阅读说明：本技术 一种基于3D Sensor的汽车雷达系统及其控制方法 (3D Sensor-based automobile radar system and control method thereof ) 是由 周晓军 李骊 李朔 杨淼 王行 盛赞 于 2018-05-31 设计创作，主要内容包括：本发明公开了一种基于3D Sensor的汽车雷达系统及其控制方法,包含3D Sensor模块、数据处理模块、3D识别模块、输出模块和显示及语音播报终端,使用3D Sensor设备,实时获取深度数据亦可同时获取彩色图,进行物体测距,并实时进行物体特征提取,识别物体包括人、动物,动作识别,将3D数据及图像数据显示在车载设备上,并实时显示预警信息,若达到预警线时及时播放语音提示。(the invention discloses a 3D Sensor-based automobile radar system and a control method thereof, and the system comprises a 3D Sensor module, a data processing module, a 3D recognition module, an output module and a display and voice broadcast terminal, wherein 3D Sensor equipment is used for acquiring depth data in real time and acquiring color images at the same time, performing object ranging, performing object characteristic extraction in real time, recognizing objects including people and animals, performing action recognition, displaying the 3D data and image data on vehicle-mounted equipment, displaying early warning information in real time, and playing voice prompts in time if an early warning line is reached.)

1. The utility model provides an automobile radar system based on 3D Sensor which characterized in that: comprises

the 3D Sensor module is used for acquiring depth data and color data in real time, processing the data and generating 3D data information;

The data processing module is used for carrying out distance monitoring according to the depth data and extracting 3D characteristic data from the 3D data information;

the 3D identification module is used for identifying objects, people or animals according to the extracted 3D characteristic data and carrying out action identification on people;

the output module is used for displaying real-time pictures, identifying objects, people or animals and displaying action and characteristic data;

and the voice broadcasting terminal is used for carrying out voice early warning.

2. the 3D Sensor-based automotive radar system of claim 1, wherein: the 3D Sensor module specifically comprises

An infrared emitter for emitting infrared light;

An infrared receiver for receiving infrared light;

the 3D identification chip is used for generating depth data and generating 3D information according to the depth data;

And the RGB camera is used for acquiring color data so as to generate a real-time picture.

3. the 3D Sensor-based automotive radar system of claim 1, wherein: the 3D identification module specifically comprises

The distance monitoring module is used for calculating the distance according to the depth data;

and the 3D feature extraction module is used for extracting 3D information according to the 3D information of the depth data so as to complete 3D feature recognition.

4. The 3D Sensor-based automotive radar system of claim 1, wherein: the 3D identification module specifically comprises

The object, human and animal identification module is used for carrying out feature retrieval according to the data of the 3D feature extraction module and the 3D feature library so as to identify;

And the action recognition processing module is used for carrying out action recognition according to the 3D information.

5. the 3D Sensor-based automotive radar system of claim 1, wherein: the output module specifically comprises

The 3D display component is used for displaying the real-time monitoring picture and the identified 3D characteristic information;

The early warning system is used for sending out early warning;

And the information recording system is used for identifying the information recording and the dangerous number recording.

6. The control method of the 3D Sensor-based automotive radar system according to claims 1 to 5, characterized in that: the method specifically comprises the following steps:

Step 1, acquiring depth data and RGB data in real time; the depth information data is obtained by projecting a known infrared mode into a scene based on optical coding and through the deformation of the mode captured by another infrared CMOS imager, and the distance information of all objects in the angle of view is output; the RGB data is captured by an RGB camera;

Step 2, carrying out data analysis on the depth data and the RGB data acquired in the step 1, and carrying out distance monitoring and obstacle monitoring;

step 3, extracting the characteristics of the detected obstacles; specifically, the method comprises the following steps: outputting 3D data information by a 3D identification chip, carrying out feature detection on the depth data blocks, iterating to an optimal value, summarizing features, and obtaining feature data;

Step 4, carrying out object identification on the extracted characteristic data, and measuring and calculating the distance in real time; the real-time distance measurement and calculation specifically refers to depth distance statistics of a characteristic region corresponding to a characteristic object, and the minimum distance value in the region is determined as the distance of the object;

Step 5, for animals and people, living body detection, action recognition and obstacle behavior monitoring can be carried out;

Step 6, 3D modeling is carried out, and real-time monitoring is carried out through an early warning system to obtain early warning information;

and 7, the barrier enters the early warning range, early warning information is displayed through the 3D display assembly, voice broadcasting is carried out, and real-time prompting is carried out.

Technical Field

The invention belongs to the field of 3D sensors, and particularly relates to an automobile radar system based on a 3D Sensor and a control method thereof.

Background

The automobile radar is used as a safety device and can bear certain work needing attention, judgment and technology, so that the driving strength is reduced, the burden of a driver is reduced, safety accidents are avoided to a certain extent, and unnecessary loss is reduced for individuals and countries.

currently, automotive radars have different types of radars based on different technologies (e.g. laser, ultrasound, microwave), have different functions (e.g. obstacle finding, collision prediction, adaptive cruise control) and use different operating principles (e.g. pulse radar, FMCW radar, microwave impact radar).

in view of the current development of 3D Sensor technology, we can use a new approach to build automotive radars: based on the 3D Sensor device, the display device and the audio device, the automobile radar system is intelligently constructed through the distance detection, object detection and feature recognition capabilities of the 3D Sensor.

Disclosure of Invention

the invention aims to solve the technical problem of providing a 3D Sensor-based automobile radar system and a control method thereof aiming at the defects of the background technology, and the 3D Sensor is used for replacing the radar system based on the prior art, so that the radar system has richer functions and is more intelligent.

The invention adopts the following technical scheme to solve the technical problems

an automobile radar system based on 3D Sensor comprises

The 3D Sensor module is used for acquiring depth data and color data in real time, processing the data and generating 3D data information;

the data processing module is used for carrying out distance monitoring according to the depth data and extracting 3D characteristic data from the 3D data information;

the 3D identification module is used for identifying objects, people or animals according to the extracted 3D characteristic data and carrying out action identification on people;

the output module is used for displaying real-time pictures, identifying objects, people or animals and displaying action and characteristic data;

And the voice broadcasting terminal is used for carrying out voice early warning.

As a further preferable scheme of the 3D Sensor-based automobile radar system, the 3D Sensor module specifically comprises

an infrared emitter for emitting infrared light;

an infrared receiver for receiving infrared light;

The 3D identification chip is used for generating depth data and generating 3D information according to the depth data;

And the RGB camera is used for acquiring color data so as to generate a real-time picture.

as a further preferable scheme of the 3D Sensor-based automotive radar system of the present invention, the 3D identification module specifically includes

the distance monitoring module is used for calculating the distance according to the depth data;

And the 3D feature extraction module is used for extracting 3D information according to the 3D information of the depth data so as to complete 3D feature recognition.

as a further preferable scheme of the 3D Sensor-based automotive radar system of the present invention, the 3D identification module specifically includes

The object, human and animal identification module is used for carrying out feature retrieval according to the data of the 3D feature extraction module and the 3D feature library so as to identify;

and the action recognition processing module is used for carrying out action recognition according to the 3D information.

as a further preferable scheme of the 3D Sensor-based automotive radar system of the present invention, the output module specifically includes

the 3D display component is used for displaying the real-time monitoring picture and the identified 3D characteristic information;

The early warning system is used for sending out early warning;

And the information recording system is used for identifying the information recording and the dangerous number recording.

the control method of the automobile radar system based on the 3D Sensor specifically comprises the following steps:

Step 1, acquiring depth data and RGB data in real time; the depth information data is obtained by projecting a known infrared mode into a scene based on optical coding and through the deformation of the mode captured by another infrared CMOS imager, and the distance information of all objects in the angle of view is output; the RGB data is captured by an RGB camera;

step 2, carrying out data analysis on the depth data and the RGB data acquired in the step 1, and carrying out distance monitoring and obstacle monitoring;

Step 3, extracting the characteristics of the detected obstacles; specifically, the method comprises the following steps: outputting 3D data information by a 3D identification chip, carrying out feature detection on the depth data blocks, iterating to an optimal value, summarizing features, and obtaining feature data;

Step 4, carrying out object identification on the extracted characteristic data, and measuring and calculating the distance in real time; the real-time distance measurement and calculation specifically refers to depth distance statistics of a characteristic region corresponding to a characteristic object, and the minimum distance value in the region is determined as the distance of the object;

step 5, for animals and people, living body detection, action recognition and obstacle behavior monitoring can be carried out;

step 6, 3D modeling is carried out, and real-time monitoring is carried out through an early warning system to obtain early warning information;

and 7, the barrier enters the early warning range, early warning information is displayed through the 3D display assembly, voice broadcasting is carried out, and real-time prompting is carried out.

compared with the prior art, the invention adopting the technical scheme has the following technical effects:

1. the invention has strong functionality, the traditional automobile radar has less functions and has a detection blind area, when the automobile radar encounters an excessively short obstacle, an uneven ground and an excessively thin obstacle, the radar does not respond, generally, the obstacle below the center of the probe by 10 ~ 15cm can be ignored by the probe, the height value can be reduced along with the distance between the obstacle and the parking space, the danger is increased along with the distance, the automobile radar based on the 3D Sensor has less blind area, and has great advantages in small object monitoring, and the surrounding objects can be monitored and identified under the condition of no light;

2. The invention has expansibility, the traditional automobile radar can only detect the obstacles and can not display the obstacles (the obstacles can be used by means of image cooperation), the automobile radar based on the 3D Sensor can not only detect the distance and the obstacles and display the obstacles (if the display effect is better by cooperating with a colorful image), but also identify objects (including people and animals), and more intelligently give real-time external environment information to a driver so as to drive better.

Drawings

Fig. 1 is a schematic diagram of the system architecture of the present invention.

Detailed Description

The technical scheme of the invention is further explained in detail by combining the attached drawings:

As shown in fig. 1, an automobile radar system based on 3D Sensor is characterized in that: comprises

the 3D Sensor module is used for acquiring depth data and color data in real time, processing the data and generating 3D data information;

The data processing module is used for carrying out distance monitoring according to the depth data and extracting 3D characteristic data from the 3D data information;

the 3D identification module is used for identifying objects, people or animals according to the extracted 3D characteristic data and carrying out action identification on people;

the output module is used for displaying real-time pictures, identifying objects, people or animals and displaying action and characteristic data;

And the voice broadcasting terminal is used for carrying out voice early warning.

the method comprises the steps of using a 3D Sensor device to obtain depth data (and simultaneously obtain a color image), measuring distance of an object, extracting characteristics of the object in real time, identifying the object (including people and animals), identifying actions, displaying the 3D data and image data on a vehicle-mounted device, displaying early warning information in real time, and playing a voice prompt in time if an early warning line is reached.

The 3D Sensor module specifically comprises

an infrared emitter for emitting infrared light;

An infrared receiver for receiving infrared light;

the 3D identification chip is used for generating depth data and generating 3D information according to the depth data;

And the RGB camera is used for acquiring color data so as to generate a real-time picture.

as a further preferable scheme of the 3D Sensor-based automotive radar system of the present invention, the 3D identification module specifically includes

the distance monitoring module is used for calculating the distance according to the depth data;

And the 3D feature extraction module is used for extracting 3D information according to the 3D information of the depth data so as to complete 3D feature recognition.

The 3D identification module specifically comprises

The object, human and animal identification module is used for carrying out feature retrieval according to the data of the 3D feature extraction module and the 3D feature library so as to identify;

and the action recognition processing module is used for carrying out action recognition according to the 3D information.

the output module specifically comprises

The 3D display component is used for displaying the real-time monitoring picture and the identified 3D characteristic information;

the early warning system is used for sending out early warning;

and the information recording system is used for identifying the information recording and the dangerous number recording.

the control method of the automobile radar system based on the 3D Sensor specifically comprises the following steps:

step 1, acquiring depth data and RGB data in real time; the depth information data is obtained by projecting a known infrared mode into a scene based on optical coding and through the deformation of the mode captured by another infrared CMOS imager, and the distance information of all objects in the angle of view is output; the RGB data is captured by an RGB camera;

step 2, carrying out data analysis on the depth data and the RGB data acquired in the step 1, and carrying out distance monitoring and obstacle monitoring;

Step 3, extracting the characteristics of the detected obstacles; specifically, the method comprises the following steps: outputting 3D data information by a 3D identification chip, carrying out feature detection on the depth data blocks, iterating to an optimal value, summarizing features, and obtaining feature data;

Step 4, carrying out object identification on the extracted characteristic data, and measuring and calculating the distance in real time; the real-time distance measurement and calculation specifically refers to depth distance statistics of a characteristic region corresponding to a characteristic object, and the minimum distance value in the region is determined as the distance of the object;

Step 5, for animals and people, living body detection, action recognition and obstacle behavior monitoring can be carried out;

step 6, 3D modeling is carried out, and real-time monitoring is carried out through an early warning system to obtain early warning information;

And 7, the barrier enters the early warning range, early warning information is displayed through the 3D display assembly, voice broadcasting is carried out, and real-time prompting is carried out.

In conclusion, the invention has strong functionality, the traditional automobile radar has fewer functions and has a detection blind area, when the automobile radar encounters an excessively short obstacle, an uneven ground and an excessively thin obstacle, the radar does not respond, generally, the obstacle below the center of the probe by 10 ~ 15cm is possibly ignored by the probe, the height value is reduced along with the decrease of the distance between the obstacle and the parking space, the danger is increased along with the decrease of the distance, the automobile radar based on the 3D Sensor has fewer blind areas, the automobile radar has great advantages in small object monitoring, and the surrounding objects can be monitored and identified without light;

the invention has expansibility, the traditional automobile radar can only detect the obstacles and can not display the obstacles (the obstacles can be used by means of image cooperation), the automobile radar based on the 3D Sensor can not only detect the distance and the obstacles and display the obstacles (if the display effect is better by cooperating with a colorful image), but also identify objects (including people and animals), and more intelligently give real-time external environment information to a driver so as to drive better.