CN111473758A - Vehicle height limit warning method and device - Google Patents
Vehicle height limit warning method and device Download PDFInfo
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- CN111473758A CN111473758A CN202010288247.3A CN202010288247A CN111473758A CN 111473758 A CN111473758 A CN 111473758A CN 202010288247 A CN202010288247 A CN 202010288247A CN 111473758 A CN111473758 A CN 111473758A
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/08—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness for measuring thickness
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Abstract
The invention relates to a vehicle height limit warning method and a vehicle height limit warning device, wherein the vehicle height limit warning method comprises the following steps: acquiring the passable height of the height limiting device; calculating a transverse inclination angle and/or a longitudinal inclination angle of the vehicle by using an acceleration signal measured by a chassis position sensor of the vehicle, and calculating the height of the highest point of the current vehicle according to the transverse inclination angle and/or the longitudinal inclination angle and body data stored in the vehicle in advance; comparing the obtained passable height with the calculated highest point height, and judging whether the vehicle can pass through the height limiting device; and a step of giving an alarm when it is determined that the vehicle is difficult to pass through the height limiting device.
Description
Technical Field
The invention relates to the technical field of vehicle auxiliary driving, in particular to a vehicle height limit warning method and device.
Background
With the increasing development of urban traffic, the number of transportation facilities such as elevated frames, bridges and tunnels is increasing, so that a plurality of roads have certain height limits, and when the total height of a vehicle is greater than the height limits of the transportation facilities such as the elevated frames, the bridges and the tunnels, accidents can occur to cause the damage of the facility structures such as the elevated frames, the bridges and the tunnels, thereby bringing danger to the safety of vehicle drivers.
Currently, an Electronic Control Unit (ECU) dedicated for vehicle height limit warning is usually designed, the height of a front height limit device is identified through an infrared sensor, an ultrasonic sensor or a camera, and the like, and compared with the height of a vehicle stored in the vehicle height limit warning ECU, a driver of the vehicle is notified whether the vehicle can smoothly pass through the height limit device through voice broadcast and other modes.
However, the conventional technology does not consider that when the vehicle is on a non-horizontal road surface, that is, when the vehicle has a lateral inclination (a direction perpendicular to a front-rear axis of the vehicle), the height of the highest point of the vehicle is not the vehicle height stored in the vehicle height limit warning ECU, and it cannot be determined whether the highest point of the vehicle can pass through the height limit device only by a sensor system such as an infrared sensor, an ultrasonic sensor, or a camera.
In addition, in order to implement the vehicle height limit warning function, a separate ECU needs to be added, resulting in increased cost.
Disclosure of Invention
The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a vehicle height limit warning method and device that can accurately determine whether a vehicle can pass through a height limit device by calculating the height of the highest point of the vehicle even when the vehicle has a lateral inclination due to a non-horizontal road surface.
According to one aspect of the invention, a vehicle height limit warning method is provided, which is characterized by comprising the following steps: a passable height acquisition step of acquiring a passable height of the height limiting device; a vehicle height calculation step of calculating a lateral inclination angle and/or a longitudinal inclination angle of a vehicle using an acceleration signal measured by a chassis position sensor of the vehicle, and calculating a current highest point height of the vehicle from the lateral inclination angle and/or the longitudinal inclination angle and body data stored in the vehicle in advance; a judging step of comparing the passable height acquired in the passable height acquiring step with the highest point height calculated in the vehicle height calculating step to judge whether the vehicle can pass through the height limiting device; and an alarm step of giving an alarm when the vehicle is determined to have difficulty passing through the height limiting device in the determination step.
Preferably, in the determining step, when a difference between the passable height and the highest point height is greater than a preset warning height Th, it is determined that the vehicle can pass through the height limiting device.
Preferably, in the passable height acquiring step, the passable height is acquired through a communication system or at least one sensor system.
Preferably, the sensor system comprises at least one sensor mounted on the roof of the vehicle.
Preferably, in the case where the passable height is obtained by at least one of the sensor systems, the installation positions of at least one of the sensors of the sensor system are respectively set as reference points, the vertical distances of the height limiting device to the respective reference points are respectively calculated, and the smallest vertical distance thereof is taken as the passable height, and in the vehicle height calculating step, a reference height from the highest point of the vehicle to the reference point at which the vertical distance from the height limiting device is smallest at present is calculated as the highest point height.
Preferably, when the passable height is obtained by at least one sensor system, an installation position of at least one sensor of the sensor system is respectively set as a reference point, vertical distances from the height limiting device to the reference points are respectively calculated, the calculated vertical distances are respectively used as the passable height, in the vehicle height calculating step, a reference height from a highest point of the vehicle to the reference points is respectively calculated as the highest point height, in the determining step, each passable height acquired in the passable height acquiring step is respectively compared with the highest point height calculated in the vehicle height calculating step to the corresponding reference point, and whether the vehicle can pass through the height limiting device is determined.
Preferably, the sensor system comprises two said sensors, one of said sensors being mounted at a head central location of said roof of said vehicle and the other of said sensors being mounted at a tail central location of said roof of said vehicle.
Preferably, at least one of the sensor systems is any of an infrared sensor system, an ultrasonic sensor system, a camera system.
Preferably, the vehicle height limit warning method is implemented by a window breaking system (WBCU).
Preferably, in the alarming step, the alarming is performed by voice prompt and/or beep.
According to another aspect of the present invention, there is provided a vehicle height limit warning device, comprising: a communication system or at least one sensor system; a passable height acquisition unit that acquires a passable height of the height limiting device through the communication system or at least one of the sensor systems; a vehicle height calculation unit that calculates a lateral inclination angle and/or a longitudinal inclination angle of a vehicle using an acceleration signal measured by a chassis position sensor of the vehicle, and calculates a current highest point height of the vehicle from the lateral inclination angle and/or the longitudinal inclination angle and body data stored in the vehicle in advance; a judging unit, which compares the passable height acquired by the passable height acquiring unit with the highest point height calculated by the vehicle height calculating unit, and judges whether the vehicle can pass through the height limiting device; and the alarm unit is used for giving an alarm when the judging unit judges that the vehicle is difficult to pass through the height limiting device.
According to the vehicle height limiting warning method and device, even under the condition that the vehicle has transverse inclination due to a non-horizontal road surface, whether the vehicle can pass through the height limiting device or not can be accurately judged by calculating the height of the highest point of the vehicle. And by integrating it in a window breaking system (WBCU), a cost reduction effect can be obtained.
Drawings
Fig. 1 is a schematic diagram illustrating a vertical distance from a height limiting device to a reference point in a vehicle height limiting warning method according to an embodiment of the present invention.
Fig. 2 is a schematic diagram illustrating a measurement of a reference height from a highest point of a vehicle to a reference point in a vehicle height limit warning method according to an embodiment of the invention.
Fig. 3 is a flowchart illustrating a vehicle height limit warning method according to an embodiment of the invention.
Fig. 4 is a block diagram showing the structure of a vehicle height limit warning device according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.
Fig. 1 is a schematic view illustrating a vertical distance H from a height limiting device to a reference point in a vehicle height limiting warning method according to an embodiment of the invention. Fig. 2 is a schematic diagram illustrating a measurement of a reference height Hv from a highest point of a vehicle to a reference point in a vehicle height limit warning method according to an embodiment of the invention. Fig. 3 is a flowchart illustrating a vehicle height limit warning method according to an embodiment of the invention.
When the vehicle 1 is running on a road, there may be a height limiting device 2 on the road ahead. In the present embodiment, it is assumed that the road on which the vehicle 1 travels is not a horizontal road surface, and the vehicle 1 has a lateral inclination (y direction in fig. 1). In the case where the height limiting device 2 exists on the road ahead, first, the passable height of the height limiting device 2 needs to be acquired. In this embodiment, the passable height of the height limiting device 2 is obtained by the sensor system 101. The sensor system 101 may be any of an infrared sensor system, an ultrasonic sensor system, and a camera system. In the present embodiment, as shown in fig. 1, the sensor system 101 includes two sensors installed on the top of the vehicle 1, wherein one sensor 110 is installed at the head center position of the top of the vehicle 1, and the other sensor 120 is installed at the tail center position of the top of the vehicle 1. The mounting positions of the two sensors 110 and 120 (the head center position of the top of the vehicle 1 and the tail center position of the top of the vehicle 1) are set as reference points A, B, respectively. Through the twoThe distance L1 from the reference point A to the height limiting device 2 and the distance L2 from the reference point B to the height limiting device 2 can be respectively obtained through the measurement of the sensors 110 and 120, and the angle values β and mu between the connecting line between the reference point A, B and the height limiting device 2 and the horizontal plane can be obtained according to the transmitting and receiving characteristics of the sensors 110 and 120, so that the vertical distance H from the height limiting device 2 to the reference point A, B is respectively calculated and obtainedA、HBWill be perpendicular to the distance HA、HBThe smaller one of the two is set as the passable height (step S11). In the present embodiment, since the vehicle 1 is assumed to have only a lateral inclination, the reference point A, B is located at the same horizontal position, and the vertical distance H from the height limiter device 2 to the reference point a is calculatedAPerpendicular distance H from height limiting device 2 to reference point BBThe same is true.
In the present embodiment, as shown in FIG. 2, the vehicle 1 is inclined in a lateral direction on a non-horizontal road surface on which the vehicle 1 travels, the vehicle 1 recognizes the y-axis acceleration of the vehicle 1 by the chassis position sensor of the vehicle 1, and a lateral inclination angle α of the vehicle 1 can be calculated from the y-axis acceleration signal Ay and the gravitational acceleration g, and then, a reference height Hv from the highest point of the current vehicle to a reference point having a small vertical distance H from the height limiting device 2 is calculated as the highest point height, and in the present embodiment, the reference point A, B is located at the same horizontal position, that is, the vertical distance HAAt a vertical distance HBSimilarly, the reference height from the highest point of the vehicle 1 to any one reference point may be calculated. The reference height Hv from the highest point of the vehicle 1 to the reference point A, B may be calculated as the highest point height of the vehicle 1 using the following expression (1) based on the top width W of the vehicle 1 stored in advance (step S12).
Then, in step S13, it is determined whether or not the difference obtained by subtracting the highest point height (Hv in this embodiment) calculated in step S12 from the passable height (H in this embodiment) calculated in step S11 is greater than the preset warning height Th. And returning to the step S11 when the highest point height subtracted from the passable height is larger than the early warning height (H-Hv & gt Th). If it is determined that the highest point height subtracted from the passable height is equal to or less than the warning height (H-Hv is equal to or less than Th), the process proceeds to step S14.
In step S14, an alarm is given by voice prompt and buzzer sound.
The vehicle height limit warning method can be integrated in a window breaking system (WBCU), so that an ECU (electronic control unit) does not need to be additionally designed, and the cost is saved.
Fig. 4 is a block diagram showing the structure of the vehicle height limit warning device 100 according to the embodiment of the present invention. The vehicle height limit warning device 100 includes: a sensor system 101, a vehicle height calculating unit 102, a passable height acquiring unit 103, a judging unit 104, and an alarm unit 105. The vehicle height limit warning device 100 is connected to the chassis position sensor 10, and acquires an acceleration signal from the chassis position sensor 10.
The sensor system 101 may be any of an infrared sensor system, an ultrasonic sensor system, and a camera system, the sensor system 101 includes two sensors installed on the top of the vehicle 1, one sensor 110 is installed at the head center position of the top of the vehicle 1, and the other sensor 120 is installed at the tail center position of the top of the vehicle 1, the installation positions of the two sensors 110 and 120 are set as reference points a and b, respectively, and then the sensor system 101 transmits the acquired distances L1 and L2 from the reference point A, B to the height limiter 2 and the angle values β and μ between the reference point A, B and the height limiter 2 and the horizontal plane to the passable height acquiring unit 103.
The passable height acquiring unit 103 calculates the vertical distance H from the height limiting device 2 to the reference point A, B according to the distances L1 and L2 and the angle values β and mu transmitted from the sensor system 101A、HBAnd the smaller one is taken as the passable height. In this embodiment, the vertical distance HAAt a vertical distance HBThe same is true.
The vehicle height calculating unit 102 calculates the lateral inclination angle α of the vehicle 1 from the y-axis acceleration signal Ay of the vehicle 1 acquired from the chassis position sensor 10, and then calculates the reference height Hv from the highest point of the vehicle 1 to the reference point A, B as the highest point height of the vehicle 1 according to equation (1).
The judgment unit 104 judges whether or not a difference obtained by subtracting the highest point height (Hv in the present embodiment) acquired from the vehicle height calculation unit 102 from the passable height (H in the present embodiment) acquired by the passable height acquisition unit 103 is larger than a preset warning height Th. If the result of subtracting the highest point height from the passable height is greater than the early warning height (H-Hv > Th), the vehicle 1 is judged to pass through the height limiting device 2. And if the result of subtracting the highest point height from the passable height is less than or equal to the early warning height, judging that the vehicle 1 cannot pass through the height limiting device 2.
In the case where the determination unit 104 determines that the vehicle 1 cannot pass through the height limit device 2, the alarm unit 105 controls the vehicle to emit a voice prompt and a buzzer sound.
In the embodiment described above, the vehicle is assumed to have only a lateral inclination, but the vehicle may have both a lateral inclination and a longitudinal inclination. In the case of a vehicle with both a transverse and a longitudinal inclination, the vertical distance H of the height-limiting device 2 from the reference point A is calculated separatelyAPerpendicular distance H from height limiting device 2 to reference point BBThe smaller one is taken as the passable height, and the vertical distance H is assumedAIs small, so the vertical distance HAThen, the lateral inclination angle α of the vehicle is obtained from the acceleration signal of the chassis position sensor, and the reference height Hv from the highest point of the vehicle 1 to the reference point A (the reference point where the vertical distance from the height limit device 2 is small) is calculated based on the lateral inclination angle α and the vehicle body width WAAs the highest point height of the vehicle 1. Judging the vertical distance HAAnd a reference height HvAIs greater than Th, thereby determining whether the vehicle 1 can pass through the height limiting device 2.
In the above description, the vertical distances from the height limiting device to the respective reference points are calculated, respectively, and the smallest vertical distance is taken as the passable height, and only the reference height from the highest point of the vehicle to the reference point having a smaller vertical distance from the height limiting device is calculated as the highest point height of the vehicle. However, in the present invention, the calculated vertical distances may be set as passable heights, the reference heights from the highest point of the vehicle to the reference points may be calculated, and the determination unit may compare whether or not the difference between each passable height and the corresponding reference height is greater than a threshold value, to determine whether or not the vehicle can pass through the height limiting device.
In the vehicle height limit warning method and the vehicle height limit warning device described above, the vertical distance H is acquired as the passable height by the sensor system, but the passable height in front may be acquired by the communication system, and the highest point height of the vehicle may be calculated from the vehicle body data (the height of the vehicle) stored in the vehicle and the longitudinal inclination angle and the lateral inclination angle of the vehicle.
In the above-described embodiment, the sensor system includes two sensors, but the present invention is not limited to this, and the sensor system may include one sensor or a plurality of sensors, and the installation position thereof is not limited to the head center and the tail center of the roof, and may be installed in other positions as long as the highest point height of the vehicle is calculated from the installation position thereof.
The vehicle height limit warning method of the present invention may be executed in real time, that is, the steps S11 to S15 may be executed at a short cycle t, and the preset cycle t is preferably several milliseconds, more preferably several tenths of milliseconds.
According to the present invention, even in the case where the vehicle has a lateral inclination due to a non-horizontal road surface, it is possible to accurately judge whether the vehicle can pass through the height limiting device by calculating the height of the highest point of the vehicle. In addition, the vehicle height limit warning method and the vehicle height limit warning device can be integrated in a window breaking system (WBCU), so that an ECU (electronic control unit) does not need to be additionally designed, and the cost is saved.
Although the present invention has been described with reference to the present specific embodiments, it will be appreciated by those skilled in the art that the scope of the invention herein involved is not limited to the specific combination of the above features, but also encompasses other embodiments formed by any combination of the above features or their equivalents without departing from the inventive concept. For example, the above features and (but not limited to) features having similar functions disclosed in the present invention are mutually replaced to form the technical solution.
Claims (11)
1. A vehicle height limiting warning method is characterized by comprising the following steps:
a passable height acquisition step of acquiring a passable height of the height limiting device;
a vehicle height calculation step of calculating a lateral inclination angle and/or a longitudinal inclination angle of a vehicle using an acceleration signal measured by a chassis position sensor of the vehicle, and calculating a current highest point height of the vehicle from the lateral inclination angle and/or the longitudinal inclination angle and body data stored in the vehicle in advance;
a judging step of comparing the passable height acquired in the passable height acquiring step with the highest point height calculated in the vehicle height calculating step to judge whether the vehicle can pass through the height limiting device; and
and an alarm step of giving an alarm when the vehicle is determined to have difficulty passing through the height limiting device in the determination step.
2. The vehicle height limit warning method according to claim 1,
in the judging step, when the difference value obtained by subtracting the highest point height from the passable height is greater than a preset early warning height Th, it is judged that the vehicle can pass through the height limiting device.
3. The vehicle height limit warning method according to claim 1 or 2,
in the passable height acquiring step, the passable height is acquired through a communication system or at least one sensor system.
4. The vehicle height limit warning method according to claim 3,
the sensor system includes at least one sensor mounted to a roof of the vehicle.
5. The vehicle height limit warning method according to claim 4,
in the case where the passable height is obtained by at least one of the sensor systems, setting the installation position of at least one of the sensors of the sensor system as reference points, respectively, calculating the vertical distances of the height limiting devices to the respective reference points, respectively, and taking the smallest vertical distance thereof as the passable height,
in the vehicle height calculating step, a reference height from a highest point of the vehicle to a reference point at which a vertical distance from the height limiter device is minimum is calculated as the highest point height.
6. The vehicle height limit warning method according to claim 4,
when the passable height is obtained by at least one sensor system, the installation position of at least one sensor of the sensor system is respectively set as a reference point, the vertical distance from the height limiting device to each reference point is respectively calculated, and each calculated vertical distance is respectively used as the passable height,
in the vehicle height calculating step, reference heights from the highest point of the vehicle to the respective reference points at present are respectively calculated as the highest point heights,
in the judging step, the passable heights acquired in the passable height acquiring step are respectively compared with the highest point height to the corresponding reference point calculated in the vehicle height calculating step, and whether the vehicle can pass through the height limiting device is judged.
7. The vehicle height limit warning device according to claim 5 or 6,
the sensor system includes two of the sensors, one of which is mounted at a head center position of the roof of the vehicle and the other of which is mounted at a tail center position of the roof of the vehicle.
8. The vehicle height limit warning method according to any one of claims 3 to 6,
at least one of the sensor systems is any of an infrared sensor system, an ultrasonic sensor system, and a camera system.
9. The vehicle height limit warning method according to any one of claims 1 to 6,
the vehicle height limit warning method is realized by a window breaking system (WBCU).
10. The vehicle height limit warning method according to any one of claims 1 to 6,
in the alarming step, alarming is carried out through voice prompt and/or buzzer sound.
11. A vehicle height limit warning device is characterized by comprising:
a communication system or at least one sensor system;
a passable height acquisition unit that acquires a passable height of the height limiting device through the communication system or at least one of the sensor systems;
a vehicle height calculation unit that calculates a lateral inclination angle and/or a longitudinal inclination angle of a vehicle using an acceleration signal measured by a chassis position sensor of the vehicle, and calculates a current highest point height of the vehicle from the lateral inclination angle and/or the longitudinal inclination angle and body data stored in the vehicle in advance;
a judging unit, which compares the passable height acquired by the passable height acquiring unit with the highest point height calculated by the vehicle height calculating unit, and judges whether the vehicle can pass through the height limiting device; and
and the alarm unit gives an alarm when the judging unit judges that the vehicle is difficult to pass through the height limiting device.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114274873A (en) * | 2021-12-30 | 2022-04-05 | 上海电力大学 | Height limit detection device based on computer vision recognition and control method thereof |
| CN115394056A (en) * | 2022-07-08 | 2022-11-25 | 浙江联宜电机有限公司 | Vehicle passing height detection early warning system and early warning method thereof |
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| CN114274873A (en) * | 2021-12-30 | 2022-04-05 | 上海电力大学 | Height limit detection device based on computer vision recognition and control method thereof |
| CN115394056A (en) * | 2022-07-08 | 2022-11-25 | 浙江联宜电机有限公司 | Vehicle passing height detection early warning system and early warning method thereof |
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