CN109866780A - A kind of automobile initial safe self-checking system - Google Patents
A kind of automobile initial safe self-checking system Download PDFInfo
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- CN109866780A CN109866780A CN201910260282.1A CN201910260282A CN109866780A CN 109866780 A CN109866780 A CN 109866780A CN 201910260282 A CN201910260282 A CN 201910260282A CN 109866780 A CN109866780 A CN 109866780A
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Abstract
The present invention relates to a kind of automobile initial safe self-checking systems, including in-vehicle processor, first signal input part of in-vehicle processor is connected with the output end of ultrasonic sensor, the second signal input terminal of in-vehicle processor is connected with the output end of vision camera, the third signal input part of in-vehicle processor is connected with the output end of thermal imaging system, in-vehicle processor interacts screen both-way communication with man-machine machine, and the output end of human-computer interaction screen is connected with the input terminal of voice module；The vehicle related hardware includes entire car controller, brake system, gear system and Vehicular accumulator cell, and Vehicular accumulator cell is powered to in-vehicle processor, in-vehicle processor and entire car controller both-way communication.Present invention firstly provides the image co-registration of thermal imaging system is looked around in camera picture in automobile, the auto-panorama completed in complete meaning is looked around, and the safety detection of non-blind area is truly realized；It helps driver to complete this safety detection, helps driver to avoid safety problem that may be present by Body Control.
Description
Technical field
The present invention relates to vehicle security drive technical fields, especially automobile initial safe self-checking system.
Background technique
With the development of economy, automobile enters more and more families, and people are to vehicle security drive safeguards technique
It is required that it is higher and higher, while desirably vehicle is more and more intelligent, driver can be helped to complete some duplicate, simply
But necessary work, easy life is come with this, improves safety coefficient, improvement driving experience.
General old driver can take a round in upper Chinese herbaceous peony around vehicle, confirm perimeter security with this.But new hand driver is very
It is few to confirm safety around vehicle, also also few people can be around Che Yizhou, and even if around Che Yizhou most in inclement weather
The state at bottom of waiting when number is also unclear such as fond of play muddled child either kitten, doggie, these are all potential
Security risk.
What general vehicle just had a panorama when parking looks around projection, however in fact vehicle when initial motion but
When being that driver most loosens.Vehicle local environment this moment is that driver is unfamiliar in fact, and vehicle surrounding includes vehicle bottom
If information can integrate processing and explicitly be given to driver, drive safety can be greatly improved, also facilitates driver certainly
Further operating.There is presently no this automotive safety self-checking system occur.
Summary of the invention
The purpose of the present invention is to provide one kind to pass through in the case where the illumination such as night, greasy weather or rainy day are bad
Fusion to multisensors such as thermal imaging systems quickly judges that vehicle's surroundings include the security situation of bottom, shows on the screen real
When panoramic looking-around picture, while by Body Control help driver avoid the automobile of some safety problems that may be present initial
Safe self-checking system.
To achieve the above object, the invention adopts the following technical scheme: a kind of automobile initial safe self-checking system, including
In-vehicle processor, ultrasonic sensor, vision camera, thermal imaging system, human-computer interaction screen, voice module are related to vehicle hard
Part；First signal input part of the in-vehicle processor is connected with the output end of ultrasonic sensor, and the second of in-vehicle processor
Signal input part is connected with the output end of vision camera, the third signal input part of in-vehicle processor and the output of thermal imaging system
End is connected, and in-vehicle processor interacts screen both-way communication, the output end of human-computer interaction screen and the input terminal of voice module with man-machine machine
It is connected；The vehicle related hardware includes entire car controller, brake system, gear system and Vehicular accumulator cell, Vehicular accumulator cell
It powers to in-vehicle processor, in-vehicle processor and entire car controller both-way communication.
The ultrasonic sensor and in-vehicle processor turn USB by serial ports and communicate, and realize the two Direct Communication；Vision camera shooting
Head realizes video signal transmission by HDMI wire with in-vehicle processor；Thermal imaging system and in-vehicle processor are realized by HDMI wire to be regarded
Frequency signal communication；Human-computer interaction screen realizes video signal transmission by HDMI interface and in-vehicle processor, is realized by USB interface
Feed back the information of touch screen；Human-computer interaction screen provides the voice communication of AUX interface completion and voice module；In-vehicle processor passes through
USB turns CAN and vehicle-mounted related hardware is completed to communicate.
The number of the ultrasonic sensor is 12, wherein being located at headstock 4, is located at the tailstock 4, is located at vehicle body
Two sides 4；The number of the vision camera is 4, is installed at headstock respectively, on tailstock number slip and left and right rearview mirror
Under；The number of the thermal imaging system is at least two, is installed under the forward and backward chassis of vehicle respectively, the heat under front chassis
Imager tilts backwards, and the thermal imaging system inclination under rear chassis is facing forward.
As shown from the above technical solution, the present invention has the advantages that first, present invention firstly provides by the figure of thermal imaging system
It is looked around in camera picture as merging in automobile, the auto-panorama completed in complete meaning is looked around, and non-blind area is truly realized
Safety detection；Second, this link before usual start is to be completed by driver around Che Yizhou, and the present invention can help
Driver completes this safety detection, helps driver that some safety that may be present is avoided to ask as necessary by Body Control
Topic；Third, this system multisensor have selected lower-cost three kinds of different types of sensors, are under different operating conditions to meet
Unite stable operation, ultrasonic sensor also can be used as the Safety Redundancy of vision camera, thermal imaging system and ultrasonic sensor its
Real also all redundancy scheme ensures traffic safety with this.
Detailed description of the invention
Fig. 1 is the system composition block diagram of the invention；
Fig. 2 is scheme of installation of the invention；
Fig. 3 is the system interface figure for the panoramic looking-around picture that fusion has thermal imaging information；
Fig. 4 is work flow diagram of the invention.
Specific embodiment
As shown in Figure 1, a kind of automobile initial safe self-checking system, including in-vehicle processor, ultrasonic sensor, vision are taken the photograph
As head, thermal imaging system, human-computer interaction screen, voice module and vehicle related hardware；First signal of the in-vehicle processor inputs
End is connected with the output end of ultrasonic sensor, the second signal input terminal and the output end phase of vision camera of in-vehicle processor
Even, the third signal input part of in-vehicle processor is connected with the output end of thermal imaging system, and in-vehicle processor interacts screen with man-machine machine
Both-way communication, the output end of human-computer interaction screen are connected with the input terminal of voice module；The vehicle related hardware includes vehicle control
Device, brake system, gear system and Vehicular accumulator cell processed, Vehicular accumulator cell are powered to in-vehicle processor, in-vehicle processor and whole
Vehicle controller both-way communication.
As shown in Figure 1, the ultrasonic sensor and in-vehicle processor turn USB by serial ports and communicate, realize that the two is directly logical
News；Vision camera realizes video signal transmission by HDMI wire with in-vehicle processor；Thermal imaging system passes through with in-vehicle processor
HDMI wire realizes vision signal communication；Human-computer interaction screen realizes video signal transmission by HDMI interface and in-vehicle processor, leads to
Cross the information that USB interface realizes feedback touch screen；Human-computer interaction screen provides the voice communication of AUX interface completion and voice module；
In-vehicle processor turns CAN by USB and vehicle-mounted related hardware is completed to communicate.
As shown in Fig. 2, the number of the ultrasonic sensor is 12, wherein being located at headstock 4, it is located at 4 at the tailstock
It is a, it is located at vehicle body two sides 4；The number of the vision camera is 4, be installed at headstock respectively, on tailstock number slip and
Under left and right rearview mirror；The number of the thermal imaging system is at least two, is installed under the forward and backward chassis of vehicle respectively, before being located at
Backwards, the thermal imaging system inclination under rear chassis constitutes duplicate imaging forward in this way for thermal imaging system inclination under chassis
Region, it is ensured that absolutely detected without dead angle at vehicle bottom.Splicing is drawn in the panoramic looking-around of human-computer interaction screen after image-forming information processing
In face.
As shown in figure 3, the system interface that fusion has the panoramic looking-around picture of thermal imaging includes: that vehicle panoramic looks around picture 1,
Picture 6 is closed in security level 2, current warning message 3, confirmation safety 4, unlock 5.Vehicle panoramic looks around picture 1 and images four
Head picture and the processing splicing of thermal imaging picture are in the same picture；It is big in screen when having vital sign in thermal imaging picture
It causes position triangle mark red, while falling safety lock, it is ensured that could move vehicle after safety.Security level 2 divides for four grades
It is other: most safety level, secondary safety level, low hazard class, high-risk grade.It alarm when current warning message 3 includes different conditions and mentions
Show information.Confirmation safety 4 requires driver to click confirmation, indicates that driver has observed and looks around scenic picture, it is thus identified that environment
State.Unlock 5 is used to artificial releasing and latches, and at vehicle bottom, there are can latch automatically when vital sign --- and it brakes and forbids driver
It puts into gear, after the vital sign disappears, system can automatic unlocking.Usual situation is used to release latching for sensor erroneous judgement, such as
The object for truly having similar vital sign at vehicle bottom, driver get off after observation, and confirmation does not have safety problem, can force at this time
Releasing latches.Closing picture 6 can choose closing panoramic looking-around picture in driving.
As shown in Figure 1, the in-vehicle processor is single-chip microcontroller, DSP or other Vehicle Controllers, for handling each sensing
Device information, decision relevant action.The ultrasonic sensor is in detection vehicle's surroundings object, and front and back uses closely biography in principle
Sensor, the better remote pickup of two sides service performance, naturally it is also possible to all use remote transducer.By the information of sensor
It by digital channel, is passed in in-vehicle processor, whether safe judges vehicle body surrounding, while giving certain prompt.The view
Feel that camera is the vehicle-mounted device for imaging, uses suitable camera in principle, complete the visual information of vehicle's surroundings
Acquisition is transmitted in in-vehicle processor and post-processes synthesis and look around scene, understands surrounding environment for driver.
The thermal imaging system is the device that vital sign is differentiated by thermodynamic analysis, in principle at least two thermal imaging
Instrument is installed at respectively under the chassis of vehicle front and back, and backwards, thermal imaging system tilts court under rear chassis for thermal imaging system inclination under front chassis
Before, almost twice of thermal imaging can be completed to vehicle bottom in this way, while avoiding the imaging dead angle at tire.Letter is imaged later
Breath splicing is being looked around in scene, the corresponding intermediate car position looked around, if there are the signals of vital sign, then in the ring of imaging
It is generally corresponding to that position mark is red, while voice prompting falls safety lock, forbids driver to put into gear by CAN communication, give in visual field scape
Give corresponding brake weight.
The human-computer interaction screen is used to show that associated alarm and panoramic looking-around scene (to have the field of thermal imaging information including splicing
Scape), for feeding back driver's confirmation signal (confirm safety, solution safety lock for driver or close picture).
The voice module is associated alarm prompt, the corresponding operation indicating of driver.
It is described give driver centainly prompt include a variety of security levels.Most security level, only screen shows panoramic looking-around
Picture.Secondary security level, ultrasonic sensor detect object within 80cm, give corresponding panoramic looking-around picture, voice
Prompt " front/rear/left/right has barrier, please be careful ".Low danger classes, there are barriers within the 40cm of ultrasonic wave, give
Corresponding panoramic looking-around picture, voice prompting " note that short distance barrier ".High-risk grade, the detection of vehicle bottom thermal imaging system
It to vital sign, is imaged on and is looked around in scene, prompt vehicle bottom to have life entity, while falling safety lock, vehicle self-actuating brake is driven
The person of sailing can not put into gear.When vehicle bottom absence of vital signs, automatic unlocking.Or driver clicks touch screen " unlock " key, completes solution
Lock restores vehicle control power.
As shown in figure 4, workflow of the invention is as follows:
(1) the key electricity that driver gets on the car, automobile initial safe self-checking system automatically turn on, ultrasonic sensor, view
Feel that camera, thermal imaging system work at the same time, the information of acquisition is transferred in in-vehicle processor respectively；
(2) carry out security classification: in-vehicle processor first determines whether that vehicle bottom whether there is life entity in thermal imaging information
Sign, if there is being then " high-risk " rank；The data of ultrasonic wave are judged if without vital sign:
It is " most safe " grade when confirming clear in 80cm；It is " secondary safety " grade when clear in 40cm；
There are when barrier, being " low danger " grade within 40cm, it is high that each security level obeys hazard class；
(3) carry out voice module report sound: " most safe " grade is without voice reporting sound；" secondary safety " grade carries out low frequency alarm tone；
" low danger " grade carries out high-frequency alarm tone；" high-risk " grade is alerted；
(4) it carries out the control of vehicle body state: when being in " high-risk " grade, falling safety lock, in-vehicle processor adapter tube vehicle, control
System brake, forbids driver to put into gear；When being in other security levels of non-" high-risk " grade, not adapter tube vehicle；
(5) carry out driver's operation: when being in " high-risk " grade, vehicle " latching ", danger disappear at this time, security level drop
Low, automatic unlocking restores artificial adapter tube vehicle；Alternatively, manually clicking the screen " unlock " of human-computer interaction screen, solution safety is forced
Lock restores adapter tube vehicle；
When being in other security levels of non-" high-risk " grade, voice module issues the police that prompt driver confirms safety
Report, driver controls vehicle at this time；Driver may be selected click " closing picture " closing vehicle panoramic and look around picture 1.
(6) vehicle panoramic is looked around picture and shown: 4 a series of paintings surface treatments of vision camera, which are spliced into, looks around shape, and thermal imaging is drawn
The red processing of vital sign mark in face, then splices in panoramic looking-around picture, forms vehicle panoramic and looks around picture for driver's ginseng
It examines；
(7) self-test of vehicle initial safe is completed.
It is as shown in Figure 4:
The key electricity got on the car of driver, initial safe self-checking system automatically turn on first, and multiple sensor works at the same time,
Correlation acquisition information, which is transferred in in-vehicle processor, is pocessed analysis, later decision relevant action.
Security classification: first determine whether that vehicle bottom whether there is vital sign in thermal imaging information, if there is being then high-risk
Dangerous rank, voice and screen give a warning, while latching (self-actuating brake simultaneously forbids driver to put into gear)；If without vital sign
Then judge the data of ultrasonic wave.When confirming clear in 80cm, most safety level, screen is shown, but without voice；When in 40cm
When clear, secondary safety level, screen is shown, voice low frequency alarm；There are when barrier within 40cm, low hazard class shields
Curtain alarm, voice high-frequency alarm.It is high that each security level obeys hazard class.
4 a series of paintings surface treatments of vision camera, which are spliced into, looks around shape, and vital sign need to mark red processing in thermal imaging picture, so
After splice in panoramic looking-around picture, formed vehicle panoramic look around picture 1 for driver refer to.
Driver's operation: when non-" high-risk grade ", driver need to click " confirmation safety " button, the language of deactivation system manually
Sound prompt " PLSCONFM safety ", and current warning message 3 " PLSCONFM safety ", system at this time does not force control vehicle to be stopped
Vehicle and gear.When " high-risk grade ", driver need to click " unlock " manually, be not required to repeat to click " confirmation safety ", can solve
Except voice and screen alarm, while obtaining the brake of vehicle and permission of putting into gear；If period vehicle bottom vital sign disappears automatically, then
It is restored to above-mentioned non-" high-risk grade " state, needs driver's manual confirmation safe.Driver may be selected to click " closing picture " pass
It closes vehicle panoramic and looks around picture 1.
Vehicle initial safe self-test is completed, the vehicle-state after driver's confirmation are as follows: vehicle is taken over by driver completely；Vehicle
Panoramic looking-around picture 1 can provide conveniently for safe driving, also can choose closing, or by other Vehicular screen functional pictures
Access.
In conclusion present invention firstly provides the image co-registration of thermal imaging system is looked around in camera picture in automobile, it is complete
It is looked around at the auto-panorama in complete meaning, is truly realized the safety detection of non-blind area；The present invention can help driver complete
At this safety detection, driver is helped to avoid some safety problems that may be present as necessary by Body Control；This system
Multisensor has selected lower-cost three kinds of different types of sensors, to meet system stable operation under different operating conditions, surpasses
Sonic sensor also can be used as the Safety Redundancy of vision camera, and thermal imaging system and ultrasonic sensor also have redundancy machine in fact
System ensures traffic safety with this.
Claims (3)
1. a kind of automobile initial safe self-checking system, it is characterised in that: taken the photograph including in-vehicle processor, ultrasonic sensor, vision
As head, thermal imaging system, human-computer interaction screen, voice module and vehicle related hardware；First signal of the in-vehicle processor inputs
End is connected with the output end of ultrasonic sensor, the second signal input terminal and the output end phase of vision camera of in-vehicle processor
Even, the third signal input part of in-vehicle processor is connected with the output end of thermal imaging system, and in-vehicle processor interacts screen with man-machine machine
Both-way communication, the output end of human-computer interaction screen are connected with the input terminal of voice module；The vehicle related hardware includes vehicle control
Device, brake system, gear system and Vehicular accumulator cell processed, Vehicular accumulator cell are powered to in-vehicle processor, in-vehicle processor and whole
Vehicle controller both-way communication.
2. automobile initial safe self-checking system according to claim 1, it is characterised in that: the ultrasonic sensor and vehicle
Borne processor turns USB communication by serial ports, realizes the two Direct Communication；Vision camera and in-vehicle processor are realized by HDMI wire
Video signal transmission；Thermal imaging system and in-vehicle processor pass through HDMI wire realization vision signal communication；Human-computer interaction screen passes through
HDMI interface and in-vehicle processor realize video signal transmission, and the information of feedback touch screen is realized by USB interface；Human-computer interaction
Screen provides the voice communication of AUX interface completion and voice module；In-vehicle processor turns CAN by USB and vehicle-mounted related hardware is complete
At communication.
3. automobile initial safe self-checking system according to claim 1, it is characterised in that: of the ultrasonic sensor
Number is 12, wherein being located at headstock 4, is located at the tailstock 4, is located at vehicle body two sides 4；The number of the vision camera
It is 4, is installed at headstock respectively, on tailstock number slip and under left and right rearview mirror；The number of the thermal imaging system is at least
It two, is installed under the forward and backward chassis of vehicle respectively, the thermal imaging system under front chassis tilts backwards, under rear chassis
Thermal imaging system inclination is facing forward.
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|---|---|
| CN109866780B (en) | 2020-09-22 |
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