CN104442812B - A kind of automobile lane change aided detection method - Google Patents

Abstract

The invention discloses a vehicle lane change auxiliary detection device and a detection method. The blind area of the vehicle exterior rearview mirror is divided into front and rear parts. The detection device includes a processor and a first sensor and a second sensor installed at the rear end of the side of the vehicle. The first sensor and the second sensor are connected with the processor: the first sensor is used to detect the front part of the blind area of the exterior rearview mirror of the car, and the detection distance of the first sensor is 3-4 meters, and the longitudinal direction of the car The angle of the center line is 70-110 degrees; the second sensor is used to detect the rear part of the blind area of the exterior rearview mirror of the car, and the detection distance of the second sensor is 4-9 meters, and the angle with the longitudinal center line of the car is 20‑40 degrees. The detection range covers all the blind spots of the exterior rearview mirror, realizing accurate identification of various driving states such as being overtaken, overtaking, meeting vehicles, driving along isolation belts, green belts, turning, and U-turning, which improves the practicability and safety of the system ,reliability.

Description

A vehicle lane change auxiliary detection method

technical field

The invention relates to a lane-changing auxiliary detection device and a detection method for automobiles.

Background technique

There is a blind area M in the exterior rearview mirror of the car (as shown in Figure 1). When there is a vehicle in the blind area M, it is often difficult for the driver to notice it, so when changing lanes, it is very easy to cause a collision with the vehicle in the blind area M. In severe weather such as rain, fog and snow, the degree of danger will further increase.

At present, some auxiliary detection devices for vehicle lane change on the market use microwave detection technology, some use ultrasonic detection technology, and some use image detection technology:

Detection method 1: Please refer to Figure 2. The short-distance probes on each side of the rear of the vehicle detect the front part of the blind area, and the detection distance is 3-4 meters. The main problems that exist: 1. When the vehicle turns on the turn signal light, the cut road is close to the roadside, or the cut road is close to the isolation belt, green belt, etc., as shown in Figure 3, the system will alarm, resulting in misjudgment and false alarm; 2. The detection range is limited and only covers the front part of the blind zone. If an object the size of a motorcycle enters the rear part of the blind zone, as shown in Figure 4, the system will not be able to detect it; No need to call the police when driving).

Detection method 2: Please refer to Figure 5, the blind spot probes on both sides of the rear of the car detect the blind spot, the detection distance is 3-4 meters, and the detection range covers the front part of the blind spot of the rearview mirror; the auxiliary probes on both sides of the front side of the car detect the road and the environment , assisting the system to judge, enhancing the accuracy and reliability of the system. The main problems: 1. When the vehicle is turning around or turning along the isolation belt or green belt, the auxiliary probe in front of the vehicle is very easy to lose the target and cannot detect the isolation belt or green belt, while the rear blind spot probe still detects the isolation belt, The green belt, as shown in Figure 6, the system thinks it is a dangerous state at this time, and prompts and alarms, thus forming a misjudgment and false alarm; 2. The detection range is limited, and the detection range only covers the front part of the blind area of the rearview mirror , if an object the size of a motorcycle enters the rear end of the blind spot, the system will not be able to detect it; 3. When the front auxiliary probe and the rear blind spot probe detect long objects such as trucks or buses, the system will mistakenly believe that the In the driving state of the green belt, the system does not prompt or alarm, resulting in missed reports.

Detection method 3: Please refer to Figure 7. Using microwave detection technology, the detection distance is very long. The detection range not only covers the blind area of the exterior rearview mirror, but also covers a long distance from the blind area to the rear of the car, such as 30 meters to 100 meters. The main problems that exist: 1. When the cross-cut road is driven by the isolation belt or the green belt, as shown in Figure 8, the system is also prone to misjudgment, false alarm, and wrong prompts and alarms; 2. If the system starts at low speed When working, there are many cars on the city road, the system often detects vehicles on both sides of the rear, and frequently puts the system in a prompt and alarm state, which has caused excessive interference to the driver's normal driving and caused emotional tension; 3. The detection distance is long, When the car is driving at a certain angle with the lane, or on a curve, even if the car is driving on a curve with a relatively large radius, the system can easily detect the vehicle behind the lane, or detect the third vehicle that is one lane away from the lane. Vehicles on the lane form false detection, misjudgment, and false alarm.

Detection method 4 uses image detection technology to detect and identify vehicles in blind spots of exterior mirrors through image and image processing. The main problems: 1. Under the influence of light changes, the system function will be basically lost in heavy rain, heavy fog and heavy snow; 2. If the camera is exposed to direct sunlight, the function will basically be lost; 3. At night, if the car behind The lights are broken, and the street lighting is poor, and the camera may not recognize the vehicle next to it at all.

Contents of the invention

The invention provides a vehicle lane change auxiliary detection device and detection method, which overcome the shortcomings of the background technology. The technical solution adopted by the present invention to solve its technical problems is:

A vehicle lane change auxiliary detection device, the blind area of the vehicle exterior rearview mirror is divided into front and rear parts, the detection device includes a processor and a first sensor and a second sensor installed at the rear end of the side of the vehicle, the first sensor and the second Sensors are connected to this processor:

The first sensor is used to detect the front part of the blind area of the exterior rearview mirror of the automobile, the detection distance of the first sensor is 3-4 meters, and the angle with the longitudinal centerline of the automobile is 70-110 degrees;

The second sensor is used to detect the rear part of the blind area of the exterior rearview mirror of the automobile, the detection distance of the second sensor is 4-9 meters, and the angle with the longitudinal centerline of the automobile is 20-40 degrees.

In a preferred embodiment: the first sensor is a microwave sensor or an ultrasonic sensor; the second sensor is a microwave sensor or an ultrasonic sensor.

In a preferred embodiment: when the vehicle moves forward and the vehicle speed is more than or equal to 5KM/H, the vehicle lane change auxiliary detection device starts to work.

A vehicle lane change auxiliary detection method realized by a vehicle lane change auxiliary detection device, the blind area of the exterior rearview mirror of the vehicle is divided into front and rear parts, and the vehicle lane change auxiliary detection device includes a processor and a first sensor installed at the rear end of the side of the vehicle and a second sensor, the first sensor and the second sensor are connected to the processor:

The first sensor is used to detect the front part of the blind area of the exterior rearview mirror of the automobile, the detection distance of the first sensor is 3-4 meters, and the angle with the longitudinal centerline of the automobile is 70-110 degrees;

The second sensor is used to detect the rear part of the blind area of the exterior rearview mirror of the automobile, the detection distance of the second sensor is 4-9 meters, and the angle with the longitudinal centerline of the automobile is 20-40 degrees;

A1 The first sensor detects the appearance of the object for a long time T1, then, the second sensor does not detect the object, and the processor makes a judgment of overtaking;

A2 The first sensor first detects that the time for the object to appear is T1, and then the second sensor also detects that the time for the object to appear is T1, and the processor makes a judgment of overtaking or meeting;

B1 The length of time that the first sensor first detects the appearance of the object is T1, and then, the length of time that the first sensor, the second sensor, or both cross or simultaneously detect the appearance of the object is T2, and the processor makes Judgment of driving along green belts or isolation belts or turning along green belts or isolation belts or turning around along green belts or isolation belts.

C The second sensor first detects that the time for the object to appear is T1, and the processor makes a judgment of being overtaken.

In a preferred embodiment: when the processor makes a judgment of being overtaken or driving along the green belt or the isolation belt or turning along the green belt or the isolation belt or turning around along the green belt or the isolation belt, the driver is prompted.

In a preferred embodiment: the processor can make three alarm states: weak information level prompt, information level prompt, and warning level prompt; Weak information-level prompts are given when the judgment is made to turn around or turn around along the green belt or isolation belt; information-level prompts are given when the processor makes a judgment of being overtaken; when the processor makes a judgment of being overtaken, and the The processor detects that the turn signal lamp of the car is turned on, and performs a warning level prompt.

In a preferred embodiment: in the C mode, the second sensor first detects the appearance of the object for T1, and then, if the first sensor and the second sensor do not detect the object, the processor information If the first sensor, the second sensor, or both of them intersect or detect the appearance of the object at the same time, the duration is T1, and the processor information level prompts the information level to Neither the first sensor nor the second sensor detects an object; if the first sensor, the second sensor or both intersect or detect the appearance of an object at the same time, the duration is T2, and the processor information level prompts 2 - After 6 seconds, it will turn into a weak information level prompt.

In a preferred embodiment: in the weak information-level prompt state, if the first sensor or the second sensor detects an object whose distance data is continuously decreasing, the processor switches the weak information-level prompt into an information-level prompt.

In a preferred embodiment: the processor gives a weak information level prompt for 2-6 seconds and then no longer prompts.

In a preferred embodiment: 0<T1≤3 seconds, T2≥3 seconds

Compared with the background technology, this technical solution has the following advantages:

1. The vehicle lane change auxiliary detection device and detection method of the present invention, by arranging the first sensor and the second sensor, the detection range covers all blind areas of the exterior rearview mirror; through the cooperation of the first sensor and the second sensor, the Accurate identification of various driving states such as being overtaken, overtaking, meeting vehicles, driving along isolation belts and green belts, turning, and turning around, effectively preventing misjudgment, false reporting, and missing reporting, and improving the practicability of the system. Safety, reliability.

2. Because the device of the present invention adopts microwave or ultrasonic detection technology, it has excellent weather environment adaptability, high practicability and reliability.

3. When the processor makes a judgment of driving along the green belt or isolation belt or turning along the green belt or isolation belt or making a U-turn along the green belt or isolation belt, it will give a weak information level prompt to avoid disturbing the driver.

4. In the state of weak information level prompt, if the first sensor or the second sensor detects an object whose distance data is continuously decreasing, it means that an object similar to the size of a motorcycle has entered the blind spot, and the processor will turn the weak information level prompt into Information-level prompts to remind the driver to avoid in time.

5. The processor will not prompt after 2-6 seconds at the weak information level to avoid disturbing the driver.

Description of drawings

The present invention will be further described below in conjunction with drawings and embodiments.

Figure 1 shows a schematic diagram of the blind area of the exterior rearview mirror of a car.

FIG. 2 is a schematic diagram of the first detection method in the prior art.

Fig. 3 shows a schematic diagram of driving along roads (isolation belts, green belts) in the first detection mode in the prior art.

FIG. 4 is a schematic diagram of a motorcycle entering a blind spot when driving in the first detection mode in the prior art.

FIG. 5 is a schematic diagram of a second detection method in the prior art.

Fig. 6 shows a schematic diagram of driving along roads (isolation belts, green belts) in the second detection mode in the prior art.

FIG. 7 is a schematic diagram of a third detection method in the prior art.

Fig. 8 is a schematic diagram of driving along roads (isolation belts, green belts) in the third detection mode in the prior art.

FIG. 9 is a schematic diagram of a vehicle lane change assist detection device according to the present invention.

FIG. 10 shows another schematic diagram of a vehicle lane change assist detection device according to the present invention.

Fig. 11 shows a schematic diagram of overtaking by the vehicle lane change assist detection device of the present invention.

FIG. 12 shows a schematic diagram of meeting vehicles with the lane-changing auxiliary detection device of the present invention.

Fig. 13 depicts a schematic diagram of driving along roads (isolation belts, green belts) of the vehicle lane change auxiliary detection device according to the present invention.

Fig. 14 shows a schematic diagram of turning and turning of the vehicle lane change auxiliary detection device according to the present invention.

Fig. 15 depicts a schematic diagram of U-turn driving of the vehicle lane-changing auxiliary detection device of the present invention along the road (isolation belt, green belt).

Fig. 16 shows a schematic diagram of the vehicle being overtaken by the vehicle lane change assist detection device according to the present invention.

Fig. 17 depicts a schematic diagram of the automobile lane change auxiliary detection device of the present invention driving along the road (isolation belt, green belt) with a motorcycle entering.

detailed description

Please refer to FIG. 9 and FIG. 10 , the blind zone of the exterior rearview mirror of the automobile is divided into a front part M1 and a rear part M2.

A kind of auxiliary detection device for vehicle lane change of the present invention comprises a processor (not shown), a first sensor 10 and a second sensor 20 installed on the side rear end of the vehicle, the first sensor 10 and the second sensor 20 is connected to the processor.

The processor is used for receiving detection data from the first sensor 10 and the second sensor 20, judging the current driving state, and prompting the driver. The processor can make three alarm states: weak information level prompt, information level prompt and warning level prompt. Of course, the prompt level, method, and type of the processor are not limited. For example, at the alarm level, the processor may not perform weak information-level prompts or warning-level prompts according to needs; the duration of prompts and alarms may also be adjusted according to needs.

The first sensor 10 is used to detect the front part M1 of the blind zone. The first sensor 10 is a microwave sensor or an ultrasonic sensor. The detection distance L1 of the first sensor 10 is 3-4 meters, the detection angle β1 is 60-140 degrees, and the angle γ1 with the longitudinal centerline of the vehicle is 70-110 degrees.

The second sensor 20 is used to detect the rear part M2 of the blind zone. The second sensor 20 is a microwave sensor or an ultrasonic sensor. The detection distance L2 of the second sensor 20 is 4-9 meters, the detection angle β2 is 20-60 degrees, and the angle γ2 with the longitudinal centerline of the vehicle is 20-40 degrees.

The vehicle lane-changing auxiliary detection device starts to work when the vehicle is moving forward and the vehicle speed is ≥5KM/H. Of course, it is also possible to predefine a vehicle speed V1 according to the needs of customers. As long as the forward speed of the vehicle is greater than or equal to V1, the vehicle lane change auxiliary detection device will start to work, and the size of V1 can vary from 5KM/H to 30KM/H according to different customers. Set between H.

When the vehicle lane change auxiliary detection device is working, two time ranges T1 and T2 are first set, 0<T1≤3 seconds, T2≥3 seconds. Of course, the sizes of T1 and T2 can be adjusted as required.

When driving:

A1 mode: the first sensor 10 first detects the appearance of the object for T1, and then the second sensor 20 does not detect the object, as shown in Figure 11, indicating that the vehicle wants to overtake other vehicles, and the overtaking process does not If it is not completed, the processor makes an overtaking judgment. Since the driver can directly observe other vehicles when overtaking, the processor does not need to make a prompt.

A2 mode: the first sensor 10 first detects that the time for the object to appear is T1, and then the second sensor 20 also detects that the time for the object to appear is T1, indicating that the vehicle wants to overtake other vehicles, and the overtaking process is completed ; Or as shown in Figure 12, it shows that the vehicle meets other vehicles, and the processor makes the judgment of overtaking or meeting vehicles. Since the driver can directly observe other vehicles when overtaking or meeting another vehicle, the processor does not need to make a prompt.

B1 mode: the first sensor 10 first detects that the object appears for a long time T1, then, the first sensor 10 and the second sensor 20 either or both cross or simultaneously detect the object for a long time T2, Explain that there is a continuous longer object ahead, and the processor makes a decision to travel along the green belt or the isolation belt (as shown in Figure 13) or to turn around the green belt or the isolation belt (as shown in Figure 14) or to drive along the green belt or the isolation belt (as shown in Figure 14). Take the judgment of turning around (as shown in Figure 15). At this time, the processor only needs to prompt the driver to pay attention to the width of the roadside. Therefore, the processor only needs to make a weak information-level prompt, and of course, no prompt is also required.

C mode: the second sensor 20 first detects that the time for the object to appear is T1, indicating that a vehicle wants to overtake the vehicle. As shown in FIG. 16, the processor immediately makes a judgment of being overtaken. At this time, the danger is high, and the processor immediately gives an information-level prompt, indicating that the vehicle behind wants to overtake. If the processor detects that the turn signal light of the car is turned on at this time, the processor will turn the information-level prompt into a warning-level prompt, prompting the driver not to change lanes. It can be understood that if the processor does not acquire signals from the turn signal lamps or it is too late to respond accordingly, the processor only provides information-level prompts and does not perform warning-level prompts, and the purpose of warning can also be achieved.

Once the second sensor 20 first detects that the time for the object to appear is T1, it enters the C mode, and then: if the first sensor 10 and the second sensor 20 do not detect the object, it means that the vehicle will give up overtaking. The information level of the processor prompts that the second sensor 20 has not detected an object; if the first sensor 10, the second sensor 20, or both cross or detect the object at the same time, the duration is T1, indicating that other subsequent When the vehicle completes overtaking, the processor information level prompts that neither the first sensor 10 nor the second sensor 20 has detected an object; if either or both of the first sensor 10 and the second sensor 20 cross or simultaneously detect The longest time for the object to appear is T2, which means that the following vehicle overtakes at a relatively slow speed, or fails to complete the overtaking, and stays within the blind area of the vehicle. The information-level prompt of the processor will turn into a weak information-level prompt after 2-6 seconds.

Please refer to Fig. 17, if the processor judges that the vehicle is driving along the green belt and isolation belt, and makes a weak information level prompt, and at this time, a motorcycle wants to overtake the vehicle, under the weak information level prompt state, If the first sensor 10 or the second sensor 20 detects an object whose distance data is continuously decreasing, the processor turns the weak information-level prompt into an information-level prompt.

According to needs, the processor can be set to stop prompting after weak information level prompting for 2-6 seconds, so as to avoid disturbing the driver.

The above is only a preferred embodiment of the present invention, so the scope of the present invention cannot be limited accordingly, that is, the equivalent changes and modifications made according to the patent scope of the present invention and the content of the specification should still be covered by the present invention within range. Simultaneously, the auxiliary detection device and detection method for lane change of the present invention are also applicable to other motor vehicles such as motorcycles.

Claims (7)

1. a kind of automobile lane change aided detection method that utilization automobile lane change aided detection device is realized, automobile outer rear-view mirror blind area It is divided into forward and backward two parts,

Automobile lane change aided detection device includes processor and first sensor and the second sensing installed in automobile side rear end Device, the first sensor is connected with the second sensor with the processor, and the first sensor is ultrasonic sensor, and this second Sensor is ultrasonic sensor：

The first sensor is used to detect the forward part of automobile outer rear-view mirror blind area, the detection range of the first sensor It is 70-110 degree for 3-4 meters, with the angle of automobile longitudinal center line；

The second sensor is used to detect the rear part of automobile outer rear-view mirror blind area, the detection range of the second sensor It is 20-40 degree for 4-9 meters, with the angle of automobile longitudinal center line；

Characterized in that, automobile lane change aided detection method includes pattern：

The time length that the A1 first sensors first measure object appearance is T1, and then, the second sensor does not measure object, should Processor makes the judgement overtaken other vehicles；

The time length that the A2 first sensors first measure object appearance is T1, then, and the second sensor also measures object appearance Time length be T1, the processor make overtake other vehicles or meeting judgement；

The time length that the B1 first sensors first measure object appearance is T1, then, and the first sensor, the second sensor are appointed One or both intersect or measure simultaneously object appearance time length be T2, the processor make along greenbelt, isolation strip traveling or The judgement for the traveling that turned around along greenbelt, isolation strip turn traveling or along greenbelt, isolation strip；

The time length that the C second sensors first measure object appearance is T1, and the processor makes the judgement of passed vehicle.

2. automobile lane change aided detection method according to claim 1, it is characterised in that：The processor make passed vehicle or Along greenbelt, isolation strip traveling or along greenbelt, isolation strip turn round traveling or along greenbelt, isolation strip turn around traveling judgement when Pointed out to driver.

3. automobile lane change aided detection method according to claim 2, it is characterised in that：The processor can make weak letter Cease level prompting, information level prompting, alarm level three kinds of alarm conditions of prompting；When the processor is made along greenbelt, isolation strip traveling Or carry out weak information level prompting along greenbelt, isolation strip turn traveling or when turning around the judgement of traveling along greenbelt, isolation strip；When The processor carries out information level prompting when making the judgement of passed vehicle；When the processor makes the judgement of passed vehicle, and at this Reason device detects automobile turn signal lamp unlatching, carries out alarm level prompting.

4. automobile lane change aided detection method according to claim 3, it is characterised in that：Under C mode, second sensing The time length that device first measures object appearance is T1, then, if the first sensor, the second sensor all do not measure thing Body, the processor information level is pointed out to the second sensor not measure object；If the first sensor, the second sensor Any or both time length intersected or measure object appearance simultaneously is T1, and processor information level prompt message level prompting is extremely somebody's turn to do First sensor, the second sensor all do not measure object；Handed over if the first sensor, the second sensor are any or both The time length pitched or measure object appearance simultaneously is T2, and the processor information level changes into weak information level prompting after pointing out 2-6 seconds.

5. automobile lane change aided detection method according to claim 3, it is characterised in that：State is pointed out in weak information level Under, if it is in the object continuously diminished that first sensor or second sensor, which measure range data, the weak information level of the processor is carried Show and change into information level prompting.

6. the automobile lane change aided detection method according to claim 3 or 4 or 5, it is characterised in that：The weak information of the processor Level prompting is no longer pointed out after 2-6 seconds.

7. the automobile lane change aided detection method according to claim 1 or 2 or 3 or 4 or 5, it is characterised in that：0 ＜ T1≤ 3 seconds, T2 >=3 second.