CN113619486A - Steering auxiliary system based on forward-looking camera - Google Patents
Steering auxiliary system based on forward-looking camera Download PDFInfo
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- CN113619486A CN113619486A CN202111012983.7A CN202111012983A CN113619486A CN 113619486 A CN113619486 A CN 113619486A CN 202111012983 A CN202111012983 A CN 202111012983A CN 113619486 A CN113619486 A CN 113619486A
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- 238000000034 method Methods 0.000 description 5
- 206010039203 Road traffic accident Diseases 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
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Classifications
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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
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
- B60R2011/0003—Arrangements for holding or mounting articles, not otherwise provided for characterised by position inside the vehicle
- B60R2011/0026—Windows, e.g. windscreen
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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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Multimedia (AREA)
- Traffic Control Systems (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a steering auxiliary system based on a forward-looking camera. The front-view camera is arranged in front of the vehicle, shoots images in front of the vehicle, identifies oncoming vehicles, obtains related data of the oncoming vehicles and sends the data to the system main control; the system main control processing obtains the speed and the expected running path of the oncoming vehicle, obtains the turn signal, the speed information and the steering wheel angle information of the vehicle through the CAN network of the vehicle, calculates the expected running path of the vehicle during steering through the information, judges according to the expected running paths of the oncoming vehicle and the vehicle, generates a running control signal and further controls the running work of the vehicle. The invention mainly solves the problem that when a vehicle turns left at an intersection, if the vehicle comes in the opposite direction, a driver cannot accurately judge whether the vehicle can pass in advance, so that a serious collision accident can be caused.
Description
Technical Field
The invention relates to a steering auxiliary system based on a front-view camera, in particular to a steering auxiliary system based on a front-view camera and a control method.
Background
With the improvement of living standard of all countries in the world, the automobile keeping quantity is continuously increased, and meanwhile, various traffic accidents and the cases of casualties and property loss caused by the traffic accidents are continuously increased. Road traffic and vehicle types in China are relatively complex, and related data show that about 30% of accidents are side collision accidents. The side impact accident fatality rate is second only to the frontal impact, while the injury rate is first.
Disclosure of Invention
In order to solve the problems in the background art, the invention provides a steering auxiliary system based on a forward-looking camera and a control method thereof, which can effectively reduce the occurrence of collision accidents and protect the safety of personnel and property.
The invention mainly aims to avoid the situation that collision accidents occur due to artificial fuzzy judgment when a driver cannot well judge whether the two vehicles collide or not without decelerating if the vehicles come in a direction when the vehicle is to turn.
As shown in fig. 1, the technical scheme adopted by the invention is as follows:
the system mainly senses and monitors the road condition information in front by means of the front-view camera arranged on the front windshield of the vehicle, the front-view camera arranged on the front windshield of the vehicle CAN identify the oncoming vehicle, the running state of the vehicle is obtained through the CAN network of the vehicle body of the vehicle, the running information of the oncoming vehicle is obtained by combining the front-view image, and the expected running track/path of the two vehicles CAN be obtained.
When the vehicle runs to an intersection and is about to turn, the system detects a turn light signal to judge that the vehicle is about to turn left or turn right, and the forward-looking camera recognizes that the vehicle running straight in an opposite lane, the system can calculate the speed of the opposite vehicle through the image of the forward-looking camera to obtain an expected straight path and combine the expected left-turning path of the vehicle to judge whether collision occurs or dangerous intersection is formed when the two vehicles are too close, then the result is judged to be transmitted to the central control screen, and the central control screen displays an early warning icon and transmits voice prompt early warning information to a driver whether the driver can run through the intersection in a left-turning mode before the opposite vehicle, so that the occurrence of collision accidents is reduced.
Through the mode of accurately judging whether the expected path is reasonable and giving a prompt early warning signal to the driver, the system can effectively reduce the occurrence of the collision accidents during left turn, and avoid casualties and property loss.
The invention has the beneficial effects that:
steering auxiliary system based on forward-looking camera
The system comprises a front-view camera, a front-view camera and a system main control, wherein the front-view camera is arranged in front of a vehicle, shoots images in front of the vehicle, identifies oncoming vehicles, obtains related data of the oncoming vehicles and sends the data to the system main control;
the system main control system comprises a system main control unit, wherein the system main control unit receives relevant data processing of an oncoming vehicle identified by a front-view camera to obtain the speed and the expected running path of the oncoming vehicle, obtains a turn light signal, speed information and steering wheel angle information of the oncoming vehicle through a CAN network of the oncoming vehicle, calculates the expected running path of the oncoming vehicle during steering through the information, judges whether the two vehicles have a collision accident according to the expected running paths of the oncoming vehicle and the oncoming vehicle, and generates a running control signal to control the running work of the oncoming vehicle.
The front-view camera is installed at the position of the windshield of the vehicle.
The system main control system sends a prompt early warning signal to the central control screen in the vehicle according to the judgment result, and the central control screen receives the prompt early warning signal from the system main control system and then displays the prompt signal on the screen to remind a driver to perform prompt and steering assistance.
The steering auxiliary system detects the longitudinal distance and the transverse distance between the vehicle and an oncoming vehicle and the relative speed between the vehicle and the oncoming vehicle through a forward-looking camera arranged in front of the vehicle body of the vehicle on the vehicle. The longitudinal distance is the distance in the direction of travel and the transverse distance is the distance in the direction perpendicular to the direction of travel.
The present invention is directed to a situation where a host vehicle and an oncoming vehicle are traveling relatively opposite to each other along the same road, the host vehicle needs to turn, and there are situations and problems in a scene where the oncoming vehicle is approaching the opposite host vehicle and is traveling straight on the turning side, as shown in fig. 2.
A steering assist control method applied to the steering assist system:
the distance and the relative speed between the current vehicle and the oncoming vehicle are obtained in real time through the forward-looking camera, and the judgment processing is carried out according to the following steps:
the vehicle system master control acquires the speed V of the vehicle by acquiring the vehicle information of the vehicle system master control1And a turning radius R, the steering angle theta of the own vehicle over the time T being obtained according to the following formula:
wherein R is the turning radius of the vehicle, V1Representing a speed of the host vehicle;
according to the longitudinal distance X, the transverse distance Y and the relative speed between the vehicle and the oncoming vehicle which are obtained in real time through the front-looking camera, the steering angle theta of the vehicle is comprehensively judged in combination:
if the following formula is satisfied, the vehicle is judged to be turned in advance, and a steering control signal is generated to control the steering of the vehicle:
wherein D represents a safe distance between vehicles, V2Indicating the speed of the oncoming vehicle;
if the following formula is satisfied, the vehicle is judged to pass ahead of the coming vehicle, and a non-steering straight-going control signal is generated to control the vehicle to not steer to go straight:
if the two formulas are not met, the situation that the two vehicles collide or are too dangerous to meet when running in the current state is judged, and a braking control signal is generated to control the braking and the deceleration of the vehicle, so that the vehicle decelerates first and waits for the oncoming vehicle to run first.
The invention mainly solves the problem that when a vehicle turns left at an intersection, if the vehicle comes in the opposite direction, a driver cannot accurately judge whether the vehicle can pass in advance, so that a serious collision accident can be caused.
The invention effectively improves the safety of intersection between left-turning vehicles and opposite vehicles and reduces the occurrence of collision accidents.
Drawings
FIG. 1 is a flow chart of a forward looking camera based steering assist system;
FIG. 2 is a schematic diagram of an actual road condition of a steering assist system based on a front-view camera;
fig. 3 is a schematic diagram showing coordinates of two vehicles of the steering assist system based on the front-view camera, in which the distance between the traveling directions X of the two vehicles is X, the distance between the lateral coordinates Y is Y, the vehicle travels along an arc with a radius R, and the angle on the arc is θ.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
The system comprises a front-view camera, a front-view camera and a system main control, wherein the front-view camera is arranged at the windshield of the vehicle, shoots images in front of the vehicle, identifies oncoming vehicles, obtains related data of the oncoming vehicles and sends the data to the system main control;
the relevant data of the oncoming vehicle includes the longitudinal distance X and the lateral distance Y of the host vehicle and the oncoming vehicle, and the relative speed, and the angle is considered to be an ideal 180 ° direction of the subtending.
The system main control obtains the speed, the direction and the expected running path of the oncoming vehicle by receiving the relevant data processing of the oncoming vehicle identified by the front-view camera, obtains the turn light signal, the speed information and the steering wheel angle information of the vehicle through the CAN network of the vehicle, calculates the expected running path of the vehicle during turning according to the information, judges whether the two vehicles have collision accidents or dangerous intersection according to the expected running paths of the oncoming vehicle and the vehicle, and generates a running control signal to control the running work of the vehicle; and sending a prompting early warning signal to a central control screen in the vehicle according to the judgment result in the system main control.
The steering assisting system comprises a central control screen, wherein the central control screen receives a prompt early warning signal from a system main control and then displays the prompt on the screen to remind a driver of prompting and steering assisting.
The steering assist system detects, on a host vehicle, a longitudinal distance and a lateral distance between the host vehicle and an oncoming vehicle and a relative speed between the host vehicle and the oncoming vehicle by a forward-looking camera arranged in front of a body of the host vehicle.
The working process of the embodiment of the invention is as follows:
the forward-looking camera installed at the front windshield of the vehicle can identify the oncoming vehicle, and the speed and the position of the oncoming vehicle can be calculated through the image of the oncoming vehicle by combining the speed of the vehicle. Meanwhile, the trajectory of the vehicle can be calculated according to the speed and the steering wheel angle of the vehicle.
When the system main control detects that the vehicle turns a left turn light and the steering wheel turns a certain angle to the left in a short time, the system judges that the vehicle is about to turn left. At this time, if there is an oncoming vehicle traveling at a certain speed, it is calculated whether the two vehicles will have a collision accident or whether the distance between the two vehicles is too close to be too dangerous when the two vehicles meet each other, according to the expected routes of the two vehicles. The system gives a corresponding prompt early warning signal to the central control screen according to the intersection result of the paths of the two vehicles.
Then, the central control screen gives a corresponding reaction according to the given signal, if the two vehicles are possibly collided or intersected too dangerously, the central control screen prompts the driver to decelerate first and wait for the opposite vehicle to pass through first and then turn left, and if the vehicle can drive through the left in advance and is not intersected dangerously, the central control screen prompts the driver to pass through the left in advance.
The steering assist control process of the present invention is embodied as follows:
the distance and the relative speed between the current vehicle and the oncoming vehicle are obtained in real time through the forward-looking camera, and the judgment processing is carried out according to the following steps:
as shown in fig. 3, the vehicle advancing direction is specifically set to be a longitudinal direction, denoted by X, and a lateral direction, denoted by Y.
Considering the smooth steering angleThe steering track is approximately a section of radius with the angle R
The vehicle system main control 5 acquires the speed V of the vehicle by acquiring the vehicle information of the vehicle system main control 51And a turning radius R, the steering angle theta of the own vehicle over the time T being obtained according to the following formula:
wherein R is the turning radius of the vehicle, V1Representing a speed of the host vehicle;
according to the longitudinal distance X, the transverse distance Y and the relative speed between the host vehicle and the oncoming vehicle which are obtained in real time through the forward-looking camera, the speed V of the host vehicle is combined by the relative speed1To obtain the speed V of the oncoming vehicle2And comprehensively judging in combination with the steering angle theta of the vehicle:
if the following formula is satisfied, judging that the vehicle turns through in advance, namely when the vehicle passes through the transverse distance Y along the circular arc path, the opposite vehicle and the vehicle do not reach X-D in the longitudinal distance, and generating a steering control signal to control the steering of the vehicle:
wherein D represents a safe distance between vehicles, V2Indicating the speed of the oncoming vehicle;
if the following formula is satisfied, judging that the oncoming vehicle passes through in a straight ahead manner, namely when the vehicle and the oncoming vehicle reach X in the longitudinal distance, but the transverse distance of the vehicle passing along the arc does not reach Y-D, generating a non-steering straight-ahead control signal to control the vehicle not to steer to a straight ahead manner:
if the two formulas are not met, the situation that the two vehicles collide or are too dangerous to meet when running in the current state is judged, and a braking control signal is generated to control the braking and the deceleration of the vehicle, so that the vehicle decelerates first and waits for the oncoming vehicle to run first.
Claims (4)
1. A steering assist system based on a forward looking camera is characterized in that:
the system comprises a front-view camera, a front-view camera and a system main control, wherein the front-view camera is arranged in front of a vehicle, shoots images in front of the vehicle, identifies oncoming vehicles, obtains related data of the oncoming vehicles and sends the data to the system main control;
the system main control system comprises a system main control unit, wherein the system main control unit receives relevant data processing of an oncoming vehicle identified by a front-view camera to obtain the speed and the expected running path of the oncoming vehicle, obtains a turn light signal, speed information and steering wheel angle information of the oncoming vehicle through a CAN network of the oncoming vehicle, calculates the expected running path of the oncoming vehicle during steering through the information, judges whether the two vehicles have a collision accident according to the expected running paths of the oncoming vehicle and the oncoming vehicle, and generates a running control signal to control the running work of the oncoming vehicle.
2. The forward looking camera based steering assist system of claim 1 wherein: the front-view camera is installed at the position of the windshield of the vehicle.
3. The forward looking camera based steering assist system of claim 1 wherein: the system main control system sends a prompt early warning signal to the central control screen in the vehicle according to the judgment result, and the central control screen receives the prompt early warning signal from the system main control system and then displays the prompt signal on the screen to remind a driver to perform prompt and steering assistance.
4. The forward looking camera based steering assist system of claim 1 wherein: the steering auxiliary system detects the longitudinal distance and the transverse distance between the vehicle and an oncoming vehicle and the relative speed between the vehicle and the oncoming vehicle through a forward-looking camera arranged in front of the vehicle body of the vehicle on the vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111012983.7A CN113619486A (en) | 2021-08-31 | 2021-08-31 | Steering auxiliary system based on forward-looking camera |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111012983.7A CN113619486A (en) | 2021-08-31 | 2021-08-31 | Steering auxiliary system based on forward-looking camera |
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| CN113619486A true CN113619486A (en) | 2021-11-09 |
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| CN202111012983.7A Pending CN113619486A (en) | 2021-08-31 | 2021-08-31 | Steering auxiliary system based on forward-looking camera |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114202963A (en) * | 2021-11-30 | 2022-03-18 | 浙江亚太机电股份有限公司 | Traffic light anti-false-start system based on forward-looking camera |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007022403A (en) * | 2005-07-19 | 2007-02-01 | Denso Corp | Right-turn timing evaluation device |
| US20200353904A1 (en) * | 2019-05-08 | 2020-11-12 | Hyundai Motor Company | Vehicle and control method for the same |
| US20200384988A1 (en) * | 2019-06-04 | 2020-12-10 | Mando Corporation | Driver assistance system and control method thereof |
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2021
- 2021-08-31 CN CN202111012983.7A patent/CN113619486A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007022403A (en) * | 2005-07-19 | 2007-02-01 | Denso Corp | Right-turn timing evaluation device |
| US20200353904A1 (en) * | 2019-05-08 | 2020-11-12 | Hyundai Motor Company | Vehicle and control method for the same |
| US20200384988A1 (en) * | 2019-06-04 | 2020-12-10 | Mando Corporation | Driver assistance system and control method thereof |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114202963A (en) * | 2021-11-30 | 2022-03-18 | 浙江亚太机电股份有限公司 | Traffic light anti-false-start system based on forward-looking camera |
| CN114202963B (en) * | 2021-11-30 | 2023-02-14 | 浙江亚太机电股份有限公司 | Traffic light anti-false-running system based on forward-looking camera |
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Application publication date: 20211109 |