CN108454620B - Automobile pre-collision-prevention and autonomous rescue system - Google Patents
Automobile pre-collision-prevention and autonomous rescue system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/085—Taking automatic action to adjust vehicle attitude in preparation for collision, e.g. braking for nose dropping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W2030/082—Vehicle operation after collision
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Abstract
The invention particularly relates to an automobile pre-collision prevention and autonomous rescue system with high safety; the system comprises an object motion information acquisition group, an object image volume information acquisition group, a collision information acquisition group, a safety protection group, an alarm device and a physical sign detection group which are arranged at corresponding positions on an automobile; the ECU prejudges the relative motion position relation between the nearest object and the ECU and has the function of forcibly braking the vehicle under the condition of collision danger so as to avoid or reduce collision damage; after the collision accident occurs, the physical sign detection group can monitor the abnormal state of the vehicle driver and timely inform nearby hospitals to rescue, so that the driving safety is greatly improved.
Description
Technical Field
The invention relates to the field of automobile crashproof and rescue, in particular to an automobile pre-crashproof and autonomous rescue system.
Background
With the increase of vehicles in modern society, vehicle accidents are frequent, and in the running process of an automobile, the external conditions cannot be effectively and actively detected in advance through the observation of a driver, so that the automobile can timely respond to the external conditions to prevent collision. Under the condition that a driver cannot timely respond to obstacle avoidance, the vehicle cannot autonomously take effective measures to avoid the obstacle. In addition, after the impact of a certain degree occurs, the wounded person can only take rescue measures until the rescue personnel arrive in general, and the vital signs of the wounded person cannot be timely sent to nearby hospitals, and the medical personnel cannot further judge the severity of the wounded person, so that rescue is implemented to reduce or avoid casualties, and the vehicle cannot perform autonomous rescue under the shock condition of the wounded person. There is a corresponding invention, such as a motor vehicle collision avoidance system described in CN200410044477.6, comprising scanning obstacles, transmitting signals, processing circuits, using matched pre-collision calculation and automatic braking devices, the invention uses dual-rotation laser transmitting and receiving scanners to scan obstacles on the road or 360 ° around in all directions, and the received signals are processed to give parameters such as obstacle distance, direction, etc. to predict collision and automatically brake. However, the technology of the patent cannot solve the problems of active obstacle avoidance and autonomous rescue under the condition that a driver cannot respond in time.
An automobile anti-collision system described in patent CN204567492U, wherein a camera is arranged on a swing installation structure of a vehicle body, a data processing module connected with the camera is connected with the camera, the data processing module is respectively connected with an alarm module and an automobile brake module, the camera is fixed at one end of a swing rod, the other end of the swing rod is provided with a corresponding rotating seat to realize synchronous swing, and when the vehicle turns, the camera can synchronously rotate, so that the camera can acquire images. However, the technology of the patent cannot solve the problems of obstacle avoidance, intelligent active obstacle avoidance of an automobile and autonomous rescue by effectively ascertaining external conditions.
The car crash described in patent CN103101533a comprises a scanning sensor unit for scanning objects around the car, a sensor unit for monitoring driving information of speed, acceleration, angular speed, steering angle, a safety device for protecting passengers before the crash, and a control unit for calculating the relative speed of the objects from the driving information obtained by the sensor unit to predict the time of the crash, and activating the safety device during the time. However, the technology of the patent cannot solve the problems that the driver cannot timely respond to obstacle avoidance and under the condition that collision is determined to occur, the initiative of the automobile is handed over to the vehicle-mounted computer, and the driver actively avoids the obstacle and carries out autonomous rescue.
The car accident rescue system described in CN205810085U is a manual rescue request system, and includes a positioning unit, a manual alarm unit, a communication unit and a telephone voice call unit, where the information processor unit is respectively connected with these units, and the communication unit and the telephone voice call unit are respectively communicated with a remote receiving end, so that when an accident occurs, a request can be sent at the first time, and geographic information can be accurately reflected by the positioning unit, so that the fastest time is ensured to be rescued. But this patent technique does not solve the above problems of pre-crash and autonomous rescue in case of shock of wounded persons.
In the patent CN206249574U, the network platform ensures the mutual communication between each part, and the vehicle-mounted intelligent processing module including a communication module and the like is connected with the network platform, the communication module is responsible for collecting vehicle condition information, the positioning module collects vehicle position information, the communication module and the positioning module are controlled by the processor and send the collected information to the call center through the network platform, and the call center sends rescue signals according to the information, so that injured people and vehicles can be rescued in the first time, and the rescue time is shortened. But the technique of this patent does not solve the above pre-crash and autonomous rescue problems.
Disclosure of Invention
Aiming at the problems, the invention aims to provide a pre-crash-proof and autonomous rescue system for an automobile, which is high in safety.
In order to achieve the aim of the invention, the invention adopts the following technical scheme: an automobile pre-collision prevention and autonomous rescue system comprises an object motion information acquisition group, an object image volume information acquisition group, a collision information acquisition group, a safety protection group, an alarm device and a physical sign detection group which are arranged at corresponding positions on an automobile;
the object motion information acquisition units are respectively arranged at the front part, the rear part, the left side and the right side of the vehicle body; the object motion information acquisition group comprises a first infrared sensor and an ultrasonic sensor; the object motion information acquisition group is in communication connection with the ECU;
the object image volume information acquisition units are respectively arranged at the front part, the rear part, the left side and the right side of the vehicle body; the image volume information acquisition group comprises three first cameras, wherein two first cameras are horizontally arranged in the horizontal plane where the front bumper of the vehicle body is positioned, and the other camera is arranged at the corresponding position of the vehicle roof; the object image volume information acquisition group is in communication connection with the ECU; the first camera is a binocular camera;
the collision information acquisition group comprises a collision sensor and an acceleration sensor, and also comprises a speed sensor arranged on the automobile; the collision information acquisition group is in communication connection with the ECU;
the safety protection group comprises an external safety airbag which is respectively arranged at the front part, the rear part, the left side and the right side of the automobile, and a control line of the external safety airbag is in communication connection with the ECU;
the alarm device comprises an audible and visual alarm and a wireless signal transmitter which are arranged on the vehicle body; the alarm device is in communication connection with the ECU;
the physical sign detection group comprises a physical sign monitoring pad arranged on a driver seat and an iris scanner arranged in front of eyes of the driver;
the ECU is also in communication connection with a GPS positioning device arranged on the automobile.
According to the control method of the automobile pre-crash-prevention and autonomous rescue system, the control method comprises the following steps of:
step a, after the automobile is started, the ECU defines the front part of the running direction of the automobile body as 1 bit, the rear part of the running direction as 4 bits, and two sides of the running direction as 2 bits and 3 bits respectively;
the ECU acquires signals sent by a first infrared sensor and an ultrasonic sensor of an object motion information acquisition group to obtain distances between the nearest obstacle and the vehicle body in the 1-4-bit direction of the vehicle body, the 4 distances are marked as S1-S4 in sequence, the ECU acquires signals of a collision information acquisition group to obtain the speed V0 of the vehicle body and the acceleration a0 of the vehicle body, and then the step b is carried out;
step b, the ECU obtains the speed V1 and the acceleration a1 of the front object according to the time-dependent change condition of S1; calculating a minimum braking distance Smin according to the speed V0 and the acceleration a0 of the vehicle body and the maximum braking deceleration a2 of the vehicle body under different vehicle speeds stored in the ECU; comparing the sizes of the Smin and the S1, and returning to the step a if the Smin plus the safety distance L is less than the S1 and the S2-S4 are all greater than the safety distance L; otherwise, entering a step c;
c, the ECU judges that if Smin is less than or equal to S1 and S2-S4 are all greater than the safety distance L, the step a is returned;
if Smin is less than or equal to S1 and any one of S2-S4 is less than the safety distance L, marking 2 bits or 3 bits or 4 bits which are less than L in S2-S4 as dangerous bits, and then entering the step d;
if Smin is more than S1, the ECU sends an emergency braking signal to the braking device, and meanwhile marks the 1 bit corresponding to S1 as a dangerous bit, and then the step d is entered;
and d, the ECU obtains the volume T0 of the nearest barrier according to the signals sent by the binocular camera positioned at the dangerous position in the object image volume information acquisition group, wherein the calculation method of the T0 is as follows: the method comprises the steps that two binocular cameras which are positioned at the bottom edge of a triangle and form 90 degrees with each other shoot an object, the shot pictures are transmitted to an ECU for preprocessing, the preprocessing comprises image contrast enhancement, random noise removal, filtering, image enhancement and pseudo-color processing, point location features and line location features of the object are extracted, the point location features are points where the gray level value of the image changes severely or points where the curvature changes greatly on the edge of the image, and the line location features are the whole outline of the object; the ECU compares the preprocessed photo with the image in the image characteristic information base of the data memory, then selects the object represented by the image in the characteristic information base with the closest comparison, extracts the volume parameter T0 of the object, if T0 is the characteristic of the human body in the image information base, then enters step e, otherwise, enters step f;
step e, ejecting an external safety airbag at one side of a dangerous position, decelerating and stopping the automobile, simultaneously calculating the mass m3 of the human body by combining the average density ρ of the human body corresponding to the ECU stored in a data memory and T0, calculating the collision force F0 suffered by an external pedestrian of the automobile when collision occurs in the ECU by using V0, a0 and the total mass m0 of the automobile body and m3, comparing the F0 with the damage collision force threshold F1 of the human body in the data memory, and entering the step m if the F0 is more than or equal to the F1, otherwise entering the step n;
step F. The ECU calculates the mass m2 of the object by combining T0 through the average density ρ0 of the object stored in the data memory, and calculates the collision force F2 received by the automobile body when the collision behavior occurs by utilizing V0, a0, the total mass m0 of the automobile body and V1, a1 and m2, compares F2 with the automobile body damaged collision force threshold F3 in the data memory, and if F2 is more than or equal to F3, enters step h; otherwise, entering step g;
step g, the automobile is decelerated to a safe speed, and then the step n is carried out;
step h, the ECU starts an alarm device, an audible and visual alarm sends out an audible and visual signal, a wireless signal transmitter sends out an alarm signal to a cloud server or nearby intelligent equipment, and then the step i is carried out;
step i, the iris scanner sends blink frequency signals P, pupil opening Q and dark spot number T of a driver, the number of P, Q, T is compared with normal values of iris characterizations P0, Q0 and T0 pre-stored in a data memory in the ECU, if any one of P, Q, T deviates more from the normal value, the step j is entered, and otherwise, the step n is entered;
step j, a sign monitoring pad on the main driving seat collects sign signals of the blood pressure B, the heartbeat N and the body temperature W of a driver, then the ECU compares the sign signals with normal values of the blood pressure B0, the heartbeat N0 and the body temperature W0 stored in a data memory in advance, if any one of B, N, W deviates more from the normal value, the step k is entered, and otherwise, the step N is entered;
step k, starting working of the audible and visual annunciator, playing a preset voice prompt, inquiring whether the physical condition of a driver needs to seek rescue and alarm, continuously broadcasting for 30s, if the audible and visual annunciator is manually closed by the driver within 30s, entering a step l, otherwise, entering a step n;
step l. ecu writes P, Q, T, B, N, W parameters into driver vital sign report; writing the position information of the automobile sent by the GPS positioning device into a vital sign report of a driver, and then entering the step m;
the ECU utilizes a wireless signal transmitter to send a distress signal and a driver vital sign report to wireless signal receiving equipment arranged in a nearby hospital, and simultaneously sends the distress signal to the nearest traffic control department; simultaneously, the ECU controls the warning lamp of the automobile to turn on double flashing, and then the step n is carried out;
and step n, ending the flow.
The invention has the following beneficial effects: the ECU prejudges the relative motion of the nearest object to the vehicle and the position relationship of the nearest object, and forcedly carries out braking measures on the vehicle under the condition of collision danger so as to avoid or reduce collision injury. After the collision accident occurs, the system can also automatically inform nearby hospitals to rescue in time when the state of the vehicle driver is abnormal (the blink frequency P is higher than a certain threshold interval or the pupil opening Q is higher than a certain threshold interval or the number of dark spots T is higher than a certain threshold interval) or the driver thinks that the vehicle driver has rescue requirements, so that the driving safety is greatly improved.
Drawings
FIG. 1 is a schematic diagram of a system control circuit;
FIG. 2 is a schematic diagram of control steps a-f;
FIG. 3 is a schematic diagram of control step g-step n.
Detailed Description
1-3, the system comprises an object motion information acquisition group, an object image volume information acquisition group, a collision information acquisition group, a safety protection group, an alarm device and a physical sign detection group, wherein the object motion information acquisition group, the object image volume information acquisition group, the collision information acquisition group, the safety protection group, the alarm device and the physical sign detection group are arranged at corresponding positions on an automobile;
the object motion information acquisition group is respectively arranged at the front part, the rear part, the left side and the right side of the vehicle body and comprises a first infrared sensor 1-1 and an ultrasonic sensor 1-2; the first infrared sensor 1-1 and the first infrared sensor 1-1 are used comprehensively, the distance between the obstacle and the vehicle body is judged more accurately, and the object motion information acquisition group is in communication connection with the ECU;
the object image volume information acquisition group is respectively arranged at the front part, the rear part, the left side and the right side of the vehicle body, and comprises three first cameras 2-1, wherein two first cameras are horizontally arranged in the horizontal plane where the front bumper of the vehicle body is positioned, the other camera is arranged at the corresponding position of the vehicle roof, and the object image volume information acquisition group is in communication connection with the ECU; in order to accurately acquire the volume of the obstacle, the first camera is a binocular camera;
the collision information acquisition group is respectively arranged at the front part, the rear part, the left side and the right side of the vehicle body and comprises a collision sensor 3-1 and an acceleration sensor 3-2, wherein the collision sensor 3-1 can be a piezoelectric collision sensor or a strain gauge type collision sensor or a mechanical collision sensor; the collision information acquisition group also comprises a speed sensor 3-3 arranged on the automobile; the collision information acquisition group is in communication connection with the ECU;
the safety protection group comprises an external safety airbag 4-1 which is respectively arranged at the front part, the rear part, the left side and the right side of the automobile, and a control line of the external safety airbag 4-1 is in communication connection with the ECU; the ECU also simultaneously controls an in-vehicle airbag arranged at a corresponding position in the vehicle, such as an in-vehicle airbag arranged on a steering wheel or a side curtain arranged near a vehicle window;
the alarm device comprises an audible and visual alarm 5-1 and a wireless signal transmitter 5-2 which are arranged on the vehicle body, wherein the wireless signal transmitter 5-2 can be a WIFI router type signal transmitter or a mobile phone type signal transmitter with a 4G signal transmitting function; the alarm device is in communication connection with the ECU;
the physical sign detection group comprises a physical sign monitoring pad 6-1 arranged on a driver seat and an iris scanner 6-2 arranged in front of eyes of the driver; the physical sign monitoring pad 6-1 comprises a blood pressure sensor, a heartbeat sensor and a body temperature sensor; the ECU is also in communication with a GPS positioning device 7-1 arranged on the automobile.
According to the control method of the automobile pre-crash-prevention and autonomous rescue system, the control method comprises the following steps of:
step a, after the automobile is started, the ECU defines the front part of the running direction of the automobile body as 1 bit, the rear part of the running direction as 4 bits, and two sides of the running direction as 2 bits and 3 bits respectively;
the ECU acquires signals sent by a first infrared sensor and an ultrasonic sensor of an object motion information acquisition group to obtain distances between the nearest obstacle and the vehicle body in the 1-4-bit direction of the vehicle body, the 4 distances are marked as S1-S4 in sequence, the ECU acquires signals of a collision information acquisition group to obtain the speed V0 of the vehicle body and the acceleration a0 of the vehicle body, and then the step b is carried out;
step b, the ECU obtains the speed V1 and the acceleration a1 of the front object according to the time-dependent change condition of S1; calculating a minimum braking distance Smin according to the speed V0 and the acceleration a0 of the vehicle body and the maximum braking deceleration a2 of the vehicle body under different vehicle speeds stored in the ECU; comparing the sizes of the Smin and the S1, and returning to the step a if the Smin plus the safety distance L is less than the S1 and the S2-S4 are all greater than the safety distance L; otherwise, entering a step c;
c, the ECU judges that if Smin is less than or equal to S1 and S2-S4 are all greater than the safety distance L, the step a is returned;
if Smin is less than or equal to S1 and any one of S2-S4 is less than the safety distance L, marking 2 bits or 3 bits or 4 bits which are less than L in S2-S4 as dangerous bits, and then entering the step d;
if Smin is more than S1, the ECU sends an emergency braking signal to the automobile braking device, and meanwhile marks the 1 bit corresponding to S1 as a dangerous bit, and then the step d is entered; the ECU sends corresponding braking signals to an electronic braking control system such as ABS, EBD, ESP and the like, so that the braking system of the automobile works and realizes braking;
and d, the ECU obtains the volume T0 of the obstacle in the dangerous position direction according to the signals sent by the binocular camera positioned at the dangerous position in the object image volume information acquisition group, wherein the calculation method of the T0 is as follows: the method comprises the steps that two binocular cameras which are positioned at the bottom edge of a triangle and form 90 degrees with each other shoot an object, the shot pictures are transmitted to an ECU for preprocessing, the preprocessing comprises image contrast enhancement, random noise removal, filtering, image enhancement and pseudo-color processing, point location features and line location features of the object are extracted, the point location features are points where the gray level value of the image changes severely or points where the curvature changes greatly on the edge of the image, and the line location features are the whole outline of the object; the ECU compares the preprocessed photo with the image in the image characteristic information base of the data memory, then selects the object represented by the image in the characteristic information base with the closest comparison, extracts the volume parameter T0 of the object, if T0 is the characteristic of the human body in the image information base, then enters step e, otherwise, enters step f;
step e, ejecting an external safety airbag at one side of a dangerous position, decelerating and stopping the automobile, simultaneously calculating the mass m3 of the human body by combining the average density ρ of the human body corresponding to the ECU stored in a data memory and T0, calculating the collision force F0 suffered by an external pedestrian of the automobile when collision occurs in the ECU by using V0, a0 and the total mass m0 of the automobile body and m3, comparing the F0 with the damage collision force threshold F1 of the human body in the data memory, and entering the step m if the F0 is more than or equal to the F1, otherwise entering the step n;
step F. The ECU calculates the mass m2 of the object by combining T0 through the average density ρ0 of the object stored in the data memory, and calculates the collision force F2 received by the automobile body when the collision behavior occurs by utilizing V0, a0, the total mass m0 of the automobile body and V1, a1 and m2, compares F2 with the automobile body damaged collision force threshold F3 in the data memory, and if F2 is more than or equal to F3, enters step h; otherwise, entering step g;
step g, the automobile is decelerated to a safe speed, and then the step n is carried out;
step h, the ECU starts an alarm device, an audible and visual alarm sends out an audible and visual signal, a wireless signal transmitter sends out an alarm signal to a cloud server or nearby intelligent equipment, and then the step i is carried out;
step i, the iris scanner sends blink frequency signals P, pupil opening Q and dark spot number T of a driver, the number of P, Q, T is compared with normal values of iris characterizations P0, Q0 and T0 pre-stored in a data memory in the ECU, if any one of P, Q, T deviates more from the normal value, the step j is entered, and otherwise, the step n is entered;
step j, a sign monitoring pad on the main driving seat collects sign signals of the blood pressure B, the heartbeat N and the body temperature W of a driver, then the ECU compares the sign signals with normal values of the blood pressure B0, the heartbeat N0 and the body temperature W0 stored in a data memory in advance, if any one of B, N, W deviates more from the normal value, the step k is entered, and otherwise, the step N is entered;
step k, starting working of the audible and visual annunciator, playing a preset voice prompt, inquiring whether the physical condition of a driver needs to seek rescue and alarm, continuously broadcasting for 30s, if the audible and visual annunciator is manually closed by the driver within 30s, entering a step l, otherwise, entering a step n;
step l. ecu writes P, Q, T, B, N, W parameters into driver vital sign report; writing the position information of the automobile sent by the GPS positioning device into a vital sign report of a driver, and then entering the step m;
the ECU utilizes a wireless signal transmitter to send a distress signal and a driver vital sign report to wireless signal receiving equipment arranged in a nearby hospital, and simultaneously sends the distress signal to the nearest traffic control department; simultaneously, the ECU controls the warning lamp of the automobile to turn on double flashing, and then the step n is carried out;
and step n, ending the flow.
The system can be in advance prejudged to the collision of place ahead, rear and both sides in the car advancing process to make corresponding initiative safeguard measure after prejudging, especially when the collision with this car is the pedestrian, can also pop out car outer air bag, effectively protect the pedestrian, simultaneously after the collision accident takes place, further judge the collision force size of car and pedestrian collision, if collision force is too big, then take corresponding warning measure, rescue efficiency is improved, still judge the collision force size of car and other object collision simultaneously, if collision force is too big, then utilize sign detection group to carry out safety monitoring to the driver, for example the driver loses consciousness or can't independently rescue, this system can also in time send driver's sign situation to nearby hospitals, very big improvement medical aid's effect, the safety protection of driver has been improved.
Claims (1)
1. An automobile pre-crash-proof and autonomous rescue system is characterized in that: the system comprises an object motion information acquisition group, an object image volume information acquisition group, a collision information acquisition group, a safety protection group, an alarm device and a physical sign detection group which are arranged at corresponding positions on an automobile;
the object motion information acquisition units are respectively arranged at the front part, the rear part, the left side and the right side of the vehicle body; the object motion information acquisition group comprises a first infrared sensor (1-1) and an ultrasonic sensor (1-2); the object motion information acquisition group is in communication connection with the ECU;
the object image volume information acquisition units are respectively arranged at the front part, the rear part, the left side and the right side of the vehicle body; the image volume information acquisition group comprises three first cameras (2-1), wherein two first cameras are horizontally arranged in the horizontal plane where the front bumper of the vehicle body is positioned, and the other camera is arranged at the corresponding position of the vehicle roof; the object image volume information acquisition group is in communication connection with the ECU; the first camera is a binocular camera;
the collision information acquisition group is respectively arranged at the front part, the rear part, the left side and the right side of the automobile body and comprises a collision sensor (3-1) and an acceleration sensor (3-2), and the collision information acquisition group also comprises a speed sensor (3-3) arranged on the automobile; the collision information acquisition group is in communication connection with the ECU;
the safety protection group comprises an external safety airbag (4-1) which is respectively arranged at the front part, the rear part, the left side and the right side of the automobile, and a control line of the external safety airbag (4-1) is in communication connection with the ECU;
the alarm device comprises an audible and visual alarm (5-1) and a wireless signal transmitter (5-2) which are arranged on the vehicle body; the alarm device is in communication connection with the ECU;
the physical sign detection group comprises a physical sign monitoring pad (6-1) arranged on a driver seat and an iris scanner (6-2) arranged in front of eyes of the driver;
the ECU is also in communication connection with a GPS positioning device (7-1) arranged on the automobile;
the control method of the system comprises the following steps sequentially carried out:
step a, after the automobile is started, the ECU defines the front part of the running direction of the automobile body as 1 bit, the rear part of the running direction as 4 bits, and two sides of the running direction as 2 bits and 3 bits respectively;
the ECU acquires signals sent by a first infrared sensor and an ultrasonic sensor of an object motion information acquisition group to obtain distances between the nearest obstacle and the vehicle body in the 1-4-bit direction of the vehicle body, the 4 distances are marked as S1-S4 in sequence, the ECU acquires signals of a collision information acquisition group to obtain the speed V0 of the vehicle body and the acceleration a0 of the vehicle body, and then the step b is carried out;
step b, the ECU obtains the speed V1 and the acceleration a1 of the front object according to the time-dependent change condition of S1; calculating a minimum braking distance Smin according to the speed V0 and the acceleration a0 of the vehicle body and the maximum braking deceleration a2 of the vehicle body under different vehicle speeds stored in the ECU; comparing the sizes of the Smin and the S1, and returning to the step a if the Smin plus the safety distance L is less than the S1 and the S2-S4 are all greater than the safety distance L; otherwise, entering a step c;
c, the ECU judges that if Smin is less than or equal to S1 and S2-S4 are all greater than the safety distance L, the step a is returned;
if Smin is less than or equal to S1 and any one of S2-S4 is less than the safety distance L, marking 2 bits or 3 bits or 4 bits which are less than L in S2-S4 as dangerous bits, and then entering the step d;
if Smin is more than S1, the ECU sends an emergency braking signal to the braking device, and meanwhile marks the 1 bit corresponding to S1 as a dangerous bit, and then the step d is entered;
and d, the ECU obtains the volume T0 of the nearest barrier according to the signals sent by the binocular camera positioned at the dangerous position in the object image volume information acquisition group, wherein the calculation method of the T0 is as follows: the method comprises the steps that two binocular cameras which are positioned at the bottom edge of a triangle and form 90 degrees with each other shoot an object, the shot pictures are transmitted to an ECU for preprocessing, the preprocessing comprises image contrast enhancement, random noise removal, filtering, image enhancement and pseudo-color processing, point location features and line location features of the object are extracted, the point location features are points where the gray level value of the image changes severely or points where the curvature changes greatly on the edge of the image, and the line location features are the whole outline of the object; the ECU compares the preprocessed photo with the image in the image characteristic information base of the data memory, then selects the object represented by the image in the characteristic information base with the closest comparison, extracts the volume parameter T0 of the object, if T0 is the characteristic of the human body in the image information base, then enters step e, otherwise, enters step f;
step e, ejecting an external safety airbag at one side of a dangerous position, decelerating and stopping the automobile, simultaneously calculating the mass m3 of the human body by combining the average density ρ of the human body corresponding to the ECU stored in a data memory and T0, calculating the collision force F0 suffered by an external pedestrian of the automobile when collision occurs in the ECU by using V0, a0 and the total mass m0 of the automobile body and m3, comparing the F0 with the damage collision force threshold F1 of the human body in the data memory, and entering the step m if the F0 is more than or equal to the F1, otherwise entering the step n;
step F. The ECU calculates the mass m2 of the object by combining T0 through the average density ρ0 of the object stored in the data memory, and calculates the collision force F2 received by the automobile body when the collision behavior occurs by utilizing V0, a0, the total mass m0 of the automobile body and V1, a1 and m2, compares F2 with the automobile body damaged collision force threshold F3 in the data memory, and if F2 is more than or equal to F3, enters step h; otherwise, entering step g;
step g, the automobile is decelerated to a safe speed, and then the step n is carried out;
step h, the ECU starts an alarm device, an audible and visual alarm sends out an audible and visual signal, a wireless signal transmitter sends out an alarm signal to a cloud server or nearby intelligent equipment, and then the step i is carried out;
step i, the iris scanner sends blink frequency signals P, pupil opening Q and dark spot number T of a driver, the number of P, Q, T is compared with normal values of iris characterizations P0, Q0 and T0 pre-stored in a data memory in the ECU, if any one of P, Q, T deviates more from the normal value, the step j is entered, and otherwise, the step n is entered;
step j, a sign monitoring pad on the main driving seat collects sign signals of the blood pressure B, the heartbeat N and the body temperature W of a driver, then the ECU compares the sign signals with normal values of the blood pressure B0, the heartbeat N0 and the body temperature W0 stored in a data memory in advance, if any one of B, N, W deviates more from the normal value, the step k is entered, and otherwise, the step N is entered;
step k, starting working of the audible and visual annunciator, playing a preset voice prompt, inquiring whether the physical condition of a driver needs to seek rescue and alarm, continuously broadcasting for 30s, if the audible and visual annunciator is manually closed by the driver within 30s, entering a step l, otherwise, entering a step n;
step l. ecu writes P, Q, T, B, N, W parameters into driver vital sign report; writing the position information of the automobile sent by the GPS positioning device into a vital sign report of a driver, and then entering the step m;
the ECU utilizes a wireless signal transmitter to send a distress signal and a driver vital sign report to wireless signal receiving equipment arranged in a nearby hospital, and simultaneously sends the distress signal to the nearest traffic control department; simultaneously, the ECU controls the warning lamp of the automobile to turn on double flashing, and then the step n is carried out;
and step n, ending the flow.
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| CN110182205B (en) * | 2019-05-05 | 2021-09-03 | 浙江合众新能源汽车有限公司 | Automobile obstacle avoidance prejudging system based on cloud computing |
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| CN110745093A (en) * | 2019-10-31 | 2020-02-04 | 重庆长安汽车股份有限公司 | Method and system for intelligently identifying vehicle collision event, storage medium and vehicle |
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