Method for judging distance between vehicle head and obstacle

Abstract

The invention provides a method for judging the distance between a vehicle head and an obstacle, and the method comprises the steps: arranging a laser transmitter at the front end of the vehicle head, then setting reference information at the position of the vehicle head when a limit distance is reached, starting the laser transmitter when a vehicle advances towards the obstacle, and enabling the laser transmitter to emit an inclined or vertical laser line segment towards the obstacle; as the vehicle head gradually approaches the obstacle, the laser line segment and the vehicle head along the line move relatively, and the distance between the vehicle head and the front obstacle is the limit distance when the reference information of the set limit distance is met, so that a driver can confirm the distance more intuitively, and accurate distance judgment is provided for the driver. Information transmission is visual, a driver does not need to be distracted to confirm other information which is not in the visual angle range, and errors are not prone to occurring. And the device has the characteristics of simple structure, easiness in implementation and low cost.

Description

Technical Field

[0001] The invention relates to the field of vehicle driving, and in particular to a method for judging the distance between a vehicle head and an obstacle. Background Art

[0002] As people's requirements for quality of life continue to improve, cars have become an indispensable means of transportation in people's daily lives, and more and more people are starting to choose cars for travel. However, with the continuous increase in the number of vehicles, the corresponding safety accidents are also constantly increasing.

[0003] In order to improve the safety of vehicle driving, a variety of auxiliary tools are installed on the car, such as reversing radar, reversing image, etc. Currently, the auxiliary tools used are almost all used for the rear part of the car, because the driver can directly observe the front part of the car, which makes people ignore the safety protection of the front part.

[0004] Especially for unskilled drivers, they cannot judge the distance between the front of the vehicle and the obstacle in front very well, which may easily cause the vehicle to hit the obstacle in front and cause a traffic accident. In the prior art, there is also a method of installing a radar at the front of the vehicle to detect the distance between the front of the vehicle and the obstacle in front; after the detection, the driver is fed back in the form of a sound alarm. However, the sound alarm starts at a larger distance (such as one meter away from the obstacle), and there is still room for advancement; most drivers will not stop at this time; therefore, the alarm is often ignored by the driver at the beginning, which does not provide the driver with an accurate judgment. In addition, unskilled drivers focus most of their attention on their eyes to observe the situation ahead; this makes it easier for them to ignore the radar alarm, and thus easily encounter obstacles in front. Summary of the invention

[0005] Therefore, in order to solve the above problems, the present invention provides a method for judging the distance between the front of a vehicle and an obstacle, which provides the driver with accurate distance judgment through the changes in light and the position of the front of the vehicle within the driver's field of view.

[0006] To achieve the above purpose, the technical solution provided by the present invention is as follows:

[0007] A method for determining the distance between a vehicle head and an obstacle comprises the following steps:

[0008] S1, a laser transmitter is arranged at the front end of the vehicle, and the laser transmitter can emit an inclined or vertical laser line segment toward the front and upward;

[0009] S2, setting a reference point at the front position of the vehicle head when the limit distance is reached, and calibrating the laser line segment emitted by the laser transmitter with the reference point;

[0010] S3, when the vehicle moves towards an obstacle, the laser emitter is turned on and emits an inclined or vertical laser line segment towards the obstacle; as the front of the vehicle gradually approaches the obstacle, the intersection point of the laser line segment and the front of the vehicle moves horizontally, and the driver observes the position of the intersection point of the laser line segment and the front of the vehicle in the cab. When the intersection point of the laser line segment and the front of the vehicle reaches the reference point specified by S2, it indicates that the distance between the front of the vehicle and the obstacle is the set limit distance.

[0011] Furthermore, step S2 specifically includes: S21, placing a reference line in front of the front of the vehicle, and the distance between the reference line and the front of the vehicle is the limit distance; S22, the driver confirms the intersection point of the reference line and the front of the vehicle in the cab, and sets a marker at the intersection point as a reference point when the limit distance is reached; S23, debugging the laser emitter so that the laser line segment emitted by the laser emitter coincides with the reference line, so that the laser line segment emitted by the laser emitter is calibrated with the reference point.

[0012] Furthermore, the reference line is a line segment drawn on a reference plate; the distance between the reference plate and the front of the vehicle is a limit distance.

[0013] Furthermore, the reference line is an object with straight features.

[0014] Furthermore, step S2 specifically includes: S21, pre-setting a marker at the front position of the vehicle head as a reference point when the limit distance is reached; S22, placing a reference board in front of the vehicle head, and the distance between the reference board and the vehicle head is the limit distance; S23, obtaining a marking point on the reference board that is in the same straight line as the marker and the driver's observation position in the cab; S24, debugging the laser emitter so that the laser line segment emitted by the laser emitter passes through the marking point, thereby calibrating the laser line segment emitted by the laser emitter with the reference point.

[0015] Furthermore, based on the same reference point, the position of the laser emitter is adjusted at multiple front and rear viewing positions in the cab respectively; the laser emitter is arranged at the front end of the vehicle through a rotating seat, and the rotating seat is controlled to rotate by a controller, and the controller is arranged in the cab for the driver to operate; and then the position of the laser emitter is switched.

[0016] A method for determining the distance between a vehicle head and an obstacle comprises the following steps:

[0017] S1, a laser transmitter is arranged at the front end of the vehicle, and the laser transmitter can emit an inclined or vertical laser line segment toward the front and upward;

[0018] S2, setting the reference information when the limit distance is reached, and calibrating the laser line segment emitted by the laser transmitter with the reference point;

[0019] S3, when the vehicle moves towards an obstacle, the laser emitter is turned on, and the laser emitter emits an inclined or vertical laser line segment towards the obstacle; as the front of the vehicle gradually approaches the obstacle, the top endpoint of the laser line segment gradually lowers until the relative position of the top endpoint of the laser line segment and the front of the vehicle meets the reference information, indicating that the distance between the front of the vehicle and the obstacle is the set limit distance.

[0020] Furthermore, the laser emitter is arranged in front of the driver's seat in the cab, and the laser emitter emits a vertical laser line segment toward the front.

[0021] Furthermore, in step S2, reference information is set when the limit distance is reached, and the laser line segment emitted by the laser emitter is checked against the reference information; this means that the top endpoint of the laser line segment just touches the leading edge of the vehicle head; or the top endpoint of the laser line segment is higher than the characteristic height of the leading edge of the vehicle head.

[0022] Furthermore, the specific steps of step S2 are: S21, setting a reference plate in front of the front of the vehicle, and the horizontal distance between the reference plate and the front of the vehicle is the limit distance; S22, debugging the laser emitter so that the top endpoint of the laser line segment emitted by the laser emitter just touches the front line of the front of the vehicle; or the top endpoint of the laser line segment is higher than the characteristic height of the front line of the front of the vehicle; so that the laser line segment emitted by the laser emitter is proofread with the reference information.

[0023] A method for determining the distance between a vehicle head and an obstacle comprises the following steps:

[0024] S1, a laser transmitter is arranged at the front end of the vehicle, and the laser transmitter can emit a laser line segment;

[0025] S2, setting reference information when reaching the limit distance, and making the laser line segment emitted by the laser emitter to be checked with the reference information; specifically: setting an object with straight bar features in front of the front of the vehicle, and the distance between the object with straight bar features and the front of the vehicle is the limit distance; determining a mark point on the object with straight bar features that is in the same straight line as the driver's perspective and the front line of the vehicle, and debugging the laser emitter so that the laser line segment emitted by the laser emitter passes through the mark point of the object with straight bar features; thereby making the laser line segment emitted by the laser emitter to be checked with the reference information;

[0026] S3, when the vehicle moves towards an obstacle, the laser emitter is turned on and emits a laser line segment towards the obstacle; when the vehicle encounters a non-planar obstacle in front of it, the laser line segment forms a curved or bent line segment on the obstacle. As the front of the vehicle gradually approaches the obstacle, the laser line segment gradually lowers until the lowest point of the laser line segment just touches the front line of the front of the vehicle, indicating that the distance between the front of the vehicle and the obstacle is the set limit distance.

[0027] The technical solution provided by the present invention has the following beneficial effects:

[0028] The above disclosed methods for judging the distance between the front of the vehicle and the obstacle can provide the driver with accurate distance judgment through the change of the laser line segment and the position of the front of the vehicle within the driver's field of view. The information transmission is intuitive, and the driver does not need to be distracted to confirm other information that is not within his field of view, and it is not easy to make mistakes. It has the characteristics of simple structure, easy implementation and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 FIG. 1 is a flowchart of a method for determining the distance between a vehicle head and an obstacle in Embodiment 1;

[0030] Figure 2 FIG. 1 is a schematic diagram showing a method for determining the distance between the front of a vehicle and an obstacle in Embodiment 1;

[0031] Figure 3 The figure shows the change of the position relationship between the laser line segment and the vehicle head in the first embodiment;

[0032] Figure 4 The figure shows the change of the position relationship between the laser line segment and the vehicle head in the second embodiment;

[0033] Figure 5 FIG. 1 is a flowchart of a method for determining the distance between the vehicle head and an obstacle in Embodiment 3;

[0034] Figure 6 FIG. 1 is a schematic diagram showing a method for determining the distance between the vehicle head and an obstacle in Embodiment 3;

[0035] Figure 7 The figure shows the position relationship between the laser line segment and the front of the vehicle in the third embodiment. Figure 1 ;

[0036] Figure 8 The figure shows the position relationship between the laser line segment and the front of the vehicle in the third embodiment. Figure 2 ;

[0037] Fig. 9 It is a schematic diagram showing the demonstration of calibrating the laser line segment with the reference information in the fifth embodiment;

[0038] Fig.10 The figure shows the position relationship between the laser line segment and the front of the vehicle in the fifth embodiment;

[0039] Fig.11 The figure shows the position relationship between the laser line segment and the front of the vehicle in another embodiment. DETAILED DESCRIPTION

[0040] To further illustrate the various embodiments, the present invention provides drawings. These drawings are part of the disclosure of the present invention, which are mainly used to illustrate the embodiments and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, a person of ordinary skill in the art should be able to understand other possible implementations and advantages of the present invention. The components in the figures are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0041] In the description of the present invention, terms such as "up", "down", "left", "right", "front", "back", etc., and the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

[0042] Specifically, the horizontal or vertical movement of the laser line segment described in the following embodiments is described with the front of the vehicle as a reference.

[0043] The present invention will now be further described with reference to the accompanying drawings and specific implementation methods.

[0044] Embodiment 1

[0045] Reference Figures 1 to 3 As shown, the present embodiment provides a method for determining the distance between the front of the vehicle and an obstacle, comprising the following steps:

[0046] S1, such as Figure 2 As shown, a laser emitter 12 is arranged at the front end of the vehicle head 11, and the laser emitter 12 can emit an inclined laser line segment 1 toward the front and upward; that is, the laser line segment 1 emitted by the laser emitter 12 is a strip-shaped line segment, and the laser line segment 1 is at a certain angle to the plane where the vehicle is located (which can be understood as the plane where the vehicle chassis is located), and is not a point.

[0047] S2, a reference point is set at the front position 111 of the front of the vehicle 11 when the limit distance is reached; and the laser line segment emitted by the laser emitter is calibrated with the reference point. Specifically, the limit distance is the minimum distance allowed between the front of the vehicle 11 and the obstacle 20 (such as a wall) in front, and in this embodiment, the limit distance is set to 0.3 meters.

[0048] The specific implementation of this step includes: S21, placing a reference line in front of the vehicle head 11, the distance between the reference line and the vehicle head 11 is the limit distance; specifically, the reference line is a line segment drawn on a reference board; the distance between the reference board and the vehicle head 11 is the limit distance; S22, the driver confirms the intersection point between the reference line and the vehicle head (specifically the front position 111) in the cab, and sets a marker 13 at the intersection point (such as a three-dimensional small sticker attached to the vehicle head 11 or directly drawing a marker point at the intersection point with a pen, etc.) as a reference point when the limit distance is reached; S23, debugging the laser emitter 12, so that the laser line segment 1 emitted by the laser emitter 12 coincides with the reference line; so that the laser line segment emitted by the laser emitter is calibrated with the reference point. In this way, the reference point and the laser emitter 12 have been debugged. In this embodiment, the reference line is a line segment drawn on a reference board; of course, in other embodiments, the reference line can also be an object with straight features, such as an inclined pole.

[0049] S3, when the vehicle 10 moves toward the obstacle, the laser emitter 12 is turned on, and the laser emitter 12 emits an inclined laser line segment 1 toward the obstacle 20; Figure 3 As shown, at this time, the driver will see the laser line segment 1a of the laser emitter 12 irradiating the obstacle 20 in front. As the front of the vehicle 11 gradually approaches the obstacle 20, the intersection point of the laser line segment 1 and the front of the vehicle 11 (specifically, the front position 111) moves horizontally (for example, the driver's seat is on the left, so the driver will see the laser line segment 1 move to the left relative to the front of the vehicle 11). The driver observes the position of the intersection point of the laser line segment 1 and the front of the vehicle 11 in the cab. When the intersection point of the laser line segment 1 and the front of the vehicle 11 reaches the reference point specified by S2, as shown in FIG. Figure 3 The laser line segment 1b in FIG. 1 coincides with the marker 13 , indicating that the distance between the vehicle head 11 and the obstacle 20 is the set limit distance.

[0050] In this way, the driver can confirm intuitively so that he can brake in time.

[0051] The above method can provide the driver with accurate distance judgment through the change of the position of the laser line segment 1 and the front of the vehicle 11 within the driver's field of view. The information transmission is intuitive, and the driver does not need to be distracted to confirm other information that is not within his field of view, and it is not easy to make mistakes. It has the characteristics of simple structure, easy implementation and low cost.

[0052] Specifically, this embodiment adopts technology. Since different drivers have different viewing angles when driving, in step S2, when the position and limit distance of the laser emitter 12 remain unchanged, markers 13 can be set according to drivers of different heights. In order to distinguish, markers 13 at multiple positions can be represented by different colors or different shapes.

[0053] Embodiment 2

[0054] The method for determining the distance between the vehicle head and an obstacle provided in this embodiment is basically the same as the solution in the first embodiment, except that:

[0055] In step S1, Figure 4 As shown, the laser emitter 12 is designed to emit a vertical laser line segment 1 toward the front and upward.

[0056] In step S2, the specific steps of setting the reference point when the limit distance is reached at the front position 111 of the front of the vehicle 11 are as follows: S21, setting in advance at the front position 111 of the front of the vehicle 11 a marker 13 as a reference point when the limit distance is reached, that is, setting the marker 13 at a specific position of the front of the vehicle 11 in advance; S22, placing a reference board in front of the front of the vehicle 11, and the distance between the reference board and the front of the vehicle 11 is the limit distance; S23, obtaining a marking point on the reference board that is in the same straight line as the marker and the observation position of the driver in the cab, that is, from the perspective of the driver in the cab, the marking point on the reference board coincides with the marking 13 of the front of the vehicle 11; S24, debugging the laser emitter 12 so that the laser line segment 1 emitted by the laser emitter 12 passes through the marking point, that is, the marking point on the reference board falls on the laser line segment 1 emitted by the laser emitter 12.

[0057] Thus, in step S3, Figure 4 As shown, from the perspective of the driver in the cab, in the initial stage, the laser emitter 12 emits a laser line segment 1c. As the vehicle 10 gradually moves forward, the laser line segment 1 moves to the left. When the intersection point of the laser line segment 1 and the front of the vehicle 12 moves to the marker 13, as shown in FIG. Figure 4 The position of the laser line segment 1d in FIG. 1 indicates that the vehicle head 11 and the obstacle 20 in front have reached the limit distance. That is, the determination method of step S3 is the same as that of the first embodiment.

[0058] Specifically, the laser emitter 12 is designed to emit a vertical laser line segment 1 toward the front and upward, and as long as the position of the laser emitter 12, the position of the laser line segment 1 irradiated to the obstacle 20, and the position of the driver are not on the same vertical plane, when the vehicle moves forward, the vertical laser line segment 1 can move horizontally relative to the front position 111 of the front of the vehicle 11. When the laser emitter 12 is designed as an inclined laser line segment 1, it is not subject to the above restrictions.

[0059] Specifically, different drivers will adjust the driving seat forward or backward according to their needs, and the difference in front and back positions also results in different viewing angles. By adopting the reference point design method of this embodiment, when cooperating with multiple drivers with different viewing angles, because the marker 13 is set in advance, the driving of multiple drivers with different viewing angles can be satisfied by changing the angle of the laser emitter 12. The details are as follows: the laser emitter 12 is set at the front end of the vehicle head 11 through a rotating seat, and the rotating seat is controlled to rotate by a controller, and the controller is set in the cab for the driver to operate; then the position of the laser emitter 12 is switched; on the basis of setting the same reference point, the position of the laser emitter 12 at multiple viewing angles in the cab is debugged respectively; that is, according to the drivers with different viewing angles in front and back, the position of the laser emitter 12 is determined respectively through steps S21-S24, and the position information is recorded in the controller; when changing the driver, the driver can control the rotating seat to a suitable position through the controller to switch the position of the laser emitter.

[0060] Specifically, the structures and working principles of the above-mentioned rotating seat and controller are all existing technologies, which have long been mastered by technicians in this field. For example, the rotating seat can be a rotating structure controlled by a motor, and the controller can be a PLC controller, etc.; they will not be described in detail here.

[0061] Embodiment 3

[0062] Continue to refer to Figure 5 As shown, the present embodiment provides a method for determining the distance between the front of the vehicle and an obstacle, comprising the following steps:

[0063] S1, such as Figure 6 As shown, a laser emitter 12 is arranged at the front end of the vehicle head 11, and the laser emitter 12 can emit a vertical laser line segment 1 toward the front and upward; that is, the laser line segment 1 emitted by the laser emitter 12 is a strip-shaped line segment, and the laser line segment 1 is perpendicular to the plane where the vehicle is located (which can be understood as the plane where the vehicle chassis is located), and is not a point.

[0064] S2, sets the reference information when the limit distance is reached, and calibrates the laser line segment emitted by the laser transmitter with the reference information; specifically, the limit distance is the minimum distance allowed between the front of the vehicle 11 and the obstacle 20 (such as a wall) in front, such as in this embodiment, the limit distance is set to 0.3 meters.

[0065] Specifically, the specific steps of setting the reference information when the limit distance is reached include: S21, setting a reference plate in front of the vehicle head 11, and the horizontal distance between the reference plate and the vehicle head 11 is the limit distance; S22, debugging the laser emitter 12, so that the laser line segment 1 emitted by the laser emitter 12 meets the set reference information; as in the present specific embodiment, setting the reference information when the limit distance is reached means that the top end point of the laser line segment 1 irradiated by the laser emitter 12 to the reference plate just touches the front line 111 of the vehicle head 11, that is, debugging the laser emitter 12, so that the top end point of the laser line segment 1 emitted by the laser emitter 12 just touches the front line 111 of the vehicle head 11; thereby the laser line segment emitted by the laser emitter is checked against the reference information. Of course, in other embodiments, the reference information for setting when reaching the limit distance may also refer to the top endpoint of the laser segment 1 being higher than the characteristic height of the front line 111 of the vehicle head 11. For example, when the top endpoint of the laser segment 1 is higher than the characteristic height of the front line 111 of the vehicle head 11 by H1, it indicates that the limit distance has been reached. However, the excess size is not easy to be directly quantified and confirmed by the naked eye. It is preferred to set it so that the top endpoint of the laser segment 1 just touches the front line 111 of the vehicle head 11, indicating that the limit distance has been reached.

[0066] S3, such as Figure 7 As shown, when the vehicle 10 moves toward an obstacle, the laser emitter 12 is turned on, and the laser emitter 12 emits a vertical laser line segment 1 toward the obstacle. At this time, the laser line segment 1 has a line segment higher than the front line 111; as the front of the vehicle gradually approaches the obstacle, the top end point of the laser line segment 1 gradually decreases until it reaches the top end point of the laser line segment 1. Figure 8 When the relative position of the top endpoint of the laser line segment 1 and the vehicle head 11 conforms to the reference information, that is, when the top endpoint of the laser line segment 1 drops to just touch the leading edge 111 of the vehicle head 11, it indicates that the distance between the vehicle head 11 and the obstacle 20 is the set limit distance.

[0067] In this way, the driver can confirm intuitively so that he can brake in time.

[0068] The above method can provide the driver with accurate distance judgment through the changes of the laser line segment 1 and the front of the vehicle 11 within the driver's field of view. The information transmission is intuitive, and the driver does not need to be distracted to confirm other information that is not within his field of view, and it is not easy to make mistakes. It has the characteristics of simple structure, easy implementation and low cost.

[0069] Further preferably, in this embodiment, as long as the lifting and lowering movement of the laser line segment 1 is confirmed, the following setting is adopted to reduce the interference of other factors: the laser emitter 12 is arranged in front of the driver's seat in the cab, and the laser emitter 12 emits a vertical laser line segment 1 toward the front. In this way, when the vehicle moves forward, the top endpoint of the laser line segment 1 observed by the driver can only drop vertically, and will not shift horizontally. In this way, the driver will not be distracted, and the driver's concentration will be better. Of course, in other embodiments, the driver's seat in the cab, the laser emitter 12 and the laser line segment 1 may not be in the same straight line. In this way, when the vehicle moves forward, the top endpoint of the laser line segment 1 observed by the driver will not only drop, but also move horizontally, but it can still be confirmed relatively well.

[0070] Embodiment 4

[0071] The method for determining the distance between the vehicle head and the obstacle provided in this embodiment is substantially the same as the method for determining the distance between the vehicle head and the obstacle in the embodiment 3, except that:

[0072] In step S1, the laser emitter 12 is designed to emit an inclined laser line segment 1 toward the front and upward. The other steps (ie, step S2 and step S3) are the same as those in the third embodiment.

[0073] When the top endpoint of the laser line segment 1 is used as reference information, whether it is a vertical laser line segment 1 or an inclined laser line segment 1, it can be well judged.

[0074] Embodiment 5

[0075] This embodiment provides a method for determining the distance between the front of a vehicle and an obstacle, comprising the following steps:

[0076] S1, refer to Fig. 9 As shown, a laser emitter 12 is arranged at the front end of the vehicle head 11, and the laser emitter 12 can emit a laser line segment 1;

[0077] S2, setting the reference information when the limit distance is reached, and calibrating the laser line segment 1 emitted by the laser emitter 12 with the reference information; specifically: Fig. 9As shown, an object 30 with a straight feature (such as a vertically arranged wooden stick) is set in front of the vehicle head 11, and the distance between the object 30 with a straight feature and the vehicle head 11 is the limit distance; a marking point b is determined on the object 30 with a straight feature, which is in the same straight line as the driver's viewing angle point a and the front line 111 of the vehicle head 11, that is, the marking point b of the object 30 with a straight feature, the front line 111 of the vehicle head 11 and the driver's viewing angle point a in the cab form a straight line; the laser emitter 12 is debugged so that the laser line segment 1 emitted by the laser emitter 12 passes through the marking point b of the object 30 with a straight feature; thereby the laser line segment 1 emitted by the laser emitter 12 is collated with the reference information;

[0078] S3, when the vehicle 10 moves toward the obstacle, the laser emitter 12 is turned on, and the laser emitter 12 emits a laser line segment 1 toward the obstacle; when the vehicle encounters a non-planar obstacle in front of it, the laser line segment 1 forms a curved or bent line segment on the obstacle. For example, in this embodiment, the obstacle is a cylindrical obstacle, and the cylindrical obstacle can be in front of the vehicle, in front of the left or in front of the right, as long as it can be illuminated by the laser emitter 12; Fig.10 As shown in the figure, the laser irradiates the cylindrical obstacle, and a "U"-shaped laser line segment 1 with a low center and high sides appears on the cylindrical obstacle. At this time, the obstacle is closest to the front of the vehicle at the lowest position of the "U"-shaped laser line segment 1. As the front of the vehicle gradually approaches the obstacle, the laser line segment 1 gradually lowers until the lowest point of the laser line segment 1 just touches the front line of the vehicle. Fig.10 As shown, when the laser line segment 1 drops from the dotted line position to the solid line position, it indicates that the distance between the vehicle head and the obstacle is the set limit distance.

[0079] The above method can provide the driver with accurate distance judgment through the changes of the laser line segment 1 and the front of the vehicle within the driver's field of view. The information transmission is intuitive, and the driver does not need to be distracted to confirm other information that is not within his field of view, and it is not easy to make mistakes. It has the characteristics of simple structure, easy implementation and low cost.

[0080] When irradiating a non-planar obstacle, the curved or bent line segments on the obstacle surface, when reaching the limit distance, the lowest point of the laser line segment 1 contacts the front line of the vehicle. At this time, if the car stops and then adjusts the laser's oblique upward irradiation angle, the laser irradiated line segment moves upward, so that if the vehicle continues to approach the obstacle, the lowest point of the laser irradiated line segment can move downward until the lowest point contacts the front extension line, and then redefine a closer limit distance. When the vehicle continues to approach the obstacle again, the laser irradiation angle is adjusted upward, and a new closer limit distance is defined again. This is repeated, allowing the vehicle to reach a final ideal limit distance from a larger limit distance in multiple times, for example: a novice driver reaches a limit distance of 10 cm from a limit distance of 50 cm. In addition, as the tilt angle is adjusted upward, the space curved or bent line segments presented show a phenomenon of being stretched in the vertical direction. The degree of this stretching also reflects the degree of reduction of the limit distance, that is, the more stretched, the smaller the limit distance. By reaching the limit distance at one time or gradually reducing the limit distance that can be operated, the driver can improve his driving control skills, forming a good auxiliary driving system or head space sense training system.

[0081] The above-mentioned embodiment 5 discloses a scheme when the obstacle is a cylindrical structure. Of course, in other embodiments, the obstacle is also applicable when it is other non-planar structures. For example, when the obstacle is a square column structure, Fig.11 As shown, the laser forms a "V"-shaped laser line segment 1 on the surface of the square column-shaped obstacle, and the obstacle is closest to the front of the vehicle at the lowest position of the "V"-shaped laser line segment 1. As the front of the vehicle gradually approaches the obstacle, the laser line segment 1 gradually lowers until the lowest point of the laser line segment 1 just touches the front line of the front of the vehicle, indicating that the distance between the front of the vehicle and the obstacle is the set limit distance. The technical effects disclosed in Example 5 can also be achieved. Of course, they are also applicable to other obstacle structures such as ellipses, curved walls, etc. They will not be described one by one here.

[0082] Although the present invention has been specifically shown and described in conjunction with the preferred embodiments, it should be understood by those skilled in the art that various changes may be made to the present invention in form and details without departing from the spirit and scope of the present invention as defined by the appended claims, all of which are within the scope of protection of the present invention.

Claims

1. A method for determining the distance between a vehicle head and an obstacle, characterized in that: The steps include: S1, a laser transmitter is arranged at the front end of the vehicle, and the laser transmitter can emit an inclined or vertical laser line segment toward the front and upward; S2, setting a reference point at the front position of the vehicle head when the limit distance is reached, and calibrating the laser line segment emitted by the laser transmitter with the reference point; S3, when the vehicle moves towards an obstacle, the laser emitter is turned on and emits an inclined or vertical laser line segment towards the obstacle; as the front of the vehicle gradually approaches the obstacle, the intersection point of the laser line segment and the front of the vehicle moves horizontally, and the driver observes the position of the intersection point of the laser line segment and the front of the vehicle in the cab. When the intersection point of the laser line segment and the front of the vehicle reaches the reference point specified by S2, it indicates that the distance between the front of the vehicle and the obstacle is the set limit distance.

2. The method for determining the distance between the front of the vehicle and an obstacle according to claim 1, characterized in that: Step S2 specifically includes: S21, placing a reference line in front of the front of the vehicle, and the distance between the reference line and the front of the vehicle is the limit distance; S22, the driver confirms the intersection point of the reference line and the front of the vehicle in the cab, and sets a marker at the intersection point as a reference point when the limit distance is reached; S23, debugging the laser transmitter so that the laser line segment emitted by the laser transmitter coincides with the reference line, so that the laser line segment emitted by the laser transmitter is calibrated with the reference point.

3. The method for determining the distance between the vehicle head and an obstacle according to claim 2, characterized in that: The reference line is a line segment drawn on a reference plate; the distance between the reference plate and the front of the vehicle is a limit distance; or, the reference line is an object with straight features.

4. The method for determining the distance between the vehicle head and an obstacle according to claim 1, characterized in that: Step S2 specifically includes: S21, presetting a marker at the front position of the vehicle head as a reference point when the limit distance is reached; S22, placing a reference board in front of the vehicle head, and the distance between the reference board and the vehicle head is the limit distance; S23, obtaining a marking point on the reference board that is in the same straight line as the marker and the driver's observation position in the cab; S24, debugging the laser emitter so that the laser line segment emitted by the laser emitter passes through the marking point, thereby calibrating the laser line segment emitted by the laser emitter with the reference point.

5. The method for determining the distance between the vehicle head and an obstacle according to claim 4, characterized in that: Based on the same reference point, the laser transmitter position is adjusted at multiple viewing angles in the front and rear of the cab; The laser emitter is arranged at the front end of the vehicle through a rotating seat, and the rotating seat is controlled to rotate by a controller, and the controller is arranged in the cab for the driver to operate, thereby switching the position of the laser emitter.

6. A method for determining the distance between a vehicle head and an obstacle, characterized in that: The steps include: S1, a laser transmitter is arranged at the front end of the vehicle, and the laser transmitter can emit an inclined or vertical laser line segment toward the front and upward; S2, setting reference information when reaching the limit distance, and calibrating the laser line segment emitted by the laser transmitter with the reference information; S3, when the vehicle moves towards an obstacle, the laser emitter is turned on, and the laser emitter emits an inclined or vertical laser line segment towards the obstacle; as the front of the vehicle gradually approaches the obstacle, the top endpoint of the laser line segment gradually lowers until the relative position of the top endpoint of the laser line segment and the front of the vehicle meets the reference information, indicating that the distance between the front of the vehicle and the obstacle is the set limit distance.

7. The method for determining the distance between the vehicle head and an obstacle according to claim 6, characterized in that: The laser emitter is arranged in front of the driver's seat in the cab, and emits a vertical laser line segment toward the front.

8. The method for determining the distance between the vehicle head and an obstacle according to claim 6, characterized in that: In step S2, the reference information when the limit distance is reached is set, and the laser line segment emitted by the laser transmitter is checked against the reference information; this means that the top endpoint of the laser line segment just touches the front line of the vehicle head; or the top endpoint of the laser line segment is higher than the characteristic height of the front line of the vehicle head.

9. The method for determining the distance between the vehicle head and an obstacle according to claim 8, characterized in that: The specific steps of step S2 are: S21, set a reference plate in front of the front of the vehicle, and the horizontal distance between the reference plate and the front of the vehicle is the limit distance; S22, debug the laser emitter so that the top endpoint of the laser line segment emitted by the laser emitter just touches the front line of the front of the vehicle; or the top endpoint of the laser line segment is higher than the characteristic height of the front line of the front of the vehicle; so that the laser line segment emitted by the laser emitter is proofread with the reference information.

10. A method for determining the distance between a vehicle head and an obstacle, characterized in that: The steps include: S1, a laser transmitter is arranged at the front end of the vehicle, and the laser transmitter can emit a laser line segment; S2, setting reference information when reaching the limit distance, and making the laser line segment emitted by the laser emitter to be checked with the reference information; specifically: setting an object with straight bar features in front of the front of the vehicle, and the distance between the object with straight bar features and the front of the vehicle is the limit distance; determining a mark point on the object with straight bar features that is in the same straight line as the driver's perspective and the front line of the vehicle, and debugging the laser emitter so that the laser line segment emitted by the laser emitter passes through the mark point of the object with straight bar features; thereby making the laser line segment emitted by the laser emitter to be checked with the reference information; S3, when the vehicle moves towards an obstacle, the laser emitter is turned on and emits a laser line segment towards the obstacle; when the vehicle encounters a non-planar obstacle in front of it, the laser line segment forms a curved or bent line segment on the obstacle. As the front of the vehicle gradually approaches the obstacle, the laser line segment gradually lowers until the lowest point of the laser line segment just touches the front line of the front of the vehicle, indicating that the distance between the front of the vehicle and the obstacle is the set limit distance.

Images