A method for early warning of intelligent identification of road condition height limit and truck load height in front

Abstract

The application provides a kind of early warning method for intelligently identifying front road condition height limit and truck load height, comprising the following steps: S1, presetting the basic parameter value of vehicle-mounted rear recognition camera and front recognition camera;S2, vehicle-mounted rear recognition camera recognizes and obtains the actual height of the whole vehicle, and stores it into the vehicle-mounted system;S3, vehicle-mounted front recognition camera monitors the front height obstacle in real time, and obtains the sensing parameter at the same time;S4, calculates the height of the obstacle and feeds back to the vehicle-mounted system;S5, the vehicle system performs data analysis and early warning.The application realizes real-time collection of front road condition through camera, and realizes real-time judgment and early warning of whether the height of front road condition and the current truck load height meet the passing condition through system image processing and calculation, which can cover various road condition scenes and intelligently identify, does not need to rely on the height limit prompt of road, and can also meet the early warning prompt for road condition without height limit prompt, improving the driving safety of truck.

Description

Technical Field

[0001] This invention relates to the field of traffic safety early warning technology, and in particular to an early warning method for intelligently identifying road height restrictions and truck cargo height. Background Technology

[0002] With the continuous development of multi-level transportation systems, in road conditions where heavy-duty trucks and buses have height restrictions, such as tunnels, roads under bridges, and roads with height restriction barriers, as well as in situations without height restriction signs or barriers, truck and bus drivers may misjudge whether their vehicle's height is sufficient to pass, potentially leading to accidents. Furthermore, trucks may undergo loading and unloading during transport, frequently changing their height, and current technologies lack methods for dynamic monitoring and height restriction warnings for trucks. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of existing technologies by proposing an intelligent early warning method for recognizing road height restrictions and truck cargo height.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: a method for intelligently identifying road height restrictions and truck cargo height, comprising the following steps;

[0005] S1, Preset basic parameter values;

[0006] Specifically, it includes the following sub-steps:

[0007] S11, Pre-set basic parameter values ​​for the vehicle rear-view recognition camera;

[0008] The rear recognition camera is installed on the top rear side of the truck front. The rear recognition camera is a camera that can rotate up and down. When not working, the default calibrated angle is 0° to the horizontal line. The preset calibrated angle scanning area is 0° to 70° from the horizontal plane upwards, which can identify the angle of the area and ensure that the cargo box is within the scanning corner area of ​​the rear recognition camera.

[0009] The basic parameter values ​​of the rear-mounted recognition camera include: H0, X;

[0010] Where H0 is the fixed starting height of the rear recognition camera above the ground, and X is the fixed distance from the rear recognition camera to the front side of the truck's cargo box.

[0011] S12, Pre-set basic parameter values ​​for the vehicle-mounted front-facing recognition camera;

[0012] The front-facing recognition camera is installed on the top of the front side of the truck. The front-facing recognition camera is a camera that can rotate up, down, left, and right. When not in operation, the default angle is set to 0° horizontal.

[0013] The basic parameter values ​​of the front-facing recognition camera include: h1, D0;

[0014] Where h1 is the fixed starting height of the front-facing recognition camera above the ground, and D0 is the horizontal forward distance of the front-facing recognition camera.

[0015] S2. The vehicle's rear-mounted recognition camera identifies and obtains the actual height of the entire vehicle and stores it in the vehicle system;

[0016] The actual height of the vehicle is: the distance from the top of the truck cargo box or the cargo inside the truck cargo box to the ground;

[0017] Specifically, it includes the following sub-steps:

[0018] S21. Obtain the corner parameter a of the upper edge of the cargo;

[0019] The angle parameter a is specifically the acute angle formed by the plane formed by the upper edge of the truck cargo box or the cargo in the truck cargo box and the rear recognition camera, and the horizontal plane.

[0020] The specific acquisition method is as follows: the rear recognition camera scans the truck cargo box or the upper edge of the cargo in the truck cargo box by rotating the camera angle upward, and obtains the corner parameter 'a' of the cargo edge;

[0021] After the corner parameter 'a' is obtained, it is transmitted to the vehicle system via CAN communication or USB data communication.

[0022] If the upper edge of the truck's cargo box or the cargo in the truck's cargo box exceeds the preset calibrated angle scanning area, i.e., the turning angle parameter a > 70°, the HMI interface of the vehicle system will display a message to the driver indicating that the height of the loaded cargo has exceeded the maximum height range.

[0023] S22. Calculate the actual height of the entire vehicle;

[0024] The basic parameter values ​​H0 and X of the rear recognition camera preset in step S11, and the corner parameter a obtained in step S21, are substituted into the formula for the actual height of the vehicle to calculate and store the data in the vehicle system.

[0025] The formula for the actual height of the vehicle is: Actual height of the vehicle = H0 + (X * tan(a));

[0026] S3: The vehicle-mounted front-facing recognition camera monitors obstacles of height in front in real time and acquires perception parameters.

[0027] The obstacles are tunnels, bridge openings, and height restriction poles;

[0028] The sensing parameter data includes: vehicle speed parameter, sensing distance parameter D, and obstacle scanning angle parameter;

[0029] The vehicle speed parameter refers to the vehicle's travel speed.

[0030] The sensing distance parameter D is: the horizontal distance between the front-facing recognition camera and the obstacle;

[0031] The obstacle scanning angle parameter is: the angle between the top edge of the obstacle scanned by the front-facing recognition camera and the bottom edge of the obstacle;

[0032] Specifically, it includes the following sub-steps:

[0033] S31. The vehicle-mounted front-facing recognition camera can obtain real-time images of the road conditions ahead and identify whether there are any tall obstacles ahead.

[0034] When a tall obstacle is detected ahead, the vehicle system prompts the driver to slow down in advance; at the same time, the front-facing camera senses and obtains the vehicle speed parameters and the angle parameters of the scanned obstacle in real time.

[0035] The angle parameters for scanning obstacles include: angle parameter b and angle parameter c;

[0036] The turning angle parameter b is: the angle formed when the front-facing recognition camera deflects downward from the horizontal direction to recognize the bottom of the obstacle in the current state of the vehicle;

[0037] The angle parameter c is: the angle formed when the front-facing recognition camera deflects upward from the horizontal direction to recognize the top edge of the obstacle under the same conditions as described above;

[0038] The specific acquisition method is as follows: the front-facing recognition camera scans the bottom edge of the obstacle by rotating the camera angle downwards from the horizontal direction to obtain the turning angle parameter b; the front-facing recognition camera scans the top edge of the obstacle by rotating the camera angle upwards from the horizontal direction to obtain the turning angle parameter c.

[0039] S32. Real-time calculation and acquisition of the sensing distance parameter D;

[0040] Substitute the basic parameter value h1 of the front recognition camera preset in step S12 and the corner parameter b obtained in real time in step S31 into the perception distance formula for real-time calculation.

[0041] The sensing distance formula is: sensing distance parameter D = h1 / tan(b);

[0042] S33. The sensed parameter data is transmitted to the vehicle system in real time via CAN communication or USB data communication.

[0043] S4. Calculate the height of the obstacle and feed it back to the vehicle system;

[0044] After obtaining the perception distance parameter D obtained in step S3, it is compared with the basic parameter value D0 of the preset front-facing recognition camera in step S12.

[0045] When the perceived distance parameter D is less than or equal to the base parameter value D0, the obstacle height is calculated to ensure the accuracy of the obstacle height measurement; the specific method is as follows:

[0046] Substitute the sensing distance parameter D that meets the conditions, the turning angle parameter c obtained simultaneously in step S31, and the basic parameter value h1 of the front recognition camera preset in step S12 into the obstacle height formula for calculation.

[0047] The obstacle height formula is: obstacle height H = h1 + D * tan(a);

[0048] The obtained obstacle height H is fed back to the vehicle system in real time via CAN communication or USB data communication.

[0049] S5, the vehicle's infotainment system performs data analysis and issues warnings;

[0050] The in-vehicle system uses data algorithms for analysis and comparison. The specific comparison method is as follows:

[0051] Subtract the actual vehicle height obtained in step S22 from the obstacle height H obtained in step S4 to obtain the difference;

[0052] The difference is compared with 2 meters. If the difference is less than 2 meters, the vehicle does not meet the passage conditions. The vehicle system will trigger a height restriction alarm and issue an alarm sound.

[0053] If the vehicle speed does not decrease as detected by the front-facing camera during the alarm period, the vehicle system will intervene to gradually reduce the vehicle speed and activate the vehicle's hazard lights. At this time, the driver must manually confirm and turn off the alarm notification in order to deactivate the vehicle system alarm notification and clear the vehicle system alarm.

[0054] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0055] 1. This invention uses a vehicle-mounted front-facing recognition camera to collect real-time images of the road conditions ahead and a vehicle-mounted rear-facing recognition camera to obtain the cargo height information of the vehicle. Through system image processing and calculation, it judges and issues warnings on whether the height of the road conditions ahead and the current cargo height of the truck meet the passage conditions. It can cover various road conditions and intelligently identify them without relying on road height restriction warnings. It can also provide warnings for road conditions without height restriction warnings, thereby improving truck driving safety.

[0056] 2. This invention can calculate the actual height of the vehicle in real time through a rear-mounted recognition camera. When loading and unloading occur during truck transportation, the latest actual height of the vehicle can be obtained. On the one hand, this avoids situations where loading occurs during transportation and the cargo exceeds the height limit. On the other hand, it enables dynamic real-time monitoring of the actual height of the vehicle and provides real-time height limit warnings, which is suitable for situations where loading and unloading occur multiple times during transportation.

[0057] 3. During the alarm triggering period, the driver needs to manually confirm and turn off the alarm notification, thus avoiding misjudgment of accidents. Implementation

[0058] To provide a further understanding of the purpose, structure, features, and functions of the present invention, detailed descriptions are provided below with reference to specific embodiments.

[0059] A method for intelligently identifying road height restrictions and truck cargo height, comprising the following steps;

[0060] S1, Preset basic parameter values;

[0061] Specifically, it includes the following sub-steps:

[0062] S11, Pre-set basic parameter values ​​for the vehicle rear-view recognition camera;

[0063] The rear recognition camera is installed on the top rear side of the truck front. The rear recognition camera is a camera that can rotate up and down. When not working, the default calibrated angle is 0° to the horizontal line. The preset calibrated angle scanning area is 0° to 70° from the horizontal plane upwards, which can identify the angle of the area and ensure that the cargo box is within the scanning corner area of ​​the rear recognition camera.

[0064] The basic parameter values ​​of the rear-mounted recognition camera include: H0, X;

[0065] Where H0 is the fixed starting height of the rear recognition camera above the ground, and X is the fixed distance from the rear recognition camera to the front side of the truck's cargo box.

[0066] S12, Pre-set basic parameter values ​​for the vehicle-mounted front-facing recognition camera;

[0067] The front-facing recognition camera is installed on the top of the front side of the truck. The front-facing recognition camera is a camera that can rotate up, down, left, and right. When not in operation, the default angle is set to 0° horizontal.

[0068] The basic parameter values ​​of the front-facing recognition camera include: h1, D0;

[0069] Where h1 is the fixed starting height of the front-facing recognition camera above the ground, and D0 is the horizontal forward distance of the front-facing recognition camera.

[0070] In one embodiment of the present invention, D0 is set to 100 meters.

[0071] S2. The vehicle's rear-mounted recognition camera identifies and obtains the actual height of the entire vehicle and stores it in the vehicle system;

[0072] The actual height of the vehicle is: the distance from the top of the truck cargo box or the cargo inside the truck cargo box to the ground;

[0073] Specifically, it includes the following sub-steps:

[0074] S21. Obtain the corner parameter a of the upper edge of the cargo;

[0075] The angle parameter a is specifically the acute angle formed by the plane formed by the upper edge of the truck cargo box or the cargo in the truck cargo box and the rear recognition camera, and the horizontal plane.

[0076] The specific acquisition method is as follows: the rear recognition camera scans the truck cargo box or the upper edge of the cargo in the truck cargo box by rotating the camera angle upward, and obtains the corner parameter 'a' of the cargo edge;

[0077] After the corner parameter 'a' is obtained, it is transmitted to the vehicle system via CAN communication or USB data communication.

[0078] If the upper edge of the truck's cargo box or the cargo in the truck's cargo box exceeds the preset calibrated angle scanning area, i.e., the turning angle parameter a > 70°, the HMI interface of the vehicle system will display a message to the driver indicating that the height of the loaded cargo has exceeded the maximum height range.

[0079] S22. Calculate the actual height of the entire vehicle;

[0080] The basic parameter values ​​H0 and X of the rear recognition camera preset in step S11, and the corner parameter a obtained in step S21, are substituted into the formula for the actual height of the vehicle to calculate and store the data in the vehicle system.

[0081] The formula for the actual height of the vehicle is: Actual height of the vehicle = H0 + (X * tan(a)).

[0082] S3: The vehicle-mounted front-facing recognition camera monitors obstacles of height in front in real time and acquires perception parameters.

[0083] The obstacles are square tunnels, square bridge openings, and height restriction poles;

[0084] The sensing parameter data includes: vehicle speed parameter, sensing distance parameter D, and obstacle scanning angle parameter;

[0085] The vehicle speed parameter refers to the vehicle's travel speed.

[0086] The sensing distance parameter D is: the horizontal distance between the front-facing recognition camera and the obstacle;

[0087] The obstacle scanning angle parameter is: the angle between the top edge of the obstacle scanned by the front-facing recognition camera and the bottom edge of the obstacle;

[0088] Specifically, it includes the following sub-steps:

[0089] S31. The vehicle-mounted front-facing recognition camera can obtain real-time images of the road conditions ahead and identify whether there are any tall obstacles ahead.

[0090] When a tall obstacle is detected ahead, the vehicle system prompts the driver to slow down in advance; at the same time, the front-facing camera senses and obtains the vehicle speed parameters and the angle parameters of the scanned obstacle in real time.

[0091] The angle parameters for scanning obstacles include: angle parameter b and angle parameter c;

[0092] The turning angle parameter b is: the angle formed when the front-facing recognition camera deflects downward from the horizontal direction to recognize the bottom of the obstacle in the current state of the vehicle;

[0093] The angle parameter c is: the angle formed when the front-facing recognition camera deflects upward from the horizontal direction to recognize the top edge of the obstacle under the same conditions as described above;

[0094] The specific acquisition method is as follows: the front-facing recognition camera scans the bottom edge of the obstacle by rotating the camera angle downwards from the horizontal direction to obtain the turning angle parameter b; the front-facing recognition camera scans the top edge of the obstacle by rotating the camera angle upwards from the horizontal direction to obtain the turning angle parameter c.

[0095] S32. Real-time calculation and acquisition of the sensing distance parameter D;

[0096] Substitute the basic parameter value h1 of the front recognition camera preset in step S12 and the corner parameter b obtained in real time in step S31 into the perception distance formula for real-time calculation.

[0097] The formula for the sensing distance is: Sensing distance parameter D = h1 / tan(b).

[0098] S33. The sensed parameter data is transmitted to the vehicle system in real time via CAN communication or USB data communication.

[0099] S4. Calculate the height of the obstacle and feed it back to the vehicle system;

[0100] After obtaining the perception distance parameter D obtained in step S3, it is compared with the basic parameter value D0 of the preset front-facing recognition camera in step S12.

[0101] When the perceived distance parameter D is less than or equal to the base parameter value D0, the obstacle height is calculated to ensure the accuracy of the obstacle height measurement; the specific method is as follows:

[0102] Substitute the sensing distance parameter D that meets the conditions, the turning angle parameter c obtained simultaneously in step S31, and the basic parameter value h1 of the front recognition camera preset in step S12 into the obstacle height formula for calculation.

[0103] The obstacle height formula is: obstacle height H = h1 + D * tan(a);

[0104] The obtained obstacle height H is fed back to the vehicle system in real time via CAN communication or USB data communication.

[0105] In the above embodiments of the present invention, when the front-mounted recognition camera detects an obstacle in front, the vehicle system prompts the driver to slow down in advance; when the obstacle is 100 meters away from the vehicle, the vehicle system begins to calculate the height of the obstacle.

[0106] S5, the vehicle's infotainment system performs data analysis and issues warnings;

[0107] The in-vehicle system uses data algorithms for analysis and comparison. The specific comparison method is as follows:

[0108] Subtract the actual vehicle height obtained in step S22 from the obstacle height H obtained in step S4 to obtain the difference;

[0109] The difference is compared with 2 meters. If the difference is less than 2 meters, the vehicle does not meet the passage conditions. The vehicle system will trigger a height restriction alarm and issue an alarm sound.

[0110] If the vehicle speed does not decrease as detected by the front-facing camera during the alarm period, the vehicle system will intervene to gradually reduce the vehicle speed and activate the vehicle's hazard lights. At this time, the driver must manually confirm and turn off the alarm notification in order to deactivate the vehicle system alarm notification and clear the vehicle system alarm.

[0111] Furthermore, if the obstacle is a tunnel or bridge opening with an arc-shaped top, then in step S31, when the vehicle-mounted front-facing recognition camera identifies a height obstacle in front, it simultaneously identifies and judges the shape of the obstacle; the identification and judgment method is: to identify and judge the shape of the top of the obstacle.

[0112] If the top of the obstacle is a straight line, continue with the above steps;

[0113] If the top of the obstacle is curved, then the basic parameter value X1 needs to be preset in step S12 in advance; where X1 is the straight-line distance from the camera position to the truck cargo box or the rightmost plane of the cargo in the truck cargo box.

[0114] The specific steps are as follows:

[0115] S1, Preset basic parameter values;

[0116] Specifically, it includes the following sub-steps:

[0117] S11, Pre-set basic parameter values ​​for the vehicle rear-view recognition camera;

[0118] The rear recognition camera is installed on the top rear side of the truck front. The rear recognition camera is a camera that can rotate up and down. When not working, the default calibrated angle is 0° to the horizontal line. The preset calibrated angle scanning area is 0° to 70° from the horizontal plane upwards, which can identify the angle of the area and ensure that the cargo box is within the scanning corner area of ​​the rear recognition camera.

[0119] The basic parameter values ​​of the rear-mounted recognition camera include: H0, X;

[0120] Where H0 is the fixed starting height of the rear recognition camera above the ground, and X is the fixed distance from the rear recognition camera to the front side of the truck's cargo box.

[0121] S12, Pre-set basic parameter values ​​for the vehicle-mounted front-facing recognition camera;

[0122] The front-facing recognition camera is installed on the top of the front side of the truck. The front-facing recognition camera is a camera that can rotate up, down, left, and right. When not in operation, the default angle is set to 0° horizontal.

[0123] The basic parameter values ​​of the front-facing recognition camera include: h1, D0, X1;

[0124] Where h1 is the fixed starting height of the front-facing recognition camera above the ground, D0 is the horizontal forward distance of the front-facing recognition camera, and X1 is the straight-line distance from the camera position to the truck cargo box or the rightmost plane of the cargo in the truck cargo box.

[0125] S2. The vehicle's rear-mounted recognition camera identifies and obtains the actual height of the entire vehicle and stores it in the vehicle system;

[0126] The actual height of the vehicle is: the distance from the top of the truck cargo box or the cargo inside the truck cargo box to the ground;

[0127] Specifically, it includes the following sub-steps:

[0128] S21. Obtain the corner parameter a of the upper edge of the cargo;

[0129] The angle parameter a is specifically the acute angle formed by the plane formed by the upper edge of the truck cargo box or the cargo in the truck cargo box and the rear recognition camera, and the horizontal plane.

[0130] The specific acquisition method is as follows: the rear recognition camera scans the truck cargo box or the upper edge of the cargo in the truck cargo box by rotating the camera angle upward, and obtains the corner parameter 'a' of the cargo edge;

[0131] After the corner parameter 'a' is obtained, it is transmitted to the vehicle system via CAN communication or USB data communication.

[0132] If the upper edge of the truck's cargo box or the cargo in the truck's cargo box exceeds the preset calibrated angle scanning area, i.e., the turning angle parameter a > 70°, the HMI interface of the vehicle system will display a message to the driver indicating that the height of the loaded cargo has exceeded the maximum height range.

[0133] S22. Calculate the actual height of the entire vehicle;

[0134] The basic parameter values ​​H0 and X of the rear recognition camera preset in step S11, and the corner parameter a obtained in step S21, are substituted into the formula for the actual height of the vehicle to calculate and store the data in the vehicle system.

[0135] The formula for the actual height of the vehicle is: Actual height of the vehicle = H0 + (X * tan(a)).

[0136] S3: The vehicle-mounted front-facing recognition camera monitors obstacles of height in front in real time and acquires perception parameters.

[0137] The obstacle is an arc-shaped tunnel or a bridge opening;

[0138] The sensing parameter data includes: vehicle speed parameter, sensing distance parameter D, and obstacle scanning angle parameter;

[0139] The vehicle speed parameter refers to the vehicle's travel speed.

[0140] The sensing distance parameter D is: the horizontal distance between the front-facing recognition camera and the obstacle;

[0141] The obstacle scanning angle parameter is: the angle between the top edge of the obstacle and the bottom surface scanned by the front-facing recognition camera;

[0142] Specifically, it includes the following sub-steps:

[0143] S31. The vehicle-mounted front-facing camera can acquire real-time images of the road ahead and identify whether there are any curved obstacles ahead.

[0144] When an arc-shaped obstacle is detected ahead, the vehicle system prompts the driver to slow down in advance; at the same time, the front-facing camera senses and obtains the vehicle speed parameters and the angle parameters of the scanned obstacle in real time.

[0145] The angle parameters for scanning obstacles include: angle parameter b and angle parameter c;

[0146] The turning angle parameter b is: the angle formed when the front-facing recognition camera deflects downward from the horizontal direction to recognize the bottom of the obstacle in the current state of the vehicle;

[0147] The angle parameter c is: the angle formed when the front-facing recognition camera deflects upward from the horizontal direction to recognize the top edge of the obstacle under the same conditions as described above;

[0148] The specific acquisition method is as follows: the front-facing recognition camera scans the bottom edge of the obstacle by rotating the camera angle downwards from the horizontal direction to obtain the turning angle parameter b; the front-facing recognition camera scans the top edge of the obstacle by rotating the camera angle upwards from the horizontal direction to obtain the turning angle parameter c.

[0149] S32. Real-time calculation and acquisition of the sensing distance parameter D;

[0150] Substitute the basic parameter value h1 of the front recognition camera preset in step S12 and the corner parameter b obtained in real time in step S31 into the perception distance formula for real-time calculation.

[0151] The formula for the sensing distance is: Sensing distance parameter D = h1 / tan(b).

[0152] S33. The sensed parameter data is transmitted to the vehicle system in real time via CAN communication or USB data communication.

[0153] S4. Calculate the height of the obstacle corresponding to the far right of the vehicle when the vehicle passes over the obstacle, and feed it back to the system;

[0154] After obtaining the perception distance parameter D obtained in step S3, it is compared with the basic parameter value D0 of the preset front-facing recognition camera in step S12.

[0155] When the sensing distance parameter D is less than or equal to the basic parameter value D0, the obstacle height is calculated to ensure the accuracy of the obstacle height measurement.

[0156] Specifically, it includes the following sub-steps:

[0157] S41. Calculate the horizontal deflection angle of the front-facing recognition camera;

[0158] The basic parameter value X1 of the front-facing recognition camera preset in step S12 and the sensing distance parameter D obtained in step S3 are substituted into the horizontal deflection angle formula for real-time calculation to obtain the angle at which the front-facing recognition camera needs to be deflected horizontally to the right, and stored in the system.

[0159] The formula for the horizontal deflection angle is: horizontal deflection angle to the right d = arctan( D / X1 ).

[0160] S42. After obtaining the horizontal rightward deflection angle d, the front-facing recognition camera performs a rightward deflection angle d.

[0161] S43. Obtain the deflection angle parameter e;

[0162] The angle parameter e is: the angle formed by the front recognition camera rotating to the right by an angle d and scanning upwards from the horizontal direction to the top edge of the obstacle;

[0163] The specific method for obtaining the parameter e is as follows: the front-facing recognition camera scans the upper edge of the obstacle by rotating the camera angle from horizontal to upward, and obtains the angle parameter e.

[0164] S44. Calculate the height of the obstacle corresponding to the far right of the vehicle;

[0165] Substitute the sensing distance parameter D that meets the conditions, the turning angle parameter e obtained simultaneously in step S43, and the basic parameter value h1 of the front recognition camera preset in step S12 into the obstacle height formula corresponding to the far right of the vehicle for calculation.

[0166] The formula for the height of the obstacle corresponding to the far right of the vehicle is: H1 = h1 + D * tan(e);

[0167] The obtained obstacle height H1 is fed back to the vehicle system in real time via CAN communication or USB data communication.

[0168] S5, the vehicle's infotainment system performs data analysis and issues warnings;

[0169] The in-vehicle system uses data algorithms for analysis and comparison. The specific comparison method is as follows:

[0170] Subtract the actual vehicle height obtained in step S22 from the obstacle height H1 obtained in step S4 to obtain the difference;

[0171] The difference is compared with 2 meters. If the difference is less than 2 meters, the vehicle does not meet the passage conditions. The vehicle system will trigger a height restriction alarm and issue an alarm sound.

[0172] If the vehicle speed does not decrease as detected by the front-facing camera during the alarm period, the vehicle system will intervene to gradually reduce the vehicle speed and activate the vehicle's hazard lights. At this time, the driver must manually confirm and turn off the alarm notification in order to deactivate the vehicle system alarm notification and clear the vehicle system alarm.

[0173] This invention uses a front-mounted vehicle-mounted camera to capture real-time images of the road ahead and a rear-mounted vehicle-mounted camera to obtain the cargo height information. Through image processing and calculation, the system determines whether the height of the road ahead and the current cargo height of the truck meet the passage requirements and issues a warning. It can cover various road conditions and intelligently identify them, including square tunnels or underpasses, and curved tunnels or underpasses, without relying on road height restriction signs. It can also provide warnings for road conditions without height restriction signs, improving truck driving safety. Secondly, this invention can calculate the actual height of the entire vehicle in real time through the rear-mounted camera. When loading or unloading occurs during transport, it can obtain the latest actual height of the entire vehicle. On the one hand, this avoids situations where cargo exceeds the height limit during loading; on the other hand, it enables dynamic real-time monitoring of the actual height of the entire vehicle and provides real-time height restriction warnings, suitable for situations where loading and unloading occur multiple times during transport. Furthermore, during the alarm triggering period, the driver needs to manually confirm and turn off the alarm notification to avoid misjudgment and accidents.

[0174] The present invention has been described in the above-described embodiments; however, these embodiments are merely examples for implementing the present invention. It must be noted that the disclosed embodiments do not limit the scope of the present invention. Conversely, any modifications and refinements made without departing from the spirit and scope of the present invention are within the scope of patent protection of the present invention.

Claims

1. A method for intelligently identifying road height restrictions and truck cargo height for early warning, characterized in that: Includes the following steps; S1, Preset basic parameter values; Specifically, it includes the following sub-steps: S11, Pre-set basic parameter values ​​for the vehicle rear-view recognition camera; S12, Pre-set basic parameter values ​​for the vehicle-mounted front-facing recognition camera; S2. The vehicle's rear-mounted recognition camera identifies and obtains the actual height of the entire vehicle, and stores it in the vehicle system. system; The actual height of the vehicle is: the distance from the top of the truck cargo box or the cargo inside the truck cargo box to the ground; Specifically, it includes the following sub-steps: S21. Obtain the corner parameter a of the upper edge of the cargo; The angle parameter a is specifically the acute angle formed by the plane formed by the upper edge of the truck cargo box or the cargo in the truck cargo box and the rear recognition camera, and the horizontal plane. The specific acquisition method is as follows: the rear recognition camera scans the truck cargo box or the upper edge of the cargo in the truck cargo box by rotating the camera angle upward, and obtains the corner parameter 'a' of the cargo edge; After the corner parameter 'a' is obtained, it is transmitted to the vehicle system via CAN communication or USB data communication. If the upper edge of the truck cargo box or the cargo inside the truck cargo box exceeds the preset mark... The angle scanning area is displayed through the vehicle system's HMI interface, prompting the driver that the loaded cargo height has exceeded the maximum height range; S22. Calculate the actual height of the entire vehicle; The basic parameter values ​​H0 and X of the rear recognition camera preset in step S11, and the corner parameter a obtained in step S21, are substituted into the formula for the actual height of the vehicle to calculate and store the data in the vehicle system. The formula for the actual height of the vehicle is: ; S3: The vehicle-mounted front-facing recognition camera monitors obstacles of height in front in real time and acquires perception parameters. The obstacles are tunnels, bridge openings, and height restriction poles; Specifically, it includes the following sub-steps: S31. The vehicle-mounted front-facing recognition camera can obtain real-time images of the road conditions ahead and identify whether there are any tall obstacles ahead. S32. Real-time calculation and acquisition of the sensing distance parameter D; S33. Transmit the sensing parameter data to the vehicle system in real time via CAN communication or USB data communication; S4. Calculate the height of the obstacle and feed it back to the vehicle system; S5, the vehicle's infotainment system performs data analysis and issues warnings; The vehicle system analyzes and compares data using algorithms. If the conditions for passing are not met, the vehicle system will trigger a height restriction alarm and issue an alarm sound. If the obstacle is a tunnel or bridge opening with an arched top, then in step S31, when the vehicle-mounted front-facing recognition camera identifies a height obstacle in front, it simultaneously identifies and judges the shape of the obstacle; the identification and judgment method is: to identify and judge the shape of the top of the obstacle; If the top of the obstacle is a straight line, continue with the above steps; If the top of the obstacle is curved, the basic parameter value X1 needs to be preset in step S12 in advance; where X1 is the straight-line distance from the camera position to the truck cargo box or the rightmost plane of the cargo in the truck cargo box. Substitute the basic parameter value X1 and the sensing distance parameter D into the horizontal deflection angle formula for real-time calculation to obtain the angle at which the front-facing recognition camera needs to be deflected horizontally to the right, and store it in the system. The formula for the horizontal deflection angle is: horizontal deflection angle to the right d = arctan(D / X1); After obtaining the horizontal rightward deflection angle d, the front-facing recognition camera performs the rightward deflection angle d; the front-facing recognition camera scans the upper edge of the obstacle by rotating the camera angle upward from the horizontal direction to obtain the turning angle parameter e; Step S12: The preset basic parameter value of the front recognition camera is h1. Substitute it into the formula for the height of the obstacle corresponding to the far right of the vehicle for calculation. The formula for the height of the obstacle corresponding to the far right of the vehicle is: The height of the obstacle corresponding to the far right of the vehicle .

2. The early warning method for intelligently identifying road height restrictions and truck cargo height as described in claim 1, characterized in that: In step S11, The rear recognition camera is installed on the top rear side of the truck front. The rear recognition camera is a camera that can rotate up and down. When not working, the default calibrated angle is 0° to the horizontal line. The preset calibrated angle scanning area is 0°~70° from the horizontal plane upwards, which can identify the angle of the area and ensure that the cargo box is within the scanning corner area of ​​the rear recognition camera. The basic parameter values ​​of the rear-mounted recognition camera include: H0, X; H0 is the fixed starting height of the rear recognition camera above the ground, and X is the fixed distance from the rear recognition camera to the front side of the truck's cargo box.

3. The early warning method for intelligently identifying road height restrictions and truck cargo height as described in claim 1, characterized in that: In step S12, The front-facing recognition camera is installed on the top of the front side of the truck. The front-facing recognition camera is a camera that can rotate up, down, left, and right. When not in operation, the default angle is set to 0° horizontal. The basic parameter values ​​of the front-facing recognition camera include: h1, D0; h1 is the fixed starting height of the front-facing recognition camera above the ground, and D0 is the horizontal forward distance of the front-facing recognition camera.

4. The early warning method for intelligently identifying road height restrictions and truck cargo height as described in claim 1, characterized in that: In step S31, When a tall obstacle is detected ahead, the vehicle system prompts the driver to slow down in advance; at the same time, the front-facing camera senses and obtains vehicle speed parameters and obstacle angle parameters in real time. The angle parameters for scanning obstacles include: angle parameter b and angle parameter c; The turning angle parameter b is: the angle formed when the front-facing recognition camera deflects downward from the horizontal direction to recognize the bottom of the obstacle in the current state of the vehicle; The angle parameter c is: the angle formed when the front-facing recognition camera deflects upward from the horizontal direction to recognize the top edge of the obstacle under the same conditions as described above; The specific acquisition method is as follows: the front-facing recognition camera scans the bottom edge of the obstacle by rotating the camera angle downwards from the horizontal direction to obtain the turning angle parameter b; the front-facing recognition camera scans the top edge of the obstacle by rotating the camera angle upwards from the horizontal direction to obtain the turning angle parameter c.

5. The early warning method for intelligently identifying road height restrictions and truck cargo height as described in claim 1, characterized in that: In step S32, Substitute the basic parameter value h1 of the front recognition camera preset in step S12 and the corner parameter b obtained in real time in step S31 into the perception distance formula for real-time calculation. The formula for the sensing distance is: Sensing distance parameter D = h1 / tan(b).

6. The early warning method for intelligently identifying road height restrictions and truck cargo height as described in claim 1, characterized in that: In step S4, After obtaining the perception distance parameter D obtained in step S3, it is compared with the basic parameter value D0 of the preset front-facing recognition camera in step S12. When the sensing distance parameter D is less than or equal to the base parameter value D0, the obstacle height is calculated; the specific method is as follows: Substitute the sensing distance parameter D that meets the conditions, the turning angle parameter c obtained simultaneously in step S31, and the basic parameter value h1 of the front recognition camera preset in step S12 into the obstacle height formula for calculation. The formula for the height of the obstacle is: ; The obtained obstacle height H is fed back to the vehicle system in real time via CAN communication or USB data communication.

7. The early warning method for intelligently identifying road height restrictions and truck cargo height as described in claim 1, characterized in that: In step S5, the specific comparison method is as follows: Subtract the actual vehicle height obtained in step S22 from the obstacle height H obtained in step S4 to get the difference; compare the difference with 2 meters. If the difference is less than 2 meters, it does not meet the passage conditions, and the vehicle system will trigger a height limit alarm and issue an alarm sound.

8. The early warning method for intelligently identifying road height restrictions and truck cargo height as described in claim 7, characterized in that: If the vehicle speed does not decrease as detected by the front-facing camera during the alarm period, the vehicle system will intervene to gradually reduce the vehicle speed and activate the vehicle's hazard lights. At this time, the driver must manually confirm and turn off the alarm notification in order to deactivate the vehicle system alarm notification and clear the vehicle system alarm.