Perceptual imaging device of lane keeping auxiliary system

Abstract

The utility model discloses a perception imaging device of a lane keeping auxiliary system, which comprises a support frame, an environment acquisition camera and a driving device are fixedly arranged on one side surface of the support frame, and the driving device is connected with a polarization filter. And the driving device can move the polarization filter to the front part of the environment acquisition camera so as to change the amount of incident light incident on the environment acquisition camera. According to the utility model, from the hardware level, the polarization filter is additionally arranged in front of the environment acquisition camera, so that the environment acquisition camera is prevented from imaging overexposure in a strong light environment, the environment acquisition camera can clearly image in the strong light environment, and the problem that an LKA system cannot identify lane lines in the strong light environment is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of automobile intelligent assisted driving, and more specifically, to a perception imaging device of a lane keeping assist system. Background Art

[0002] With the rapid development of automobile intelligence, the Lane Keeping Assist system (LKA) is widely used in automobiles. The LKA system is mainly composed of three modules: perception, decision-making, and execution. Among them, the perception module generally obtains the visual image of the road in front of the vehicle through a camera installed on the front windshield of the vehicle, and then recognizes the lane line on the visual image through the perception algorithm, and controls the vehicle to stay in the middle of the lane through the driving computer.

[0003] Existing mature technical solutions usually adopt an environment adaptive adjustment algorithm, that is, the exposure parameters of the camera are adaptively adjusted through a software algorithm to prevent the visual images collected by the camera from being overexposed.

[0004] By applying the above-mentioned environment adaptive adjustment algorithm, the LKA system can meet the driving assistance needs on most roads with clear lane lines. However, in strong light environments, such as direct sunlight, strong light reflected from the road surface, etc., the visual image obtained by the camera is overexposed, and the ambient light intensity is greater than the algorithm threshold. The perception algorithm cannot recognize the lane line from the visual image, which will cause the lane keeping assist function to exit. In severe cases, it will cause the vehicle to deviate from the lane, posing a potential safety risk. Utility Model Content

[0005] The purpose of the utility model is to assist in overcoming the problem of overexposure of visual images acquired by a camera in a strong light environment from a hardware level, and to provide a perception imaging device for a lane keeping assist system. By adding a polarizing filter in front of the camera, the light flux entering the camera sensor in a strong light environment is weakened, so that the camera can also form clear images in a strong light environment.

[0006] The technical solution adopted by the utility model is:

[0007] A perception imaging device of a lane keeping assist system includes a support frame, an environment collection camera is fixedly arranged on one side of the support frame, and a driving device is also fixed on the same side or the other side of the support frame, and the driving device is connected to a polarizing filter. The driving device can move the polarizing filter to the front of the environment collection camera to change the amount of incident light on the environment collection camera.

[0008] Furthermore, the driving device is a driving motor, a driving shaft sleeve of the driving device is provided with a gear, the gear is meshingly connected with a rack, and the polarizing filter is fixed on the rack.

[0009] Furthermore, the support frame is provided with a sliding groove along the moving path of the rack, and the rack moves back and forth in the sliding groove.

[0010] Furthermore, the normal of the polarizing filter is parallel to the optical axis of the environment acquisition camera.

[0011] Furthermore, the utility model also includes a controller, which is communicatively connected with the environment acquisition camera and the driving device, and is configured to control the driving device at least partially corresponding to the amount of incident light incident on the environment acquisition camera.

[0012] Furthermore, the utility model also includes a shell, which is fixedly connected to the support frame, and an opening is provided at the front of the shell, and the opening leaves a passage for incident light on the environment acquisition camera when the shell is fixedly connected to the support frame.

[0013] Furthermore, the shell is snap-connected to the support frame.

[0014] Furthermore, light-transmitting sealing glass is installed on the opening.

[0015] Furthermore, an upper slide groove is provided on one side of the housing facing the polarizing filter, and the top of the polarizing filter is slidably connected to the upper slide groove.

[0016] Furthermore, the support frame and the shell are respectively provided with a plurality of limiting ribs, and the limiting ribs are arranged on opposite sides when the support frame and the shell are combined, and the limiting ribs respectively play a role in limiting and fixing the environment acquisition camera and the driving device.

[0017] Compared with the prior art, the beneficial effects of the utility model are:

[0018] The utility model can, from the hardware level, reduce the light flux entering the sensor of the environment acquisition camera in a strong light environment by adding a polarization filter in front of the environment acquisition camera, prevent the environment acquisition camera from being overexposed in the strong light environment, and enable the environment acquisition camera to clearly image in the strong light environment, thereby solving the problem that the LKA system cannot recognize lane lines in a strong light environment and improving the stability of the LKA system in a strong light environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0020] Figure 2It is a schematic diagram of the structure of the housing of the utility model;

[0021] Figure 3 This is a schematic structural diagram of the housing of the utility model from another angle.

[0022] In the attached figure:

[0023] 1-support frame; 2-environment collection camera; 3-driving device; 4-polarization filter; 5-gear; 6-rack; 7-lower slide groove; 9-housing; 10-opening; 11-light-transmitting sealing glass; 12-upper slide groove; 13-limiting rib. DETAILED DESCRIPTION

[0024] The utility model is further described below in conjunction with specific implementation methods. The drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. In order to better illustrate the present embodiment, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0025] The same or similar reference numerals in the drawings of the embodiments of the present utility model correspond to the same or similar parts; in the description of the present utility model, it should be understood that if the terms "front", "rear", "left", "right" and the like indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for the convenience of describing the present utility model and simplifying the description, 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. Therefore, the terms describing the positional relationship in the drawings are only used for exemplary explanations and cannot be understood as limitations on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances. In addition, in the present utility model, the descriptions of "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" can explicitly or implicitly include at least one of the features.

[0026] Embodiment 1

[0027] See also Figure 1 , this embodiment provides a perception imaging device for a lane keeping assist system, including a support frame 1, on the top surface of which an environment acquisition camera 2 is fixedly arranged, and on the same top surface of which a drive device 3 is also fixedly arranged. It should be noted that when it is necessary to adjust the orientation according to the space where the device is actually installed, the environment acquisition camera 2 and the drive device 3 can also be arranged on other sides of the support frame 1, and it is not necessary to be arranged on the same top surface. Figure 1 As shown, it is arranged on the top surface of the support frame 1.

[0028] The driving device 3 is connected to a polarizing filter 4, and the driving device 3 can move the polarizing filter 4 to the front of the environment acquisition camera 2 to change the amount of incident light incident on the environment acquisition camera 2. In a strong light environment, such as direct sunlight, strong light reflected from the road surface, etc., the visual image acquired by the environment acquisition camera 2 is overexposed, and the perception algorithm cannot recognize the lane line from the visual image, which will cause the lane keeping assist function to exit. When the vehicle enters a strong light environment and when the LKA system is working, the driving device 3 starts to run and moves the polarizing filter 4 to the front of the environment acquisition camera 2 to change the amount of incident light incident on the environment acquisition camera 2, that is, to weaken the light flux entering the sensor of the environment acquisition camera 2, prevent the visual image acquired by the environment acquisition camera 2 from being overexposed, and enable the environment acquisition camera 2 to form a clear image even in a strong light environment.

[0029] When the vehicle drives out of a strong light environment, the environment acquisition camera 2 detects that the visual image is dark. At this time, the driving device 3 runs in reverse and moves the polarizing filter 4 away from the front of the environment acquisition camera 2 and returns it to its initial position. At this time, the polarizing filter 4 does not block the environment acquisition camera 2.

[0030] In some other embodiments, the environment acquisition camera 2 and the driving device 3 are also optionally arranged on the same side of the support frame 1. For example, the environment acquisition camera 2 can be arranged on one side of the support frame 1 (such as the top surface), and the driving device 3 can be arranged on the opposite side of the support frame 1 (such as the bottom surface), and a hole is opened on the support frame 1 to leave a path for the polarization filter 4 to move (not shown in the figure).

[0031] Embodiment 2

[0032] like Figure 1 As shown, this embodiment proposes improvements based on the first embodiment, specifically:

[0033] The driving device 3 is a driving motor, and the driving shaft sleeve of the driving device 3 is provided with a gear 5, and the gear 5 is meshedly connected with a rack 6, and the polarizing filter 4 is fixed on the rack 6. The driving motor is rotated forward or reversely to drive the rack 6 to move toward or away from the environment acquisition camera 2 along its length direction, and the polarizing filter 4 fixedly arranged with the rack 6 can move between a first position and a second position. The first position is the initial position of the polarizing filter 4, at which time the polarizing filter 4 does not block the environment acquisition camera 2, and the second position is the position where the polarizing filter 4 can cover the incident light path entering the environment acquisition camera 2, and at this time the polarizing filter 4 blocks the environment acquisition camera 2, weakening the light flux entering the sensor of the environment acquisition camera 2.

[0034] The rotation of the driving motor is converted into a linear movement of the polarizing filter 4 through the cooperation of the gear 5 and the rack 6 .

[0035] Of course, in some other embodiments, the rack 6 can also be a curved rack 6. Through this shape of the rack 6, the rotation of the drive motor can be converted into the movement of the polarizing filter 4 along an arc, which is convenient for adjusting the positional relationship between the various components of the device according to the space where the installation position of the device is located.

[0036] In some other embodiments, the rack 6 may not be used. Specifically, the diameter of the polarizing filter 4 is fixedly arranged on the gear 5 (the volume of the gear 5 is appropriately increased so that the polarizing filter 4 can be arranged on the gear 5). In this case, when the driving motor rotates, the polarizing filter 4 can rotate back and forth between the first position and the second position around the driving shaft of the driving motor.

[0037] Regardless of any of the above methods of moving the polarizing filter 4, the normal of the polarizing filter 4 is parallel to the optical axis of the environment acquisition camera 2, so as to avoid affecting the incident light and causing picture distortion, thereby affecting the final imaging effect.

[0038] Since the device is installed on a vehicle, the influence of the vibration generated during the driving of the vehicle on the polarizing filter 4 should be fully considered. Based on this, the present embodiment further provides a lower slide groove 7 along the moving path of the rack 6 on the support frame 1, and the rack 6 reciprocates in the lower slide groove 7. The lower slide groove 7 limits the thickness direction of the polarizing filter 4, so that the normal of the polarizing filter 4 is prevented from being non-parallel to the optical axis of the environment acquisition camera 2 when the polarizing filter 4 is fixed or moving due to the vibration generated during the driving of the vehicle, thereby avoiding the impact on the incident light and causing image distortion.

[0039] See also Figure 2 , Figure 3 In order to achieve better limiting and protecting effects for the polarizing filter 4, the present embodiment further provides a housing 9, the housing 9 is fixedly connected to the support frame 1, and an opening 10 is provided at the front of the housing 9, and the opening 10 leaves a passage for the incident light on the environment acquisition camera 2 when the housing 9 is fixedly connected to the support frame 1. When the housing 9 is fixedly connected to the support frame 1, an upper slide groove 12 is provided on the side facing the polarizing filter 4, and the top of the polarizing filter 4 is slidably connected to the upper slide groove 12. The polarizing filter 4 is limited in its thickness direction by the upper slide groove 12 and the lower slide groove 7, so that the polarizing filter 4 will not be deflected, bent, or deformed in other ways that cause its normal to be non-parallel to the optical axis of the environment acquisition camera 2, thereby ensuring the imaging effect.

[0040] Embodiment 3

[0041] See also Figure 1 , Figure 2 as well as Figure 3 This embodiment provides another perception imaging device of a lane keeping assist system, including a support frame 1, an environment acquisition camera 2, a driving device 3, a polarizing filter 4, and a housing 9. The housing 9 is snap-connected with the support frame 1 for easy disassembly. After the two are snap-connected, a storage space is formed between the housing 9 and the support frame 1. The environment acquisition camera 2, the driving device 3, and the polarizing filter 4 are all arranged in the storage space. The driving device 3 is connected to the polarizing filter 4, and the driving device 3 can move the polarizing filter 4 to the front of the environment acquisition camera 2 to change the amount of incident light incident on the environment acquisition camera 2. When the vehicle enters a strong light environment and when the LKA system is working, the driving device 3 starts to run and moves the polarizing filter 4 to the front of the environment acquisition camera 2 to change the amount of incident light incident on the environment acquisition camera 2, that is, the light flux entering the sensor of the environment acquisition camera 2 is weakened, and the visual image collected by the environment acquisition camera 2 is prevented from being overexposed, so that the environment acquisition camera 2 can also be clearly imaged in a strong light environment.

[0042] The front part of the housing 9 is provided with an opening 10, and the opening 10 leaves a passage for incident light on the environment acquisition camera 2 when the housing 9 is fixedly connected to the support frame 1. A light-transmitting sealing glass 11 is installed on the opening 10, and the light-transmitting sealing glass 11 can not only allow incident light to enter the perception environment acquisition camera 2 to the greatest extent, but also prevent dust and debris from entering the accommodation space, thereby avoiding damage to the precision instruments and equipment in the accommodation space.

[0043] Since the device is installed on a vehicle, it should be fully considered that the vibration generated during the vehicle's driving may affect the precision instruments and equipment in the accommodation space. The support frame 1 and the housing 9 are both provided with a limiting structure on one side opposite to the other.

[0044] The limiting structure includes a lower slide groove 7 and an upper slide groove 12 for limiting the polarization filter 4. The lower slide groove 7 and the upper slide groove 12 are consistent with those disclosed in the second embodiment and are not described again here.

[0045] The limiting structure also includes a plurality of limiting ribs 13 for limiting the position of the environment acquisition camera 2 and the driving device 3. The limiting ribs 13 protrude from the surface of the supporting frame 1 and the housing 9 on the opposite side. Figure 1 As shown, the environment acquisition camera 2 and the driving device 3 used in this embodiment are both square in shape, and correspondingly, the limiting ribs 13 are also formed into a rectangle to adapt to the shape of the environment acquisition camera 2 and the driving device 3. Specifically, eight limiting ribs 13 are respectively arranged on the support frame 1 and the housing 9, and every four limiting ribs 13 form a rectangular shape, and the formed rectangular shapes correspond to the top surface area and the bottom surface area of ​​the environment acquisition camera 2 and the driving device 3, respectively. When the support frame 1 and the housing 9 are snap-connected, the raised limiting ribs 13 just fix the environment acquisition camera 2 and the driving device 3, and at the same time cooperate with other fixed connection methods (such as gluing, etc.), so that the environment acquisition camera 2 and the driving device 3 can be fixed in the accommodation space, avoiding displacement between the two under the vibration of the vehicle when running, so that the polarizing filter 4 cannot cover the environment acquisition camera 2 well.

[0046] Preferably, the limiting ribs 13 are integrally formed with the support frame 1 and the housing 9 respectively.

[0047] In the specific contents of the above-mentioned specific implementation methods, the various technical features can be combined in any non-contradictory manner. In order to make the description concise, not all possible combinations of the above-mentioned technical features are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0048] Obviously, the above embodiments of the utility model are only examples for clearly explaining the utility model, and are not intended to limit the implementation methods of the utility model. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made on the basis of the above description. It is not necessary and impossible to list all the implementation methods here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the utility model should be included in the protection scope of the claims of the utility model.

Claims

1. A perception imaging device for a lane keeping assist system, comprising a support frame (1), an environment acquisition camera (2) being fixedly arranged on one side of the support frame (1), characterized in that: The support frame (1) is also fixedly provided with a driving device (3) on the same side or the other side, the driving device (3) is connected to a polarizing filter (4), and the driving device (3) is capable of moving the polarizing filter (4) to the front of the environment collection camera (2) to change the amount of incident light incident on the environment collection camera (2).

2. The perception imaging device of the lane keeping assist system according to claim 1, characterized in that: The driving device (3) is a driving motor. The driving shaft sleeve of the driving device (3) is provided with a gear (5). The gear (5) is meshingly connected with a rack (6). The polarizing filter (4) is fixed on the rack (6).

3. The perception imaging device of the lane keeping assist system according to claim 2, characterized in that: The support frame (1) is provided with a sliding groove (7) along the moving path of the rack (6), and the rack (6) moves back and forth in the sliding groove (7).

4. The perception imaging device of the lane keeping assist system according to claim 1, characterized in that: The normal line of the polarizing filter (4) is parallel to the optical axis of the environment acquisition camera (2).

5. The perception imaging device of the lane keeping assist system according to any one of claims 1 to 4, characterized in that: The invention also comprises a controller which is in communication with the environment acquisition camera (2) and the driving device (3) and is configured to control the driving device (3) at least partially in response to the amount of incident light incident on the environment acquisition camera (2).

6. The perception imaging device of the lane keeping assist system according to claim 5, characterized in that: It also comprises a shell (9), the shell (9) being fixedly connected to the support frame (1), the front of the shell (9) being provided with an opening (10), the opening (10) leaving a passage for incident light on the environment acquisition camera (2) when the shell (9) is fixedly connected to the support frame (1).

7. The perception imaging device of the lane keeping assist system according to claim 6, characterized in that: The housing (9) is snap-connected to the support frame (1).

8. The perception imaging device of the lane keeping assist system according to claim 6, characterized in that: A light-transmitting sealing glass (11) is installed on the opening (10).

9. The perception imaging device of the lane keeping assist system according to claim 6, characterized in that: An upper slide groove (12) is provided on the side of the housing (9) facing the polarizing filter (4), and the top of the polarizing filter (4) is slidably connected to the upper slide groove (12).

10. The perception imaging device of the lane keeping assist system according to claim 6, characterized in that: The support frame (1) and the housing (9) are respectively provided with a plurality of limiting ribs (13), and the limiting ribs (13) respectively play a role in limiting and fixing the environment acquisition camera (2) and the driving device (3).

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