CN104118351A - Vehicle auxiliary system and method - Google Patents
Vehicle auxiliary system and method Download PDFInfo
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- CN104118351A CN104118351A CN201310145206.9A CN201310145206A CN104118351A CN 104118351 A CN104118351 A CN 104118351A CN 201310145206 A CN201310145206 A CN 201310145206A CN 104118351 A CN104118351 A CN 104118351A
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Abstract
A vehicle auxiliary method comprises the steps that environment images shot by camera devices are acquired; three-dimensional environment models which are in one-to-one correspondence with the camera devices are established according to the acquired images and the distances of all points in the environment images to the corresponding camera devices; when other vehicles or passersby exist in one three-dimensional environment model, the distances of all the points of the other vehicles or passersby to the vehicle in the three-dimensional environment module are determined, the shortest distance of the other vehicles or passersby to the vehicle in the three-dimensional environment module are determined, when the shortest distance of the other vehicles or passersby to the vehicle in the three-dimensional environment module are smaller than a safety distance value, the camera device corresponding to the three-dimensional environment module is determined, a driving device is controlled to turn on an illumination lamp which is in one-to-one correspondence with the determined camera device. The invention further provides a vehicle auxiliary system which can automatically control the illumination lamp to be turned on.
Description
Technical field
The present invention relates to a kind of vehicle assisted system and vehicle householder method, relate in particular to vehicle assisted system and vehicle householder method that a kind of automatic-control illumination lamp is opened.
Background technology
Steerman, in driving procedure, can determine whether unlocking vehicle illuminating lamp according to personal view visbility at present.But the unlatching of illuminating lamp not only can increase the visbility of steerman driving, other use passerby can also to guarantee road, as other steermans or passerby, can aware each other.Therefore be necessary to provide a kind of system, while can the distance between vehicle and other vehicles or passerby being less than a safety distance value, open illuminating lamp.
Summary of the invention
In view of above content, be necessary to provide a kind of vehicle assisted system and vehicle householder method, can open by automatic-control illumination lamp.
A kind of vehicle assisted system, this vehicle assisted system is for the steerman of an auxiliary vehicle, this system comprises: an image acquiring module, this image acquiring module is for obtaining the ambient image of at least one camera head picked-up, and each ambient image comprises the range information between article each point and corresponding camera head, one model building module, at least one ambient image and each point of this at least one ambient image that this model building module is used for obtaining according to image acquiring module are set up and camera head at least one three-dimensional environment model one to one to the distance of corresponding camera head, one detecting module, whether this detecting module has at least a three-dimensional environment model to have other vehicles or passerby for detecting, one judge module, this judge module is in the time having at least a three-dimensional environment model to have other vehicles or passerby, the distance of each that determine other vehicles in each three-dimensional environment model or passerby to corresponding camera head is each point of other vehicles in each three-dimensional environment model or passerby to the distance of this vehicle, and further determine other vehicles in each three-dimensional environment model or the passerby shortest distance to this vehicle, and determine whether to have at least other vehicles or passerby in a three-dimensional environment model to be less than a safety distance value to the shortest distance of this vehicle, an and execution module, when this execution module is less than this safety distance value for be determined to other vehicles of a rare three-dimensional environment model or passerby at this judge module to the shortest distance of this vehicle, determine the camera head that this at least one three-dimensional environment model is corresponding, and control an actuating device and open and this determined at least one camera head illuminating lamp one to one.
A kind of vehicle householder method, this vehicle householder method is for the steerman of an auxiliary vehicle, this vehicle householder method comprises: obtain the ambient image of at least one camera head picked-up, each ambient image comprises the range information between article each point and corresponding camera head; In at least one ambient image of obtaining according to those and this at least one ambient image, each point is set up and camera head at least one three-dimensional environment model one to one to the distance of corresponding camera head; Whether detecting has at least in a three-dimensional environment model there is other vehicles or passerby; Having at least while there is other vehicles or passerby in a three-dimensional environment model, the distance of each that determine other vehicles in each three-dimensional environment model or passerby to corresponding camera head is each point of other vehicles in each three-dimensional environment model or passerby to the distance of this vehicle, determine that other vehicles or passerby in each three-dimensional environment model arrive the shortest distance of this vehicle, and determine whether to have at least other vehicles or passerby in a three-dimensional environment model to be less than a safety distance value to the shortest distance of this vehicle; In the time having at least other vehicles in a three-dimensional environment model or passerby to be less than this safety distance value to the shortest distance of this vehicle, determine the camera head that this at least one three-dimensional environment model is corresponding, and control an actuating device and open and this determined at least one camera head illuminating lamp one to one.
The present invention is by the time judging that the distance existing in surrounding environment between other vehicles or passerby and this vehicle and other vehicles or passerby is less than a safety distance value, open illuminating lamp by an actuating device, point out other vehicles or passerby to be careful this vehicle, thereby can open by automatic-control illumination lamp.
Brief description of the drawings
Fig. 1 is the block diagram of a vehicle assisted system of an embodiment of the present invention.
Fig. 2 is the schematic diagram of the vehicle of an embodiment of the present invention.
Fig. 3 is the diagram of circuit of the vehicle householder method of an embodiment of the present invention.
Main element nomenclature
| Vehicle assisted system | 10 |
| Vehicle auxiliary device | 1 |
| Vehicle | 2 |
| Camera head | 3 |
| Actuating device | 4 |
| Illuminating lamp | 5 |
| Template is set up module | 11 |
| Image acquiring module | 12 |
| Model building module | 13 |
| Detecting module | 14 |
| Judge module | 15 |
| Execution module | 16 |
| Treater | 20 |
| Memory device | 30 |
| Input block | 6 |
| Detecting unit | 7 |
| Setting module | 17 |
Following detailed description of the invention further illustrates the present invention in connection with above-mentioned accompanying drawing.
Detailed description of the invention
As shown in Figure 1, be the block diagram of the vehicle assisted system 10 of an embodiment of the present invention.This vehicle assisted system 10 is applied on a vehicle auxiliary device 1, assists the steerman of a vehicle 2.This vehicle auxiliary device 1 is connected with camera head 3, actuating device 4 and illuminating lamp 5, the ambient image that this vehicle auxiliary device 1 absorbs by this camera head 3 judges in vehicle 2 surrounding environments, whether there are other vehicle 2 or passerbys, and in the time judging that the distance existing in surrounding environment between other vehicles 2 or passerby and this vehicle 2 and other vehicles 2 or passerby is less than a safety distance value, open this illuminating lamp 5 by this actuating device 4, point out other vehicles 2 or passerby to be careful this vehicle 2.
This camera head 3 is for absorbing front scene, and generating scene image.In the present embodiment, described camera head 3 is a kind of degree of depth video camera (Depth-sensing Camera), and as time flight (Time of Flight, TOF) video camera, for absorbing scene image, this scene image comprises the depth of view information of subject.The depth of view information of described subject refers to the range information of subject each point and camera head 3.Because camera head 3 is when the photographic subjects thing, by the signal of the certain wavelength of transmitting, in the time that running into object, signal can reflex to camera head 3, can calculate the range information between each point and corresponding camera head 3 on object according to signal transmitting and the time difference between reception, therefore described camera head 3 can obtain the range information between subject each point and corresponding camera head 3 in scene image, be depth of view information, hereinafter referred to as the range information between subject each point in scene image and corresponding camera head 3.
Please also refer to Fig. 2, the quantity of this camera head 3 is two.Those camera heads 3 are arranged at respectively the front and back of this vehicle 2, obtain an ambient image for taking the front of this vehicle 2 and the environment at rear.In the present embodiment, the quantity of this illuminating lamp 5 is two pairs, is arranged at respectively the front and back of this vehicle 2, and every pair of illuminating lamp 5 corresponds respectively to a camera head 3., be arranged at respectively every pair of illuminating lamp 5 corresponding camera head 3 that is arranged at the front and back of this vehicle 2 respectively of the front and back of this vehicle 2.Wherein, the dashed region in figure represents the picked-up area division of corresponding camera head 3.
This vehicle assisted system 10 comprises that a template sets up module 11, an image acquiring module 12, a model building module 13, a detecting module 14, a judge module 15 and an execution module 16.The alleged module of the present invention refers to a kind of can be by the treater of vehicle auxiliary device 1 20 performed and can complete the series of computation machine program block of specific function, and it is stored in the memory device 30 of vehicle auxiliary device 1.
Wherein, in this memory device 30, also store multiple three-dimensional car modals and multiple three-dimensional people's section mould plate.The plurality of three-dimensional car modal and three-dimensional people's section mould plate are to set up carrying out before the present invention the vehicle 2 of picked-up and people's image in advance according to this camera head 3.Specifically, this template is set up module 11 for those vehicles 2 of obtaining respectively this camera head 3 and absorbing and people's image, according to those vehicles 2 and people's image, and in vehicle 2 and people's image each point set up those three-dimensional car modals and three-dimensional people's section mould plate to the distance of camera head 3.
The ambient image that this image acquiring module 12 is absorbed for obtaining each camera head 3.
This model building module 13 is set up and each camera head 3 three-dimensional environment model one to one to the distance of corresponding camera head 3 for ambient image and each point of those ambient image of obtaining according to each camera head 3.
Whether this detecting module 14 has at least a three-dimensional environment model to have other vehicles or passerby for detecting.Be specially: this detecting module 14 compares each three-dimensional environment model from the multiple different three-dimensional car modals and the three-dimensional people's section mould plate that are stored in memory device 30, judge whether to have at least in a three-dimensional environment model to have other vehicles or passerby.Have the part identical from the plurality of different three-dimensional car modal or three-dimensional people's section mould plate one if had at least in a three-dimensional environment model, this detecting module 14 is thought to have at least in a three-dimensional environment model and is had other vehicles or passerby.If there is not the part identical with any one three-dimensional car modal or three-dimensional people's section mould plate in the three-dimensional environment model of each foundation, this detecting module 14 is thought in those three-dimensional environment models and is not had other vehicles and passerby.
This judge module 15 is in the time having at least a three-dimensional environment model to have other vehicles or passerby, the distance of each that determine other vehicles in each three-dimensional environment model or passerby to corresponding camera head 3 is each point of other vehicles in each three-dimensional environment model or passerby to the distance of this vehicle 2, determine other vehicles in each three-dimensional environment model or the passerby shortest distance to this vehicle 2, and determine whether to have at least other vehicles or passerby in a three-dimensional environment model to be less than this safety distance value to the shortest distance of this vehicle 2.In the present embodiment, this safety distance value is that system default or user input by an input block 6 being connected with vehicle auxiliary device 1.
When this execution module 16 is less than this safety distance value for be determined to other vehicles of a rare three-dimensional environment model or passerby at this judge module 15 to the shortest distance of this vehicle 2, determine the camera head 3 that this at least one three-dimensional environment model is corresponding, and control this actuating device 4 and open the camera head definite with this 3 illuminating lamp 5 one to one, thereby point out other vehicles or passerby to be careful this vehicle 2.
In other embodiments, this vehicle auxiliary device 1 is also connected with a detecting unit 7, and this detecting unit 7 is for detecting the moving velocity of this vehicle 2.In this memory device 30, also store a form one as follows, this form one records the corresponding relation between moving velocity scope and this safety distance value of vehicle.Wherein, the moving velocity scope of this vehicle is corresponding one by one with this safety distance value.
Form one
| The moving velocity scope of vehicle | Safety distance value |
| 0-10 meter per second | 15 meters |
| … | … |
| 40-50 meter per second | 75 meters |
This vehicle assisted system 10 also comprises a setting module 17, this setting module 17 obtains the moving velocity of this vehicle 2 that this detecting unit 7 detects, determine the moving velocity scope of the vehicle that this moving velocity is positioned at, and determine the corresponding safety distance value of moving velocity scope of this definite vehicle 2 according to the corresponding relation between the moving velocity scope of this vehicle and this safety distance value.Thereby this judge module determines whether to have at least other vehicles 2 or passerby in a three-dimensional environment model to be less than this safety distance value to the shortest distance of this vehicle 2 according to this definite safety distance value.
In other embodiments, in this memory device 30, also store a form two as follows.In this form, record the corresponding relation between moving velocity scope, user's experience and the safety distance value of vehicle 2.
Form two
Wherein, the moving velocity scope of each vehicle 2 is corresponding to multiple users' experience and multiple safety distance value, and the moving velocity scope of each vehicle 2 and each user's experience are corresponding to a safety distance value.Wherein, this user experience pre-enters for user.The moving velocity of the vehicle 2 that this setting module 17 is detected according to this detecting unit 7 is determined the moving velocity scope that this moving velocity is positioned at, and determines vehicle 2 moving velocity scopes that this obtains and user's the corresponding safety distance value of experience according to the corresponding relation between the moving velocity scope of this vehicle, user's experience and this safety distance value.Thereby this judge module determines whether that according to this definite safety distance value other vehicles 2 or passerby in a three-dimensional environment model are less than this safety distance value to the shortest distance of this vehicle 2.
Please refer to Fig. 3, is the diagram of circuit of the present invention's one vehicle householder method.This vehicle householder method is applied on vehicle auxiliary device 1 as shown in Figure 1.
In step S301, this image acquiring module 12 is obtained the ambient image that each camera head 3 absorbs.
In step S302, in the ambient image that this model building module 13 obtains according to those and those ambient image, each point is set up and each camera head 3 three-dimensional environment model one to one to the distance of corresponding camera head 3.
In step S303, whether this detecting module 14 is detected to have at least in a three-dimensional environment model and is had other vehicles or passerby.When having at least while there is other vehicles 2 or passerby in a three-dimensional environment model, execution step S304.In the time all there is not other vehicles and passerby in those three-dimensional environment models, execution step S301.Be specially: this detecting module 14 compares each three-dimensional environment model from the multiple different three-dimensional car modals and the three-dimensional people's section mould plate that are stored in memory device 30, judge whether to have at least in a three-dimensional environment model to have other vehicles or passerby.Have the part identical from the plurality of different three-dimensional car modal or three-dimensional people's section mould plate one if had at least in a three-dimensional environment model, this detecting module 14 is thought to have at least in a three-dimensional environment model and is had other vehicles or passerby.If there is not the part identical with any one three-dimensional car modal or three-dimensional people's section mould plate in the environment 3D modelling of each foundation, this detecting module 14 is thought in those environment that are ingested and is not had other vehicles and passerby.
In step S304, each distance to corresponding camera head 3 that this judge module 15 is determined other vehicles in each three-dimensional environment model or passerby is each point of other vehicles in each three-dimensional environment model or passerby to the distance of this vehicle 2, determine that other vehicles or passerby in each three-dimensional environment model arrive the shortest distance of this vehicle 2, and determine whether to have at least other vehicles or passerby in a three-dimensional environment model to be less than this safety distance value to the shortest distance of this vehicle 2.In the time having at least other vehicles in a three-dimensional environment model or passerby to be less than this safety distance value to the shortest distance of this vehicle 2, execution step S305.In the time that other vehicles in each three-dimensional environment model or passerby are greater than this safety distance value to the shortest distance of this vehicle 2, execution step S301.
In step S305, this execution module 16 is determined camera head 3 corresponding to this at least one three-dimensional environment model, and control this actuating device 4 and open the corresponding illuminating lamp 5 of the camera head corresponding with this three-dimensional environment model 3, thereby point out other vehicles or passerby to be careful this vehicle 2.
Finally it should be noted that, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can modify or be equal to replacement technical scheme of the present invention, and not depart from the spirit and scope of technical solution of the present invention.
Claims (8)
1. a vehicle assisted system, this vehicle assisted system is used for the steerman of an auxiliary vehicle, it is characterized in that, and this system comprises:
One image acquiring module, this image acquiring module is for obtaining the ambient image of at least one camera head picked-up, and each ambient image comprises the range information between article each point and corresponding camera head;
One model building module, at least one ambient image and each point of this at least one ambient image that this model building module is used for obtaining according to image acquiring module are set up and camera head at least one three-dimensional environment model one to one to the distance of corresponding camera head;
One detecting module, whether this detecting module has at least a three-dimensional environment model to have other vehicles or passerby for detecting;
One judge module, this judge module is in the time having at least a three-dimensional environment model to have other vehicles or passerby, the distance of each that determine other vehicles in each three-dimensional environment model or passerby to corresponding camera head is each point of other vehicles in each three-dimensional environment model or passerby to the distance of this vehicle, and further determine other vehicles in each three-dimensional environment model or the passerby shortest distance to this vehicle, and determine whether to have at least other vehicles or passerby in a three-dimensional environment model to be less than a safety distance value to the shortest distance of this vehicle, and
One execution module, when this execution module is less than this safety distance value for be determined to other vehicles of a rare three-dimensional environment model or passerby at this judge module to the shortest distance of this vehicle, determine the camera head that this at least one three-dimensional environment model is corresponding, and control an actuating device and open and this determined at least one camera head illuminating lamp one to one.
2. vehicle assisted system as claimed in claim 1, it is characterized in that: this vehicle assisted system also comprises a setting module, this setting module is used for the moving velocity of this vehicle that obtains a detecting unit detecting, determine the moving velocity scope of the vehicle that the moving velocity of this vehicle is corresponding, and determine and the corresponding safety distance value of moving velocity scope of this definite vehicle according to the corresponding relation between the moving velocity scope of the vehicle of a storage and this safety distance value, this judge module determines whether to have at least other vehicles or passerby in a three-dimensional environment model to be less than this safety distance value to the shortest distance of this vehicle according to this definite safety distance value.
3. vehicle assisted system as claimed in claim 1, it is characterized in that: this vehicle assisted system also comprises a setting module, this setting module is used for the moving velocity of this vehicle that obtains a detecting unit detecting, determine the moving velocity scope that this moving velocity is positioned at, and according to the moving velocity scope of the vehicle of a storage, corresponding relation between user's experience and this safety distance value is determined and the moving velocity scope of this definite vehicle and the corresponding safety distance value of user's experience, thereby this judge module determines whether that according to this definite safety distance value other vehicles or passerby in a three-dimensional environment model are less than this safety distance value to the shortest distance of this vehicle, wherein, this user experience pre-enters for user.
4. vehicle assisted system as claimed in claim 1, it is characterized in that: this detecting module compares each three-dimensional environment model from multiple different three-dimensional car modals and three-dimensional people's section mould plate of storage, judge whether to have at least in a three-dimensional environment model to have other vehicles or passerby; Have the part identical from the plurality of different three-dimensional car modal or three-dimensional people's section mould plate one if had at least in a three-dimensional environment model, this detecting module is thought to have at least in a three-dimensional environment model and is had other vehicles or passerby; If there is not the part identical with any one three-dimensional car modal or three-dimensional people's section mould plate in the three-dimensional environment model of each foundation, this detecting module is thought in those three-dimensional environment models and is not had other vehicles and passerby.
5. a vehicle householder method, this vehicle householder method is used for the steerman of an auxiliary vehicle, it is characterized in that, and this vehicle householder method comprises:
The ambient image of obtaining at least one camera head picked-up, each ambient image comprises the range information between article each point and corresponding camera head;
In at least one ambient image of obtaining according to those and this at least one ambient image, each point is set up and camera head at least one three-dimensional environment model one to one to the distance of corresponding camera head;
Whether detecting has at least in a three-dimensional environment model there is other vehicles or passerby;
Having at least while there is other vehicles or passerby in a three-dimensional environment model, the distance of each that determine other vehicles in each three-dimensional environment model or passerby to corresponding camera head is each point of other vehicles in each three-dimensional environment model or passerby to the distance of this vehicle, determine that other vehicles or passerby in each three-dimensional environment model arrive the shortest distance of this vehicle, and determine whether to have at least other vehicles or passerby in a three-dimensional environment model to be less than a safety distance value to the shortest distance of this vehicle;
In the time having at least other vehicles in a three-dimensional environment model or passerby to be less than this safety distance value to the shortest distance of this vehicle, determine the camera head that this at least one three-dimensional environment model is corresponding, and control an actuating device and open and this determined at least one camera head illuminating lamp one to one.
6. vehicle householder method as claimed in claim 5, is characterized in that, this vehicle householder method also comprises:
Obtain the moving velocity of this vehicle of a detecting unit detecting, determine the moving velocity scope of the vehicle that the moving velocity of this vehicle is corresponding, determine and the corresponding safety distance value of moving velocity scope of this definite vehicle according to the corresponding relation between the moving velocity scope of the vehicle of a storage and this safety distance value; And
Determine whether to have at least other vehicles or passerby in a three-dimensional environment model to be less than this safety distance value to the shortest distance of this vehicle according to this definite safety distance value.
7. vehicle householder method as claimed in claim 5, is characterized in that, this vehicle householder method also comprises:
Obtain the moving velocity of this vehicle of a detecting unit detecting, determine the moving velocity scope that this moving velocity is positioned at, and determine and the moving velocity scope of this definite vehicle and the corresponding safety distance value of user's experience according to the corresponding relation between the moving velocity scope of the vehicle of a storage, user's experience and this safety distance value, wherein, this user experience pre-enters for user; And
Determine whether that according to this definite safety distance value other vehicles or passerby in a three-dimensional environment model are less than this safety distance value to the shortest distance of this vehicle.
8. vehicle householder method as claimed in claim 5, is characterized in that, this vehicle householder method also comprises:
Each three-dimensional environment model is compared from multiple different three-dimensional car modals and three-dimensional people's section mould plate of storage, judge whether to have at least in a three-dimensional environment model to have other vehicles or passerby;
There is the part identical from the plurality of different three-dimensional car modal or three-dimensional people's section mould plate one if had at least in a three-dimensional environment model, think to have at least in a three-dimensional environment model to have other vehicles or passerby; And
If there is not the part identical with any one three-dimensional car modal or three-dimensional people's section mould plate in the three-dimensional environment model of each foundation, think in those three-dimensional environment models and do not have other vehicles and passerby.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310145206.9A CN104118351A (en) | 2013-04-24 | 2013-04-24 | Vehicle auxiliary system and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310145206.9A CN104118351A (en) | 2013-04-24 | 2013-04-24 | Vehicle auxiliary system and method |
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| CN104118351A true CN104118351A (en) | 2014-10-29 |
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| CN201310145206.9A Pending CN104118351A (en) | 2013-04-24 | 2013-04-24 | Vehicle auxiliary system and method |
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| CN111025332A (en) * | 2018-10-04 | 2020-04-17 | 罗伯特·博世有限公司 | Environmental sensing system for a motor vehicle |
| CN111610613A (en) * | 2019-02-25 | 2020-09-01 | 先进光电科技股份有限公司 | Mobile vehicle assistance system and control method thereof |
| CN111809481A (en) * | 2020-07-21 | 2020-10-23 | 三一汽车制造有限公司 | Paver material conveying vehicle guiding system, paver and paver material conveying vehicle guiding method |
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Application publication date: 20141029 |