CN109455136A - Parking warning device, vehicle and vehicle parking alarming method for power - Google Patents
Parking warning device, vehicle and vehicle parking alarming method for power Download PDFInfo
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- CN109455136A CN109455136A CN201811488651.4A CN201811488651A CN109455136A CN 109455136 A CN109455136 A CN 109455136A CN 201811488651 A CN201811488651 A CN 201811488651A CN 109455136 A CN109455136 A CN 109455136A
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- 238000003384 imaging method Methods 0.000 claims abstract description 56
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q7/00—Arrangement or adaptation of portable emergency signal devices 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
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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Abstract
The application provides a kind of parking warning device, vehicle and vehicle parking alarming method for power, the parking warning device includes warning sign, delivery device, image collecting device and the first controller on vehicle, and first controller is electrically connected with the delivery device, described image acquisition device；Wherein, described image acquisition device is used to acquire the real-time imaging of vehicle surrounding road condition and is sent to first controller；First controller determines that the vehicle periphery road conditions meet preset safety and launch strategy when detecting the signal for being used to indicate vehicle emergency stop, and based on the real-time imaging, then controls the delivery device and execute the operation for launching warning sign.In vehicle emergency stop, the dispensing of warning sign is guided by onboard image collection device, it is ensured that warning sign can be launched the automation that warning sign dispensing is realized to safety zone.
Description
Technical field
This application involves vehicular field more particularly to a kind of parking warning devices, vehicle and vehicle parking alarming method for power.
Background technique
For vehicle driving on the road, driving safety is particularly important, especially encounters emergency situations in vehicle
It when needing emergency stop such as traffic accident or vehicle trouble, needs to warn front vehicle and/or pedestrian, to avoid burst
Accident.
In the related technology, when vehicle emergency stop, warning sign is artificially launched, further according to multiple sensors on vehicle, control
Warning sign is mobile, and this mode still needs human intervention, not smart enoughization, higher cost；In another arrangement, vehicle is in urgency
Stopping time launches warning sign according to the dispensing distance calculated in advance, be not suitable for vehicle occur the state of emergency can not move enough away from
From the case where, also, the program does not consider rear of vehicle pedestrian or vehicle condition, and there are security risks.
Summary of the invention
In view of this, the application provides a kind of parking warning device, vehicle and vehicle parking alarming method for power.
Specifically, the application is achieved by the following technical solution:
According to a first aspect of the present application, a kind of parking warning device is provided, described device includes warning sign, described device
It further include delivery device, image collecting device and the first controller, first controller and the delivery device, the figure
As acquisition device is electrically connected；
Wherein, described image acquisition device is used to acquire the real-time imaging of vehicle surrounding road condition and is sent to first control
Device processed；
First controller detects the signal for being used to indicate vehicle emergency stop, and determines institute based on the real-time imaging
It states vehicle periphery road conditions and meets preset safety dispensing strategy, then control the delivery device and execute the operation for launching warning sign.
According to a second aspect of the present application, a kind of vehicle, including parking warning device, the parking warning device packet are provided
Include warning sign, delivery device, image collecting device and the first controller, first controller and the delivery device, institute
Image collecting device is stated to be electrically connected；
Wherein, described image acquisition device is used to acquire the real-time imaging of vehicle surrounding road condition and is sent to first control
Device processed；
First controller detects the signal for being used to indicate vehicle emergency stop, and determines institute based on the real-time imaging
It states vehicle periphery road conditions and meets preset safety dispensing strategy, then control the delivery device and execute the operation for launching warning sign.
According to the third aspect of the application, a kind of vehicle parking alarming method for power is provided, which comprises
Detection is used to indicate the signal of vehicle emergency stop；
Obtain the real-time imaging of the vehicle periphery road conditions；
If determine that the vehicle periphery road conditions meet preset safety dispensing strategy based on the real-time imaging, throw
Put warning sign.
The application's the utility model has the advantages that guide the dispensing of warning sign by image collecting device in vehicle emergency stop, it is ensured that alert
Show that board can be launched to safety zone, without the dispensing of human intervention warning sign, realizes the automation of warning sign dispensing, solution
The pain spot of warning sign can not be put under emergency stop by having determined；Also, the dispensing that warning sign is guided by image collecting device, is not necessarily to
Image collecting device is set on warning sign, reduces the load of warning sign, control is more flexible, and power consumption is lower.
Detailed description of the invention
Fig. 1 is a kind of structural block diagram of parking warning device shown in one exemplary embodiment of the application；
Fig. 2 is a kind of one of application scenarios signal of parking warning device shown in one exemplary embodiment of the application
Figure；
Fig. 3 is a kind of another application scenarios signal of parking warning device shown in one exemplary embodiment of the application
Figure；
Fig. 4 is the specific structural block diagram of a kind of parking warning device one shown in one exemplary embodiment of the application；
Fig. 5 is another specific structural block diagram of a kind of parking warning device shown in one exemplary embodiment of the application；
Fig. 6 is the another specific structural block diagram of a kind of parking warning device shown in one exemplary embodiment of the application；
Fig. 7 is the specific structural block diagram of a kind of parking warning device also one shown in one exemplary embodiment of the application；
Fig. 8 is a kind of method flow diagram of vehicle parking alarming method for power shown in one exemplary embodiment of the application；
Fig. 9 is the specific method flow of a kind of vehicle parking alarming method for power one shown in one exemplary embodiment of the application
Figure.
Appended drawing reference: 100: vehicle body；200: parking warning device；1: warning sign；2: delivery device；21: rope；22: twisting
Disk；23: puma manipulator；3: image collecting device；4: the first controllers；5: driving wheel；6: control device；61: motor；62:
Second controller；7: inertial sensor；8: box body；9: battery；10: warning lamp.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the application.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the application.
It is only to be not intended to be limiting the application merely for for the purpose of describing particular embodiments in term used in this application.
It is also intended in the application and the "an" of singular used in the attached claims, " described " and "the" including majority
Form, unless the context clearly indicates other meaning.It is also understood that term "and/or" used herein refers to and wraps
It may be combined containing one or more associated any or all of project listed.
It will be appreciated that though various information, but this may be described using term first, second, third, etc. in the application
A little information should not necessarily be limited by these terms.These terms are only used to for same type of information being distinguished from each other out.For example, not departing from
In the case where the application range, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as
One information.Depending on context, word as used in this " if " can be construed to " ... when " or " when ...
When " or " in response to determination ".
With reference to the accompanying drawing, stop alarming method for power to the parking warning device of the application, vehicle and vehicle to carry out specifically
It is bright.In the absence of conflict, the feature in following embodiment and embodiment can be combined with each other.
Embodiment one
Fig. 1 is a kind of structural block diagram of parking warning device shown in one exemplary embodiment of the application, and Fig. 2 is the application
A kind of one of application scenarios schematic diagram of parking warning device shown in one exemplary embodiment, Fig. 3 are that the application one shows
Example property implements a kind of another application scenarios schematic diagram of the parking warning device exemplified.In conjunction with Fig. 1 to Fig. 3, the application is real
A kind of parking warning device 200 of the offer of example one is applied, which may include warning sign 1, delivery device 2, image
Acquisition device 3 and the first controller 4.Optionally, in the present embodiment, warning sign 1 be set to vehicle on, as in vehicle trunk, vehicle
Side and/or vehicle tail etc..The vehicle can be unmanned vehicle, such as unmanned dispensing vehicle, for dispensing the objects such as express delivery, food and drink
Product, unmanned passenger car etc., certainly, the vehicle may be the vehicle of someone's traveling.
Optionally, delivery device 2 and image collecting device 3 are each attached on vehicle, first controller 4 of the present embodiment
It is electrically connected with delivery device 2, image collecting device 3.Optionally, the position on vehicle and warning is arranged in delivery device 2
It is corresponding that the position on vehicle is arranged in board 1, for example, delivery device 2 may be provided in vehicle trunk, side portion of vehicle and/or
Vehicle tail etc..
In the present embodiment, image collecting device 3 is used to acquire the real-time imaging of vehicle surrounding road condition, such as vehicle bottom
The road conditions image of ground image, the road conditions image of vehicle side and/or rear of vehicle, also, image collecting device 3 is collecting
After the real-time imaging of vehicle periphery road conditions, real-time imaging can be sent to the first controller 4.Optionally, image collecting device 3 can
Vehicle bottom, side and/or vehicle tail are set.Image collecting device 3 can be camera, can also be camera, can also be image
Sensor.
First controller 4 detects the signal for being used to indicate vehicle emergency stop, and determines vehicle periphery based on real-time imaging
Road conditions (i.e. traffic condition) meet preset safety and launch strategy, then control delivery device 2 and execute the operation for launching warning sign, from
And the warning sign 1 on vehicle is thrown on the ground of vehicle periphery.Optionally, warning sign 1 is launched to the ground of rear of vehicle
On face.Optionally, warning sign 1 is launched to the ground of vehicle side.Optionally, warning sign 1 is launched to vehicle bottom
On face.It is understood that warning sign 1 can also be launched to other ground regions of vehicle periphery.
In the embodiment of the present application, in vehicle emergency stop, the dispensing of warning sign 1 is guided by onboard image collection device 3, really
Protecting warning sign 1 can be launched to safety zone, without the dispensing of human intervention warning sign 1, realize the dispensing of warning sign 1 oneself
Dynamicization solves the pain spot that warning sign 1 can not be put under emergency stop；Also, warning is guided by onboard image collection device 3
The dispensing of board 1 reduces the load of warning sign 1, controls more flexible, function it is not necessary that image collecting device 3 is arranged on warning sign 1
It consumes lower.
The warning sign 1 of the present embodiment is triangle.It should be noted that in the embodiment of the present application, the detection of the first controller 4
Vehicle is in abnormal condition and needs the signal of emergency stop, such as vehicle is due to failure (components of vehicle abnormal, abnormal electrical power supply)
Emergency stop is needed, alternatively, vehicle front needs emergency stop or vehicle prominent because of other there are closer barrier (pedestrian and/or vehicle)
Hair-like condition and need emergency stop.Specifically, the first controller 4 detects the signal for being used to indicate vehicle emergency stop, including detect vehicle
In malfunction；And/or detect that vehicle is less than or equal to first in advance at a distance from the barrier for being located at the vehicle front
If distance threshold.Wherein, the first pre-determined distance threshold value can be set as needed, for example, 150 meters, 200 meters or other.
Wherein, the first controller 4 identifies real-time imaging based on image recognition technology, if according to image recognition result
Determine that barrier is not present in ground such as the vehicle bottom ground, vehicle side ground or rear of vehicle ground etc. of vehicle periphery；
Or according to image recognition result determine the ground of vehicle periphery there are barrier, but the distance of barrier to vehicle be greater than or
When person is equal to the second pre-determined distance threshold value, determine that vehicle periphery road conditions meet preset safety and launch strategy.For example, it is desired to will warn
Show that board 1 is thrown to vehicle tail, then the first controller 4 is determining that the place of rear of vehicle has barrier based on image recognition result
Hinder object, but the horizontal distance (minimum horizontal distance of barrier to vehicle tail) of barrier to vehicle tail is more than or equal to
When the second pre-determined distance threshold value, determine that the road conditions of rear of vehicle meet preset safety and launch strategy.Second pre-determined distance threshold value
Can be set as needed, for example, 150 meters, 200 meters or other.
In the present embodiment, the first controller 4 may include VCU (Vehicle Control Unit, the full-vehicle control of vehicle
Device).Optionally, the first controller 4 controls vehicle deceleration when detecting vehicle emergent stop signal, and controls control simultaneously and launch
Device 2 executes the operation for launching warning sign.Optionally, when detecting vehicle emergent stop signal, control vehicle subtracts the first controller 4
Speed, during vehicle deceleration is mobile, the first controller 4 controls delivery device 2 and executes the operation for launching warning sign.It is optional
, the first controller 4 controls vehicle deceleration, after vehicle is out of service, the first controller when detecting vehicle emergent stop signal
4 control delivery devices 2 execute the operation for launching warning sign.
The delivery device 2 of the present embodiment can launch warning sign 1 apart from the closer position of vehicle, such as apart from vehicle tail
The closer ground location in portion, apart from the closer ground location of side portion of vehicle or positioned at the ground of vehicle bottom.And real road
When driving, the needs of warning sign 1 could be to emergency stop vehicle periphery such as vehicle tail remote position apart from vehicle remote position
Other vehicles or pedestrians effectively warned, prevent other vehicles or pedestrians of emergency stop vehicle periphery from bumping against the vehicle of the emergency stop
?.
In some embodiments, the first controller 4 controls vehicle deceleration when detecting vehicle emergent stop signal, and simultaneously
Control control delivery device 2 executes the operation for launching warning sign or the first controller 4 when detecting vehicle emergent stop signal,
Vehicle deceleration is controlled, during vehicle deceleration is mobile, the first controller 4 controls delivery device 2 and executes dispensing warning sign
Operation.In the present embodiment, after vehicle deceleration stops, warning sign 1 is the specified location positioned at vehicle tail.
In further embodiments, the first controller 4 controls vehicle deceleration when detecting vehicle emergent stop signal, and same
When control control delivery device 2 execute launch warning sign operation or the first controller 4 detecting vehicle emergent stop signal
When, vehicle deceleration is controlled, and control control delivery device 2 simultaneously and execute the operation for launching warning sign.It is alert but after vehicle emergency stop
Show that distance of the board 1 apart from vehicle tail is smaller, needs mobile warning sign.
The first controller 4 controls vehicle deceleration, in vehicle when detecting vehicle emergent stop signal in yet other embodiments,
After out of service, the first controller 4 controls delivery device 2 and executes the operation for launching warning sign, at this time the dispensing position of warning sign 1
It sets closer apart from vehicle, needs mobile warning sign 1.
The case where for mobile warning sign 1 is needed, warning sign 1 is after being launched on the ground to vehicle periphery, the first control
It is mobile that device 4 processed can control warning sign 1, so that warning sign 1 is moved to the specified location on vehicle periphery ground, to reach warning
Purpose, it is ensured that road traffic safety.
In conjunction with Fig. 2 to Fig. 4, the parking warning device 200 of the present embodiment may also include the driving wheel set on 1 bottom of warning sign
5 and the control device 6 on warning sign 1.Wherein, control device 6 is mobile for controlling driving wheel 5, by driving wheel 5 with
The cooperation of control device 6, so that warning sign 1 has from locomotive function.In the present embodiment, control device 6 and the first controller 4 are logical
Letter connection.
In the present embodiment, on the ground that warning sign 1 is located at vehicle periphery, and the first controller 4 is true based on real-time imaging
It makes vehicle periphery road conditions and meets preset safety moving strategy, then generate the instruction letter for carrying the placement position of warning sign 1
Number and be sent to control device 6.Control device 6 is based on indication signal control warning sign 1 and is moved to placement position, specifically, control
For device 6 processed after receiving indication signal, control driving wheel 5 is mobile, and warning sign 1 is driven to be moved to placement position.
For example, on the ground that warning sign 1 is located at vehicle periphery, and the first controller 4 is based on real-time imaging and determines vehicle
Rear road conditions meet preset safety moving strategy, then generate indication signal and the transmission for carrying 1 placement position of warning sign
To control device 6.
In some embodiments, placement position is predeterminated position.
In further embodiments, placement position is determined by the first controller 4 according to real-time imaging.Specifically, the first control
Device 4 processed is based on image recognition technology and identifies to real-time imaging, judges warning sign 1 currently to the distance of vehicle and warning sign
Whether there are obstacles within the scope of 1 rear (direction of the warning sign 1 far from vehicle) pre-determined distance, when 1 rear of warning sign it is default away from
Barrier is not present from (0~200 meter) in range, it is determined that vehicle periphery road conditions meet preset safety moving strategy, and root
The placement position of warning sign 1 is currently calculated to the distance of vehicle according to pre-determined distance range and warning sign 1.Optionally, position is put
Set to vehicle distance be greater than first distance and be less than second distance, such as placement position to vehicle distance be greater than 150 meters and
Less than 200 meters, to ensure that warning sign 1 is placed on suitable position, the vehicles or pedestrians of the vehicle periphery of emergency stop are carried out effective
Warning, improves traffic safety.
The present embodiment guides the operation of warning sign 1 by onboard image collection device 3, it is not necessary that figure is arranged on warning sign 1
As acquisition device guides the movement of warning sign 1, to reduce the load of warning sign 1, the control of warning sign 1 is cleverer
Living, power consumption is lower.Also, warning sign 1 can not have to calculate in advance and launch distance, be more suitable for emergency stop, also subtract from movement
Artificial maloperation (putting not in place, unreasonable) is lacked, has improved traffic safety.
In the related technology, need to move bearing structure in conjunction with other to carry warning sign 1, to realize warning sign 1
Mobile, the driving wheel 5 of the present embodiment is the bottom for being set up directly on warning sign 1, no longer needs to additionally increase removable carrying knot
Structure, warning sign 1 itself have removable function.
Driving wheel 5 may include one or more, and in a feasible implementation, in conjunction with Fig. 2 and Fig. 3, driving wheel 5 includes
Two, two intervals of driving wheel 5 are set to 1 bottom of warning sign.Control device 6 can control two driving wheels 5 with different revolving speeds
It is mobile, to drive warning sign 1 to be turned to, warning sign 1 can relative vehicle carry out the movements of different directions all around.
In another feasible implementation, driving wheel 5 includes four, and four driving wheels 5 are spaced setting two-by-two and form one
Group, every group of driving wheel 5 are arranged at intervals on 1 bottom of warning sign.Control device 6 can control two groups of driving wheels 5 with different revolving speeds
It is mobile, to drive warning sign 1 to be turned to, warning sign 1 can relative vehicle carry out the movements of different directions all around.
The type of driving wheel 5 can select as needed, and optionally, driving wheel 5 is universal wheel, preferably drive warning sign 1
It is turned to.
The structure of control device 6 can design as needed, and in the present embodiment, referring to Fig. 5, control device 6 includes being used for
The motor 61 for driving the driving wheel 5 mobile and the second controller 62 being electrically connected with motor 61, second controller 62 and the
The communication connection of one controller 4.
Optionally, second controller 62 and the first controller 4 are communicated to connect based on wired communication mode.For example, passing through line
The first controller of cable connection 4 and second controller 62, so that realizing communication link between the first controller 4 and second controller 62
It connects.Optionally, second controller 62 and the first controller 4 are communicated to connect based on communication.
Further, referring to Fig. 6, parking warning device 200 may also include the inertial sensor 7 on warning sign 1, be used to
Property sensor 7 be used to detect the posture of warning sign 1, and the posture of warning sign 1 is sent to second controller 62.Second controller
62 according to the movement of the gesture stability driving wheel 5 of warning sign 1, it is ensured that warning sign 1 is in upright state always.In the present embodiment,
Inertial sensor 7 may include gyroscope and accelerometer, for detecting inclination angle (triangular surface of warning sign 1 and the police of warning sign 1
Show the angle of board 1 to ground between vehicle) and acceleration.Second controller 62 is smaller at the inclination angle for judging warning sign 1 and warns
When board 1 is in accelerated motion, control driving wheel 5 slows down, and when inclination angle is 90 degree or is 90 degree approximate, it is even to control warning sign 1
Speed movement, to prevent warning sign 1 from overturning；Alternatively, second controller 62 is when judging larger inclination angle and 1 retarded motion of warning sign,
It controls driving wheel 5 to accelerate, and when inclination angle is 90 degree or is 90 degree approximate, 1 uniform motion of warning sign is controlled, to prevent warning sign
1 overturns.Referring to Fig. 1, the parking warning device 200 of the present embodiment may also include the box body 8 set on 1 bottom of warning sign, control dress
Set 6 and inertial sensor 7 be housed in box body 8.The box body 8 of the present embodiment can be integrally formed at the bottom of warning sign 1, can also
The bottom of warning sign 1 is fixed on using existing fixed form.Optionally, box body 8 is located between two driving wheels 5, also, box body
8 will not interfere the movement of two driving wheels 5.
The implementation of delivery device 2 may include a variety of, for example, launching police in such a way that capstan winch 22 and rope 21 cooperate
Show board 1, warning sign 1 is launched by puma manipulator 23 or launches warning sign 1 by other structures.
For example, in one embodiment, referring to fig. 2, delivery device 2 further includes capstan winch 22 and rope 21, and capstan winch 22 is fixed on
The tail portion of vehicle or the other positions of vehicle, and capstan winch 22 is electrically connected with the first controller 4, and capstan winch 22 can be by the first controller
4 drive and rotate.Rope 21 and 22 winding of capstan winch cooperate, in the present embodiment, the free end of rope 21 and the fixed company of warning sign 1
It connects.First controller 4 is when controlling delivery device 2 and executing the operation for launching warning sign, specifically, the control of the first controller 4 twists
Disk 22 is rotated around first direction, and rope 21 is driven gradually to deviate from from capstan winch 22, and the length that rope 21 deviates from capstan winch 22 is increasingly longer,
So that warning sign 1 is thrown to ground.In the present embodiment, rope 21 can be the cable of above-described embodiment.
In another embodiment, referring to Fig. 3, delivery device 2 may include puma manipulator 23, puma manipulator 23 and warning
1 activity cooperation of board.First controller 4 controls puma manipulator 23 when controlling delivery device 2 and executing the operation for launching warning sign
It is separated with 1 phase of warning sign.Specifically, the first controller 4 control puma manipulator 23 is mobile, moved with controlling warning sign 1 from vehicle
It moves to the ground of vehicle periphery, and when warning sign 1 is located at the ground of vehicle periphery, control puma manipulator 23 and warning sign 1
It mutually separates, so that warning sign 1 to be thrown to the ground of vehicle periphery.Optionally, puma manipulator 23 includes hook, and hook can
Warning sign 1 is caught in activity.Before vehicle emergency stop, warning sign 1 is caught in hook activity.In vehicle emergency stop, the control of the first controller 4
The ground moving from vehicle towards vehicle periphery is linked up with, to drive ground moving of the warning sign 1 towards vehicle periphery.Work as warning sign
1 be located at vehicle periphery ground when, the first controller 4 control hook is separated with warning sign 1, realize warning sign 1 dispensing warn
The operation of board.
Further, the first controller of the present embodiment 4 can also recycle warning sign 1 by delivery device 2.Specifically
, when warning sign 1 is located on the ground of vehicle periphery, the first controller 4 is determining vehicle periphery road based on real-time imaging
When condition meets preset safe retrieving strategy, control delivery device 2 executes the operation of recycling warning sign, and warning sign 1 is recycled
To vehicle.Specifically, the first controller 4 is based on image recognition technology pair when warning sign 1 is located on the ground of vehicle periphery
Real-time imaging is identified, if determining that there is no obstacles between the vehicle tail and the warning sign 1 according to recognition result
Object, it is determined that vehicle periphery road conditions meet preset safe retrieving strategy.
Optionally, the recycling of warning sign 1 is carried out in two steps, and the first step, the first controller 4 controls delivery device 2, to control police
Show that board 1 is moved to the ground below vehicle；Second step, the first controller 4 controls delivery device 2, to control warning sign 1 by vehicle
The ground moving of lower section is to the designated position of vehicle, such as chassis, boot.By being recycled automatically to warning sign 1, reduce
To Man's Demands, especially under 1 false alarm of warning sign or selfreparing situation (61 overheat of motor, overcurrent-overvoltage, software bug etc.)
It is particularly important.
In an embodiment as illustrated in figure 2, the first controller 4 executes the operation of recycling warning sign in control delivery device 2
When, control capstan winch 22 is rotated around second direction, drives rope 21 to be gradually wound around on capstan winch 22, warning sign 1 is recycled to vehicle
On.In the present embodiment, second direction is opposite with first direction.Optionally, first direction is second direction clockwise
For counterclockwise.Optionally, first direction is that counterclockwise, second direction is clockwise.
In an embodiment as illustrated in figure 3, the first controller 4 executes the operation of recycling warning sign in control delivery device 2
When, control puma manipulator 23 is flexibly connected with warning sign 1, and it is mobile to control warning sign 1 from vehicle to control puma manipulator 23
On ground moving to vehicle around.Optionally, puma manipulator 23 include hook, hook can activity catch on warning sign 1.
When warning sign 1 is located at the ground of vehicle periphery, the first controller 4 control hook is flexibly connected with warning sign 1, then controls hook
It is mobile towards vehicle, it drives warning sign 1 mobile towards vehicle, realizes the operation of the recycling warning sign of warning sign 1.
In the present embodiment, VCU for detect vehicle whether emergency stop, and vehicle periphery road conditions are judged according to the real-time imaging
Whether meet preset safety and launch strategy, preset safety moving strategy or preset safe retrieving strategy, and according to judgement
As a result indicate that delivery device 2 and/or warning sign 1 execute corresponding operation.
It is appreciated that image knowledge can be added between image collecting device 3 and the first controller 4 in the embodiment of the present application
Other module carries out image recognition to real-time imaging based on the picture recognition module, and image recognition result is sent to the first control
Device 4 processed, the first controller 4 judge whether vehicle periphery road conditions meet preset safety and launch plan further according to image recognition result
Slightly, preset safety moving strategy or preset safe retrieving strategy.
It is noted that parking warning device 200 may also include the sensor on vehicle in the embodiment of the present application
Unit, such as laser radar, millimetre-wave radar etc., the sensing unit are electrically connected with the first controller 4, and the first controller 4 can basis
Sensor unit acquisition road condition data (such as distance of lane line, barrier to the tailstock) further to vehicle periphery road conditions into
Row confirmation, so that the first controller 4 of verifying judges the accuracy of vehicle periphery road conditions based on real-time imaging, it is ensured that warning sign is thrown
The safety putting, move etc..
Referring to Fig. 7, the parking warning device 200 of the present embodiment may also include battery 9, which is set to warning sign 1
On, and for powering to control device 6.Optionally, battery 9 is also set in box body 8.After warning sign 1 is recycled on vehicle,
It can be charged by the power supply of vehicle to the battery 9.
In addition, the parking warning device 200 may also include the warning lamp 10 on vehicle, warning lamp 10 referring to Fig. 1
It is electrically connected with the first controller 4.First controller 4 of the present embodiment controls warning lamp after the signal for detecting vehicle emergency stop
10 light according to preset rules.Optionally, for the first controller 4 after the signal for detecting vehicle emergency stop, control warning lamp 10 is aobvious
Show yellow and flashes.And in vehicle orderly shutdown, which closes or otherwise shows.
It is noted that the embodiment of the present application one also provides a kind of vehicle, in conjunction with Fig. 2 and Fig. 3, on which may include
State the parking warning device 200 of embodiment.
The vehicle can be unmanned dispensing vehicle, for dispensing express delivery, food and drink and other items, unmanned passenger car etc.,
It can be the vehicle of someone's traveling.When vehicle encounters emergency situations (failure, front failure) emergency stop, it is based on onboard image collection
The real-time imaging for the vehicle periphery road conditions that device 3 obtains guides the dispensing of warning sign 1, is not necessarily to human intervention, realizes warning
The automation that board 1 is launched, and ensure that warning sign 1 can be launched to safety zone, solving can not put under emergency stop
The pain spot of warning sign 1, improves traffic safety.
Fig. 2 and Fig. 3 is combined again, and the vehicle of the present embodiment may also include vehicle body 100, the dispensing dress of parking warning device 200
2, image capture module 3 etc. is set to be arranged on vehicle body 100.
Embodiment two
Corresponding to the parking warning device of embodiment one, the embodiment of the present application also provides a kind of parking warning method.Fig. 8 is
A kind of method flow diagram of vehicle parking alarming method for power shown in one exemplary embodiment of the application.
The vehicle of the present embodiment can be unmanned vehicle, such as unmanned dispensing vehicle, for dispense express delivery, food and drink and other items, nobody
Passenger car etc. is driven, certainly, which may be the vehicle of someone's traveling.
The executing subject of the vehicle parking alarming method for power of the present embodiment can be VCU, can also be other processors or VCU
And the combination of other processors.Following embodiment is further illustrated by executing subject of VCU.
Referring to Fig. 8, the vehicle parking alarming method for power of the embodiment of the present application two may include following steps:
Step 801: judging whether to detect the signal for being used to indicate vehicle emergency stop, if so, thening follow the steps S802, otherwise
Terminate；
In the present embodiment, VCU generates vehicle emergent stop signal when vehicle needs emergency stop, wherein vehicle needs the case where emergency stop packet
Include: vehicle needs emergency stop, such as vehicle to need urgency because of failure (the components exception of vehicle, abnormal electrical power supply) under abnormal condition
Stop, alternatively, vehicle needs emergency stop or vehicle because of other bursts because front is there are closer barrier (pedestrian and/or vehicle)
Situation and need emergency stop.
Specifically, VCU is detecting that vehicle is in malfunction；And/or it detects vehicle and is located at the vehicle front
When the distance of barrier is less than or equal to the first pre-determined distance threshold value, vehicle emergent stop signal is generated.Wherein, the first pre-determined distance
Threshold value can be set as needed, for example, 150 meters, 200 meters or other.
Step 802: obtaining the real-time imaging of vehicle periphery road conditions；
The real-time imaging of vehicle periphery road conditions may include the ground image of vehicle bottom, vehicle side road conditions image and/
Or the road conditions image of rear of vehicle.
In the present embodiment, vehicle is equipped with the parking warning device as described in embodiment one, and step S802 is specifically based on vehicle
On image collecting device 3 obtain vehicle periphery road conditions real-time imaging.
The present embodiment, the settable vehicle bottom of image collecting device 3, side and/or vehicle tail can also be set to vehicle
Other positions, only need the image collecting device 3 that can take the real-time imaging of vehicle periphery road conditions.Image collector
Setting 3 can be camera, can also be camera, can also be imaging sensor.
Step 803: if determining that vehicle periphery road conditions meet preset safety and launch strategy based on real-time imaging, launching
Warning sign.
Specifically, the delivery device 2 on control vehicle executes the operation for launching warning sign, thus by the warning sign on vehicle
1 is thrown on the ground of vehicle periphery.Optionally, in the present embodiment, warning sign 1 be set to vehicle on, as in vehicle trunk, vehicle
Side and/or vehicle tail etc..Optionally, the position and warning sign 1 that delivery device 2 is arranged on vehicle are arranged in vehicle
On position it is corresponding, for example, delivery device 2 may be provided in vehicle trunk, side portion of vehicle and/or vehicle tail etc..
In this step, VCU identifies real-time imaging based on image recognition technology, if VCU is according to image recognition knot
Fruit determines that obstacle is not present in ground such as the vehicle bottom ground, vehicle side ground or rear of vehicle ground etc. of vehicle periphery
Object；Or VCU determines the ground of vehicle periphery there are barrier according to image recognition result, but barrier is to the distance of vehicle
When more than or equal to the second pre-determined distance threshold value, determine that vehicle periphery road conditions meet preset safety and launch strategy.Wherein,
Two pre-determined distance threshold values can be set as needed, for example, 150 meters, 200 meters or other.
After having executed the operation for launching warning sign, warning sign 1 can be launched closer apart from vehicle delivery device 2
Position, such as apart from the closer ground location of vehicle tail, apart from the closer ground location of side portion of vehicle or positioned at vehicle bottom
Ground.And when real road driving, warning sign 1 is needed apart from the farther away ground location of vehicle, as vehicle tail is farther away
Face position could effectively warn other vehicles or pedestrians of emergency stop vehicle periphery, prevent other of emergency stop vehicle periphery
Vehicles or pedestrians bump against the vehicle of the emergency stop.
In some embodiments, VCU controls vehicle deceleration when detecting vehicle emergent stop signal, and controls control simultaneously
Delivery device 2 executes the operation for launching warning sign or VCU when detecting vehicle emergent stop signal, vehicle deceleration is controlled, in vehicle
Slow down it is mobile during, VCU controls delivery device 2 and executes the operation for launching warning sign.In the present embodiment, vehicle deceleration stops
After only, warning sign 1 is the specified location positioned at vehicle tail.
In further embodiments, VCU controls vehicle deceleration when detecting vehicle emergent stop signal, and controls simultaneously
Delivery device 2 processed executes the operation for launching warning sign or VCU when detecting vehicle emergent stop signal, controls vehicle deceleration, and
Control delivery device 2 is controlled simultaneously executes the operation for launching warning sign.But after vehicle emergency stop, warning sign 1 apart from vehicle away from
From smaller, mobile warning sign is needed.
VCU controls vehicle deceleration when detecting vehicle emergent stop signal in yet other embodiments, stops transporting in vehicle
After row, VCU controls delivery device 2 and executes the operation for launching warning sign, and the placement position of warning sign 1 is closer apart from vehicle at this time,
Need mobile warning sign 1.
The case where for mobile warning sign 1 is needed, for warning sign 1 after being launched on the ground to vehicle periphery, VCU can
It is mobile to control warning sign 1, so that warning sign 1 is moved to the specified location on vehicle periphery ground, to achieve the purpose that warning, really
Protect road traffic safety.
In one embodiment, the placement position of warning sign 1 is predetermined.VCU executes dispensing in control delivery device 2
After the operation of warning sign, image recognition is carried out to real-time imaging based on image recognition technology, if true according to image recognition result
It makes vehicle periphery road conditions and meets preset safety moving strategy, then the movement of warning sign 1, band are controlled according to preset placement position
Dynamic warning sign 1 is moved to the preset placement position.
In another embodiment, VCU first determines the placement position of warning sign 1 based on real-time imaging, and is based on image technique
Real-time imaging is identified, judges whether vehicle periphery road conditions meet preset safety moving strategy, if meeting preset peace
Full shift strategy then controls the movement of warning sign 1 according to identified placement position, warning sign 1 is driven to be moved to based on real-time shadow
Placement position as determining warning sign 1.Compared to the mode for presetting placement position, warning sign 1 is determined based on real-time imaging
This mode in placement position has fully considered the road conditions of vehicle periphery, it is ensured that warning sign 1 is mobile in safety zone, improves
Traffic safety.
Real-time imaging is identified specifically, VCU is based on image recognition technology, judges 1 current location of warning sign to vehicle
1 rear pre-determined distance of distance and warning sign within the scope of whether there are obstacles, when 1 rear pre-determined distance range of warning sign
Interior (0~200 meter) is not present barrier, it is determined that vehicle periphery road conditions meet preset safety moving strategy, and according to default
Distance range and warning sign 1 currently calculate the placement position of warning sign 1 to the distance of vehicle.Optionally, placement position is to vehicle
Distance be greater than first distance and be less than second distance, such as placement position to rear of vehicle distance be greater than 150 meter Er little
In 200 meters, to ensure that warning sign 1 is placed on suitable position, the vehicles or pedestrians of the rear of vehicle of emergency stop are carried out effectively alert
Show, improves traffic safety.
In some embodiments, parking warning device 200 further includes the inertial sensor 7 on warning sign 1.VCU control
After delivery device 2 processed executes the operation for launching warning sign, the posture of warning sign 1 is detected based on inertial sensor 7, and according to police
Show that the state control warning sign 1 of board 1 is mobile, to drive warning sign 1 mobile, so that it is guaranteed that warning sign 1 is uprightly mobile.
Further, the present embodiment VCU can also recycle warning sign 1 by delivery device 2.Specifically, VCU is controlled
After delivery device 2 executes the operation for launching warning sign, real-time imaging is identified based on image recognition technology, further according to figure
When determining that vehicle periphery road conditions meet preset safe retrieving strategy as recognition result, control delivery device 2 executes recycling police
The operation for showing board, warning sign 1 is recycled on vehicle.In the present embodiment, VCU is based on the image and determines that the vehicle is special
Determine that barrier is not present between region such as vehicle tail and the warning sign 1, it is determined that vehicle periphery road conditions meet preset peace
Full take-back strategy.
The recycling of warning sign 1 is carried out in two steps, the first step, and VCU controls delivery device 2 and is moved to vehicle to control warning sign 1
The ground of lower section；Second step, VCU control delivery device 2 to control warning sign 1 by the finger of the ground moving below vehicle to vehicle
Positioning is set, e.g., chassis, boot.By being recycled automatically to warning sign 1, reduces to Man's Demands, especially warning
It is particularly important under 1 false alarm of board or selfreparing situation (61 overheat of motor, overcurrent-overvoltage, software bug etc.).
In some embodiments, parking warning device 200 further includes the warning lamp 10 on vehicle.It is used for detecting
After the signal for indicating vehicle emergency stop, control warning lamp 10 is lighted according to preset rules.Optionally, VCU is detecting vehicle urgency
After the signal stopped, control warning lamp 10 shows yellow and flashes.Further, it when detecting that warning sign 1 is recycled on vehicle, closes
Warning lamp 10 is closed to close warning lamp 10 that is, after the recycling in place of warning sign 1, release alarm function.
In a specific implementation, referring to Fig. 9, vehicle parking alarming method for power may include following steps:
Step 1: detecting vehicle emergent stop signal；
Step 2: control warning lamp 10 is warned；
Step 3: the real-time imaging of vehicle surrounding road condition is acquired based on image collecting device 3；It is understood that step 3
It can be interchanged with the execution sequence of step 2；
Step 4: judging whether vehicle periphery road conditions meet preset safety and launch based on the real-time imaging acquired in step 3
Strategy；If so, 5 are entered step, and otherwise, return step 3；
Step 5: control delivery device 2 executes the operation for launching warning sign, and warning sign 1 is thrown to the ground of vehicle periphery
Face；
Step 6: detecting that vehicle completes parking；
Step 7: after vehicle completes parking, the real-time imaging of vehicle surrounding road condition is acquired based on image collecting device 3；
Step 8: judging whether vehicle periphery road conditions meet preset safety moving based on the real-time imaging acquired in step 7
Strategy；If so, 9 are entered step, and otherwise, return step 7；
Step 9: the placement position determined according to the real-time imaging acquired in step 7, warning sign 1 are moved far from vehicle automatically
It is dynamic；
Step 10: judging whether warning sign 1 is moved to the placement position determined in step 9；If so, entering step 11:
Otherwise, return step 9；
Step 11: warning sign 1 stops mobile (referring to that warning sign 1 itself will not move)；
Step 12: after warning sign 1 stops movement, the real-time shadow of vehicle surrounding road condition is acquired based on image collecting device 3
Picture；
Step 13: judging whether vehicle periphery road conditions meet preset safety and return based on the real-time imaging acquired in step 12
Receive strategy；If so, 14 are entered step, and otherwise, return step 12；
Step 14: warning sign 1 is automatically mobile towards vehicle, and acquires vehicle surrounding road condition based on image collecting device 3
Real-time imaging；
Step 15: judging whether warning sign 1 is moved to the lower section ground of vehicle based on the real-time imaging acquired in step 14
Region；If so, 16 are entered step, and otherwise, return step 14；
Step 16: warning sign 1 stops mobile (referring to that warning sign 1 itself will not move), and after warning sign 1 stops movement,
Warning sign 1 is recycled on vehicle based on delivery device 2；
Step 17: judging whether warning sign 1 is located at the designated position of vehicle；If so, entering step 18, otherwise, return
Step 16；
Step 18: closing warning lamp 10.
So far, entire vehicle parking warning process terminates.
The parking warning device 200 that can be found in above-described embodiment one is further to the vehicle parking alarming method for power of the present embodiment
Explanation.
The foregoing is merely the preferred embodiments of the application, not to limit the application, all essences in the application
Within mind and principle, any modification, equivalent substitution, improvement and etc. done be should be included within the scope of the application protection.
Claims (15)
1. a kind of parking warning device, described device includes warning sign, which is characterized in that described device further include delivery device,
Image collecting device and the first controller, first controller and the delivery device, described image acquisition device are distinguished
Electrical connection；
Wherein, described image acquisition device is used to acquire the real-time imaging of vehicle surrounding road condition and is sent to first control
Device；
If first controller detects the signal for being used to indicate vehicle emergency stop, and is determined based on the real-time imaging described
Vehicle periphery road conditions meet preset safety and launch strategy, then control the delivery device and execute the operation for launching warning sign.
2. parking warning device according to claim 1, which is characterized in that further include the drive set on the warning sign bottom
Driving wheel and the control device on the warning sign, the control device is mobile for controlling the driving wheel, and with institute
State the communication connection of the first controller；
It is rest on the ground in the warning sign, and first controller is based on the real-time imaging and determines the vehicle periphery
Road conditions meet preset safety moving strategy, then generate carry the warning sign placement position indication signal and transmission
To the control device；
The control device is based on indication signal control warning sign and is moved to the placement position.
3. parking warning device according to claim 2, which is characterized in that the control device includes described for driving
Second controller driving wheel mobile motor and be electrically connected with the motor, the second controller and first control
Device communication connection.
4. parking warning device according to claim 3, which is characterized in that the delivery device includes cable, and described
One controller and the second controller are based on the cable and realize communication connection.
5. parking warning device according to claim 4, which is characterized in that the delivery device further includes capstan winch；
First controller controls the capstan winch and turns around first direction when controlling the delivery device execution dispensing operation
It is dynamic, drive the cable gradually to deviate from from the capstan winch.
6. parking warning device according to claim 5, which is characterized in that first controller is based on described real-time
When image determines that the vehicle periphery road conditions meet preset safe retrieving strategy, controls the capstan winch and turn around second direction
It is dynamic, drive the cable to be gradually wound around on the capstan winch, the second direction is opposite to the first direction.
7. parking warning device according to claim 3, which is characterized in that the delivery device includes puma manipulator,
The puma manipulator and the warning sign activity cooperate；
First controller controls the puma manipulator when controlling the delivery device and executing the operation for launching warning sign
It is mutually separated with the warning sign；
First controller controls the puma manipulator when controlling the delivery device and executing the operation for recycling warning sign
It is flexibly connected with the warning sign.
8. according to any parking warning device of claim 2-7, which is characterized in that further include being set on the warning sign
Inertial sensor, the inertial sensor is used to detect the posture of the warning sign, and the posture of the warning sign is sent
To the control device；
It is mobile to control the warning sign according to the posture of the warning sign for the control device, and controls the warning sign and keep
Upright state.
9. -7 any parking warning device according to claim 1, which is characterized in that further include being set on the vehicle
Warning lamp, the warning lamp are electrically connected with first controller；
First controller controls the warning lamp and lights according to preset rules after the signal for detecting vehicle emergency stop.
10. a kind of vehicle, which is characterized in that including parking warning device as described in any one of claim 1 to 9.
11. a kind of vehicle parking alarming method for power, which is characterized in that the described method includes:
Detection is used to indicate the signal of vehicle emergency stop；
Obtain the real-time imaging of the vehicle periphery road conditions；
If determining that the vehicle periphery road conditions meet preset safety and launch strategy based on the real-time imaging, warning is launched
Board.
12. according to the method for claim 11, which is characterized in that described to detect the signal for being used to indicate vehicle emergency stop, packet
It includes:
It detects the vehicle and is in malfunction；And/or
It detects the vehicle and is less than or equal to the first pre-determined distance threshold value at a distance from the barrier for being located at the vehicle front.
13. according to the method for claim 12, which is characterized in that described to determine the vehicle based on the real-time imaging
Surrounding road condition meets preset safety and launches strategy, comprising:
Determine that barrier is not present in the ground of the vehicle periphery based on the real-time imaging；Or
The ground of the vehicle periphery is determined there are barrier based on the real-time imaging, but the barrier is to the vehicle
Distance be more than or equal to the second pre-determined distance threshold value.
14. according to the method for claim 12, which is characterized in that after the dispensing warning sign, further includes:
Determine that the vehicle periphery road conditions meet preset safety moving strategy based on the real-time imaging, then according to preset
It is mobile that placement position controls the warning sign；Or
The placement position of the warning sign is determined based on the real-time imaging；
Determine that the road conditions of the rear of vehicle meet preset safety moving strategy based on the real-time imaging, then according to really
It is mobile that fixed placement position controls the warning sign.
15. according to the method for claim 12, which is characterized in that after the dispensing warning sign, further includes:
When determining that the vehicle periphery road conditions meet preset safe retrieving strategy based on the real-time imaging, control recycling police
Show board.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811488651.4A CN109455136A (en) | 2018-12-06 | 2018-12-06 | Parking warning device, vehicle and vehicle parking alarming method for power |
| PCT/CN2019/121452 WO2020114298A1 (en) | 2018-12-06 | 2019-11-28 | Parking warning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811488651.4A CN109455136A (en) | 2018-12-06 | 2018-12-06 | Parking warning device, vehicle and vehicle parking alarming method for power |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109455136A true CN109455136A (en) | 2019-03-12 |
Family
ID=65612587
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811488651.4A Withdrawn CN109455136A (en) | 2018-12-06 | 2018-12-06 | Parking warning device, vehicle and vehicle parking alarming method for power |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109455136A (en) |
| WO (1) | WO2020114298A1 (en) |
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| WO2020114298A1 (en) | 2020-06-11 |
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Application publication date: 20190312 |