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Single-camera automobile collision avoidance method based on risk balancing of safe distance and collision time

A technology of collision time and safety distance, applied to vehicle components, circuits or fluid pipelines, signal devices, etc., can solve the problem of simultaneously obtaining complex sensor devices, and achieve the effects of reducing costs, simplifying sensor settings, and controlling accurately

Active Publication Date: 2014-11-05
上海保资智能科技有限公司
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Problems solved by technology

A practical automobile anti-collision system that considers both safety distance and collision time has not been published in literature or patents, the main reason is that obtaining these two parameters at the same time depends on complex sensor devices

Method used

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  • Single-camera automobile collision avoidance method based on risk balancing of safe distance and collision time
  • Single-camera automobile collision avoidance method based on risk balancing of safe distance and collision time
  • Single-camera automobile collision avoidance method based on risk balancing of safe distance and collision time

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Embodiment Construction

[0044] The present invention will be further described below in conjunction with the accompanying drawings.

[0045] (1) The method of calculating the inter-vehicle distance with a single camera.

[0046] as attached figure 1 As shown, the inter-vehicle distance between the vehicle 1 in front and the vehicle 2 in front is D, and the camera lens 3 installed on the vehicle 1 projects the image of the vehicle 1 in front on the photosensitive screen. Suppose the focal length of the lens is f, the height of the camera installation position from the ground is H, and the distance between the projection of the boundary line 4 between the wheel and the road on the photosensitive screen and the focal length center is h, then the inter-vehicle distance is,

[0047] D = H h f - - - ( 1 )

[0048] (2) A method for calculating the relativ...

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Abstract

The invention relates to a single-camera automobile collision avoidance method based on risk balancing of a safe distance and collision time. According to the method, firstly, a single camera shoots an image frame at the interval of delta t, and the obtained image frames are subjected to image segmentation and target identification to obtain a boundary between wheels and a road; secondly, the distance D between automobiles, the relative speed v of the former automobile and the current automobile and the collision time T are calculated; thirdly, a collision time risk function f1 and a safe distance risk function f2 are calculated according to D, vf, T and v; lastly, risks are balanced according to the relative speed v, the risk function f1 is adopted when v is larger than a certain threshold value v0, and the risk function f2 is adopted otherwise. By the adoption of the method based on risk balancing through combination of the safe distance and the collision time, control is more accurate. The single camera is adopted to obtain parameters of the distance between the automobiles, the relative speed and the collision time, so that a sensor is omitted, cost is greatly lowered, and the method is very convenient to use and practical.

Description

technical field [0001] The invention belongs to the technical field of automobiles, and relates to an automatic control method for automobiles, in particular to a single-camera automobile collision avoidance method combining safety distance and collision time for risk trade-off. Background technique [0002] Automobile anti-collision systems can not only reduce traffic accidents and casualties, but also are closely related to the future development of automobiles. Car driving in the future will definitely become simple and convenient until fully autonomous driving is realized. The prerequisite and important guarantee for the realization of automatic driving is a reliable collision avoidance system. In order to improve the safety of driving, a reasonable and practical anti-collision system needs a suitable alarm and control method. [0003] At present, the core input parameters of the system used to realize vehicle collision avoidance warning mainly include safety distance ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W10/18B60W10/30B60W30/08B60W30/09B60W40/00B60W40/105B60R16/02B60Q9/00
CPCB60Q9/00B60R16/02B60W10/18B60W10/30B60W30/08B60W30/09B60W40/00B60W40/105
Inventor 姜显扬
Owner 上海保资智能科技有限公司
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