VEHICLE ASSISTANCE DEVICE AND METHOD

• US 20150183465A1
• Filed: 04/25/2014
• Published: 07/02/2015
• Est. Priority Date: 12/27/2013
• Status: Abandoned Application

• Current Assignee: Hon Hai Precision Industry Co., Ltd.
• Original Assignee: Hon Hai Precision Industry Co., Ltd.
• Inventors: LEE, HOU-HSIEN, LEE, CHANG-JUNG, LO, CHIH-PING
• Application Number:
  US14/261,872
• Publication Number:
  US 20150183465A1
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering

Abstract

Exemplary vehicle assistance method includes obtaining a number of continuous images of a scene. The method creates a number of 3D models of the scene corresponding to the obtained images of the scene. The method can determine a turning direction according to the operation on an input unit, and comparing the created 3D models of scene with stored preset 3D models of the special movable objects to determine whether one or more movable objects exist behind the turning direction of a vehicle. The method determines a speed of one movable object when one or more movable objects exist behind the turning direction of the vehicle. The method then determines a turning angle of the vehicle. The method controls a driving unit to drive a limiting unit to limit a largest turning angle of two front wheels as the determined turning angle of the vehicle.

Claims

1. A vehicle assistance device, comprising:

a storage unit storing a plurality of preset 3D models of the special movable objects, a capturing speed of the camera, and a safe distance between a vehicle and the movable object;

a processor;

one or more programs stored in the storage unit, executable by the processor, the one or more programs comprising;

an image obtaining module configured to obtain a plurality of continuous images of scene captured by at least one camera in a period from a time of detecting an operation on an input unit to a time of detecting an operation on a steering wheel of the vehicle;

each of the images comprising a distance information indicating distances between the at least one camera that captures the image and each object captured by the at least one camera;

a model creating module operable to create a plurality of 3D models of the scene corresponding to the obtained images of the scene according to the obtained images of the scene and the distance between the camera and each object captured by the corresponding camera;

an image analyzing module operable to determine a turning direction according to the operation on the input unit, and compare the created 3D models of scene with the stored preset 3D models of the special movable objects to determine whether one or more movable objects exist behind the vehicle in the turning direction of the vehicle;

a speed determining module configured to determine a speed of one movable object according to the created 3D models of the scene, the stored capturing speed of the camera, and the speed of the vehicle detected by a speed detection unit when one or more movable object exist behind the vehicle in the turning direction of the vehicle;

an angle determining module configured to determine a turning angle of the vehicle according to the determined speed of the determined movable object, the obtained speed of the vehicle, the stored safe distance between the vehicle and the movable object, a stored turning time of the vehicle, and the shortest distance between the vehicle and the determined movable object in the latest created 3D model of the scene; and

an executing module configured to control a driving unit to drive a limiting unit to limit a largest turning angle of front wheels of the vehicle as the determined turning angle of the vehicle.

2. The vehicle assistance device as described in claim 1, wherein the speed determining module is configured to:

randomly select two continuous or discontinuous 3D models of the scene from the created 3D models of the scene;

determine one movable object, determine each shortest distance between the determined movable object and the camera in each selected 3D models of the scene, and determine the movement distance of the movable object relative to the vehicle is equal to an absolute value of a difference value of two shortest distances;

determine the number of the images of the scene between two images of the scene corresponding to the selected two 3D models of the scene, and determine the time that the camera captures the determined number of images of the scene is equal to the number of the images of the scene divided by the stored capturing speed of the camera;

determine that the speed of the determined movable object relative to the vehicle is equal to the determined movement distance of the movable object relative to the vehicle divided by the determined time; and

obtain the speed of the vehicle detected by the speed detection unit, and determine the speed of the determined movable object is equal to a sum of the speed of the determined movable object relative to the vehicle and the speed of the vehicle.

3. The vehicle assistance device as described in claim 2, wherein the speed determining module is configured to determine that one movable object is the movable object behind the vehicle in the turning direction of the vehicle when only one movable object exists behind the vehicle in the turning direction of the vehicle, and determine which movable object closest to the vehicle in the later selected 3D model of the scene when more than one movable objects exist behind the vehicle in the turning direction of the vehicle.

4. The vehicle assistance device as described in claim 1, wherein the angle determining module is configured to:

determine a distance that the determined movable object can be approached to the vehicle according to a formula;

d=x−

a, where, “

d”

represents the distance that the determined movable object can be approached to the vehicle, “

x”

represents the shortest distance between the vehicle and the determined movable object in the latest created 3D model of the scene, and “

a”

represents the stored safe distance between the vehicle and the movable object; and

determine the turning angle of the vehicle according to a formula;

d=(V2−

V1 cos θ

)*t, where, “

d”

represents the distance that the determined movable object can be approached to the vehicle, “

V2”

represents the speed of the determined movable object, “

V1”

represents the obtained speed of the vehicle, “

θ

”

represents the turning angle of the vehicle, and “

t”

represents a stored turning time of the vehicle.

5. The vehicle assistance device as described in claim 1, wherein the executing module is configured to control the driving unit to drive the limiting unit to limit the largest turning angle of the front wheels of the vehicle as the determined turning angle of the vehicle when the turning angle of the steering wheel of the vehicle detected by the angle obtaining unit is greater than the turning angle of the vehicle.

6. The vehicle assistance device as described in claim 1, wherein the executing module is further configured to control the driving unit to drive the limiting unit to provide an extra resistance to the steering wheel of the vehicle to prompt the driver not to continue enlarging the turning angle of the steering wheel of the vehicle when the turning angle of the steering wheel of the vehicle detected by the angle obtaining unit is greater than the turning angle of the vehicle.

7. A vehicle assistance method comprising:

obtaining a plurality of continuous images of scene captured by at least one camera during a period from a time of detecting an operation on an input unit to a time of detecting an operation on a steering wheel of a vehicle;

each of the images comprising a distance information indicating distances between the at least one camera that captures the image and each object captured by the at least one camera;

creating a plurality of 3D models of the scene corresponding to the obtained images of the scene according to the obtained images of the scene and the distance between the camera and each object captured by the corresponding camera;

determining a turning direction according to the operation on the input unit, and comparing the created 3D models of scene with stored preset 3D models of the special movable objects to determine whether one or more movable objects exist behind the vehicle in the turning direction of the vehicle;

determining a speed of one movable object according to the created 3D models of the scene, a stored capturing speed of the camera, and the speed of the vehicle detected by a speed detection unit when one or more movable object exist behind the vehicle in the turning direction of the vehicle;

determining a turning angle of the vehicle according to the determined speed of the determined movable object, the obtained speed of the vehicle, a stored safe distance between the vehicle and the movable object, a stored turning time of the vehicle, and the shortest distance between the vehicle and the determined movable object in the latest created 3D model of the scene; and

controlling a driving unit to drive a limiting unit to limit a largest turning angle of two front wheels of the vehicle as the determined turning angle of the vehicle.

8. The vehicle assistance method as described in claim 7, wherein the step of “

determining a speed of one movable object”

comprises;

randomly selecting two continuous or discontinuous 3D models of the scene from the created 3D models of the scene;

determining one movable object, determining each shortest distance between the determined movable object and the camera in each selected 3D models of the scene, and determining the movement distance of the movable object relative to the vehicle is equal to an absolute value of a difference value of two shortest distances;

determining the number of the images of the scene between two image of the scene corresponding to the selected two 3D models of the scene, and determining the time that the camera captures the determined number of images of the scene is equal to the number of the images of the scene divided by the stored capturing speed of the camera;

determining that the speed of the determined movable object relative to the vehicle is equal to the determined movement distance of the movable object relative to the vehicle divided by the determined time; and

obtaining the speed of the vehicle detected by the speed detection unit, and determining the speed of the determined movable object is equal to a sum of the speed of the determined movable object relative to the vehicle and the speed of the vehicle.

9. The vehicle assistance method as described in claim 8, wherein the method further comprises:

determining that one movable object is the movable object behind the vehicle in the turning direction of the vehicle when only one movable object exists behind the vehicle in the turning direction of the vehicle; and

determining which movable object is closest to the vehicle in the later selected 3D model of the scene when more than one movable objects exist behind the vehicle in the turning direction of the vehicle.

10. The vehicle assistance method as described in claim 7, wherein the step of “

determining a turning angle of the vehicle”

further comprises;

determining a distance that the determined movable object can be approached to the vehicle according to a formula;

d=x−

a, where, “

d”

represents the distance that the determined movable object can be approached to the vehicle, “

x”

represents the shortest distance between the vehicle and the determined movable object in the latest created 3D model of the scene, and “

a”

represents the stored safe distance between the vehicle and the movable object; and

determining the turning angle of the vehicle according to a formula;

d=(V2−

V1 cos θ

)*t, where, “

d”

represents the distance that the determined movable object can be approached to the vehicle, “

V2”

represents the speed of the determined movable object, “

V1”

represents the obtained speed of the vehicle, “

θ

”

represents the turning angle of the vehicle, and “

t”

represents a stored turning time of the vehicle.

11. The vehicle assistance method as described in claim 7, wherein the method further comprises:

controlling the driving unit to drive the limiting unit to limit the largest turning angle of the front wheels of the vehicle as the determined turning angle of the vehicle when the turning angle of the steering wheel of the vehicle detected by the angle obtaining unit is greater than the turning angle of the vehicle.

12. The vehicle assistance method as described in claim 7, wherein the method further comprises:

controlling the driving unit to drive the limiting unit to provide an extra resistance to the steering wheel of the vehicle to prompt the driver not to continue enlarging the turning angle of the steering wheel of the vehicle when the turning angle of the steering wheel of the vehicle detected by the angle obtaining unit is greater than the turning angle of the vehicle.

13. A non-transitory storage medium storing a set of instructions, the set of instructions capable of being executed by a processor of a vehicle assistance device, causing the vehicle assistance device to perform a vehicle assistance method, the method comprising:

obtaining a plurality of continuous images of scene captured by least one camera during a period from a time of detecting an operation on an input unit to a time of detecting an operation on a steering wheel of a vehicle;

each of the images comprising a distance information indicating distances between the at least one camera that captures the image and each object captured by the at least one camera;

creating a plurality of 3D models of the scene corresponding to the obtained images of the scene according to the obtained images of the scene and the distance between the camera and each object captured by the corresponding camera;

determining a turning direction according to the operation on the input unit, and comparing the created 3D models of scene with stored preset 3D models of the special movable objects to determine whether one or more movable objects exist behind the vehicle in the turning direction of the vehicle;

determining a speed of one movable object according to the created 3D models of the scene, a stored capturing speed of the camera, and the speed of the vehicle detected by an speed detection unit when one or more movable object exist behind the vehicle in the turning direction of the vehicle;

determining a turning angle of the vehicle according to the determined speed of the determined movable object, the obtained speed of the vehicle, a stored safe distance between the vehicle and the movable object, a stored turning time of the vehicle, and the shortest distance between the vehicle and the determined movable object in the latest created 3D model of the scene; and

controlling a driving unit to drive a limiting unit to limit a largest turning angle of two front wheels of the vehicle as the determined turning angle of the vehicle.

14. The non-transitory storage medium as described in claim 13, wherein the step of “

determining a speed of one movable object”

comprises;

randomly selecting two continuous or discontinuous 3D models of the scene from the created 3D models of the scene;

determining one movable object, determining each shortest distance between the determined movable object and the camera in each selected 3D models of the scene, and determining the movement distance of the movable object relative to the vehicle is equal to an absolute value of a difference value of two shortest distances;

determining the number of the images of the scene between two image of the scene corresponding to the selected two 3D models of the scene, and determining the time that the camera captures the determined number of images of the scene is equal to the number of the images of the scene divided by the stored capturing speed of the camera;

determining that the speed of the determined movable object relative to the vehicle is equal to the determined movement distance of the movable object relative to the vehicle divided by the determined time; and

obtaining the speed of the vehicle detected by the speed detection unit, and determining the speed of the determined movable object is equal to a sum of the speed of the determined movable object relative to the vehicle and the speed of the vehicle.

15. The non-transitory storage medium as described in claim 14, wherein the method further comprises:

determining that one movable object is the movable object behind the vehicle in the turning direction of the vehicle when only one movable object exists behind the vehicle in the turning direction of the vehicle; and

determining which movable object is closest to the vehicle in the later selected 3D model of the scene when more than one movable objects exist behind the vehicle in the turning direction of the vehicle.

16. The non-transitory storage medium as described in claim 13, wherein the step of “

determining a turning angle of the vehicle”

further comprises;

determining a distance that the determined movable object can be approached to the vehicle according to a formula;

d=x−

a, where, “

d”

represents the distance that the determined movable object can be approached to the vehicle, “

x”

represents the shortest distance between the vehicle and the determined movable object in the latest created 3D model of the scene, and “

a”

represents the stored safe distance between the vehicle and the movable object; and

determining the turning angle of the vehicle according to a formula;

d=(V2−

V1 cos θ

)*t, where, “

d”

represents the distance that the determined movable object can be approached to the vehicle, “

V2”

represents the speed of the determined movable object, “

V1”

represents the obtained speed of the vehicle, “

θ

”

represents the turning angle of the vehicle, and “

t”

represents a stored turning time of the vehicle.

17. The non-transitory storage medium as described in claim 13, wherein the method further comprises:

controlling the driving unit to drive the limiting unit to limit the largest turning angle of the front wheels of the vehicle as the determined turning angle of the vehicle when the turning angle of the steering wheel of the vehicle detected by the angle obtaining unit is greater than the turning angle of the vehicle.

18. The non-transitory storage medium as described in claim 13, wherein the method further comprises:

controlling the driving unit to drive the limiting unit to provide an extra resistance to the steering wheel of the vehicle to prompt the driver not to continue enlarging the turning angle of the steering wheel of the vehicle when the turning angle of the steering wheel of the vehicle detected by the angle obtaining unit is greater than the turning angle of the vehicle.