CN216684409U

CN216684409U - Lane changing auxiliary device based on camera and radar fusion

Info

Publication number: CN216684409U
Application number: CN202220297664.9U
Authority: CN
Inventors: 谷林峰; 虢俊; 鲁尚华; 刘军辉
Original assignee: Changsha Microbrain Intelligent Technology Co ltd
Current assignee: Changsha Microbrain Intelligent Technology Co ltd
Priority date: 2022-02-15
Filing date: 2022-02-15
Publication date: 2022-06-07
Anticipated expiration: 2032-02-15

Abstract

The utility model discloses a lane change auxiliary device based on the fusion of a camera and a radar, which comprises a millimeter wave radar, a camera module, a central controller, a voice module, a warning light module, a communication module and a display screen module, wherein the millimeter wave radar is connected with the camera module; millimeter wave radar is installed in rear of a vehicle both sides, and millimeter wave radar's warning light signal output pin links to each other with the warning light positive pole of warning light module, and millimeter wave radar passes through the CAN bus with central controller and links to each other, and the display screen module passes through the HDMI bus with central controller and links to each other, and voice module passes through I2C bus with central controller and links to each other, and the camera module links to each other with LVDS bus for the central controller, and communication module passes through the serial ports with the central controller and links to each other. According to the utility model, the coming vehicle and the pedestrian behind the vehicle are monitored and the potential collision risk is analyzed during the running of the vehicle, if an accident occurs, the accident occurrence process is recorded through the camera, and the position information of the GPS is uploaded to the network through the 4G module.

Description

Lane changing auxiliary device based on camera and radar fusion

Technical Field

The utility model belongs to the technical field of auxiliary driving, and particularly relates to a lane change auxiliary device based on fusion of a camera and a radar.

Background

The scene is very complicated in the vehicle driving process, and most sensors fail in the scene under the heavy rain, snow, haze and strong light environments; how to rapidly and accurately provide safety warning for a driver becomes a focus of attention in the vehicle driving lane changing process under various environmental scenes.

The existing technologies of positioning and tracking sensors include laser radar, ultrasonic radar and vision lens. The laser radar emits laser beams, and the target position and speed can be obtained by comparing the reflected signals with the transmitted signals. The device has the advantages of simple structure, high precision, long measuring distance and high response speed. The disadvantage is that it is susceptible to weather and environmental influences, especially strong light, and is expensive. The ultrasonic radar uses ultrasonic waves to propagate in air, and positions a target through the time difference between a transmitting signal and a receiving signal. The advantages are strong ultrasonic directivity, low energy consumption and long transmission distance in some media. The disadvantages are that the distance measurement is close and the precision is low. The measurement is complex, the target needs to be aligned, and the environment is easy to influence; visual shots typically use a camera to detect an area. Its advantage is high resolution. The disadvantage is that it is very much affected by the environment.

SUMMERY OF THE UTILITY MODEL

Aiming at the problem that the prior sensor technology can not accurately provide safety early warning for a driver in various complex scenes and different weathers in the driving process of a vehicle, the utility model provides a BSD lane change auxiliary device based on the fusion of a millimeter wave radar and a camera, which can provide stable and accurate lane change assistance, blind area monitoring, overtaking early warning, door opening early warning and reverse transverse crossing early warning by utilizing the advantages that the millimeter wave radar is not influenced by the environment and the scene is recorded by the camera and the logic of multiple screening of radar point cloud, and can trigger the camera through early warning and display the early warning in real time through a display screen. The utility model utilizes a millimeter wave radar, a wide-angle camera, a central controller, a voice module, a warning light module, a communication module, a display screen module and a GPS module to combine into a BSD lane change auxiliary device.

The utility model discloses a lane change auxiliary device based on the fusion of a camera and a radar, which comprises: the system comprises a millimeter wave radar, a camera module, a central controller, a voice module, a warning lamp module, a communication module and a display screen module;

the millimeter wave radar comprises two millimeter wave radars which are respectively arranged on two sides of the tail of a vehicle, a warning lamp signal output pin of each millimeter wave radar is connected with the anode of a warning lamp module, the millimeter wave radars are connected with a central controller through a CAN bus, a display screen module is connected with the central controller through an HDMI bus, a voice module is connected with the central controller through an I2C bus, a camera module is connected with the central controller through an LVDS bus, and a communication module is connected with the central controller through a serial port;

the camera module and the millimeter wave radar are started along with the starting of the vehicle, the vehicle and the pedestrian in the surrounding environment are detected in real time, the central controller reads the gear signal and the steering signal of the vehicle in real time, and when the pedestrian at the tail of the vehicle or other vehicle trigger devices warn conditions, the voice module, the display screen and the warning lamp are used for reminding.

Furthermore, the camera used by the camera module is a wide-angle camera.

Further, the communication module adopts a 4G communication mode.

Further, the device also comprises a GPS module which is connected with the central controller through an I2C bus.

Furthermore, a gear signal pin of the millimeter wave radar is connected with a reversing lamp of the vehicle, and a steering signal pin of the millimeter wave radar is connected with a steering lamp on the corresponding side of the tail of the vehicle.

Further, the communication module acquires the vehicle position information of the GPS module and sends the vehicle position information to the remote server.

The utility model has the following beneficial effects:

the BSD lane-changing auxiliary device is formed by combining the millimeter wave radar, the wide-angle camera, the central controller, the voice module, the warning lamp module, the 4G module and the display screen module, can monitor the coming vehicle and the pedestrian behind the vehicle and analyze the potential collision risk when the vehicle runs, changes lanes, overtakes, opens the door at the roadside and reverses the vehicle, and displays the scene of the tail of the vehicle on the screen, thereby providing effective warning for a driver, ensuring the driving safety and reducing the probability of traffic accidents. If an accident occurs, the accident occurrence process can be recorded in time through the camera, and the position information of the GPS is uploaded to the network through the 4G module.

Drawings

FIG. 1 is a block diagram of the system of the present invention.

Detailed Description

The utility model is further described with reference to the accompanying drawings, but the utility model is not limited in any way, and any alterations or substitutions based on the teaching of the utility model are within the scope of the utility model.

As shown in fig. 1, the utility model provides a BSD lane change assisting device structure composed of a millimeter wave radar, a wide-angle camera, a central controller, a voice module, a warning light module, a communication module, a GPS module and a display screen module.

The millimeter wave radar module detects the condition of obstacles behind the vehicle in real time, and judges whether the target is a person or a vehicle according to the RCS value of the detected target, and the radar only generates early warning on the person and the vehicle, so that unnecessary early warning is reduced. When a person or a vehicle is detected but no risk is brought to the vehicle, the radar transmits the coordinate XY and speed information of the radar to the central controller through the CAN bus.

If the fact that a rear person or vehicle is detected to be approaching fast and the approaching speed meets the preset TTC early warning condition or the position is in the blind area range of a driver is detected, the radar on the corresponding side sends BSD (blind area monitoring and early warning system) early warning information to the central controller through the CAN bus, and the level of the BSD early warning information CAN be changed according to the fact that the radar reads a steering signal and a gear state. When the radar detects that a collision is unavoidable, or is about to occur, the radar sends a collision warning to the central controller. The calculation of the distance measurement early warning of the TTC (Time-To-Collision Time) is the prior art in the field, and the detailed description of the utility model is omitted.

And the warning lamp module can trigger the warning lamp module to perform early warning when the radar sends an early warning message to the central controller.

The central controller module receives radar information in real time through the CAN bus, receives position and speed information of a person or a vehicle detected by the radar when no early warning is performed, sends the received position information to the display screen module through the HDMI bus in the form of icon animation, and displays the position information on the display screen in real time.

When the central controller receives a radar BSD early warning signal, the central controller triggers the vehicle tail camera module to work, the picture shot by the camera is displayed on the display screen in real time, and the voice module is used for sending sound to remind a driver.

When the central controller receives the collision warning message of the radar, the central controller triggers the rear camera module to work and stores the camera shooting pictures, and reads the vehicle position information in the GPS module through the I2C bus. The central controller adds the read vehicle position information with collision warning information and vehicle owner information, and transmits the information to the 4G module in a serial port sending mode, and the 4G module forwards the received information to a network.

The implementation process is as follows:

the radar is arranged on two sides of the tail of the vehicle, the gear signal pin is connected with a reversing lamp of the vehicle, the steering signal pin is connected with a steering lamp on the corresponding side of the tail of the vehicle, the signal output pin of the radar warning lamp is connected with the anode of the warning lamp, the radar is connected with a CAN bus for a central controller, the display screen module is connected with an HDMI bus for the central controller, the voice module is connected with an I2C bus for the central controller, the camera module is connected with an LVDS bus for the central controller, and the 4G module is connected with a serial port for the central controller.

The lane change auxiliary device with the camera fused with the radar is started along with the starting of the vehicle, detects vehicles and pedestrians in the surrounding environment in real time, and reads gear signals and steering signals of the vehicle in real time. When the tail of the vehicle is used for pedestrians or other vehicles to trigger the device to warn conditions, the voice module, the display screen and the warning lamp are used for reminding a driver in time, and the driving safety of the vehicle is ensured.

When collision happens, the device can record pictures shot by the camera and transmit the information of the position of the vehicle and the owner of the vehicle to the network when the collision happens, so that rescue and emergency contacts can be informed more quickly. Is beneficial to rescue, search and rescue after an accident and penalty judgment of accident responsibility.

The utility model has the following beneficial effects:

The word "preferred" is used herein to mean serving as an example, instance, or illustration. Any aspect or design described herein as "preferred" is not necessarily to be construed as advantageous over other aspects or designs. Rather, use of the word "preferred" is intended to present concepts in a concrete fashion. The term "or" as used in this application is intended to mean an inclusive "or" rather than an exclusive "or". That is, unless specified otherwise or clear from context, "X employs A or B" is intended to include either of the permutations as a matter of course. That is, if X employs A; b is used as X; or X employs both A and B, then "X employs A or B" is satisfied in any of the foregoing examples.

Also, although the disclosure has been shown and described with respect to one or an implementation, equivalent alterations and modifications will occur to others skilled in the art based upon a reading and understanding of this specification and the annexed drawings. The present disclosure includes all such modifications and alterations, and is limited only by the scope of the appended claims. In particular regard to the various functions performed by the above described components (e.g., elements, etc.), the terms used to describe such components are intended to correspond, unless otherwise indicated, to any component which performs the specified function of the described component (e.g., that is functionally equivalent), even though not structurally equivalent to the disclosed structure which performs the function in the herein illustrated exemplary implementations of the disclosure. In addition, while a particular feature of the disclosure may have been disclosed with respect to only one of several implementations, such feature may be combined with one or other features of the other implementations as may be desired and advantageous for a given or particular application. Furthermore, to the extent that the terms "includes," has, "" contains, "or variants thereof are used in either the detailed description or the claims, such terms are intended to be inclusive in a manner similar to the term" comprising.

Each functional unit in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or a plurality of or more than one unit are integrated into one module.

In summary, the above-mentioned embodiment is an implementation manner of the present invention, but the implementation manner of the present invention is not limited by the above-mentioned embodiment, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be regarded as equivalent replacements within the protection scope of the present invention.

Claims

1. The utility model provides a lane change auxiliary device based on camera fuses with radar which characterized in that includes: the system comprises a millimeter wave radar, a camera module, a central controller, a voice module, a warning lamp module, a communication module and a display screen module;

2. The lane-changing auxiliary device based on camera and radar fusion of claim 1, wherein the camera used by the camera module is a wide-angle camera.

3. The lane-changing auxiliary device based on the fusion of the camera and the radar as claimed in claim 1, wherein a gear signal pin of the millimeter wave radar is connected with a reversing lamp of the vehicle, and a steering signal pin of the millimeter wave radar is connected with a steering lamp on the corresponding side of the tail of the vehicle.

4. The lane change assisting device based on camera and radar fusion of claim 1, wherein the communication module adopts a 4G communication mode.

5. The lane-changing auxiliary device based on camera and radar fusion of claim 1, characterized in that the device further comprises a GPS module, and the GPS module is connected with the central controller through an I2C bus.

6. The camera-and-radar-fusion-based lane-changing assisting device according to claim 5, wherein the communication module acquires vehicle position information of the GPS module and transmits the vehicle position information to a remote server.