CN109649408A - A kind of vehicle-surroundings disorder detection method and vehicle - Google Patents
A kind of vehicle-surroundings disorder detection method and vehicle Download PDFInfo
- Publication number
- CN109649408A CN109649408A CN201910052006.6A CN201910052006A CN109649408A CN 109649408 A CN109649408 A CN 109649408A CN 201910052006 A CN201910052006 A CN 201910052006A CN 109649408 A CN109649408 A CN 109649408A
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- vehicle
- gathering apparatus
- photoelectric gathering
- test point
- photoelectric
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention provides a kind of vehicle-surroundings disorder detection methods, comprising: obtains the multiple images signal of the multiple test points being pre-set on road by the multiple photoelectric gathering apparatus acquisition being set on vehicle；Described image signal is converted into electric signal；Judge whether corresponding multiple groups electric signal is identical respectively；If so, judging that there is no barriers on present road；If it is not, then judging that there are barriers on present road.The present invention provides a kind of vehicle-surroundings disorder detection methods, device cooperation is detected and controlled by photoelectric gathering apparatus, image information is changed into Electric signal processing, the workload being analyzed and processed to image is greatly reduced through software, efficiently solves the problems, such as that expensive detection device and processing heavy workload or processing speed are slow.
Description
Technical field
The present invention relates to detection of obstacles field, in particular to a kind of vehicle-surroundings disorder detection method and vehicle.
Background technique
Existing vehicle drive assist system generally uses camera collection image, i.e., the Scenery Imaging of vehicle-surroundings is existed
On imaging sensor, handled by the image that subsequent hardware circuit and software analysis acquire imaging sensor, with judgement
Whether vehicle-surroundings have barrier.
But the larger workload of the software of this method analysis processing, treatment effeciency is lower, time-consuming and laborious, software and hardware at
This height.
Summary of the invention
The present invention provides a kind of vehicle-surroundings disorder detection methods, detect and control device cooperation by photoelectric gathering apparatus,
Image information is changed into Electric signal processing, greatly reduces through software the workload being analyzed and processed to image, effectively
Ground solves the problems, such as that expensive detection device and processing heavy workload or processing speed are slow.
First embodiment of the invention provides a kind of vehicle-surroundings disorder detection method, comprising:
It obtains by the multiple test points of the multiple photoelectric gathering apparatus acquisition being set on vehicle being pre-set on road
Multiple images signal；
Described image signal is converted into electric signal；
Judge whether corresponding multiple groups electric signal is identical respectively；
If so, judging that there is no barriers on present road；
If it is not, then judging that there are barriers on present road.
Preferably, the test point includes front part of vehicle test point, front left side test point, forward right side test point, left side inspection
Measuring point and right side test point；
Preferably, the multiple photoelectric gathering apparatus includes the first photoelectric gathering apparatus and the second photoelectric gathering apparatus；
First photoelectric gathering apparatus is set to windshield upper left side, and second photoelectric gathering apparatus is set to the glass that keeps out the wind
Glass upper right side.
Preferably, the multiple photoelectric gathering apparatus further include: third photoelectric gathering apparatus, the 4th photoelectric gathering apparatus, the 5th light
Electric collector and the 6th photoelectric gathering apparatus；
The third photoelectric gathering apparatus is set at vehicle left side rearview mirror, and the 4th photoelectric gathering apparatus is set to vehicle
At right rear；5th photoelectric gathering apparatus is set to vehicle left side vehicle body upper portion, the 6th photoelectric gathering apparatus setting
In vehicle right side vehicle body upper portion.
Preferably, first photoelectric gathering apparatus and second photoelectric gathering apparatus are for obtaining front part of vehicle test point
Electric signal, first photoelectric gathering apparatus and the third photoelectric gathering apparatus are used to obtain the telecommunications of vehicle front left side test point
Number, the third photoelectric gathering apparatus and the 5th photoelectric gathering apparatus are described for obtaining the electric signal of vehicle left side test point
Second photoelectric gathering apparatus and the 4th photoelectric gathering apparatus are used to obtain the electric signal of vehicle forward right side test point, the 4th light
Electric collector and the 6th photoelectric gathering apparatus are used to obtain the electric signal of vehicle right side test point.
Preferably, the fore-and-aft distance between the test point is 0.2-30m, and the lateral distance between the test point is 5-
20cm, the longitudinal direction are automobile direction of advance, and the transverse direction is perpendicular to automobile direction of advance.
Second embodiment of the invention provides a kind of vehicle, adopts including controller and the multiple photoelectricity being set on vehicle body
Storage, wherein the controller includes memory and processor, the memory and the multiple photoelectric gathering apparatus with
The processor connects, and is stored with executable code in the memory, the executable code can be held by the processor
Row, to realize vehicle-surroundings disorder detection method as described above.
Preferably, further includes: warning device；
The warning device is connected with the output end of the controller, when controller judgement is acquired from different photoelectricity
When the electric signal difference of the same test point of device, then alarm signal is issued.
Preferably, further includes: relay；
The output end of the controller is connected with the coil of the relay, and the normally opened contact of the relay is used for and vehicle
Double sudden strain of a muscle indicator lights in are connected.
The present invention provides a kind of vehicle-surroundings disorder detection methods, detect and control device cooperation by photoelectric gathering apparatus,
Image information is changed into Electric signal processing, the letter that the different photoelectric gathering apparatus of the same test point detect is judged by controller
Number whether it is identical judge the front whether have barrier, if they are the same, then judge clear, if it is different, then judgement has barrier,
Controller output end exports electric signal to warning device and reminds driver, this detection device is greatly reduced through software come to figure
As the workload being analyzed and processed, efficiently solves expensive detection device and processing heavy workload or processing speed is slow
Slow problem.
Detailed description of the invention
Fig. 1 is vehicle-surroundings of embodiment of the present invention disorder detection method flow diagram；
Fig. 2 is the top view of vehicle detection of embodiment of the present invention point arrangement；
Fig. 3 is the main view of vehicle detection of embodiment of the present invention point arrangement.
Specific embodiment
To keep the purposes, technical schemes and advantages of embodiment of the present invention clearer, implement below in conjunction with the present invention
The technical solution in embodiment of the present invention is clearly and completely described in attached drawing in mode, it is clear that described reality
The mode of applying is some embodiments of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ability
Domain those of ordinary skill every other embodiment obtained without creative efforts, belongs to the present invention
The range of protection.Therefore, the detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit below and is wanted
The scope of the present invention of protection is sought, but is merely representative of selected embodiment of the invention.Based on the embodiment in the present invention,
Every other embodiment obtained by those of ordinary skill in the art without making creative efforts belongs to this
Invent the range of protection.
It elaborates below in conjunction with attached drawing to specific embodiments of the present invention.
Referring to Fig. 1, being detected and being controlled by photoelectric gathering apparatus the present invention provides a kind of vehicle-surroundings disorder detection method
Device cooperation processed, changes into Electric signal processing for image information, greatly reduces through software the work being analyzed and processed to image
It measures, efficiently solves the problems, such as that expensive detection device and processing heavy workload or processing speed are slow.
First embodiment of the invention provides a kind of vehicle-surroundings disorder detection method, comprising:
S101 is obtained by the multiple inspections of the multiple photoelectric gathering apparatus acquisition being set on vehicle being pre-set on road
The multiple images signal of measuring point；
Fig. 2 to Fig. 3 is please referred to, the multiple photoelectric gathering apparatus includes that the first photoelectric gathering apparatus 01 and the second photoelectricity acquire
Device 02；
First photoelectric gathering apparatus 01 is set to windshield upper left side, and second photoelectric gathering apparatus 02 is set to gear
Wind glass upper right side.
Preferably, the multiple photoelectric gathering apparatus further include: third photoelectric gathering apparatus 03, the 4th photoelectric gathering apparatus 04,
Five photoelectric gathering apparatus 05 and the 6th photoelectric gathering apparatus 06；
The third photoelectric gathering apparatus 03 is set at vehicle left side rearview mirror, and the 4th photoelectric gathering apparatus 04 is set to
At vehicle right side rearview mirror；5th photoelectric gathering apparatus 05 is set to vehicle left side vehicle body upper portion, the 6th photoelectricity acquisition
Device 06 is set to vehicle right side vehicle body upper portion.
Preferably, the test point includes front part of vehicle test point, front left side test point, forward right side test point, left side inspection
Measuring point and right side test point；
Preferably, first photoelectric gathering apparatus 01 and second photoelectric gathering apparatus 02 are for obtaining front part of vehicle detection
The electric signal of point, first photoelectric gathering apparatus 01 and the third photoelectric gathering apparatus 02 are for obtaining vehicle front left side test point
Electric signal, the third photoelectric gathering apparatus 03 and the 5th photoelectric gathering apparatus 05 are used to obtain the electricity of vehicle left side test point
Signal, second photoelectric gathering apparatus 02 and the 4th photoelectric gathering apparatus 04 are used to obtain the telecommunications of vehicle forward right side test point
Number, the 4th photoelectric gathering apparatus 04 and the 6th photoelectric gathering apparatus 06 are for obtaining the electric signal of vehicle right side test point.
Described image signal is converted to electric signal by S102；
S103 judges whether corresponding multiple groups electric signal is identical respectively；
S104, if so, judging that there is no barriers on present road；
S105, if it is not, then judging that there are barriers on present road.
Preferably, the fore-and-aft distance between the test point is 0.2-30m, and the lateral distance between the test point is 5-
20cm.The longitudinal direction is automobile direction of advance, and the transverse direction is perpendicular to automobile direction of advance.
Front side test point is set to vehicle front side, wherein the longitudinal pitch between the test point is 0.2-30m, the test point
Between horizontal spacing be 5-20cm, first photoelectric gathering apparatus 01 and second photoelectric gathering apparatus 02 get same detection
When the electric signal difference of point, i.e., judgement has barrier to block acquisition of certain photoelectric gathering apparatus to certain test point signal, such as road
The height of barrier has been more than preset value (such as 0.2m) and has blocked the signal acquisition of certain photoelectric gathering apparatus on face, controller output
One electric signal reminds driver to pay attention to warning device.
Left side test point and right side test point are set to left and right vehicle wheel two sides, wherein the longitudinal pitch between the test point is
0.2-30m, the horizontal spacing between the test point are 5-20cm, the third photoelectric gathering apparatus 03 and the 5th photoelectricity acquisition
When device 05 gets the electric signal difference of same test point or the 4th photoelectric gathering apparatus 04 and the 6th photoelectric gathering apparatus
06 when getting the electric signal difference of same test point, that is, judges that there are barrier in left and right vehicle wheel two sides, controller exports a telecommunications
Number to warning device, driver is reminded to pay attention to.
Front left side test point and forward right side test point are set to vehicle front left side and forward right side, wherein vertical between the test point
It is 0.2-30m to spacing, the horizontal spacing between the test point is 5-20cm, first photoelectric gathering apparatus 01 and the third
When photoelectric gathering apparatus 03 gets the electric signal difference of same test point or second photoelectric gathering apparatus 02 and the 4th light
When electric collector 04 gets the electric signal difference of same test point, that is, judge that there is barrier in the left or right side of vehicle, controls
Device exports an electric signal to warning device, and driver is reminded to pay attention to.
Second embodiment of the invention provides a kind of vehicle, adopts including controller and the multiple photoelectricity being set on vehicle body
Storage, wherein the controller includes memory and processor, the memory and the multiple photoelectric gathering apparatus with
The processor connects, and is stored with executable code in the memory, the executable code can be held by the processor
Row, to realize vehicle-surroundings disorder detection method as described above.
Preferably, further includes: warning device；
The warning device is connected with the output end of the controller, when controller judgement is acquired from different photoelectricity
When the electric signal difference of the same test point of device, then alarm signal is issued.
Preferably, further includes: relay；
The output end of the controller is connected with the coil of the relay, and the normally opened contact of the relay is used for and vehicle
Double sudden strain of a muscle indicator lights in are connected.
When vehicle in the process of moving, encounter in the case that above-mentioned judgement has barrier, controller exports an electric signal
Double sudden strain of a muscle indicator lights in vehicle are connected, double sudden strain of a muscle indicator lights are with certain frequency to the coil of the relay so that normally opened contact is closed
Driver is reminded in bounce, and part driver does not like the warning device with the sound, and this type of alarm can satisfy part and drive
The hobby for the person of sailing, and can remind in time around driver that there are barriers.
The above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment,
All technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.
Claims (9)
1. a kind of vehicle-surroundings disorder detection method characterized by comprising
It obtains by the more of the multiple test points of the multiple photoelectric gathering apparatus acquisition being set on vehicle being pre-set on road
A picture signal；
Described image signal is converted into electric signal；
Judge whether corresponding multiple groups electric signal is identical respectively；
If so, judging that there is no barriers on present road；
If it is not, then judging that there are barriers on present road.
2. vehicle-surroundings disorder detection method according to claim 1, which is characterized in that before the test point includes vehicle
Portion's test point, front left side test point, forward right side test point, left side test point and right side test point.
3. vehicle-surroundings disorder detection method according to claim 2, which is characterized in that the multiple photoelectric gathering apparatus packet
Include the first photoelectric gathering apparatus and the second photoelectric gathering apparatus；
First photoelectric gathering apparatus is set to windshield upper left side, and second photoelectric gathering apparatus is set to the windshield right side
Upside.
4. vehicle-surroundings disorder detection method according to claim 3, which is characterized in that the multiple photoelectric gathering apparatus is also
It include: third photoelectric gathering apparatus, the 4th photoelectric gathering apparatus, the 5th photoelectric gathering apparatus and the 6th photoelectric gathering apparatus；
The third photoelectric gathering apparatus is set at vehicle left side rearview mirror, and the 4th photoelectric gathering apparatus is set to vehicle right side
At rearview mirror；5th photoelectric gathering apparatus is set to vehicle left side vehicle body upper portion, and the 6th photoelectric gathering apparatus is set to vehicle
Vehicle body upper portion on the right side of.
5. vehicle-surroundings disorder detection method according to claim 4, which is characterized in that first photoelectric gathering apparatus and
Second photoelectric gathering apparatus is used to obtain the electric signal of front part of vehicle test point, first photoelectric gathering apparatus and the third
Photoelectric gathering apparatus is used to obtain the electric signal of vehicle front left side test point, and the third photoelectric gathering apparatus and the 5th photoelectricity are adopted
Storage is used to obtain the electric signal of vehicle left side test point, and second photoelectric gathering apparatus and the 4th photoelectric gathering apparatus are used for
The electric signal of vehicle forward right side test point, the 4th photoelectric gathering apparatus and the 6th photoelectric gathering apparatus are obtained for obtaining vehicle
The electric signal of test point on the right side of.
6. vehicle-surroundings disorder detection method according to claim 1, which is characterized in that between the test point it is longitudinal away from
From for 0.2-30m, the lateral distance between the test point is 5-20cm, and the longitudinal direction is automobile direction of advance, and the transverse direction is
Perpendicular to automobile direction of advance.
7. a kind of vehicle, which is characterized in that including controller and the multiple photoelectric gathering apparatus being set on vehicle body, wherein institute
Stating controller includes memory and processor, and the memory and the multiple photoelectric gathering apparatus connect with the processor
It connects, executable code is stored in the memory, the executable code can be executed by the processor, to realize as weighed
Benefit requires vehicle-surroundings disorder detection method described in 1 to 6 any one.
8. vehicle according to claim 7, which is characterized in that further include: warning device；
The warning device is connected with the output end of the controller, when the controller judges from different photoelectric gathering apparatus
When the electric signal difference of the same test point, then alarm signal is issued.
9. vehicle according to claim 7, which is characterized in that further include: relay；
The output end of the controller is connected with the coil of the relay, the normally opened contact of the relay be used for in vehicle
Double sudden strain of a muscle indicator lights be connected.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910052006.6A CN109649408B (en) | 2019-01-21 | 2019-01-21 | Vehicle peripheral obstacle detection method and vehicle |
| PCT/CN2019/127136 WO2020151435A1 (en) | 2019-01-21 | 2019-12-20 | Method for detecting obstacle around vehicle, and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910052006.6A CN109649408B (en) | 2019-01-21 | 2019-01-21 | Vehicle peripheral obstacle detection method and vehicle |
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| Publication Number | Publication Date |
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| CN109649408A true CN109649408A (en) | 2019-04-19 |
| CN109649408B CN109649408B (en) | 2020-09-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910052006.6A Active CN109649408B (en) | 2019-01-21 | 2019-01-21 | Vehicle peripheral obstacle detection method and vehicle |
Country Status (2)
| Country | Link |
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| CN (1) | CN109649408B (en) |
| WO (1) | WO2020151435A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020151435A1 (en) * | 2019-01-21 | 2020-07-30 | 厦门理工学院 | Method for detecting obstacle around vehicle, and vehicle |
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| DE202015003992U1 (en) * | 2015-06-02 | 2015-09-10 | Conrad Leuthaeuser | Door opening safety system for motor vehicles |
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| Publication number | Publication date |
|---|---|
| WO2020151435A1 (en) | 2020-07-30 |
| CN109649408B (en) | 2020-09-25 |
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Effective date of registration: 20220209 Address after: 510000 No. 202 Fish Road, Dongyong Town, Nansha District, Guangzhou City, Guangdong Province Patentee after: GUANGZHOU YOUBAO AIJIA TECHNOLOGY Co.,Ltd. Address before: 361024 No. 600, science and engineering road, Jimei District, Fujian, Xiamen Patentee before: XIAMEN University OF TECHNOLOGY |
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Denomination of invention: A vehicle surrounding obstacle detection method and vehicle Effective date of registration: 20230110 Granted publication date: 20200925 Pledgee: Zhaoqing SME Financing Guarantee Co.,Ltd. Pledgor: GUANGZHOU YOUBAO AIJIA TECHNOLOGY Co.,Ltd. Registration number: Y2023980030399 |