GB2463544A - Vehicle reversing collision avoidance system - Google Patents

Vehicle reversing collision avoidance system Download PDF

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Publication number
GB2463544A
GB2463544A GB0910753A GB0910753A GB2463544A GB 2463544 A GB2463544 A GB 2463544A GB 0910753 A GB0910753 A GB 0910753A GB 0910753 A GB0910753 A GB 0910753A GB 2463544 A GB2463544 A GB 2463544A
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United Kingdom
Prior art keywords
vehicle
video
processor
rear camera
video signals
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Granted
Application number
GB0910753A
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GB0910753D0 (en
GB2463544B (en
Inventor
Shih-Hsiung Li
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Individual
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Individual
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Publication of GB2463544A publication Critical patent/GB2463544A/en
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Publication of GB2463544B publication Critical patent/GB2463544B/en
Expired - Fee Related legal-status Critical Current
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/26—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view to the rear of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18036—Reversing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/8093—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for obstacle warning

Abstract

A vehicle reversing collision avoidance system comprises a vehicle reversing detecting system having ultrasonic sensors 10, a rear camera 20, a control device 30, a monitor 40 and an alarm module 50. The ultrasonic sensors 10 and the rear camera 20 are mounted at rear of a vehicle. The control device 30 drives the ultrasonic sensors 10 to send out and receive ultrasonic signals, computes a distance between an obstacle and the vehicle according to a transmission time of the ultrasonic signals and determines whether any moving object is approaching according to video signals from the rear camera 20. The monitor 40 processes the video signals to display images captured by the rear camera 20 and the distance. The alarm module 50 generates alarm sounds when the control device 30 confirms a moving object is approaching so a driver of the vehicle can avoid collisions.

Description

VEHICLE REVERSING DETECTING SYSTEM
1. Field of the Invention
The present invention relates to a vehicle reversing detecting system, especially to a vehicle reversing detecting system that effectively avoids collision.
2. Description of the Related Art
In order to assist a driver in safely parking a vehicle, the vehicle usually has a reversing detecting device mounted at a rear of the vehicle to detect obstacles by ultrasonic reflection. When reversing the vehicle, the reversing detecting device may generate different alarm sounds to warn the driver how close the obstacle is. Besides, an advanced vehicle may further have a camera mounted at the rear and a monitor installed inside the vehicle and connected to the camera. Hence the driver can watch images captured by the camera and monitor behind the vehicle during parking.
However the reversing detecting device cannot accurately inform the driver the relative relation between the rear of the vehicle and a moving obstacle since the detecting device is designed for detecting a static obstacle. If another vehicle moves close from behind when the driver is backing his vehicle, relative speed of both vehicles is equal to a sum of moving speeds of both vehicles and may be too fast for the reversing detecting device to react timely.
For example, for a static obstacle is at a distance of 1.2 m behind the vehicle, and a reversing speed of the vehicle is 3 km/hr. If a safe distance between vehicle and the obstacle is predetermined as 30 cm, backing the vehicle into position will take (120m -30 cm)/3kmlhr = 1.08 seconds. However, the reversing detecting device will detect an obstacle and make alarm sounds every 1 second after reversing the vehicle has begun.
Further, by replacing the static obstacle with an approaching vehicle that moves close from behind with a moving speed of 5 km/hr. Since (120m -30 cm)/(3km/hr+5km/hr) 0.405 seconds, both vehicles take only 0.405 second to be 30 cm away from each other. Though the reversing detecting device of the reversing vehicle may generate alarm sounds at about 0.4 second after reversing has begun to signal the driver to brake, the vehicles may have already collided before the driver has time to react. Therefore the reversing detecting device must still be used cautiously.
To overcome the shortcomings, the present invention provides a vehicle reversing detecting system to mitigate or obviate the aforementioned problems.
The main objective of the invention is to provide a vehicle reversing detecting system that effectively avoids collision.
The vehicle reversing detecting system is adapted to be mounted in a vehicle and comprises multiple ultrasonic sensors, a rear camera, a control device, a monitor and an alarm module. The ultrasonic sensors and the rear camera are mounted at a rear of a vehicle. The control device drives the ultrasonic sensors to send out and receive ultrasonic signals, computes a distance between an obstacle and the vehicle according to a transmission time of the ultrasonic signals and determines whether any moving object is approaching according to video signals from the rear camera. The monitor processes the video signals to display images captured by the rear camera and the distance. The alarm module generates alarm sounds when the control device confirms a moving object is approaching so a driver of the vehicle can avoid collisions.
Other objectives, advantages and novel features of the invention will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings.
IN_THE DRAWIN3S Fig. 1 is a functional block diagram of a preferred embodiment of a vehicle reversing detecting system in accordance with the present invention; Figs. 2A to 2D show a circuit diagram of a preferred embodiment of multiple ultrasonic sensors and a control device of the vehicle reversing detecting system; Figs. 3A to 3C show a circuit diagram of a preferred embodiment of a video superimposing module of the vehicle reversing detecting system; Fig. 4 is a screen display diagram of a preferred embodiment of a monitor of the vehicle reversing detecting system displaying an obstacle with corresponding distance; and Fig. 5 is a functional block diagram of a preferred embodiment of a video identifying module.
With reference to Fig. 1, a vehicle reversing detecting system in accordance with the present invention is adapted to be mounted in a vehicle and comprises multiple ultrasonic sensors (10), a rear camera (20), a control device (30), a monitor (40) and an alarm module (50).
The ultrasonic sensors (10) are mounted at a rear of the vehicle for transmitting ultrasonic signals. When meeting an obstacle during transmission, the ultrasonic signals are reflected by the obstacle and received by the ultrasonic sensors (10). The ultrasonic sensor (10) that received the reflected signal then sends out an echo signal.
The rear camera (20) is mounted at the rear of the vehicle for capturing images behind the vehicle and produces video signals.
The control device (30) is electrically connected to the ultrasonic sensors (10) and the rear camera (20), drives the ultrasonic sensors (10) to send out and receive the ultrasonic signals, computes a distance between the obstacle and the rear of the vehicle according to a transmission time of the ultrasonic signals and determines whether any moving object approaches according to the video signals produced by the rear camera (20) and may determine whether an object with animal or human outline is lying on the ground too close to the rear of the vehicle according to the video signals produced by the rear camera (20).
With further reference to Figs. 2A to 2D, 3A to 3C and 5, the control device (30) comprises a processor (31), multiple sensor driving circuits (32), a multiplexer (33), an amplifying circuit (34), a video superimposing module (35), a video identifying module (36) and an alarm driving circuit (37).
The processor (31) is electrically connected to and controls the ultrasonic sensors (10), counts a time interval between sending and receiving the ultrasonic signals and accordingly computes a distance between the obstacle and the vehicle.
The sensor driving circuits (32) are connected to the processor (31) and respectively connected to the ultrasonic sensors (10). Each sensor driving circuit (32) receives and amplifies a pulse wave signal sent by the processor (31) and sends the amplified pulse wave signal to corresponding ultrasonic sensor (10) to activate the ultrasonic sensor (10) to send out an ultrasonic signal.
The multiplexer (33) is connected to the ultrasonic sensors (10) and transmits the echo signal of each ultrasonic sensor (10) via a single output.
The amplifying circuit (34) is connected between the multiplexer (33) and the processor (31), receives and amplifies the echo signals sent from the multiplexer (33) and sends the amplified echo signals to the processor (31) for the processor (31) to accordingly compute the distance.
The video superimposing module (35) is connected to the processor (31) and the rear camera (20), receives the video signals from the rear camera (20) and the distance computed by the processor (31), converts the distance to a numeric character signal and superimposes the numeric character signal on the video signals. With further reference to Figs. 3A to 3C, the video superimposing module (35) comprises a current amplifying unit (351), a synchronizing separation unit (352), and a processing unit (353). The current amplifying unit (351) is connected to the rear camera (20) and amplifies the video signals sent by the rear camera (20). The synchronizing separation unit (352) is connected to the current amplifying unit (351) and separates the video signals into horizon-scan data and field-scan data. The processing unit (353) is connected to the synchronizing separation unit (352) and the processor (31), receives the horizon-scan data, the field-scan data and the distance, and converts the distance to a numeric character signal, superimposes the numeric character signal on the video signals and outputs the superimposed video signals.
With further reference to Fig. 5, the video identifying module (36) is connected to the processor (31), the rear camera (20) and the video superimposing module (35), identifies whether an object is approaching according to the video signals from the rear camera (20) and sends out an alarm signal to the processor (31) when an object is identified as approaching the rear of the vehicle. The video identifying module (36) comprises a video decoder (361), a digital processor (362) and a video encoder (363). The video decoder (361) receives and decodes the video signals from the rear camera (20). The digital processor (362) is connected to the video decoder (361), is connected to the processor (31) via transistors Q109 and Q109', enhances intensity of the decoded video signals, compares position and outline of the object from images of a sequence of video signals, since the position and outline of a moving object change, to compute speed of the object and thereby identify whether the moving object is approaching and sends out an alarm signal to the processor (31) if the object is identified as approaching the rear of the vehicle. The video encoder (363) is connected to the video superimposing module (35) and encodes and sends the enhanced video signals to the video superimposing module (35).
The video identifying module (36) may further be capable of identifying whether any animal or human is lying on the ground too close to the rear of the vehicle. The video identifying module (36) identifies whether an object with an animal or human outline is too close to the vehicle according to the video signals produced by the rear camera (20) and sends out an alarm signal to the processor (31) when such object is identified. The digital processor (361) further filters obstacles having no animal or human outlines in the enhanced decoded video signals and identifies whether any obstacle having an animal or human outline is in a lower position of the scene of the image of the video signal to accordingly confirm if any animal or human or human is lying on the ground too close. A person or an animal lying on the ground close to the vehicle would be displayed in a lower position of the scene. The digital processor (361) sends out an alarm signal to the processor (31) when confirming the obstacle with animal or human outline is too close.
The alarm driving circuit (37) is connected to the processor (31).
The monitor (40) is connected to the control device (30), may be connected to the video superimposing module (35) of the control device (30), and displays the images captured by the rear camera (20) and the distance between the obstacle and the vehicle computed by the control device (30) by processing the superimposed video signals.
The alarm module (50) is connected to the control device (30), may be connected to the alarm driving circuit (37) of the control device (30), and generates alarm sounds when the control device (30) confirms a moving object is approaching and may generate the alarm sounds when the processor (31) receives and processes the alarm signal sent from the digital processor (362) of the video identifying module (36). The alarm module (50) may be a buzzer.
In conclusion, the vehicle reversing detecting system of the preserLt invention computes distance between an obstacle and the rear of the vehicle, converts the distance to a numeric character signal and superimposes the numeric character signal on the video signals produced by the rear camera (20) and thereby displays the obstacle and corresponding distance in the monitor (40).
The vehicle reversing detecting system also identifies whether any animal or human is lying on the ground close to the rear of the vehicle according to the video signal to make up for the limited detecting range of the ultrasonic sensors and makes alarm sounds to warn the driver when the animal or human is too close to avoid collision. Furthermore, the vehicle reversing detecting system also makes alarm sounds when detecting an approaching obstacle for the driver to react in time.
Even though numerous characteristics and advantages of the present invention have been set forth in the foregoing description, together with details of the structure and features of the invention, the disclosure is illustrative only.
Changes may be made in the details, especially in matters of shape, size, and arrangement of parts within the principles of the invention to the full extent indicated by the broad general meaning of the terms in which the appended claims are expressed.

Claims (10)

  1. Claims: 1. A vehicle reversing detecting system adapted to be mounted in a vehicle comprising: multiple ultrasonic sensors (10) mounted at a rear of the vehicle and transmitting ultrasonic signals; a rear camera (20) mounted at the rear of the vehicle, capturing images behind the vehicle and producing video signals; a control device (30) electrically connected to the ultrasonic sensors (10) and the rear camera (20), driving the ultrasonic sensors (10) to send out ultrasonic signals and receiving reflected ultrasonic signals, computing a distance between an obstacle and the rear of the vehicle according to a transmission time of the ultrasonic signals and determining whether any moving object approaches according to the video signals from the rear camera (20); a monitor (40) connected to the control device (30) and displaying the images captured by the rear camera (20) and the distance between the obstacle and the vehicle computed by the control device (30); and an alarm module (50) connected to the control device (30) and generating alarm sounds when the control device (30) confirms a moving object is approaching.
  2. 2. The vehicle reversing detecting system as claimed in claim 1, wherein the control device (30) has a processor (31) electrically connected to and controlling the ultrasonic sensors (10) and the alarm module (50), counting a time interval between sending and receiving the ultrasonic signals and accordingly computing a distance between the obstacle and the vehicle; a video superimposing module (35) connected to the processor (31) and the rear camera (20), receiving the video signals from the rear camera (20) and the distance computed by the processor (31), converting the distance to a numeric character signal and superimposing the numeric character signal on the video signals; and a video identifying module (36) connected to the processor (31), the rear camera (20) and the video superimposing module (35), identifying whether an object is approaching according to the video signals from the rear camera (20) and sending out an alarm signal to the processor (31) when an object is identified as approaching the rear of the vehicle, wherein the alarm module (50) generates alarm sounds when the processor (31) receives and processes the alarm signal.
  3. 3. The vehicle reversing detecting system as claimed in claim 2, wherein the video superimposing module (35) has a current amplifying unit (351) connected to the rear camera (20) and amplifying the video signals sent by the rear camera (20); a synchronizing separation unit (352) connected to the current amplifying unit (351) and separating the video signals into horizon-scan data andfield-scan data; anda processing unit (353) connected to the synchronizing separation unit (352) and the processor (31), receiving the horizon-scan data, the field-scan data and the distance, and converting the distance to a numeric character signal, superimposing the numeric character signal on the video signals and outputting the superimposed video signals.
  4. 4. The vehicle reversing detecting system as claimed in claim 2, wherein the video identifying module (36) has a video decoder (361) receiving and decoding the video signals from the rear camera (20); a digital processor (362) connected to the video decoder (361) and the processor (31), enhancing intensity of the decoded video signals, identifying whether the moving object is approaching and sending out an alarm signal to the processor (31) when the object is identified approaching to the rear of the vehicle; and a video encoder (363) connected to the video superimposing module (35) and encoding and sending the enhanced video signals to the video superimposing module (35).
  5. 5. The vehicle reversing detecting system as claimed in claim 1, wherein the control device (30) further determines whether an object with an animal or human outline is too close to the rear of the vehicle according to the video signals produced by the rear camera (20) and drives the alarm module (50) to generate alarm sounds when determines an object with an animal or human outline is too close.
  6. 6. The vehicle reversing detecting system as claimed in claim 2, wherein the video identifying module (36) further identifies whether an object with an animal or human outline is too close to the vehicle according to the video signals produced by the rear camera (20) and sends out an alarm signal to the processor (31) to drive the alarm module (50) when such object is identified.
  7. 7. The vehicle reversing detecting system as claimed in claim 3, wherein the video identifying module (36) further identifies whether an object with an animal or human outline is too close to the vehicle according to the video signals produced by the rear camera (20) and sends out an alarm signal to the processor (31) to drive the alarm module (50) when such object is identified.
  8. 8. The vehicle reversing detecting system as claimed in claim 4, wherein the digital processor (362) further filters obstacles having no animal or human outlines in the enhanced decoded video signals and identifies whether any object having an animal or human outline is too close to the rear of the vehicle and sends out an alarm signal to the processor (31) to drive the alarm module (50) when such object is identified.
  9. 9. The vehicle reversing detecting system as claimed in any one of claims 1 to 8, wherein the control device (30) further has an alarm driving circuit (37) connected to the processor (31) and the alarm module (50).
  10. 10. The vehicle reversing detecting system as claimed in any one of claims 1 to 8, wherein the control device (30) further has multiple sensor driving circuits (32) connected to the processor (31) and respectively connected to the ultrasonic sensors (10) to respectively activate theIUILI4SUIID. S!LSU!S a multiplexer (33) connected to the ultrasonic sensors (10) and transmitting echo signal of the ultrasonic sensors (10) via a single output; and an amplifying circuit (34) connected between the multiplexer (33), receiving and amplifying the echo signals sent from the multiplexer (33).
GB0910753A 2008-09-19 2009-06-22 Vehicle reversing detecting system Expired - Fee Related GB2463544B (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2008102115540A CN101676741B (en) 2008-09-19 2008-09-19 Car back detection device capable of preventing accidental overtaking collision

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GB0910753D0 GB0910753D0 (en) 2009-08-05
GB2463544A true GB2463544A (en) 2010-03-24
GB2463544B GB2463544B (en) 2010-09-29

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DE102012001554A1 (en) 2012-01-26 2013-08-01 Connaught Electronics Ltd. Method for operating a driver assistance device of a motor vehicle, driver assistance device and motor vehicle
GB2554503A (en) * 2016-07-08 2018-04-04 Ford Global Tech Llc Pedestrian detection when a vehicle is reversing
CN108618910A (en) * 2018-03-16 2018-10-09 上海文圭精密机械有限公司 A kind of wheelchair using intelligence control system
US10331125B2 (en) 2017-06-06 2019-06-25 Ford Global Technologies, Llc Determination of vehicle view based on relative location
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
US10647289B2 (en) 2016-11-15 2020-05-12 Ford Global Technologies, Llc Vehicle driver locator

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CN106998388A (en) * 2017-03-09 2017-08-01 北京小米移动软件有限公司 Export method, device and the mobile device of object range information
CN110712591A (en) * 2019-09-25 2020-01-21 江西沃可视发展有限公司 Back-up safety system based on analysis of back-pull camera image ADAS
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DE102012001554A1 (en) 2012-01-26 2013-08-01 Connaught Electronics Ltd. Method for operating a driver assistance device of a motor vehicle, driver assistance device and motor vehicle
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US10647289B2 (en) 2016-11-15 2020-05-12 Ford Global Technologies, Llc Vehicle driver locator
US10331125B2 (en) 2017-06-06 2019-06-25 Ford Global Technologies, Llc Determination of vehicle view based on relative location
CN108618910A (en) * 2018-03-16 2018-10-09 上海文圭精密机械有限公司 A kind of wheelchair using intelligence control system
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

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Publication number Publication date
GB0910753D0 (en) 2009-08-05
GB2463544B (en) 2010-09-29
CN101676741B (en) 2012-11-14
CN101676741A (en) 2010-03-24

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