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CN-121989823-A - Vehicle auxiliary driving device and system based on image and radar monitoring

CN121989823ACN 121989823 ACN121989823 ACN 121989823ACN-121989823-A

Abstract

The invention discloses a vehicle auxiliary driving device and a system based on image and radar monitoring, which relate to the technical field of vehicle auxiliary driving and comprise a shell, wherein the shell is arranged at the front end of a vehicle, symmetrically arranged cameras are arranged in the shell, the rear ends of the cameras are arranged on a micro-motion structure, the micro-motion structure is connected with the radar structure through a circuit, the radar structure is arranged in the middle of the shell, and the tail end of the radar structure is provided with the inertial structure. The method is equivalent to enabling the system to pay attention to the risk area in advance, can improve the recognition distance of the obstacle, strives for time for a braking or steering system, and improves the driving safety of a curve.

Inventors

  • XIE XIANGXIN
  • JIN BIN
  • ZHU YANGYAN
  • SHEN YIFEI
  • GAO XIANGWU

Assignees

  • 南通理工学院

Dates

Publication Date
20260508
Application Date
20260331

Claims (10)

  1. 1. The vehicle driving assisting device based on image and radar monitoring is characterized by comprising a shell (1), wherein the shell (1) is arranged at the front end of a vehicle; Cameras (2) which are symmetrically arranged are arranged in the shell (1), and the rear ends of the cameras (2) are arranged on the micro-motion structure (3); The micro-motion structure (3) is connected with the radar structure (5) through a circuit (4), the radar structure (5) is arranged at the middle position of the shell (1), and the tail end of the radar structure (5) is provided with an inertial structure (6). The micro-motion structure (3) can actively adjust the front and back positions of the camera (2) to realize the vision adjustment of the camera (2); The radar structure (5) is matched with the camera (2) to realize image and radar auxiliary vehicle driving; The inertial structure (6) comprises a fixed rod (61) and an inertial swing rod (62), the fixed rod (61) is arranged at the upper end of the radar structure (5), the inertial swing rod (62) is hinged at the tail end of the fixed rod (61), and the inertial swing rod (62) can drive the micro-motion structure (3) to operate by utilizing the inertia of a vehicle when the vehicle turns.
  2. 2. The vehicle driving assisting device based on image and radar monitoring according to claim 1, wherein the camera (2) is installed in a telescopic tube (21), and the telescopic tube (21) is fixedly installed on the inching structure (3).
  3. 3. The vehicle driving assisting device based on image and radar monitoring according to claim 1, wherein the micro-motion structure (3) comprises a piezoelectric ceramic driver (31) and a fixing piece (32), one end of the piezoelectric ceramic driver (31) is connected to the tail end of the telescopic tube (31), the other end of the piezoelectric ceramic driver is connected to the fixing piece (32), and the fixing piece (32) is fixedly arranged on a vehicle body.
  4. 4. The vehicle driving assistance device based on image and radar monitoring according to claim 1, wherein the radar structure (5) comprises a radar (51) and a fixed box (52), the radar (51) is arranged in the fixed box (52), and the fixed box (52) is fixedly arranged on a vehicle body.
  5. 5. The vehicle driving assisting device based on image and radar monitoring according to claim 1, wherein the inertial structure (6) further comprises a reset spring (63) and a pressure sensor, two ends of the inertial swinging rod (62) are respectively located between the two reset springs (63), the tail ends of the reset springs (63) are connected to the pressure sensor, the pressure sensor is mounted on a fixed support (64), and the fixed support (64) is fixedly mounted on a vehicle body.
  6. 6. A vehicle driving assisting system based on image and radar monitoring is characterized by comprising the driving assisting device in accordance with claims 1-5, wherein the driving assisting device is arranged at the front end of a vehicle body and is connected to a vehicle processor through a line (4).
  7. 7. The vehicle driving assisting system based on image and radar monitoring according to claim 6, wherein the cameras (2) are symmetrically arranged, the image areas of the cameras (2) on two sides are overlapped, and the center of the overlapped area is positioned at the front end of the radar structure (5).
  8. 8. The vehicle driving assisting system based on image and radar monitoring according to claim 6, wherein the camera (2) generates a basic environment model by extracting image features, the radar structure (5) receives data by extracting moving object features, and the vehicle processor realizes fusion of the image and the radar features.
  9. 9. The vehicle driving assisting system based on image and radar monitoring according to claim 6, wherein the vehicle processor acquires steering signals, judges that the vehicle enters a turning condition, sends displacement instructions to the piezoelectric ceramic driver (31) to push the camera (2) to move slightly, feeds back displacement in real time through the encoder, ensures adjustment in place, and after the camera (2) moves, the overlapping area shifts to the turning side, and the area is enlarged to cover a middle-short-distance blind area in the turning direction.
  10. 10. The vehicle driving assisting system based on image and radar monitoring according to claim 9, wherein the return spring (63) helps the inertia swinging rod (62) to form an included angle with the vehicle when the vehicle turns, and the movement amount of the cameras (2) on the two sides is adjusted according to the included angle.

Description

Vehicle auxiliary driving device and system based on image and radar monitoring Technical Field The invention relates to the technical field of vehicle auxiliary driving, in particular to a vehicle auxiliary driving device and system based on image and radar monitoring. Background With the development of autopilot technology, a multi-modal fusion perception based on vision and radar has become a core component of an auxiliary driving system. The configuration of the symmetrical double-camera design matched with the central radar is widely adopted by the industry, the layout effectively obtains environment depth information through a binocular stereoscopic vision technology, and meanwhile, the radar is used for accurately measuring distance and speed, so that reliable detection of obstacles and accurate identification of lanes are realized. Although this approach performs well in most scenarios, there are some usage problems in complex turning scenarios where there is a limitation in the camera view. The field of view of the fixedly mounted camera is static and directed toward the forward fixed area. In the turning process, the running and the body of the vehicle are always changed, so that the original field of view of the fixed area cannot be adjusted along with the curve. The inside and outside of the vehicle turn will expose new dead zones, especially the A-pillar, the side of the vehicle body and the tangential direction of the turn. When pedestrians suddenly enter from these blind areas, the system is prone to recognition delays and even completely undetected because they are outside the camera field of view. More critical is that the traditional scheme relies on static spliced looking-around images or fixed forward vision perception, the processing focus of the traditional scheme stays right in front of the vehicle, and the perceived images cannot be actively focused on the inner side and the outer side of a turn with high risk when the vehicle turns. The system has the advantages that in the turning process of rapid change of the vehicle posture and the relative environment relationship, the mismatch of the sensing capability and the real-time risk area occurs, and the obvious potential safety hazard is formed. Disclosure of Invention The invention aims to provide a vehicle driving assisting device and a vehicle driving assisting system based on image and radar monitoring, which are used for solving the problems in the background technology. In order to achieve the above purpose, the vehicle driving assisting device based on image and radar monitoring comprises a shell, wherein the shell is arranged at the front end of a vehicle, symmetrically arranged cameras are arranged in the shell, the rear ends of the cameras are arranged on a micro-motion structure, the micro-motion structure is connected with a radar structure through a circuit, the radar structure is arranged at the middle position of the shell, and the tail end of the radar structure is provided with an inertial structure. Preferably, the camera is installed in a telescopic tube, and the telescopic tube is fixedly installed on the micro-motion structure. Preferably, the micro-motion structure comprises a piezoelectric ceramic driver and a fixing piece, one end of the piezoelectric ceramic driver is connected to the tail end of the telescopic pipe, the other end of the piezoelectric ceramic driver is connected to the fixing piece, and the fixing piece is fixedly installed on the vehicle body. Preferably, the radar structure comprises a radar and a fixed box, wherein the radar is arranged in the fixed box, and the fixed box is fixedly arranged on the vehicle body. Preferably, the inertial structure comprises a fixed rod, an inertial swing rod, reset springs and a pressure sensor, wherein the fixed rod is arranged at the upper end of the radar structure, the inertial swing rod is hinged at the tail end of the fixed rod, the two ends of the inertial swing rod are respectively positioned between the two reset springs, the tail ends of the reset springs are connected to the pressure sensor, the pressure sensor is arranged on a fixed support, and the fixed support is fixedly arranged on a vehicle body. The vehicle driving assisting system based on image and radar monitoring comprises the driving assisting device, wherein the driving assisting device is arranged at the front end of a vehicle body and is connected to a vehicle processor through a circuit. Preferably, the cameras are symmetrically arranged, the image areas of the cameras at two sides are overlapped, and the center of the overlapped area is positioned at the front end of the radar structure. Preferably, the camera is used for extracting image features, the radar structure is used for extracting moving target features, the vehicle processor is used for receiving data, fusion of the image and the radar features is achieved, and a basic environment model is generated. Preferably, the veh