WO2020151435A1 - Method for detecting obstacle around vehicle, and vehicle - Google Patents

Method for detecting obstacle around vehicle, and vehicle Download PDF

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Publication number
WO2020151435A1
WO2020151435A1 PCT/CN2019/127136 CN2019127136W WO2020151435A1 WO 2020151435 A1 WO2020151435 A1 WO 2020151435A1 CN 2019127136 W CN2019127136 W CN 2019127136W WO 2020151435 A1 WO2020151435 A1 WO 2020151435A1
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Prior art keywords
vehicle
photoelectric
collector
photoelectric collector
detection point
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PCT/CN2019/127136
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French (fr)
Chinese (zh)
Inventor
方遒
许师中
林贤炼
马志豪
黄红武
袁江南
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厦门理工学院
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Publication of WO2020151435A1 publication Critical patent/WO2020151435A1/en

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Classifications

    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • 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
    • B60W2554/00—Input parameters relating to objects

Definitions

  • the invention relates to the field of obstacle detection, in particular to a method for detecting obstacles around a vehicle and a vehicle.
  • Existing vehicle driving assistance systems generally use cameras to collect images, that is, images surrounding the vehicle on the image sensor, and process the images collected by the image sensor through subsequent hardware circuit and software analysis to determine whether there are obstacles around the vehicle.
  • the present invention provides a method for detecting obstacles around vehicles. Through the detection of photoelectric collectors and the cooperation of the controller, the image information is converted into electrical signal processing, which greatly reduces the workload of analyzing and processing images through software, and effectively solves the problem.
  • the detection equipment is expensive and the processing workload is large or the processing speed is slow.
  • the first embodiment of the present invention provides a method for detecting obstacles around a vehicle, including:
  • the detection points include a vehicle front detection point, a left front detection point, a right front detection point, a left detection point, and a right detection point;
  • the plurality of photoelectric collectors includes a first photoelectric collector and a second photoelectric collector;
  • the first photoelectric collector is arranged on the upper left side of the windshield, and the second photoelectric collector is arranged on the upper right side of the windshield.
  • the multiple photoelectric collectors further include: a third photoelectric collector, a fourth photoelectric collector, a fifth photoelectric collector, and a sixth photoelectric collector;
  • the third photoelectric collector is arranged at the left side rearview mirror of the vehicle, the fourth photoelectric collector is arranged at the right rearview mirror of the vehicle; the fifth photoelectric collector is arranged on the upper part of the left side car body of the vehicle, The sixth photoelectric collector is arranged on the upper part of the right side of the vehicle.
  • the first photoelectric collector and the second photoelectric collector are used to obtain electrical signals of detection points at the front of the vehicle, and the first photoelectric collector and the third photoelectric collector are used to obtain the detection of the front left side of the vehicle.
  • the third photoelectric collector and the fifth photoelectric collector are used to obtain the electric signal of the detection point on the left side of the vehicle, and the second photoelectric collector and the fourth photoelectric collector are used to obtain the front right
  • the electric signal of the side detection point, the fourth photoelectric collector and the sixth photoelectric collector are used to obtain the electric signal of the right detection point of the vehicle.
  • the longitudinal distance between the detection points is 0.2-30 m
  • the lateral distance between the detection points is 5-20 cm
  • the longitudinal direction is the forward direction of the car
  • the lateral direction is perpendicular to the forward direction of the car.
  • the second embodiment of the present invention provides a vehicle including a controller and a plurality of photoelectric collectors arranged on a vehicle body, wherein the controller includes a memory and a processor, the memory and the plurality of photoelectric collectors Both are connected to the processor, and executable code is stored in the memory, and the executable code can be executed by the processor to implement the above-mentioned method for detecting obstacles around the vehicle.
  • it further includes: an alarm device;
  • the alarm device is connected to the output terminal of the controller, and when the controller determines that the electrical signals from the same detection point of different photoelectric collectors are different, it sends an alarm signal.
  • it further includes: a relay;
  • the output terminal of the controller is connected with the coil of the relay, and the normally open contact of the relay is used to connect with the double flashing indicator lamp in the vehicle.
  • the present invention provides a method for detecting obstacles around a vehicle.
  • the photoelectric collector detects and cooperates with a controller to convert image information into electrical signal processing, and the controller determines whether the signals detected by different photoelectric collectors at the same detection point are the same.
  • the output of the controller outputs an electrical signal to the alarm device to remind the driver.
  • This detection device greatly reduces the need for software
  • the workload of image analysis and processing effectively solves the problems of expensive detection equipment and large processing workload or slow processing speed.
  • FIG. 1 is a schematic flowchart of a method for detecting obstacles around a vehicle according to an embodiment of the present invention
  • FIG. 2 is a top view of the arrangement of vehicle detection points according to an embodiment of the present invention.
  • Fig. 3 is a front view of the arrangement of vehicle detection points according to an embodiment of the present invention.
  • the present invention provides a method for detecting obstacles around vehicles.
  • the photoelectric collector detects and cooperates with the controller to convert image information into electrical signal processing, which greatly reduces the workload of analyzing and processing images through software. , It effectively solves the problems of expensive detection equipment and large processing workload or slow processing speed.
  • the first embodiment of the present invention provides a method for detecting obstacles around a vehicle, including:
  • S101 Acquire multiple image signals collected by multiple photoelectric collectors installed on the vehicle at multiple detection points preset on the road;
  • the plurality of photoelectric collectors includes a first photoelectric collector 01 and a second photoelectric collector 02;
  • the first photoelectric collector 01 is arranged on the upper left side of the windshield, and the second photoelectric collector 02 is arranged on the upper right side of the windshield.
  • the multiple photoelectric collectors further include: a third photoelectric collector 03, a fourth photoelectric collector 04, a fifth photoelectric collector 05, and a sixth photoelectric collector 06;
  • the third photoelectric collector 03 is installed at the left side rearview mirror of the vehicle, the fourth photoelectric collector 04 is installed at the right rearview mirror of the vehicle; the fifth photoelectric collector 05 is installed at the left side rearview mirror of the vehicle On the upper part of the body, the sixth photoelectric collector 06 is arranged on the upper part of the right side of the vehicle.
  • the detection points include a vehicle front detection point, a left front detection point, a right front detection point, a left detection point, and a right detection point;
  • the first photoelectric collector 01 and the second photoelectric collector 02 are used to obtain electrical signals of the detection point at the front of the vehicle, and the first photoelectric collector 01 and the third photoelectric collector 02 are used for In order to obtain the electrical signal of the detection point on the left front side of the vehicle, the third photoelectric collector 03 and the fifth photoelectric collector 05 are used to obtain the electrical signal of the detection point on the left side of the vehicle.
  • the fourth photoelectric collector 04 is used to obtain the electrical signal of the detection point on the right front side of the vehicle, and the fourth photoelectric collector 04 and the sixth photoelectric collector 06 are used to obtain the electrical signal of the detection point on the right side of the vehicle.
  • the longitudinal distance between the detection points is 0.2-30 m, and the lateral distance between the detection points is 5-20 cm.
  • the longitudinal direction is the forward direction of the car, and the lateral direction is perpendicular to the forward direction of the car.
  • the front side detection points are set on the front side of the vehicle, wherein the longitudinal distance between the detection points is 0.2-30m, the lateral distance between the detection points is 5-20cm, the first photoelectric collector 01 and the second
  • the photoelectric collector 02 obtains different electrical signals from the same detection point, it is judged that there is an obstacle blocking the signal collection of a certain detection point by a photoelectric collector. For example, the height of the obstacle on the road exceeds the preset value (such as 0.2m). ) While blocking the signal collection of a photoelectric collector, the controller outputs an electric signal to the alarm device to remind the driver to pay attention.
  • the left and right detection points are set on the left and right sides of the vehicle, wherein the longitudinal distance between the detection points is 0.2-30m, the horizontal distance between the detection points is 5-20cm, the third photoelectric collector 03 and the fifth photoelectric collector 05 obtain different electrical signals from the same detection point, or when the fourth photoelectric collector 04 and the sixth photoelectric collector 06 obtain different electrical signals from the same detection point, That is, it is judged that there are obstacles on the left and right sides of the vehicle, and the controller outputs an electric signal to the alarm device to remind the driver to pay attention.
  • the left front side detection point and the right front side detection point are set on the left front side and the right front side of the vehicle, wherein the longitudinal distance between the detection points is 0.2-30m, the horizontal distance between the detection points is 5-20cm, the first photoelectric
  • the controller outputs an electric signal to the alarm device to remind the driver to pay attention.
  • the second embodiment of the present invention provides a vehicle including a controller and a plurality of photoelectric collectors arranged on a vehicle body, wherein the controller includes a memory and a processor, the memory and the plurality of photoelectric collectors Both are connected to the processor, and executable code is stored in the memory, and the executable code can be executed by the processor to implement the above-mentioned method for detecting obstacles around the vehicle.
  • it further includes: an alarm device;
  • the alarm device is connected to the output terminal of the controller, and when the controller determines that the electrical signals from the same detection point of different photoelectric collectors are different, it sends an alarm signal.
  • it further includes: a relay;
  • the output terminal of the controller is connected with the coil of the relay, and the normally open contact of the relay is used to connect with the double flashing indicator lamp in the vehicle.
  • the controller When the vehicle is running and encounters the above-mentioned obstacles, the controller outputs an electrical signal to the coil of the relay, so that the normally open contact is closed, and the double flashing indicator light in the vehicle is turned on, and the double flashing indicates The lamp bounces at a certain frequency to remind the driver that some drivers do not like the alarm device with sound.
  • This kind of alarm method can meet the preferences of some drivers and can promptly remind the driver of obstacles around it.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

A method for detecting an obstacle around a vehicle, comprising: acquiring a plurality of image signals, acquired by a plurality of photoelectric collectors provided on a vehicle, of a plurality of detection points pre-arranged on a road; converting the image signals into electrical signals; and determining whether corresponding multiple groups of electrical signals are respectively the same; if so, determining that there is no obstacle on the current road; and if not, determining that there is an obstacle on the current road.

Description

一种车辆周边障碍检测方法及车辆Method for detecting obstacles around vehicles and vehicle 技术领域Technical field
本发明涉及障碍物检测领域，特别涉及一种车辆周边障碍检测方法及车辆。The invention relates to the field of obstacle detection, in particular to a method for detecting obstacles around a vehicle and a vehicle.
背景技术Background technique
现有的车辆驾驶辅助系统一般采用摄像头采集图像，即把车辆周边的景物成像在图像传感器上，通过后续硬件电路和软件分析对图像传感器采集的图像进行处理，以判断车辆周边是否有障碍物。Existing vehicle driving assistance systems generally use cameras to collect images, that is, images surrounding the vehicle on the image sensor, and process the images collected by the image sensor through subsequent hardware circuit and software analysis to determine whether there are obstacles around the vehicle.
但是这种方法的软件分析处理的工作量较大，处理效率较低，费时费力，软硬件成本高。However, the software analysis and processing of this method has a large workload, low processing efficiency, time-consuming and labor-intensive, and high software and hardware costs.
技术问题technical problem
本发明提供了一种车辆周边障碍检测方法，通过光电采集器检测和控制器配合，将图像信息转成电信号处理，大大减少了通过软件来对图像进行分析处理的工作量，有效地解决了检测设备价格昂贵和处理工作量大或处理速度缓慢的问题。The present invention provides a method for detecting obstacles around vehicles. Through the detection of photoelectric collectors and the cooperation of the controller, the image information is converted into electrical signal processing, which greatly reduces the workload of analyzing and processing images through software, and effectively solves the problem. The detection equipment is expensive and the processing workload is large or the processing speed is slow.
技术解决方案Technical solutions
本发明第一实施例提供了一种车辆周边障碍检测方法，包括：The first embodiment of the present invention provides a method for detecting obstacles around a vehicle, including:
获取由设置于车辆上的多个光电采集器采集的预先设置于道路上的多个检测点的多个图像信号；Acquiring a plurality of image signals collected by a plurality of photoelectric collectors installed on the vehicle at a plurality of detection points preset on the road;
将所述图像信号转换为电信号；Converting the image signal into an electrical signal;
判断对应的多组电信号是否分别相同；Determine whether the corresponding multiple sets of electrical signals are the same respectively;
若是，则判断当前道路上不存在障碍物；If yes, judge that there are no obstacles on the current road;
若否，则判断当前道路上存在障碍物。If not, it is judged that there are obstacles on the current road.
优选地，所述检测点包括车辆前部检测点、左前侧检测点、右前侧检测点、左侧检测点及右侧检测点；Preferably, the detection points include a vehicle front detection point, a left front detection point, a right front detection point, a left detection point, and a right detection point;
优选地，所述多个光电采集器包括第一光电采集器以及第二光电采集器；Preferably, the plurality of photoelectric collectors includes a first photoelectric collector and a second photoelectric collector;
所述第一光电采集器设置于挡风玻璃左上侧，所述第二光电采集器设置于挡风玻璃右上侧。The first photoelectric collector is arranged on the upper left side of the windshield, and the second photoelectric collector is arranged on the upper right side of the windshield.
优选地，所述多个光电采集器还包括：第三光电采集器、第四光电采集器、第五光电采集器及第六光电采集器；Preferably, the multiple photoelectric collectors further include: a third photoelectric collector, a fourth photoelectric collector, a fifth photoelectric collector, and a sixth photoelectric collector;
所述第三光电采集器设置于车辆左侧后视镜处，所述第四光电采集器设置于车辆右侧后视镜处；所述第五光电采集器设置于车辆左侧车体上部，所述第六光电采集器设置于车辆右侧车体上部。The third photoelectric collector is arranged at the left side rearview mirror of the vehicle, the fourth photoelectric collector is arranged at the right rearview mirror of the vehicle; the fifth photoelectric collector is arranged on the upper part of the left side car body of the vehicle, The sixth photoelectric collector is arranged on the upper part of the right side of the vehicle.
优选地，所述第一光电采集器及所述第二光电采集器用于获取车辆前部检测点的电信号，所述第一光电采集器及所述第三光电采集器用于获取车辆左前侧检测点的电信号，所述第三光电采集器及所述第五光电采集器用于获取车辆左侧检测点的电信号，所述第二光电采集器及所述第四光电采集器用于获取车辆右前侧检测点的电信号，所述第四光电采集器及所述第六光电采集器用于获取车辆右侧检测点的电信号。Preferably, the first photoelectric collector and the second photoelectric collector are used to obtain electrical signals of detection points at the front of the vehicle, and the first photoelectric collector and the third photoelectric collector are used to obtain the detection of the front left side of the vehicle. The third photoelectric collector and the fifth photoelectric collector are used to obtain the electric signal of the detection point on the left side of the vehicle, and the second photoelectric collector and the fourth photoelectric collector are used to obtain the front right The electric signal of the side detection point, the fourth photoelectric collector and the sixth photoelectric collector are used to obtain the electric signal of the right detection point of the vehicle.
优选地，所述检测点间的纵向距离为0.2-30m，所述检测点间的横向距离为5-20cm，所述纵向为汽车前进方向，所述横向为垂直于汽车前进方向。Preferably, the longitudinal distance between the detection points is 0.2-30 m, the lateral distance between the detection points is 5-20 cm, the longitudinal direction is the forward direction of the car, and the lateral direction is perpendicular to the forward direction of the car.
本发明第二实施例提供了一种车辆，包括控制器以及设置于车身上的多个光电采集器，其中，所述控制器包括存储器以及处理器，所述存储器以及所述多个光电采集器均与所述处理器连接，所述存储器内存储有可执行代码，所述可执行代码能够被所述处理器执行，以实现如上所述的车辆周边障碍检测方法。The second embodiment of the present invention provides a vehicle including a controller and a plurality of photoelectric collectors arranged on a vehicle body, wherein the controller includes a memory and a processor, the memory and the plurality of photoelectric collectors Both are connected to the processor, and executable code is stored in the memory, and the executable code can be executed by the processor to implement the above-mentioned method for detecting obstacles around the vehicle.
优选地，还包括：报警装置；Preferably, it further includes: an alarm device;
所述报警装置与所述控制器的输出端相连，当所述控制器判断来自不同光电采集器的同一个检测点的电信号不同时，则发出报警信号。The alarm device is connected to the output terminal of the controller, and when the controller determines that the electrical signals from the same detection point of different photoelectric collectors are different, it sends an alarm signal.
优选地，还包括：继电器；Preferably, it further includes: a relay;
所述控制器的输出端与所述继电器的线圈相连，所述继电器的常开触点用于与车辆内的双闪指示灯相连。The output terminal of the controller is connected with the coil of the relay, and the normally open contact of the relay is used to connect with the double flashing indicator lamp in the vehicle.
有益效果Beneficial effect
本发明提供了一种车辆周边障碍检测方法，通过光电采集器检测和控制器配合，将图像信息转成电信号处理，通过控制器判断同一个检测点的不同光电采集器检测到的信号是否相同来判断前方是否有障碍物，若相同，则判断无障碍物，若不同，则判断有障碍物，控制器输出端输出电信号至报警装置提醒驾驶员，此检测装置大大减少了通过软件来对图像进行分析处理的工作量，有效地解决了检测设备价格昂贵和处理工作量大或处理速度缓慢的问题。The present invention provides a method for detecting obstacles around a vehicle. The photoelectric collector detects and cooperates with a controller to convert image information into electrical signal processing, and the controller determines whether the signals detected by different photoelectric collectors at the same detection point are the same To judge whether there are obstacles in front, if they are the same, judge that there is no obstacle, if they are different, judge that there is an obstacle, the output of the controller outputs an electrical signal to the alarm device to remind the driver. This detection device greatly reduces the need for software The workload of image analysis and processing effectively solves the problems of expensive detection equipment and large processing workload or slow processing speed.
附图说明Description of the drawings
图1为本发明实施例车辆周边障碍检测方法流程示意图；FIG. 1 is a schematic flowchart of a method for detecting obstacles around a vehicle according to an embodiment of the present invention;
图2为本发明实施例车辆检测点布置的俯视图；2 is a top view of the arrangement of vehicle detection points according to an embodiment of the present invention;
图3为本发明实施例车辆检测点布置的主视图。Fig. 3 is a front view of the arrangement of vehicle detection points according to an embodiment of the present invention.
本发明的实施方式Embodiments of the invention
为使本发明实施方式的目的、技术方案和优点更加清楚，下面将结合本发明实施方式中的附图，对本发明实施方式中的技术方案进行清楚、完整地描述，显然，所描述的实施方式是本发明一部分实施方式，而不是全部的实施方式。基于本发明中的实施方式，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施方式，都属于本发明保护的范围。因此，以下对在附图中提供的本发明的实施方式的详细描述并非旨在限制要求保护的本发明的范围，而是仅仅表示本发明的选定实施方式。基于本发明中的实施方式，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施方式，都属于本发明保护的范围。In order to make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of the embodiments of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.
以下结合附图对本发明的具体实施例做详细说明。The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
请参阅图1，本发明提供了一种车辆周边障碍检测方法，通过光电采集器检测和控制器配合，将图像信息转成电信号处理，大大减少了通过软件来对图像进行分析处理的工作量，有效地解决了检测设备价格昂贵和处理工作量大或处理速度缓慢的问题。Please refer to Figure 1. The present invention provides a method for detecting obstacles around vehicles. The photoelectric collector detects and cooperates with the controller to convert image information into electrical signal processing, which greatly reduces the workload of analyzing and processing images through software. , It effectively solves the problems of expensive detection equipment and large processing workload or slow processing speed.
本发明第一实施例提供了一种车辆周边障碍检测方法，包括：The first embodiment of the present invention provides a method for detecting obstacles around a vehicle, including:
S101，获取由设置于车辆上的多个光电采集器采集的预先设置于道路上的多个检测点的多个图像信号；S101: Acquire multiple image signals collected by multiple photoelectric collectors installed on the vehicle at multiple detection points preset on the road;
请参阅图2至图3，所述多个光电采集器包括第一光电采集器01以及第二光电采集器02；2 to 3, the plurality of photoelectric collectors includes a first photoelectric collector 01 and a second photoelectric collector 02;
所述第一光电采集器01设置于挡风玻璃左上侧，所述第二光电采集器02设置于挡风玻璃右上侧。The first photoelectric collector 01 is arranged on the upper left side of the windshield, and the second photoelectric collector 02 is arranged on the upper right side of the windshield.
优选地，所述多个光电采集器还包括：第三光电采集器03、第四光电采集器04、第五光电采集器05及第六光电采集器06；Preferably, the multiple photoelectric collectors further include: a third photoelectric collector 03, a fourth photoelectric collector 04, a fifth photoelectric collector 05, and a sixth photoelectric collector 06;
所述第三光电采集器03设置于车辆左侧后视镜处，所述第四光电采集器04设置于车辆右侧后视镜处；所述第五光电采集器05设置于车辆左侧车体上部，所述第六光电采集器06设置于车辆右侧车体上部。The third photoelectric collector 03 is installed at the left side rearview mirror of the vehicle, the fourth photoelectric collector 04 is installed at the right rearview mirror of the vehicle; the fifth photoelectric collector 05 is installed at the left side rearview mirror of the vehicle On the upper part of the body, the sixth photoelectric collector 06 is arranged on the upper part of the right side of the vehicle.
优选地，所述检测点包括车辆前部检测点、左前侧检测点、右前侧检测点、左侧检测点及右侧检测点；Preferably, the detection points include a vehicle front detection point, a left front detection point, a right front detection point, a left detection point, and a right detection point;
优选地，所述第一光电采集器01及所述第二光电采集器02用于获取车辆前部检测点的电信号，所述第一光电采集器01及所述第三光电采集器02用于获取车辆左前侧检测点的电信号，所述第三光电采集器03及所述第五光电采集器05用于获取车辆左侧检测点的电信号，所述第二光电采集器02及所述第四光电采集器04用于获取车辆右前侧检测点的电信号，所述第四光电采集器04及所述第六光电采集器06用于获取车辆右侧检测点的电信号。Preferably, the first photoelectric collector 01 and the second photoelectric collector 02 are used to obtain electrical signals of the detection point at the front of the vehicle, and the first photoelectric collector 01 and the third photoelectric collector 02 are used for In order to obtain the electrical signal of the detection point on the left front side of the vehicle, the third photoelectric collector 03 and the fifth photoelectric collector 05 are used to obtain the electrical signal of the detection point on the left side of the vehicle. The fourth photoelectric collector 04 is used to obtain the electrical signal of the detection point on the right front side of the vehicle, and the fourth photoelectric collector 04 and the sixth photoelectric collector 06 are used to obtain the electrical signal of the detection point on the right side of the vehicle.
S102，将所述图像信号转换为电信号；S102: Convert the image signal into an electrical signal;
S103，判断对应的多组电信号是否分别相同；S103: Determine whether the corresponding multiple sets of electrical signals are respectively the same;
S104，若是，则判断当前道路上不存在障碍物；S104, if yes, judge that there are no obstacles on the current road;
S105，若否，则判断当前道路上存在障碍物。S105, if not, judge that there is an obstacle on the current road.
优选地，所述检测点间的纵向距离为0.2-30m，所述检测点间的横向距离为5-20cm。所述纵向为汽车前进方向，所述横向为垂直于汽车前进方向。Preferably, the longitudinal distance between the detection points is 0.2-30 m, and the lateral distance between the detection points is 5-20 cm. The longitudinal direction is the forward direction of the car, and the lateral direction is perpendicular to the forward direction of the car.
前侧检测点设于车辆前侧，其中所述检测点间的纵向间距为0.2-30m，所述检测点间的横向间距为5-20cm，所述第一光电采集器01及所述第二光电采集器02获取到同一检测点的电信号不同时，即判断有障碍物遮挡了某光电采集器对某检测点信号的采集，比如路面上障碍物的高度超过了预设值（如0.2m）而遮挡了某光电采集器的信号采集，控制器输出一电信号至报警装置，提醒驾驶员注意。The front side detection points are set on the front side of the vehicle, wherein the longitudinal distance between the detection points is 0.2-30m, the lateral distance between the detection points is 5-20cm, the first photoelectric collector 01 and the second When the photoelectric collector 02 obtains different electrical signals from the same detection point, it is judged that there is an obstacle blocking the signal collection of a certain detection point by a photoelectric collector. For example, the height of the obstacle on the road exceeds the preset value (such as 0.2m). ) While blocking the signal collection of a photoelectric collector, the controller outputs an electric signal to the alarm device to remind the driver to pay attention.
左侧检测点及右侧检测点设于车辆左右两侧，其中所述检测点间的纵向间距为0.2-30m，所述检测点间的横向间距为5-20cm，所述第三光电采集器03及所述第五光电采集器05获取到同一检测点的电信号不同时，或所述第四光电采集器04及所述第六光电采集器06获取到同一检测点的电信号不同时，即判断车辆左右两侧有障碍物，控制器输出一电信号至报警装置，提醒驾驶员注意。The left and right detection points are set on the left and right sides of the vehicle, wherein the longitudinal distance between the detection points is 0.2-30m, the horizontal distance between the detection points is 5-20cm, the third photoelectric collector 03 and the fifth photoelectric collector 05 obtain different electrical signals from the same detection point, or when the fourth photoelectric collector 04 and the sixth photoelectric collector 06 obtain different electrical signals from the same detection point, That is, it is judged that there are obstacles on the left and right sides of the vehicle, and the controller outputs an electric signal to the alarm device to remind the driver to pay attention.
左前侧检测点及右前侧检测点设于车辆左前侧及右前侧，其中所述检测点间的纵向间距为0.2-30m，所述检测点间的横向间距为5-20cm，所述第一光电采集器01及所述第三光电采集器03获取到同一检测点的电信号不同时，或所述第二光电采集器02及所述第四光电采集器04获取到同一检测点的电信号不同时，即判断车辆的左侧或右侧有障碍物，控制器输出一电信号至报警装置，提醒驾驶员注意。The left front side detection point and the right front side detection point are set on the left front side and the right front side of the vehicle, wherein the longitudinal distance between the detection points is 0.2-30m, the horizontal distance between the detection points is 5-20cm, the first photoelectric When the electrical signals of the same detection point obtained by the collector 01 and the third photoelectric collector 03 are different, or the electrical signals of the same detection point obtained by the second photoelectric collector 02 and the fourth photoelectric collector 04 are different At the same time, it is judged that there is an obstacle on the left or right side of the vehicle, and the controller outputs an electric signal to the alarm device to remind the driver to pay attention.
本发明第二实施例提供了一种车辆，包括控制器以及设置于车身上的多个光电采集器，其中，所述控制器包括存储器以及处理器，所述存储器以及所述多个光电采集器均与所述处理器连接，所述存储器内存储有可执行代码，所述可执行代码能够被所述处理器执行，以实现如上所述的车辆周边障碍检测方法。The second embodiment of the present invention provides a vehicle including a controller and a plurality of photoelectric collectors arranged on a vehicle body, wherein the controller includes a memory and a processor, the memory and the plurality of photoelectric collectors Both are connected to the processor, and executable code is stored in the memory, and the executable code can be executed by the processor to implement the above-mentioned method for detecting obstacles around the vehicle.
优选地，还包括：报警装置；Preferably, it further includes: an alarm device;
所述报警装置与所述控制器的输出端相连，当所述控制器判断来自不同光电采集器的同一个检测点的电信号不同时，则发出报警信号。The alarm device is connected to the output terminal of the controller, and when the controller determines that the electrical signals from the same detection point of different photoelectric collectors are different, it sends an alarm signal.
优选地，还包括：继电器；Preferably, it further includes: a relay;
所述控制器的输出端与所述继电器的线圈相连，所述继电器的常开触点用于与车辆内的双闪指示灯相连。The output terminal of the controller is connected with the coil of the relay, and the normally open contact of the relay is used to connect with the double flashing indicator lamp in the vehicle.
当车辆在行驶过程中，碰到上述判断有障碍物的情况下，控制器输出一个电信号至所述继电器的线圈，使得常开触点闭合，导通车辆内双闪指示灯，双闪指示灯以一定频率跳动，提醒驾驶员，部分驾驶员不喜欢带有声响的报警装置，这种报警方式可以满足部分驾驶员的喜好，且能及时提醒驾驶员周围存在障碍物。When the vehicle is running and encounters the above-mentioned obstacles, the controller outputs an electrical signal to the coil of the relay, so that the normally open contact is closed, and the double flashing indicator light in the vehicle is turned on, and the double flashing indicates The lamp bounces at a certain frequency to remind the driver that some drivers do not like the alarm device with sound. This kind of alarm method can meet the preferences of some drivers and can promptly remind the driver of obstacles around it.
以上仅是本发明的优选实施方式，本发明的保护范围并不仅局限于上述实施例，凡属于本发明思路下的技术方案均属于本发明的保护范围。The above are only the preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments. All technical solutions under the idea of the present invention belong to the protection scope of the present invention.

Claims (9)

  1. 一种车辆周边障碍检测方法，其特征在于，包括：A method for detecting obstacles around vehicles, which is characterized in that it comprises:
    获取由设置于车辆上的多个光电采集器采集的预先设置于道路上的多个检测点的多个图像信号；Acquiring a plurality of image signals collected by a plurality of photoelectric collectors installed on the vehicle at a plurality of detection points preset on the road;
    将所述图像信号转换为电信号；Converting the image signal into an electrical signal;
    判断对应的多组电信号是否分别相同；Determine whether the corresponding multiple sets of electrical signals are the same respectively;
    若是，则判断当前道路上不存在障碍物；If yes, judge that there are no obstacles on the current road;
    若否，则判断当前道路上存在障碍物。If not, it is judged that there are obstacles on the current road.
  2. 根据权利要求1所述的车辆周边障碍检测方法，其特征在于，所述检测点包括车辆前部检测点、左前侧检测点、右前侧检测点、左侧检测点及右侧检测点。The method for detecting obstacles around a vehicle according to claim 1, wherein the detection points include a front detection point of the vehicle, a front left detection point, a front right detection point, a left detection point, and a right detection point.
  3. 根据权利要求2所述的车辆周边障碍检测方法，其特征在于，所述多个光电采集器包括第一光电采集器以及第二光电采集器；The method for detecting obstacles around a vehicle according to claim 2, wherein the plurality of photoelectric collectors comprises a first photoelectric collector and a second photoelectric collector;
    所述第一光电采集器设置于挡风玻璃左上侧，所述第二光电采集器设置于挡风玻璃右上侧。The first photoelectric collector is arranged on the upper left side of the windshield, and the second photoelectric collector is arranged on the upper right side of the windshield.
  4. 根据权利要求3所述的车辆周边障碍检测方法，其特征在于，所述多个光电采集器还包括：第三光电采集器、第四光电采集器、第五光电采集器及第六光电采集器；The method for detecting obstacles around vehicles according to claim 3, wherein the plurality of photoelectric collectors further comprise: a third photoelectric collector, a fourth photoelectric collector, a fifth photoelectric collector, and a sixth photoelectric collector ；
    所述第三光电采集器设置于车辆左侧后视镜处，所述第四光电采集器设置于车辆右侧后视镜处；所述第五光电采集器设置于车辆左侧车体上部，所述第六光电采集器设置于车辆右侧车体上部。The third photoelectric collector is arranged at the left side rearview mirror of the vehicle, the fourth photoelectric collector is arranged at the right rearview mirror of the vehicle; the fifth photoelectric collector is arranged on the upper part of the left side car body of the vehicle, The sixth photoelectric collector is arranged on the upper part of the right side of the vehicle.
  5. 根据权利要求4所述的车辆周边障碍检测方法，其特征在于，所述第一光电采集器及所述第二光电采集器用于获取车辆前部检测点的电信号，所述第一光电采集器及所述第三光电采集器用于获取车辆左前侧检测点的电信号，所述第三光电采集器及所述第五光电采集器用于获取车辆左侧检测点的电信号，所述第二光电采集器及所述第四光电采集器用于获取车辆右前侧检测点的电信号，所述第四光电采集器及所述第六光电采集器用于获取车辆右侧检测点的电信号。The method for detecting obstacles around a vehicle according to claim 4, wherein the first photoelectric collector and the second photoelectric collector are used to obtain electrical signals of a detection point at the front of the vehicle, and the first photoelectric collector And the third photoelectric collector is used to obtain the electrical signal of the detection point on the left front side of the vehicle, the third photoelectric collector and the fifth photoelectric collector are used to obtain the electrical signal of the detection point on the left side of the vehicle, the second photoelectric collector The collector and the fourth photoelectric collector are used to obtain the electrical signal of the detection point on the right front side of the vehicle, and the fourth photoelectric collector and the sixth photoelectric collector are used to obtain the electrical signal of the detection point on the right side of the vehicle.
  6. 根据权利要求1所述的车辆周边障碍检测方法，其特征在于，所述检测点间的纵向距离为0.2-30m，所述检测点间的横向距离为5-20cm，所述纵向为汽车前进方向，所述横向为垂直于汽车前进方向。The method for detecting obstacles around a vehicle according to claim 1, wherein the longitudinal distance between the detection points is 0.2-30m, the lateral distance between the detection points is 5-20cm, and the longitudinal direction is the forward direction of the car. , The transverse direction is perpendicular to the forward direction of the car.
  7. 一种车辆，其特征在于，包括控制器以及设置于车身上的多个光电采集器，其中，所述控制器包括存储器以及处理器，所述存储器以及所述多个光电采集器均与所述处理器连接，所述存储器内存储有可执行代码，所述可执行代码能够被所述处理器执行，以实现如权利要求1至6任意一项所述的车辆周边障碍检测方法。A vehicle, characterized by comprising a controller and a plurality of photoelectric collectors arranged on a vehicle body, wherein the controller includes a memory and a processor, and the memory and the plurality of photoelectric collectors are all connected to the The processor is connected, and executable code is stored in the memory, and the executable code can be executed by the processor, so as to realize the vehicle surrounding obstacle detection method according to any one of claims 1 to 6.
  8. 根据权利要求7所述的车辆，其特征在于，还包括：报警装置；The vehicle according to claim 7, further comprising: an alarm device;
    所述报警装置与所述控制器的输出端相连，当所述控制器判断来自不同光电采集器的同一个检测点的电信号不同时，则发出报警信号。The alarm device is connected to the output terminal of the controller, and when the controller determines that the electrical signals from the same detection point of different photoelectric collectors are different, it sends an alarm signal.
  9. 根据权利要求7所述的车辆，其特征在于，还包括：继电器；The vehicle of claim 7, further comprising: a relay;
    所述控制器的输出端与所述继电器的线圈相连，所述继电器的常开触点用于与车辆内的双闪指示灯相连。The output terminal of the controller is connected with the coil of the relay, and the normally open contact of the relay is used to connect with the double flashing indicator lamp in the vehicle.
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