CN112572419B - Improve car week blind area monitored control system of start security of riding instead of walk - Google Patents
Improve car week blind area monitored control system of start security of riding instead of walk Download PDFInfo
- Publication number
- CN112572419B CN112572419B CN202011526256.8A CN202011526256A CN112572419B CN 112572419 B CN112572419 B CN 112572419B CN 202011526256 A CN202011526256 A CN 202011526256A CN 112572419 B CN112572419 B CN 112572419B
- Authority
- CN
- China
- Prior art keywords
- parking
- vehicle
- information
- distance information
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000001931 thermography Methods 0.000 claims abstract description 45
- 238000001514 detection method Methods 0.000 claims abstract description 36
- 238000012544 monitoring process Methods 0.000 claims abstract description 35
- 238000000034 method Methods 0.000 claims abstract description 25
- 238000012545 processing Methods 0.000 claims description 7
- 230000002159 abnormal effect Effects 0.000 claims description 6
- 239000000428 dust Substances 0.000 claims description 6
- 241001465754 Metazoa Species 0.000 description 5
- 238000005096 rolling process Methods 0.000 description 4
- 230000007547 defect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
- B60R2011/008—Adjustable or movable supports
- B60R2011/0085—Adjustable or movable supports with adjustment by rotation in their operational position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
- B60R2011/008—Adjustable or movable supports
- B60R2011/0092—Adjustable or movable supports with motorization
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- Emergency Alarm Devices (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention innovatively provides a vehicle periphery blind area monitoring system for improving the starting safety of passenger-replacing parking, which comprises a time adjusting and taking mechanism, a plurality of vehicle-mounted all-round cameras and a plurality of groups of ultrasonic radars, wherein the time adjusting and taking mechanism comprises a sliding sleeve, a worm, a rotary power source and a thermal imaging camera capable of rotating by 360 degrees; the vehicle surrounding blind area monitoring system for improving the safety of the start of the passenger-replacing parking further comprises a parking database, wherein the parking database comprises a plurality of parking models, different parking models correspond to different three-dimensional garages and the relative positions of the three-dimensional garages and the vehicles, the parking models comprise a plurality of distance information of the vehicles and the three-dimensional garages at different moments of a preset parking track, and the distance information reflects the distances between a plurality of positions in the garages and a plurality of groups of ultrasonic radars of the vehicle body; the vehicle periphery blind area monitoring system for improving the safety of the start of the passenger-replacing parking also comprises a model matching module, a life body detection module and a process monitoring module; the invention has the advantage of effectively avoiding collision in the automatic parking process.
Description
Technical Field
The invention relates to the technical field of vehicle parking systems, in particular to a vehicle periphery blind area monitoring system for improving the safety of the start of passenger-replacing parking.
Background
The autonomous passenger-replacing parking system is used for achieving automatic driving of a vehicle in a specific area from an entrance/exit of a parking lot to a parking place, a driver drives the vehicle to a getting-off area of the parking lot supporting the passenger-replacing parking function, after the vehicle completes initialization positioning (namely the vehicle needs to be matched with the parking lot based on existing map information, and initialization positioning is completed if matching is successful), a mobile phone APP is opened, network connection and safety certification of the mobile phone and the vehicle are completed, and then the getting-off function is activated through the mobile phone APP. In the process, a driver can leave the vehicle, the vehicle can automatically start to search for a parking space in a parking lot, when an empty parking space is searched or a fixed parking space is reached, parking operation is carried out, and the vehicle prompts the driver through a mobile phone after parking is successful; the driver can also activate the parking-out function through the mobile phone, select the parking-out position (i.e. the customer receiving point), and the vehicle can automatically drive to the parking-out position.
The autonomous passenger-replacing parking system can realize automatic driving and parking in and out of the last kilometer of the vehicle, two parking scenes are available, the first is lateral parking, the second is backing-in parking, and the first and second parking scenes are that the vehicle needs to be driven to the front of the parking space before parking, the position is the first position, and the vehicle stops to be the second position after entering the parking space, so the parking scenes are also divided into two scenes, the position in the parking space is the first position, and the position after parking is the second position when the vehicle stops at one side of the parking space; in the parking process, when the vehicle is started for passenger parking, a driver needs to activate the function near the vehicle, so that time and energy are saved for the driver, and convenience is provided.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a vehicle periphery blind area monitoring system which can effectively avoid collision or rolling accidents and improve the starting safety of the passenger car parking, and is used for overcoming the defects in the prior art.
In order to achieve the purpose, the invention provides the following technical scheme:
a vehicle periphery blind area monitoring system for improving the start safety of passenger-replacing parking comprises a beat adjusting and taking mechanism, a plurality of vehicle-mounted all-around cameras and a plurality of groups of ultrasonic radars, wherein the beat adjusting and taking mechanism comprises a sliding sleeve, a worm, a rotary power source and a thermal imaging camera capable of rotating 360 degrees, the sliding sleeve is slidably connected to the bottom of a vehicle tail, a turbine is arranged at the output end of the rotary power source and meshed with the worm, one end of the worm is fixedly connected to the sliding sleeve, the thermal imaging camera is fixedly arranged at the other end of the worm, the plurality of vehicle-mounted all-around cameras are respectively positioned on the periphery of the outer surface of a vehicle body, and the plurality of groups of ultrasonic radars are respectively positioned on the periphery of the outer surface of the vehicle body;
the vehicle surrounding blind area monitoring system for improving the safety of the start of the passenger-replacing parking further comprises a parking database, wherein the parking database comprises a plurality of parking models, different parking models correspond to different three-dimensional garages and the relative positions of the three-dimensional garages and the vehicles, the parking models comprise a plurality of distance information of the vehicles and the three-dimensional garages at different moments of a preset parking track, and the distance information reflects the distances between a plurality of positions in the garages and a plurality of groups of ultrasonic radars of the vehicle body;
the vehicle periphery blind area monitoring system for improving the safety of the start of the passenger-replacing parking further comprises a model matching module, a life body detection module and a process monitoring module;
the model matching module is used for acquiring a plurality of garage image information shot by a plurality of vehicle-mounted looking-around cameras as first image information, acquiring a plurality of groups of garage distance information measured by the ultrasonic radar as first distance information, simulating according to the first image information and the first distance information to obtain a corresponding three-dimensional garage and a relative position of a vehicle and the three-dimensional garage as initial parking information, and matching a corresponding parking model in the parking database according to the initial parking information to serve as a target model;
the life body detection module acquires a thermal imaging picture shot by the thermal imaging camera, judges whether a life body exists on the parking track according to the thermal imaging picture, and sends repeated life body detection information when the life body exists on the parking track; when the fact that no life body exists on the parking track is judged, the life body detection module sends parking starting information;
the process monitoring module acquires a target model in the model matching module, acquires theoretical distance information in the target model, acquires a plurality of groups of garage distance information measured by the ultrasonic radar as actual distance information, compares the actual distance information with the theoretical distance information, sends normal working information to enable the vehicle to continue to park in the garage if the actual distance information is the same as the theoretical distance information, and sends an abnormal working signal to enable the vehicle to stop parking in the garage if the actual distance information is smaller than the theoretical distance information.
Further, still include cell-phone control module, cell-phone control module includes remote control unit and video display unit, the remote control unit acquires the target model in the model matching module, acquires the thermal imaging picture in the life detection module, will the target model with thermal imaging picture sends to the video display unit.
Further, the system comprises a time positioning module, a target model in the model matching module is obtained, the time point in the target model when the vehicle stops parking is obtained, and the vehicle enters the target model again according to the time point so as to continuously park in the garage.
Further, if the vehicle stops parking, the model matching module acquires a plurality of garage image information shot by the plurality of vehicle-mounted looking-around cameras as second image information, acquires a plurality of groups of garage distance information measured by the ultrasonic radar as second distance information, simulates according to the second image information and the second distance information to acquire a corresponding three-dimensional garage and a relative position of the vehicle and the three-dimensional garage as parking re-information, and matches a corresponding parking model in the parking database as a new target model according to the parking re-information.
Further, if the actual distance information is greater than the theoretical distance information, the process monitoring module sends revising information to enable the model matching module to revise the target model.
The system further comprises an image processing module, wherein the image processing module is used for acquiring first image information in the analog matching module as preset image information, calculating according to the preset image information to obtain a preset brightness value, acquiring a plurality of garage image information shot by the vehicle-mounted all-around cameras as actual image information, calculating according to the actual image information to obtain an actual brightness value, sending an image normal signal if the actual brightness value is the same as the preset brightness value, sending an image abnormal signal and calculating a brightness compensation value if the actual brightness value is different from the preset brightness value, and adjusting the brightness of the actual image information according to the brightness compensation value.
Further, the life detection system further comprises a warning module, obtains repeated life detection information in the life detection module as command information, and sends out warning signals according to the command information.
Furthermore, the worm overcoat is equipped with a flexible cover, flexible cover one end is fixed in rear of a vehicle bottom, and the other end is fixed on thermal imaging camera, sliding sleeve sliding connection is in flexible cover.
Furthermore, the outer surface of the thermal imaging camera is provided with a dust cover.
Compared with the prior art, the invention has the beneficial effects that: clear three-dimensional garages are matched through garage information acquired by a plurality of vehicle-mounted all-round cameras and a plurality of groups of ultrasonic radars, can realize the purpose of knowing the environment and all information of the garage before parking in the garage, and realizing the thermal imaging shooting of the dead zones of the vehicle bottom and the vehicle tail part in a thermal imaging camera at the bottom of the vehicle tail and a turbine transmission mode, so as to avoid rolling or collision accidents caused by the animals or children climbing to the vehicle bottom or in the blind area behind the vehicle, theoretical distance information in the target model is obtained through the process monitoring module, and then acquiring actual distance information measured by a plurality of groups of ultrasonic radars in the parking process, comparing the actual distance information with theoretical distance information, and sending two different signals to drive the vehicle to stop or continue to park according to the comparison result, thereby solving the rolling or collision accidents caused by the fact that animals or children climb to the bottom of the vehicle or in a blind area behind the vehicle and any moving objects reach the vehicle in the parking process of the vehicle.
Drawings
FIG. 1 is a control relationship diagram of the present invention;
FIG. 2 is a structural view of a pitch taking mechanism in the present invention;
reference numerals: 1. a sliding sleeve; 2. a worm; 3. a source of rotational power; 4. a thermal imaging camera; 5. a turbine; 6. a telescopic sleeve; 7. a dust cover; 101. a model matching module; 102. a life detection module; 103. a process monitoring module; 104. a mobile phone control module; 105. a time positioning module; 106. a target model; 107. and an image processing module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The embodiments of the invention will be described in further detail below with reference to the accompanying drawings:
the existing passenger-assistant parking function is realized by limiting the use scene of the function, so that a driver can use the function in a closed unmanned parking lot environment, and a manufacturer can declare the function in a function use manual; but the mode of disclaimer-free declaration is fundamentally not designed to be safe, so that the benefits of consumers cannot be guaranteed practically, and customers can obtain safe and reliable product experience; the existence of a closed unmanned parking lot cannot be guaranteed, and the prior art cannot monitor and feed back all people and animals coming in and going out; or the function is started in a non-specific parking space, the car starts after the car is reminded for a period of time by the double-flash loudspeaker, but not all small animals or children leave by the double-flash loudspeaker, the car possibly generates curiosity, and the potential safety hazard cannot be fundamentally avoided, so the potential safety hazard exists when the function of parking the car as a substitute is started, although the sensors arranged at present can ensure reliability in normal work, the area of the car bottom and the area close to the car by 20cm is the dead zone of the current sensors, so the driver is lacked in the process of parking the car, the risk in the dead zone area cannot be effectively identified, if the small animals or children exist in the range of the car bottom or the dead zone around the car before the parking start, serious rolling accidents are very likely to occur, therefore, the invention designs the car-around dead zone monitoring system for improving the safety of parking and starting of the substitute, specifically, as shown in fig. 1-2, the system comprises a beat adjusting and taking mechanism, a plurality of vehicle-mounted looking-around cameras and a plurality of groups of ultrasonic radars (the vehicle has a strong sensing system, a general vehicle has 12 ultrasonic waves, 4 looking-around cameras, and in addition, auxiliary cameras and radars are used for real-time detection, which can ensure the safety of at least 6m of the peripheral range of the vehicle, as shown in fig. 2, the beat adjusting and taking mechanism comprises a sliding sleeve 1, a worm 2, a rotary power source 3 (a servo motor) and a thermal imaging camera 4 capable of rotating 360 degrees, the sliding sleeve 1 is slidably connected to the bottom of the vehicle tail, a turbine 5 is arranged on the output end of the rotary power source 3 (the servo motor), the turbine 5 is meshed with the worm 2, one end of the worm 2 is fixedly connected to the sliding sleeve 1, the thermal imaging camera 4 is fixedly arranged at the other end of the worm 2, a telescopic sleeve 6 is sleeved outside the worm 2, one end of a telescopic sleeve 6 is fixed at the bottom of the vehicle tail, the other end of the telescopic sleeve is fixed on a thermal imaging camera 4, a sliding sleeve 1 is connected in the telescopic sleeve 6 in a sliding manner, the telescopic sleeve 6 is divided into three sections from large to small in diameter, the second section and the third section are half, the missing half is that the telescopic sleeve 6 can stretch out and draw back when a worm wheel 5 drives a worm 2 to move up and down when rotating, and the other purpose of the telescopic sleeve 6 is to prevent dust and protect the worm 2; the outer surface of the thermal imaging camera 4 is provided with a dust cover 7, the dust cover 7 is used for protecting the thermal imaging camera 4, the plurality of vehicle-mounted looking-around cameras are respectively positioned on the periphery of the outer surface of the vehicle body, and the plurality of groups of ultrasonic radars are respectively positioned on the periphery of the outer surface of the vehicle body;
the vehicle surrounding blind area monitoring system for improving the safety of the start of the passenger-replacing parking further comprises a parking database, wherein the parking database comprises a plurality of parking models, different parking models correspond to different three-dimensional garages and the relative positions of the three-dimensional garages and the vehicles, the parking models comprise a plurality of distance information of the vehicles and the three-dimensional garages at different moments of a preset parking track, and the distance information reflects the distances between a plurality of positions in the garages and a plurality of groups of ultrasonic radars of the vehicle body;
the vehicle periphery blind area monitoring system for improving the safety of the start of the passenger-replacing parking further comprises a model matching module 101, a life detection module 102 and a process monitoring module 103;
the model matching module 101 is used for acquiring a plurality of garage image information shot by a plurality of vehicle-mounted looking-around cameras as first image information, acquiring a plurality of garage distance information measured by a plurality of groups of ultrasonic radars as first distance information, simulating to acquire a corresponding three-dimensional garage and a relative position of a vehicle and the three-dimensional garage according to the first image information and the first distance information as initial parking information, and matching a corresponding parking model in a parking database according to the initial parking information as a target model 106;
the life body detection module 102 is used for acquiring a thermal imaging picture shot by the thermal imaging camera 4, judging whether a life body exists on the parking track according to the thermal imaging picture, and when the life body exists on the parking track, sending repeated life body detection information by the life body detection module 102; when the inanimate object on the parking track is judged to be obtained, the animate object detection module 102 sends out parking starting information;
the process monitoring module 103 acquires the target model 106 in the model matching module 101, acquires theoretical distance information in the target model 106, acquires a plurality of sets of garage distance information measured by the ultrasonic radar as actual distance information, compares the actual distance information with the theoretical distance information, sends out normal working information to enable the vehicle to continue to park in the garage if the actual distance information is the same as the theoretical distance information, and sends out an abnormal working signal to enable the vehicle to stop parking in the garage if the actual distance information is smaller than the theoretical distance information.
The parking database has two conditions, one is that a vehicle can end up and reserve the garage after each parking, the parking space number and the garage fixture on each garage can reserve, the other is specific to a special garage, all information of the garage in the parking lot is input into the parking database for later searching application, for example, when a driver drives the vehicle to a first position in front of a certain garage, the vehicle can shoot picture information in the garage through a plurality of vehicle-mounted looking-around cameras before passing through the garage, a plurality of groups of ultrasonic radars can measure distance information between the vehicle and the garage, then the obtained picture information and the distance information are transmitted into the parking database for searching through a model matching module 101, and finally the garage matched with the parking database is obtained, if the garage matched with the parking database does not exist, the system automatically constructs a corresponding three-dimensional garage through three-dimensional modeling software, a parking track of a vehicle in a first position and a second position is calculated, when a driver starts an automatic parking function, a single chip in the vehicle body drives a servo motor to work, the servo motor drives a turbine 5 to rotate, the turbine 5 drives a worm 2 to rotate so that the worm 2 moves up and down at the bottom of the tail of the vehicle, finally, a thermal imaging camera 4 can move up and down, in an initial state, the thermal imaging camera 4 faces the head of the vehicle, a thermal imaging picture shot by the vehicle bottom is transmitted to a life body detection module 102 in the process of moving up and down of the thermal imaging camera 4, the thermal imaging camera 4 can rotate 360 degrees after shooting the vehicle bottom, the thermal imaging camera 4 can shoot partial blind areas of the tail of the vehicle, and then the shot thermal imaging camera 4 is transmitted to the life body detection module 102, when the life body detection module detects that a life body exists in a vehicle bottom or a vehicle tail blind area, the vehicle cannot start parking, the life body detection module 102 can continuously send repeated life body detection information to enable the thermal imaging camera 4 to continuously shoot thermal imaging photos, and a driver can sense that the horn is pressed to remind the bottom or the periphery of the vehicle, when the life body detection module 102 detects that the vehicle bottom or the vehicle tail blind area does not exist, the life detection module can send parking starting information, the vehicle starts parking after receiving the parking starting information, meanwhile, a plurality of groups of ultrasonic radars of the vehicle are still working, the position between the vehicle and a garage is measured in real time, when the actual distance between one ultrasonic radar and the garage position point measured in the parking process of the vehicle is different from the preset distance, the vehicle stops, and the vehicle looking-mounted looking-around camera and the thermal imaging camera 4 are simultaneously started to shoot the vehicle bottom, The images of the periphery of the vehicle body are fed back to the process monitoring module 103, and the vehicle is not parked until the measured actual distance is the same as the preset distance or the deviation is between 0.01m and 0.05 m.
The system also comprises a mobile phone control module 104, the mobile phone control module 104 comprises a remote control unit and a video display unit, the remote control unit obtains a target model 106 in the model matching module 101, obtains a thermal imaging picture in the life detection module 102, and sends the target model 106 and the thermal imaging picture to the video display unit, the mobile phone control module 104 is suitable for a driver to remotely carry out an automatic parking function when the driver leaves the vehicle, when the driver presses down to start the automatic parking function, the system receives a starting signal, respectively transmits images around the vehicle body, thermal imaging pictures of dead zones of the vehicle bottom and the vehicle tail of the vehicle to the video display unit in the mobile phone control module 104 for the driver to check, when the driver confirms safety, the remote control unit can send out the function of parking for a passenger to activate, the looking around camera and the thermal imaging camera 4 are closed, only the ultrasonic radar is started to measure the distance, the subsequent process is monitored by the process monitoring module 103, when the driver considers that the vehicle is unsafe, the remote control unit sends the function of exiting the valet parking to the system, the look-around camera, the ultrasonic radar and the thermal imaging camera 4 are all closed, and the vehicle is directly flamed out.
The system also comprises a time positioning module 105, which is used for acquiring the target model 106 in the model matching module 101, acquiring the time point of the target model 106 when the vehicle stops parking, and reentering the target model 106 according to the time point so as to enable the vehicle to continuously park in the garage; when a living body breaks into the parking track during parking of the vehicle, the vehicle automatically pauses, the time positioning module 105 acquires time points at a predetermined position, if the time required for parking the first position of the entire parking track into the second position is t0-t5, five time points are provided for each of the five time points in the target model 106, and if the time point when the vehicle stops is t3, the time positioning module 105 acquires time point t3, and when the vehicle needs to be parked continuously, the time positioning module 105 transmits the time point t3 to the original target model 106 to continue parking according to the original parking track.
If the vehicle stops parking, the model matching module 101 acquires image information of a plurality of garages shot by a plurality of vehicle-mounted looking-around cameras as second image information, acquires distance information of a plurality of garages measured by a plurality of groups of ultrasonic radars as second distance information, simulates according to the second image information and the second distance information to acquire a corresponding three-dimensional garage and a relative position of the vehicle and the three-dimensional garage as parking re-information, and matches a corresponding parking model in a parking database according to the parking re-information to serve as a new target model 106; in another mode, when a life body breaks into the parking track in the parking process of the vehicle, the vehicle automatically pauses, the system can turn on the all-round camera again and cooperate with the ultrasonic radar to acquire information again for the garage, the information is transmitted into the parking database to search the three-dimensional model, and a new preset parking track for subsequently parking into the garage is simulated.
If the actual distance information is greater than the theoretical distance information, the process monitoring module 103 issues revising information to cause the model matching module 101 to revise the target model 106.
The system further comprises an image processing module 107, wherein the image processing module 107 is used for acquiring first image information in the analog matching module as preset image information, calculating according to the preset image information to obtain a preset brightness value, acquiring a plurality of garage image information shot by the plurality of vehicle-mounted all-around cameras as actual image information, calculating according to the actual image information to obtain an actual brightness value, sending an image normal signal if the actual brightness value is the same as the preset brightness value, sending an image abnormal signal and calculating a brightness compensation value if the actual brightness value is different from the preset brightness value, and adjusting the brightness of the actual image information according to the brightness compensation value; when the vehicle needs to be parked in the garage at night, the brightness of the image of the garage shot by the vehicle is different from the brightness of the picture in the parking database, so that the system is inconvenient to search the corresponding three-dimensional garage or establish a new three-dimensional garage, and therefore the image processing module 107 can automatically adjust the brightness of the shot image, so that the system can analyze and distinguish the image.
The system further comprises a warning module, repeated life detection information in the life detection module 102 is acquired as command information, a warning signal is sent according to the command information, when the life detection module 102 detects that a life exists at the bottom of the vehicle or in a blind zone at the tail of the vehicle, the warning module can send the warning signal to the vehicle so that the vehicle can automatically press a horn to warn the life after the repeated life detection information sent by the life detection module 102 is obtained.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (9)
1. The utility model provides an improve car week blind area monitored control system of start security of riding instead of walk, its characterized in that: the beat adjusting mechanism comprises a sliding sleeve (1), a worm (2), a rotary power source (3) and a thermal imaging camera (4) capable of rotating by 360 degrees, wherein the sliding sleeve (1) is slidably connected to the bottom of the tail of the vehicle, a turbine (5) is arranged at the output end of the rotary power source (3), the turbine (5) is meshed with the worm (2), one end of the worm (2) is fixedly connected to the sliding sleeve (1), the thermal imaging camera (4) is fixedly arranged at the other end of the worm (2), the vehicle-mounted looking around cameras are respectively located around the outer surface of the vehicle body, and the ultrasonic radars are respectively located around the outer surface of the vehicle body;
the vehicle surrounding blind area monitoring system for improving the safety of the start of the passenger-replacing parking further comprises a parking database, wherein the parking database comprises a plurality of parking models, different parking models correspond to different three-dimensional garages and the relative positions of the three-dimensional garages and the vehicles, the parking models comprise a plurality of distance information of the vehicles and the three-dimensional garages at different moments of a preset parking track, and the distance information reflects the distances between a plurality of positions in the garages and a plurality of groups of ultrasonic radars of the vehicle body;
the vehicle periphery blind area monitoring system for improving the safety of the start of the passenger-replacing parking further comprises a model matching module (101), a life body detection module (102) and a process monitoring module (103);
the model matching module (101) is used for acquiring a plurality of garage image information shot by a plurality of vehicle-mounted looking-around cameras as first image information, acquiring a plurality of groups of garage distance information measured by the ultrasonic radar as first distance information, simulating according to the first image information and the first distance information to obtain a corresponding three-dimensional garage and a relative position of a vehicle and the three-dimensional garage as initial parking information, and matching a corresponding parking model in the parking database according to the initial parking information to serve as a target model (106);
the life body detection module (102) acquires a thermal imaging picture shot by the thermal imaging camera (4), judges whether a life body exists on a parking track according to the thermal imaging picture, and sends repeated life body detection information when the life body detection module (102) judges that the life body exists on the parking track; when the fact that no life body exists on the parking track is judged, the life body detection module (102) sends parking starting information;
the process monitoring module (103) acquires a target model (106) in the model matching module (101), acquires theoretical distance information in the target model (106), acquires a plurality of groups of garage distance information measured by the ultrasonic radar as actual distance information, compares the actual distance information with the theoretical distance information, sends normal working information to enable the vehicle to continue to park in the garage if the actual distance information is the same as the theoretical distance information, and sends an abnormal working signal to enable the vehicle to stop parking in the garage if the actual distance information is smaller than the theoretical distance information.
2. The system for monitoring blind areas around the car for improving the starting safety of the car for the valet parking according to claim 1, wherein: still include cell-phone control module (104), cell-phone control module (104) includes remote control unit and video display unit, remote control unit acquires target model (106) in model matching module (101), acquires the thermal imaging picture in life physical examination module (102), will target model (106) with thermal imaging picture sends to video display unit.
3. The system for monitoring blind areas around the car for improving the starting safety of the car for the valet parking according to claim 1, wherein: the method comprises a time positioning module (105), a target model (106) in the model matching module (101) is obtained, the time point of the target model (106) when the vehicle stops parking is obtained, and the target model (106) is re-entered according to the time point so that the vehicle continues to park in the garage.
4. The system for monitoring blind areas around the car for improving the starting safety of the car for the valet parking according to claim 1, wherein: if the vehicle stops parking, the model matching module (101) acquires a plurality of garage image information shot by the plurality of vehicle-mounted looking-around cameras as second image information again, acquires a plurality of groups of garage distance information measured by the ultrasonic radar as second distance information, simulates according to the second image information and the second distance information to acquire a corresponding three-dimensional garage and a relative position of the vehicle and the three-dimensional garage as parking re-information, and matches a corresponding parking model in the parking database as a new target model (106) according to the parking re-information.
5. The system for monitoring blind areas around the car for improving the starting safety of the car for the valet parking according to claim 1, wherein: if the actual distance information is greater than the theoretical distance information, the process monitoring module (103) sends out revising information so that the model matching module (101) revises the target model (106).
6. The system for monitoring blind areas around the car for improving the starting safety of the car for the valet parking according to claim 1, wherein: the system further comprises an image processing module (107), wherein first image information in the analog matching module is obtained to serve as preset image information, a preset brightness value is obtained through calculation according to the preset image information, a plurality of garage image information shot by the vehicle-mounted all-around cameras is obtained to serve as actual image information, an actual brightness value is obtained through calculation according to the actual image information, if the actual brightness value is the same as the preset brightness value, an image normal signal is sent out, if the actual brightness value is different from the preset brightness value, an image abnormal signal is sent out, a brightness compensation value is calculated, and the brightness of the actual image information is adjusted according to the brightness compensation value.
7. The system for monitoring blind areas around the car for improving the starting safety of the car for the valet parking according to claim 1, wherein: the life detection system further comprises a warning module, the repeated life detection information in the life detection module (102) is obtained and used as command information, and warning signals are sent out according to the command information.
8. The system for monitoring blind areas around the car for improving the starting safety of the car for the valet parking according to claim 1, wherein: the worm (2) overcoat is equipped with a flexible cover (6), flexible cover (6) one end is fixed in rear of a vehicle bottom, and the other end is fixed on thermal imaging camera (4), sliding sleeve (1) sliding connection is in flexible cover (6).
9. The system for monitoring blind areas around the car for improving the starting safety of the car for the valet parking according to claim 1, wherein: and a dust cover (7) is arranged on the outer surface of the thermal imaging camera (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011526256.8A CN112572419B (en) | 2020-12-22 | 2020-12-22 | Improve car week blind area monitored control system of start security of riding instead of walk |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011526256.8A CN112572419B (en) | 2020-12-22 | 2020-12-22 | Improve car week blind area monitored control system of start security of riding instead of walk |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112572419A CN112572419A (en) | 2021-03-30 |
| CN112572419B true CN112572419B (en) | 2021-11-30 |
Family
ID=75136672
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011526256.8A Active CN112572419B (en) | 2020-12-22 | 2020-12-22 | Improve car week blind area monitored control system of start security of riding instead of walk |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112572419B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113538597B (en) * | 2021-07-16 | 2023-10-13 | 英博超算(南京)科技有限公司 | Calibration camera parameter system |
| CN113323466B (en) * | 2021-08-02 | 2021-10-29 | 云泊智控(南京)信息科技有限公司 | Double-station elevator stereo garage based on space utilization and control system |
| CN113724323B (en) * | 2021-08-24 | 2024-07-23 | 杭州海康威视数字技术股份有限公司 | Map construction method, device and equipment |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106710291A (en) * | 2015-11-17 | 2017-05-24 | 腾讯科技（深圳）有限公司 | Parking stall acquisition method and device of parking lot |
| CN108928343A (en) * | 2018-08-13 | 2018-12-04 | 吉利汽车研究院（宁波）有限公司 | A kind of panorama fusion automated parking system and method |
| CN109017768A (en) * | 2018-08-24 | 2018-12-18 | 合肥中科自动控制系统有限公司 | A kind of automobile autonomous parking alarm set and control system |
| CN109866780A (en) * | 2019-04-02 | 2019-06-11 | 合肥工业大学 | A kind of automobile initial safe self-checking system |
| CN110126820A (en) * | 2019-05-17 | 2019-08-16 | 浙江吉利控股集团有限公司 | Automated parking system, method of parking and vehicle |
| CN110349434A (en) * | 2019-07-12 | 2019-10-18 | 电子科技大学 | Park planning system and method based on intelligent planning technology |
| CN110901632A (en) * | 2019-11-29 | 2020-03-24 | 长城汽车股份有限公司 | Automatic parking control method and device |
| CN111038390A (en) * | 2019-12-23 | 2020-04-21 | 天津布尔科技有限公司 | Car blind area monitoring devices based on multisensor fuses |
| CN111856963A (en) * | 2019-04-30 | 2020-10-30 | 北京初速度科技有限公司 | Parking simulation method and device based on vehicle-mounted looking-around system |
| CN111859778A (en) * | 2020-06-04 | 2020-10-30 | 北京百度网讯科技有限公司 | Parking model generation method and device, electronic device and storage medium |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| MX2017002542A (en) * | 2014-08-27 | 2017-10-12 | Sparkcity Com Ltd | Parking space management system and method. |
| GB2573792B (en) * | 2018-05-17 | 2022-11-09 | Denso Corp | Surround monitoring system for vehicles |
| US11107354B2 (en) * | 2019-02-11 | 2021-08-31 | Byton North America Corporation | Systems and methods to recognize parking |
-
2020
- 2020-12-22 CN CN202011526256.8A patent/CN112572419B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106710291A (en) * | 2015-11-17 | 2017-05-24 | 腾讯科技（深圳）有限公司 | Parking stall acquisition method and device of parking lot |
| CN108928343A (en) * | 2018-08-13 | 2018-12-04 | 吉利汽车研究院（宁波）有限公司 | A kind of panorama fusion automated parking system and method |
| CN109017768A (en) * | 2018-08-24 | 2018-12-18 | 合肥中科自动控制系统有限公司 | A kind of automobile autonomous parking alarm set and control system |
| CN109866780A (en) * | 2019-04-02 | 2019-06-11 | 合肥工业大学 | A kind of automobile initial safe self-checking system |
| CN111856963A (en) * | 2019-04-30 | 2020-10-30 | 北京初速度科技有限公司 | Parking simulation method and device based on vehicle-mounted looking-around system |
| CN110126820A (en) * | 2019-05-17 | 2019-08-16 | 浙江吉利控股集团有限公司 | Automated parking system, method of parking and vehicle |
| CN110349434A (en) * | 2019-07-12 | 2019-10-18 | 电子科技大学 | Park planning system and method based on intelligent planning technology |
| CN110901632A (en) * | 2019-11-29 | 2020-03-24 | 长城汽车股份有限公司 | Automatic parking control method and device |
| CN111038390A (en) * | 2019-12-23 | 2020-04-21 | 天津布尔科技有限公司 | Car blind area monitoring devices based on multisensor fuses |
| CN111859778A (en) * | 2020-06-04 | 2020-10-30 | 北京百度网讯科技有限公司 | Parking model generation method and device, electronic device and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112572419A (en) | 2021-03-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112572419B (en) | Improve car week blind area monitored control system of start security of riding instead of walk | |
| US11400919B2 (en) | Vehicle vision system with autonomous parking function | |
| US10852741B2 (en) | Using cameras for detecting objects near a vehicle | |
| KR102043060B1 (en) | Autonomous drive apparatus and vehicle including the same | |
| CN203854604U (en) | Intelligent blind spot monitoring device for automobile | |
| CN108297058A (en) | Intelligent security guard robot and its automatic detecting method | |
| US11267394B2 (en) | Projection apparatus for indicating a recommended position to observe a movable body, portable device, and recording medium | |
| CN110466509A (en) | Automatic parking mode selecting method, electronic equipment and automobile | |
| CN110126820A (en) | Automated parking system, method of parking and vehicle | |
| CN108831157A (en) | A kind of garden security protection based on intelligent robot is deployed to ensure effective monitoring and control of illegal activities management system | |
| CN110001627A (en) | The mobile device system of remote control park for vehicle connects | |
| CN102145688A (en) | Vehicle anti-collision monitoring system and method | |
| CN110001626A (en) | The mobile device of long-range park for vehicle is fastened | |
| CN108973861A (en) | A kind of intelligence A column driving safety system | |
| CN110228466A (en) | The controlled method of parking of automobile, electronic equipment, automobile and mobile terminal | |
| CN112071119A (en) | Intelligent auxiliary warehouse entry and exit method and system based on Internet of vehicles | |
| CN108705977A (en) | A kind of internet pilotless automobile | |
| CN115416665A (en) | Gesture vehicle control method and device, vehicle and storage medium | |
| CN115743031A (en) | System and method for deterrence of intruders | |
| CN209904906U (en) | Parking area patrol robot based on license plate identification | |
| CN201610112U (en) | Electric license plate frame system capable of measuring distance | |
| CN107933461B (en) | In-vehicle identification fusion device and method based on single camera | |
| US20200152066A1 (en) | Parking assist apparatus | |
| KR102316713B1 (en) | Remote automatic parking device | |
| JP7309497B2 (en) | Mobile projection device, mobile terminal, program |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |