CN106828390A - A kind of automotive correlation prevention route correction method based on width detection - Google Patents
A kind of automotive correlation prevention route correction method based on width detection Download PDFInfo
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- CN106828390A CN106828390A CN201611258522.7A CN201611258522A CN106828390A CN 106828390 A CN106828390 A CN 106828390A CN 201611258522 A CN201611258522 A CN 201611258522A CN 106828390 A CN106828390 A CN 106828390A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Traffic Control Systems (AREA)
Abstract
A kind of automotive correlation prevention route correction method based on width detection,Including initialization,Described first that the both sides of the headstock center of automobile are respectively provided with a distance of the position of L,The angle of the detection direction of second distance detector is calibrated,Adjustable angle scope is demarcated in advance,Wherein the first range finder includes first,Second sub- range finder,Second distance detector includes the 3rd,4th sub- range finder,First,Second,3rd,4th sub- range finder detects the edge parameters in traveling ahead space,Calculate the width in traveling space,Send alarm,The intensity of variation of the angle value according to continuous time section α and β,Adjust the position of headstock,The intensity of variation of width value and angle value according to detection adjusts vehicle traveling direction,The step of by travelling space,The method is realized shifting to an earlier date anticipation traffic space width,Prevent collision,And effectively improve the driving efficiency of driver,There is the probability of accident in reduction.
Description
Technical field
The present invention relates to field of automobile safety, and in particular to a kind of automotive correlation prevention route correction side based on width detection
Method.
Background technology
During the traveling of automobile, often there is automobile and front and back vehicle, or be and surrounding enviroment facility hair
Raw collision accident.Accident can not only cause the damage of vehicle and collision thing, and economy is caused damage, sometimes also can be to driver
And passenger damages, therefore effectively avoid the significant of accident.
At present, the early warning for accident generally uses the modes such as radar detection, reverse image to realize, by detecting or showing
Show the barrier on periphery to send alarm, remind driver.However, this mode need mostly under certain conditions just can be with
Implement, for example radar will just start alarm in certain investigative range, after reverse image is only able to display a part of car rear portion
Face etc..For many fresh drivers and the not enough driver of driving experience, it usually needs give warning in advance, so that does sth. in advance keeps away
Exempt from the probability for accident occur.It is (such as garage, logical by space in the narrow or narrow automobile of some form roads
Road junction etc.), if i.e. early can obtain by the width in space, can be according to driving the width of vehicle and passing through for safety
Distance reminds driver, so as to judge whether to pass through in advance, takes corresponding drive manner.However, at present not
It is this can detect in advance vehicle traveling width spatially come anticipation vehicle whether the apparatus and method that can pass through, and do not have
With reference to vehicle can by when correction route meeting by the apparatus and method of condition.
The content of the invention
It is an object of the invention to overcome the deficiencies in the prior art, there is provided one kind can realize that anticipation traffic space is wide in advance
Degree, and real-time adjustment traffic route, so as to efficiently be kept away by travelling the automobile based on width detection for preventing collision in space
Hit route correction method.
The invention provides a kind of automotive correlation prevention route correction method based on width detection, comprise the following steps successively：
(1) initialize, described first, that the both sides of the headstock center of automobile are respectively provided with a distance of the position of L
The angle of the detection direction of two range finders is calibrated, and adjustable angle scope is demarcated in advance, wherein first away from
Include first, second sub- range finder from detector, second distance detector includes the three, the 4th sub- range finders, i.e.,
To the angle α between the direction immediately ahead of first, second, third, fourth sub- range finder detection direction and headstock, β, γ and
θ is demarcated in advance；
(2) first, second, third, fourth sub- range finders with cycle T emission detection signal, real-time adjustment angle α,
β, γ and θ, are scanned in the investigative range of front, when the first and second and third and fourth sub- range finder detection
To traveling ahead space edge when, the angle value of record now α, β, γ and θ, and first and second sub- range finder is now
Detection range value L1 and L2, third and fourth sub- range finder detection range value L3 and L4 now, and reduce cycle T；
(2) first detection width M1=L1sin α+the L2sin β, the second detection width M2=in traveling space is calculated
L3sin γ+L4sin θ, and the 3rd detection widthIf M1, M2,
M3 meets certain range of allowable error simultaneously, then using M1, M2, M3 as traveling space width now, if row now
Space width is sailed more than first threshold, then sends the first alarm；
(4) automobile continues operating range S, adjustment angle α, β, γ and θ so that first, second, third, fourth sub- distance
Detector still detects the edge in traveling ahead space, the angle value of record now α and β, and γ and θ angle value, with
And first, second, third, fourth sub- range finder detection range value L5, L6, L7, L8 now；
(5) the 4th detection width M4=L5sin the α+L6sin β, the 5th detection width M5=in traveling space is calculated
L7sin γ+L8sin θ, and the 6th detection widthCompare M4, M5,
Whether the value of M6 meets certain range of allowable error simultaneously, then using M4, M5, M6 as traveling space width now, and this
When traveling space width when being more than first threshold, send alarm and report the width of the average value of M4, M5 and M6 as detection
Value；
(6) in comparison step (2) and step (4) α and θ of different time angle value, according to the angle of time period α and θ
The intensity of variation of angle value, adjusts the position of headstock；
(7) repeat step (2)-(6), the intensity of variation of width value and angle value according to detection adjusts running car side
To by travelling space.
Further, the position of adjustment headstock is specifically that headstock is low that side is close to intensity of variation in step (6).
Further, first threshold is set in advance.
Further, the traveling space is door opening.
Further, first, second range finder is ultrasonic distance detector or laser distance detector.
Further, alarm is the form of vibrations and/or voice.
Automotive correlation prevention route correction method based on width detection of the invention, it is possible to achieve anticipation traffic space is wide in advance
Degree, prevents collision, and effectively improves the driving efficiency of driver, and reduction occurs the probability of accident.
Brief description of the drawings
Fig. 1 is based on the automotive correlation prevention route correction Method And Principle schematic diagram of width detection
Fig. 2 width detection principle schematics
Fig. 3 is automobile route schematic diagram one
Fig. 4 is automobile route schematic diagram two
Specific embodiment
The following detailed description of specific implementation of the invention, it is necessary to it is pointed out here that, below implement to be only intended to this hair
Bright further illustrates, it is impossible to be interpreted as limiting the scope of the invention, and art skilled person is according to above-mentioned
Some nonessential modifications and adaptations that the content of the invention is made to the present invention, still fall within protection scope of the present invention.
The invention provides a kind of automotive correlation prevention route correction method based on width detection, passing through mainly for vehicle
Traveling space when, due to narrow space so that vehicle cannot by or be difficult by when, detect in advance by the width in space come
Driver is reminded, so as to select rational drive manner.As shown in Figure 1, 2, automobile 1 is in the door opening by front, if vapour
Width of the width of car more than door opening, then automobile cannot just pass through, for the new hand that driving experience lacks, it is more likely that
Cannot judge that can automobile pass through, cause to continue to be collided after travelling, when being less than door opening width certainly for vehicle width,
It is also possible to not ready in advance, the shortage of driving experience and skill, causes to collide in addition, door opening also simply one kind
The object of judgement, for traveling space be two cars between space, or other analogues constitute space be all suitable for.
As illustrated in fig. 1 and 2, the both sides of the headstock center of automobile at a distance of L position be respectively arranged with first, second away from
From detector 2, wherein the first range finder includes first, second sub- range finder, second distance detector includes the 3rd,
4th sub- range finder, the angle of first, second, third, fourth sub- range finder detection direction can be adjusted, and
Adjustment angle has carried out the sub- range finder detection direction of advance demarcation, i.e., first, second, third, fourth with headstock front
Direction between angle α, β, γ and θ be by advance demarcation, specific numerical value is known.
In the engineering of the work of range finder, because often in outdoor, the probability that obstacle occurs is very high, therefore multiple
The set-up mode of sub- range finder, the problem that single sub- range finder can be avoided to be detected after going wrong, so that
Collision probability is effectively reduced, and combines many data of sub- range sensor, and interacted, can obtained richer
Rich data, so that there is provided more abundant implementation.
In detection process, first, second sub- range finder is one group, and the three, the 4th range finders are a component
The edge detection in traveling ahead space is not carried out, and first first, second, third, fourth sub- range finder launches spy with cycle T
Signal, and real-time adjustment angle α, β, γ and θ are surveyed, is scanned in the investigative range of front, as first and second, Yi Ji
When three and the 4th sub- range finder detects the edge in traveling ahead space, the angle value of now α, β, γ and θ is recorded, and
First and second sub- range finder detection range value L1 and L2 now, third and fourth sub- range finder detection range value now
L3 and L4, and reduce cycle T, improve look-in frequency, then using first and second sub- range finder detection range value now
The angle value of L1 and L2 and corresponding α and β, and detection range value L3 and L4 using third and fourth sub- range finder now
With the angle value of corresponding γ and θ, with reference to the position relationship of first, second range finder, it is possible to obtain traveling ahead empty
Between width：First detection width M1=L1sin α+L2sin β, the second detection width M2=L3sin γ+L4sin
θ, M1 and M2 should be identical in theory, but due to the influence of external interference and detection accuracy, M1 may be different with M2, only
If M1 and M2 meet certain range of allowable error, determine to travel the effective of the width in space by such judgement
Property.Additionally, in order to reduce the influence that range finder failure is caused, and relatively reliable confirmatory measurement width validity,
The angle value of first, fourth sub- range finder detection range value L1 and L4 and corresponding γ and θ now can be utilized, by the
First, the position relationship of four sub- range finders determines the 3rd detection width
So can by judge M1, M2, M3 and meanwhile meet certain range of allowable error determine travel space width, if
Detected again after wherein at least one can be detected again when being unsatisfactory for or detector of adjusting the distance is overhauled.So by that will go
The width of the width and automobile of sailing space is compared, it is possible to know that can automobile smoothly in the case where not colliding
Pass through, and it is inadequate that width is simply greater than vehicle width, in addition it is also necessary to width more than a value for safety, therefore by this safety
Value could be arranged to first threshold, by the width and first threshold that compare space, it is possible to which whether judge can be smooth
Pass through, so as to remind human pilot.Because the driving experience of different drivers is different with skill, thus first threshold size
Can preset, different drivers can for example directly input car running computer according to driving situation sets itself, as sentencing
Disconnected foundation.
Car be with certain speed advance, then needed if continuing to detect two edges change first, second,
Angle α, β, γ and θ between direction immediately ahead of three, the 4th sub- range finder detection directions and headstock, and consider list
Pure once alarm is probably false alarm, therefore automobile continues operating range S, adjusts angle α, β, γ and θ of detection so that the
One edge that traveling ahead space is still detected with second, third and the 4th sub- range finder, records now α and β respectively
Angle value, and γ and θ angle value, and first, second, third, fourth sub- range finder detection range now
Value L5, L6, L7, L8, at this point it is possible to calculate the 4th detection width M4=L5sin α+L6sin β in traveling space, the 5th visits
Survey width M5=L7sin γ+L8sin θ, and using first, fourth sub- range finder detection range value L5 now and
The angle value of L8 and corresponding γ and θ, and the position relationship of first, fourth sub- range finder determines the 6th detection widthWhether the value for comparing M4, M5, M6 is met in certain range of allowable error, and
When M4, M5, M6 are more than first threshold, send alarm and report the average value of M4, M5 and M6 as the width value of detection, then no
Disconnected repeats the above steps, then can alerting drivers in real time, until passing through traveling space.
Additionally, during running car is by travelling space, even if early warning has been carried out to driver in advance, but by
In the driving experience and the deficiency of skill of driver, also vehicle cannot be well controlled to pass through, then the direction to vehicle is carried out
Correction, so that it is also an important solve problem that driver can pass through traveling space.As shown in 3 and Fig. 4, such as
The width in fruit traveling space meets the condition that vehicle can pass through, then optimal route is exactly shown in Fig. 3, i.e. the headstock of vehicle
Just to the center in traveling space, so that vehicle passes through from traveling space, A points are previous time headstock center in figure at center
Position, B points are the position at latter time headstock center, then as no automobile just passes through from the central position, then the first, the 4th son
Angle α between direction and θ immediately ahead of the detection direction and headstock of range finder are constant.Fig. 4 is actual path
A kind of situation, in actual vehicle traveling process, it is difficult to Utopian travel according to optimal route, majority of case is all class
The travel route for being similar to Fig. 4 is travelled, then this travel route is likely to cause collision.Therefore, enter for travel route
The effective correction of row is just particularly important.If according to the form route of Fig. 4, A points are the position at previous time headstock center in figure,
B points are the position at latter time headstock center, then during advance, it is ensured that when continuing to detect two edges, the
First, the angle α and θ between the direction immediately ahead of the 4th sub- range finder detection direction and headstock change, but change
Degree is but differed, and during from A points to B points, the intensity of variation of angle α, therefore can be with more than the intensity of variation of angle theta
By the position for comparing the intensity of variation of angle to adjust headstock, specifically can be by the continuous time period, by judging to press from both sides
The intensity of variation of angle α and θ adjusts the position of headstock, such as low that side is close to intensity of variation.
It should be noted that be likely to occur that during calculating extreme case of the invention is not met, but for this
Should be rejected for being unsatisfactory for the extreme case of design conditions for art personnel.
Although for illustrative purposes, it has been described that illustrative embodiments of the invention, those skilled in the art
Member it will be understood that, in the case of not departing from the scope and spirit of invention disclosed in appended claims, can be in form and details
On carry out various modifications, addition and replace etc. change, and it is all these change should all belong to appended claims of the present invention
Each step in protection domain, and claimed each department of product and method, can be in any combination
Form is combined.Therefore, to disclosed in this invention implementation method description be not intended to limit the scope of the present invention,
But for describing the present invention.Correspondingly, the scope of the present invention is not limited by embodiment of above, but by claim or
Its equivalent is defined.
Claims (6)
1. a kind of automotive correlation prevention route correction method based on width detection, it is characterised in that comprise the following steps successively：
(1) initialize, to the both sides of the headstock center of automobile at a distance of the position of L be respectively provided with described first, second away from
Angle from the detection direction of detector is calibrated, and adjustable angle scope is demarcated in advance, wherein the first distance is visited
Surveying device includes first, second sub- range finder, and second distance detector includes the three, the 4th sub- range finders, i.e., to the
First, second, third, the angle α between the direction immediately ahead of the 4th sub- range finder detection direction and headstock, β, γ and θ enter
Row is demarcated in advance；
(2) first, second, third, fourth sub- range finders are with cycle T emission detection signal, real-time adjustment angle α, β, γ
And θ, it is scanned in the investigative range of front, before the first and second and third and fourth sub- range finder is detected
During the edge in side traveling space, the angle value of now α, β, γ and θ, and the spy now of first and second sub- range finder are recorded
Distance value L1 and L2, third and fourth sub- range finder detection range value L3 and L4 now are surveyed, and reduces cycle T；
(2) first detection width M1=L1sin α+the L2sin β, the second detection width M2=L3 in traveling space is calculated
Sin γ+L4sin θ, and the 3rd detection widthIf M1, M2, M3 are same
When meet certain range of allowable error, then using M1, M2, M3 as traveling space width now, if traveling now is empty
Between width be more than first threshold, then send the first alarm；
(4) automobile continues operating range S, adjustment angle α, β, γ and θ so that first, second, third, fourth sub- distance measurement
Device still detects the edge in traveling ahead space, the angle value of record now α and β, and γ and θ angle value, Yi Ji
First, second, third, the 4th sub- range finder detection range value L5, L6, L7, L8 now；
(5) the 4th detection width M4=L5sin the α+L6sin β, the 5th detection width M5=L7 in traveling space is calculated
Sin γ+L8sin θ, and the 6th detection widthCompare M4, M5, M6
Whether value meets certain range of allowable error simultaneously, then using M4, M5, M6 as traveling space width now, and now
When traveling space width is more than first threshold, sends alarm and report the average value of M4, M5 and M6 as the width value of detection；
(6) in comparison step (2) and step (4) α and θ of different time angle value, according to the angle value of time period α and θ
Intensity of variation, adjust headstock position；
(7) repeat step (2)-(6), the intensity of variation of width value and angle value according to detection adjusts vehicle traveling direction, leads to
Cross traveling space.
2. the method for claim 1, it is characterised in that：In step (6) position of adjustment headstock be specifically by headstock to
Intensity of variation is low that side is close to.
3. the method for claim 1, it is characterised in that：First threshold is set in advance.
4. the method for claim 1, it is characterised in that：The traveling space is door opening.
5. the method for claim 1, it is characterised in that：First, second range finder is ultrasonic distance detector
Or laser distance detector.
6. method as claimed in claim 4, it is characterised in that：Alarm is the form of vibrations and/or voice.
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| CN201611258522.7A CN106828390A (en) | 2016-12-30 | 2016-12-30 | A kind of automotive correlation prevention route correction method based on width detection |
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| CN201611258522.7A CN106828390A (en) | 2016-12-30 | 2016-12-30 | A kind of automotive correlation prevention route correction method based on width detection |
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| CN104044594A (en) * | 2014-06-23 | 2014-09-17 | 中国北方车辆研究所 | Arithmetic device oriented toward transverse distance early warning |
| WO2014189415A1 (en) * | 2013-05-21 | 2014-11-27 | Autoliv Development Ab | Collision mitigation systems with adjustable trigger width |
| CN104406530A (en) * | 2014-11-25 | 2015-03-11 | 苏州市欧博锐自动化科技有限公司 | Vehicular height and width overlimit monitoring system based on laser ranging |
| CN204383299U (en) * | 2015-01-19 | 2015-06-10 | 重庆交通大学 | A kind of caution system for tunnel safety driving |
| CN105374215A (en) * | 2015-11-29 | 2016-03-02 | 吉林大学 | Highway roadside early warning device |
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2016
- 2016-12-30 CN CN201611258522.7A patent/CN106828390A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5529138A (en) * | 1993-01-22 | 1996-06-25 | Shaw; David C. H. | Vehicle collision avoidance system |
| WO2014189415A1 (en) * | 2013-05-21 | 2014-11-27 | Autoliv Development Ab | Collision mitigation systems with adjustable trigger width |
| CN103419781A (en) * | 2013-08-22 | 2013-12-04 | 中交第二航务工程局有限公司 | Automatic control method and control system for driving of transporting girder vehicle through tunnel |
| CN104044594A (en) * | 2014-06-23 | 2014-09-17 | 中国北方车辆研究所 | Arithmetic device oriented toward transverse distance early warning |
| CN104406530A (en) * | 2014-11-25 | 2015-03-11 | 苏州市欧博锐自动化科技有限公司 | Vehicular height and width overlimit monitoring system based on laser ranging |
| CN204383299U (en) * | 2015-01-19 | 2015-06-10 | 重庆交通大学 | A kind of caution system for tunnel safety driving |
| CN105374215A (en) * | 2015-11-29 | 2016-03-02 | 吉林大学 | Highway roadside early warning device |
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Application publication date: 20170613 |