CN105966312B - A kind of advanced driving assistance system of multifunctional vehicle and method - Google Patents
A kind of advanced driving assistance system of multifunctional vehicle and method Download PDFInfo
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- CN105966312B CN105966312B CN201610236178.5A CN201610236178A CN105966312B CN 105966312 B CN105966312 B CN 105966312B CN 201610236178 A CN201610236178 A CN 201610236178A CN 105966312 B CN105966312 B CN 105966312B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/301—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
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Abstract
The invention discloses a kind of advanced driving assistance system of multifunctional vehicle and methods；Camera is simulated including at least four fish-eye camera and the narrow angle of at least one high dynamic, all cameras are connected by the input terminal of analog video acquisition module and first processor, one of fish-eye camera and the input terminal of second processor connect, and the first processor is communicated with second processor；First processor and second processor connect display after all connecting video switching switch；The second processor is also connect with common interface module and memory module；First processor carries out 360 ° of panoramic looking-around reversings, lane departure warning and preceding anticollision early warning by the video auxiliary of processing camera acquisition, and second processor carries out processing as driving recording to video.Multiple functions have been subjected to effective combination, have reduced product cost, 360 ° of panoramic looking-around reversings, lane departure warning, preceding anticollision early warning, driving recording can be conveniently used for.
Description
Technical field
The present invention relates to automobile auxiliary system technical field more particularly to a kind of advanced driving assistance systems of multifunctional vehicle
With method.
Background technique
Communications and transportation is the lifeblood of the national economic development.Currently, the safe practice of highway in China haulage vehicle and the world are first
Water inlet is flat, and there are larger gaps.It is counted according to state ministry of public security door, the toll on traffic every year about 60,000 in past three year
People.It builds a well-off society in an all-round way and requirements at the higher level is proposed to communications and transportation, transport science and techonologies face Major Strategic Demand.In institute of China
In the traffic accident of generation, there is 65% accident to belong to rear-end collision collision and cause, 80% is to be reacted due to driver not in time,
Caused by mishandling.Vehicle drive assist system is researched and developed, effectively prevention vehicle collision reduces traffic accident incidence, to mentioning
High vehicle safety, assuring the safety for life and property of the people is of great significance.
The effect of currently advanced driving assistance system is paid attention to by more and more drivers.Current advanced driving
Auxiliary system mainly has the anti-collision that vehicle is realized based on sensors such as millimetre-wave radar, laser radar, video, ultrasonic radars
It hits, lane departure warning, blind area detection, driving recording, the functions such as adaptive cruise.Due to millimetre-wave radar and laser radar
Cost is very high, so limiting the application of two technologies.And the detection range of ultrasonic radar is closer, is only used for parking
Field.
It is needed not for the drive assistance functions such as anticollision, lane departure warning, 360 ° of panoramic looking-around reversings, driving recordings
Same camera, so current technology approach is to realize different drive assistance functions using independent system.
Summary of the invention
The purpose of the present invention is to solve the above-mentioned problems, provide a kind of advanced driving assistance system of multifunctional vehicle with
Multiple functions have been carried out effective combination, have reduced product cost by method, can be conveniently used for 360 ° of panoramic looking-arounds and be fallen
Vehicle, lane departure warning, preceding anticollision early warning, driving recording.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of advanced driving assistance system of multifunctional vehicle, including at least four fish-eye camera and at least one high dynamic
Narrow angle simulates camera, and all cameras are connected by the input terminal of analog video acquisition module and first processor,
In a fish-eye camera and the input terminal of second processor connect, the first processor is communicated with second processor；
First processor and second processor connect display after all connecting video switching switch；The second processor also connects with general
Mouth mold block is connected with memory module；First processor carries out 360 ° of panoramic looking-arounds by the video auxiliary of processing camera acquisition and falls
Vehicle, lane departure warning and preceding anticollision early warning, second processor carry out processing as driving recording to video.
There are four the fish-eye camera is set, respectively the first camera, second camera, third camera, the 4th are taken the photograph
As head, the narrow angle simulation camera of high dynamic is equipped with one, wherein the 4th camera and the narrow angle simulation camera of high dynamic connect
Connect the first processor after connecing video switching switch, first camera simultaneously with first processor and second processor
Connection.
The first processor is dsp processor, and second processor is arm processor.
The common interface module, including I/O mouthfuls, PWM interface, AD/DA interface, are wherein adopted for I/O mouthfuls for speed signal
Collection, gear signal acquisition and LED light driving；PWM interface is used for the driving of buzzer；AD/DA interface is acquired for supply voltage.
First camera, second camera, third camera, the 4th camera are separately mounted to license plate before and after vehicle
Top and left and right rearview mirror lower section, high dynamic narrow angle simulation camera installation vehicle windscreen rear it is interior after
Above visor.
A kind of working method of the advanced driving assistance system of multifunctional vehicle, includes the following steps:
Step (1): system electrification；
Step (2): system carries out hardware check, if self-test is broken down, carries out sound or image display alarm, prompts
User；
Step (3): if self-test passes through, start driving record function；
Step (4): judge whether automobile gears continue 360 ° of panoramic looking-arounds of starting and fall in reverse gear shift if it is reverse gear
Vehicle function；
Step (5): judging current vehicle speed, if speed is greater than the speed of the first setting, anticollision warning function before starting；
If speed is greater than the speed of the second setting, continue to start lane departure warning function, the speed of first setting is less than the
The speed of two settings.
Described first speed set is speed per hour 5km, and the second speed set is speed per hour 60km.
The implementation method of 360 ° of panoramic looking-around car-backing functions includes, while acquiring the image of fish-eye camera, by distortion
Correction after having an X-rayed the processing of variation, image mosaic and image co-registration, shows 360 ° of panoramic pictures on a display screen, effective to see
Examine the barrier of vehicle's surroundings.
The implementation method of preceding anticollision warning function includes, the inside and outside parameter of the narrow angle simulation camera of calibration high dynamic,
Mounting height information carries out image procossing by dsp processor, is identified, tracked and ranging to front obstacle, at itself
When vehicle reaches setting risk distance close to the distance of barrier, driver is reminded to pay attention to front obstacle, anticollision before realizing
Warning function.
The implementation method of lane departure warning function includes that the inside and outside ginseng of camera is simulated by the narrow angle of calibration high dynamic
Number, mounting height information carry out image procossing by dsp processor, identify the lane line of vehicle front, calculate driving vehicle and arrive
The time of lane line alarms if the time is shorter than setting value by issuing.
Beneficial effects of the present invention:
The present invention is equipped with common interface module, is capable of providing multiple interfaces, integrated level is high, convenient for the realization of other function.
Major function of the invention includes: preceding anticollision early warning, lane departure warning, 360 ° of panoramic parking systems, driving
The functions such as record.At present it is known that product in there are no by the system product of above-mentioned function effective integration, the present invention is exactly based on
A variety of drive assistance functions have been carried out innovative integrate by effective method.
The present invention uses the video processing technique based on different cameras, applicable auxiliary drive function more comprehensively, valence
Lattice are more suitable, can be widely used in terms of vehicle drive assist system.
The present invention is by carrying out timesharing switching method for anticollision early warning, lane departure warning, 360 ° for two class cameras
Panoramic looking-around reversing, four class of driving recording auxiliary drive function and are effectively integrated, and save system cost.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is flow chart of work methods of the invention.
Specific embodiment
The invention will be further described with embodiment with reference to the accompanying drawing.
As shown in Figure 1, a kind of advanced driving assistance system of multifunctional vehicle, comprising:
5 road cameras, respectively the first camera, second camera, third camera, the 4th camera, high dynamic are narrow
Angle simulates camera, wherein the first camera, second camera, third camera, the 4th camera are flake simulation camera shooting
Head, is mainly used for 360 ° of panoramic looking-around reversings, and the narrow angle simulation camera of high dynamic is mainly used for lane line and deviates early warning with before
Square anti-collision warning；The narrow angle camera of high dynamic can select 40 ° of level angles, 30 ° of vertical angles, dynamic range 100dB's
The camera of 648*486 pixel.
4 channel analogy video acquisition modules, for the first camera of acquisition, second camera, third camera, the simultaneously
Four cameras, 4 road camera signals, feeding dsp processor is handled after carrying out Video coding；
Video switching switch, for the switching between the 4th camera and the narrow angle simulation camera of high dynamic.
Dsp processor, for functional modules such as 360 ° of panoramic looking-around reversings, lane departure warning, preceding anticollision early warning
Video processing；
Arm processor, the processing for functional modules such as driving recordings；
Memory module, the storage for driving recording video image；
Display apparatus module, for 360 ° of panoramic looking-around reversings, lane departure warning, preceding anticollision early warning, driving recording etc.
The video image of function is shown；
The functional interfaces such as common interface module, including I/O mouthfuls common, PWM interface, AD/DA.Wherein it is used for speed for I/O mouthfuls
Signal acquisition, gear signal acquisition, LED light driving etc.；PWM interface is used for the driving etc. of buzzer；AD/DA interface is for powering
Voltage acquisition etc.；
A kind of working method of the advanced driving assistance system of multifunctional vehicle, as shown in Fig. 2, including the following steps:
Step (1): system electrification；
Step (2): system carries out hardware check, if self-test is broken down, carries out sound or image display alarm, prompts
User；
Step (3): if self-test passes through, start driving record function；
Step (4): judge whether automobile gears continue 360 ° of panoramic looking-arounds of starting and fall in reverse gear shift if it is reverse gear
Vehicle function；
Step (5): judging current vehicle speed, if speed is greater than 5km, anticollision warning function before starting；If speed is big
In 60km, continue to start lane departure warning function.
Driving recording is mainly the content for recording the fish-eye camera being mounted on above preceding license plate, into the view for crossing ARM processing
Memory module is arrived in frequency compression storage, and driver is facilitated to carry out the functions such as the identification of responsibility when there is traffic accident.
360 ° of panoramic looking-around car-backing functions are mainly the image for passing through while acquiring 4 road fish-eye cameras, by school of distorting
Just, perspective variation, image mosaic and image co-registration video-processing steps, 360 ° of panoramic pictures are shown on a display screen, to driving
A kind of visual experience for getting a bird's eye view vehicle of the person of sailing, the effective barrier for observing vehicle's surroundings.
Preceding anticollision warning function mainly passes through inside and outside parameter, the mounting height of the narrow angle simulation camera of calibration high dynamic
Etc. information identification, tracking, ranging of front obstacle etc. are handled, leaned in vehicle by the image processing functions of DSP
When the distance of nearly barrier reaches dangerous preset, driver is reminded to pay attention to front obstacle by modes such as acousto-optics, it is anti-before realizing
Anti-collision warning function.
Lane departure warning function is also that inside and outside parameter, the mounting height of camera are simulated by the narrow angle of calibration high dynamic
Etc. information, the lane line of vehicle front is identified by the image procossing of DSP, calculate driving vehicle to lane line time, if
The time is shorter than setting value, will issue sound-light alarm.
Requirement due to different drive assistance functions to camera is different, for example 360 ° of panoramic looking-around car-backing functions are extremely
Need visual angle to reach 180 ° of 4 fish-eye cameras less, lane departure warning and preceding anticollision warning function need narrow angle,
1 camera of high dynamic, when automobile data recorder needs the camera of a wide-angle to record more drivings as far as possible in front of information.
So requirement of the different functions to camera is different, the present invention is exactly based on the plan of beneficial integrated innovation and timesharing starting
Multiple functions have slightly been subjected to effective combination, have reduced product cost.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (9)
1. a kind of advanced driving assistance system of multifunctional vehicle, characterized in that narrow including 4 fish-eye cameras and a high dynamic
Angle simulates camera, and all cameras are connected by the input terminal of analog video acquisition module and first processor, wherein
One fish-eye camera and the input terminal of second processor connect, and the first processor is communicated with second processor；The
One processor and second processor connect display after all connecting video switching switch；The second processor also with general-purpose interface
Module is connected with memory module；First processor carries out 360 by the video auxiliary of processing camera acquisition0Panoramic looking-around falls
Vehicle, lane departure warning and preceding anticollision early warning, second processor carry out processing as driving recording to video；
Four fish-eye cameras are respectively the first camera, second camera, third camera, the 4th camera, wherein
4th camera and high dynamic narrow angle simulation camera, which connects after video switching switchs, connects the first processor, and described the
One camera is connect with first processor and second processor simultaneously.
2. a kind of advanced driving assistance system of multifunctional vehicle as described in claim 1, characterized in that the first processor is
Dsp processor, second processor are arm processor.
3. a kind of advanced driving assistance system of multifunctional vehicle as described in claim 1, characterized in that the general-purpose interface mould
Block, including I/O mouthfuls, PWM interface, AD/DA interface are wherein used for speed signal acquisition, gear signal acquisition and LED light for I/O mouthfuls
Driving；PWM interface is used for the driving of buzzer；AD/DA interface is acquired for supply voltage.
4. a kind of advanced driving assistance system of multifunctional vehicle as claimed in claim 2, characterized in that first camera,
Second camera, third camera, the 4th camera are separately mounted to the top of license plate before and after vehicle and left and right rearview mirror
Lower section, the inside rear-view mirror top at the narrow angle simulation camera installation vehicle windscreen rear of high dynamic.
5. a kind of working method of the advanced driving assistance system of multifunctional vehicle according to any one of claims 1-4, special
Sign is to include the following steps:
Step (1): system electrification；
Step (2): system carries out hardware check, if self-test is broken down, carries out sound or image display alarm, prompts to use
Family；
Step (3): if self-test passes through, start driving record function；
Step (4): judge whether automobile gears in reverse gear shift continue starting 360 if it is reverse gear0Panoramic looking-around reversing function
Energy；
Step (5): judging current vehicle speed, if speed is greater than the speed of the first setting, anticollision warning function before starting；If
Speed is greater than the speed of the second setting, continues to start lane departure warning function, the speed of first setting is set less than second
Fixed speed.
6. a kind of working method of the advanced driving assistance system of multifunctional vehicle as claimed in claim 5, characterized in that described the
One speed set is speed per hour 5km, and the second speed set is speed per hour 60km.
7. a kind of working method of the advanced driving assistance system of multifunctional vehicle as claimed in claim 5, characterized in that 3600Entirely
The implementation method that scape looks around car-backing function includes, while acquiring the image of fish-eye camera, change by distortion correction, perspective,
After the processing of image mosaic and image co-registration, 360 are shown on a display screen0Panoramic picture, the effective barrier for observing vehicle's surroundings
Hinder object.
8. a kind of working method of the advanced driving assistance system of multifunctional vehicle as claimed in claim 5, characterized in that preceding anti-collision
The implementation method for hitting warning function includes that inside and outside parameter, the mounting height information of the narrow angle simulation camera of calibration high dynamic are led to
It crosses dsp processor and carries out image procossing, front obstacle is identified, is tracked and ranging, in vehicle close to barrier
Distance when reaching setting risk distance, remind driver to pay attention to front obstacle, anticollision warning function before realizing.
9. a kind of working method of the advanced driving assistance system of multifunctional vehicle as claimed in claim 5, characterized in that lane is inclined
Implementation method from warning function includes, by the way that the narrow angle of calibration high dynamic simulates the inside and outside parameter of camera, mounting height is believed
Breath carries out image procossing by dsp processor, identifies the lane line of vehicle front, calculate driving vehicle to lane line time,
If the time is shorter than setting value, alarm issuing.
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Effective date of registration: 20201014 Address after: Room 110, Institute of automation, Shandong Academy of Sciences, No. 19, Keyuan Road, Lixia District, Jinan City, Shandong Province Patentee after: Shandong Academy of Sciences Yuanchuang Intelligent Network Technology Co., Ltd Address before: 250014 Shandong Province, Lixia District, Ji'nan City Hospital Road, No. 19 Patentee before: Institute of Automation, Shandong Academy of Sciences |