior space of car.
It is further noted that relational terms such as i, ii, and iii may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (9)
1. The utility model provides a lane keeps detecting system for automobile rearview mirror, this rear-view mirror is installed on car front windshield, is provided with lane on this rear-view mirror and keeps the module, is provided with lane on the a steering system of car and keeps actuating mechanism, its characterized in that: the lane keeping module includes an edge calculation processing unit of an information processing core;
the vehicle-mounted CCD camera is used for acquiring road image information, detecting an original image of a road and transmitting the original image to the edge calculation processing unit in real time;
the millimeter wave radar is used for detecting the distance between the radar and obstacles such as a front vehicle, a pedestrian and the like and measuring and calculating information such as lane line distance and the like;
the buzzer is used for reminding a driver of the deviation of the vehicle;
the vehicle-mounted CCD camera and the millimeter wave radar are both connected with the input end of the edge calculation processing unit, and the lane keeping executing mechanism and the buzzer are both connected with the output end of the edge calculation processing unit.
2. The lane keep detection system for an automobile rearview mirror as claimed in claim 1, wherein: the lens of the vehicle-mounted CCD camera faces to the front of the driving direction of the vehicle.
3. The lane keep detection system for an automobile rearview mirror as claimed in claim 1, wherein: the rearview mirror is provided with an opening button and a closing button for controlling the working state of the lane keeping module and an indicator lamp for displaying the working state of the lane keeping module, and the opening button and the closing button are connected with the indicator lamp.
4. The lane keep detection system for an automobile rearview mirror according to claim 3, wherein: the rearview mirror is provided with a USB interface used for providing an expansion interface for the lane keeping module.
5. The lane keep detection system for an automobile rearview mirror according to claim 4, wherein: the rearview mirror is provided with a power interface for supplying power to the lane keeping module.
6. The lane keep detection system for an automobile rearview mirror according to claim 5, wherein: the rearview mirror is provided with a CAN communication interface which is used for communicating the lane keeping actuating mechanism and the lane keeping module and controlling the vehicle steering.
7. The lane keep detection system for an automobile rearview mirror according to claim 6, wherein: the starting button, the closing button, the indicating lamp, the buzzer and the USB interface are all arranged on one side of the rearview mirror, which is provided with the mirror; the power supply interface, the CAN communication interface, the vehicle-mounted CCD camera and the millimeter wave radar are arranged on one side of the rearview mirror, which is far away from the mirror; the edge calculation processing unit is arranged inside the rearview mirror.
8. The lane keep detection system for an automobile rearview mirror as claimed in claim 1, wherein: the lane keeping actuator includes an electronic power steering EPS.
9. The lane keep detection system for an automobile rearview mirror as claimed in claim 1, wherein: one side that the mirror was kept away from to the rear-view mirror is provided with the installation slot, and the rear-view mirror passes through the mount and links to each other with the car, and this mount is installed on car front windshield, is provided with coupling assembling on the mount, and the mount passes through coupling assembling and links to each other with the rear-view mirror, coupling assembling includes connecting rod and universal ball, and the one end of connecting rod links to each other with the mount, and the other end and the universal ball of connecting rod rotate to be connected, and this universal ball is installed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020139695.2U CN211642027U (en) | 2020-01-21 | 2020-01-21 | Lane keeping detection system for automobile rearview mirror |
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| CN202020139695.2U CN211642027U (en) | 2020-01-21 | 2020-01-21 | Lane keeping detection system for automobile rearview mirror |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111038393A (en) * | 2020-01-21 | 2020-04-21 | 河南科技大学 | Lane keeping detection system for automobile rearview mirror and method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111038393A (en) * | 2020-01-21 | 2020-04-21 | 河南科技大学 | Lane keeping detection system for automobile rearview mirror and method thereof |
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