CN102700415B - A kind of Driver Vision auxiliary device and vision householder method thereof - Google Patents

Abstract

The invention relates to the technical field of a driver's visual aid device, and discloses a driver's visual aid device and a visual aid method thereof. Its device comprises radar, speed sensor, processor and display device, and described radar is used for detecting the shape of the road ahead and other vehicles on the road ahead, and sends the detected information to described processor; The speed of the own vehicle is measured; the processor processes the received detection information combined with the speed of the own vehicle to obtain driving environment data; the display device displays the driving environment data. The invention has simple design and high reliability; graphic display is intuitive and reliable; in the case of low visibility, it can realize early warning of non-dangerous situations, thereby avoiding accidents and ensuring safe driving of vehicles.

Description

A driver's visual aid device and its visual aid method

technical field

The present invention relates to the technical field of driver's visual assistance, and more specifically, to a driver's visual assistance device and a visual assistance method thereof.

Background technique

The driver's visual observation ability will be severely weakened under low visibility conditions, such as in foggy, snowy and heavy rainy weather, the driver's visual range will be greatly reduced. Accidents in low visibility conditions are mostly caused by the driver not observing other vehicles, which causes the distance between the own vehicle and the surrounding vehicles to get closer and closer. When the driver finds the existence of other vehicles, it is often too late to brake and cause a collision accident.

At present, collision warning is mostly used to solve the problem of safe driving under low visibility conditions. By using ultrasonic sensors, ranging radars or infrared sensors to detect other vehicles around the vehicle, when there is a risk of collision, the driver is alerted to avoid This type of system improves the safety of vehicles in low visibility conditions. But, also there are two problems simultaneously: the first, early warning form usually adopts sound or visual form, and this early warning form can only provide collision warning signal to the driver, can not be used for prompting the driver under non-dangerous situation. Second, when there is an accident risk, giving an alarm to the driver cannot completely avoid the occurrence of the accident. The timing of the alarm and the driver's acceptance of the alarm signal will all affect the effectiveness of this type of alarm system.

Contents of the invention

In order to make up for the above-mentioned defects, the technical problem to be solved in the present invention is to propose a driver's visual aid device and its visual aid method, which can realize early warning of non-dangerous situations in low visibility conditions, thereby avoiding accidents and ensuring vehicle safety drive.

In order to achieve the above object, the present invention adopts the following technical solutions to achieve.

Technical solution one:

A driver's visual aid device, based on the above-mentioned driver's visual aid device, is characterized in that the device includes a radar, a speed sensor, a processor and a display device, and the radar is used to detect the shape of the road ahead and the shape of the road ahead. other vehicles, and send the detected information to the processor; the speed sensor measures the speed of the vehicle; the processor processes the received detection information combined with the speed of the vehicle to obtain driving environment data; The display device displays the driving environment data.

The characteristics and further improvement of the above-mentioned technical scheme are:

(1) The driving environment data is the relative distance, relative speed or relative angle between the own vehicle and other vehicles in the front area.

(2) The driving environment data includes the driving speed of the own vehicle, the shape of the road ahead, the position of other vehicles ahead, the driving speed of other vehicles ahead, and the distance between the own vehicle and other vehicles ahead.

(3) The processor is connected to the radar through the CAN bus interface, the processor is connected to the speed signal line of the vehicle through the I/O interface, and the processor is connected to the display through the SPI interface.

(4) The radar adopts laser radar and is installed in the center of the front bumper of the vehicle.

(5) The device further includes a start switch, which is installed on the power supply line of the device and is used to control the opening and closing of the device.

Technical solution two:

A driver's visual aid method, characterized in that the radar detects the shape of the road ahead and other vehicles on the road ahead; the processor uses different marks to indicate the other vehicles on the road ahead detected by the radar, and calculates the other vehicles ahead. The position and driving speed of the vehicle; the display device displays the results processed by the processor; when the distance between the self-vehicle and other vehicles in front is relatively close, and the speed of the self-vehicle is higher than the speed of other vehicles in front, the display device will compare other vehicles on the road ahead The icon is marked red to warn the driver.

The characteristics and further improvement of the above-mentioned technical scheme are:

(1) The processor uses different marks to indicate the other vehicles on the road ahead detected by the radar according to the vehicle type. Specifically, it means: the processor collects the outlines of other vehicles ahead, analyzes the outline width of the vehicle, and sets The vehicle type width condition obtains the vehicle type, and different types of vehicles are represented by different tags.

(2) The display device displaying the processing result of the processor specifically refers to: the display device displays the driving speed of the own vehicle, the shape of the road ahead, the position of other vehicles ahead, the driving speed of other vehicles ahead, the distance between the own vehicle and the road ahead. distance to other vehicles.

The invention uses laser radar to detect the road ahead of the vehicle, analyzes the shape of the road ahead, and at the same time identifies other vehicles in the road ahead, and measures the relative distance, relative speed, and relative angle between the vehicle and other vehicles ahead. Information, while using the speed sensor to measure the speed of the vehicle. Using the above information comprehensively, by installing a small liquid crystal display on the instrument panel, using the data analysis and image display functions, the running speed of the vehicle, the shape of the road ahead, and the position of other vehicles ahead are displayed on the liquid crystal display in real time by means of example images , the speed of other vehicles in front, the distance between the vehicle and other vehicles in front, etc. In the case of low visibility, the driver's ability to observe the shape of the road ahead and other vehicles is low, so the above technical solution can improve the driver's ability to observe the road ahead and other vehicles, reduce the impact of low visibility conditions, and avoid A dangerous situation occurs, so as to ensure the safe driving of the vehicle.

Description of drawings

The technical solution of the present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

Fig. 1 is a schematic structural diagram of a driver's visual aid device according to an embodiment of the present invention.

Detailed ways

In the case of low visibility, during the normal driving of the vehicle, the driver can be reminded in real time and vividly, and the driver can be informed of the position and speed of other vehicles, the relative motion relationship between the vehicle and other vehicles, etc., so that the driver can achieve a similar normal Safe driving under visibility conditions, avoiding dangerous situations that cause accidents, and improving driver's driving confidence. In the case of low visibility, during the normal driving of the vehicle, the prompt to the driver should be earlier than the current collision warning device, so as to avoid the occurrence of dangerous situations to a large extent.

The technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments thereof.

Referring to FIG. 1 , this embodiment takes the lidar as an example for illustration. In the low-visibility driver's visual aid device, the lidar is connected to the inner body in the center of the front bumper through bolts, and the lidar is installed facing the road ahead. The processor adopts a microprocessor and is installed inside the instrument panel. The display device adopts an LCD liquid crystal display and is installed on the instrument panel, facing the driver. The system start switch is installed on the instrument panel.

The microprocessor collects the speed signal inside the vehicle through the I/O interface, collects the data from the laser radar through the CAN bus interface, and controls the display function of the LCD liquid crystal display through the SPI interface. The system startup switch is used to turn on or off the power of the whole system, so as to control the opening or closing of the whole system.

After the system startup switch is turned on, the laser radar starts to scan the front area of its own vehicle, and at the same time returns the scanned results to the microprocessor through the CAN bus interface, and the microprocessor collects the running speed of its own vehicle through the I/O interface at the same time . After a data collection is completed, the microprocessor analyzes the collected radar data, identifies and analyzes the geometric shape of the road according to the characteristics of roadside static obstacles, and determines the road shape characteristic curve. The relative speed, relative distance, and profile data of other vehicles in front of other vehicles can determine whether there are other vehicles in front and the type of other vehicles, such as small vehicles in front, large vehicles in front, etc. After identifying other vehicles in front, determine the exact position of other vehicles based on the relative distance and angle between the own vehicle and other vehicles, and determine the speed of other vehicles based on the relative speed of the own vehicle and other vehicles and the driving speed of the own vehicle .

After analyzing the above data, the road shape characterization curve, the type of other vehicles in front, the position and speed of other vehicles in front are displayed in real time on the LCD liquid crystal display in a graphical way, which is used to enhance the driver's ability to The degree of perception of the road traffic scene ahead improves the driver's grasp of the traffic scene ahead and reduces the impact of low visibility on the driver's visual observation.

The low-visibility driver's visual assistance method, the specific steps are as follows:

Step 1: Install lidar, microprocessor and LCD liquid crystal display;

First, install the lidar. The installation position of the lidar is the center of the front bumper of the own vehicle, and the lidar and the inner body structure of the bumper are fixed with bolts. Secondly, after the lidar is installed, the microprocessor is installed, and the microprocessor is installed inside the dashboard of the own vehicle. Again, install the LCD liquid crystal display, utilize the plastic bracket and the double-sided adhesive tape to install the LCD liquid crystal display on the instrument panel, and install the screen towards the driver. Finally, connect the CAN bus interface between the lidar and the microprocessor, connect the I/O interface between the vehicle speed signal and the microprocessor, connect the SPI interface between the LCD liquid crystal display and the microprocessor, and connect the system startup switch and Power interface between microprocessors.

Step 2: Identify and judge the shape of the road ahead;

The result returned by the lidar measurement is a series of points. For each measurement point, the lidar returns the relative distance, relative angle and relative speed between the own vehicle and these points.

Guardrails, green belts or steps on the side of the road, these objects remain stationary on the side of the road, and the shape of these objects is consistent with the alignment of the road. For stationary objects on the side of the road, the relative speed measured by the lidar is basically the same as the driving speed of the own vehicle. Therefore, if the absolute value of the difference between the relative speed of a certain measurement return point and the driving speed of the vehicle is less than 5km/h, it can be determined that the data point belongs to a roadside stationary object. By analyzing all measurement points, identifying all roadside static points and representing all points with two curves, a curve representing the shape of the road ahead is obtained.

Step 3: Identify other vehicles ahead;

The data returned by the lidar measurement includes other vehicles driving on the road in addition to the stationary objects on both sides of the road. According to the motion relationship between the self-vehicle and other vehicles in front, if the absolute value of the difference between the relative speed of a certain measurement point and the driving speed of the self-vehicle is greater than 5 km/h, then the measurement point can be determined to be other vehicles driving ahead. All data points from the LiDAR are analyzed to determine the presence of vehicles in the area ahead.

Step 4: Identify the type of vehicle ahead;

Use the data points of other front vehicles measured by the laser radar to calculate the outline of the vehicle, obtain the outline width of the vehicle, and set the vehicle width condition. When the vehicle width is less than 2.2 meters, the vehicle is determined as a small vehicle and displayed on the LCD display. The vehicle in front is represented by a small vehicle icon; when the width of the vehicle is greater than or equal to 2.2 meters, the target vehicle is determined as a large vehicle, and when the vehicle in front is displayed on the LCD, it is represented by a large vehicle icon.

Step 5: Calculate the position and driving speed of other vehicles in front;

The position of other vehicles in front is determined by the relative angle and relative distance data measured by the laser radar. When other vehicles in front are displayed on the LCD liquid crystal display, the position of the vehicle in front on the screen is determined according to the relative angle and relative distance data. Position: Calculate the speed of other vehicles in front according to the speed of the vehicle and the relative speed between the vehicle and other vehicles in front measured by the lidar. The calculation method is the speed of the vehicle plus the relative speed. When the speed of the vehicle is higher than The set relative speed is negative when other vehicles are ahead, and positive when the speed of the ego vehicle is lower than the speed of other vehicles ahead. The running speed of other vehicles ahead is calculated and determined by the above method.

Step 6: Prompt driving safety;

In low visibility, compared with normal visibility, the distance between the self-vehicle and other vehicles in front needs to be kept longer. Therefore, in low-visibility conditions, when the speed of the own vehicle exceeds a certain level, the distance between the self-vehicle and other vehicles in front needs to be kept farther. distance. When the set speed exceeds 40km/h, if the distance between the vehicle and other vehicles in front is less than 50 meters, the microprocessor controls the LCD to mark other vehicles in the display with red color, but this process does not give an alarm to the driver. It just reminds the driver that there are other vehicles in the short distance ahead, and he needs to drive more carefully to avoid dangerous situations.

Step 7: Display the shape of the road, the positional relationship and relative motion relationship between the vehicle and other vehicles;

The microprocessor analyzes the speed of the vehicle and the data collected by the lidar, calculates the characteristic curve of the road shape in front of the vehicle, and at the same time identifies the position, type and speed of other vehicles on the road ahead. The microprocessor utilizes the SPI interface to display information such as the shape curve of the road ahead, the position of other vehicles ahead, the type of other vehicles ahead, and the speed of other vehicles ahead on the LCD liquid crystal display in real time. Real-time display of the road scene ahead of the self-vehicle in low-visibility conditions, improve the driver's perception of the road scene ahead in low-visibility conditions, and improve the safety of the vehicle during driving in low-visibility conditions.

The invention has simple design and high reliability; graphic display is intuitive and reliable; in the case of low visibility, it can realize early warning of non-dangerous situations, thereby avoiding accidents and ensuring safe driving of vehicles.

The present invention also has multiple implementations, but any changes, equivalent replacements and improvements made within the spirit and essential scope of the invention are within the protection scope of the invention.

Claims (6)

1. A driver's visual aid device suitable for low visibility situations, characterized in that the driver's visual aid device includes a radar, a speed sensor, a processor and a display device, and the radar is used to detect the shape of the road ahead and other vehicles on the road ahead, and send the detected information to the processor; the speed sensor measures the speed of the own vehicle; the processor processes the received detection information combined with the speed of the own vehicle, obtaining driving environment data; the display device displays the driving environment data; The driving environment data is the distance, relative speed or relative angle between the own vehicle and other vehicles ahead, and the driving speed of the own vehicle, the shape of the road ahead, the position of other vehicles ahead, and the speed of other vehicles ahead; The radar adopts laser radar and is installed in the center of the front bumper of the own vehicle. 2. The driver's visual aid device according to claim 1, wherein the processor is connected with the radar through the CAN bus interface, and the processor is connected with the speed signal line of the vehicle through the I/O interface, so The processor is connected to the display through the SPI interface. 3. The driver's visual aid device according to claim 1, characterized in that, the driver's visual aid device also includes a start switch, which is installed on the power supply line of the driver's visual aid device for Controlling the opening and closing of the driver's visual aid device. 4. A driver's visual aid method, based on the driver's visual aid device according to claim 1, is applicable to the low visibility situation, is characterized in that, radar detects the shape of the road ahead and other vehicles on the road ahead; processor The other vehicles on the road ahead detected by the radar are represented by different types, and the positions and driving speeds of other vehicles in front are calculated; the display device displays the results processed by the processor; when the distance between the vehicle and other vehicles in front is relatively close, and When the speed of the self-vehicle is higher than the speed of other vehicles in front, the display device will mark the icons of other vehicles on the road ahead in red to warn the driver. 5. The driver's visual assistance method according to claim 4, wherein the processor uses different marks to indicate other vehicles on the road ahead detected by the radar according to vehicle types, specifically refers to: the processor collects the front vehicles The profile of other vehicles is analyzed to obtain the profile width of the vehicle, and the condition of vehicle width is set to obtain the vehicle type, and different types of vehicles are represented by different marks. 6. The driver's visual assistance method according to claim 4, wherein the display device displays the processing result of the processor specifically refers to: the display device displays the driving speed of the own vehicle, the shape of the road ahead, and other conditions ahead. The position of the vehicle, the speed of other vehicles in front, and the distance between the self-vehicle and other vehicles in front.