CN101450647A - Vehicle obstacle-avoidance warning method - Google Patents
Vehicle obstacle-avoidance warning method Download PDFInfo
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- CN101450647A CN101450647A CNA2008102205227A CN200810220522A CN101450647A CN 101450647 A CN101450647 A CN 101450647A CN A2008102205227 A CNA2008102205227 A CN A2008102205227A CN 200810220522 A CN200810220522 A CN 200810220522A CN 101450647 A CN101450647 A CN 101450647A
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Abstract
The invention discloses an obstacle-avoidance warning method for a vehicle, which is used for monitoring an obstacle in front of a vehicle body to carry out obstacle-avoidance treatment, and comprises the following steps: 1) shooting images in front of the vehicle body by two camera devices on a same horizontal line respectively; 2) calculating a first distance between the vehicle body and the obstacle according to the two shot images at a first moment; 3) obtaining a collision time difference that the vehicle is about to collide with the obstacle; and 4) sending signals to warn when the collision time difference is less than or equal to a preset value. By integrating multiple advanced techniques of different domains, the vehicle has higher safety; and the system improves intelligent degree of the vehicle, and is convenient for wide popularization and application based on the advantages of low cost, high performance, strong portability, and the like.
Description
Technical field
The present invention relates to technology that vehicle barrier is found range and alarmed, relate in particular to a kind of vehicle obstacle-avoidance warning method.
Background technology
At present, the ranging technology of vehicle is mainly used on the Reverse Sensor product.Parking radar is as the parking assist apparatus of vehicle, generally be assembled in the afterbody of vehicle, transmit to direction of vehicle movement by built-in ultrasonic unit, reflection when this signal is met barrier, this device just can according to this signal from the emission and the reflection time difference calculate the actual distance of current vehicle to obstacle, and inform chaufeur with certain form, when this distance crashes too closely easily, then start corresponding alarm program, thereby can control operations such as the parking of vehicle, reversing well with different warning information driver assistance persons.
In traditional automobile design, comparatively intensive to the concern of the technology of parking, and be unprecedented to the concern that vehicle forward direction in traveling process is kept away barrier.
And at artificial intelligence field, the binocular solid camera technique develops rapidly, behind binocular solid camera system picked-up objects in front, carries out geometric analysis based on principle of parallax, can realize the space each point is carried out three-dimensional localization, thereby obtain to comprise series of parameters with the objects in front distance.Reach its maturity about the binocular solid camera technique, be more common in various disclosed patent documents, as:
1, publication number is the patent application of CN1605827A, and open day is on April 13rd, 2005, and it discloses a kind of multifunctional vision sensor with binocular spatial structure;
2, publication number is the patent application of CN101093160A, open day is on December 26th, 2007, a kind of method of measurement of the geometric parameters of spatial circle based on technique of binocular stereoscopic vision is disclosed, this invention can accurately measure all geometric parameters of space circle once, and can realize full automaticity detection etc.;
3, publication number is the patent application of CN101261115A, and open day is on September 10th, 2008, discloses a kind of binocular stereo vision measurement method of geometric parameters of spatial circle, can obtain geometric parameters of spatial circle by this method;
4, publication number is the patent application of CN101231750A, and open day is on July 30th, 2008, discloses a kind of calibration method of binocular three-dimensional measuring system.
Similarly patent application also has a lot, can't be exhaustive, but can know substantially that by comprehensive above-mentioned file the basic comprising of binocular solid system should comprise first imageing sensor, second imageing sensor and control computing module at least, two direct or indirect respectively and these control computing module electric connections of imageing sensor are transferred to this control computing module further to calculate relevant parameters with the graphicinformation that will be obtained separately.
Although the binocular solid camera technique is very perfect, but its application on vehicle was not found, in fact, with traditional Reverse Sensor and similarly be the inertial thinking that method that obstacle-avoidance warning is carried out on the basis has constituted common working technical personnel in the automotive field with the wireless signal, the technical study that keeps away barrier for car the place ahead is then extremely limited, the applicant is devoted to the research of automobile Related product for many years always, pay attention to from prior art, seeking the breach especially, so that form the technical scheme that is more suitable for requirements of the times.
By long term studies, the applicant has sprouted for further improving the thinking of safety in the vehicle traveling process.
Summary of the invention
The object of the present invention is to provide a kind of vehicle obstacle-avoidance warning method, to improve vehicle in the process safe of advancing.
For realizing this purpose, the present invention takes following technical scheme:
A kind of vehicle obstacle-avoidance warning method of the present invention, the obstacle that is used to monitor vehicle body the place ahead comprises the steps: to keep away the barrier processing
1), shoots with video-corder the image of car the place ahead obstacle respectively by two camera heads;
2), first constantly, calculate first distance between vehicle body and this obstacle according to two width of cloth eiconometers of shooting with video-corder;
3), ask for vehicle and be about to collision time difference of bumping with obstacle;
4), sending signal when this collision time difference is less than or equal to a preset value reports to the police.
Disclose according to one embodiment of present invention, comprise following concrete steps in the step 3:
3.1), detect current vehicle speed;
3.2), ask for described first the distance be the described collision time difference with likening to of current vehicle speed.
Thus, this method also comprises step:
5), with described each distance, the speed of a motor vehicle, in the collision time difference one of at least output to carry out visualization display or auditory tone cues.
Disclose according to another embodiment of the invention, comprise following concrete steps in the step 3:
3.1), second constantly, calculate second distance between vehicle body and this obstacle according to two width of cloth eiconometers of shooting with video-corder;
3.2), the difference of utilizing the second distance and first distance divided by second constantly and first constantly the difference in the hope of the speed of relative movement between vehicle body and the obstacle;
3.3), with the absolute value of the ratio of this second distance that newly records and this speed of relative movement as the described collision time difference.
3.4), differentiate the size of first distance and second distance, and select default and corresponding alarm mode according to comparative result.
Thus, this method also comprises step:
5), with described second distance, in the collision time difference one of at least output to carry out visualization display or auditory tone cues.
More specifically, also comprise in the step 2 described two width of cloth images are combined into a width of cloth image to carry out the step of distance operation.
Preferable, described preset value is for beginning to start alarm in≤3～5 seconds.
In addition, in the step 4, when this collision time difference is less than or equal to this preset value, send a signal to the default automatic navigation system of automobile self so that carry out automatic navigation.
Compared with prior art, the present invention has following advantage:
At first, utilize binocular solid shooting principle to provide obstacle avoidance system, improve the driving process safe, particularly under the situation of navigating mate psychoplegia, play the effect of automatic prompting for the vehicle in travelling;
Secondly, although based on vehicle body the place ahead road conditions image and some error of actual conditions that principle of parallax obtained, but, can intelligently realize the automatic monitoring of road conditions, the basis of full automatic control is provided for driverless operation or automobile with automatic navigation function, especially for the automatic navigation automobile, automobile can be kept away barrier voluntarily according to measured data and drive;
Moreover this method of utilization the present invention implements comparatively simple, be convenient to assembling in batches and produce, and manufacturing cost is relatively low, helps popularizing fast on existing automotive system, can bring the huge social benefit;
At last, the present invention can realize modular design fully, meets modern automobile by the interconnected design concept of bus network, thereby, both can be applied to also can be installed at easily on the automobile that is using in the workshop, be convenient to installation and maintenance, easily accepted by the customer.
Description of drawings
Fig. 1 is a principle schematic of the present invention;
Fig. 2 is the functional block diagram of the alarm system of application method of the present invention;
Fig. 3 is the schematic block circuit diagram of a specific implementation of the alarm system of application method of the present invention;
Fig. 4 is for using the installation site scheme drawing of alarm system on the view of automobile dead ahead of method of the present invention.
The specific embodiment
The present invention will be described in detail below in conjunction with the drawings and specific embodiments:
Although quoted many being illustrated about the binocular solid camera technique in the known property of first to file to invention of the present invention basis in the background technology part, the applicant thinks should enough constitute enough disclosing the binocular solid camera technique, but consider and be convenient to reader understanding's needs of the present invention, still relevant binocular solid shooting principle is described in conjunction with Fig. 1.
Fig. 1 shows unidirectional two adjacent lanes, supposes that the automobile (not shown) is travelled be positioned on the first lane on right side, and meets with and be positioned at its place ahead obstacle nearby.At this moment,, and the image after shooting with video-corder is synthesized, just can utilize principle of parallax that image before and after synthetic is calculated if shoot with video-corder the place ahead road conditions simultaneously from L and 2 of R.
The line LR of figure mid point L and some R is as a leg-of-mutton base, the distance of certain some T of distant place obstacle is to need the vehicle body known and the distance between the obstacle among the present invention, for a T, point L and some R constitute triangle with some T and a T are focused on, in conjunction with binocular solid camera parameter, can set up the degree of depth of trigonometric survey equation solution point T, and described being apart from TB put T certainly to the shortest distance between the baseline LB, also can be regarded as the depth of field.Wherein, concrete account form can be with reference to the relevant file of various binocular solid camera techniques, as described in the background section.Perhaps, utilize the Pythagorean theorem of mathematics general knowledge or trigonometric function etc., those skilled in the art after reading this specification sheets also nature can know the method for calculating of TB by reasoning.In the present inventor's design, in a single day TB learns, just can further make automobile or chaufeur select according to circumstances whether to be converted into second lane from the first lane tangent line, and detailed description will be in following embodiment.
Since by the agency of the relevant knowledge in invention basis of the present invention, ask the reader to continue to consult Fig. 2.Fig. 2 is the vehicle obstacle-avoidance warning system functional block diagram of the application method of the present invention that development is come out on the basis of above-mentioned principle, in the figure, this alarm system comprises two camera heads 11,12, synthesis module 81, range finder module 82, computing module 83, the unit 5 that tests the speed, Alarm Unit 2 and display unit 6.
Two camera heads 11 wherein and 12, there is identical structure, can consult Fig. 3, each camera head 11,12 all should comprise the camera 110 of video recording effect, 120 and video acquisition coding unit 115,125, two installation sites of camera 110,120 on automobile can be consulted shown in Figure 4, it is right that Fig. 4 illustrates a plurality of installation sites, from D1 to D5 totally five pairs, all concentrate on the preceding half body of automobile, both can be arranged in the operator's compartment, also can be provided with outside the operator's compartment, be as the criterion with the sight line of not blocking camera aligning vehicle front.As wherein D1 is to being positioned at automobile two bottom sides foremost, D2 is to being positioned at place, automotive front end two side lamp positions, and D3 is to being positioned at the rear-view mirror back side of automobile both sides, and D4 is to being positioned at both sides, Windshield top, and D5 is on the vehicle body that then is positioned at the Windshield outside.D4 is installed within the Windshield also can be considered, and also is in the operator's compartment, and D5 is installed between instrument desk and the Windshield then also being considered as.As seen, about camera 110,120 to be provided be very flexibly to the position on the half body before automobile, as long as it satisfies the corresponding requirements of binocular camera shooting technology, two cameras 110,120 preferably are in same horizon, and preferably are provided with in the face of claiming based in automobile vertical, just more can bring into play its due effect preferably.
Described synthesis module 81, be responsible for the video data of the video acquisition coding unit 115,125 of two camera heads 11,12 is synthesized, video data after synthetic finally can export display unit 6 to and show through after a series of correction, adjusting operation.
Described range finder module 82 is used for calculating the actual distance s of the obstacle that vehicle body and current road conditions occur.The direct application that it belongs to the binocular solid camera technique utilizes the video data in the synthesis module 81, based on principle of parallax, by a series of geometry and mathematical operation, can calculate obstacle to the actual distance between the vehicle body.The applicant emphasizes, any can with the programming mode calculate the binocular camera shooting technology of object point to vertical distance between the two camera point lines, all should be considered as 82 technical scopes that can adopt of range finder module of indication of the present invention, as for computing technique more specifically at aforementioned each part quoted of the application in first to file, and in other unreferenced multiple patent documentation and technical literature, embody, thereby repeat no more.
The described unit 5 that tests the speed is used to obtain current vehicle speed v, and the circuit that detects the current line vehicle speed has been suitable proven technique.Because widespread use CAN (Control Area Network in the present automobile, the control area net network) and LIN (Local Interconnect Network, the local internet network) bus network technology such as, carry out the interconnected of data and signal with the instrument and equipment that offers automobile, thereby, this unit 5 that tests the speed detects current vehicle speed in real time, and can offer Other Instruments or equipment use on the car by bus network.
Described computing module 83 is to utilize the binocular camera shooting technology to realize the key point of alarm function of the present invention.The speed numerical value of the distance values of described range finder module 82 and the unit 5 that tests the speed all is read in this computing module 83 and participates in computing.The function of computing module 83 is to ask for a collision time difference t
a, and should the time difference and a preset value compare, finally alarm according to circumstances.
For general situation, this collides time difference t
aBe according to described range finder module 82 record apart from s
0The speed of a motor vehicle v that records with the described unit 5 that tests the speed
0Ratio try to achieve, also promptly:
t
a=s
0/ v
0Formula 1
Also promptly, this collision time difference t
aMean, according to the current speed of a motor vehicle, at elapsed time t
aAfterwards, automobile will collide with the obstacle in the place ahead.
This preset value t
rBe set to know the time t that can react after the dangerous situation for navigating mate
r, thereby, this default for the reaction time both unsuitable oversize also should not be too short, oversizely cause invalid alarm easily, the too short effect that does not then have alarm generally began to start alarm in the time of≤3～5 seconds.
Computing module 83 further compares t
aWhether be less than or equal to t
rIf comparative result is a true value, then send a signal to Alarm Unit 2 at once, otherwise, needn't influence the normal driving of chaufeur.
But above-mentioned this account form generally only is applicable to the situation that the place ahead obstacle is static, and as for traveling automobile or the inconsistent automobile of front and back speed in opposite directions, the aforementioned calculation mode can not accurately reflect the collision time difference t of two cars for the obstacle in the motion
a, therefore, need further to improve the intelligent degree of computing module 83, improve computing module 83 intelligent degree methods and be that mainly processing comes up with problem, below will further set forth corresponding processing method.
Because Ben Che and obstacle (as front vehicles) all are kept in motion, and the speed of obstacle can't directly obtain, thereby, need be the default temporal interval t of the program of computing module 83
pBe used to measure the speed of relative movement of two cars, as:
If t
p=1s;
At moment t
0The time, recording two car relative distances is s
0
As due in t
1=t
0+ t
pAfterwards, recording two car relative distances is s
1
Ask two cars at t
1Speed of relative movement constantly: v
1=(s
1-s
0)/t
pNotice and work as v
1Value when being negative, represent that the relative distance of two cars is being dwindled, otherwise when for positive number, the relative distance of then representing two cars widens continuing;
Further ask for collision time difference t based on this speed of relative movement
a:
t
a＝s
1/v
1
Ought require time of alarming both regularly as can be seen from this formula, if the speed of relative movement of two cars is big more, then two car actual distances are just big more, otherwise just more little.As, when two cars travelled in opposite directions with relative high speed, just Alarm Unit 2 begins alarm when two car apart from each others, as when two cars travel in opposite directions with relative low speed, then Alarm Unit 2 just began alarm at two cars when nearer relatively.
Put the time difference t that is about to bump when above-mentioned formula can get any time in order
a:
t
a=s
1t
p/ (s
1-s
0) formula 2
According to formula 2 as can be known, in fact collide time difference t
aCan not rely on the testing the speed unit 5 of this car and calculate acquisition, therefore, in an enforcement of the present invention, do not use the described unit 5 that tests the speed, but directly application of formula 2 is calculated collision time difference t
aAlso allow.
Collision time difference t
aMay present on the occasion of, itself and the described time t that allows chaufeur response
rWhen comparing, must get its absolute value side earlier for accurate.But the reflection of this situation is that the distance of two cars is widening, dangerous situation is being alleviated, illustrate that navigating mate may recognize this danger, thereby can be used as an option, being arranged in this case, computing module 83 will not produce the signal that is used to alarm, though perhaps produce signal but occur, and no matter collide time difference t with a kind of comparatively soft signal form
aWhether be less than or equal to preset value t
r, such design will help reducing the weary mood of chaufeur to frequent alarm.
And as collision time difference t
aWhen presenting negative value, and collision time difference t
aDetermined to be less than or equal to preset value t
rThe time, just then constituted the lowest term that triggers alarm this moment, computing module 83 should produce signal and directly or indirectly offer described Alarm Unit 2 and alarm, the alarm form can design especially, as adopting the comparatively urgent sound etc.
Although the described in one embodiment of the invention unit 5 that tests the speed is nonessential, when the speed of a motor vehicle that unit 5 records but this tests the speed provides reference data to the driver with the described collision time difference and relative distance, then can provide to a certain degree facility for the driver at least, at least can obtain acquaintance to dangerous situation, and, in order to overcome the error that the aforementioned calculation process produces, also need sometimes to obtain reference data, as the collision time difference t that utilizes formula 1 to calculate is provided simultaneously from this unit 5 that tests the speed
aWith the collision time difference t that utilizes formula 2 to calculate
aDeng.
From above-mentioned explanation as can be seen, about synthesis module 81, range finder module 82 and computing module 83, it is not strict independence physically, realize the functional module of proper function separately but belong to three, it can be by realizing with chip piece, also can cooperate and realize by a plurality of different chips, even also can participate by other chip that plays the control function, so that finish matching relationship between these three modules or the like, the applicant suspects that those skilled in the art have all known this accommodation, so do not give unnecessary details.
Described Alarm Unit 2, it receives a signal with sign meaning that is produced by this computing module 83, generally speaking, and as under the logical action of formula 1, perhaps time period t when application of formula 2
pUnder the situation that interior relative distance furthers gradually, this signal is when collision time difference t needing occurring in computing module 83
aBe less than or equal to the preset value t that characterizes the chaufeur speed of response
rThe time first kind of signal producing; For the logic of formula 2, though collision time difference t
aBe less than or equal to this preset value t
r, but owing to recorded when the time period, interior relative distance zoomed out gradually, then can provide an option to be provided with whether need to produce this first signal voluntarily by the user, perhaps, though also acquiescence produces this signal, the alarm effect is different from the former, realizes by producing second kind of signal.Enforcement circuit diagram with Fig. 3 is an example, this Alarm Unit 2 comprises audio amplifier circuit 21 and loud speaker 22, after computing module 83 produced first signal, audio amplifier circuit 21 received this signal, promoted loud speaker 22 then and sent rapid " too toot-too toot-" alarm; After computing module 83 produced secondary signals, audio amplifier circuit 21 received these signals, promoted the sound that eases up relatively that loud speaker 22 sends " toots-toot-toot-" then to show difference.
Described display unit 6 can be used to show the image of one of two camera heads 11 and 12, perhaps is used to show the image after synthetic, perhaps shows with the icon form, for driver's reference.Prior, display unit 6 also be used to show by computing module 83 calculate and described car and the distance between the obstacle, show described collision time difference t
a, and the speed that obtains by the unit 5 of testing the speed etc., these three parameters can determine whether to show according to actual setting respectively.
Please continue to consult Fig. 3, in the circuit diagram of Fig. 3, described display unit 6 comprises video acquisition decoding unit 61 and the telltale 62 that is connected; The memory cell 9 of Fig. 3 is made of memory devices such as EEPROM, SDRAM and FLASH, be used to store data such as the program that participates in computing and parameter, in addition, can also be used for storing the image behind driving process above-mentioned synthetic, perhaps arbitrarily one of camera head shoot with video-corder and image and the described collision time difference, distance, speed etc., play the function that is similar to black box; Described synthesis module 81, range finder module 82 and 83 of computing modules are integrated in the compute chip 8.As seen from Figure 3, camera head 11,12 video acquisition coding unit 115,125, test the speed unit 5, memory cell 9, video acquisition decoding unit 61, audio amplifier circuit 21 and compute chip 8 etc. all are controlled by control chip 7, drive entire circuit work under the effect of control chip 7.And the video acquisition coding unit 115,125 of camera head 11,12 also is sent to its video data the synthesis module 81 places participation computing of compute chip 8 respectively.
The working process of Fig. 3 is, after recording the video recording in car the place ahead by the camera 110 and 120 of two camera heads 11 and 12, encode and send on the one hand signalisation control chip 7 by video acquisition coding unit 115 and 125 separately, on the other hand video data is transferred to compute chip 8, after control chip 7 is received the signal of camera head, transfer corresponding program and parameter and carry out for compute chip 8 from memory cell 9, the data that also read the unit 5 that tests the speed in case of necessity are to video acquisition decoding unit 61 places.After described compute chip 8 is obtained video data, synthesize by 81 pairs of video datas of synthesis module, and calculate distance between current vehicle and the place ahead obstacle by range finder module 82 utilization binocular solid camera technique principles, then, computing module 83 in the compute chip 8 utilizes this distance parameter, also utilize the speed parameter of the unit 5 that tests the speed in case of necessity, carry out described collision time difference t
aComputing, determining collision time difference t
aReach preset value t
rAfter, produce a signal and give control chip 7, after control chip 7 is differentiated this signal, read the audio amplifier circuit 21 that corresponding alerting tone frequency file is given Alarm Unit 2 from memory cell 9, audio amplifier circuit 21 drives the back with it and realizes alarm by loud speaker 22 broadcasts.
In above-mentioned working process, image after compute chip 8 can be synthesized synthesis module 81 exports the video acquisition decoding unit 61 of display unit 6 to, finish the conversion of video data, and in case of necessity with the velocity resultant of the unit 5 that tests the speed after, export video data to telltale 62 and show.
For the automobile of having realized automatic navigation system, the built-in automatic navigation system of this automatic navigation automobile (not shown, down together), circuit shown in Figure 3 can cooperate the automatic navigation process of finishing with this automatic navigation system.After specifically being operation result by the computing module 83 of this control chip 7 identification compute chip 8, when finding dangerous situation, send a signal to the automatic navigation system of automatic navigation automobile, selected to carry out the instruction of braking or turning according to actual conditions by this automatic navigation system, it is more intelligent that such design just seems.
In sum, the present invention makes automobile have higher safety by integrating the multinomial pioneering technology of different field, improves the intelligent degree of automobile, and based on advantages such as low cost, High Performance and portability are strong, is convenient to large scale application.
Although do not enumerate the more specific embodiment among the present invention, but, the applicant deeply convinces that those skilled in the art all can understand, any each technical characterictic of the present invention is carried out simple substitution to finish the behavior that realizes constructed effect, all should be considered as not unconventional invention spirit of the present invention.
Claims (10)
1, a kind of vehicle obstacle-avoidance warning method, the obstacle that is used to monitor vehicle body the place ahead is characterized in that to keep away the barrier processing, comprises the steps:
1), shoots with video-corder the image of car the place ahead obstacle respectively by two camera heads;
2), first constantly, calculate first distance between vehicle body and this obstacle according to two width of cloth eiconometers of shooting with video-corder;
3), ask for vehicle and be about to collision time difference of bumping with obstacle;
4), sending signal when this collision time difference is less than or equal to a preset value reports to the police.
2, vehicle obstacle-avoidance warning method according to claim 1 is characterized in that: comprise following concrete steps in the step 3:
3.1), detect current vehicle speed;
3.2), ask for described first the distance be the described collision time difference with likening to of current vehicle speed.
3, vehicle obstacle-avoidance warning method according to claim 2 is characterized in that, this method also comprises step:
5), with described each distance, the speed of a motor vehicle, in the collision time difference one of at least output to carry out visualization display.
4, vehicle obstacle-avoidance warning method according to claim 1 is characterized in that: comprise following concrete steps in the step 3:
3.1), second constantly, calculate second distance between vehicle body and this obstacle according to two width of cloth eiconometers of shooting with video-corder;
3.2), the difference of utilizing the second distance and first distance divided by second constantly and first constantly the difference in the hope of the speed of relative movement between vehicle body and the obstacle;
3.3), with the absolute value of the ratio of this second distance that newly records and this speed of relative movement as the described collision time difference.
5, vehicle obstacle-avoidance warning method according to claim 4 is characterized in that: also comprise following concrete steps in the step 3:
3.4), differentiate the size of first distance and second distance, and select default and corresponding alarm mode according to comparative result.
6, vehicle obstacle-avoidance warning method according to claim 5 is characterized in that, this method also comprises step:
5), with described second distance, in the collision time difference one of at least output to carry out visualization display or auditory tone cues or auditory tone cues.
7, according to any described vehicle obstacle-avoidance warning method in the claim 1 to 6, it is characterized in that, also comprise in the step 2 described two width of cloth images are combined into a width of cloth image to carry out the step of distance operation.
8, vehicle obstacle-avoidance warning method according to claim 7 is characterized in that, also comprises in the step 2 the image output after synthetic to carry out the step of visualization display.
9, vehicle obstacle-avoidance warning method according to claim 7 is characterized in that, described preset value is 3～5 seconds.
10, vehicle obstacle-avoidance warning method according to claim 7 is characterized in that, in the step 4, when this collision time difference is less than or equal to this preset value, sends a signal to the default automatic navigation system of automobile self so that carry out automatic navigation.
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| CN101797911B (en) * | 2009-12-10 | 2012-02-01 | 杨汉钦 | Intelligent collision prevention control system for automobile |
| CN102713988A (en) * | 2010-01-14 | 2012-10-03 | 本田技研工业株式会社 | Vehicle periphery monitoring device |
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| CN103231708A (en) * | 2013-04-12 | 2013-08-07 | 安徽工业大学 | Intelligent vehicle obstacle avoiding method based on binocular vision |
| CN103500518A (en) * | 2013-10-23 | 2014-01-08 | 惠州华阳通用电子有限公司 | False alarm detection method and device for forward collision alarm |
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| CN101797911B (en) * | 2009-12-10 | 2012-02-01 | 杨汉钦 | Intelligent collision prevention control system for automobile |
| CN102713988B (en) * | 2010-01-14 | 2015-02-25 | 本田技研工业株式会社 | Vehicle periphery monitoring device |
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Application publication date: 20090610 |