CN114312810A - Method and system for judging whether vehicle can be loaded on bank or not - Google Patents
Method and system for judging whether vehicle can be loaded on bank or not Download PDFInfo
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- CN114312810A CN114312810A CN202210033226.6A CN202210033226A CN114312810A CN 114312810 A CN114312810 A CN 114312810A CN 202210033226 A CN202210033226 A CN 202210033226A CN 114312810 A CN114312810 A CN 114312810A
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Abstract
The invention discloses a method for judging whether a vehicle can be on the bank, which is characterized in that a controller is used for calculating and processing a picture of collected road condition information in advance, whether the information is information such as a road bank and the height of the road bank is identified, the height of the road bank is compared with the preset maximum height H, whether the information can pass or not is judged, a corresponding output result is obtained, the result is prompted to the road bank information in front of a driver through an instrument panel or a buzzer, the driving intelligence level is improved, and the driving safety and the driving experience are improved. The system mainly comprises a visual identification module, a controller and a prompt module; the visual identification module is electrically connected with the input end of the controller and collects road condition information pictures in real time; the controller comprises a judging module for judging whether the input picture of the visual recognition module has a threshold and the height of the threshold; and the prompting module is electrically connected with the output end of the controller and used for displaying corresponding prompting information on the control instrument panel or controlling the buzzer to alarm.
Description
Technical Field
The invention relates to the technical field of intelligent control of automobiles, in particular to a method and a system for judging whether a vehicle can be loaded on a bank or not.
Background
With the development of the automobile industry, the requirements of consumers on the safety and intelligence of vehicles are higher and higher, and safe and comfortable running on a road surface with a complex environment becomes a ring which is more and more emphasized by various automobile manufacturers. When the automobile passes through the bank and passes through other road surfaces with too high altitude differences, the driver usually judges whether the automobile can pass through the road surfaces by naked eyes, so that the automobile is easy to judge whether the automobile can pass through the road surfaces, the automobile can not pass through the bank due to errors, tires are seriously worn, and even if the automobile passes through the bank after being worked, the chassis and other parts are easily damaged, such as being scratched, being rotten and the like.
Some existing systems and methods for assisting and adjusting when passing the bank, such as a vehicle bank-passing compensation control method, a device, a system and a motor controller provided by the patent with the application number of cn201710901253.x, prevent the over-compression of the rear overhang of the vehicle in the bank-passing process by reducing the torque of a driving motor, further avoid the vertical and longitudinal vibration of the vehicle caused by the over-compression of the rear overhang of the vehicle, reduce the damage of the spring effect on the driving feeling of the passengers on the vehicle, improve the driving feeling of the passengers on the vehicle, but still cannot observe and judge whether the bank-passing process is carried out in advance, provide a reference conclusion for the driver, and avoid damaging the driving feeling of the passengers on the vehicle in advance; further, since it is impossible to observe and judge in advance whether or not the threshold is exceeded, tires are worn seriously without removing the threshold on the vehicle, or the chassis and other parts are damaged even if the threshold is exceeded.
Nowadays, more and more automobiles select to install the vehicle-mounted external camera, the automobile vision perception technology is also rapidly developed, the intelligent auxiliary driving technology is popularized and applied, and a method for judging whether the vehicle can be placed on the bank or not based on the vehicle-mounted external camera and the automobile vision perception technology is the requirement of the market and users.
Disclosure of Invention
In view of the above-mentioned deficiencies in the prior art, the present invention aims to provide a method for determining whether a vehicle can be checked, and aims to provide a prompt for a driver to check whether the vehicle can be checked safely before the vehicle is checked so as to improve driving safety and driving experience. The second objective of the present invention is to provide a device for determining whether a vehicle can be checked, so as to improve the safety of intelligent driving.
The technical scheme of the invention is realized as follows:
a method for judging whether a vehicle can be on threshold or not is characterized by comprising the following steps:
1) starting a camera of the visual identification module, acquiring front road condition information in real time, inputting a picture of the front road condition information acquired by the camera into the controller, and identifying whether the road is a road bank or not by calculating and processing the picture of the acquired road condition information by the controller;
2) when the threshold is identified, accurately analyzing the height of the threshold to obtain the height h of the target threshold;
3) comparing the height H of the target threshold with the preset maximum height H in the controller, and judging whether the height H can pass through the controller to obtain a corresponding output result;
4) if the automobile is powered on or keeps a forward running state, the controller prompts the information of a road bank in front of a driver through an instrument panel and/or a buzzer connected with the output end of the controller;
5) if the automobile successfully passes through the threshold, the information of the threshold is recorded in the controller.
Therefore, the method can calculate and process the collected road condition information picture in advance through the controller, identify whether the road condition information is the information such as the height of the road bank and the road bank, compare the height of the road bank with the preset maximum height H, judge whether the road bank can pass through the height of the road bank, obtain the corresponding output result, and prompt the road bank information in front of the driver through the instrument panel or the buzzer according to the result, so that the driving intelligence level is improved, and the driving safety and the driving experience are improved.
Further: in the step 3), the output result is divided into three types, namely type I, which is smaller than D1, and D1 is initially defined as one half of the maximum height H, so that the fact that the front threshold can pass is prompted; class II, larger than D1 and smaller than the maximum height H, indicates that the front threshold is higher and is cautious to pass; class III, wherein the height is larger than or equal to the maximum height H, and the situation that the front road bank is too high and cannot pass is prompted; the maximum height H is initially at the minimum ground clearance G of the vehicle. Therefore, different prompt light or sound can be emitted according to the height of the road bank, and a driver can conveniently and accurately master the condition of the road bank.
Further: in the step 3), the controller outputs the height information of the threshold to the learning module; the learning module analyzes the highest passing threshold height H1 and the highest passing height H2 of the highest frequency passing height range according to the collected threshold information; for H1, if H1 is greater than the maximum height H, then the value of H1 is assigned to H; if H1 is less than the maximum height H, the maximum height is unchanged; for H2, a value of H2 was assigned to D1 for judgment. The learning module is arranged, so that the automatic learning and updating capability is provided for the invention.
Further: the camera comprises a front camera, a chassis camera and a rear camera. The multiple groups of cameras can more accurately display the real-time condition of the road where the vehicle is located.
Further: the buzzer buzzes according to the category of the calculation processing result of the controller, and sounds, lights or sound and light are integrated to prompt a driver.
Further: there are three types of buzzer buzzing: class I, frequency of 1Hz, duty ratio of 30%; class II, frequency is 1Hz, duty cycle is 60%; class III, duty cycle 100%; and stopping prompting until the automobile completely passes the threshold or leaves the threshold. Therefore, different buzzes are emitted according to the height of the road bank to remind a driver of careful treatment, and the vehicle chassis is effectively prevented from being scratched and rotten.
A device for judging whether a vehicle can be on the bank or not is characterized in that: the system mainly comprises a visual identification module 1, a controller and a prompt module;
the visual recognition module is electrically connected with the input end of the controller, comprises a plurality of cameras arranged on the vehicle body and is used for acquiring road condition information pictures in real time; the controller comprises a judging module, and the judging module is used for comparing, analyzing and calculating according to a software program arranged in the judging module, and judging whether the input picture of the visual recognition module has a threshold and the geometric dimension of the threshold; and the prompt module is electrically connected with the output end of the controller, and displays corresponding prompt information on a control instrument panel or controls a buzzer to alarm according to a control command output by the controller. The device can compare, analyze and calculate the road condition information pictures collected by the camera in real time, and determine whether the road bank and the geometric dimension of the road bank exist or not.
Further: the controller also comprises a learning module; the controller outputs the calculated geometric dimension information of the threshold to the learning module, the learning module is electrically connected with the judging module, and the related data is output to the judging module so as to be updated and improved in time. By arranging the learning module, the intelligent learning system has the capabilities of automatic learning and updating, and improves the intelligent level.
Further: the buzzer buzzes according to the comparison result of the height of the threshold output by the controller, and sounds, lights or sound and light are integrated to prompt a driver.
Further: the camera comprises a front camera, a rear camera and a chassis camera.
In summary, the invention has the following beneficial effects: the method can calculate and process the collected picture information in advance through the controller, identify whether the picture information is information such as the height of the road bank and the height of the road bank, compare the height of the road bank with the preset maximum height H, judge whether the picture information can pass through the height H, obtain a corresponding output result, and prompt the road bank information in front of a driver through an instrument panel or a buzzer according to the result, so that the driving intelligence level is improved, and the driving safety and the driving experience are improved. Moreover, the invention has the capabilities of automatic learning and updating, and improves the intelligent level.
Drawings
FIG. 1 is a schematic diagram of a system component module according to an embodiment of the present application;
FIG. 2 is a schematic flow chart of a method according to an embodiment of the present application.
Detailed Description
The following detailed description of specific embodiments of the invention refers to the accompanying drawings.
Referring to fig. 1-2, the system components of the present invention, shown in fig. 1, generally include a visual recognition module 201, a controller 202, and a prompt module 205, each of which is as follows:
1. the visual recognition module 201 is electrically connected with the input end of the controller 202, comprises a plurality of cameras arranged on a vehicle body, observes the front road condition in real time and collects road condition information pictures, mainly identifies a road bank from pictures shot by the front camera, the rear camera and the chassis camera, extracts a road bank image for analysis, and identifies the height of the road bank; these pieces of information are transmitted to the controller 202, and the controller 202 performs operations such as comparison, analysis, and calculation in accordance with the built-in software. In addition, whether the automobile passes through the threshold can be obtained by shooting the content by the front camera and the rear camera at the same time, the information is transmitted to the controller 202, and the controller 202 performs comparison, analysis, calculation and other operations according to built-in software.
2. The controller 202 mainly includes a determination module 203 and a learning module 204, wherein the input information of the determination module 203 is transmitted from the vision recognition module 201, that is, the vision recognition module 201 transmits the pictures (the real-time state related to driving outside the vehicle, such as road condition, surrounding condition, shadow, moving object or person) shot by each camera to the controller 202 through a wired or wireless electric connection structure, and the controller 202 performs comparison, analysis, calculation and other operations according to software built in the determination module 203 to determine whether the information, such as length, height, width and the like, of the sill, the geometric dimension of the sill exist in the pictures.
1) The judgment module compares the height information of the threshold with the maximum height H stored in the module to obtain a corresponding result, and then the controller 202 prompts the module to output a control command to the module 205 according to the result.
2) After the automobile passes through the road bank (the rear camera), the learning module collects the geometric dimension information (such as height information) of the road bank, analyzes the approximate height range of the automobile and the driver which successfully pass through the road bank and the height range of the highest-frequency road bank, is electrically connected with the judging module, and can output the information to the judging module to update data.
3. The prompt module 205 is electrically connected to the output end of the controller 202, and displays corresponding prompt information on a control instrument panel according to a control command (information) output by the controller 202, or controls a buzzer to alarm until the control command passes through or leaves the threshold.
The implementation flow is as shown in fig. 2, and the specific work flow is as follows:
1.101 starting a camera of a visual identification module, such as a front camera, a rear camera and a chassis camera, observing the front road condition in real time, acquiring road condition information, inputting an information picture of the front road condition acquired by the camera into a controller, and calculating and processing the acquired information picture by the controller to identify whether the information picture is a road bank or not;
2.102, when the threshold exists, analyzing and calculating the geometric dimension of the threshold, particularly accurately calculating the height of the threshold to obtain the height h of the target threshold;
3.103, comparing the height H of the target threshold with the maximum height H preset (stored) in the controller, judging whether the height H can pass through or not to obtain a corresponding output result R, dividing the output result into three types, namely type I which is less than D1, initially defining D1 as one half of the maximum height H, and prompting that the front threshold can pass through; class II, which is larger than D1 and smaller than the maximum height H, indicates that the front threshold is higher and is cautious to pass through, class III, which is larger than or equal to the maximum height H, indicates that the front threshold is too high and cannot pass through; the maximum height initial data is the minimum ground clearance G of the vehicle;
4.104 if the automobile is powered on or keeps a forward running state, the controller outputs a signal (command) to prompt the road bank information in front of the driver according to a calculation result through an instrument panel and/or a buzzer connected with the output end of the controller. The instrument panel displays the result information in the step 3, the buzzer buzzes according to the result type, and sounds or lights or sound and light are integrated to prompt the driver: class I, frequency of 1Hz, duty ratio of 30%; class II, frequency is 1Hz, duty cycle is 60%; class III, duty cycle 100%. Stopping prompting until the automobile completely passes the threshold or leaves the threshold;
5.105 if the automobile successfully passes through the road bank, recording the road bank information, and outputting the road bank information to the learning module through the controller;
the 6.106 learning module analyzes the highest threshold height H1 and the highest height H2 of the highest frequency passing height range which pass successfully according to the collected threshold information. For H1, if H1 is greater than the maximum height H, then the value of H1 is assigned to H; if H1 is less than maximum height H, the maximum height is unchanged. For H2, a value of H2 was assigned to D1 for judgment.
According to the method, before the threshold is reached, a prompt whether the threshold can be safely reached is provided for a driver through controlling the instrument panel or the buzzer according to the control command (signal) output by the controller 202, so that the driving safety and the driving experience are improved, the damage of scratching, rotting and the like to a vehicle chassis and other parts can be further prevented, and the safety is improved.
Finally, it should be noted that the above-mentioned examples of the present invention are only examples for illustrating the present invention, and are not intended to limit the embodiments of the present invention. Although the present invention has been described in detail with reference to preferred embodiments, it will be apparent to those skilled in the art that other variations and modifications can be made based on the above description. Not all embodiments are exhaustive. All obvious changes and modifications of the present invention are within the scope of the present invention.
Claims (10)
1. A method for judging whether a vehicle can be on threshold or not is characterized by comprising the following steps:
1) starting a camera of the visual identification module, acquiring front road condition information in real time, inputting an information picture acquired by the camera to the controller, and identifying whether the information picture is a road bank or not by calculating and processing the acquired information picture by the controller;
2) when the threshold is identified, the height of the threshold is accurately calculated to obtain the height h of the target threshold;
3) comparing the height H of the target threshold with the preset maximum height H in the controller, and judging whether the height H can pass through the controller to obtain a corresponding output result;
4) if the automobile is powered on or keeps a forward running state, the controller prompts the information of a road bank in front of a driver through an instrument panel and/or a buzzer connected with the output end of the controller;
5) if the automobile successfully passes through the threshold, the information of the threshold is recorded in the controller.
2. The method of claim 1, wherein the step of determining whether the vehicle can be loaded comprises: in the step 3), the output result is divided into three types, namely type I, which is smaller than D1, and D1 is initially defined as one half of the maximum height H, so that the fact that the front threshold can pass is prompted; class II, larger than D1 and smaller than the maximum height H, indicates that the front threshold is higher and is cautious to pass; class III, wherein the height is larger than or equal to the maximum height H, and the situation that the front road bank is too high and cannot pass is prompted; the maximum height H is initially at the minimum ground clearance G of the vehicle.
3. The method for determining whether a vehicle can be loaded according to claim 2, wherein: in the step 3), the controller outputs the height information of the threshold to the learning module; the learning module analyzes the highest passing threshold height H1 and the highest passing height H2 of the highest frequency passing height range according to the collected threshold information; for H1, if H1 is greater than the maximum height H, then the value of H1 is assigned to H; if H1 is less than the maximum height H, the maximum height is unchanged; for H2, a value of H2 was assigned to D1 for judgment.
4. The method of claim 3, wherein the step of determining whether the vehicle can be loaded comprises: the camera comprises a front camera, a chassis camera and a rear camera.
5. The method for determining whether a vehicle can be loaded according to any one of claims 1 to 4, wherein: the buzzer buzzes according to the category of the calculation processing result of the controller, and sounds, lights or sound and light are integrated to prompt a driver.
6. The method and system for determining whether a vehicle can be loaded according to claim 5, wherein: there are three types of buzzer buzzing: class I, frequency of 1Hz, duty ratio of 30%; class II, frequency is 1Hz, duty cycle is 60%; class III, duty cycle 100%; and stopping prompting until the automobile completely passes the threshold or leaves the threshold.
7. A device for judging whether a vehicle can be on the bank or not is characterized in that: the system mainly comprises a visual identification module (201), a controller (202) and a prompt module (205);
the visual recognition module (201) is electrically connected with the input end of the controller (202), comprises a plurality of cameras arranged on the vehicle body and is used for collecting road condition information in real time;
the controller (202) comprises a judging module (203), and is used for comparing, analyzing and calculating according to a software program arranged in the judging module (203) to judge whether the information picture input by the visual recognition module (201) has the threshold and the geometric dimension of the threshold;
and the prompt module (205) is electrically connected with the output end of the controller (202), and displays corresponding prompt information on a control instrument panel or controls a buzzer to alarm according to a control command output by the controller (202).
8. The apparatus of claim 7, wherein the vehicle is capable of being started up according to the following steps: the controller (202), further comprising a learning module (204); the controller (202) outputs the calculated geometric dimension information of the threshold to the learning module, and the learning module is electrically connected with the judging module.
9. The apparatus for determining whether a vehicle can be turned on according to claim 7 or 8, wherein: the buzzer buzzes according to the comparison result of the height of the threshold output by the controller, and sounds, lights or sound and light are integrated to prompt a driver.
10. The apparatus for determining whether a vehicle can be turned on according to claim 7 or 8, wherein: the camera comprises a front camera and a chassis camera.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210033226.6A CN114312810A (en) | 2022-01-12 | 2022-01-12 | Method and system for judging whether vehicle can be loaded on bank or not |
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| CN202210033226.6A CN114312810A (en) | 2022-01-12 | 2022-01-12 | Method and system for judging whether vehicle can be loaded on bank or not |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114801991A (en) * | 2022-04-28 | 2022-07-29 | 东风汽车集团股份有限公司 | Roadside vehicle falling prevention method and system |
| CN117087675A (en) * | 2023-10-10 | 2023-11-21 | 镁佳(北京)科技有限公司 | Method, device, equipment and medium for detecting vehicle trafficability |
-
2022
- 2022-01-12 CN CN202210033226.6A patent/CN114312810A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114801991A (en) * | 2022-04-28 | 2022-07-29 | 东风汽车集团股份有限公司 | Roadside vehicle falling prevention method and system |
| CN114801991B (en) * | 2022-04-28 | 2024-10-29 | 东风汽车集团股份有限公司 | Roadside vehicle drop prevention method and system |
| CN117087675A (en) * | 2023-10-10 | 2023-11-21 | 镁佳(北京)科技有限公司 | Method, device, equipment and medium for detecting vehicle trafficability |
| CN117087675B (en) * | 2023-10-10 | 2024-04-12 | 镁佳(北京)科技有限公司 | Method, device, equipment and medium for detecting vehicle trafficability |
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Application publication date: 20220412 |