Vehicle amblyopia area detection method

Abstract

The invention relates to the technical field of automobile detection, and particularly discloses a method for detecting an amblyopia area of a vehicle, which comprises the following steps of: determining the position of a test eye point, arranging a test camera at the position of the eye point, establishing a test scene, establishing grids with the spacing of 100mm on the front side, the left side surface and the right side surface of the test vehicle, setting a calibration object, and regularly moving the calibration object on the grids. And calculating the visual area and the visual volume of the plane. A new test method is made according to a new R167 regulation, a camera is installed through a fixing support, the camera shoots the moving track of a calibration object, the vehicle weak side view visual area is calculated through the calculation mode, the weak side view visible volume is calculated through the visual areas of nine different planes, and the vehicle weak side view visual volume is calculated through the visual areas of the nine different planes. And whether the automobile view blind area is compliant or not is tested.

Description

Technical Field

[0001] The present invention relates to the technical field of automobiles, and particularly discloses a method for detecting a vehicle low-vision area. Background Art

[0002] Whether driving a passenger car or commercial vehicle, drivers' limited ability to detect and observe pedestrians approaching their vehicle is a key cause of accidents. To address this issue, the United Nations World Forum on Vehicle Regulations (WP.29) recently adopted two new UN regulations, UNR166, "Vulnerable Road Users in Close Range at the Front," and UNR167, "Direct Visibility of Vulnerable Road Users," which will significantly improve the safety of vulnerable road users. R166 addresses requirements for vulnerable road users in front and to the sides of M1 and N1 vehicles, while R167 addresses direct visibility requirements for the driver's cab of M2, M3, N2, and N3 vehicles.

[0003] Typically, drivers cannot fully see the entire area around passenger cars and light trucks through windows or traditional rearview and side mirrors. This is especially true when the vehicle is moving from a stationary position or traveling in a straight line at low speeds (less than 20 km / h). This situation can easily lead to accidents. For example, in Japan, such accidents account for 35.6% of all fatalities.

[0004] The new regulation, R167, introduces provisions for the use of additional conventional mirrors, front and side camera systems, or detection systems to improve the driver's awareness of vulnerable road users in front and to the sides of the vehicle. It applies to all passenger cars with no more than nine passengers and new trucks weighing no more than 3.5 tons. Once the regulation comes into effect, manufacturers will be able to request type approval for any vehicle, such as buses, coaches, and heavy trucks.

[0005] The test method primarily uses a simulated eyepoint position to observe the blind spots around the field of view from different angles. The area of ​​the visible range is calculated through fitting, and then the visible volume around the vehicle body is formed by superimposing areas at different heights. This is used to evaluate whether the direct field of view around the vehicle meets the requirements.

[0006] However, this technology now has major problems. The camera equipment in the car is easily blocked by obstacles (rear seat space), and the light inside the car is greatly affected by the environment, resulting in extremely unclear images and inaccurate liveness detection results. Summary of the Invention

[0007] In view of this, an object of the present invention is to provide a method for detecting a vehicle low-vision area to solve the above-mentioned technical problems.

[0008] In order to achieve the above object, the present invention provides the following technical solutions:

[0009] A method for detecting low-vision areas in a vehicle includes: S1, determining a test eyepoint position and placing a test camera at the eyepoint position; S2, establishing a test scene, and creating a grid with a spacing of 100 mm in front, on the left side, and on the right side of the test vehicle; S3, setting a calibration object, and moving the calibration object regularly on the grid; S4, calculating the plane visible area; S5, calculating the visible volume;

[0010] Preferably, the eye point position determination involves a fixed bracket, which includes an accelerator pedal, an adjustable foot, a seat base, a seat back panel, a seat pillow clamp and a camera mounting plate; the eye point position is 1163.25 mm from the bottom surface of the adjustable foot in the vertical direction and 678 mm from the seat pillow clamp in the horizontal direction, and three camera mounting holes are provided on the camera mounting plate.

[0011] Preferably, a bracket is provided between the pedal, adjustable foot, seat base and seat back plate, the accelerator pedal, adjustable foot, seat base and seat back plate are all fixed on the bracket, a movable structure is provided between the seat base and the seat back plate, and the accelerator pedal is movably connected to the bracket.

[0012] Preferably, a vehicle extension device is provided when the scene is established, and three vehicle extension devices are provided, and the three vehicle extension devices are respectively close to the front, left and right sides of the vehicle head; when the test scene is established, the spacing of the grid established on the bottom surface is 100 mm, and the grid area is divided into three areas, namely areas A, B and C. The movement mode of the calibration object in areas A, B and C is to move from the outside of the image close to the vehicle head end, and the overlapping part of the three areas needs to be repeatedly marked in each area to ensure the integrity of the marking of each area;

[0013] Preferably, the calibration object consists of a base, a calibration rod and a vertex, and the base, calibration rod and vertex are connected in sequence in an upper and lower relationship. The maximum diameter of the calibration object is 300 mm and the maximum height is 1600 mm. The calibration object is placed on each line on the grid, and a red line is provided on the base of the calibration object, and the red line is aligned with the ground grid line.

[0014] Preferably, the planar visible area calculation includes capturing the area generated by the lines on the base when the marker column moves through three cameras, and then calculating the area of ​​the area.

[0015] Preferably, the method for calculating the volume includes three calculation formulas, which are:

[0016]

[0017] The three formulas correspond to the visible volume calculation methods of area A, area B and area C in the ground grid respectively.

[0018] The working principle and beneficial effects of this solution are:

[0019] The present invention makes a new testing method based on the new regulations of R167, installs a camera through a fixed bracket, shoots the movement trajectory of the calibration object through the camera, calculates the vehicle's weak side view visible area through the calculation method of the present invention, and calculates the weak side view visible volume through the visible areas of nine different planes, thereby testing whether the vehicle's blind spot is compliant. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the three-dimensional structure of a fixing bracket in an embodiment of a method for detecting a low-vision area in a vehicle according to the present invention;

[0021] Figure 2 A schematic diagram of eye point positions in an embodiment of a method for detecting a low-vision area in a vehicle according to the present invention;

[0022] Figure 3 A simplified diagram of scene establishment in an embodiment of a method for detecting a low-vision area in a vehicle according to the present invention;

[0023] The markings in the accompanying drawings are as follows: accelerator pedal 101, adjustable foot 102, seat base 103, seat back plate 104, seat pillow clamp 105, camera mounting plate 106, movable structure 107, camera mounting hole 108, left eye point E1, front eye point E2, right eye point E3. DETAILED DESCRIPTION

[0024] In the description of the present invention, it should be understood that the terms "front", "rear", "left", "right", "up", "down", "vertical", "horizontal", "high", "low", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present invention.

[0025] The following is further described in detail through specific implementation methods:

[0026] Example

[0027] like Figure 1-3 As shown, a method for detecting a vehicle low-vision area includes:

[0028] S1: Install the fixing bracket and determine the eyepoint position through the fixing bracket. Place the three cameras on the three reserved holes E1, E2, and E3, and place the vehicle extension device in front, on the left, and on the right side of the vehicle.

[0029] S2: Establish a test scene. Starting from the edge of the vehicle extension device, determine grid lines with a spacing of 100 mm on the front, left, and right sides of the vehicle. Set a calibration object, and move the calibration object regularly on the grid. S4: Calculate the plane visible area. S5: Calculate the visible volume.

[0030] S3: Set the calibration object and place it in the grid in step S2, aligning the red line on the base of the calibration object with the grid line. Move the calibration object in the same direction of the grid line, ensuring that the red line on the base of the calibration object is always on the grid line during the movement.

[0031] S4, using three cameras to capture the lengths of visible lines in the three areas respectively, and calculating the plane visible area based on the multiple visible lines;

[0032] S5, calculates the visible volume through the visible areas of the planes at nine different heights.

[0033] The eye point position is simulated and determined. The eye point position is determined based on the eye position area of ​​a real person sitting in the cockpit. After the eye point position is determined, the camera is lowered and fixed at the eye point position by a fixed bracket, wherein the fixed bracket is connected with an accelerator pedal 101, an adjustable foot 102, a seat base 103, a seat back plate 104, a seat pillow clamp 105 and a camera mounting plate 106. The accelerator pedal, adjustable foot, seat base, seat back plate, seat pillow clamp and camera mounting plate are all connected to the fixed bracket. A movable structure 107 is provided between the seat back plate and the seat base to realize the movement of the seat back plate and the seat base, so that the fixed bracket can adjust the bracket according to the inclination degree of the seat, and three camera mounting holes 108 are provided on the camera mounting plate. The positions of the three mounting holes correspond to the three mounting points E1, E2 and E3 respectively. Figure 2 As shown, E1, E2 and E3 represent the left eye point, the front eye point and the right eye point respectively. The offset of E3 from the accelerator pedal heel point on the Z axis is 1163.25 mm, and it is 678 mm backward on the X axis. The position of E2 on the Y axis is on a vertical plane parallel to the longitudinal plane of the central axis and passes through the center of the driver's seat. Points E1 and E3 are rotated 60° to the left or right around point P respectively.

[0034] After the eyepoint location is determined, the test site is set up. The layout of the test site consists of three areas: the near side, the front, and the side, represented by side A, side B, and side C respectively. The boundary of side A is 4500mm from the near side of the vehicle, the boundary of side B is 2000mm from the front plane of the vehicle, and the boundary of side C is 2000mm from the side of the vehicle. A grid is established on the three areas with a grid spacing of 100mm. The grid can be determined on the ground by any means; as an extension of the solution, the spacing lines can be determined on the ground by any means, including permanent ground markings, movable marking mats, ground laser projection, and test benches with movable markings and built-in precise measurement and control. For example, the vehicle extension mat is provided with spacing lines with a spacing of 100mm. There are three vehicle extension mats, and there is an overlapping area between the three vehicle extension mats. The vehicle extension mats are made of transparent soft material, so that the overlapping area of ​​the three vehicle extension mats is the grid area. The setting of the vehicle extension mat allows the grid to be moved as needed, facilitating the replacement of the test site.

[0035] The calibration object consists of a base, a calibration pole, and a vertex. The upper and lower ends of the calibration pole are connected to the base and the vertex respectively. A red line is provided on the base. The red line is aligned with the spacing line on the ground. The calibration pole moves along the spacing line. The maximum diameter of the calibration pole is 300mm. In accordance with UNR167 "Direct field of view of vulnerable road users", the height of the calibration pole is 1600mm.

[0036] As an optimization of the solution, two types of calibration objects are provided, both consisting of a base, a calibration rod and a vertex. The difference lies in the height of the calibration rod, which is 200-800 and 1000-1600 respectively. The two calibration objects of different heights are used for plane visible area tests at different heights. During the test, both calibration objects are required. When testing the ground visible area, the camera calculates the ground visible area by capturing the moving trajectory of the red line on the base of the calibration object.

[0037] In addition, vehicle extension devices are installed in front, on the left and on the right sides of the test vehicle. The vehicle extension devices are used to determine the front, left and right extreme positions of the vehicle under test, and the edges of the grid are aligned with the outer edges of the vehicle extension devices, so that the setting of the test scene can be completely aligned with the outermost edge of the vehicle under test, ensuring the accuracy of the test data.

[0038] The movement direction of the calibration object is from the edge of the vehicle to the outside, and repeated marking tests are required in the overlapping area of ​​the vehicle extension pad to ensure the integrity of the area. The length of the visible line is calculated as follows:

[0039] Visible line length = ∑[n th Grid lines / (1 st End point of visible line length - 1st Visible line length starting point)]+1(2 nd End of visible line length - 2 nd Starting point of visible line length) + (n th Visible line length membrane end-n t h Starting point of visible line length)

[0040] Align the calibration object with the grid lines on the extension pad. Align the yellow lines on the calibration object base with the grid lines so that the movement of the calibration object always stays on the grid lines.

[0041] Calculation of plane visible area. There are nine plane visible areas at different heights. According to the volume calculation formula, the three formulas of visible volume respectively represent the different volumes of the low vision area of ​​the car. The three formulas are:

[0042]

[0043] Three formulas are used to calculate the visible volumes of regions A, B, and C, respectively. The names of regions A, B, and C are near-side visible volume, front-side visible volume, and translateral visible volume.

[0044] The experiment is carried out on a flat, dry asphalt or concrete surface, and the ambient temperature of the experiment should be between 1 and 45°. The experiment should also be carried out under visibility conditions that clearly allow the visible light camera to correctly observe the target used to quantify the field of view.

[0045] The advantages of the embodiment are:

[0046] This embodiment makes a new test method based on the new regulations of R167, and installs a camera through a fixed bracket, uses the camera to shoot the movement trajectory of the calibration object, and calculates the vehicle's weak side view visible area through the calculation method of this embodiment, and calculates the weak side view visible volume through the visible areas of nine different planes, thereby testing whether the car's blind spot is compliant.

[0047] Explanation of the terms in this invention:

[0048] Line of sight obstruction means any permanently installed component of the vehicle structure or cab interior that obstructs the line of sight from any of the three identified E points to any part of the assessment area;

[0049] Line of sight means a straight line representing the driver's line of sight, from the eye point to the target point, or any specific angle in a three-dimensional reference system;

[0050] The visible point volume refers to the spatial volume that is completely contained in the evaluation volume. This volume can be seen from a point E through the direct line of sight opening line. It is the sum of the visible volumes of the vehicle's near side, front side and side.

[0051] The above description is merely an embodiment of the present invention. Common knowledge regarding the specific structure and characteristics of the solution is not described in detail herein. It should be noted that those skilled in the art will be able to make various modifications and improvements without departing from the structure of the present invention. These modifications and improvements should also be considered within the scope of protection of the present invention and will not affect the effectiveness and practicality of the present invention.

Claims

1. A method for detecting a low-vision area in a vehicle, characterized in that: include: S1, determine the test eye point position and place the test camera at the eye point position; S2, establish the test scene, and create a grid with a spacing of 100 mm in front, on the left side, and on the right side of the test vehicle; S3, setting the calibration object, which moves regularly on the grid; S4, calculation of plane visible area; S5, visual volume calculation.

2. The method for detecting a low-vision area in a vehicle according to claim 1, wherein: The eyepoint location determination involves a fixed bracket to which the accelerator pedal, adjustable footrest, seat base, seat back plate, seat bolster clamp, and camera mounting plate are connected; The eye point position is 1163.25 mm away from the accelerator pedal heel point in the vertical direction and 678 mm away from the seat pillow clamp in the horizontal direction. Three camera mounting holes are provided on the camera mounting plate.

3. The method for detecting a low-vision area in a vehicle according to claim 2, wherein: The accelerator pedal, adjustable foot, seat base and seat back plate are all fixed on a fixed bracket, a movable structure is provided between the seat base and the seat back plate, and the accelerator pedal is movably connected to the fixed bracket.

4. The method for detecting a low-vision area in a vehicle according to claim 1, wherein: When the scene is established, a vehicle extension device is provided. Three vehicle extension devices are provided. The three vehicle extension devices are respectively close to the front, left and right sides of the vehicle. When establishing the test scene, the spacing of the grid established on the bottom surface is 100mm. The grid area is divided into three areas, namely areas A, B and C. The movement mode of the calibration object in areas A, B and C is to move from the outside of the image close to the front end of the vehicle, and the overlapping part of the three areas needs to be marked repeatedly in each area to ensure the completeness of the marking of each area; The grid is defined on a ground plane.

5. The method for detecting a low-vision area in a vehicle according to claim 1, wherein: The calibration object consists of a base, a calibration rod and a vertex. The base, calibration rod and vertex are connected in sequence in an upper and lower relationship. The calibration rod is a telescopic rod. The maximum diameter of the calibration object is 300 mm and the maximum height is 1600 mm. The calibration object is placed on each line on the grid. A red line is provided on the base of the calibration object, and the red line is aligned with the ground grid line.

6. The method for detecting a low-vision area in a vehicle according to claim 1, wherein: The plane visible area calculation includes the area generated by the movement trajectory of the vertex of the marker column when it moves captured by three cameras, and then calculating the area of ​​the area; The visual plane area is provided with eight visual areas at different heights.

7. The method for detecting a low-vision area in a vehicle according to claim 1, wherein: The method for calculating the volume includes three calculation formulas, which are: The three formulas correspond to the visible volume calculation methods of area A, area B and area C in the ground grid respectively.

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