• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    SUMMARY The invention relates to a method for avoiding collisions with persons and physical objects when maneuvering vehicles comprising a vehicle constructed with at least one sensor where persons and physical objects are challenged with a reflecting device and that filing steps are included; (a) illuminate an area, with a light source arranged on the vehicle, where the light head has a certain wavelength, (b) register a first image Over the area under lighting, with a sensor arranged on the vehicle, where the sensor is adapted to the wavelength of the light head, (c recording a second image over an area, with a sensor mounted on the vehicle, (d) detecting, in a calculating unit mounted on the vehicle, challenging persons or physical objects with the reflecting device by comparing the first image with the second image, (e ) determine, in a calculation unit arranged on the vehicle, whether the detected objects Or persons or physical objects, (1) communicate information about detected persons or physical objects. Furthermore, the invention relates to a security system for detecting persons and physical objects when maneuvering vehicles, including a vehicle constructed with at least one sensor unit and an image display unit where persons and physical objects are challenged with a reflecting device and that the following steps are included; (a) a headlamp arranged on the vehicle, where the headlamp has a specific wavelength, illuminates an area, (b) the sensor unit arranged on the vehicle, where the sensor unit Or adapted to the wavelength of the headlamp, registers a first image of the area under illumination, (c) the a sensor unit arranged on the vehicle registers a second image, (d) a calculating unit arranged on the vehicle detects objects arranged with the reflecting device by comparison between the first image and the second image, (e) a calculating unit arranged on the vehicle determines whether the detected objects Or persons or physical objects, (e) information about the detected persons and the physical objects is presented on the image display unit. Furthermore, the invention relates to a vehicle arranged with a safety system. Fig. 1.
    公开号:SE1400134A1
    申请号:SE1400134
    申请日:2014-03-12
    公开日:2015-09-13
    发明作者:Rafael Mosberger；Henrik Andreasson
    申请人:Henrik Andreasson；Rafael Mosberger；
    IPC主号:
    专利说明:

    TECHNICAL FIELD The invention relates to a method for avoiding collisions with persons and physical objects when maneuvering vehicles comprising a vehicle constructed with at least one sensor. Furthermore, the invention relates to a security system for detecting persons and physical objects when maneuvering vehicles, comprising a vehicle constructed with at least one sensor and an image display unit. Furthermore, the invention relates to a vehicle arranged with a safety system.
    BACKGROUND OF THE INVENTION, TROUBLESHOOTING AND KNOWLEDGE TECHNOLOGY In work related to construction, mining, demolition, logistics, transport and forwarding as well as other work that involves transport by vehicle, there is a risk of injuring persons and / or physical objects in the vehicle's vehicle area. Especially when the vehicle reverses or is moved in such a way that the vehicle's driver does not have a complete Overview of the hut 'of the vehicle is moved, there is a risk that people located in the vehicle's surroundings will be crossed by the vehicle. It is common, depending on the nature of the work, that a vehicle often interacts with one or more persons located in the vicinity of the vehicle. These people are often unprotected from the vehicle and adapt their location based on the movement of the vehicle.
    To facilitate maneuvering of a vehicle, the vehicle may be equipped with sensors such as a camera connected to, a display unit or display shown to the driver of the vehicle. Preferably, the camera is directed in the reverse direction of the vehicle and the view shown from the camera is presented to the driver in the display. The driver can use the image information to drive the vehicle. In the event that a physical object or person is identified, the vehicle can be stopped. Problem with this type of solution is that it is black to use cameras to thank all directions ddr the vehicle in front, further required high attention of the driver to interpret the information presented in the display, especially in contexts where there is an intense activity in the ndromrad, the picture large of calves as rain and in cases where the light conditions are such that it is black to identify objects or people in the image, for example in dark.
    I 2 Furthermore, for autonomous vehicles, or partially autonomous vehicles, there is a need to avoid collisions with persons or physical objects that are to some extent in the vagus of the autonomous vehicle. For these autonomous vehicles, it is assumed that physical objects or persons are identified and that the autonomous vehicle can be stopped.
    The article "Estimating the 3D Position of Humans Wearing a Reflective Vest Using a Single Camera System", published at the "International Conference on Field and Service Robotics" July 2012 shows the detection of people challenged with reflective vast. The method shown in the article does not include identification of whether the objects detected are persons or physical objects.
    U.S. Patent No. 4,833,469 discloses a system for detecting objects and indicating detection of objects to the driver of a vehicle. The system includes a device for transmitting electromagnetic straining in the direction of travel of the vehicle and a device for receiving electromagnetic straining reflected from an object. Furthermore, the system calculates distance and differential velocity to the object from sand and received electromagnetic straining. Furthermore, systems are described for changing the width of the electromagnetic carriage to accommodate a stone surface / volume. The system shown in the patent specification does not include identification of the objects detected.
    Further problems which the invention intends to solve will become apparent in connection with the following detailed description of the various embodiments. OBJECT OF THE INVENTION AND ITS FEATURES The present invention improves the ability to detect persons and physical objects in which a vehicle is driven. By providing persons or objects with a reflex or other device for, completely or partially, reflecting electromagnetic straining, the persons or the physical objects can be detected and identified.
    The present invention relates to a method for avoiding collisions with persons and physical objects when maneuvering vehicles comprising a vehicle constructed with at least one sensor in which persons and physical objects are performed with a reflecting device and all subsequent steps are included; (a) illuminate an area, with a headlamp arranged on the vehicle, where the headlamp has a specific wavelength; 3 record a first image of the area under lighting, with a sensor arranged on the vehicle, where the sensor is adapted to the wavelength of the headlamp, register a second image Over an area, with a sensor arranged on the vehicle, detect, in a calculating unit arranged on the vehicle, people or physical objects challenge with the reflecting device by comparing the first image and the second image, determine, in a calculating unit arranged on the vehicle, if the detected objects are persons or physical objects, communicate information about detected persons or physical objects.
    According to further aspects of the improved method for colliding with persons and physical objects in maneuvering vehicles comprising a vehicle constructed with at least one sensor grille; a ii determination of whether the detected objects Or persons or physical objects take place by the detected objects giving different signatures from the reflecting device so that the reflecting device for persons gives a first reflective signature and so that the reflecting device for physical objects gives a second reflective signature. "-) 0 that t determination of whether the detected objects or persons or physical objects takes place by an algorithm arranged in the computation unit which, based on the layer, size, motion or other parameter of the detected objects, determines whether the detected objects are persons or physical objects. detected persons can be identified as lying, crouching or standing.that the information about detected persons or physical objects is visualized in an image display unit arranged on the vehicle.that the detected objects are visualized in the form of contours where persons or physical objects are given different contours so that for persons is given a first type of contour and said that fcir physical objects are given a second type of contour.
    The invention furthermore relates to an improved security system for detecting persons and physical objects when maneuvering vehicles comprising a vehicle constructed with at least one sensor and an image display unit in which persons and physical objects are performed with a reflecting device and that the following steps are included; a headlamp arranged on the vehicle, where the headlamp has a specific wavelength, illuminates an area, a sensor unit arranged on the vehicle, where the sensor unit is adapted to the wavelength of the headlamp, registers a first image of the area under lighting, a sensor unit arranged on the vehicle registers a second image, a calculating unit arranged on the vehicle detects objects arranged with the reflecting device by comparison between the first image and the second bit it, (e) a calculating unit arranged on the vehicle determines whether the detected objects are persons or physical objects, information about the detected persons and the physical objects are presented on a bi display unit.
    According to further aspects, part improved security systems for detecting persons and physical objects in maneuvering vehicles comprising a vehicle constructed with at least one sensor and an image display unit grille; that the reflecting device is designed to distinguish vertical and horizontal orientation of the reflecting device and that the reflecting device has a first design for persons and a second design for physical objects and that the reflecting device is at least one reflex adapted or 1dmpad for infrared straining.
    The invention relates thereto to a vehicle arranged with a safety system.
    According to further aspects of a vehicle arranged with a safety system grille; that the vehicle is arranged with a sensor system in the forward direction and a sensor system in the reverse direction and where the safety system automatically selects sensor system depending on the direction of the vehicle.
    ADVANTAGES AND EFFECTS OF THE INVENTION Based on the proposed method for avoiding collisions when maneuvering vehicles and the proposed safety system for vehicles, there is an improved system for avoiding the collision and increasing safety when working with vehicles compared to conventional solutions. By sanding light and receiving the signal reflected from a reflex-sharp, people and physical objects around the vehicle can be detected regardless of weather conditions, light conditions or miles * The method is applicable in strong sunshine as well as falling ground.
    The improvement compared to using conventional technology, such as reversing cameras, is that the method of avoiding collisions when maneuvering vehicles and the security system actively identified people and physical objects in the environment while a conventional system only presents information. The proposed method and the proposed system are also lamped for fully or partially autonomous systems.
    FIGURE The invention will be described in more detail below with reference to the accompanying figures: Fig. 1 shows a vehicle made with a vehicle safety system according to an embodiment of the invention.
    Fig. 2 shows a sensor system for safety systems for vehicles according to an embodiment of the invention.
    Fig. 3a shows an image display unit for safety systems for vehicles according to an embodiment of the invention.
    Fig. 3b shows an image display unit for a safety system for vehicles arranged in a vehicle according to an embodiment of the invention.
    Fig. 4 shows a flow chart of a method for avoiding collisions when maneuvering vehicles according to an embodiment of the invention.
    Fig. 5 shows a block diagram of vehicle safety systems according to an embodiment of the invention.
    Fig. 6a shows a view from a sensor in the visual wavelength range of a vehicle safety system according to an embodiment of the invention.
    Fig. 6b shows a view from a sensor in the infrared wavelength range of a vehicle safety system according to an embodiment of the invention.
    Fig. 7a shows an image display unit, with a perspective view from a camera, for a safety system for vehicles according to an embodiment of the invention.
    Fig. 7b shows an image display unit, with a perspective view from above, for a safety system for vehicles according to an embodiment of the invention.
    DETAILED DESCRIPTION OF THE PERFORMANCE Fit safety systems for a vehicle are used to reduce the risk of people or German objects being inadvertently crossed on or on other salts by a vehicle. A ware of a vehicle combines the visual information from windows, mirrors or other devices to increase the visibility around the vehicle with image information from, for example, a camera or other equipment that registers image information and sensor information from, for example, rear sensors. The registered image information and sensor information are presented in most cases on a display, but the lives can be communicated through audio information or in another way. Furthermore, there are systems for detecting people or objects based on, for example, ultrasound or radar. The driver of the vehicle combines the information from the standing systems with his own perception of the situation in order to decide his decisions regarding the cage the vehicle is driving. For autonomous systems, the vehicle is controlled, belt or part, by the sensor information.
    In connection with this, many disturbing factors occur, such as at a workplace, depending on weather factors, extensive traffic, etc. the driver of a vehicle is required to make decisions under stress. If a system that provides the driver with correct and clear information can be introduced into the vehicle, and thus makes it easier for the driver, then the risk of accidents can be reduced. By using a security system that can identify people and physical objects in the vicinity of the vehicle, the security system can display information, alert the driver of the vehicle and / or obstruct the vehicle. Such a safety system is also applicable to autonomous vehicles, that is to say vehicles without drivers and partly autonomous 7 systems, the viii saw vehicles with drivers but the vehicle also fully or partially autonomously drives the vehicle.
    Figure 1 shows a vehicle 1 constructed with a safety system for vehicle 2 where the vehicle is arranged with sensor system 3, 3 '. The number of sensor systems 3, 3 'can be adjusted based on the vehicle's 1 corrections or other relevant parameters regarding the vehicle's performance. The vehicle's sensor system 3, 3 'detects a reflective signature or a reflex from persons 4 and physical objects in the vehicle's vicinity. The vehicle's interior range can be the area in front of the vehicle's sensor system 3, 3 'and in a radius around the vehicle up to 100 meters from the vehicle, but other longer distances are also conceivable if there is a need for a Pangre distance. The vehicle 1 shown in figure 1 is arranged with a sensor system 3 in the forward direction and a sensor system 3 'in the reverse direction. The persons 4 or the physical objects are provided with a reflecting device 5.
    Figure 2 shows a sensor system 3 comprising sensors 111, 112, camera 116 and light source 115. In the embodiment shown in figure 2, the sensor system has two sensors 111, 112 and a camera 116, the sensor system can also be designed with more or fewer sensors ( ) eh cameras. Furthermore, the sensor system in Figure 2 is designed with a light source 115 in the form of one or more LEDs arranged around the sensors / camera, but the light source 115 can also be challenged as a stand-alone unit or in another way! arranged to illuminate the area towards which the sensors / camera are directed.
    Figure 3a shows an image display unit 117 arranged to show the driver of the vehicle 1 a view in the direction of the vehicle or another direction chosen by the vehicle or driver.
    The image display unit 117 may also be arranged to receive commands from the driver, for example by keys, touch screen or other device or system for adapting the security system for vehicles according to the driver's wishes.
    Figure 3b shows an image display unit 117 arranged in a vehicle 1. The security system for vehicles is arranged in figure 3b to show, in the image display unit 117, a view in the direction of the vehicle 1.
    Figure 4 shows a flow chart of a method for avoiding collisions when maneuvering vehicles 11 where the method detects persons or objects provided with a reflecting device. An area is irradiated or illuminated 12 with electromagnetic straining, preferably infrared straining further called IR straining. The reflected light is recorded 13, in the form of a first image, with a sensor, such as a camera or other device, adapted to the true light. Furthermore, a second or additional images can be recorded 13 with the same sensor or additional sensors, then preferably placed at a distance in relation to each other for a stereographic recording. The second image is preferably taken without a thregaende illumination 12. The first image is thus registered after an illumination of the physical objects and persons present in the sensor's registration area and the second image is thus registered without an illumination of the physical objects and persons present in the sensor. sensor detection area. An image processing technical comparison between the first and second images can thus detect the reflective physical objects and the persons in the image.
    Part wants to say the physical objects and persons arranged there with an electromagnetically reflecting device, such as a reflector or other reflectors, will be detected.
    Furthermore, a first visual image can be recorded 14 which is preferably output with a sensor sensitive to the optical area visible to man. All images and visual images can be detected with the same sensor but also with two or more separate sensors.
    The registered first image is image processed by identifying the bright objects in the image in the image processing block segmentation 15. Furthermore, the registered second image can be image processed by identifying the bright objects in the image in the image processing segmentation block 15. The comparison between the first image and the second image after segmentation 15 gives the physical objects and persons which may be equipped with a reflecting device as these physical objects and persons have probably given a signature created by the illumination 12 in the first image. In a second step in the image processing, image processing detection 16, detection can be based on the type of the illuminated physical objects or persons identified in the first step of the image processing. Detection of type may include, for example, that a person provided with a reflecting vast or a physical object provided with a reflecting device recorded. Detection takes place with previously damped algorithms, including various forms of learning algorithms. The detected physical objects or persons can then be searched 17 to determine if there is a person in motion or a physical object in motion, for example an armored vehicle. The objects identified as physical objects and persons, after the image processing steps 15, 16, 17, can be presented on an image display unit 117, such as a display, which is presented to the driver of the vehicle. To facilitate the visualization, the physical objects and / or persons can be presented in the form of a rectangle or contour marked with color or other salt. With advantage, the color-marked rectangle or outline is presented on a color image with a view over the camera's registration area. The various sensors and cameras thus have a completely or partially overlapping detection area. Furthermore, there may be several sets of cameras and sensors with different detection ranges. The method for avoiding collisions when maneuvering vehicles where the method detects persons or physical objects equipped with electromagnetic reflecting device 11 can, in addition to presenting the information visually, provide information about distance and position of physical objects and / or persons that can be used by the vehicle for e.g. automatic braking, provide visual or audible information or in other ways that are illuminated for the individual installation and / or vehicle. Figure 5 shows a block diagram of safety systems for vehicles 110. At least one sensor 111, 112 is arranged on a vehicle for registration in at least one of the vehicle's directions of travel. In the case that the vehicle is autonomous, sensors with advantage are arranged in all directions of travel of the vehicle, in case the vehicle is maneuvered by a driver, the device is in most cases arranged in the reverse direction of the vehicle or other directions where visibility is limited and the driver has responsibilities to see. The sensor or sensors 111, 112 are adapted to the wavelength of the light source 115. By using at least two sensors 111, 112, preferably spatially separated, the distance to the persons or objects registered in the image can be calculated. The sensors are connected, directly or via a cross-section 113, to a 90-counting unit 114. In the touch unit, a suitable image processing is performed before the second.
    The calculating unit 114 also controls sensors 111, 112, camera 116 and light source 115. The light source 115 illuminates physical objects and persons 119 in the area where the sensors 111, 112 register image information. The light source 115 advantageously illuminates only the area when a sensor 111, 112 performs a registration of the area, which is said during the shutter speed of the sensor. Furthermore, the security system 110 may be provided with a camera 115 for a recording of an image of the area. It is also possible to use a camera arranged on the vehicle for other purposes, for example a reversing camera. The physical objects or persons identified by the calculating unit in the images may be displayed palaged or otherwise arranged together with an image from the camera 116 on a display unit 117.
    The calculating unit can also be arranged to generate a signal 118 which can be used to stop, for example, the vehicle to which the safety system 110 is arranged.
    Figures 6a and 6b show a view from the sensors and the camera 111, 112, 115. Figure 6a shows a view from a sensor which registers image information in the visual wavelength frame. In the view shown in Figure 6a there is a physical object 6, in the form of a vehicle, where the physical object Eli is made with a reflecting device 7, in the form of reflectors arranged ph the vehicle and a person 4 arranged with a reflecting device 5. 1 Figure 6b shows a view from a sensor which registers image information in the infrared wavelength range. It is clear in Figure 6b how the reflected information, which is electromagnetic straining from the light source reflected in the reflecting device 5, 7, provides information regarding physical objects 6 and persons 4.
    Figures 7a and 7b show two different views of an image display unit 117. Figure 7a shows a view in the direction of the vehicle from a camera arranged in the direction shown in the view. Figure 7b shows a view seen from above, the view shown in Figure 7b is calculated by the safety system for vehicles 110. The driver of the vehicle can select the desired view through an interface arranged on the image display unit 117. In an alternative embodiment, the safety system for vehicles 110 may have a second view. in the image display unit 117 to attract the driver's attention. Information in the image display unit 117 may be image information with distance to persons or physical objects, which is indicated in Figures 7a, 7b, indicating distance to the physical objects and / or persons. For the view seen from above, distance lines can also be presented in the image display unit 117 to indicate distance to physical objects or persons. The distance lines are presented with a certain determinable distance, for example 5 m. Furthermore, the vehicle's estimated future trajectory can be presented in the image display unit, which is indicated in figure 7b. Figure 7b indicates that the potential future trajectory or course of the vehicle 1 becomes wider / larger with increased distance as the uncertainty regarding the vehicle's future trajectory increases with increased distance as the maneuverability increases with distance. If persons or physical objects are in the forecast path, a visual or audible or otherwise indicated alarm can alert the driver of the vehicle 1 that there is a risk of collision. It is further conceivable that the safety system for vehicle 110 calculates an estimated time for collision and automatically brakes or otherwise limits the vehicle's speed.
    FUNCTIONAL DESCRIPTION Figure 1 shows a vehicle 1 constructed with a safety system for vehicles 2 where the vehicle is arranged with sensor systems 3, 3 'in the forward and reverse directions of the vehicle. Vehicle sensor system 3. 3 'can sand electromagnetic straining and detect a reflective signature or a reflex from persons 4 and challenge physical objects with a reflecting device 5 in the vehicle area 1 and record image information with sensor system 3, 3' sensors and / or cameras. The sensor system 3, shown in Figure 2, comprises at least one sensor 111, 112, and at least one camera 116 and at least one light source 115. It is also conceivable that the same sensor can function as a sensor sensor as a camera by adapting the sensor to the vehicle area. Preferably, the sensor system 3, 3 'is carried out in a unit for mounting on the vehicle, but the sensor system can also be arranged on the vehicle by individual mounting or by using sensors, cameras or light sources already arranged on the vehicle. Preferably, two sensor systems 3, 3 'are arranged on the vehicle 1, a sensor system 3 in the forward direction and a sensor system 3' in the reverse direction and where the safety system for vehicle 110 automatically changes sensor system 3, 3 'and a view in the image display unit 117 from the vehicle direction. When reversing, the sensor system 3, 3 'which is arranged in the reverse direction 3' is selected, and when the vehicle is driven in the forward direction, the sensor system 3 is selected as arranged in the forward direction. Furthermore, both sensor systems 3, 3 'can be used simultaneously to create a view from above of the situation around the vehicle.
    An image display unit 117, shown in Figure 3a, is arranged to show the driver of the vehicle 1 a view in the direction of the vehicle or another direction chosen by the vehicle or driver. The driver of the vehicle I can also control the safety system for the vehicle with the image display unit 117. Figure 3b shows how the image display unit 117 can be arranged in the vehicle so that the driver can get a good overview of the information presented in the image display unit 117 and maneuver the interface with which the driver can control the safety system of the vehicle 110.
    Figure 4 shows a flow chart of a method for avoiding collisions when maneuvering a vehicle where the method detects persons or objects provided with a device for optical straining reflecting 11. Preferably, images 13 are registered at a frequency of 30 images per second, i.e. more or fewer images per second may occur. Each registration of image 13 takes place with a shutter speed of in the order of 1 ms, armed lighting should also take place in the order of 1 ms. For each image registered 13 with illumination 12 of the light source 115, the first image, a second image is registered 13 without the use of the light source 115. The second image can be registered with the same sensor 111, 112 but also by a different sensor 111, 112. A advantageously, the first image is detected with a first sensor sensitive in the infrared range and the second image with a second sensor which is detectable throughout the visual range. Furthermore, a further set of images can be registered 13 in order, for example, to obtain better image quality or to be able to calculate the distance to objects and persons. When a set of images has been registered, the process is repeated with a registration of a first image, then a 12 second image and so on. where at least one of the images is registered at the same time as the registration area is illuminated. By comparing images registered when the light source has been active with images registered without the light source, physical objects and persons who reflected light from the light source 115 can be distinguished. Depending on the surrounding light conditions, such as strong sunshine or total darkness, differences between the first image and the second image will be of different magnitudes. With a suitable segmentation algorithm, objects can be identified, where the objects represent the reflective physical objects and the persons. The objects identified by comparison between the first image and the second image in the block segmentation 15 can, after detection 16, be classified as physical objects or persons. Detection 16 takes place with a spiritually adapted and learning algorithm that identifies physical objects and persons from the reflecting objects detected from segmentation 15. Detection 16 includes determining whether the identified objects are physical objects or persons. For example, determination can be made by the identified objects having different reflective signatures with respect to sample, intensity or frequency content. For example, the reflective signature may indicate whether the physical object or person is vertically or horizontally oriented, for example to determine if a person is lying down or standing up. In an advantageous case, persons can be identified to stand up, lie down or be in a crouching position, where crouching position includes all positions between lying and standing. Furthermore, an assessment regarding a person's observation ability and mobility can be made based on the person's body posture where a lying person is judged to have law observation ability and mobility, which results in great care / caution when driving the vehicle towards a lying person, and that a crouching person is required. have limited observation ability and mobility why a vehicle being driven towards a crouching person must observe caution / caution and in case a person is standing, the vehicle can be driven with limited / normal caution / caution. A standing person is judged to have normal observational ability and mobility. In addition, an assessment can be made regarding whether a person is water against or from the vehicle. If a standing person was walking towards the vehicle, said that the standing person was seeing the vehicle, it is judged to have higher observation ability and mobility compared to a standing person who is water from the vehicle, so that the standing person is not seeing the vehicle. In the same way, a squatting person is judged to be walking towards the vehicle, so that the squatting person sees the vehicle, has higher observation ability and mobility compared to a squatting person who is water from the vehicle, so that the squatting person does not see the vehicle. There, four different cases can be identified regarding persons' location: lying, squatting water against the vehicle, 13 squatting water from the vehicle, standing water against the vehicle and standing water from the vehicle.
    Furthermore, the physical objects and persons may be challenged with a reflective device which provides different reflective signatures in order to be able to distinguish physical objects from persons through the reflective signature. Other parameters that affect the reflective physical objects and persons may also occur. The physical objects and persons detected by detection 16 can be tracked 17 by comparison with subsequent image series. By tracking 17, changes can be tracked by the detected physical objects and persons, which are other relative to the vehicle when the vehicle is moved and whether the physical objects or persons are moved. By means of tracking 17, an improved identification and determination of the physical objects and persons can be carried out, for example, physical objects and persons moving towards the vehicle or on other salt as there are risks of collision can be detected. The physical objects and persons can be displayed 18 by visualizing the physical objects and persons, for example, by rectangles in an image of the area or by contours of the physical objects, or contours of the persons. Advantageously, contours for persons are challenged with a specific shape ay contour, for example by selecting ay contour firg or line thickness or type ay line, and the physical objects have another specific shape ay contour, for example by fdrg or line thickness or type of line. The contours can be indicated by Liven if the persons are facing the vehicle and then get a shape in the contour or wander from the vehicle, with their backs to the vehicle, and then visualized with another shape of the contour. In the event that a person is judged to have legal supervision, for example because the person is water from the vehicle, or when the vehicle is another person, the shape of the contour can be clarified by the contour flashing or otherwise indicating that there is a risk. Furthermore, different types of physical objects can be distinguished by means of the shape of the contour, for example by color or line thickness or type a line.
    Advantageously, the visualized objects can be presented, superimposed on, an image recorded 14 with a camera mounted on the vehicle. The camera used for this image recording may be a camera already mounted on the vehicle, for example an existing reversing camera. The flow chart shown in Figure 4 for a method of avoiding collisions in maneuvering vehicles where the method detects persons or physical objects provided with electromagnetic reflecting device 11 shows that the information is presented, shown 18, to a driver of the vehicle. The information on the physical objects and persons can also be used to stop the vehicle in cases where the vehicle comes too close or otherwise can expose the physical objects and the 14 persons to risk or in cases where the vehicle 1 can be exposed to risk. Other alternatives are also conceivable, for example alarm signals in the form of sound and / or light in cases where the vehicle comes too close or in another way may expose the physical objects and persons to risk. An alternative solution is that the speed of the vehicle is automatically regulated downwards when physical objects and persons are near the vehicle or when the vehicle approaches, another alternative is that sound signals and / or light signals increase in intensity when physical objects and persons are near the vehicle or when the vehicle approaches.
    A safety system for vehicles 110, shown in flair 5, consists of a number of sensors 111, 112 for detecting substantially infrared straining in the wavelength range 700 nm to 1 mm. The sensors are, for example, CMOS sensors with high probability in the infrared interference, an advantageous design where a probability in the NIR range, with a wavelength of 750 nm to 1400 nm, specially lamped at the frequencies 850 nm and 940 nm where a smaller amount of natural straining from the sun is present. The sensors are advantageously arranged with an optical lens and a filter. If the number of sensors is at least one, if several sensors are used, they are advantageously placed at a distance to enable performance assessments in the images. The distance between the sensors can be in the order of 20 cm, but the living stone or smaller distances can occur. Determination of distance in stereograms, several images registered with an inboard al / stand, which is to be regarded as a general edge and is not further affected in this application. A sensor can also be equipped with optics to be able to register images spatially. In cases where the vehicle security system 110 presents information to a driver of a vehicle, it is advantageous to present information recorded by the sensors 111, 112 superimposed on a camera image. The camera image can be recorded by a camera 116 arranged on the vehicle as part of the vehicle's Other systems, such as a reversing camera, or as part of the security system for vehicles 110. All sensors 111, 112 and the camera 116 can be connected to a coverage unit 114. A interface 113 can be arranged between the sensors 111, 112, the camera 116 and the calculating unit 114 if required. For example, the interface 113 may adjust the format of images, signal levels, and other features lamped so that the computing unit 114 can handle the information from the sensors 111, 112, and the camera 116. The computing unit 114 controls the sensors 111, 112, the camera 116, and the light source 115. the pictures. The result of the calculating unit 114 can be presented on an image display unit 117 or in the form of a signal 118. In the case that the physical objects and persons calculated and detected in the calculating unit 114 are presented on an image display unit 117, the physical objects and persons can be presented in the form of a frame or contour in a camera image from the camera 116. In the event that information about the physical objects and persons is communicated in the form of a signal 118, the information may wholly or partly control the vehicle. The information about the physical objects and the persons, by signal 118, can be used to stop the vehicle in cases where the vehicle comes too close or in another way can expose the physical objects and the persons to risk. Other alternatives are also conceivable, for example alarm signals in the form of sound and / or light in cases where the vehicle comes too close or in another way may expose the physical objects and persons to risk. An alternative solution is that the vehicle's speed is automatically regulated downwards when physical objects and people are near the vehicle or when the vehicle approaches, another alternative is that sound signals and / or light signals' Are in intensity when physical objects and people are near the vehicle or when the vehicle approaches. The information in signal 118 may control the vehicle to varying degrees, especially in the case where the vehicle security system 110 is provided on an autonomous vehicle. The vehicle security system 110 in an autonomous vehicle can be used partly to detect and avoid other vehicles, autonomous or maneuvered by a driver, arranged with a reflecting device, but also to detect and avoid persons or physical objects arranged with a reflecting device.
    Figure 6a shows a view from a sensor which registers image information in the visual wavelength area, for example a camera, in this view information from the sensors 111, 112 can be superimposed. Especially since the light conditions are such that a visual image is the answer to indicate, for example in the dark, the overlay of information from the sensors 111, 112 can clarify objects and persons in the image. Object 6 is in figure 6a in the form of a vehicle but can awn consist of other physical objects such as various forms of fixed or mobile installations, objects from nature such as trees or stones or other objects that should be avoided when a vehicle is driven. The object 6 is provided with a reflecting device 7 in the form of reflectors arranged on the vehicle. The reflectors can be arranged in such a way that the object can identify, for example by the reflector giving a special signature or by how the reflectors are placed. An advantageous embodiment is if the reflectors can be placed in the form of a contour of the object. Furthermore, in the view, in figure 6a, a person 4 arranged with a reflecting device 5 is shown. The security system for vehicles 110 includes sensors 111, 112 detectable in the infrared wavelength range, in figure 6b a view is shown from these sensors 111, 112. It is clear in figure 6b how the reflected information, which is electromagnetic straining from the light source reflected in the reflecting device 5, 7, provides information regarding physical objects 6 and persons 4. From the information from the sensors 111, 112, shown in figure 6b, the security system can for vehicles calculated if the reflections consist of physical objects or persons as well as the type of 16 objects that are saint distance to the objects or persons and the persons' current position.
    The information from the vehicle security system 110 is presented on an image display unit 117. Figures 7a and 7b show two different views presented on an image display unit 117. Figure 7a shows a view in the direction of the vehicle from a camera arranged in the direction shown in the view. Figure 7b shows a view seen from above, the view shown in Figure 7b is calculated by the safety system for vehicles 110. The driver of the vehicle can select the desired view through a view arranged on the image display unit 117. In an alternative embodiment, the safety system for vehicles 110 second view in the image display unit 117 to call the driver's attention.
    ALTERNATIVE EMBODIMENTS The invention is not limited to the specifically shown embodiments but can be varied on different salts within the scope of the claims. An application is the navigation of vehicles in a billion objects objected with reflective devices, for example for autonomous navigation of vehicles in an environment provided with reflective devices. For example, a carriageway for an autonoint vehicle can be made with reflective devices for guiding the vehicle. Furthermore, the invention can be used for navigating vehicles in the dark when only information from reflecting devices is used to navigate and steer the vehicle.
    It will be appreciated, for example, that the number of sensors, frequency ranges, vehicles, types of vehicles or systems of those in method of avoiding collisions when maneuvering vehicles or the elements and details included in the safety system are adapted to the platform or facility and other structural features available. The safety system and the method for avoiding collisions when maneuvering vehicles can be used for all systems and vehicles or other devices where necessary.
    权利要求:
    Claims (8)
    [1]
    1. illuminate an area, with a headlamp arranged on the vehicle, where the headlamp has a specific wavelength,
    [2]
    2. record a first image of the area under lighting, with a sensor arranged on the vehicle, where the sensor is adapted to the wavelength of the light source,
    [3]
    3. record a second image Over an area, with a sensor arranged with a p5 vehicle,
    [4]
    4. detect, in a calculating unit, persons or physical objects arranged on the vehicle, challenge with the reflecting device by comparing the first image and the second image, 5. determine, in a calculating unit arranged on the vehicle, whether the detected objects are persons or physical objects, (t) communicate information about detected persons or physical objects. Method according to claim 1, characterized in that determining whether the detected objects are persons or physical objects takes place by the detected objects giving different signatures from the reflecting device 55 that the reflecting device for persons gives a first reflective signature and said that the reflecting device the device for physical objects gives a second reflective signature. Method according to any one of claims 1 to 2, characterized in that determination of whether the detected objects are persons or physical objects takes place by an algorithm arranged in the calculation unit which, based on the layer, size, motion or other parameter of the detected objects, determines whether the detected objects are of persons or physical objects. Method according to any one of claims 1 to 3, characterized in that detected persons can be identified as lying, crouching or standing.
    [5]
    Method according to one of Claims 1 to 4, characterized in that the information on detected persons or physical objects is visualized in an image display unit arranged on the vehicle.
    [6]
    Method according to claim 5, characterized in that the detected objects are visualized in the form of contours where persons or physical objects are given different contours so that for persons a first type of contour is given and for physical objects a second type of contour is given.
    [7]
    A security system for detecting persons and physical objects when maneuvering a vehicle, comprising a vehicle equipped with at least one sensor unit and an image display unit, characterized in that persons and physical objects are equipped with a reflecting device and that sensing steps are included; 1. a headlamp arranged on the vehicle, where the headlamp has a specific wavelength, illuminates an area, 2. the sensor unit arranged on the vehicle, where the sensor unit is adapted to the wavelength of the headlamp, registers a first image of the area under lighting, 3. the one arranged on the vehicle sensor unit registers a second image, 4. a calculating unit arranged on the vehicle detects objects arranged with the reflecting device by comparing the first image and the second image, (e) a calculating unit arranged on the vehicle determines whether the detected objects are persons or physical objects, 5. information about the detected persons and the physical objects is presented on the image display unit.
    [8]
    Security system according to claim 7, characterized in that the reflecting device is designed to distinguish vertical and horizontal orientation of the reflecting device and that the reflecting device has a first design for persons and a second design for physical objects and that the reflecting device is at least a reflex adapted or lamped for infrared straining. Vehicle arranged with a safety system according to any one of claims 7 to 8. Vehicle arranged with a safety system according to claim 9, characterized in that the vehicle is arranged with a sensor system (3) in the forward direction and a sensor system (3 ') in the reverse direction and there the safety system automatically selects sensor system (3, 3 ') depending on vehicle correction. 1 (5) 3'2
    类似技术:
    公开号 | 公开日 | 专利标题
    CN107009966B|2022-02-25|Active detection and enhanced visualization of upcoming vehicles
    US9965957B2|2018-05-08|Driving support apparatus and driving support method
    JP6120859B2|2017-04-26|Method and apparatus for in-vehicle assistant system for implementing autonomous or partially autonomous driving maneuvers
    US9269263B2|2016-02-23|Vehicle top clearance alert system
    US8682035B2|2014-03-25|Method for imaging the surrounding of a vehicle
    US9443429B2|2016-09-13|Optimum gaze location on full windscreen display
    KR20180099280A|2018-09-05|Method and device to generate virtual lane
    JP4415856B2|2010-02-17|Method for detecting the forward perimeter of a road vehicle by a perimeter sensing system
    US20180338117A1|2018-11-22|Surround camera system for autonomous driving
    US20140379197A1|2014-12-25|Method and Device for an Assistance System in a Vehicle for Performing an Autonomous or Semi-Autonomous Driving Maneuver
    KR20170046902A|2017-05-04|A vehicle and a method for controlling the same
    US20180141658A1|2018-05-24|Vehicle vision system using aerial camera
    EP3235684B1|2019-05-22|Apparatus that presents result of recognition of recognition target
    WO2017115371A1|2017-07-06|Apparatus and method for avoiding vehicular accidents
    CN108334069A|2018-07-27|Automatic running Operation Van
    CN110059574A|2019-07-26|A kind of vehicle blind zone detection method
    CN105830131A|2016-08-03|Device for detecting the lateral position of a pedestrian relative to the trajectory of the vehicle
    JP6955402B2|2021-10-27|Obstacle detection system and obstacle detection method
    KR20120086577A|2012-08-03|Apparatus And Method Detecting Side Vehicle Using Camera
    JP4081548B2|2008-04-30|Driving support system
    JP6375816B2|2018-08-22|Vehicle peripheral information display system and display device
    EP3215400B1|2020-06-24|Method for operating a driver assistance system of a motor vehicle, driver assistance system and motor vehicle
    JP6429069B2|2018-11-28|Driving support information display system
    US20190031206A1|2019-01-31|Viewing System With Field Of Vision Superimposition Depending On The Driving Situation
    JP2009140305A|2009-06-25|Information presenting device for vehicle
    同族专利:
    公开号 | 公开日
    SE537739C2|2015-10-06|
    EP2919150A1|2015-09-16|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US4833469A|1987-08-03|1989-05-23|David Constant V|Obstacle proximity detector for moving vehicles and method for use thereof|
    US5051906A|1989-06-07|1991-09-24|Transitions Research Corporation|Mobile robot navigation employing retroreflective ceiling features|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    SE1400134A|SE537739C2|2014-03-12|2014-03-12|Security system for detection of persons and physical objects when operating vehicles|SE1400134A| SE537739C2|2014-03-12|2014-03-12|Security system for detection of persons and physical objects when operating vehicles|
    EP15000729.2A| EP2919150A1|2014-03-12|2015-03-12|Safety system for vehicles|
    [返回顶部]