CN107472127A - Automobile side image detecting method and system based on binocular ranging - Google Patents
Automobile side image detecting method and system based on binocular ranging Download PDFInfo
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- CN107472127A CN107472127A CN201610399714.3A CN201610399714A CN107472127A CN 107472127 A CN107472127 A CN 107472127A CN 201610399714 A CN201610399714 A CN 201610399714A CN 107472127 A CN107472127 A CN 107472127A
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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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Abstract
Automobile side image detecting method and system provided by the invention based on binocular ranging, its method is included in body of a motor car side and sets binocular range unit, for measuring the distance between vehicle body side and barrier, detect the rotational angle of automobile rotating wheel, it is poor to obtain lubrication groove, poor with lubrication groove according to measurement vehicle body side and the distance between barrier, whether prediction automobile rotating wheel can collide when rotating；Can be in the case of at a slow speed in the present invention, automobile is when very near apart from barrier, the rotational angle of binocular range unit and automobile rotating wheel is set by body of a motor car side, the distance between measurement vehicle body side and barrier and to obtain lubrication groove poor, whether prediction automobile rotating wheel can collide when rotating, the present invention can make the operation indicating for avoiding colliding to the operation of driver, with the advantages of simple in construction, safe and effective, it largely avoided the accident that vehicle body side blind area collides and occur.
Description
Technical field
The present invention relates to automobile and the communications field, more particularly to a kind of automobile side image detection side based on binocular ranging
Method and system.
Background technology
With China's expanding economy, the living standard of people is greatly improved, and automobile has become people
Indispensable Department of Communications in life, in recent years, with surging year by year for China's vehicle, and the development of means of transportation is much
Lag behind automobile quantity in growth rate, traffic accident year by year to increase, traffic safety problem has been obtained for the wide of various circles of society
General concern, the step of the research of Automobile Enterprises and traffic study mechanism to the product of automotive safety class never stops, such as falls
Car radar, reverse image, panorama such as show at the technology, but above-mentioned technology is substantially to design in reversing process, and pin
To the safe practice that automobile advances such as aiding in doubling, automobile is greatly reduced when high speed travels because Side Blind is led
The occurrence of doubling of cause is bumped against probability, but this technology can not intuitively react the distance between vehicle body and barrier,
Also, many accidents occur in fact extremely at a slow speed in the case of, such as situations such as meeting, turning, narrow track avoid, automobile
When very near apart from barrier, the image shot by camera does not simply fail to give suitable help, on the contrary can be to psychology
Have an impact, the normal judgement to driver causes serious interference, many traffic accidents occur headstock turn by,
But vehicle body or the tailstock collide, therefore, need a kind of new technological means badly, can effectively avoid automobile meeting, turning,
When narrow track avoids, it will not cause to collide close to barrier at a slow speed.
The content of the invention
In view of this, the present invention provides a kind of automobile side image detecting method and system based on binocular ranging, with solution
Certainly above mentioned problem.
Automobile side image detecting method provided by the invention based on binocular ranging, including
A. binocular range unit is set in body of a motor car side, for measuring the distance between vehicle body side and barrier,
B. the rotational angle of automobile rotating wheel is detected, it is poor to obtain lubrication groove
C. it is poor with lubrication groove according to measurement vehicle body side and the distance between barrier, during the rotating wheel rotation of prediction automobile whether
It can collide.
Further, step c also includes pre-setting safe distance threshold value, when vehicle body side is low with the distance between barrier
When the threshold value or prediction the distance between steered wheel rotation rear side and barrier are less than the threshold value, reported
It is alert.
Further, the image information gathered according to binocular range unit generates turning simulation model, and is shown in vehicle
On the display screen in portion, and by the distance between the steered wheel rotation rear side of prediction and barrier be less than the threshold value car
Body position, real-time display is on the turning simulation model.
Further, also include after step c
D. collection vehicle travel speed, according to Vehicle Speed, the rotational angle of length of wagon rotating wheel, vehicle body side
The distance between barrier, judge whether automobile can be by the barrier, if can not be alerted if.
Further, the step d also includes, image before and after collection vehicle, obtain vehicle periphery barrier and vehicle body away from
From according to the maximum rotation angle of the distance, Vehicle Speed, length of wagon and rotating wheel, being when predicting automobile turning
It is no to be collided with barrier, if can not be alerted if, if can be by, obtain rotating wheel optimum rotation opportunity and
Optimum rotation angle is simultaneously prompted.
Further, the turning simulation model includes Car body model and barrier model, and the Car body model is according to vehicle body
The ratios such as length and the ratio of body width are established, and the turning simulation model travels speed according to vehicle and obstacle distance, vehicle
Degree, length of wagon and rotating wheel rotational angle generation prediction rotary motion trace.
The present invention also provides a kind of automobile side image detecting system based on binocular ranging, including is arranged at vehicle body side
Binocular range unit, rotate harvester and control device；
The binocular range unit is arranged at vehicle body side, for measuring the distance between vehicle body side and barrier,
The harvester, for detecting the rotational angle of automobile rotating wheel,
The control module, for obtaining lubrication groove difference according to the rotational angle of automobile rotating wheel and predicting that automobile rotates rotation
Whether can be collided when dynamic.
Further, in addition to warning device,
The control module pre-sets safe distance threshold value, when the distance between vehicle body side and barrier are less than described
When threshold value or prediction the distance between steered wheel rotation rear side and barrier are less than the threshold value, control module control report
Alarm device is alarmed；
The acquisition module includes rotating wheel corner acquisition module and speed data collection module, is gathered by speed data collection module
Vehicle Speed, according between Vehicle Speed, the rotational angle of length of wagon rotating wheel, vehicle body side and barrier
Distance, judge whether automobile can be by the barrier, if can not be alerted if.
Further, in addition to turning simulation model module, the turning simulation model module are adopted according to binocular range unit
The image information generation of collection, and is shown on the display screen of vehicle interior, while by the steered wheel rotation rear side of prediction
The distance between barrier is less than the vehicle body position of the threshold value, and real-time display is on the turning simulation model
The turning simulation model module includes Car body model module and barrier model module, and Car body model is according to vehicle body
The ratios such as length and the ratio of body width are established, and the turning simulation model module is according to vehicle and obstacle distance, vehicle row
Sail speed, length of wagon and rotating wheel rotational angle generation prediction rotary motion trace.
Further, the acquisition module also includes image capture module, for image before and after collection vehicle, obtains vehicle week
The distance of barrier and vehicle body is enclosed, according to the maximum rotation angle of the distance, Vehicle Speed, length of wagon and rotating wheel
Degree, whether collided when predicting automobile turning with barrier, if can not be alerted if, if can be by obtaining and turning
The optimum rotation opportunity of driving wheel and optimum rotation angle are simultaneously prompted
Beneficial effects of the present invention：The automobile side image detecting method and system based on binocular ranging in the present invention,
Can in the case of at a slow speed, such as situations such as meeting, turning, narrow track avoid, automobile when very near apart from barrier,
The rotational angle of binocular range unit and automobile rotating wheel is set by body of a motor car side, measurement vehicle body side and barrier it
Between distance and to obtain lubrication groove poor, whether prediction automobile rotating wheel can be collided when rotating, and the present invention can be avoided effectively
Automobile will not cause to collide close to barrier at a slow speed when meeting, turning, narrow track avoid, and to driver's
The operation indicating for avoiding colliding is made in operation, and the present invention has the advantages of simple in construction, safe and effective, largely avoided car
The accident that body Side Blind collides occurs.
Brief description of the drawings
The invention will be further described with reference to the accompanying drawings and examples：
Fig. 1 is the principle schematic of the present invention.
Fig. 2 is the structural representation of the present invention.
Embodiment
The invention will be further described with reference to the accompanying drawings and examples：Fig. 1 be the present invention principle schematic, Fig. 2
It is the structural representation of the present invention.
As shown in figure 1, the automobile side image detecting method based on binocular ranging in the present embodiment, including
A. binocular range unit is set in body of a motor car side, for measuring the distance between vehicle body side and barrier,
B. the rotational angle of automobile rotating wheel is detected, it is poor to obtain lubrication groove
C. it is poor with lubrication groove according to measurement vehicle body side and the distance between barrier, during the rotating wheel rotation of prediction automobile whether
It can collide,
D. collection vehicle travel speed, according to Vehicle Speed, the rotational angle of length of wagon rotating wheel, vehicle body side
The distance between barrier, judge whether automobile can be by the barrier, if can not be alerted if.
In the present embodiment, the distance between vehicle body side and barrier, the present embodiment are measured by binocular range unit
In binocular range unit can use camera, can use binocular laser rangefinder etc. with volume, while complete range measurement,
Angle of bank measurement, azimuth determination, telescope amplifying observation etc., lubrication groove difference be in Ackermann steer angle nose-wheel turn radius with it is interior
The difference of trailing wheel radius of turn, then it is the difference of the inner rear wheel radius of turn of the interior front-wheel and trailer of tractor to truck combination.Due to
The presence of lubrication groove difference, Ackermann steer angle, the movement locus of forward and backward wheel are misaligned.If only noticing that front-wheel can in driving
By forgetting that lubrication groove is poor, it is possible to cause that rear lubrication groove rolls road surface away from or the accident with the collision of other objects, the present embodiment pass through
Measure vehicle body side and the distance between barrier is poor with lubrication groove, whether prediction automobile rotating wheel can collide when rotating, can
Cause unnecessary collision caused by vehicle because of lubrication groove difference effectively to prevent vehicle.
In the present embodiment, step c also includes pre-setting safe distance threshold value, when between vehicle body side and barrier
When distance is less than the threshold value less than the threshold value or prediction the distance between steered wheel rotation rear side and barrier, enter
Row alarm, in the present embodiment by collection vehicle travel speed, according to Vehicle Speed, the rotation of length of wagon rotating wheel
The distance between angle, vehicle body side and barrier, judge whether automobile can be by the barrier, if can not enter if
Row alarm, the mode of alarm can by the way of audible alarm, by monitor in real time between vehicle body side and barrier away from
Alerted from the numerical value for entering row distance.
In the present embodiment, binocular range unit is multiple that distribution is arranged at vehicle body both sides, is adopted according to binocular range unit
The image information generation turning simulation model of collection, and is shown on the display screen of vehicle interior, and by the steered wheel rotation of prediction
The distance between rear side and barrier are less than the vehicle body position of the threshold value, and real-time display is in the turning simulation model
On, turning simulation model includes Car body model and barrier model, and the Car body model is according to length of wagon and body width etc.
Than establishing, the turning simulation model rotates according to vehicle and obstacle distance, Vehicle Speed, length of wagon and rotating wheel
Angle generation prediction rotary motion trace, by the way that the image information of collection is digitized into processing, makes it be shown in real time in vehicle
On the display screen in portion, traditional picture is shown, has no to make not only for operations such as turning of the vehicle under state at a slow speed, avoidance
With, the spirit of driver can be made more nervous on the contrary, because vehicle is in turning or avoidance, usual vehicle and barrier or other side
Come that the distance of car is very near, and this is very difficult for new hand, and for veteran, also very easily because itself not
Carefully cause to wipe and hang.The present embodiment reminds driver in real time by the way that the image information of collection is converted into simulation model
The distance between barrier, meeting and the efficiency turned can be effectively improved, and add security.
In this embodiment, it is preferred that vehicle periphery barrier and vehicle body can be obtained with image before and after collection vehicle
Distance, according to the maximum rotation angle of the distance, Vehicle Speed, length of wagon and rotating wheel, when predicting automobile turning
Whether collided with barrier, if can not be alerted if, if can be by the optimum rotation opportunity of acquisition rotating wheel
With optimum rotation angle and prompt, by the way that by the IMAQ of the barrier of surrounding, the location of Current vehicle can be calculated
Whether the barrier being blocked at turn inside diameter being bypassed, if can not be alerted if, prompting driver to take it
His operation, wiping unnecessary caused by turning by force is avoided to hang, if can be by the optimum rotation opportunity of acquisition rotating wheel
With optimum rotation angle and prompt, pass through the distance between collection vehicle and barrier, Vehicle Speed, length of wagon, width
The information such as the maximum rotation angle of degree and rotating wheel carry out comprehensive descision, can be obtained and broken the barriers by turning simulation model
Predicted path, and calculate optimum rotation opportunity and optimum rotation angle, when vehicle reaches corresponding position, prompt driver
The angle of rotation direction, and according to current angle, change the prediction locus that model is shown in real time, whole turning can be made
Journey is very clear, even new hand, what can also be perfectly clear judges whether vehicle can break the barriers.
Correspondingly, the present embodiment additionally provides a kind of automobile side image detecting system based on binocular ranging, such as Fig. 2 institutes
Show, including be arranged at binocular range unit 1, harvester and the control device of vehicle body side；
The binocular range unit is arranged at vehicle body side, for measuring the distance between vehicle body side and barrier,
The harvester, for detecting the rotational angle of automobile rotating wheel,
The control module, for obtaining lubrication groove difference according to the rotational angle of automobile rotating wheel and predicting that automobile rotates rotation
Whether can be collided when dynamic.
Also include warning device, the control module pre-sets safe distance threshold value, when vehicle body side and barrier it
Between distance less than the threshold value or prediction the distance between steered wheel rotation rear side and barrier be less than the threshold value
When, control module control warning device is alarmed；
The acquisition module includes rotating wheel corner acquisition module and speed data collection module, is gathered by speed data collection module
Vehicle Speed, according between Vehicle Speed, the rotational angle of length of wagon rotating wheel, vehicle body side and barrier
Distance, judge whether automobile can be by the barrier, if can not be alerted if.
The present embodiment also includes turning simulation model module, and the turning simulation model module is adopted according to binocular range unit
The image information generation of collection, and is shown on the display screen of vehicle interior, while by the steered wheel rotation rear side of prediction
The distance between barrier is less than the vehicle body position of the threshold value, and real-time display is described double on the turning simulation model
Mesh range unit is multiple, and distribution is arranged at vehicle body both sides；
Turning simulation model module described in the present embodiment includes Car body model module and barrier model module, Car body model
Established according to ratios such as length of wagon and body widths, the turning simulation model module is according to vehicle and obstacle distance, vehicle
Travel speed, length of wagon and rotating wheel rotational angle generation prediction rotary motion trace.
The present embodiment acquisition module also includes image capture module, for image before and after collection vehicle, obtains vehicle periphery
The distance of barrier and vehicle body, according to the maximum rotation angle of the distance, Vehicle Speed, length of wagon and rotating wheel,
Whether collided when predicting automobile turning with barrier, if can not be alerted if, if can be by obtaining rotating wheel
Optimum rotation opportunity and optimum rotation angle and prompt.
Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to compared with
The present invention is described in detail good embodiment, it will be understood by those within the art that, can be to the skill of the present invention
Art scheme is modified or equivalent substitution, and without departing from the objective and scope of technical solution of the present invention, it all should cover at this
Among the right of invention.
Claims (10)
- A kind of 1. automobile side image detecting method based on binocular ranging, it is characterised in that：IncludingA. binocular range unit is set in body of a motor car side, measures the distance between vehicle body side and barrier,B. the rotational angle of automobile rotating wheel is detected, it is poor to obtain lubrication grooveC. poor with lubrication groove according to measurement vehicle body side and the distance between barrier, whether prediction automobile rotating wheel can be sent out when rotating Raw collision.
- 2. the automobile side image detecting method according to claim 1 based on binocular ranging, it is characterised in that：Step c Also include pre-setting safe distance threshold value, when the distance between vehicle body side and barrier turn to less than the threshold value or prediction When wheel rotation the distance between rear side and barrier are less than the threshold value, alarmed.
- 3. the automobile side image detecting method according to claim 2 based on binocular ranging, it is characterised in that：It is described double Mesh range unit is multiple, and distribution is arranged at vehicle body both sides, and the image information generation gathered according to binocular range unit is turned imitative True mode, and be shown on the display screen of vehicle interior, and by between the steered wheel rotation rear side of prediction and barrier Distance be less than the threshold value vehicle body position, real-time display is on the turning simulation model.
- 4. the automobile side image detecting method according to claim 3 based on binocular ranging, it is characterised in that：Step c Also include afterwardsD. collection vehicle travel speed, according to Vehicle Speed, the rotational angle of length of wagon rotating wheel, vehicle body side and barrier Hinder the distance between thing, judge whether automobile can be by the barrier, if can not be alerted if.
- 5. the automobile side image detecting method according to claim 4 based on binocular ranging, it is characterised in that：The step Rapid d also includes, image before and after collection vehicle, the distance of vehicle periphery barrier and vehicle body is obtained, according to the distance, vehicle row The maximum rotation angle of speed, length of wagon and rotating wheel is sailed, whether is collided when predicting automobile turning with barrier, if not The optimum rotation opportunity of rotating wheel by then being alerted, if can be by, can be obtained and optimum rotation angle and prompted.
- 6. the automobile side image detecting method according to claim 3 based on binocular ranging, it is characterised in that：Described turn Curved simulation model includes Car body model and barrier model, and the Car body model is according to length of wagon and the ratio of body width etc. Than establishing, the turning simulation model rotates according to vehicle and obstacle distance, Vehicle Speed, length of wagon and rotating wheel Angle generation prediction rotary motion trace.
- A kind of 7. automobile side image detecting system based on binocular ranging, it is characterised in that：Including being arranged at vehicle body side Binocular range unit, harvester and control device；The binocular range unit is arranged at vehicle body side, for measuring the distance between vehicle body side and barrier,The harvester, for detecting the rotational angle of automobile rotating wheel,The control module, for according to the rotational angle of automobile rotating wheel obtain lubrication groove difference and predict automobile rotating wheel rotate when Whether can collide.
- 8. the automobile side image detecting system according to claim 7 based on binocular ranging, it is characterised in that：Also include Warning device,The control module pre-sets safe distance threshold value, when the distance between vehicle body side and barrier are less than the threshold value Or when predicting that the distance between steered wheel rotation rear side and barrier are less than the threshold value, control module control alarm dress Put and alarmed；The acquisition module includes rotating wheel corner acquisition module and speed data collection module, passes through speed data collection module collection vehicle Travel speed, according between Vehicle Speed, the rotational angle of length of wagon rotating wheel, vehicle body side and barrier away from From judging whether automobile can be by the barrier, if can not be alerted if.
- 9. the automobile side image detecting system according to claim 7 based on binocular ranging, it is characterised in that：Also include Turning simulation model module, the image information that the turning simulation model module gathers according to binocular range unit generates, and shows Show on the display screen of vehicle interior, while the distance between the steered wheel rotation rear side of prediction and barrier are less than The vehicle body position of the threshold value, real-time display is on the turning simulation model, and the binocular range unit is multiple, and distribution is set It is placed in vehicle body both sides；The turning simulation model module includes Car body model module and barrier model module, and Car body model is according to length of wagon Established with the proportional width grade ratio of body width, the turning simulation model module is according to vehicle and obstacle distance, vehicle row Sail speed, length of wagon and rotating wheel rotational angle generation prediction rotary motion trace.
- 10. the automobile side image detecting system according to claim 9 based on binocular ranging, it is characterised in that：It is described Acquisition module also includes image capture module, for image before and after collection vehicle, obtain vehicle periphery barrier and vehicle body away from From according to the maximum rotation angle of the distance, Vehicle Speed, length of wagon and rotating wheel, being when predicting automobile turning It is no to be collided with barrier, if can not be alerted if, if can be by, obtain rotating wheel optimum rotation opportunity and Optimum rotation angle is simultaneously prompted.
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Cited By (7)
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| CN108407720A (en) * | 2018-03-26 | 2018-08-17 | 宁夏大学 | Safe distance alarm for high capacity waggon and protective device |
| CN110530390A (en) * | 2019-09-16 | 2019-12-03 | 哈尔滨工程大学 | A kind of non-particle vehicle path planning method under narrow environment |
| CN112406901A (en) * | 2020-12-05 | 2021-02-26 | 深圳瑞为智能科技有限公司 | Binocular distance measuring method for vehicle blind area detection alarm device |
| CN112660023A (en) * | 2020-12-28 | 2021-04-16 | 浙江合众新能源汽车有限公司 | Automobile steering auxiliary system |
| CN112987748A (en) * | 2021-03-05 | 2021-06-18 | 上海有个机器人有限公司 | Robot narrow space control method and device, terminal and storage medium |
| CN113119946A (en) * | 2019-12-26 | 2021-07-16 | 北京宝沃汽车股份有限公司 | Control method and device for safe running of vehicle and vehicle |
| CN113191238A (en) * | 2021-04-22 | 2021-07-30 | 开易（北京）科技有限公司 | Blind area detection method and system based on binocular camera and storage medium |
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| CN112987748A (en) * | 2021-03-05 | 2021-06-18 | 上海有个机器人有限公司 | Robot narrow space control method and device, terminal and storage medium |
| CN113191238A (en) * | 2021-04-22 | 2021-07-30 | 开易（北京）科技有限公司 | Blind area detection method and system based on binocular camera and storage medium |
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