阅读说明：本技术 一种基于毫米波雷达和摄像头的可视化bsd系统、方法 (Visual BSD system and method based on millimeter wave radar and camera ) 是由 黄常炯 唐恺 王宁 何明超 于 2021-08-20 设计创作，主要内容包括：本发明属于汽车辅助驾驶技术领域,具体涉及一种基于毫米波雷达和摄像头的可视化BSD系统,包括用于获取目标物的物理特征数据的毫米波雷达；用于获取目标物的图像特征数据,便于对目标物进行分类的摄像头；用于处理和分析所获取的特征数据,计算目标物的报警风险等级,并用颜色进行报警风险等级区分的控制器模块；以及用于显示目标物的综合信息和报警风险等级的显示屏；同时涉及一种适用于该系统的BSD方法。本发明可更加直观和醒目的显示目标物对本车的危险程度,缩减驾驶员在驾驶过程中反应和判断的时间,便于驾驶员根据目标物的报警风险等级快速的作出驾驶动作,避免目标物与本车发生碰撞,从而提高驾驶的安全性,降低车辆损失或人员伤亡的概率。(The invention belongs to the technical field of automobile auxiliary driving, and particularly relates to a visual BSD system based on a millimeter wave radar and a camera, which comprises a millimeter wave radar for acquiring physical characteristic data of a target object; the camera is used for acquiring image characteristic data of the target object and facilitating classification of the target object; the controller module is used for processing and analyzing the acquired characteristic data, calculating the alarm risk level of the target object and distinguishing the alarm risk levels by colors; the display screen is used for displaying the comprehensive information and the alarm risk level of the target object; and also relates to a BSD method applicable to the system. The invention can more intuitively and obviously display the danger degree of the target object to the vehicle, shorten the time for the driver to react and judge in the driving process, facilitate the driver to quickly make driving action according to the alarm risk grade of the target object, and avoid the collision between the target object and the vehicle, thereby improving the driving safety and reducing the probability of vehicle loss or casualties.)

1. The utility model provides a visual BSD system based on millimeter wave radar and camera which characterized in that includes:

the millimeter wave radar is used for acquiring physical characteristic data of a target object;

the camera is used for acquiring image characteristic data of the target object, so that the target object can be classified conveniently; the controller module is used for processing and analyzing the acquired characteristic data, calculating the comprehensive information and the alarm risk level of the target object and distinguishing the alarm risk level by using colors;

and the display screen is used for displaying the comprehensive information and the alarm risk level of the target object.

2. The visual BSD system based on millimeter wave radars and cameras of claim 1, wherein the camera is disposed in the middle of the tail of the vehicle, and the millimeter wave radars are disposed on both sides of the tail of the vehicle.

3. The visualization BSD system based on millimeter wave radar and camera according to claim 1, characterized in that the detection area of the camera and millimeter wave radar covers 100m x 60m of the rear length x width of the host vehicle.

4. The visual BSD system based on millimeter wave radar and a camera according to claim 1, wherein the display screen is a dashboard or a central control screen of the vehicle.

5. A visualization BSD method based on millimeter wave radar and a camera as claimed in any one of claims 1 to 4, comprising the steps of,

data acquisition: collecting physical characteristic data of a target object through a millimeter wave radar, and collecting image characteristic data of the target object through a camera;

data processing: the controller module performs logical operation and processing analysis on the acquired physical characteristic data and the acquired image characteristic data to calculate comprehensive information and alarm risk level of the target object;

and (4) alarm display: and the controller module sends the calculated result to a display screen, and the display screen displays the comprehensive information of the vehicle, the comprehensive information of the target object and the alarm risk level.

6. The visual BSD method based on millimeter wave radar and camera as claimed in claim 5, wherein in the data processing step, the artificial intelligence algorithm and the machine learning algorithm are used for analysis, and the collision time between the target object and the vehicle is calculated, so as to determine the alarm risk level of the target object and distinguish different alarm risk levels by color.

7. The visualization BSD method based on millimeter wave radar and a camera according to claim 6, wherein the collision time is divided into a first threshold interval, a second threshold interval and a third threshold interval;

when the collision time is within a first threshold interval, indicating that the target object is safe and has no collision danger with the vehicle, and displaying the alarm risk level of the target object in green;

when the collision time is within a second threshold interval, indicating that the target object and the vehicle have collision risks, and displaying the alarm risk level of the target object in yellow;

when the collision time is within the third threshold interval, the current danger degree is increased by the next driving action of the driver, the alarm risk level of the target object is displayed in red, and meanwhile, the sound alarm reminding is triggered.

8. The visual BSD method based on millimeter wave radar and a camera as claimed in claim 5, wherein in the data collection step, the physical characteristic data of the target collected by the millimeter wave radar includes: the distance between the target object and the vehicle and the distance change rate, the speed of the target object and the speed change rate, and the angle between the target object and the vehicle and the angle change rate.

9. The visualization BSD method based on millimeter wave radar and a camera according to claim 5, wherein in the data collection step, the camera collects image characteristic data of the target object, including type, contour and appearance of the target object.

10. The visual BSD method based on millimeter wave radar and camera as claimed in claim 5, wherein in the alarm display step, the host vehicle and the host vehicle integrated information are displayed on the display screen, and the target object is dynamically displayed on the display screen according to the actually identified integrated information and the alarm risk level.

Technical Field

The invention belongs to the technical field of automobile auxiliary driving, and particularly relates to a visual BSD system and method based on a millimeter wave radar and a camera.

Background

BSD radar on the current market shows alarm information through LED lamp or the warning icon of panel board basically, and the display mode of alarm information is single, can only comparatively fuzzy suggestion driver alarm information's grade like BSD lamp and warning icon, can only show one-level, second grade alarm information generally. The alarm information is triggered by what target, and which alarm is triggered cannot be seen visually, so that a driver cannot know the specific alarm information at the first time, the attention of the driver is dispersed, and the driving safety is reduced.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides a visual BSD system and a visual BSD method based on a millimeter wave radar and a camera.

The technical effect to be achieved by the invention is realized by the following technical scheme:

the visual BSD system based on the millimeter wave radar and the camera comprises the millimeter wave radar and is used for acquiring physical characteristic data of a target object; the camera is used for acquiring image characteristic data of the target object, so that the target object can be classified conveniently; the controller module is used for processing and analyzing the acquired characteristic data, calculating the comprehensive information and the alarm risk level of the target object and distinguishing the alarm risk level by using colors; and the display screen is used for displaying the comprehensive information and the alarm risk level of the target object.

Furthermore, the camera is arranged in the middle of the tail of the vehicle, and the millimeter wave radar is arranged on two sides of the tail of the vehicle.

Further, the detection area of the camera and the millimeter wave radar covers the rear length × width of the host vehicle, which is 100m × 60 m.

Further, the display screen is a dashboard or a central control screen of the vehicle.

The visual BSD method based on the millimeter wave radar and the camera comprises the following steps of data acquisition: collecting physical characteristic data of a target object through a millimeter wave radar, and collecting image characteristic data of the target object through a camera; data processing: the controller module performs logical operation and processing analysis on the acquired physical characteristic data and the acquired image characteristic data to calculate comprehensive information and alarm risk level of the target object; and (4) alarm display: and the controller module sends the calculated result to a display screen, and the display screen displays the comprehensive information of the vehicle, the comprehensive information of the target object and the alarm risk level.

Further, in the data processing step, an artificial intelligence algorithm and a machine learning algorithm are used for analysis, and the collision time of the target object and the vehicle is calculated, so that the alarm risk level of the target object is judged, and different alarm risk levels are distinguished by colors.

Further, the collision time is divided into a first threshold interval, a second threshold interval and a third threshold interval; when the collision time is within a first threshold interval, indicating that the target object is safe and has no collision danger with the vehicle, and displaying the alarm risk level of the target object in green; when the collision time is within a second threshold interval, indicating that the target object and the vehicle have collision risks, and displaying the alarm risk level of the target object in yellow; when the collision time is within the third threshold interval, the current danger degree is increased by the next driving action of the driver, the alarm risk level of the target object is displayed in red, and meanwhile, the sound alarm reminding is triggered.

Further, in the data acquisition step, the physical characteristic data of the target object acquired by the millimeter wave radar includes: the distance between the target object and the vehicle and the distance change rate, the speed of the target object and the speed change rate, and the angle between the target object and the vehicle and the angle change rate.

Further, in the data acquisition step, the image characteristic data of the target object, including the type, contour and appearance of the target object, is acquired by the camera.

Further, in the alarm display step, the vehicle and the comprehensive information thereof are displayed above the display screen, and the target object is dynamically displayed on the display screen according to the actually identified comprehensive information and the alarm risk level.

In summary, the invention has at least the following advantages:

1. the invention can visually display the image characteristic data and the physical characteristic data of the target object, is convenient for a driver to quickly identify the type of the target object and observe the comprehensive information of the target object, thereby assisting the driver in driving the vehicle, improving the driving safety and reducing the probability of vehicle loss or casualties;

2. the alarming risk grade of the target object is distinguished by three colors of green, yellow and red, and can be combined with the comprehensive information of the target object, so that the danger degree of the target object to the vehicle can be more visually and obviously displayed, the reaction and judgment time of a driver in the driving process can be effectively shortened, the driver can conveniently and quickly make driving action according to the alarming risk grade of the target object, the target object and the vehicle can be prevented from colliding, the driving safety can be further improved, and the probability of vehicle loss or casualty can be reduced.

Drawings

Fig. 1 is a schematic block diagram of a visualization BSD system based on a millimeter wave radar and a camera in an embodiment of the present invention;

fig. 2 is a display image of a display screen in an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described in detail and completely with reference to the accompanying drawings. The described embodiments are a few embodiments of the invention, rather than all embodiments.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

As shown in fig. 1, in a preferred embodiment, the visualized BSD system based on millimeter wave radar and camera of the present invention includes a millimeter wave radar, a camera, a controller module and a display screen; the millimeter wave radar is arranged on two sides of the tail of the vehicle and used for acquiring physical characteristic data such as the speed and the speed change rate of a target object, the distance and the distance change rate with the vehicle, the angle and the angle change rate with the vehicle and the like; compared with the existing radar, the millimeter wave radar has the characteristics of small volume, light weight, high spatial resolution, strong penetration capability, all-weather (except heavy rainy days) detection all day long, strong anti-interference and anti-stealth capabilities and the like, and is low in preparation cost and convenient for enterprises to save production cost. The camera is arranged in the middle of the tail of the vehicle and used for acquiring image characteristic data of a target object, so that the target object can be conveniently identified and classified, and whether the target object is a car, a truck, a tricycle, a bicycle, a pedestrian or a pet or the like is judged; in order to improve the definition of the acquired target object image, the camera is preferably a high-definition camera with the resolution not less than 720P. In order to observe the situation around the host vehicle and the blind areas behind the host vehicle in a comprehensive manner and further improve the driving assistance safety, it is preferable that the detection area formed by the camera and the millimeter wave radar covers the rear length × width of the host vehicle to be 100m × 60 m. The controller module is used for processing and analyzing the acquired characteristic data, performing logical operation and processing analysis on the characteristic data acquired by the millimeter wave radar and the camera to obtain information such as the category, distance, speed, angle and the like of a target object, and preparing for analyzing the point track and the track of the target object in the next step; then, obtaining comprehensive information of the target object through operation processing, judging the alarm risk level of the target object, and identifying the target object by using colors to distinguish the alarm risk level; the display screen is used for displaying comprehensive information and alarm risk levels of the target object, so that a driver can conveniently check the conditions of the blind areas around the vehicle and behind the vehicle, distinguish the classification and alarm information of the target object around the vehicle, and easily cope with the driving environment of the blind areas around the vehicle and behind the vehicle.

The visual BSD method based on the millimeter wave radar and the camera comprises the following steps,

data acquisition: collecting physical characteristic data of a target object through a millimeter wave radar, and collecting image characteristic data of the target object through a camera; the physical characteristic data of the target object collected by the millimeter wave radar comprises the speed and the speed change rate of the target object, the distance and the distance change rate between the target object and the vehicle, and the angle change rate between the target object and the vehicle; the camera acquires image characteristic data of the target object, including the type, contour and appearance of the target object.

Data processing: the controller module performs logical operation and processing analysis on the acquired physical characteristic data and the acquired image characteristic data to obtain information such as the category, distance, speed, angle and the like of the target object, and prepares for analyzing the trace points and the flight path of the target object in the next step; then, obtaining comprehensive information of the target object through operation processing, judging the alarm risk level of the target object, and identifying the target object by using colors to distinguish the alarm risk level; in the process, the controller module utilizes an artificial intelligence algorithm and a machine learning algorithm to analyze, mainly judges the alarm risk level of the target object according to but not limited to the calculated collision time of the target object and the vehicle, and distinguishes the alarm risk level by color. Specifically, the collision time is divided into a first threshold interval, a second threshold interval and a third threshold interval; when the collision time is within a first threshold interval, indicating that the target object is safe and has no collision danger with the vehicle, and displaying the alarm risk level of the target object in green; when the collision time is within a second threshold interval, indicating that the target object and the vehicle have collision risks, and displaying the alarm risk level of the target object in yellow; when the collision time is within a third threshold interval, the current danger degree is increased by the next driving action of the driver, the alarm risk level of the target object is displayed in red, and meanwhile, the controller module triggers the sound equipment of the vehicle-mounted system to perform sound alarm reminding.

Taking a car as an example of a target object, the collision time is compared with the alarm risk level and the color display as shown in the following table:

and (4) alarm display: the controller module sends the calculated result to a vehicle instrument panel or a central control screen, and displays the comprehensive information of the appearance, the contour, the speed change rate and the like of the vehicle, the comprehensive information of the type, the appearance, the contour, the speed change rate, the distance from the vehicle, the distance change rate, the angle change rate and the like of the target object, and the alarm risk level of the target object through the vehicle instrument panel or the central control screen. As shown in fig. 2, during display, a lane line is simulated by a dotted line, the vehicle and its integrated information are displayed in the 1/4 middle lane above the instrument panel or the central control screen of the vehicle, and the target objects around and behind the vehicle are dynamically displayed on the instrument panel or the central control screen of the vehicle according to the integrated information and the alarm risk level which are actually recognized, so that the danger degree of the target objects to the vehicle is visually and prominently displayed.

According to the technical scheme of the embodiment, the method and the device are convenient for a driver to rapidly identify the type of the target object and observe the comprehensive information of the target object, so that the driver is assisted to drive the vehicle, the driving safety is improved, and the probability of vehicle loss or casualties is reduced; the alarming risk level of the target object is distinguished by three colors of green, yellow and red, and can be combined with the comprehensive information of the target object, so that the danger degree of the target object to the vehicle can be more visually and obviously displayed, the reaction and judgment time of a driver in the driving process can be effectively shortened, the driver can conveniently and quickly make driving action according to the alarming risk level of the target object, the target object and the vehicle can be prevented from colliding, the driving safety can be further improved, and the probability of vehicle loss or casualties can be reduced.

In the description of the present invention, it is to be understood that the terms indicating an orientation or positional relationship are based on the orientation or positional relationship shown in the drawings only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

While the invention has been described in conjunction with the specific embodiments set forth above, it is evident that many alternatives, modifications, and variations will be apparent to those skilled in the art in light of the foregoing description. Accordingly, it is intended to embrace all such alternatives, modifications, and variations that fall within the spirit and scope of the appended claims.