CN101833092B - 360-degree dead-angle-free obstacle intelligent detection and early warning method for vehicle - Google Patents
360-degree dead-angle-free obstacle intelligent detection and early warning method for vehicle Download PDFInfo
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Abstract
The invention discloses a 360-degree dead-angle-free obstacle intelligent detection and early warning method for a vehicle, comprising the following steps that system errors are corrected through the external contour modeling of the vehicle and the correction of a sensor; surrounding areas surrounding the vehicle are classified into an effective scanning area, an ineffective scanning area and a dead angle area; and a trip computer acquires obstacle information through the vehicle-mounted radar sensor, calculates and obtains relative data of obstacles and the vehicle and running data of the vehicle relative to a stationary ground and outputs a two-dimensional top view plane of a vehicle roof from top to bottom. A driver can comprehensively know obstacles, vehicles and other objects surrounding the vehicle at any time through a display. The invention provides accurate environmental information for narrow road driving, lane switching driving and reversing of the vehicle and is a driving safety auxiliary method with extremely high intelligence and applicability.
Description
Technical field
The present invention relates to vehicle 360 degree dead-angle-free obstacle intelligents and detect and method for early warning, be applicable to that various vehicles detect and two-dimentional obstacle environment method for reconstructing peripheral obstacle in the process of moving in real time.
Background technology
The back mirror of the vehicle of prior art all exists observes the dead angle, and navigating mate can not fully understand the obstacle situation of vehicle periphery.Even employing Reverse Sensor; Through ultrasonic transmitter and detector detect obstacle existence and with the distance of vehicle; But because its designs fix wave beam mode implements to survey, distance that only can the relative sensor of detecting obstacles thing, relative position and scan feature that can't the detecting obstacles thing; So Reverse Sensor can only detect the object information in the body tail constant bearing scope, can't be that navigating mate provides more comprehensive information to the situation of other regional obstacles around the car body.When lane change or reversing or narrow road conditions were gone, chaufeur can't accurately obtain outer each the regional object information of car, cause occur repeatedly hanging in driving, the accident of driving such as collision, driver and crew's life security can't obtain better guarantee.
In addition, in existing supervision check implement, for solving the vehicle-surroundings obstacle detection, had a kind of motor-driven rotatable support frame, probe is arranged on the swinging strut implementing scanning probe in the certain limit.But there is the state of kinematic motion that can't accurately judge obstacle self in this equipment, because car body in-to-in parts are more, can't accurately forecast the existence and the position relation of obstacle after still being difficult to avoid sweep unit to be blocked by car body.
Summary of the invention
The object of the invention is: to the problem of above-mentioned existence, provide a kind of and in driving, can carry out 360 detection of degree dead-angle-free obstacle intelligents and method for early warning to detecting vehicle's surroundings environment object, the supplementary of peripheral situation of vehicle accurately is provided for chaufeur.
In order to solve above technical matters, the present invention adopts following implementation step:
Peripheral profile modeling of step 1 vehicle and sensor calibration:
At first at least two tuning detectors of vehicle periphery setting of band radar sensor, said tuning detector comprises the laser-scan sensor and strengthens parasite step 1-1; Guarantee the Radar for vehicle sensor all can effective scanning at least one tuning detector, and all detectors are strafed face and can be covered all sides of tested vehicle fully;
Step 1-2 is connected to each tuning detector through data bus the growth data interface of vehicle driving computer successively;
Step 1-3 numbers quantitative data input car running computers such as data with the headstock and the cooresponding detector of the tailstock of the numbering of tuning detector, the enhancing parasite model of placing bit number, tuning detector, vehicle;
Step 1-4 starts each tuning detector that is distributed in vehicle's surroundings successively, and the laser-scan sensor of tuning detector will carry out image scanning to the vehicle outside profile, and imports each detector scanning gained data into car running computer and carry out record.
Step 1-5 closes tuning detector.
Step 1-6 synthesizes this vehicle outside profile simulate data with the vehicle outside profile of each tuning detector scanning gained according to the numbering of tuning detector.
Step 1-7 starts the radar sensor of installing on the vehicle successively, and each radar sensor will detect at least one tuning detector, and the relative position of the tuning detector that it detected is carried out record.
Step 1-8 closes radar sensor.
Step 1-9 according to radar sensor from position in vehicle, the position of each tuning detector and vehicle is put the orientation and radar sensor scans the most obviously station-keeping data of reflectance signature of tuning detector; Calculate the numbering of the tuning detector that each radar sensor scanned at step 1-7, and the pointing direction of the relative car body of current radar sensor scanning plane.
Step 1-10 is because each radar sensor functional parameter is known and changeless; In conjunction with the position of each radar sensor, current scanning plane pointing direction, scanning range and car body position, each sensor place; Calculate and generate under the current vehicle situation; System just often can be divided into three types of zones to the space, peripheral region, comprising:
(1) service area that can directly scan;
(2) stop because of vehicle self or the dead angle area that can't directly scan that the sensor angle limits causes;
(3) because of the invalid scanning area of rang sensor distance less than the sensor effective working distance;
Step 1-11 goes into to drive a vehicle with the new model Data Update in the computer data.
In step 2 vehicle '; Radar sensor scans the obstacle in the vehicle's surroundings environment 360 degree scopes; Gather obstacle information, comprise the relative distance and the direction angle of obstacle and vehicle and pass through relative data and the static relatively ground-surface operating data of vehicle that car running computer calculates acquired disturbance thing and vehicle;
Above-mentioned vehicle 360 degree dead-angle-free obstacle intelligents detect and method for early warning; Through peripheral profile modeling of vehicle and sensor calibration; Guarantee that the peripheral profile of vehicle, each radar sensor installation site and scanning plane pointing direction and internal system model are consistent; Avoid because radar sensor the object true bearing and the true bearing that detect have certain error, thereby make system's cumulative errors excessive and cause the generation of grave accident.And, accurately know the service area that the vehicle periphery zone can directly be scanned, invalid scanning area, dead angle area through this step.When vehicle under running state; The obstacle information that car running computer is collected according to sensor calculate the relative motion of vehicle and each obstacle of vehicle's surroundings and separately with static ground-surface relative motion situation; Predict the movement tendency of each obstacle; When any one or more obstacles get into the vehicle dead angle area known or invalid scanning area; Car running computer can accurately estimate according to the movement tendency of this obstacle obstacle in dead range with the relative distance and the direction angle of vehicle, continue to obtain the relative data of moving between vehicle and each obstacle.
In the above-mentioned steps 3, the obstacle state area is divided into static, static relatively, three kinds of state of kinematic motions of motion, is based in the normal vehicle operation process, the relative vehicle of static object, its stability is said higher from probability.The object of motion is then lower.The relative object of ground motion, the state of kinematic motion that comprises vehicle self all can be regarded as unsettled, and unexpected variation possibly take place in the state of kinematic motion of mobile.Like two parallel vehicles, wherein a car maybe be suddenly to another car near, if at this moment another car do not take place should acute reaction, then possibly crash.Though unexpected motion also possibly take place in static object; But it is shorter that car running computer is handled the cycle; General tens nanoseconds can produce reaction to the object of unexpected motion; This time gap is suitable much smaller than minimal reaction time of people (people's short reaction time generally at 0.1 second, i.e. 100 nanoseconds) from safety.So system and driver should more pay attention to the object of motion.What radar sensor scanning obtained is the radar return wave datum, comprises data such as scanning angle, distance, scanning plane characteristic.But can't realize state of kinematic motion identification to single object only according to these data.Through state of kinematic motion analysis (being presented as the state of kinematic motion analysis of same scanning plane characteristic in the scan-data), for Intelligent Recognition provides foundation to each object of different cycles.Through distinguishing the state of kinematic motion of each object, be that the information from system is classified, for the driver provides more Useful Information.From the computing power and the manufacturing cost of system, distinguish the number of objects that static and mobile can reduce system keeps track, reduced requirement to system-computed power, reduced manufacturing cost.Therefore the static object with motion for relative ground of system has certain difference on handling, and is mainly reflected in system optimization, and under the situation that keeps system performance, the reduction program is to the requirement of system-computed power.Through identification, can better realize showing, the application function of early warning to the state of kinematic motion of discrete objects.Following for the static different disposal mode in relative ground with the object that moves:
Car running computer is through show the current vehicle and the relative position of object on every side to the driver to the processing of image data and the two-dimentional birds-eye view through Vehicular display device intuitively; At any time objects such as vehicle's surroundings obstacle, vehicle are had comprehensive single-piece understanding, for vehicle ', narrow road conditions go, switch go, supplementary that road conditions such as reversing provide traditional Reverse Sensor, back mirror etc. to provide.Particularly improved the detectability of system, improved the safety of driving, be convenient to navigating mate the unsafe condition that possibly cause is in time taken measures, guaranteed the safety of going on a journey vehicle-surroundings super close distance environment.
Further be car running computer according to the different motion state of obstacle, different scanning tangent plane characteristic to generate and the two-dimensional image of output in obstacle impose different colours, difformity; And the running velocity of gathering when treater is during greater than the setting high-speed value, and the image resolution ratio of the two dimensional surface of its output is big, when running velocity less than setting when being worth at a slow speed, the resolution of the two-dimensional image of output is little; And when the relative distance data of the obstacle of treater collection and vehicle are equal to or less than the early warning value of setting; Obstacle is imposed outstanding show tags; The resolution of plane picture with this obstacle near or away from and dynamically turn down or transfer big, until the relative distance data of obstacle and vehicle above early warning value or stop motion.
Chaufeur is convenient in above-mentioned improvement is having more directly perceived, a comprehensively understanding through telltale to the vehicle periphery obstacle; When the speed of a motor vehicle is higher, can show vehicle periphery relatively more at a distance or more other vehicles and object information.When automobile low-speed goes, can real more clearly vehicle and the actual distance of peripheral object and press close to the relative position of object most.In a single day and have obstacle to get into early warning range, and produce potential threat, chaufeur there is the effect of prompting potential danger road conditions through dynamic adjustment resolution.
Description of drawings
The present invention will explain through example and with reference to the mode of accompanying drawing, wherein:
Fig. 1 is the tuning detector structural representation that adopts in peripheral profile modeling of vehicle of the present invention and the sensor calibration step.
Fig. 2, Fig. 4 are a kind of arrangement architectures of the tuning detector put of vehicle periphery.
Fig. 3 is the another kind of arrangement architecture of the tuning detector put of vehicle periphery.
Fig. 5 is the work scheme drawing that the laser-scan sensor of tuning detector will carry out image scanning to the vehicle outside profile.
Fig. 6 is the vehicle outside profile scan simulation composite diagram of car running computer according to the image scanning formation of laser-scan sensor.
Fig. 7 is the scheme drawing of putting that radar sensor is installed on the vehicle.
Fig. 8 is the system works scope scheme drawing under the current vehicle state that synthesizes behind peripheral profile modeling of vehicle and the sensor calibration.
The specific embodiment
Disclosed all characteristics in this specification sheets, or the step in disclosed all methods or the process except mutually exclusive characteristic and/or the step, all can make up by any way.
Disclosed arbitrary characteristic in this specification sheets (comprising any accessory claim, summary and accompanying drawing) is only if special narration all can be replaced by other equivalences or the alternative features with similar purpose.That is, only if special narration, each characteristic is an example in a series of equivalences or the similar characteristics.
Implementation step of the present invention is following:
Peripheral profile modeling of step 1 vehicle and sensor calibration:
Step 1-1 prepares tuning detector, and its structure is as shown in Figure 1, on a height adjustable bracing frame that is provided with knob 3, is fixed with the multi-dimension laser scanning sensor 2 of detection vehicle lateral outer side profile; With the enhancing parasite 1 that possesses the effect that strengthens the reflected radar ripple, can make the existence of the identification tuning detector that the radar sensor that is installed on the vehicle can be clear and definite, for system's automatic modeling and error correcting provide reference data.
Step 1-2 is at least two tuning detectors of vehicle periphery setting of band radar sensor, and to dissimilar and performance trailer-mounted radar sensor, the density that tuning detector is put is different, and adjusts the height of tuning detector as required.As the big vehicle of beam length ratio example such as truck tuning detector need many, the tuning detector that general sports car needs is few.The density of putting, height should guarantee that the Radar for vehicle sensor all can arrive at least one tuning detector by effective scanning, and all detector scanning faces can cover the peripheral profile of vehicle fully; The straight line minor increment of arbitrary radar sensor should be greater than twice radar sensor smallest effective scanning distance on tuning detector and the vehicle.
Like Fig. 2 and shown in Figure 4, be provided with eight tuning detectors 4 around the vehicle 5, tuning detector forms rice word structural arrangement at vehicle periphery, and each tuning detector is numbered like 0-7, and tuning detector is placed the position number RE0-RE7.
As shown in Figure 3; Be provided with ten tuning detectors 4 around the vehicle 5, wherein vehicle just before, the dead aft respectively places one, vehicle two side directions symmetry is placed four; Four diagonal of vehicle are respectively placed one, and each tuning detector and placement position are numbered.
Step 1-3 is connected to each tuning detector through data bus the growth data interface of vehicle driving computer successively;
Step 1-4 numbers quantitative data input car running computers such as data with the headstock and the cooresponding detector of the tailstock of the numbering of tuning detector, the enhancing parasite model of placing bit number, tuning detector, vehicle;
Step 1-5 starts each tuning detector that is distributed in vehicle's surroundings successively, and the laser-scan sensor of tuning detector will carry out image scanning to the vehicle outside profile, and imports each detector scanning gained data into car running computer and carry out record.As shown in Figure 5.
Step 1-6 closes tuning detector.
Step 1-7 car running computer is filled up computing with the vehicle outside profile of each tuning detector scanning gained according to the numbering of tuning detector, synthesizes this vehicle outside profile simulate data, and is as shown in Figure 6.
Step 1-8 like Fig. 7, starts the radar sensor of installing on the vehicle (ID0-ID 5) successively, and each radar sensor will detect at least one tuning detector, and the relative position of the tuning detector that it detected is carried out record.
Step 1-9 closes radar sensor.According to radar sensor from position in vehicle, the position of each tuning detector and vehicle is put the orientation and radar sensor scans the most obviously station-keeping data of reflectance signature of tuning detector; Calculate the numbering of the tuning detector that each radar sensor scanned at step 1-8, and the pointing direction of the relative car body of current radar sensor scanning plane.
Step 1-10 is because each radar sensor functional parameter is known and changeless; In conjunction with the position of each radar sensor, current scanning plane pointing direction, scanning range and car body position, each sensor place, space, current vehicle peripheral region is divided into the service area 8 that three types (1) can directly scan; (2) stop because of vehicle self or the dead angle area that can't directly scan 7 that the sensor angle limits causes; (3) because of the invalid scanning area 6 of rang sensor distance less than the sensor effective working distance; As shown in Figure 8.
Step 1-11 goes into to drive a vehicle with the new model Data Update in the computer data.
Gather obstacle information in step 2 vehicle ', and carry out following steps and handle the static relatively ground-surface operating data of the relative data of car running computer acquired disturbance thing and vehicle and vehicle;
Step 2-1 adopts the two-dimensional scan sensor of scanning distance, direction angle simultaneously that is installed on the car body that the obstacle in the vehicle's surroundings environment 360 degree scopes is scanned; Gather distance, the bearing signal of obstacle and vehicle, and scanning plane size and output;
Step 2-2 is through being installed in the tachogen on the wheel, and is arranged on the angular transducer on the vehicle steering shaft, respectively the deflection angle signal of the running velocity of collection vehicle and automobile steering roller and exporting;
The signal that step 2-3 receives through car running computer and storing step (2-1), (2-2) import; And carry out data handing according to following method:
Step 2-3-1 calculates relative distance, direction angle data and the scan feature data of obstacle and vehicle according to the obstacle signal of previous frame input;
Step 2-3-2 calculates the static relatively ground-surface displacement of vehicle, vehicle unitary rotation angle, current rotation direction angle, average velociity, acceleration information according to vehicle self signal of present frame input;
Step 2-3-3 matees the thing data of the corresponding barrier that data that present frame calculated and previous frame calculate, obtain each obstacle at the present frame end constantly with relative distance, the direction angle of vehicle and scan the tangent plane data;
Each obstacle that step 2-3-4 will obtain and vehicle relative distance, direction angle and the vehicle displacement in present frame to stack, the relative coordinate that to form the static relatively ground of each obstacle of this frame be reference;
Step 2-3-5 calculates the variable quantity of the relative coordinate of present frame and each obstacle of previous frame, calculates the static relatively ground-surface state of kinematic motion of each obstacle as follows according to the scanning period,
The amount of displacement of ground-surface relatively displacement=present frame and previous frame relative coordinate,
The sense of displacement of sense of motion=present frame and previous frame relative coordinate,
Average velociity=ground-surface relatively displacement/scanning period,
The variable quantity of average velociity between acceleration/accel=two frames.
The method of peripheral profile modeling of above-mentioned vehicle and sensor calibration is mainly used at new vehicle modeling and first native system, the environment such as system compensation in the vehicle later maintenance installed.Through adopting tuning detector that vehicle is carried out automatic scan, write down like length and width, vehicle body lateral outer side profile automatically, analyze the relative position of each radar sensor, and vehicle body itself is carried out model data upgrade, realize accurately, safeguard automatically efficiently.Adopt vehicle 360 degree dead-angle-free obstacle intelligents of the present invention to detect and method for early warning; The relative position of object around can be in the driver shows current vehicle 360 degree scopes intuitively; And there is not the measurement dead angle; Survey precision is high; Make chaufeur have comprehensive single-piece understanding to objects such as vehicle's surroundings obstacle, vehicles at any time, for the narrow road conditions of vehicle go, switch go, road conditions such as reversing provide environmental information accurately, are a kind of intelligent and high vehicular drive safety householder methods of applicability.
The present invention is not limited to the aforesaid specific embodiment.The present invention expands to any new feature or any new combination that discloses in this manual, and step or any new combination of the arbitrary new method that discloses.
Claims (4)
1. vehicle 360 degree dead-angle-free obstacle intelligents detect and method for early warning, it is characterized in that: comprise the steps:
Peripheral profile modeling of step 1 vehicle and sensor calibration:
At first at least two tuning detectors of vehicle periphery setting of band radar sensor, said tuning detector comprises the laser-scan sensor and strengthens parasite step 1-1; Guarantee the Radar for vehicle sensor all can effective scanning at least one tuning detector, and all detectors are strafed face and can be covered all sides of tested vehicle fully;
Step 1-2 is connected to each tuning detector through data bus the growth data interface of vehicle driving computer successively;
Step 1-3 is with the headstock and the cooresponding detector numbering of the tailstock quantitative data input car running computer of the numbering of tuning detector, the enhancing parasite model of placing bit number, tuning detector and vehicle;
Step 1-4 starts each tuning detector that is distributed in vehicle's surroundings successively, and the laser-scan sensor of tuning detector will carry out image scanning to the vehicle outside profile, and imports each detector scanning gained data into car running computer and carry out record;
Step 1-5 closes tuning detector;
Step 1-6 scans numbering and the data of the vehicle outside profile of gained according to tuning detector with each tuning detector, synthesizes the simulation profile of this vehicle outside;
Step 1-7 starts the radar sensor of installing on the vehicle successively, and each radar sensor will detect at least one tuning detector, and the relative position of the tuning detector that it detected is carried out record;
Step 1-8 closes radar sensor;
Step 1-9 according to radar sensor from position in vehicle, the position of each tuning detector and vehicle is put the orientation and radar sensor scans the most obviously station-keeping data of reflectance signature of tuning detector; Calculate the numbering of the tuning detector that each radar sensor scanned at step 1-7, and the pointing direction of the relative car body of current radar sensor scanning plane;
Step 1-10 is because each radar sensor functional parameter is known and changeless; In conjunction with the position of each radar sensor, current scanning plane pointing direction, scanning range and car body position, each sensor place; Calculate and generate under the current vehicle situation; System just often can be divided into three types of zones to the space, peripheral region, comprising:
(1) service area that can directly scan;
(2) stop because of vehicle self or the dead angle area that can't directly scan that the sensor angle limits causes;
(3) because of the invalid scanning area of rang sensor distance less than the sensor effective working distance;
Step 1-11 goes into to drive a vehicle with the new model Data Update in the computer data;
In step 2 vehicle '; Radar sensor scans the obstacle in the vehicle's surroundings environment 360 degree scopes; Gather obstacle information; The relative distance and the direction angle that comprise obstacle and vehicle, and pass through relative data and the static relatively ground-surface operating data of vehicle that car running computer calculates acquired disturbance thing and vehicle;
Step 3 car running computer is according to the relative data and the static relatively ground-surface operating data of vehicle of obstacle that is calculated and vehicle; Discern the state of kinematic motion of each obstacle of vehicle periphery, and the obstacle state area is divided into static, static relatively, three kinds of state of kinematic motions of motion; Said static, state of kinematic motion is the static or motion in the relative ground of obstacle, said static relatively be that obstacle is with respect to stationary vehicle;
Step 4 car running computer is through discerning and store the state of kinematic motion and the above-mentioned operating data of each obstacle; Predict the movement tendency of each obstacle; When dead angle area of knowing among any one or more obstacles entering step 1-10 or invalid scanning area; Car running computer according to the movement tendency of this obstacle estimation acquired disturbance thing in dead range with the relative distance and the direction angle of vehicle, continue to obtain the relative data of moving between vehicle and each obstacle;
Step 5 according to the relative data of moving between vehicle and each obstacle, combine obstacle scan feature data, car running computer generates and exports the two-dimensional image that a width of cloth is overlooked roof from top to bottom;
Step 6 receives the two-dimensional image that car running computer generates through Vehicular display device, said image comprise vehicle and around environment obstacle shape and with the position relation of vehicle.
2. vehicle 360 degree dead-angle-free obstacle intelligents according to claim 1 detect and method for early warning, and it is characterized in that: said step 1-1, vehicle periphery are provided with eight tuning detectors, form rice word structural arrangement at vehicle periphery.
3. vehicle 360 degree dead-angle-free obstacle intelligents according to claim 1 detect and method for early warning; It is characterized in that: said step 1-1; Vehicle periphery is provided with ten tuning detectors; Wherein vehicle just before, the dead aft respectively places one, vehicle two side directions symmetry is placed four, four diagonal of vehicle are respectively placed one.
4. vehicle 360 degree dead-angle-free obstacle intelligents according to claim 1 detect and method for early warning; It is characterized in that: said step 5, car running computer imposes different colours, difformity according to different motion state, the different scanning tangent plane characteristic of obstacle to the obstacle in the two-dimensional image that generates and export; And the running velocity of gathering when treater is during greater than the setting high-speed value, and the image resolution ratio of the two dimensional surface of its output is big, when running velocity less than setting when being worth at a slow speed, the resolution of the two-dimensional image of output is little; And when the relative distance data of the obstacle of treater collection and vehicle are equal to or less than the early warning value of setting; Obstacle is imposed outstanding show tags; The resolution of plane picture with this obstacle near or away from and dynamically turn down or transfer big, until the relative distance data of obstacle and vehicle above early warning value or stop motion.
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| DE102008003662A1 (en) * | 2008-01-09 | 2009-07-16 | Robert Bosch Gmbh | Method and device for displaying the environment of a vehicle |
| CN101320093B (en) * | 2008-05-14 | 2012-07-11 | 奇瑞汽车股份有限公司 | Vehicle active security control system and its control method |
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2010
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