CN112389327A - Driving sensing system based on crawler-type double-section vehicle - Google Patents
Driving sensing system based on crawler-type double-section vehicle Download PDFInfo
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- CN112389327A CN112389327A CN202011387746.4A CN202011387746A CN112389327A CN 112389327 A CN112389327 A CN 112389327A CN 202011387746 A CN202011387746 A CN 202011387746A CN 112389327 A CN112389327 A CN 112389327A
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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
- 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
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
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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
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
-
- 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
- B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views
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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
- B60R2300/8093—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for obstacle warning
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Abstract
The invention relates to a sensing system of a vehicle, in particular to a driving sensing system based on a crawler-type double-section vehicle, which comprises a panoramic component, a vehicle posture monitoring component, a safe anti-collision early warning component, a processing unit and a display unit, wherein the panoramic component is arranged on the vehicle posture monitoring component; the panoramic component, the vehicle posture monitoring component, the safe anti-collision early warning component and the display unit are all in communication connection with the processing unit. The invention is used for sensing the environmental information of day and night environmental states around the vehicle, the pitching attitude of the vehicle, the attitude in water and vehicle obstacles. The visualization, anti-collision rollover information early warning and the like under the condition that the vehicle runs or is in water floating and ferrying are realized, and the driving safety of the vehicle is improved.
Description
Technical Field
The invention relates to a sensing system of a vehicle, in particular to a driving sensing system based on a crawler-type double-section vehicle.
Background
In recent years, the technology of automatic driving of automobiles is rapidly developed. Various automatic driving sample vehicles and automatic driving road test experiments of different forms are continuously shown in various major host factories, internet enterprises and scientific research institutions.
The crawler-type double-section vehicle has excellent cross-country capability and can freely shuttle among various severe geomorphic environments such as sand beaches, swamps, jungles, hills, lakes and the like, so that the crawler-type double-section vehicle can receive driving dangers brought by unknown environments such as nights, steep slopes, obstacle collision, side inclination and the like all the time, and a driving sensing system based on the crawler-type double-section vehicle is urgently needed.
Disclosure of Invention
The invention provides a driving sensing system based on a crawler-type double-section vehicle, which is used for sensing the ambient day and night environment state of the vehicle, the pitching attitude of the vehicle, the attitude in water and the environment information of vehicle obstacles. The visualization, anti-collision rollover information early warning and the like under the condition that the vehicle runs or is in water floating and ferrying are realized, and the driving safety of the vehicle is improved.
In order to solve the problems, the invention adopts the following technical scheme:
a driving perception system based on a crawler-type double-section vehicle comprises a panoramic component, a vehicle posture monitoring component, a safe anti-collision early warning component, a processing unit and a display unit; the panoramic component, the vehicle posture monitoring component, the safety anti-collision early warning component and the display unit are all in communication connection with the processing unit;
the panoramic component comprises a front view component, a rear view component, a left front component, a left rear component, a right front component and a right rear component and is used for outputting a 360-degree long-range video and infrared video data;
the vehicle posture monitoring assembly comprises a front vehicle inclination angle monitoring assembly, a rear vehicle inclination angle monitoring assembly and an inclination early warning assembly, and is used for monitoring the horizontal position and the inclination angle of the crawler-type double-section vehicle and carrying out early warning when the inclination angle is greater than a threshold value;
the safety anti-collision early warning assembly comprises an ultrasonic radar and is used for monitoring the distance sum of obstacles in front of the vehicle;
the processing unit is used for processing images, processing early warning information, processing control messages and distributing power supplies;
the display unit is used for displaying the processing result of the processing unit.
Further, the front view assembly and the rear view assembly respectively comprise a low-illumination perspective image sensor, an infrared image sensor and a white light image sensor; the left front assembly, the right front assembly, the left rear assembly and the right rear assembly respectively comprise two low-illumination perspective image sensors.
Further, the panoramic assembly splices the environment videos around the crawler-type double-section vehicle within 10 meters to form a 360-degree panoramic video.
Further, the processing unit receives the horizontal position and the inclination angle of the crawler-type double-section vehicle collected by the vehicle posture monitoring assembly, and displays the simulated vehicle posture in the display unit.
Further, the processing unit collects and processes the long-range video and the infrared video output by the panoramic assembly, and outputs the SDI video to the display unit.
Furthermore, the processing unit sends out early warning information to the display unit through the long-range view video and the infrared video of the panoramic assembly and in combination with the obstacle distance and the vehicle speed information monitored by the safety anti-collision early warning assembly.
Furthermore, the system also comprises a reservation expansion interface used for connecting the storage or transmission equipment.
The driving perception system based on the crawler-type double-section vehicle has the following functions: (1) safety anti-collision early warning function
In the process of vehicle advancing, an ultrasonic radar is adopted to detect obstacles in front of a vehicle, a low-illumination SCMOS photoelectric image sensor is adopted to recognize lane lines, forward obstacles and the like in a video mode, the state evaluation of safe driving of the vehicle is completed, and when the collision risk is evaluated, alarm information is given in an image mode. The anti-collision early warning is divided into three levels, the false alarm rate is not more than 2%, and early warning time setting and early warning cancellation are supported; and when the vehicle speed is less than 5km/h, the equipment closes the forward anti-collision early warning function.
(2) Panoramic function
The panoramic video is seamlessly spliced at 360 degrees, an SCMOS photoelectric image sensor is adopted for imaging, the monitoring of blind areas outside the periphery of the vehicle body by 10 meters is supported under the conditions that the illumination is not lower than 0.001Lux and no supplement is available, the driver is assisted to master the surrounding environment information in real time, and meanwhile, the image enhancement technology is adopted, so that the visual range of heavy haze and sand storm in heavy rain, heavy snow and underwater advancing is met.
(3) Visual function of vehicle posture
By adopting the tilt angle sensor technology and combining the relative calculation of the front and the rear two vehicles, the ground or underwater advancing attitude of the vehicle is calculated in real time, and is displayed in a simulated mode, so that the advancing safety of the vehicle is ensured under a complex terrain, and the advancing passing performance of the vehicle is improved.
Meanwhile, the driving sensing equipment provides safety auxiliary identification lines and central line deviation early warning for the processes of turning, backing, railway, flat plate transportation on land and the like of the vehicle during driving, and provides anti-collision early warning for normal driving and launching driving by combining ultrasonic radar and detecting barrier information, and the anti-collision early warning supports manual stopping.
(4) All-weather driving assistance function
By adopting an uncooled infrared thermal imaging technology and an SCMOS imaging technology, under the conditions of low illumination, large fog (haze), dust and other non-light-compensation conditions, road and surrounding environment image information is provided for a driver to drive, and meanwhile, a distance and a vehicle width identification line are drawn on a video, and the identification line can be configured; the device has the function of strong light inhibition; and in the driving process, lane departure or anti-collision early warning is carried out in an image mode.
Drawings
Fig. 1 is a system composition diagram of a driving perception system based on a crawler-type double-section vehicle.
Fig. 2 is a panoramic stitching mode effect diagram of the invention.
Fig. 3 is a panorama single-picture mode effect diagram of the present invention.
The symbols in the drawings illustrate that: 1. a panoramic assembly; 2. a vehicle attitude monitoring assembly; 3. a safety anti-collision early warning component; 4. a processing unit; 5. a display unit; 6. and a power supply in the vehicle.
Detailed Description
The present invention will be described in detail with reference to the following preferred embodiments.
As shown in figure 1, the driving perception system based on the crawler-type double-section vehicle comprises a panoramic component 1, a vehicle posture monitoring component 2, a safe anti-collision early warning component 3, a processing unit 4, a display unit 5 and a connecting cable. The panoramic component 1, the vehicle posture monitoring component 2, the safe anti-collision early warning component 3 and the display unit 5 are all connected with the processing unit 4 through connecting cables. The processing unit 4 is connected to an in-vehicle power supply 6 and supplies power to various components in the tracked two-section vehicle-based driving sensing system of the present invention.
The panoramic assembly 1 is respectively a front view assembly 101, a rear view assembly 102, a left front assembly 103, a left rear assembly 104, a right front assembly 105 and a right rear assembly 106 according to the installation positions, wherein the front view assembly and the rear view assembly respectively comprise a low-illumination perspective image sensor (long-range video), an infrared image sensor (infrared video) and a white light image sensor (white light video); the left front assembly, the right front assembly, the left rear assembly and the right rear assembly respectively comprise two low-illumination long-range image sensors.
The panoramic component 1 comprises six perspective components, namely a front-view perspective component, a left front perspective component, a right front perspective component, a left rear perspective component, a right rear perspective component and a rear-view perspective component. The low-illumination long-range image sensor of the panoramic assembly adopts an SCMOS photoelectric image sensor which supports a 0.0005Lux low-illumination environment and has a target surface size of 7/8 inches, a 12mm lens supporting the illumination is matched, the field angle is 43.6 degrees, the video of the environment of 10 meters around the vehicle is guaranteed to be spliced, the panoramic video is formed after 360-degree seamless panoramic splicing and image enhancement processing, and the requirement of real-time monitoring of the vehicle during traveling is met.
The infrared video in the forward-looking component adopts an uncooled infrared technology, an infrared photoelectric image sensor with a horizontal field angle of 32.9 degrees and a vertical field angle of 26.6 degrees is adopted, so that the forward-looking finding distance of drivers is assisted to be 180 meters under all weather conditions, the driving speed is not more than 40km/h under all weather conditions, the detection distance of pedestrians in front (1.7 m multiplied by 0.5 m) is not less than 50 meters, the detection distance of front pits (length multiplied by width multiplied by depth is not less than 300mm multiplied by 300 mm) is not less than 15 meters, and the detection distance of front obstacles (width multiplied by height is not less than 300mm multiplied by 300 mm) is not less than 30 meters.
The vehicle posture monitoring assembly 2 is used for monitoring the inclination angle of the crawler-type double-section vehicle and comprises a front vehicle inclination angle monitoring assembly 201, a rear vehicle inclination angle monitoring assembly 202 and an inclination early warning assembly 203, the front vehicle inclination angle monitoring assembly and the rear vehicle inclination angle monitoring assembly adopt LE-60 dynamic double-shaft inclinometers, the inclination angle acquisition frequency is 0.5HZ, the measurement accuracy is higher than 0.05 degrees, and the horizontal position and the inclination angle of the front vehicle and the rear vehicle can be monitored. The roll early warning assembly calculates the horizontal position of the front vehicle and the rear vehicle in a combined manner, after the processing unit processes the horizontal position, the posture of the vehicle is simulated in the display unit, when the roll of the vehicle is more than 13 degrees, the inclination early warning assembly gives an early warning in a buzzing or flashing mode, and the inclination early warning assembly can be turned off manually.
The safety anti-collision early warning assembly 3 comprises 1 ultrasonic radar for monitoring the distance of an obstacle in front of the vehicle. The detection distance of ultrasonic radar is 1.5 meters, the horizontal direction angle is 60 degrees, the vertical direction angle is 40 degrees, 1 ultrasonic radar can cover the vehicle to the region within 5m, can satisfy the vehicle to the requirement of barrier detection distance.
The processing unit 4 is arranged in the equipment cabin, is a main control unit of the driving perception system based on the crawler-type double-section vehicle and is responsible for image processing, early warning information processing, control message processing and power supply distribution processing of all videos.
The processing unit 4 and the display unit 5 are directly powered by an in-vehicle power supply 6 of 28V in the vehicle, and the power supply is converted into 12V by the processing unit and then distributed to the panoramic assembly 1, the vehicle posture monitoring assembly 2, the anti-collision early warning assembly 3, the display unit 5 and other components in the processing unit.
Specifically, the processing unit 4 is responsible for the functions of:
1) panoramic processing: the processing unit collects and processes 6 distant view videos output by the panoramic component and 1 path of infrared video output by the forward-looking component, and outputs 2 SDI (digital interface) videos to the display unit respectively.
2) Safe anti-collision early warning treatment: analyzing the current anti-collision early warning level by the forward-looking video and the infrared video of the panoramic assembly and combining the obstacle distance and the vehicle speed information measured by the ultrasonic radar, and taking corresponding warning measures according to early warnings at all levels to avoid collision with a front obstacle (or pit) (or falling danger caused by an overlarge pit); meanwhile, the early warning has a cancellation function.
3) Backing auxiliary and early warning: when backing a car, automatically switching to a backing image, drawing a backing auxiliary identification line on the backing image, and following the identification line along with the steering angle of the steering wheel. And in the case that the probability of unilateral suspension is determined to be too high in combination with the speed, giving a roll early warning.
4) Vehicle posture display and roll warning: the processing unit calculates the angle between the front vehicle and the rear vehicle and the angle of the front vehicle and the rear vehicle at the horizontal position respectively by combining the data provided by the vehicle posture monitoring assembly, the vehicle posture state is virtually displayed through the display unit, the vehicle posture can be visually seen when the vehicle is launched, the vehicle can be timely adjusted, the vehicle can roll when running, the early warning is started when the side inclination angle is larger than 13 degrees, and the early warning prompting frequency is increased when the side inclination angle is larger than 15 degrees.
5) And manual switching processing of the display unit: the video output to the display device by the processing unit is defaulted to be a panoramic stitching mode, the processing unit receives the key control of a driver through the CAN interface, and the panoramic single-picture mode and the panoramic stitching mode are switched and output to the display device.
6) Automatic switching processing of display unit videos: and the processing unit automatically switches the panoramic video display mode to the display equipment when receiving the vehicle speed, the reversing, the steering angle of the steering wheel and the steering signal through CAN communication.
The display unit 5 is used for displaying the image processing result of the processing unit. The display unit 5 adopts a HUD form, displays an infrared video in the front-view assembly, and has the functions of key-press power-on control, brightness adjustment, sound adjustment and playback; possesses buzzer and speaker, can indicate alarm information. The display unit is disposed on the driver's cab. The SDI video resolution is 1920 multiplied by 1080, the panoramic video has two display modes, and the effect graphs are respectively a panoramic stitching mode effect graph, a panoramic single-picture mode effect graph and a roll early warning mode.
As shown in fig. 2-3, a panorama stitching mode effect diagram and a panorama single-picture mode effect diagram of the present invention are respectively shown.
In addition, the driving perception system based on the crawler-type double-section vehicle is also provided with a reserved expansion interface 7 which can be connected with other storage or transmission equipment in an expanded mode, and information in the driving perception system is selectively stored or transmitted to other terminals through other equipment.
The inventive concept is explained in detail herein using specific examples, which are given only to aid in understanding the core concepts of the invention. It should be understood that any obvious modifications, equivalents and other improvements made by those skilled in the art without departing from the spirit of the present invention are included in the scope of the present invention.
Claims (7)
1. A driving perception system based on a crawler-type double-section vehicle is characterized by comprising a panoramic component, a vehicle posture monitoring component, a safe anti-collision early warning component, a processing unit and a display unit; the panoramic component, the vehicle posture monitoring component, the safety anti-collision early warning component and the display unit are all in communication connection with the processing unit;
the panoramic component comprises a front view component, a rear view component, a left front component, a left rear component, a right front component and a right rear component and is used for outputting a 360-degree long-range video and infrared video data;
the vehicle posture monitoring assembly comprises a front vehicle inclination angle monitoring assembly, a rear vehicle inclination angle monitoring assembly and an inclination early warning assembly, and is used for monitoring the horizontal position and the inclination angle of the crawler-type double-section vehicle and carrying out early warning when the inclination angle is greater than a threshold value;
the safety anti-collision early warning assembly comprises an ultrasonic radar and is used for monitoring the distance sum of obstacles in front of the vehicle;
the processing unit is used for processing images, processing early warning information, processing control messages and distributing power supplies;
the display unit is used for displaying the processing result of the processing unit.
2. The tracked double-throttle vehicle-based driving perception system according to claim 1, wherein the front view assembly and the rear view assembly respectively comprise a low-light perspective image sensor, an infrared image sensor and a white light image sensor; the left front assembly, the right front assembly, the left rear assembly and the right rear assembly respectively comprise two low-illumination perspective image sensors.
3. The tracked double-track-vehicle-based driving perception system according to claim 2, wherein the panoramic component splices the environment video around the tracked double-track-vehicle within 10 meters to form a 360-degree panoramic video.
4. The system as claimed in claim 1, wherein the processing unit receives the horizontal position and the inclination angle of the tracked vehicle, and displays the simulated vehicle attitude on the display unit.
5. The tracked double-festival-vehicle-based driving perception system of claim 1, wherein the processing unit collects and processes the long-range video and the infrared video output by the panoramic assembly and outputs an SDI video to a display unit.
6. The driving perception system based on the crawler-type double-section vehicle as claimed in claim 1, wherein the processing unit sends out warning information to the display unit through a long-range video and an infrared video of the panoramic assembly in combination with obstacle distance and vehicle speed information monitored by the safety anti-collision warning assembly.
7. The driving perception system based on the tracked double-section vehicle as claimed in claim 1, further comprising a reserved expansion interface for connecting storage or transmission equipment.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011387746.4A CN112389327A (en) | 2020-12-01 | 2020-12-01 | Driving sensing system based on crawler-type double-section vehicle |
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| CN202011387746.4A CN112389327A (en) | 2020-12-01 | 2020-12-01 | Driving sensing system based on crawler-type double-section vehicle |
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Application publication date: 20210223 |