CN105000064A - Pre-aiming and early warning system for automobile turning path and method of system - Google Patents
Pre-aiming and early warning system for automobile turning path and method of system Download PDFInfo
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- CN105000064A CN105000064A CN201510349662.4A CN201510349662A CN105000064A CN 105000064 A CN105000064 A CN 105000064A CN 201510349662 A CN201510349662 A CN 201510349662A CN 105000064 A CN105000064 A CN 105000064A
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- 206010039203 Road traffic accident Diseases 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
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- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention provides a pre-aiming and early warning system for an automobile turning path and a method of the system. The system comprises an embedded system, a steering wheel angle sensor, a locating module, a touch display screen, a power source and a storage unit, wherein the power source and the storage unit are connected with the embedded system. The embedded system serves as a host and stores an off-line map. A turning track is displayed on the touch display screen according to data of an existing steering wheel angle, the position and the speed of a user currently. Safety is judged according to the automobile position, the steering wheel angle and the speed. An early warning is given if it is judged that the existing travelling path is dangerous. The steering wheel angle sensor provides angle signals for the embedded system. The locating module provides position parameters and speed parameters. The touch display screen displays the map and early warning information. By the adoption of the system and the method, the probability of traffic accidents happening in the turning process of an automobile is reduced, estimation errors of a driver are avoided, the automobile turning path can be acquired in a pre-aiming manner and compared with a preset turning path, and warnings can be given to the driver in real time.
Description
Technical field
The present invention relates to running car control field, particularly a kind of automobile turning path is taken aim at and forewarn system and method thereof in advance.
Background technology
In vehicle drive process, usually can run into various bend, different bend needs to carry out difference to car speed and steering wheel angle and controls.And the traffic accident occurred in automobile turning, be all often to car speed and the control of steering wheel angle displacement is improper causes.So chaufeur is accomplished steadily and timely to turn when automobile turning, provide suitable steering instructions and chaufeur just must be allowed to have a correct estimation to car speed, angle of turn and wheelpath.But chaufeur is sometimes because the blocking of driving fatigue or obstacle, chaufeur is made to there occurs deviation in the instruction providing control bearing circle, possibility too much also may be very few, makes automobile according to bend route, can not lose the ability of following path locus.
The curve control system (Curve Control) of Ford exploitation.This system be mainly used to assisting vehicle correction turnover bend time dynamic, avoid causing the accident on bend to occur because the speed of a motor vehicle is too fast.
The existing techniques in realizing scheme the most similar to the present invention:
The curve control system of Ford exploitation can, to discover the speed of a motor vehicle too fast to an early step-down low dynamics braking when may cause danger, avoid accident to occur.This system borrows steering wheel angle and the actual dynamic comparison computational data of vehicle, if find Vehicular turn out of reach expected value, system just gets involved auxiliary automatically, controls to take turns to each the brake imposing different dynamics respectively, to ensure that car can be smooth excessively curved by traditional tracking.But this system cannot carry out taking aim in advance and forewarning function of chaufeur driving curves, more can not the relation of Real time dynamic display driver command and path locus, therefore chaufeur can not carry out the corrigendum of its instruction timely, and the mode of black box only can be utilized to ensure the stability of automobile cornering.
Existing technology utilizes the mode of black box to ensure that the stability of automobile on bend, and actv. improves the traffic safety on automobile cornering.But prior art is realized by the form of brake regulation.It does not allow chaufeur clearly recognize the too much or too small of its input instruction, and the mode of image's dynamic display more can not be utilized to allow chaufeur understand the behavior of automobile under its instruction.Thus inevitably can not allow its driving behavior of chaufeur priori knowledge, therefore it cannot initiatively and the state of the grasp automobile of feeling at ease.These are very large to the psychological impact of chaufeur.
Summary of the invention
For solving above-mentioned prior art Problems existing, a kind of automobile turning path is the object of the present invention is to provide to take aim in advance and forewarn system and method thereof.The steering wheel angle current by automobile and the speed of a motor vehicle two parameters take aim at the driving path (vehicle track that the operating order that this path is chaufeur determines) in the following certain hour (as 10 seconds) of automobile in advance, and given with navigationsystem or other preset turning path compare in real time, utilize the form Dynamic Announce automobile current path of figure and the difference in road path.This difference describes the too much or not enough of driver's operation instruction, determines whether on figure, provide early warning information eventually through decision making algorithm, and prompting chaufeur carries out the correction of operating order.In addition, can also combine with further vehicle active safety system, carry out intervention initiatively, promote traffic safety.
For achieving the above object, technical scheme of the present invention is:
A kind of automobile turning path is taken aim at and forewarn system in advance, comprise: embedded system, steering wheel angle sensor (being connected with embedded system by ADC module), locating module, touch display screen, power supply and storage element (being connected with embedded system respectively).Wherein,
Embedded system: as main frame, its storage inside off-line map; Acquisition and processing steering wheel angle sensor data and locating data; According to the steering wheel angle that user is present, position and speed data calculate the turning track that chaufeur is expected; And according to the current state from car (locating information, steering wheel angle, speed etc.), compare with Actual path (deriving from map information data), judge the safety of current turning driving.If carry out early warning when judging that existing route travels dangerous.
Locating module: utilize satellite positioning information (as GPS etc.) to provide vehicle position parameter and speed parameter.
Touch display screen: display map, early warning information.
Steering wheel angle sensor: for embedded system provides angular signal.
Further, described locating module obtains the information such as the current position of vehicle by position fixing system (as GPS etc.), and communicates with embedded flat.
Further, described touch display screen can show the traveling of Current vehicle and the information of turning process, also shows the turning information (as turned left or turning right) of vehicle, ambient weather information and other parameters.
Further, described embedded system carries out according to the information of locating module and steering wheel angle sensor the computation and analysis that chaufeur turns to target, obtains the turning track that chaufeur is expected, and carries out real-time display by display module.
Further, described embedded system, with relevant cartographic information, is resolved after the data transmitted, display module carries out the display of current path by locating module.
Further, described turning early warning is specially: if reach certain distance from the desired turn track of car and the deviation in current driving path, and warning region will show information warning (as " please travelling along turning path ") printed words.When exceeding safe speed from the speed of car when turning, information warning (as " please slow down ", not stopping flicker until the speed of a motor vehicle is lower than safe speed) can be shown.
A kind of automobile turning path is taken aim at and method for early warning in advance, and read-out draws Current vehicle position (automatically drawing current path on map) by cartographic information in embedded systems and in conjunction with the positional parameter of locating module.Calculate the turn radius of automobile current time according to the speed signal gathered and angular signal simultaneously, with this turn radius to take aim at driving path in advance in the following certain hour (as 10 seconds) of dotted lines, and the position that automobile travels under different time interval (as 5 seconds, 8 seconds and 10 seconds) on turning path is marked especially, so that chaufeur understands automobile current time clearly the need of the corner revising current bearing circle.
Further, automobile departs from Actual path certain distance (as 1 meter), then carry out early warning.
Further, this system utilizes image to carry out the display of following a period of time turning path and Actual path, and carries out early warning and prompting by display and sound etc.
Further, this system can combine with existing auto-navigation system, namely adopts some hardware of existing navigationsystem (as display section, cartographic information etc.) to expand and obtains.Or utilize existing navigationsystem to add or revise certain algorithm to obtain.
Further, this system also can combine for follow-up vehicle active safety device etc., promotes road-holding property during motor turning.
Relative to prior art, beneficial effect of the present invention is:
The inventive method takes aim at the driving path (vehicle track that the operating order that this path is chaufeur determines) in the following certain hour (as 10 seconds) of automobile in advance by the current steering wheel angle of automobile and the speed of a motor vehicle two parameters, and given with navigationsystem or other preset turning path compare in real time, utilize the form Dynamic Announce automobile current path of figure and the difference in road path.This difference describes the too much or not enough of driver's operation instruction, determines whether on figure, provide early warning information eventually through decision making algorithm, and prompting chaufeur carries out the correction of operating order.In addition, can also combine with further vehicle active safety system, carry out intervention initiatively, promote traffic safety.Simultaneously the evaluated error that reason brings such as to block in order to what alleviate driver fatigue or obstacle to reduce automobile at the probability of turning process generation traffic accident, the path of automobile turning can not only be taken aim at out in advance, and can compare with the turning path preset, in real time warning is sent to chaufeur. simultaneously
Accompanying drawing explanation
Fig. 1 is principle process block diagram of the present invention.
Fig. 2 is system hardware structure figure of the present invention.
Fig. 3 is turning interface display sight figure of the present invention.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, technical solution of the present invention is described in further detail:
As shown in Figure 1, a kind of automobile turning path is taken aim at and forewarn system in advance, comprising: embedded system, steering wheel angle sensor, locating module, touch display screen, power supply and storage element etc.
Embedded system: as main frame, its storage inside cartographic information; Acquisition and processing steering wheel angle sensor data and locating data; According to the steering wheel angle that user is present, position and speed data calculate the turning track that chaufeur is expected; And according to the current state from car (locating information, steering wheel angle, speed etc.), compare with Actual path (deriving from map information data), judge the safety of current turning driving.If carry out early warning when judging that existing route travels dangerous.
Locating module: utilize satellite positioning information (as GPS etc.) to provide vehicle position parameter and speed parameter.
Touch display screen: display map, early warning information.
Steering wheel angle sensor: for embedded flat provides angular signal.
Described locating module is connected with embedded flat by serial ports.
Described touch display screen is display environment Weather information and other parameters also.
The steering state described touch display screen also showing turn left or turn right.
The described information of vehicles (steering wheel angle, position, speed etc.) that utilizes carries out the calculating in Vehicular turn path or takes aim in advance.
The early warning of described main frame is specially: if the distance of car's location and preset path exceedes certain distance, and warning region will show warning printed words (as " please travelling along turning path ").When exceeding safe speed from the speed of car when turning, relevant prompting printed words (as " please slow down ") can be shown until the speed of a motor vehicle is lower than safe speed.
A kind of automobile turning path is taken aim at and method for early warning in advance, and read-out draws Current vehicle position (automatically drawing current path on map) by cartographic information in embedded systems and in conjunction with the positional parameter of locating module.Calculate the turn radius of automobile current time according to the speed signal gathered and angular signal simultaneously, with this turn radius to take aim at driving path in advance in the following certain hour (as 10 seconds) of dotted lines, and the position that automobile travels under different time interval (as 5 seconds, 8 seconds and 10 seconds) on turning path is marked especially, so that chaufeur understands automobile current time clearly the need of the corner revising current bearing circle.
As shown in Figure 2, principle of work of the present invention is:
The present invention should be arranged in car, and power supply is solved by vehicle power.Initialization procedure after power-up.Utilize GPS to carry out the determination of current vehicle position, resolve after reading in.Read the map information data of storage again, draw the path of the current position of vehicle and vehicle periphery.If need navigation, then enter navigation setting, after completing, start read direction dish corner information.If steering situation, then current according to vehicle state (as steering wheel angle, the speed of a motor vehicle, road condition etc.) carries out the calculating that track taken aim in advance by vehicle, also compares with Actual path simultaneously, if exceed predetermined value, then carries out early warning.Simultaneously utilize colored Real-time dynamic curve display vehicle on display module in the following certain hour track of (as 3 seconds, 5 seconds, 8 seconds, 10 seconds etc.).The turn condition that the acquisition vehicle that chaufeur can understand very much is current.If do not turned to, then directly enter next step of circulation, until shutdown command.
As shown in Figure 3 be the display interface of system of the present invention at a time map segment, wherein red five-pointed star is from truck position.When turning along present road from car, system can calculate according to the steering wheel angle of automobile and present speed and take aim at path in advance from the turning of car, and shows on map, namely in figure shown in colored bold portion.Display colored solid line in also illustrate not in the same time under Future Trajectory state (as 3 seconds, 5 seconds and 10 seconds etc.), wherein blue solid lines be automobile with under current steering wheel angle and the speed of a motor vehicle in following 3 seconds the path of process, the future that green solid lines represents between 3 seconds to 5 seconds takes aim at path in advance, and the future of 5 seconds to 10 seconds is red solid line take aim at path in advance.Such chaufeur according to the information demonstrated, can be revised the steering wheel angle of oneself and the speed of a motor vehicle of control automobile, thus promotes the stability of automobile and the safety of driving.And system meeting Real-Time Monitoring car's location, if the distance of car's location and preset path exceedes certain distance, warning region will show certain printed words (as " please travelling along turning path ").When exceeding safe speed from the speed of car when turning, corresponding information (as " please slow down ") can be pointed out until the speed of a motor vehicle is lower than safe speed.
The above, be only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, and any change of expecting without creative work or replacement, all should be encompassed within protection scope of the present invention.Therefore, the protection domain that protection scope of the present invention should limit with claims is as the criterion.
Claims (9)
1. automobile turning path is taken aim at and a forewarn system in advance, it is characterized in that, comprising: embedded system, steering wheel angle sensor, locating module, touch display screen, and power supply and storage element are connected with embedded system respectively, wherein,
Embedded system: as main frame, acquisition and processing steering wheel angle sensor data and locating data; According to the steering wheel angle that user is present, position and speed data calculate the turning track that chaufeur is expected; Its storage inside off-line map; According to the steering wheel angle that user is present on touch display screen, position and speed data display turning track; And foundation is from truck position, steering wheel angle, speed, judges safety, if carry out early warning when judging that existing route travels dangerous;
Locating module: utilize satellite positioning information, provides location parameter and speed parameter;
Touch display screen: display map, early warning information;
Steering wheel angle sensor provides angular signal for embedded system.
2. system according to claim 1, is characterized in that, described locating module obtains the current location information of vehicle by position fixing system, and communicates with embedded flat.
3. system according to claim 1, is characterized in that, the described touch display screen display traveling of Current vehicle and the information of turning process, the turning information of vehicle, ambient weather information and other parameters.
4. system according to claim 1, it is characterized in that, described embedded system carries out according to the information of locating module and steering wheel angle sensor the computation and analysis that chaufeur turns to target, obtains the turning track that chaufeur is expected, and carries out real-time display by display module.
5. system according to claim 1, is characterized in that, described embedded system, with relevant cartographic information, is resolved after the data transmitted, display module carries out the display of current path by locating module.
6. system according to claim 1, is characterized in that, described turning early warning is specially: if reach certain distance from the desired turn track of car and the deviation in current driving path, and warning region will be pointed out; When exceeding safe speed from the speed of car when turning, also can carry out pointing out or do not stop flicker until the speed of a motor vehicle is lower than safe speed.
7. an automobile turning path is taken aim at and method for early warning in advance, it is characterized in that, read-out draws Current vehicle position by cartographic information in embedded systems and in conjunction with the positional parameter of locating module, calculate the turn radius of automobile current time according to the speed signal gathered and angular signal simultaneously, draw with this turn radius and take aim at driving path in advance in following certain hour, and the automobile position that different time interval downstream is sailed on turning path is marked especially, so that chaufeur understands automobile current time clearly the need of the corner revising current bearing circle.
8. method according to claim 7, is characterized in that automobile can carry out early warning after departing from Actual path certain distance.
9. method according to claim 7, is characterized in that this system utilizes figure to carry out the display of following a period of time turning path and Actual path, and carries out early warning and prompting by display and sound.
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Cited By (10)
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| CN105951573A (en) * | 2016-05-24 | 2016-09-21 | 安徽宜留电子科技有限公司 | Infrared guide warning assembly for scribing machine |
| CN108399394A (en) * | 2018-03-12 | 2018-08-14 | 海信集团有限公司 | Barrier method for early warning, device and terminal |
| WO2018187984A1 (en) * | 2017-04-12 | 2018-10-18 | 深圳市南北汽车美容有限公司 | Method for prompting speed reduction according to road curve, and prompting system |
| CN110751835A (en) * | 2019-11-06 | 2020-02-04 | 中国人民解放军战略支援部队航天工程大学士官学校 | Vehicle monitoring and early warning system and method based on Beidou navigation technology |
| CN111008505A (en) * | 2019-11-18 | 2020-04-14 | 西华大学 | Urban ramp driving condition construction method and application |
| US20200262424A1 (en) * | 2019-02-14 | 2020-08-20 | Honda Motor Co., Ltd. | Semi-autonomous vehicle control system and method of controlling a semi-autonomous vehicle |
| CN112698644A (en) * | 2019-10-22 | 2021-04-23 | 坤泰车辆系统（常州）有限公司 | Longitudinal speed adjusting strategy based on pure pursuit algorithm |
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| CN114481759A (en) * | 2022-01-27 | 2022-05-13 | 中国建筑第二工程局有限公司 | Small-radius connection sharp-bend paving method |
| CN117068195A (en) * | 2023-08-22 | 2023-11-17 | 宁波市海曙雪利曼电子仪表有限公司 | Communication terminal automobile driving track display processing system |
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| CN111008505A (en) * | 2019-11-18 | 2020-04-14 | 西华大学 | Urban ramp driving condition construction method and application |
| CN111008505B (en) * | 2019-11-18 | 2023-05-23 | 西华大学 | Urban ramp driving condition construction method and application |
| CN114481759A (en) * | 2022-01-27 | 2022-05-13 | 中国建筑第二工程局有限公司 | Small-radius connection sharp-bend paving method |
| CN117068195A (en) * | 2023-08-22 | 2023-11-17 | 宁波市海曙雪利曼电子仪表有限公司 | Communication terminal automobile driving track display processing system |
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Application publication date: 20151028 |