CN114670753B - Independent display screen switching system of electronic outside rear-view mirror based on ADAS system - Google Patents
Independent display screen switching system of electronic outside rear-view mirror based on ADAS system Download PDFInfo
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- CN114670753B CN114670753B CN202210463990.7A CN202210463990A CN114670753B CN 114670753 B CN114670753 B CN 114670753B CN 202210463990 A CN202210463990 A CN 202210463990A CN 114670753 B CN114670753 B CN 114670753B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/302—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/70—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by an event-triggered choice to display a specific image among a selection of captured images
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8046—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for replacing a rear-view mirror system
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Abstract
The invention provides an independent display screen switching system of an electronic outside rear view mirror based on an ADAS system, which comprises the following components: the system comprises an environment sensing module, an ADAS module, a processing module, a switching module, a display screen and an electronic rearview mirror, wherein the environment sensing module is used for collecting road condition video streams of the environment where a vehicle is located, the ADAS module is used for collecting auxiliary video streams of the position where the vehicle is located and combining the road condition video streams to generate road condition information, the processing module is used for analyzing possible dangerous information of the vehicle in a current area based on the road condition information, the switching module is used for appointing an independent display screen to be switched according to the dangerous attribute of the possible dangerous information and switching the current independent display screen to the independent display screen to be switched to display corresponding dangerous video streams, the electronic rearview mirror is used for replacing the optical rearview mirror, the ADAS system is used for collecting environmental data around the running vehicle, the image collected by the electronic rearview mirror is combined, the safety of the running environment of the vehicle is analyzed, and the display image of the combined screen is displayed in a fast switching mode under dangerous condition.
Description
Technical Field
The invention relates to the technical field of automobile equipment, in particular to an electronic outside rear-view mirror independent display screen switching system based on an ADAS system.
Background
The rearview mirror is a necessary functional device for the automobile, and the traditional automobile rearview mirror is positioned at the left side and the right side of the automobile head and in front of the inside of the automobile. The rearview mirror provides image information at the rear, the side and the lower side of the automobile, so that a driver can conveniently check the conditions of the positions during driving the automobile, and information guarantee is provided for safe driving of the automobile;
along with the development of the times, traditional rearview mirrors are gradually eliminated, electronic rearview mirrors are more favored by drivers, but the traditional rearview mirrors are replaced by the traditional rearview mirrors only through image acquisition, running advice cannot be provided for the drivers, an electronic outside rearview mirror independent display screen switching system based on an ADAS system is provided by combining an advanced driving auxiliary system based on the problem, the ADAS system is used for acquiring environmental data around a running vehicle, the safety of the running environment of the vehicle is analyzed by combining the environmental data acquired by the ADAS system with the images acquired by the electronic rearview mirrors, and the display images of the combined screen are quickly switched and displayed under dangerous conditions, so that timeliness is achieved, the drivers are reminded of the surrounding safety at the fastest speed, and traffic accidents are avoided.
Disclosure of Invention
The invention provides an independent display screen switching system of an electronic outside rearview mirror based on an ADAS (advanced automatic analysis system), which is used for replacing an optical rearview mirror by using the electronic rearview mirror, combining environmental data around a running vehicle collected by the ADAS system with images collected by the electronic rearview mirror, analyzing the safety of the running environment of the vehicle, and rapidly switching display images of a display screen under dangerous conditions.
The invention provides an electronic outside rear-view mirror independent display screen switching system based on an ADAS system, which comprises the following components:
the environment sensing module is used for collecting road condition video streams of the environment where the vehicle is located;
the ADAS module is used for collecting auxiliary video streams of the position of the vehicle and generating road condition information by combining the road condition video streams;
the processing module is used for analyzing possible dangerous information of the vehicle in the current area based on the road condition information;
and the switching module is used for designating the independent display screen to be switched according to the dangerous attribute of the possible dangerous information and switching the current independent display screen to the independent display screen to be switched to display the corresponding dangerous video stream.
In one embodiment of the present invention, in one possible implementation,
the environment sensing module comprises:
the first electronic outside rearview mirror is used for collecting a first video stream on the left side of the vehicle;
the second electronic outside rearview mirror is used for collecting a second video stream on the right side of the vehicle;
and the integration unit is used for inputting the first video stream and the second video stream on the same time axis to generate the road condition video stream.
In one embodiment of the present invention, in one possible implementation,
the independent display screen comprises:
the left joint screen is arranged below a vehicle cab window and used for displaying a first video stream;
the right joint screen is arranged below the vehicle copilot window and used for displaying a second video stream;
the driving screen is arranged in the cab and used for displaying road condition information.
In one embodiment of the present invention, in one possible implementation,
the ADAS module comprises:
the preprocessing unit is used for collecting forward video streams around the vehicle, extracting regional video streams in the effective range of the vehicle from the forward video streams and obtaining auxiliary video streams;
the identification processing unit is used for identifying lane information of the environment where the vehicle is located in the auxiliary video stream;
and supplementing the lane information into the road condition video stream to generate road condition information.
In one embodiment of the present invention, in one possible implementation,
the processing module comprises:
the road condition processing unit is used for generating road condition information based on the road condition video stream and the auxiliary video stream, extracting ground information of the environment where the vehicle is located from the road condition information, and analyzing the running path of the vehicle by combining the lane information;
the path processing unit is used for judging whether a possible obstacle exists in a preset range of the running path or not based on the road condition information;
and if the possible obstacle exists, acquiring the appearance characteristics and the moving speed of the possible obstacle, and generating possible danger information of the possible obstacle.
In one embodiment of the present invention, in one possible implementation,
the switching module comprises:
the positioning unit is used for analyzing the dangerous attribute of the possible dangerous information, acquiring an obstacle based on the dangerous attribute, acquiring the position of the obstacle in the road condition video stream, and extracting a dangerous event from the road condition video stream;
the switching unit is used for judging whether the dangerous event is displayed on the driving screen;
if not, cutting out the current picture of the driving screen, cutting in the dangerous event to the driving screen for display;
and the switching unit is also used for controlling the driving screen to display a target picture appointed by the switching instruction according to the switching instruction of the driver.
In one embodiment of the present invention, in one possible implementation,
the ADAS module further comprises:
the information processing unit is used for analyzing the road condition information, acquiring a driving lane of the vehicle and extracting a driving requirement corresponding to the driving lane;
establishing an ADAS database according to the basic performance of the vehicle and in combination with the driving requirement;
marking a driving path of the vehicle on a current driving lane in the road condition information, and dividing the driving path into a plurality of sub-path sections;
respectively acquiring the corresponding running speed of each sub-path segment, and establishing a running-speed list;
respectively acquiring all the advancing directions of each sub-road section, and establishing a running-direction list;
an information matching unit for generating a history running characteristic of the vehicle based on the running-speed list and the running-direction list;
judging whether the historical driving characteristics meet the safe driving requirement or not based on the ADAS database;
if not, analyzing the predicted running characteristics of the vehicle according to the running-speed list and the running-direction list;
the safety adjustment unit is used for generating standard running characteristics based on the ADAS database, acquiring a first characteristic difference between the predicted running characteristics and the standard running characteristics, and generating a first adjustment parameter;
obtaining a second characteristic difference between the predicted driving characteristic and the historical driving characteristic, and generating a second adjusting parameter;
acquiring a parameter adjusting range according to the first adjusting parameter and the second adjusting parameter;
acquiring the current running speed and the current advancing direction of the vehicle, and respectively adjusting the current running speed and the current advancing direction by taking a preset step length as a superposition adjusting quantity based on the parameter adjusting range to generate a corresponding pairing group of the allowable running speed and the allowable advancing direction;
establishing a corresponding driving sequence according to the pairing group of the allowed driving speed and the allowed advancing direction; respectively acquiring error rates corresponding to each driving sequence, and extracting an optimal allowed running speed-allowed running direction pairing group corresponding to the driving sequence with the lowest error rate to be regarded as a standard running speed and a standard running direction of the vehicle;
the safety adjusting unit is further used for acquiring the adjusting time required by the vehicle to adjust to the standard running speed and the standard advancing direction;
acquiring and analyzing whether the adjusting speed and the adjusting direction of the vehicle meet the safe driving requirement after the adjusting time length;
if the driving information is not met, a dangerous instruction is generated and transmitted to the driving screen for display.
In one embodiment of the present invention, in one possible implementation,
the processing module further comprises:
the road condition processing unit is also used for extracting all the ground information contained in the road condition information and analyzing the road surface flatness of the environment where the vehicle is located;
the characteristic generating unit is used for acquiring the standard running speed of the vehicle and generating bump characteristics by combining the ground information when the flatness is not in a preset range;
the attribute generation unit is used for acquiring the dangerous information and extracting a target image containing the dangerous information from the road condition video stream;
extracting the closed contours of all closed areas in the target image, generating corresponding comparison templates, and respectively acquiring a moving path corresponding to each comparison template in the road condition video stream;
removing the comparison template with the moving path of 0, and obtaining the rest comparison templates to be regarded as dangerous objects;
respectively acquiring object contours corresponding to all dangerous objects, and matching corresponding standard contours in a preset standard contour set;
according to the matching result, obtaining object attributes corresponding to the contours of each object;
the feature generation unit is further used for extracting a ground area contained in the target image, converting the ground area into area information and acquiring the residual distance between the dangerous information and the vehicle according to the ground information;
meanwhile, based on a dangerous moving path corresponding to the dangerous object, and combining the object attribute to generate the moving characteristic of the dangerous object;
the simulation processing unit is used for establishing a collision model according to the residual distance;
inputting the bump characteristics and the movement characteristics into the collision model to analyze the collision probability of the vehicle and dangerous objects;
and analyzing the risk probability corresponding to the dangerous object according to the collision probability, generating a dangerous information list, and transmitting the dangerous information list to a driving screen for display.
In one embodiment of the present invention, in one possible implementation,
the road condition processing unit is further used for classifying the road surface flatness into dangerous grades, and generating a reminding instruction and transmitting the reminding instruction to the driving screen for display when the dangerous grade of the current running road of the vehicle is greater than a preset grade.
In one embodiment of the present invention, in one possible implementation,
the information processing unit is also used for establishing and storing the connection relation between the driving requirement and the ADAS database;
and when the vehicles reach the roads with the same driving requirement, extracting a corresponding ADAS database to judge whether the historical driving characteristics meet the safe driving requirement.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
fig. 1 is a schematic diagram of a switching system of an electronic outside rear view mirror independent display screen based on an ADAS system in an embodiment of the invention;
fig. 2 is a schematic diagram of an environment sensing module of an electronic outside rear view mirror independent display screen switching system based on an ADAS system according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an ADAS module composition of an independent display screen switching system of an electronic outside rear view mirror based on an ADAS system in an embodiment of the invention;
fig. 4 is a schematic diagram of processing module components of an independent display screen switching system of an electronic outside rear view mirror based on an ADAS system in an embodiment of the invention.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
Example 1
An electronic outside rear view mirror independent display screen switching system based on an ADAS system, as shown in figure 1, comprises:
the environment sensing module is used for collecting road condition video streams of the environment where the vehicle is located;
the ADAS module is used for collecting auxiliary video streams of the position of the vehicle and generating road condition information by combining the road condition video streams;
the processing module is used for analyzing possible dangerous information of the vehicle in the current area based on the road condition information;
and the switching module is used for designating the independent display screen to be switched according to the dangerous attribute of the possible dangerous information and switching the current independent display screen to the independent display screen to be switched to display the corresponding dangerous video stream.
In this example, the road condition video stream represents a video stream collected during the running of the vehicle;
in this example, the lane image represents an image extracted from the road condition video stream that can represent a lane in which a vehicle is traveling on a road;
in this example, the road condition information includes a vehicle driving video stream and driving information of a current driving lane;
in this example, the risk factor represents something that may cause a traffic accident;
in this example, the ADAS module represents an advanced driving assistance system.
The working principle of the technical scheme has the beneficial effects that: in order to ensure the running safety of the vehicle, road condition video streams are acquired in the running process of the vehicle, road condition information is generated by extracting a lane image of the running of the vehicle, then whether dangerous information exists around the vehicle is judged by analyzing the road condition information, when the dangerous information exists around the vehicle, the position of the dangerous information is timely positioned, the original display content of a display screen is rapidly switched, and the position of the dangerous information is timely displayed.
Example 2
On the basis of embodiment 1, the system for switching an independent display screen of an electronic outside rear view mirror based on an ADAS system, as shown in fig. 2, includes:
the first electronic outside rearview mirror is used for collecting a first video stream on the left side of the vehicle;
the second electronic outside rearview mirror is used for collecting a second video stream on the right side of the vehicle;
and the integration unit is used for inputting the first video stream and the second video stream on the same time axis to generate the road condition video stream.
In this example, the first electronic outside rear view mirror captures a video stream of the left side of the vehicle;
in this example, the second electronic outside rear view mirror captures a video stream on the right side of the vehicle;
in this example, the time axis represents a time axis constituted by a length of time from when the vehicle starts traveling to the current time point.
The working principle of the technical scheme has the beneficial effects that: when the vehicle starts to run, the first electronic outside rearview mirror and the second electronic outside rearview mirror collect images around the vehicle, and then the integration unit integrates the two video streams to generate a road condition video stream, so that a foundation is laid for subsequent work.
Example 3
On the basis of embodiment 1, the electronic outside rear-view mirror independent display screen switching system based on the ADAS system, the independent display screen comprises:
the left joint screen is arranged below a vehicle cab window and used for displaying a first video stream;
the right joint screen is arranged below the vehicle copilot window and used for displaying a second video stream;
the driving screen is arranged in the cab and used for displaying road condition information.
In this example, the left joint screen is connected to the first electronic outside rear view mirror in embodiment 2, and displays the first video stream collected by the first electronic outside rear view mirror;
in this example, the right joint screen is connected to the second electronic outside rear view mirror of embodiment 2, and displays the second video stream collected by the second electronic outside rear view mirror.
The working principle of the technical scheme has the beneficial effects that: the left-side screen is combined with the first electronic outside rearview mirror to serve as a left rearview mirror, and the right-side screen is combined with the second electronic outside rearview mirror to serve as a right rearview mirror, so that the novel automobile rearview mirror has the functions of a traditional rearview mirror, the step saving time of adjusting the rearview mirror is omitted, the driving screen is used for displaying road condition information, a driver can know forward information at any time conveniently, and convenience is brought to the driver.
Example 4
On the basis of embodiment 1, the system for switching an independent display screen of an electronic outside rear view mirror based on an ADAS system, as shown in fig. 3, includes:
the preprocessing unit is used for collecting forward video streams around the vehicle, extracting regional video streams in the effective range of the vehicle from the forward video streams and obtaining auxiliary video streams;
the identification processing unit is used for identifying lane information of the environment where the vehicle is located in the auxiliary video stream;
and supplementing the lane information into the road condition video stream to generate road condition information.
The working principle of the technical scheme has the beneficial effects that: in order to provide accurate driving advice for a driver, the forward video stream around the vehicle is collected, then the auxiliary video stream is extracted from the forward video stream, the lane information of the environment where the vehicle is located is identified, the lane information is supplemented into the road condition video stream, the integrity of the road condition video stream is ensured, and then the road condition information is regenerated, so that a foundation is provided for subsequent work.
Example 5
On the basis of embodiment 1, the system for switching the independent display screen of the electronic outside rear view mirror based on the ADAS system, as shown in fig. 4, includes:
the road condition processing unit is used for generating road condition information based on the road condition video stream and the auxiliary video stream, extracting ground information of the environment where the vehicle is located from the road condition information, and analyzing the running path of the vehicle by combining the lane information;
the path processing unit is used for judging whether a possible obstacle exists in a preset range of the running path or not based on the road condition information;
and if the possible obstacle exists, acquiring the appearance characteristics and the moving speed of the possible obstacle, and generating possible danger information of the possible obstacle.
In this example, the ground information represents the ground of the environment in which the vehicle is located;
in this example, the travel path represents a path along which the vehicle travels on the lane;
in this example, the risk information includes an appearance characteristic of the obstacle and a traveling speed.
The working principle of the technical scheme has the beneficial effects that: in order to detect the safety of the running of the vehicle, the running path of the vehicle is acquired and converted into running information, then whether an obstacle exists around the vehicle is judged according to the crossing relation between the running information and ground information, and then obstacle information is generated.
Example 6
On the basis of embodiment 1, the electronic outside rear-view mirror independent display screen switching system based on the ADAS system, the switching module comprises:
the positioning unit is used for analyzing the dangerous attribute of the possible dangerous information, acquiring an obstacle based on the dangerous attribute, acquiring the position of the obstacle in the road condition video stream, and extracting a dangerous event from the road condition video stream;
the switching unit is used for judging whether the dangerous event is displayed on the driving screen;
if not, cutting out the current picture of the driving screen, cutting in the dangerous event to the driving screen for display;
and the switching unit is also used for controlling the driving screen to display a target picture appointed by the switching instruction according to the switching instruction of the driver.
In this example, the dangerous event represents an event corresponding to the dangerous information, and the dangerous event may be: pedestrian events, other vehicle events, road object events.
The working principle of the technical scheme has the beneficial effects that: when the obstacle exists around the vehicle, the position of the obstacle is positioned in time, and the display image of the driving screen is switched rapidly, so that a driver can quickly acquire dangerous information and make a correct reaction in the shortest time.
Example 7
Based on embodiment 4, the system for switching an independent display screen of an electronic outside rear view mirror based on an ADAS system, as shown in fig. 3, further includes:
the information processing unit is used for analyzing the road condition information, acquiring a driving lane of the vehicle and extracting a driving requirement corresponding to the driving lane;
establishing an ADAS database according to the basic performance of the vehicle and in combination with the driving requirement;
marking a driving path of the vehicle on a current driving lane in the road condition information, and dividing the driving path into a plurality of sub-path sections;
respectively acquiring the corresponding running speed of each sub-path segment, and establishing a running-speed list;
respectively acquiring all the advancing directions of each sub-road section, and establishing a running-direction list;
an information matching unit for generating a history running characteristic of the vehicle based on the running-speed list and the running-direction list;
judging whether the historical driving characteristics meet the safe driving requirement or not based on the ADAS database;
if not, analyzing the predicted running characteristics of the vehicle according to the running-speed list and the running-direction list;
the safety adjustment unit is used for generating standard running characteristics based on the ADAS database, acquiring a first characteristic difference between the predicted running characteristics and the standard running characteristics, and generating a first adjustment parameter;
obtaining a second characteristic difference between the predicted driving characteristic and the historical driving characteristic, and generating a second adjusting parameter;
acquiring a parameter adjusting range according to the first adjusting parameter and the second adjusting parameter;
acquiring the current running speed and the current advancing direction of the vehicle, and respectively adjusting the current running speed and the current advancing direction by taking a preset step length as a superposition adjusting quantity based on the parameter adjusting range to generate a corresponding pairing group of the allowable running speed and the allowable advancing direction;
establishing a corresponding driving sequence according to the pairing group of the allowed driving speed and the allowed advancing direction; respectively acquiring error rates corresponding to each driving sequence, and extracting an optimal allowed running speed-allowed running direction pairing group corresponding to the driving sequence with the lowest error rate to be regarded as a standard running speed and a standard running direction of the vehicle;
the safety adjusting unit is further used for acquiring the adjusting time required by the vehicle to adjust to the standard running speed and the standard advancing direction;
acquiring and analyzing whether the adjusting speed and the adjusting direction of the vehicle meet the safe driving requirement after the adjusting time length;
if the driving information is not met, a dangerous instruction is generated and transmitted to the driving screen for display.
In this example, the driving demand indicates the order that the vehicle needs to follow in the lane;
in this example, the basic properties of the vehicle include emergency braking and start-up workability of the vehicle;
in this example, the ADAS database represents a driving database generated in accordance with the vehicle basic performance adaptation driving requirements; in this example, the travel-speed list represents a statistical list of the travel speeds of the vehicle at each sub-path segment;
in this example, the travel-direction list represents a statistical table of directions of the vehicle between each sub-path segment and the previous path segment;
in this example, the first characteristic difference represents a difference between the predicted travel characteristic and the standard travel characteristic;
in this example, the first adjustment parameter represents a parameter for adjusting the predicted running speed according to the first characteristic difference, that is, a parameter for adjusting the predicted running characteristic according to the standard running characteristic; in this example, the history running characteristic represents the driving habit of the driver generated from the running speed and the running direction of the driver;
in this example, the predicted travel characteristic represents the future travel speed and travel direction of the driver;
in this example, the second characteristic difference represents a difference between the predicted travel characteristic and the historical travel characteristic;
in this example, the second adjustment parameter represents a parameter for adjusting the predicted running speed according to the second characteristic difference, that is, a parameter for adjusting the predicted running characteristic according to the history running characteristic;
in this example, the parameter adjustment range represents a parameter range of the adjustment predicted driving characteristic generated from the first adjustment parameter and the second adjustment parameter, that is, the actual adjustment parameter is any parameter other than 0 between the first adjustment parameter and the second adjustment parameter;
in this example, the preset step size is 1;
in this example, the superimposed adjustment amount represents a unit adjustment amount generated when the predicted running characteristic is adjusted according to the parameter;
in this example, the allowed travel speed-allowed forward direction pairing group represents a combination of several groups of speeds and directions produced after adjustment;
in this example, the driving sequence represents driving details corresponding to each paired group;
in this example, the error rate represents the probability of an error occurring when the vehicle performs each pairing group;
in this example, the optimal allowable travel speed-allowable forward direction pairing group indicates that the probability of error is the lowest and the safety is the highest when the vehicle executes the pairing group;
in this example, the danger instruction indicates that the driver is in unsafe driving for a long time.
The working principle of the technical scheme has the beneficial effects that: in order to provide driving advice for a driver, firstly, the driving requirement of the lane where the driver is located is acquired, an ADAS database is established in combination with the basic performance of the vehicle, the driving characteristics of the driver are predicted through the database, then the standard driving speed and the standard advancing direction are generated, the driver is reminded to drive according to the standard, and a group of schemes which can not only obey the traffic rules but also ensure the safety of the vehicle are generated in combination with the actual situation of the vehicle.
Example 8
Based on embodiment 5, the system for switching an independent display screen of an electronic outside rear view mirror based on an ADAS system, as shown in fig. 4, further includes:
the road condition processing unit is also used for extracting all the ground information contained in the road condition information and analyzing the road surface flatness of the environment where the vehicle is located;
the characteristic generating unit is used for acquiring the standard running speed of the vehicle and generating bump characteristics by combining the ground information when the flatness is not in a preset range;
the attribute generation unit is used for acquiring the dangerous information and extracting a target image containing the dangerous information from the road condition video stream;
extracting the closed contours of all closed areas in the target image, generating corresponding comparison templates, and respectively acquiring a moving path corresponding to each comparison template in the road condition video stream;
removing the comparison template with the moving path of 0, and obtaining the rest comparison templates to be regarded as dangerous objects;
respectively acquiring object contours corresponding to all dangerous objects, and matching corresponding standard contours in a preset standard contour set;
according to the matching result, obtaining object attributes corresponding to the contours of each object;
the feature generation unit is further used for extracting a ground area contained in the target image, converting the ground area into area information and acquiring the residual distance between the dangerous information and the vehicle according to the ground information;
meanwhile, based on a dangerous moving path corresponding to the dangerous object, and combining the object attribute to generate the moving characteristic of the dangerous object;
the simulation processing unit is used for establishing a collision model according to the residual distance;
inputting the bump characteristics and the movement characteristics into the collision model to analyze the collision probability of the vehicle and dangerous objects;
and analyzing the risk probability corresponding to the dangerous object according to the collision probability, generating a dangerous information list, and transmitting the dangerous information list to a driving screen for display.
In this example, the dangerous information represents information included in the road condition information that threatens the vehicle and hinders the vehicle from advancing;
in this example, the bump feature represents a bump feeling when the vehicle is traveling on roads of different flatness;
in this example, the target image represents an image containing dangerous information extracted from the road condition video stream;
in this example, the closed region represents a region of uniform gray level in the target image;
in this example, the comparison template represents a template that is consistent with the topographical features of the occlusion region;
in this example, the moving path represents a comparison result of a comparison template in the road condition video stream;
in this example, the object attributes include pedestrian attributes, vehicle attributes, and extraneous object attributes.
The working principle of the technical scheme has the beneficial effects that: the method comprises the steps of analyzing bump characteristics of a road surface on which a vehicle runs, attributes of dangerous objects around the vehicle and moving paths, analyzing collision probability between the objects and the vehicle according to the distance between the vehicle and the dangerous objects, judging whether the vehicle is safe or not according to the collision probability, and timely transmitting the vehicle to a driving screen for display.
Example 9
Based on embodiment 8, the electronic outside rear-view mirror independent display screen switching system based on the ADAS system:
the road condition processing unit is further used for classifying the road surface flatness into dangerous grades, and generating a reminding instruction and transmitting the reminding instruction to the driving screen for display when the dangerous grade of the current running road of the vehicle is greater than a preset grade.
The working principle of the calculation scheme has the beneficial effects that: when a vehicle runs on a road with low flatness, a phenomenon of wheel slip is easy to occur, and a driver is injured to a certain extent, so that the flatness of the road surface is registered and divided, and a reminding instruction is generated if necessary.
Example 10
Based on embodiment 7, the electronic outside rear-view mirror independent display screen switching system based on the ADAS system:
the information processing unit is also used for establishing and storing the connection relation between the driving requirement and the ADAS database;
and when the vehicles reach the roads with the same driving requirement, extracting a corresponding ADAS database to judge whether the historical driving characteristics meet the safe driving requirement.
The working principle of the calculation scheme has the beneficial effects that: in order to improve the stability of the system, a relation is established between the driving requirement and the ADAS database, the relation is stored, and when the vehicle reaches the driving requirement again, the corresponding ADAS database is directly acquired, and the next work is carried out.
Example 11
On the basis of embodiment 8, the electronic outside rear-view mirror independent display screen switching system based on the ADAS system, the feature generating unit further includes:
a calculating subunit, configured to obtain a first angle and a second angle between a first vehicle location of the first external electronic rearview mirror and a dangerous point of the dangerous object, and a second vehicle location of the second external electronic rearview mirror, respectively;
judging the position relation between the dangerous object and the vehicle according to the first angle and the second angle;
marking the position relation between the vehicle and the dangerous object in a preset coordinate system, marking a side vehicle position point close to the dangerous object in the coordinate system, and marking the dangerous point; the method comprises the steps of carrying out a first treatment on the surface of the
Acquiring a focal length of a rearview mirror corresponding to the parking spot, and acquiring a corresponding focal length coefficient in a preset focal length-coefficient list;
calculating the distance between the vehicle and the bottom end of the dangerous object according to formulas (I) and (II);
wherein α represents the actual angle between the vehicle and the dangerous object, s c Representing the abscissa s of the parking spot in the preset coordinate system w Representing the abscissa, r, of the dangerous point in the preset coordinate system c Representing the ordinate, r, of the parking spot in the preset coordinate system w Representing the ordinate of the dangerous point in the preset coordinate system, wherein delta represents the focal length coefficient;
wherein L represents the distance between the vehicle and the bottom end of the dangerous object, s d Representing the abscissa of the bottom end of the dangerous object, r d Representing the ordinate of the bottom end of the dangerous object, G representing the height F of the dangerous object, representing the error duration of the calculation process, n representing the maximum error duration of the vehicle, F representing the forward distance within the unit duration of the vehicle, E f Indicating the angle change amount of the vehicle and the dangerous object in a unit time,represents the abscissa of the change of the dangerous point of the vehicle in the preset coordinate system after the unit duration of the vehicle driving,/for>The abscissa of the change of the bottom end of the dangerous object after the unit length of the vehicle running is represented, +.>Representing the ordinate of the change of the vehicle hazard point in the preset coordinate system after the unit length of the vehicle driving,/for>Indicating the ordinate of the change of the bottom end of the dangerous object after the unit time of running of the vehicle, +.>Representing the distance between the vehicle and the bottom end of the dangerous object at the time of calculation,representing the distance between the vehicle and the bottom end of the dangerous object after the calculation is finished;
and (3) according to the calculation result of the formula (II), acquiring the residual distance between the dangerous objects in the preset coordinate system according to the distance between the bottom ends of the dangerous objects, and transmitting the residual distance to the characteristic generating unit for display.
The working principle of the technical scheme has the beneficial effects that: in order to accurately acquire the distance between the vehicle and the dangerous object, the position relation between the dangerous object and the vehicle is analyzed according to the angle between the dangerous object and the two electronic outside rear-view mirrors, and then the distance between the vehicle and the bottom end of the dangerous object is calculated so as to determine the remaining distance between the vehicle and the dangerous object, thereby providing a foundation for avoiding the dangerous object subsequently.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (4)
1. An electronic outside rear-view mirror independent display screen switching system based on ADAS system, which is characterized by comprising:
the environment sensing module is used for collecting road condition video streams of the environment where the vehicle is located;
the ADAS module is used for collecting auxiliary video streams of the position of the vehicle and generating road condition information by combining the road condition video streams;
the processing module is used for analyzing possible dangerous information of the vehicle in the current area based on the road condition information;
the switching module is used for designating an independent display screen to be switched according to the dangerous attribute of the possible dangerous information and switching the current independent display screen to the independent display screen to be switched to display a corresponding dangerous video stream;
the environment sensing module comprises:
the first electronic outside rearview mirror is used for collecting a first video stream on the left side of the vehicle;
the second electronic outside rearview mirror is used for collecting a second video stream on the right side of the vehicle;
the integration unit is used for inputting the first video stream and the second video stream on the same time axis to generate a road condition video stream;
the independent display screen is a left joint screen, a right joint screen and a driving joint screen;
the left joint screen is arranged below a vehicle cab window and used for displaying a first video stream;
the right joint screen is arranged below the vehicle copilot window and used for displaying a second video stream;
the driving screen is arranged in the cab and used for displaying road condition information;
the ADAS module comprises:
the preprocessing unit is used for collecting forward video streams around the vehicle, extracting regional video streams in the effective range of the vehicle from the forward video streams and obtaining auxiliary video streams;
the identification processing unit is used for identifying lane information of the environment where the vehicle is located in the auxiliary video stream;
supplementing the lane information into the road condition video stream to generate road condition information;
the processing module comprises:
the road condition processing unit is used for generating road condition information based on the road condition video stream and the auxiliary video stream, extracting ground information of the environment where the vehicle is located from the road condition information, and analyzing the running path of the vehicle by combining the lane information;
the path processing unit is used for judging whether a possible obstacle exists in a preset range of the running path or not based on the road condition information;
if the possible obstacle exists, the appearance characteristics and the moving speed of the possible obstacle are obtained, and possible dangerous information of the possible obstacle is generated;
the switching module comprises:
the positioning unit is used for analyzing the dangerous attribute of the possible dangerous information, acquiring an obstacle based on the dangerous attribute, acquiring the position of the obstacle in the road condition video stream, and extracting a dangerous event from the road condition video stream;
the switching unit is used for judging whether the dangerous event is displayed on the driving screen;
if not, cutting out the current picture of the driving screen, cutting in the dangerous event to the driving screen for display;
the switching unit is also used for controlling the driving screen to display a target picture appointed by the switching instruction according to the switching instruction of the driver;
the ADAS module further comprises:
the information processing unit is used for analyzing the road condition information to obtain a driving lane of the vehicle and extracting a driving requirement corresponding to the driving lane;
establishing an ADAS database according to the basic performance of the vehicle and in combination with the driving requirement;
marking a driving path of the vehicle on a current driving lane in the road condition information, and dividing the driving path into a plurality of sub-path sections;
respectively acquiring the corresponding running speed of each sub-path segment, and establishing a running-speed list;
respectively acquiring all the advancing directions of each sub-road section, and establishing a running-direction list;
an information matching unit for generating a history running characteristic of the vehicle based on the running-speed list and the running-direction list;
judging whether the historical driving characteristics meet the safe driving requirement or not based on the ADAS database;
if not, analyzing the predicted running characteristics of the vehicle according to the running-speed list and the running-direction list;
the safety adjustment unit is used for generating standard running characteristics based on the ADAS database, acquiring a first characteristic difference between the predicted running characteristics and the standard running characteristics, and generating a first adjustment parameter;
obtaining a second characteristic difference between the predicted driving characteristic and the historical driving characteristic, and generating a second adjusting parameter;
acquiring a parameter adjusting range according to the first adjusting parameter and the second adjusting parameter;
acquiring the current running speed and the current advancing direction of the vehicle, and respectively adjusting the current running speed and the current advancing direction by taking a preset step length as a superposition adjusting quantity based on the parameter adjusting range to generate a corresponding pairing group of the allowable running speed and the allowable advancing direction;
establishing a corresponding driving sequence according to the pairing group of the allowed driving speed and the allowed advancing direction;
respectively acquiring error rates corresponding to each driving sequence, and extracting an optimal allowed running speed-allowed running direction pairing group corresponding to the driving sequence with the lowest error rate to be regarded as a standard running speed and a standard running direction of the vehicle;
the safety adjusting unit is further used for acquiring the adjusting time required by the vehicle to adjust to the standard running speed and the standard advancing direction;
acquiring and analyzing whether the adjusting speed and the adjusting direction of the vehicle meet the safe driving requirement after the adjusting time length;
if the driving information is not met, a dangerous instruction is generated and transmitted to the driving screen for display.
2. The ADAS-based electronic outside rear view mirror independent display screen switching system of claim 1, wherein the processing module further comprises:
the road condition processing unit is also used for extracting all the ground information contained in the road condition information and analyzing the road surface flatness of the environment where the vehicle is located;
the characteristic generating unit is used for acquiring the standard running speed of the vehicle and generating bump characteristics by combining the ground information when the flatness is not in a preset range;
the attribute generation unit is used for acquiring the dangerous information and extracting a target image containing the dangerous information from the road condition video stream;
extracting the closed contours of all closed areas in the target image, generating corresponding comparison templates, and respectively acquiring a moving path corresponding to each comparison template in the road condition video stream;
removing the comparison template with the moving path of 0, and obtaining the rest comparison templates to be regarded as dangerous objects;
respectively acquiring object contours corresponding to all dangerous objects, and matching corresponding standard contours in a preset standard contour set;
according to the matching result, obtaining object attributes corresponding to the contours of each object;
the feature generation unit is further used for extracting a ground area contained in the target image, converting the ground area into area information and acquiring the residual distance between the dangerous information and the vehicle according to the ground information;
meanwhile, based on a dangerous moving path corresponding to the dangerous object, and combining the object attribute to generate the moving characteristic of the dangerous object;
the simulation processing unit is used for establishing a collision model according to the residual distance;
inputting the bump characteristics and the movement characteristics into the collision model to analyze the collision probability of the vehicle and dangerous objects;
and analyzing the risk probability corresponding to the dangerous object according to the collision probability, generating a dangerous information list, and transmitting the dangerous information list to a driving screen for display.
3. An electronic outside rear view mirror independent display screen switching system based on an ADAS system according to claim 2, wherein:
the road condition processing unit is further used for classifying the road surface flatness into dangerous grades, and generating a reminding instruction and transmitting the reminding instruction to the driving screen for display when the dangerous grade of the current running road of the vehicle is greater than a preset grade.
4. The electronic outside rear view mirror independent display screen switching system based on the ADAS system according to claim 1, wherein:
the information processing unit is also used for establishing and storing the connection relation between the driving requirement and the ADAS database;
and when the vehicles reach the roads with the same driving requirement, extracting a corresponding ADAS database to judge whether the historical driving characteristics meet the safe driving requirement.
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| CN110062871A (en) * | 2016-12-09 | 2019-07-26 | 通腾全球信息公司 | Method and system for positioning and mapping based on video |
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| CN115520100A (en) * | 2022-09-21 | 2022-12-27 | 北京宾理信息科技有限公司 | Automobile electronic rearview mirror system and vehicle |
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| CN110062871A (en) * | 2016-12-09 | 2019-07-26 | 通腾全球信息公司 | Method and system for positioning and mapping based on video |
| US10699376B1 (en) * | 2018-10-03 | 2020-06-30 | Ambarella International Lp | eMirror with 3-in-1 stitching by non-rectilinear warping of camera views |
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