CN110588518A - Automobile rear detection system and method and radar control box - Google Patents
Automobile rear detection system and method and radar control box Download PDFInfo
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- CN110588518A CN110588518A CN201910904834.8A CN201910904834A CN110588518A CN 110588518 A CN110588518 A CN 110588518A CN 201910904834 A CN201910904834 A CN 201910904834A CN 110588518 A CN110588518 A CN 110588518A
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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
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/34—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction
- B60Q1/346—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction with automatic actuation
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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
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/12—Mirror assemblies combined with other articles, e.g. clocks
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
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- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention provides an automobile rear detection system and method and a radar control box, wherein the automobile rear detection system comprises: the radar device is arranged at a preset position on the outer surface of the automobile and comprises a camera and a millimeter wave radar, the camera shoots towards the rear of the automobile, and the millimeter wave radar detects towards the rear and the side of the automobile; the radar control box is connected with the radar device and used for receiving shooting signals of the camera and detection signals of the millimeter wave radar, judging whether a moving object approaches according to the shooting signals and the detection signals, and determining the approaching direction of the moving object when the moving object approaches; and the alarm device is connected with the radar control box and used for giving corresponding alarm according to the judgment result of the radar control box. The rear of the automobile is detected by combining a camera and a millimeter wave radar, so that the alarm of the conditions of lane changing, coming automobile behind and the like is realized, the alarm accuracy is improved, and the misjudgment probability is reduced.
Description
Technical Field
The invention relates to the technical field of radars, in particular to an automobile rear detection system and method and a radar control box.
Background
Along with the development of economy, the living standard of people is higher and higher, and the mode of transportation of going on a journey is more and more diversified, and the vehicle is more and more various and the quantity is the trend of increasing year by year, wherein with the car the proportion is the biggest. In order to prevent various hidden dangers in automobile running, the automobile millimeter wave radar is widely applied to the fields of an active cruise system, automatic emergency braking, forward collision early warning and the like so as to meet the requirements of different conditions.
At present, generally, a radar is required to be respectively installed on a rear protection rod of an automobile to meet application requirements, the requirement on the installation angle of the protection rod and the radar is high during installation, and the cost is high while the installation is complex. In addition, at present, in the development stage of the radar, test comparison needs to be carried out under various set conditions during application, the optimal application condition is obtained after verification, and false alarm is easy to occur.
Disclosure of Invention
The invention aims to provide an automobile rear detection system and method and a radar control box, and effectively solve the technical problems that in the prior art, a radar is complex to install, high in cost and easy to misreport.
The technical scheme provided by the invention is as follows:
an automobile rear detection system comprising:
the radar device is arranged at a preset position on the outer surface of the automobile and comprises a camera and a millimeter wave radar, the camera shoots towards the rear of the automobile, and the millimeter wave radar detects towards the rear and the side of the automobile;
the radar control box is connected with the radar device and used for receiving shooting signals of the camera and detection signals of the millimeter wave radar, judging whether a moving object approaches according to the shooting signals and the detection signals, and determining the approaching direction of the moving object when the moving object approaches;
and the alarm device is connected with the radar control box and used for giving corresponding alarm according to the judgment result of the radar control box.
In the technical scheme, the rear part of the automobile is detected by combining a camera and a millimeter wave radar, so that the alarm of the conditions of lane changing, coming automobile behind and the like is realized, the alarm accuracy is improved, and the misjudgment probability is reduced. In addition, only one camera and one millimeter wave radar need be configured in each automobile, and compared with the situation that two radars need to be configured on the post-protection rod in the prior art, the automobile post-protection rod is simple and convenient, and particularly the post-protection rod does not need to be disassembled and assembled during installation, so that the material cost and the installation cost are greatly reduced.
Further, the radar control box comprises:
the lane matching module is used for identifying a ground marking and a lane according to the received shooting signal, judging whether an object is detected according to the received detection signal and matching the lane where the object is located aiming at the detected object;
and the lane fusion module is connected with the lane matching module and used for judging whether the detected object is in a moving state, judging whether the moving object is in a close state, and determining the close direction of the moving object when judging that the moving object is close.
According to the technical scheme, the camera signals are used for identifying the ground mark lines and the lanes, the defects of the radar are overcome, the camera data are fused with the radar, monitoring of information such as a rear incoming vehicle, the lane where the rear incoming vehicle is located, the distance between the rear incoming vehicle and the left lane and the right lane, the speed of the rear incoming vehicle is monitored, the identification efficiency of the rear incoming vehicle is improved, and the probability of misinformation is reduced.
Further, the radar control box is connected with a center console of the automobile to obtain the running speed of the automobile;
in the lane fusion module, judging whether the vehicle is in a moving state or not according to the detected distance of the object and the running speed of the vehicle; and when the detected object is judged to be in a moving state and the relative distance is gradually reduced, judging that the moving object is in a close state, and further judging the close direction of the moving object in the close state.
In the technical scheme, whether the moving object threatens the automobile or not is combined with factors such as the current running speed of the automobile and the detected distance of the object, and the like, so that the safety performance of the automobile in the running process is improved.
Furthermore, the alarm device comprises a left alarm lamp arranged on a left side mirror of the automobile, a right alarm lamp arranged on a right side mirror of the automobile and a buzzer, and the left alarm lamp, the right alarm lamp and the buzzer are respectively connected with the radar control box;
when the radar control box judges that a moving object is close to the rear part and the distance is smaller than a first preset distance, controlling a buzzer to sound an alarm;
when the radar control box judges that a moving object approaches to the left and the distance is smaller than a second preset distance, a left alarm lamp is controlled to be turned on and a buzzer sounds to alarm;
when the radar control box judges that a moving object approaches to the right and the distance is smaller than a third preset distance, the right alarm lamp is controlled to be turned on and the buzzer sounds to alarm;
and/or the radar control box is also respectively connected with a left steering lamp and a right steering lamp of the automobile;
when the radar control box judges that a moving object approaches to the left and the distance is smaller than a second preset distance, the left steering lamp is controlled to be turned on;
when the radar control box judges that a moving object is close to the right side and the distance is smaller than a third preset distance, the right steering lamp is controlled to be turned on.
In the technical scheme, the left alarm lamp and the right alarm lamp are respectively installed on the left side mirror and the right side mirror of the automobile, so that corresponding alarm is carried out according to the position of the coming automobile at the rear, a driver makes corresponding response after seeing the coming automobile, the coming automobile at the rear of the lane is changed, alarm is realized through the rearview mirror, and the running safety of the automobile is improved. In addition, the radar control box is respectively connected with the left steering lamp and the right steering lamp, and the corresponding steering lamps are actively turned on according to the situation of a vehicle coming from the rear, so that traffic accidents caused by negligence of drivers are avoided, and the driving safety is further improved.
The invention also provides an automobile rear detection method, which is applied to the automobile rear detection system and comprises the following steps:
receiving a shooting signal shot by a camera towards the rear of the automobile and a detection signal detected by a millimeter wave radar towards the rear and the side of the automobile;
judging whether a moving object approaches according to the shooting signal and the detection signal;
if yes, determining the approaching direction of the moving object;
and corresponding alarming is carried out according to the approaching direction of the moving object.
In the technical scheme, the rear part of the automobile is detected by combining a camera and a millimeter wave radar, so that the alarm of the conditions of lane changing, coming automobile behind and the like is realized, the alarm accuracy is improved, and the misjudgment probability is reduced. In addition, only one camera and one millimeter wave radar need be configured in each automobile, and compared with the situation that two radars need to be configured on the post-protection rod in the prior art, the automobile post-protection rod is simple and convenient, and particularly the post-protection rod does not need to be disassembled and assembled during installation, so that the material cost and the installation cost are greatly reduced.
Further, the judging whether a moving object approaches according to the shooting signal and the detection signal comprises:
recognizing a ground marking and a lane according to the received shooting signal;
judging whether an object is detected according to the received detection signal;
matching the detected lane where the object is located according to the recognized ground marking line and the lane;
judging whether the detected object is in a moving state;
if yes, whether the moving object is in the approaching state is further judged.
According to the technical scheme, the camera signals are used for identifying the ground mark lines and the lanes, the defects of the radar are overcome, the camera data are fused with the radar, monitoring of information such as a rear incoming vehicle, the lane where the rear incoming vehicle is located, the distance between the rear incoming vehicle and the left lane and the right lane, the speed of the rear incoming vehicle is monitored, the identification efficiency of the rear incoming vehicle is improved, and the probability of misinformation is reduced.
Further, the determining whether the detected object is in a moving state includes:
acquiring the running speed of the automobile;
judging whether the automobile is in a moving state or not according to the detected distance of the object and the running speed of the automobile;
the judging whether the moving object is in the approaching state comprises the following steps:
judging whether the relative distance to the detected object is gradually reduced;
if yes, the mobile object is judged to be in the approaching state.
In the technical scheme, whether the moving object threatens the automobile or not is combined with factors such as the current running speed of the automobile and the detected distance of the object, and the like, so that the safety performance of the automobile in the running process is improved.
Further, the corresponding alarm according to the approaching position of the moving object comprises:
when the fact that a moving object approaches behind the mobile terminal is judged, and the distance is smaller than a first preset distance, controlling a buzzer to sound an alarm;
when the moving object is judged to be close to the left and the distance is smaller than a second preset distance, controlling a left alarm lamp arranged on the automobile left sight glass to be turned on and a buzzer to sound an alarm;
when the moving object is judged to be close to the right side and the distance is smaller than a third preset distance, a right alarm lamp arranged on the automobile right side mirror is controlled to be turned on and a buzzer sounds to alarm;
and/or, the corresponding alarm according to the approaching position of the moving object comprises the following steps:
when the moving object is judged to be close to the left and the distance is smaller than a second preset distance, controlling the left turn light to be turned on;
and when the moving object is close to the right side and the distance is less than a third preset distance, controlling the right steering lamp to be lightened.
In the technical scheme, the left alarm lamp and the right alarm lamp are respectively installed on the left side mirror and the right side mirror of the automobile, so that corresponding alarm is carried out according to the position of the coming automobile at the rear, a driver makes corresponding response after seeing the coming automobile, the coming automobile at the rear of the lane is changed, alarm is realized through the rearview mirror, and the running safety of the automobile is improved. In addition, the radar control box is respectively connected with the left steering lamp and the right steering lamp, and the corresponding steering lamps are actively turned on according to the situation of a vehicle coming from the rear, so that traffic accidents caused by negligence of drivers are avoided, and the driving safety is further improved.
The invention also provides a radar control box, which comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the processor realizes the steps of any one of the automobile rear detection methods when running the computer program.
The invention also provides a computer-readable storage medium, which stores a computer program that, when executed by a processor, implements the steps of any of the above-described automobile rear detection methods.
Drawings
The foregoing features, technical features, advantages and implementations of which will be further described in the following detailed description of the preferred embodiments in a clearly understandable manner in conjunction with the accompanying drawings.
FIG. 1 is a schematic block diagram of one embodiment of an automotive rear detection system in accordance with the present invention;
FIG. 2 is a schematic structural view of an example of a radar apparatus according to the present invention;
FIG. 3 is a schematic view of the rearward detection of the radar unit of the rear inspection system of the automobile of the present invention;
FIG. 4 is a schematic block diagram of another embodiment of an automotive rear detection system of the present invention;
FIG. 5 is a schematic flow chart illustrating an exemplary method for detecting a rear portion of a vehicle according to the present invention;
FIG. 6 is a schematic structural diagram of an exemplary rear inspection system for a vehicle according to the present invention;
FIG. 7 is a schematic view of a radar control box of the present invention.
The reference numbers illustrate:
100-automobile rear detection system, 110-radar device, 1-camera, 2-millimeter wave radar, 120/7-radar control box, 121-lane matching module, 122-lane fusion module, 130-alarm device, 3-steering lamp, 4-right steering lamp, 5-left alarm lamp, 6-right alarm lamp.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, specific embodiments of the present invention will be described below with reference to the accompanying drawings. It is to be understood that the drawings in the following description are merely exemplary of the invention and that other drawings and embodiments may be devised by those skilled in the art without the use of inventive faculty.
In a first embodiment of the present invention, an automobile rear detecting system 100 is shown in fig. 1, and the automobile rear detecting system 100 includes:
the radar device 110 is arranged at a preset position on the outer surface of the automobile, the radar device 110 comprises a camera 1 and a millimeter wave radar 2, the camera 1 shoots towards the rear of the automobile, and the millimeter wave radar 2 detects towards the rear and the side of the automobile;
a radar control box 120 connected to the radar device 110, for receiving the shooting signal of the camera 1 and the detection signal of the millimeter wave radar 2, judging whether a moving object is approaching according to the shooting signal and the detection signal, and determining an approaching direction when it is judged that the moving object is approaching;
and the alarm device 130 is connected with the radar control box 120 and is used for giving corresponding alarm according to the judgment result of the radar control box 120.
In this example, the radar device 110 is installed at a preset position on the outer surface of the automobile, and the specific installation position is not limited herein, and in practical applications, as long as the installation position has a wide field of view, the camera 1 and the millimeter wave radar 2 can detect the movement information of the object behind the automobile, for example, the radar device 110 is installed on the rear windshield, and the like. In addition, the external structure of the radar apparatus 110 is also not specifically limited, and as shown in fig. 2, in an example, the camera 1 is integrated below the millimeter wave radar 2, where fig. 2(a) is a schematic perspective view of the radar apparatus 110, and fig. 2(b) is a schematic front view of the radar apparatus 110. In the working process, after the radar device 110 is started, the camera 1 and the millimeter wave radar 2 start to work to detect the rear part of the automobile, the camera 1 shoots to obtain a shooting signal, and the millimeter wave radar 2 detects to obtain a detection signal and sends the detection signal to the radar control box 120 in real time, and the radar control box 120 receives the shooting signal and the detection signal and then starts to perform data processing to judge whether a moving object which can cause a safety threat to the automobile is close to the rear part. When the mobile object is judged to be close to the vehicle, the vehicle gives an alarm to prompt a driver to drive carefully, so that traffic accidents are avoided. As shown in fig. 3, while the automobile a is traveling in the main lane, the camera 1 and the millimeter wave radar device 110 can detect an object within a certain range behind, where MIO-L denotes the closest object on the left lane, MIO-M denotes the closest object on the main lane, and MIO-R denotes the closest object on the right lane. In the automobile rear detection system 100, the monitoring purpose is realized by a mode of fusing the camera 1 and the millimeter wave radar 2, the defects of the existing radar detection mode are overcome, the alarm misjudgment probability is reduced, and meanwhile, the cost is saved.
In this embodiment, as shown in fig. 4, the automobile rear detection system 100 includes a radar device 110, a radar control box 120 and an alarm device 130, where the radar control box 120 includes:
a lane matching module 121, configured to identify a ground marking and a lane according to the received shooting signal, determine whether an object is detected according to the received detection signal, and match the lane where the detected object is located with respect to the detected object;
and a lane fusion module 122 connected to the lane matching module 121, for determining whether the detected object is in a moving state, determining whether the moving object is in a close state, and determining a close direction of the moving object when it is determined that the moving object is close.
In the working process, after the radar device 110 is started, the camera 1 and the millimeter wave radar 2 start to work to detect the rear part of the automobile, the camera 1 shoots to obtain a shooting signal, and the millimeter wave radar 2 detects to obtain a detection signal and sends the detection signal to the radar control box 120 in real time. After receiving the shooting signal and the detection signal, the radar control box 120 immediately filters the shooting signal and the detection signal respectively, and filters an obvious noise signal; then, recognizing a ground marking line and determining a lane line track according to a shooting signal of the camera 1; next, the object detected by the millimeter wave radar 2 is matched to the corresponding lane (the same object in the shooting signal and the detection signal is matched, and specifically, whether the same object is determined by the shooting/detection angle). It should be noted that, in the lane matching process, the detection data of the millimeter wave radar 2 is detected at the same time, specifically, the object detected by the millimeter wave radar 2 is matched with the shooting information of the camera 1, when the object is detected by the millimeter wave radar 2 but the object is not shot by the camera 1 or the object is not detected by the millimeter wave radar 2 but shot by the camera 1, the detection data for the object is determined to be invalid, and an error is reported to indicate that the radar device 110 may fail.
After the lane matching is finished, further analyzing whether the detected object threatens the automobile, specifically, firstly, judging whether the object is in a moving state according to the shooting information and the detection information, and if the object is in a static state, not performing subsequent processing; if the mobile object is in the motion state, whether the mobile object is in the approaching state or not is further judged according to the relative distance between the mobile object and the automobile, and if the mobile object is farther away from the automobile, the mobile object is judged not to cause danger to the automobile and is not subjected to subsequent processing; if the automobile is closer to the automobile, the automobile is judged to be in a close state, danger is possibly caused to the automobile, then the mobile object is continuously monitored, and when the relative distance between the mobile object and the automobile reaches a preset distance threshold value, a warning is given out to remind a driver. The distance threshold is preset according to the position of the moving object relative to the automobile, for example, when the moving object and the automobile are in the same lane, the distance threshold is set to be 1 meter; when the moving object and the automobile are not in the same lane, the distance threshold value is set to 0.5 m or the like, and can be adjusted according to actual conditions.
The embodiment is improved, and in the embodiment, the automobile rear detection system 100 includes a radar device 110, a radar control box 120 and an alarm device 130, wherein a lane matching module 121 and a lane fusion module 122 in the radar control box 120. The radar control box 120 is connected with a center console of the automobile to acquire the running speed of the automobile in real time; in the lane fusion module 122, whether the vehicle is in a moving state is judged according to the detected distance of the object and the running speed of the vehicle; and when the detected object is judged to be in a moving state and the relative distance is gradually reduced, judging that the moving object is in a close state, and further judging the close direction of the moving object in the close state.
In the working process, after the radar device 110 is started, the camera 1 and the millimeter wave radar 2 start to work to detect the rear part of the automobile, the camera 1 shoots to obtain a shooting signal, and the millimeter wave radar 2 detects to obtain a detection signal and sends the detection signal to the radar control box 120 in real time. After receiving the shooting signal and the detection signal, the radar control box 120 immediately filters the shooting signal and the detection signal respectively, and filters an obvious noise signal; then, recognizing a ground marking line and determining a lane line track according to a shooting signal of the camera 1; next, the object detected by the millimeter wave radar 2 is matched to the corresponding lane. After the lane matching is finished, further analyzing whether the detected object threatens the automobile, specifically, firstly, judging whether the object is in a moving state according to the shooting information and the detection information, and if the object is in a static state, not performing subsequent processing; if the mobile object is in the motion state, whether the mobile object is in the approaching state or not is further judged according to the relative distance between the mobile object and the automobile, and if the mobile object is farther away from the automobile, the mobile object is judged not to cause danger to the automobile and is not subjected to subsequent processing; if the automobile is closer to the automobile, the automobile is judged to be in a close state, danger is possibly caused to the automobile, then the mobile object is continuously monitored, and when the relative distance between the mobile object and the automobile reaches a preset distance threshold value, a warning is given out to remind a driver.
In the process of judging whether the detected object is in a moving state, the judgment is carried out according to the distance between the detected object and the running speed of the automobile, specifically, the moving speed, the angle and the distance information (Doppler principle) of the detected object are obtained through direct test and check calculation of millimeter waves sent and received by a radar, and when the detection is carried out whether the moving object is in a close state, the judgment can be carried out according to the distance of the moving object detected in real time. In other examples, the judgment can also be carried out through the moving speed of the moving object, and when the speed of the moving object is greater than the driving speed of the automobile, the judgment can cause danger to the automobile; when the speed of the moving object is judged to be not much different from the speed of the automobile or even smaller than the speed of the automobile, the automobile is judged not to be dangerous and is not subjected to subsequent treatment. For example, in one example, when the current speed of the automobile is 60 yards and the speed of the mobile object is 80 yards, it is determined that the mobile object may cause a danger to the automobile, and a warning is issued to remind the driver.
The above embodiment is modified to obtain this embodiment, and in this embodiment, the alarm device 130 includes a left alarm lamp mounted on the left side mirror of the automobile, a right alarm lamp mounted on the right side mirror of the automobile, and a buzzer, and the left alarm lamp, the right alarm lamp, and the buzzer are respectively connected to the radar control box 120. Specifically, when the radar control box 120 determines that a moving object is close to the rear and the distance is smaller than a first preset distance, the buzzer is controlled to sound an alarm; when the radar control box 120 judges that a moving object approaches to the left and the distance is smaller than a second preset distance, the radar control box controls a left alarm lamp to be turned on and a buzzer to sound; when the radar control box 120 determines that a moving object is close to the right and the distance is less than the third preset distance, the right alarm lamp is controlled to be turned on and the buzzer gives an alarm. The first preset distance, the second preset distance and the third preset distance are all set according to actual conditions, and for example, the first preset distance is set to be 1 meter, and the second preset distance and the third preset distance are set to be 0.5 meter, and the like, which is not specifically limited herein.
In another embodiment, the radar control box 120 is further connected to the left and right turn signals of the car, respectively; when the radar control box 120 judges that a moving object approaches to the left and the distance is smaller than a second preset distance, the left turn light is controlled to be turned on; when the radar control box 120 determines that a moving object is close to the right side and the distance is smaller than the third preset distance, the right turn light is controlled to be turned on. In this example, the radar control box 120 is connected with the left turn light and the right turn light respectively, and actively turns on the corresponding turn light according to the situation of the vehicle coming from the rear, thereby avoiding traffic accidents caused by negligence of drivers, and further improving driving safety. Furthermore, when the annular overpass or the S-shaped road is used, the method of the embodiment is adopted to avoid the occurrence of false alarm when radar is used alone for detection (the automobile is mistakenly changed).
In addition, when the automobile travels, when a driver controls the left steering lamp or the right steering lamp to be turned on and needs to turn correspondingly, the left steering lamp or the right steering lamp sends a control signal to the millimeter wave radar to control the millimeter wave radar to detect, and sends a detection signal to the radar control box to judge whether other moving objects in corresponding directions cause danger to the automobile, and if so, the buzzer is controlled to give an alarm.
The invention also provides an automobile rear detection method, as shown in fig. 5, the automobile rear detection method comprises the following steps:
s10 receiving a shooting signal shot by the camera towards the rear of the automobile and a detection signal detected by the millimeter wave radar towards the rear and the side of the automobile;
s20, judging whether a moving object approaches according to the shooting signal and the detection signal;
if S30, determining the approaching direction of the moving object;
s40 gives corresponding alarm according to the approaching position of the moving object.
In this example, shooting and detecting are carried out towards the rear of the automobile through a radar device which is installed at a preset position on the outer surface of the automobile and comprises a camera and a millimeter wave radar, received data are processed and judged through a radar control box, and alarming is carried out through an alarming device. The installation position and the appearance structure of the radar device are not particularly limited, and in practical application, as long as the installation position has a wide visual field, the camera and the millimeter wave radar can be used for detecting the movement information of the object behind the automobile, for example, the radar device is installed on a rear windshield, and the like. In one example, as shown in fig. 2, a camera is integrated below the millimeter wave radar, where fig. 2(a) is a schematic perspective view of the radar apparatus, and fig. 2(b) is a schematic front view of the radar apparatus.
In the working process, after the radar device is started, the camera and the millimeter wave radar start to work to detect the rear part of the automobile, the camera shoots to obtain a shooting signal, the millimeter wave radar detects to obtain a detection signal and sends the detection signal to the radar control box in real time, the radar control box receives the shooting signal and the detection signal and then starts to perform data processing immediately, and whether a moving object which can cause safety threat to the automobile is close to the rear part is judged. When the mobile object is judged to be close to the vehicle, the vehicle gives an alarm to prompt a driver to drive carefully, so that traffic accidents are avoided. As shown in fig. 3, while the automobile a is traveling in the main lane, the camera and the millimeter wave radar device can detect an object within a certain range behind, where MIO-L denotes the closest object on the left lane, MIO-M denotes the closest object on the main lane, and MIO-R denotes the closest object on the right lane. In the automobile rear detection method, the monitoring purpose is realized by a mode of fusing the camera and the millimeter wave radar, the defects of the existing radar detection mode are overcome, the alarm misjudgment probability is reduced, and the cost is saved.
The present embodiment is obtained by modifying the above-described embodiment, and the vehicle rear detection method includes:
s10 receiving a shooting signal shot by the camera towards the rear of the automobile and a detection signal detected by the millimeter wave radar towards the rear and the side of the automobile;
s21 identifying the ground marking and the lane according to the received shooting signal;
s22 judging whether an object is detected based on the received detection signal;
s23 matching the detected lane where the object is located according to the recognized ground marking line and the lane;
s24 determining whether the detected object is in a moving state;
if yes, S25, further judging whether the mobile object is in a close state;
if S30, determining the approaching direction of the moving object;
s40 gives corresponding alarm according to the approaching position of the moving object.
In the working process, after the radar device is started, the camera and the millimeter wave radar start to work to detect the rear part of the automobile, the camera shoots to obtain a shooting signal, and the millimeter wave radar detects to obtain a detection signal and sends the detection signal to the radar control box in real time. After receiving the shooting signal and the detection signal, the radar control box respectively filters the shooting signal and the detection signal and filters an obvious noise signal; then, recognizing a ground marking line and determining a lane line track according to a shooting signal of the camera; then, the object detected by the millimeter wave radar is matched with the corresponding lane (the same object in the shooting signal and the detection signal is matched, and whether the same object is determined by the shooting/detection angle is determined). It should be noted that in the lane matching process, detection data of the millimeter wave radar can be detected at the same time, specifically, shooting information of the object detected by the millimeter wave radar and the camera is matched, when the object detected by the millimeter wave radar is not shot by the camera or the object detected by the millimeter wave radar is not shot by the camera, the detection data of the object is determined to be invalid, and an error is reported to prompt a driver that the radar device may be out of order.
After the lane matching is finished, further analyzing whether the detected object threatens the automobile, specifically, firstly, judging whether the object is in a moving state according to the shooting information and the detection information, and if the object is in a static state, not performing subsequent processing; if the mobile object is in the motion state, whether the mobile object is in the approaching state or not is further judged according to the relative distance between the mobile object and the automobile, and if the mobile object is farther away from the automobile, the mobile object is judged not to cause danger to the automobile and is not subjected to subsequent processing; if the automobile is closer to the automobile, the automobile is judged to be in a close state, danger is possibly caused to the automobile, then the mobile object is continuously monitored, and when the relative distance between the mobile object and the automobile reaches a preset distance threshold value, a warning is given out to remind a driver. The distance threshold is preset according to the position of the moving object relative to the automobile, for example, when the moving object and the automobile are in the same lane, the distance threshold is set to be 1 meter; when the moving object and the automobile are not in the same lane, the distance threshold value is set to 0.5 m or the like, and can be adjusted according to actual conditions.
The present embodiment is obtained by modifying the above-described embodiment, and the vehicle rear detection method includes:
s10 receiving a shooting signal shot by the camera towards the rear of the automobile and a detection signal detected by the millimeter wave radar towards the rear and the side of the automobile;
s21 identifying the ground marking and the lane according to the received shooting signal;
s22 judging whether an object is detected based on the received detection signal;
s23 matching the detected lane where the object is located according to the recognized ground marking line and the lane;
s24 determining whether the detected object is in a moving state;
s241, acquiring the running speed of the automobile;
s242, judging whether the automobile is in a moving state or not according to the detected distance of the object and the running speed of the automobile;
if so, determining whether the relative distance to the detected object is gradually reduced;
if so, judging that the moving object is in a close state;
if S30, determining the approaching direction of the moving object;
s40 gives corresponding alarm according to the approaching position of the moving object.
In the working process, after the radar device is started, the camera and the millimeter wave radar start to work to detect the rear part of the automobile, the camera shoots to obtain a shooting signal, and the millimeter wave radar detects to obtain a detection signal and sends the detection signal to the radar control box in real time. After receiving the shooting signal and the detection signal, the radar control box respectively filters the shooting signal and the detection signal and filters an obvious noise signal; then, recognizing a ground marking line and determining a lane line track according to a shooting signal of the camera; then, the object detected by the millimeter wave radar is matched with the corresponding lane (the same object in the shooting signal and the detection signal is matched, and whether the same object is determined by the shooting/detection angle is determined). After the lane matching is finished, further analyzing whether the detected object threatens the automobile, specifically, firstly, judging whether the object is in a moving state according to the shooting information and the detection information, and if the object is in a static state, not performing subsequent processing; if the mobile object is in the motion state, whether the mobile object is in the approaching state or not is further judged according to the relative distance between the mobile object and the automobile, and if the mobile object is farther away from the automobile, the mobile object is judged not to cause danger to the automobile and is not subjected to subsequent processing; if the automobile is closer to the automobile, the automobile is judged to be in a close state, danger is possibly caused to the automobile, then the mobile object is continuously monitored, and when the relative distance between the mobile object and the automobile reaches a preset distance threshold value, a warning is given out to remind a driver. The distance threshold is preset according to the position of the moving object relative to the automobile, for example, when the moving object and the automobile are in the same lane, the distance threshold is set to be 1 meter; when the moving object and the automobile are not in the same lane, the distance threshold value is set to 0.5 m or the like, and can be adjusted according to actual conditions.
In the process of judging whether the detected object is in a moving state, the judgment is carried out according to the distance between the detected object and the running speed of the automobile, specifically, the moving speed, the angle and the distance information (Doppler principle) of the detected object are obtained through direct test and check calculation of millimeter waves sent and received by a radar, and when the detection is carried out whether the moving object is in a close state, the judgment can be carried out according to the distance of the moving object detected in real time. In other examples, the judgment can also be carried out through the moving speed of the moving object, and when the speed of the moving object is greater than the driving speed of the automobile, the judgment can cause danger to the automobile; when the speed of the moving object is judged to be not much different from the speed of the automobile or even smaller than the speed of the automobile, the automobile is judged not to be dangerous and is not subjected to subsequent treatment. For example, in one example, when the current speed of the automobile is 60 yards and the speed of the mobile object is 80 yards, it is determined that the mobile object may cause a danger to the automobile, and a warning is issued to remind the driver.
The above embodiment is modified to obtain the present embodiment, in which the alarm device includes a left alarm lamp mounted on the left side mirror of the automobile, a right alarm lamp mounted on the right side mirror of the automobile, and a buzzer, and the left alarm lamp, the right alarm lamp, and the buzzer are respectively connected to the radar control box. The corresponding alarm according to the approaching position of the moving object comprises the following steps: when the fact that a moving object approaches behind the mobile terminal is judged, and the distance is smaller than a first preset distance, controlling a buzzer to sound an alarm; when the moving object is judged to be close to the left and the distance is smaller than a second preset distance, controlling a left alarm lamp arranged on the automobile left sight glass to be turned on and a buzzer to sound an alarm; when the movable object is close to the right side of the automobile and the distance is smaller than the third preset distance, the right alarm lamp mounted on the automobile right side mirror is controlled to be turned on and the buzzer gives a sound alarm. The first preset distance, the second preset distance and the third preset distance are all set according to actual conditions, and for example, the first preset distance is set to be 1 meter, and the second preset distance and the third preset distance are set to be 0.5 meter, and the like, which is not specifically limited herein.
In another embodiment, the radar control box is also connected with a left steering lamp and a right steering lamp of the automobile respectively. The corresponding alarm according to the approaching position of the moving object comprises the following steps: when the moving object is judged to be close to the left and the distance is smaller than a second preset distance, controlling the left turn light to be turned on; and when the moving object is close to the right side and the distance is less than a third preset distance, controlling the right steering lamp to be lightened.
In one example, as shown in fig. 6, a radar apparatus including a camera 1 and a millimeter wave radar 2 is mounted on a rear windshield of an automobile, and a radar control box 7 is connected to the radar apparatus, a center console (not shown in the figure), a left turn lamp 3, a right turn lamp 4, a left alarm lamp 5, and a right alarm lamp 6, respectively. In the working process, after the radar device is started, the camera and the millimeter wave radar start to work to detect the rear part of the automobile, the camera shoots to obtain a shooting signal, and the millimeter wave radar detects to obtain a detection signal and sends the detection signal to the radar control box in real time. And after receiving the shooting signal and the detection signal, the radar control box respectively filters the shooting signal and the detection signal, identifies a ground marking line according to the shooting signal of the camera, determines a lane line track and matches an object detected by the millimeter-wave radar to a corresponding lane. After the lane matching is finished, further analyzing whether the detected object threatens the automobile, specifically, firstly, judging whether the object is in a moving state according to the shooting information and the detection information, and if the object is in a static state, not performing subsequent processing; if the mobile object is in the motion state, whether the mobile object is in the approaching state or not is further judged according to the relative distance between the mobile object and the automobile, and if the mobile object is farther away from the automobile, the mobile object is judged not to cause danger to the automobile and is not subjected to subsequent processing; if the automobile is closer to the automobile, the automobile is judged to be in a close state, and danger may be caused to the automobile. Specifically, when the radar control box judges that a moving object is close to the rear part and the distance is less than a first preset distance (such as 1 meter), a buzzer is controlled to sound an alarm; when the radar control box judges that a moving object approaches to the left and the distance is smaller than a second preset distance (such as 0.5 m), the buzzer is controlled to sound while the left alarm lamp and the left steering lamp are controlled to be turned on; when the radar control box judges that a moving object is close to the right side and the distance is smaller than a third preset distance (such as 0.5 m), the buzzer is controlled to give an alarm while the right alarm lamp and the right steering lamp are controlled to be turned on.
In addition, when the automobile travels, when a driver controls the left steering lamp or the right steering lamp to be turned on and needs to turn correspondingly, the left steering lamp or the right steering lamp sends a control signal to the millimeter wave radar to control the millimeter wave radar to detect, and sends a detection signal to the radar control box to judge whether other moving objects in corresponding directions cause danger to the automobile, and if so, the buzzer is controlled to give an alarm.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of program modules is illustrated, and in practical applications, the above-described distribution of functions may be performed by different program modules, that is, the internal structure of the apparatus may be divided into different program units or modules to perform all or part of the above-described functions. Each program module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one processing unit, and the integrated unit may be implemented in a form of hardware, or may be implemented in a form of software program unit. In addition, the specific names of the program modules are only used for distinguishing the program modules from one another, and are not used for limiting the protection scope of the application.
Fig. 7 is a schematic structural diagram of a radar control box provided in an embodiment of the present invention, and as shown, the radar control box 120 includes: a processor 122, a memory 121, and a computer program 1211 stored in the memory 121 and operable on the processor 122, for example: and (5) detecting the rear of the automobile. The steps in the above embodiments of the rear detection method for a vehicle are implemented when the processor 122 executes the computer program 1211, or the functions of the modules in the above embodiments of the rear detection system for a vehicle are implemented when the processor 122 executes the computer program 1211.
The radar control box 120 may be a notebook, a palm top computer, a tablet computer, a mobile phone, or the like. The radar control box 120 may include, but is not limited to, a processor 122, a memory 121. Those skilled in the art will appreciate that fig. 7 is merely an example of radar control box 120 and is not intended to limit radar control box 120, and may include more or fewer components than shown, or some components in combination, or different components, such as: the radar control box 120 may also include input-output devices, display devices, network access devices, buses, and the like.
The Processor 122 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware component, etc. The general purpose processor 122 may be a microprocessor or the processor may be any conventional processor or the like.
The memory 121 may be an internal storage unit of the radar control box 120, such as: the hard disk or memory of the radar control box 120. The memory 121 may also be an external storage device of the radar control box 120, such as: a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the radar control box 120. Further, the memory 121 may also include both an internal storage unit and an external storage device of the radar control box 120. The memory 121 is used to store the computer program 1211 as well as other programs and data required by the radar control box 120. The memory 121 may also be used to temporarily store data that has been output or is to be output.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or recited in detail in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed radar control box and method may be implemented in other ways. For example, the above-described embodiments of the radar control box are merely illustrative, and for example, a module or a unit may be divided into only one logical function, and may be implemented in other ways, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. With this understanding, all or part of the processes of the method according to the embodiments of the present invention can be implemented by sending instructions to relevant hardware through a computer program 1211, where the computer program 1211 can be stored in a computer-readable storage medium, and when the computer program 1211 is executed by the processor 122, the steps of the method embodiments can be implemented. Among them, the computer program 1211 includes: computer program code which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable storage medium may include: any entity or device capable of carrying the code of computer program 1211, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier signal, telecommunications signal, and software distribution medium, etc. It should be noted that the content of the computer readable storage medium can be increased or decreased according to the requirements of the legislation and patent practice in the jurisdiction, for example: in certain jurisdictions, in accordance with legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunications signals.
It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and improvements can be made without departing from the principle of the present invention, and these modifications and improvements should also be construed as the protection scope of the present invention.
Claims (10)
1. An automobile rear detection system, comprising:
the radar device is arranged at a preset position on the outer surface of the automobile and comprises a camera and a millimeter wave radar, the camera shoots towards the rear of the automobile, and the millimeter wave radar detects towards the rear and the side of the automobile;
the radar control box is connected with the radar device and used for receiving shooting signals of the camera and detection signals of the millimeter wave radar, judging whether a moving object approaches according to the shooting signals and the detection signals, and determining the approaching direction of the moving object when the moving object approaches;
and the alarm device is connected with the radar control box and used for giving corresponding alarm according to the judgment result of the radar control box.
2. The vehicle rear detecting system according to claim 1, wherein the radar control box includes therein:
the lane matching module is used for identifying a ground marking and a lane according to the received shooting signal, judging whether an object is detected according to the received detection signal and matching the lane where the object is located aiming at the detected object;
and the lane fusion module is connected with the lane matching module and used for judging whether the detected object is in a moving state, judging whether the moving object is in a close state, and determining the close direction of the moving object when judging that the moving object is close.
3. The vehicle rear detecting system according to claim 2,
the radar control box is connected with a center console of the automobile to obtain the running speed of the automobile;
in the lane fusion module, judging whether the vehicle is in a moving state or not according to the detected distance of the object and the running speed of the vehicle; and when the detected object is judged to be in a moving state and the relative distance is gradually reduced, judging that the moving object is in a close state, and further judging the close direction of the moving object in the close state.
4. The vehicle rear detecting system according to any one of claims 1 to 3,
the alarm device comprises a left alarm lamp arranged on a left sight glass of the automobile, a right alarm lamp arranged on a right sight glass of the automobile and a buzzer, and the left alarm lamp, the right alarm lamp and the buzzer are respectively connected with the radar control box;
when the radar control box judges that a moving object is close to the rear part and the distance is smaller than a first preset distance, controlling a buzzer to sound an alarm;
when the radar control box judges that a moving object approaches to the left and the distance is smaller than a second preset distance, a left alarm lamp is controlled to be turned on and a buzzer sounds to alarm;
when the radar control box judges that a moving object approaches to the right and the distance is smaller than a third preset distance, the right alarm lamp is controlled to be turned on and the buzzer sounds to alarm;
and/or the radar control box is also respectively connected with a left steering lamp and a right steering lamp of the automobile;
when the radar control box judges that a moving object approaches to the left and the distance is smaller than a second preset distance, the left steering lamp is controlled to be turned on;
when the radar control box judges that a moving object is close to the right side and the distance is smaller than a third preset distance, the right steering lamp is controlled to be turned on.
5. A vehicle rear detecting method applied to the vehicle rear detecting system according to any one of claims 1 to 5, the vehicle rear detecting method comprising:
receiving a shooting signal shot by a camera towards the rear of the automobile and a detection signal detected by a millimeter wave radar towards the rear and the side of the automobile;
judging whether a moving object approaches according to the shooting signal and the detection signal;
if yes, determining the approaching direction of the moving object;
and corresponding alarming is carried out according to the approaching direction of the moving object.
6. The vehicle rear detecting method according to claim 5, wherein the judging whether a moving object approaches or not based on the photographing signal and the detecting signal comprises:
recognizing a ground marking and a lane according to the received shooting signal;
judging whether an object is detected according to the received detection signal;
matching the detected lane where the object is located according to the recognized ground marking line and the lane;
judging whether the detected object is in a moving state;
if yes, whether the moving object is in the approaching state is further judged.
7. The vehicle rear detecting method according to claim 6,
the determining whether the detected object is in a moving state includes:
acquiring the running speed of the automobile;
judging whether the automobile is in a moving state or not according to the detected distance of the object and the running speed of the automobile;
the judging whether the moving object is in the approaching state comprises the following steps:
judging whether the relative distance to the detected object is gradually reduced;
if yes, the mobile object is judged to be in the approaching state.
8. The automobile rear detecting method according to any one of claims 5 to 7,
the corresponding alarm according to the approaching position of the moving object comprises the following steps:
when the fact that a moving object approaches behind the mobile terminal is judged, and the distance is smaller than a first preset distance, controlling a buzzer to sound an alarm;
when the moving object is judged to be close to the left and the distance is smaller than a second preset distance, controlling a left alarm lamp arranged on the automobile left sight glass to be turned on and a buzzer to sound an alarm;
when the moving object is judged to be close to the right side and the distance is smaller than a third preset distance, a right alarm lamp arranged on the automobile right side mirror is controlled to be turned on and a buzzer sounds to alarm;
and/or, the corresponding alarm according to the approaching position of the moving object comprises the following steps:
when the moving object is judged to be close to the left and the distance is smaller than a second preset distance, controlling the left turn light to be turned on;
and when the moving object is close to the right side and the distance is less than a third preset distance, controlling the right steering lamp to be lightened.
9. A radar control box comprising a memory, a processor and a computer program stored in said memory and executable on said processor, characterized in that said processor implements the steps of the method for detecting the rear of a vehicle according to any one of claims 5 to 8 when said computer program is executed by said processor.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method for detecting rear of a vehicle according to any one of claims 5 to 8.
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