CN106828393A - A kind of automobile route bearing calibration based on width detection - Google Patents
A kind of automobile route bearing calibration based on width detection Download PDFInfo
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- CN106828393A CN106828393A CN201611265308.4A CN201611265308A CN106828393A CN 106828393 A CN106828393 A CN 106828393A CN 201611265308 A CN201611265308 A CN 201611265308A CN 106828393 A CN106828393 A CN 106828393A
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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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- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Traffic Control Systems (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
A kind of automobile route bearing calibration 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, first, second distance detector 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 automobile route bearing calibration based on width detection.
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 that efficiently by travelling the motor road based on width detection for preventing collision in space
Line bearing calibration.
The invention provides a kind of automobile route bearing calibration 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, i.e., to first,
Angle α between direction and β immediately ahead of two range finder detection directions and headstock are demarcated in advance；
(2) first, second range finders are detected with cycle T emission detection signal, real-time adjustment angle α and β in front
In the range of be scanned, when first, second range finder detects the edge in traveling ahead space, record now α and β
Angle value, and first and second range finder detection range value L1 and L2 now, and reduce cycle T；
The width M1=L1sin α+L2sin β+L in traveling space are calculated, if M1 is more than first threshold, the is sent
One alarm；
(3) automobile continues operating range S in the continuous time period, adjusts angle α and β so that first, second distance measurement
Device still detects the edge in traveling ahead space, records the angle value of now α and β, and first and second range finder is now
Detection range value L3 and L4；
Calculate the width in traveling spaceComparing the value of M1 and M2 is
It is identical or meet in certain range of allowable error, and M2 is when being more than first threshold, sends alarm and reports the width value of detection
M1 or M2 or average value；
(4) in comparison step (2) and step (3) α and β of different time angle value, according to the angle of time period α and β
The intensity of variation of angle value, adjusts the position of headstock；
(5) repeat step (2)-(4), 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 (4).
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.
Automobile route bearing calibration based on width detection of the invention, it is possible to achieve anticipation traffic space width in advance,
Collision is prevented, and effectively improves the driving efficiency of driver, reduction occurs the probability of accident.
Brief description of the drawings
Fig. 1 is based on the automobile route bearing calibration principle schematic 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 automobile route bearing calibration based on width detection, mainly for vehicle by traveling
During space, due to narrow space so that vehicle cannot by or be difficult by when, detect by the width in space to remind in advance
Driver, so as to select rational drive manner.As shown in Figure 1, 2, automobile 1 is in the door opening by front, if automobile
Width of the width 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, also have
May be no ready in advance, the shortage of driving experience and skill, causes to collide in addition, and door opening is also simply a kind of to be judged
Object, 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, the angle of the detection direction of first, second range finder 2 can be adjusted, and adjustment angle has carried out advance mark
Fixed, i.e., angle α and β between the direction immediately ahead of the detection direction of first, second range finder 2 and headstock are by mark in advance
Fixed, specific numerical value is known.Normal conditions, if first, second range finder 2 is arranged at into same position,
Can improve may produce interference between the difficulty of technique, and first, second range finder, thus the present invention by first,
Second distance detector 2 is provided separately, and can so lower technology difficulty, and improve the precision of measurement.
In detection process, first, second range finder is with cycle T emission detection signal, and real-time adjustment angle α
And β, it is scanned in the investigative range of front, when first, second range finder detects the edge in traveling ahead space,
The angle value of now α and β, and first and second range finder detection range value L1 and L2 now are recorded, and reduces the cycle
T, improves look-in frequency, then using first and second range finder detection range value L1's and L2 and corresponding α and β now
Angle value, with reference to the position relationship of first, second range finder, it is possible to obtain the width M1=L1 in traveling ahead space
sinα+L2·sinβ+L.So it is compared by by the width of width and automobile, it is possible to know that automobile is not colliding
In the case of can smoothly pass through, and it is inadequate that width is simply greater than vehicle width, in addition it is also necessary to which width is in safety
More than value, therefore this safe value be could be arranged into first threshold, by the width and first threshold that compare space, it is possible to
Judge whether can pass through, so as to remind human pilot.Because the driving experience of different drivers is different with skill,
Therefore the size of first threshold can preset, and different driver can be according to driving situation sets itself, such as directly
Input car running computer, as the foundation for judging.
Car is advanced with certain speed, then need change first, second if continuing to detect two edges
Angle α and β between direction immediately ahead of range finder detection direction and headstock, and consider that simple once alarm may
It is false alarm, therefore automobile continues operating range S, adjusts the angle α and β of detection so that first, second range finder is still
The edge in traveling ahead space is detected, the angle value of now α and β, and the detection now of first and second range finder is recorded
Distance value L3 and L4, at this point it is possible to calculate the width in traveling spaceCompare M1 and
The value of M2 is identical or meets in certain range of allowable error, and M2 is when being more than first threshold, sends alarm and reports detection
Width value M1 or M2 or average value, then constantly repeat the above steps, then can alerting drivers in real time, until smooth
By travelling 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 just passed through from the central position such as no automobile, then first, second away from
Angle α between direction and β immediately ahead of the detection direction and headstock of detector are constant.Fig. 4 is the one of actual path
The situation of kind, in actual vehicle traveling process, it is difficult to Utopian travel according to optimal route, majority of case is all similar
Travelled in the travel route of Fig. 4, then this travel route is likely to cause collision.Therefore, carried out for travel route
Effective correction is just particularly important.If according to the form route of Fig. 4, A points are the position at previous time headstock center, B in figure
Point is 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 β between the direction immediately ahead of second distance detector detection direction and headstock change, but change journey
Degree is but differed, during from A points to B points, the intensity of variation of the intensity of variation more than angle β of angle α, therefore can lead to
Cross and compare the intensity of variation of angle and adjust the position of headstock, specifically can be by the continuous time period, by judging angle α
The position of headstock is adjusted with the intensity of variation of β, such as it is 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 automobile route bearing calibration 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, i.e., to first, second away from
Angle α between direction and β immediately ahead of detector detection direction and headstock are demarcated in advance；
(2) first, second range finders with cycle T emission detection signal, real-time adjustment angle α and β, in front investigative range
Inside it is scanned, when first, second range finder detects the edge in traveling ahead space, records the angle of now α and β
Value, and first and second range finder detection range value L1 and L2 now, and reduce cycle T；
The width M1=L1sin α+L2sin β+L in traveling space are calculated, if M1 is more than first threshold, the first police is sent
Report；
(3) automobile the continuous time period continue operating range S, adjust angle α and β so that first, second range finder according to
The edge in traveling ahead space is so detected, the angle value of now α and β, and the spy now of first and second range finder is recorded
Survey distance value L3 and L4；
Calculate the width in traveling spaceThe value for comparing M1 and M2 is identical
Or meet in certain range of allowable error, and M2 be more than first threshold when, send alarm and report detection width value M1 or
M2 or average value；
(4) in comparison step (2) and step (3) α and β of different time angle value, according to the angle value of time period α and β
Intensity of variation, adjust headstock position；
(5) repeat step (2)-(4), 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 (4) 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611265308.4A CN106828393A (en) | 2016-12-30 | 2016-12-30 | A kind of automobile route bearing calibration based on width detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611265308.4A CN106828393A (en) | 2016-12-30 | 2016-12-30 | A kind of automobile route bearing calibration based on width detection |
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| CN106828393A true CN106828393A (en) | 2017-06-13 |
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ID=59117676
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611265308.4A Pending CN106828393A (en) | 2016-12-30 | 2016-12-30 | A kind of automobile route bearing calibration based on width detection |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109307866A (en) * | 2017-07-27 | 2019-02-05 | 株式会社万都 | For determining whether vehicle is able to enter the method and system of road |
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| US5529138A (en) * | 1993-01-22 | 1996-06-25 | Shaw; David C. H. | Vehicle collision avoidance system |
| 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 |
| 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
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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 |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109307866A (en) * | 2017-07-27 | 2019-02-05 | 株式会社万都 | For determining whether vehicle is able to enter the method and system of road |
| CN109307866B (en) * | 2017-07-27 | 2023-08-22 | 汉拿科锐动电子股份公司 | Method and system for determining whether a vehicle is able to enter a road |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170613 |
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| RJ01 | Rejection of invention patent application after publication |