CN104554008A - A vehicle safety lane-changing auxiliary system - Google Patents

Abstract

The invention discloses a vehicle safe lane changing auxiliary system, which comprises: a video acquisition unit that acquires a road image of a rear portion of a vehicle; an echo sensing unit; detecting whether an obstacle vehicle exists in a blind area behind the vehicle; and the processing unit is used for judging whether an obstacle vehicle directly influencing vehicle merging or lane changing exists in the target vehicle or not according to the echo sensing unit, and if the obstacle vehicle exists, the processing unit directly gives an alarm or locks a steering wheel to prevent a driver from performing lane changing or merging. If no obstacle vehicle which can directly influence the vehicle doubling is detected, obtaining an image through a video acquisition unit, analyzing the road image, and judging whether a vehicle exists behind the vehicle; if the vehicle exists, calculating the distance and the relative speed between the vehicle and the vehicle; evaluating the safety level of the current vehicle lane change according to the distance and the relative speed; and the display unit is arranged on the rearview mirror and is used for displaying the safety level of the lane change of the vehicle and assisting the lane change operation of a driver.

Description

A vehicle safety lane-changing auxiliary system

technical field

The invention relates to a vehicle to which the vehicle safety lane-changing auxiliary system has been applied. Involving patent classification B60 General vehicles B60R Vehicles, vehicle accessories or vehicle parts not included in other classes B60R21/00 On-vehicle devices or accessories for protecting or preventing injuries to passengers or pedestrians in the event of accidents or other traffic hazards B60R21/ 01 Circuit B60R21/013 that triggers safety protection devices in the event of a vehicle accident or imminent accident contains devices for detecting a collision, imminent collision or rollover.

Background technique

With the development of automotive electronic technology, the active safety technology of vehicles has also made great progress. At present, various safety assistance driving systems have emerged as the times require. In the actual driving process, when changing lanes, the driver needs to use the interior and exterior rearview mirrors to observe the rear road traffic information, and judge whether the distance between the rear car and the front car meets the safe lane change conditions based on driving experience, and then complete the lane change operation. This operation process, even for experienced drivers, cannot accurately determine the real-time distance between the vehicle behind and the vehicle, speed and other information, which greatly increases the psychological burden on the driver's lane change operation. , there are certain security risks. At the same time, due to reasons such as the occupants of the rear seats in the car being blocked or the rear windshield of the vehicle being wet and foggy, it often has a great impact on the driver's observation of the rear traffic conditions through the interior rearview mirror, especially in heavy rains, etc. In the driving environment, it has caused great inconvenience to the driver's safe driving operation.

After a large number of experimental observations, when the driver is about to change lanes, he will first observe whether there is a vehicle behind him according to the interior rearview mirror, and then scan the exterior rearview mirror on the steering side. The size of the area of the rearview mirror is used to judge whether overtaking operation is possible, and if conditions permit, turn on the turn signal to accelerate and change lanes. In this process, judging the relative distance and speed of the vehicle behind and the vehicle becomes a key link. If the operation is not careful, it may cause a scratching accident with the vehicle behind. Existing technical research shows that video-based vehicle detection technology has matured day by day and has begun to enter the stage of practical application. For example: "Research on Vehicle Detection and Vehicle Distance Measurement Based on Machine Vision", the master's thesis of Dalian University of Technology in 2011 is a typical application case of vehicle detection and vehicle distance measurement using vehicle-mounted machine vision system, through the shadow information at the bottom of the vehicle Vehicle detection and vehicle distance estimation with considerable accuracy can be accomplished. Those skilled in the art can completely apply it to the real-time detection of the distance between vehicles and the estimation of vehicle speed according to relevant research ideas.

Contents of the invention

The present invention addresses the above problems, especially the existing vehicle lane change/merge/lane change assist system, which can only simply display whether there is a vehicle in the blind area of the rearview mirror, but cannot provide information for different distances and relative speeds. In order to solve the defects of the line-merging suggestion, a vehicle safety lane-changing auxiliary system has been developed, which has:

The video acquisition unit acquires the road image at the rear of the vehicle; the echo sensing unit detects whether there is an obstacle vehicle in the blind spot behind the vehicle; the processing unit first judges whether there is a vehicle in the target vehicle directly affected by the echo sensing unit. For an obstacle vehicle that merges or changes lanes, if there is an obstacle vehicle, the processing unit directly issues an alarm or locks the steering wheel to prevent the driver from changing lanes or merging. If no obstacle vehicle that can directly affect the merging of the vehicle is detected, the image is obtained through the video acquisition unit, and the road image is analyzed to determine whether there is a vehicle behind the vehicle; if there is a vehicle, calculate the distance and relative speed between the vehicle and the vehicle ; According to the distance and relative speed, evaluate the safety level of the current vehicle lane change; the display unit arranged in the rearview mirror displays the safety level of the vehicle lane change, and assists the driver in the lane change operation.

Due to the video analysis of the relative speed and distance between the vehicle and the possible obstacle vehicle in the target lane, combined with the set threshold, the safety level suggestion for merging or changing lanes is given, which can more intuitively guide the driver to safely merge. When there is an obstacle vehicle that directly affects the merging of the vehicle, the driver's merging action is directly prevented. When there is a potential obstacle vehicle, the driver does not have to wait for a long time to confirm whether there is a vehicle in the blind area of the rearview mirror. Carry out merging operations directly according to the prompts; in vehicles with blind spot warning, the driver does not need to deliberately confirm that the obstacle vehicle in the blind spot is driving away.

Considering that the occupant in the rear seat of the vehicle will block the view of the interior rearview mirror, causing a blind spot of the interior rearview mirror, so as a preferred embodiment, the system also includes: a monitoring unit 1 for monitoring whether the rear windshield is blocked, when the monitoring When unit 1 detects that the rear windshield is blocked, the processing unit projects the image behind the car on the interior rearview mirror.

Further, as a preferred embodiment, the monitoring unit 1 is a through-beam photoelectric sensor. When the rear occupant blocks the sensor wiring harness, the monitoring unit 1 sends information to the processing unit, and the processing unit determines the current vehicle The field of view of the interior rearview mirror is blocked, and the vehicle rear image obtained by the video acquisition unit is displayed on the interior rearview mirror.

During driving in winter, the glass of the vehicle is prone to fogging on the inside of the vehicle. If the members of the vehicle are talking during driving, the fogging phenomenon will be more serious. The existing solution is to turn on the air conditioner, which will generate noise and waste vehicle energy, increasing fuel consumption. . Therefore, as a preferred embodiment, it also has a monitoring unit II for monitoring the humidity and temperature of the rear windshield. When the monitoring unit II detects that the temperature and humidity exceed the set fogging threshold, the processing unit collects the video captured by the video acquisition unit in real time. The image is displayed on the interior rearview mirror. In this way, fogging on the rear windshield can be ignored, and the utilization rate of the air conditioner can be reduced, especially when the rear windshield is covered with ice in the north, which increases the safety of the vehicle.

Furthermore, the video acquisition unit is a single camera and/or dual cameras arranged in the center above the rear windshield area, and is sealed with the rear windshield.

As a preferred embodiment, the echo sensing unit is an ultrasonic sensor, which is arranged on both sides of the rear bumper of the vehicle.

As a preferred implementation, the warning level information for safe lane change is displayed in an inverted triangle strip-shaped green-red gradient pattern; the lateral vehicle information detected by the ultrasonic sensor is displayed in a flashing yellow equilateral triangle pattern.

A vehicle, characterized by having: the vehicle safety lane-changing auxiliary system.

Due to the adoption of the above-mentioned technical scheme, the vehicle safety lane-changing auxiliary system provided by the present invention has the following advantages: use the road image information obtained by the camera to analyze the real-time distance and speed information of the vehicles behind; use the ultrasonic sensor to obtain whether there is a vehicle in the blind area of the camera ; In order to provide safe and reliable steering information for the driver to change lanes. At the same time, the through-beam photoelectric sensor is used to sense whether the occupants in the car have an impact on the imaging of the rearview mirror; the humidity sensor is used to detect whether the rear windshield is fogged; so as to enhance the driver's accurate perception of the road traffic information outside the car. The whole system is highly intelligent, simple in structure, easy to realize and good in economy.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are only some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to these drawings without any creative effort.

The present invention has 4 accompanying drawings, wherein:

Attached Figure 1 is a schematic diagram of the overall layout of the vehicle safety lane change assist system in the car

Accompanying drawing 2 Schematic diagram of the visible range of each sensing component

Attached Figure 3 is a schematic diagram of the display of information on the evaluation level of safe lane change on the exterior rearview mirror

Figure 4 overall flow chart of system operation

In the figure: 1. Ultrasonic sensor, 2. Humidity sensor, 3. Exterior rearview mirror, 4. Processing unit, 5. Interior rearview mirror, 6. Photoelectric sensor-receiving end, 7. Camera, 8. Photoelectric sensor -The transmitting end.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention are clearly and completely described below in conjunction with the drawings in the embodiments of the present invention:

Embodiment 1, as shown in Figures 1 and 4: after the vehicle starts, the system checks itself, and the camera 7, the ultrasonic radar 1 and the photoelectric sensor 6/8 start simultaneously. The photoelectric sensor transmitting end 8 transmits photoelectric signal in real time, and the photoelectric sensor receiving end 6 detects whether the photoelectric signal exists. If the receiving end 6 is at a low voltage level for a long time, it shows that the transmission route of the photoelectric signal is blocked; Humidity detection is performed at the windshield. If the humidity value is greater than the set threshold, it means that there is fog on the rear windshield, which affects the imaging of the interior rearview mirror. The processing unit 4 is based on the above two detection results. When any of the results exists , then the rear road video image obtained by the camera 7 is projected onto the interior rearview mirror, so as to reduce the influence of the external environment on the driver's rearview field of view.

During the working process, the area where the rear vehicle appears may be: within the visible range of the camera 7 and within the visible range of the ultrasonic radar 1, as shown in FIG. 2 .

For the visual range of the camera 7, the information processing steps are as follows: the video image collected by the camera 7 is transmitted to the processing unit 4 in real time, and the processing unit 4 analyzes the image, and first judges whether there is a shadow similar to the bottom of the vehicle by detecting whether there is a shadow in the image. If there is a vehicle, the distance between the vehicle and the vehicle can be analyzed according to the position of the shadow in the image combined with the pre-calibration program; the relative speed information of the two vehicles can be obtained indirectly through the distance information detected between different frames of the video image.

When the vehicle is within the visible range of the ultrasonic radar 1 , the ultrasonic radar 1 is used to detect the vehicle on the turning side in real time, and if a target object is detected, the turning prohibition information is transmitted to the processing unit 4 .

When the driver turns on the turn signal and intends to turn, the processing unit 4 evaluates the risk level of safe lane changing based on the detection information transmitted by the camera 7 and the ultrasonic radar 1, combined with the internally set steering model. The evaluation level information obtained by the camera 7 is displayed in the information display window 1 in the accompanying drawing 3, and the display method is that the display window 1 changes from bottom to top according to the evaluated safety level information, that is, the farther the distance between the rear vehicles , the slower the relative vehicle speed and the higher the safety level, the less the display window 1 is filled from bottom to top. The detection information obtained by the ultrasonic radar 1 is displayed in the information display window 2 in the accompanying drawing 3, and the display mode is a yellow triangle flashing mode, that is, if a vehicle is detected laterally during the steering process, the steering is prohibited, and the This information is displayed in the information display window 2 .

When turning, the driver can decide whether to implement the steering operation through the safe lane-changing auxiliary information projected on the exterior rearview mirror. If the display window 1 is green and the display window 2 has no display, it means that the current lane change is safe and the lane change operation can be performed; if the display window 1 is red or the yellow triangle of the display window 2 flashes frequently, the lane change operation cannot be performed.

The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto, any person familiar with the technical field within the technical scope disclosed in the present invention, according to the technical solution of the present invention Any equivalent replacement or change of the inventive concepts thereof shall fall within the protection scope of the present invention.

The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto, any person familiar with the technical field within the technical scope disclosed in the present invention, according to the technical solution of the present invention Any equivalent replacement or change of the inventive concepts thereof shall fall within the protection scope of the present invention.

Claims (8)

1. a vehicle safety lane-changing assistance system, is characterized in that having:

Echo sensing unit, detects vehicle proceeds posterolateral blind area and whether there is obstacle vehicle;

Video acquisition unit, obtains the image of vehicle rear;

Processing unit, judges whether there is the obstacle vehicle directly affecting vehicle lane-changing in backsight blind area, vehicle side rear according to the testing result of echo detecting unit; If there is not described obstacle vehicle, then analyze vehicle rear image, calculate the Distance geometry relative velocity of vehicle and this car in video image; According to described Distance geometry relative velocity, the level of security that assessment Current vehicle changes;

Be arranged on the display unit of back mirror, show the level of security of described vehicle lane-changing, driver assistance change operation.

2. vehicle safety lane-changing assistance system according to claim 1, it is characterized in that also there is the monitoring means I monitoring rear windshield and whether be blocked, when this monitoring means I detects that rear windshield is blocked, the video image of described video acquisition unit Real-time Collection is presented on room mirror by processing unit.

3. vehicle safety lane-changing assistance system according to claim 2, is further characterized in that described monitoring means I is correlation type opto-electronic pickup.

4. vehicle safety lane-changing assistance system according to claim 1 and 2, it is characterized in that the monitoring means II also with monitoring rear windshield humidity and temperature, when monitoring means II detects that temperature and humidity exceedes the knot mist threshold value of setting, the video image of described video acquisition unit Real-time Collection similarly is on room mirror by processing unit.

5. vehicle safety lane-changing assistance system according to claim 1, is further characterized in that: described video acquisition unit is the single camera and/or the dual camera that are arranged at rear windshield overlying regions middle position, does encapsulation process with rear windshield.

6. vehicle safety lane-changing assistance system according to claim 1, is further characterized in that: described echo sensing unit is ultrasonic transduter, is arranged on the both sides of vehicle rear bumper/spoiler.

7. vehicle safety lane-changing assistance system according to claim 1, is further characterized in that: described safety changes warning level information with the green red gradual-change mode display of inverted triangle strip; The side direction information of vehicles detected by ultrasonic transduter is with the yellow equilateral triangle pattern display of flashing.

8. a vehicle, is characterized in that having: the vehicle safety lane-changing assistance system as described in claim 1,2,3,5,6 or 7.