CN101403622A - Implementing ultrasonic wave positioning, navigation and ultrasonic wave loudspeaker of running vehicle - Google Patents

Abstract

The embodiment of the invention provides an ultrasonic positioning and ultrasonic navigation system device, which comprises an ultrasonic emitting device which is arranged in a road, a passageway, or a front specific location and used for emitting an ultrasonic coding signal to a running vehicle; a left ultrasonic receiving device and a right ultrasonic receiving device which are respectively installed at the left and right sides of the front of a running vehicle and used for synchronously receiving the ultrasonic signal; an infrared launcher which is arranged in the road, passageway, or the front specific location and used for emitting an infrared coding signal, the infrared coding signal and the ultrasonic coding signal are emitted synchronously and have the same coding information; and an infrared receiving device which is arranged in the front of the running vehicle and used for receiving the infrared signal; wherein, the running vehicle can calculate the orientation and distance among the road, the passageway or the front object and the vehicle according to the received ultrasonic signal of left and right sides and the infrared signal, so as to achieve the navigation of the vehicles. The system is characterized by the stability, reliability, all-weather, no electromagnetic interference, etc.

Description

The realization of the ultrasonic locating of driving vehicle, navigation and ultrasonic horn

Technical field

The present invention relates to a kind of ultrasonic technology, particularly a kind of system and device that is applicable to ultrasonic locating, navigation and the ultrasonic horn of driving vehicle.

Background technology

The ultrasonic locating of driving vehicle and navigation can have many-sided application, comprise that the vehicle that is used for electronics road and parking fee collective system goes into lock location and navigation, and the aspects such as monitoring, prompting and control of vehicle when departing from runway.Electronic road pricing (Electronic TollCollection, be called for short ETC) be to utilize the equipment of electronic technology, computer technology, communication network technology, wireless sensor technology, image recognition technique etc. and the system that software is formed, can collect the charging method of road expense automatically to realize the vehicle dispense with parking.In view of the technological means of present realization, can be divided into 3 kinds: DSRC (Dedicated Short RangeCommunication, short-distance wireless communication), ANPR (Automatic Number Plate Recognition, car plate identification), and VPS (Vehicle Positioning System, Vehicle positioning system).

The DSRC electronic charging is the toll collection technique of comparative maturity in the world in recent years.It is to utilize roadside equipment and the car-mounted device that travels on the vehicle of toll road to connect, and the driver is not stopped, do not made in cash and pay a kind of toll collection technique of the expense of passing through.It is applied in urban road charge, highway toll and bridge, the tunnel Fare Collection System usually.Its successful example includes ERP, E-ZPAss, the CityLink in Australia of the U.S., the AutoPass of Norway, the Austrian LKW Maut of Singapore, and the ETC of Japan etc.

The ANPR electronic charging is based on the license plate automatic identification technology of Flame Image Process and optical character identification (OCR).License plate recognition technology mainly is the law enforcement function of auxiliary Fare Collection System in the application of road toll, all be to utilize ANRP to realize the fee evasion capturing system in semi automatic toll and electronic charging, and appropriate adoption ANPR is the road Congestion Toll that in February, 2003, London municipal government implemented in the center as a kind of toll collection technique.Except that London, that adopts similar technique has Lake Ontario 407ETR E-payment system and a Britain Darfford bridge E-payment system.

And VPS is a no-stop charging system technology of greatest concern in recent years.It utilizes global position system (Global Positioning System, be called for short GPS) and global system for mobile communications (Global Systemfor Mobile Communication is called for short GSM), by with the communicating by letter of car-mounted device, carry out non-parking charge.The most typical system of whole world employing VPS electronic charging at present is " Toll Collect " system of Germany.The feasibility study that Hong Kong also began electronic road pricing in 1997, the VPS electronic toll system is one of emphasis of research, and being considered to the one preferred technique that electronic road pricing is implemented in Hong Kong, the IRF whole world road Contribution Prize (research field) of calendar year 2001 degree has also been won in the research report on the IRF of Paris, FRA world convention.In addition, the demonstration of charging of VPS toll collection technique has also been adopted in Copenhagen, Goteborg.

Though above-mentioned three kinds of Electronic Road Pricing system technology have all obtained using and having obtained huge economic benefit in the world, it also has the some shortcomings of self simultaneously, and is mainly as follows:

(1), the ANPR technology is immature and the car plate accuracy of identification is not high, simultaneously influenced by weather condition, can't realize round-the-clock steady operation, this is the biggest obstacle of restriction technical development and application.

(2) though, the DSRC technology maturation; but need high cost to build and safeguard roadside equipment; also influence simultaneously the view in city to a certain extent, therefore be typically used on the major trunk roads of traffic, its microwave radiation problem and electromagnetic interference problem also are problems that is worth discussion simultaneously.

(3) though, the VPS technology has higher flexibility, but it is higher that its car-mounted device drops into, the renewal complexity of vehicle electronics map, and the GPS positioning signal is subjected to stopping of buildings easily in urban road, if and system design gets unreasonablely, will relate to user's problems such as privacy.

It is considered herein that, desirable Electronic Road Pricing system should be the part of all electronic vehicle pass-through control, the electronization access control is except electronic road pricing, it is current and be detained charge also to have parking lot access control and charge, particular street, the access control in specific limited district, and have functions such as corresponding ultrasonic locating and navigation.Further, this electronization access control also should have with ITS (intelligent transportation) system carries out interactive function, to realize more efficient and safer vehicle pass-through and charge.

" in driving vehicle, realize the method that dynamic distance detects and information is transmitted " (application number 200810216836.X) in the Chinese invention patent application before the inventor, propose between a kind of vehicle and the vehicle in " all-weather electronic wireless communication information indication mechanism and device " (application number 200810216835.5) and " all-weather vehicle driving safety indication and control system device " (application number 200810216834.0), and the method that realizes interaction between vehicle and the traffic signal system, make vehicle can obtain round-the-clock traffic information display, the driving safety prompting, and make vehicle possess anti-red light, anti-knocking into the back and anti-function such as shunt into one another.The technology of technology of the present invention and above-mentioned three patents has certain correlativity, and the present invention is easy to integrate with above-mentioned patent, thereby under the prerequisite that minimum cost increases, realizes the perfect adaptation of correlation technique.

Summary of the invention

Technical matters to be solved by this invention is, deficiency at above-mentioned existing product technology, a kind of ultrasonic locating that provides and ultrasound wave navigation system, a kind of ultrasound wave environmental protection loudspeaker device, and a kind of relevant digital wireless electronic license plate system and a kind of electronics road and parking charge system.These system and devices be reliably, environmental protection and be easy to realize, and convenient and ITS system, traffic signal system and safety driving system are integrated and consist of an electronic vehicle pass-through control/Fare Collection System with complete function.

In order to solve the problems of the technologies described above, the embodiment of the invention provides a kind of ultrasonic locating and ultrasound wave navigation system and device, comprises first ultrasonic transmission device, is installed on road, gateway, or on the front specific location, be used for launching the first ultrasound wave coded signal to driving vehicle; Left side first ultrasonic probe, ultrasonic receiver, right side first ultrasonic probe, ultrasonic receiver, be installed on driving vehicle the place ahead and arranged on left and right sides respectively, receive the above-mentioned first ultrasound wave coded signal synchronously, and produce left side first ultrasound wave received signal and the right side first ultrasound wave received signal thus; Infrared transmitting device is installed on road, gateway, or on the front specific location, is used to launch the infra-red code signal, and this infra-red code signal is with the first ultrasound wave coded signal synchronized transmissions and have identical or relevant coded message; Infrared receiver is installed on the place ahead of driving vehicle, is used to receive above-mentioned infra-red code signal; Described driving vehicle can go out road, gateway according to the and arranged on left and right sides first ultrasound wave received signal and the infra-red code calculated signals that receive, or orientation between the place ahead certain objects and driving vehicle and distance.

The embodiment of the invention also provides the method for a kind of ultrasonic locating and ultrasound wave navigation, may further comprise the steps: in road, gateway, or on the front specific location, launch the first ultrasound wave coded signal to driving vehicle; Receive the first above-mentioned ultrasound wave coded signal synchronously in driving vehicle the place ahead and arranged on left and right sides, and produce the left side first ultrasound wave received signal, the right side first ultrasound wave received signal thus; In road, gateway, or on the front specific location, emission infra-red code signal, this infra-red code signal is with the first ultrasound wave coded signal synchronized transmissions and have identical or relevant coded message; In the place ahead of driving vehicle, receive above-mentioned infra-red code signal; Described driving vehicle goes out road, gateway according to the and arranged on left and right sides first ultrasound wave received signal and the infra-red code calculated signals that receive, or orientation between the place ahead certain objects and driving vehicle and distance; Driving vehicle is made prompting or vehicle ' is implemented control the driver according to the speed of a motor vehicle of self and above-mentioned orientation, range data.

The embodiment of the invention also provides the method for a kind of ultrasonic locating and ultrasound wave navigation, may further comprise the steps: on the traveling lane center line, to runway and arranged on left and right sides synchronized transmissions ultrasonic signal, or in the both sides of traveling lane, to track center line synchronized transmissions ultrasonic signal; And arranged on left and right sides receives above-mentioned ultrasonic signal synchronously in the driving vehicle below, and produces left side ultrasound wave received signal, right side ultrasound wave received signal thus; Described driving vehicle judges whether to depart from runway according to the and arranged on left and right sides ultrasound wave received signal that receives; When driving vehicle is found run-off-road, can show the driver or point out by demonstrations/suggestion device, or by controlling device for vehicle running enforcement control of travelling to vehicle.

The embodiment of the invention also provides a kind of environmental protection loudspeaker device based on ultrasound wave coding and ultrasonic locating technology, comprises ultrasonic transmission device, is installed on front part of vehicle, be used to launch the ultrasound wave coded signal, and this coded signal includes the loudspeaker command information; Ultrasonic probe, ultrasonic receiver is installed on vehicle rear, is used to receive above-mentioned ultrasound wave coded signal, and extracts described loudspeaker command information from signal; The audio frequency sound-producing device after receiving above-mentioned loudspeaker command information, sends simulation tucket or prompting sound in car.

The embodiment of the invention also provides a kind of digital wireless electronic road and parking charge system, comprise first wireless launcher, be installed on the charge monitoring point, be used to launch the first wireless encoding signal, include the solicited message that electronic license plate is consulted in requirement in this signal; First radio receiver is installed in the vehicle of coming in and going out, and is used to receive the described first wireless encoding signal, and this first wireless signal is carried out decoding processing; Second wireless launcher is installed in the vehicle of coming in and going out, and is used for when the solicited message of the first wireless encoding signal is identified, launches the second wireless encoding signal that includes self electronic license plate information and other relevant information; Second radio receiver is installed on place, charge monitoring point, is used to receive the described second wireless encoding signal, and second wireless signal is carried out decoding processing; Monitoring point processor is used for the control that first wireless signal transmission and second wireless signal receive, and the encoding and decoding of coherent signal; In-vehicle processor is used for the control of the reception of first wireless signal and second wireless signal transmission, and the encoding and decoding of coherent signal; The electronic license plate message unit, the vehicle stored electrons car plate identification code that is used to come in and go out and the out of Memory relevant with vehicle; The charge Charging Detail Record unit, in the charge monitoring point, or system's background server, or central cash desk is according to time place and other relevant information charging charge of vehicle turnover charge monitoring point.

The embodiment of the invention also provides a kind of method that realizes vehicle identification, test and charging in electronics road and parking charge system, may further comprise the steps: in the charge porch, launch the first wireless encoding signal to sailing vehicle into, include the solicited message that electronic license plate is consulted in requirement in this signal; In sailing vehicle into, receive the described first wireless encoding signal, and this first wireless signal is carried out decoding processing; In sailing vehicle into, when the solicited message in the first wireless encoding signal is identified, include the second wireless encoding signal of self car plate identification information to porch emission; In the charge porch, receive the described second wireless encoding signal, and second wireless signal is carried out decoding processing, obtain the electronic license plate information of sailing vehicle into; In the charge porch, send electronic license plate and other relevant information of sailing vehicle into to relevant charge monitoring point, or system's background server, or central cash desk, or deposit the time location information that vehicle sails in the vehicle nonvolatile memory, or within IC-card/rate card; In the charge exit, outgoing vehicles is launched the first wireless encoding signal, include the solicited message that electronic license plate is consulted in requirement in this signal; In outgoing vehicles, receive the described first wireless encoding signal, and this first wireless signal is carried out decoding processing; In outgoing vehicles, when the solicited message in the first wireless encoding signal is identified, include the second wireless encoding signal of self car plate identification information to exit emission; In the charge exit, receive the described second wireless encoding signal, and second wireless signal is carried out decoding processing, obtain the electronic license plate information of outgoing vehicles; System carries out accounting processing according to the vehicle vehicle in the time of gateway location information and other relevant information.

The embodiment of the invention also provides a kind of digital wireless electronic license plate system device, comprise first radio receiver, be used to receive the first wireless encoding signal that electronic license plate is checked solicited message that includes of first wireless launcher emission, and described coded signal is carried out decoding processing; Second wireless launcher is used for when the solicited message of the first wireless encoding signal that receives is identified, and includes the second wireless encoding signal of self car plate identification code information to second radio receiver emission; The electronic license plate message unit is used to store the car plate identification code and the out of Memory relevant with vehicle of described vehicle.

The embodiment of the invention also provides a kind of method that realizes wireless electronic license plate identification and test, may further comprise the steps: on the electronic license plate reader, launch the first wireless encoding signal to driving vehicle, comprise the solicited message that described vehicle electric car plate is consulted in requirement in this signal; On driving vehicle, receive the above-mentioned first wireless encoding signal, and the solicited message that it comprises is decoded and confirmed; On driving vehicle, after above-mentioned solicited message is identified, launch the second wireless encoding signal to the electronic license plate reader, this signal comprises the electronic license plate identification code information of vehicle self; On the electronic license plate reader, receive the above-mentioned second wireless encoding signal, and understand the electronic license plate identification code information that it comprises, thus the wireless identification of realization electronic license plate.

The beneficial effect that the present invention has is: one, it is a versatile system device; Two, it can be worked under round-the-clock environment; Three, it is applicable to electronic road pricing and parking fee collective system simultaneously; Four, it is applicable to toll administration and access control simultaneously; Five, it is easy to the system mutual with ITS; Six, it is easy to and the traffic signal system interaction; Seven, it is easy to and other signals of vehicles system mutual; Eight, it does not have electromagnetic interference problem, is the signal system of an environmental protection; Nine, it can realize the car tracing function; Ten, it has low cost and is easy to the universalness application.

Description of drawings

Fig. 1 is the electronic license plate wireless signal transmitting-receiving synoptic diagram of the embodiment of the invention;

Fig. 2 is the digital wireless electronic road and the parking charge system block diagram of the embodiment of the invention;

Fig. 3 is the ultrasonic locating and the navigation signal of the embodiment of the invention;

Fig. 4 is the wireless digital coded signal waveform and the range measurement principle synoptic diagram of the embodiment of the invention;

Fig. 5 is that the runway of the embodiment of the invention departs from the monitoring synoptic diagram;

Fig. 6 is that the runway of the embodiment of the invention departs from the monitoring oscillogram;

Fig. 7 is the system chart of the ultrasonic locating/navigation and the deviation monitoring of the embodiment of the invention;

Fig. 8 is the ultrasound wave environmental protection horn system synoptic diagram of the embodiment of the invention;

Fig. 9 is the realization electronic license plate identification of the embodiment of the invention and the process flow diagram of test;

Figure 10 is the realization ultrasonic locating of the embodiment of the invention and the process flow diagram of ultrasound wave navigation;

Figure 11 is the realization electronics road of the embodiment of the invention and the process flow diagram of parking fee collective system;

Figure 12 is that the system and the prior art system performance of the embodiment of the invention compares complete list.

Embodiment

The invention will be further described below in conjunction with accompanying drawing.Please refer to shown in Figure 1ly, this is the wireless signal transmitting-receiving synoptic diagram of the digital wireless electronic license plate of the embodiment of the invention.10 are the vehicle in travelling among the figure, 11 is a wireless launcher on the center line of runway the place ahead, can be to driving vehicle 10 emission wireless signals 12, include electronic license plate in 12 and check solicited message, after vehicle 10 receives above-mentioned solicited message and confirms, can return the wireless signal 15,15 that includes self electronic license plate information can be received by the wireless receiver 18 in the place ahead or electronic license plate display 16 and show.Send electronic license plate check solicited message on being installed on the runway center line 11, also can be installed on the traffic lights 13, or be installed in traffic guideboard, stop line, or on the place ahead any specific object or the position, we claim that such device is the electronic license plate reader, and the place that the electronic license plate reader is installed is the monitoring point, if relevant with Fare Collection System then can also be called the monitoring point of charging.

Please refer to shown in Figure 2ly below again, this is the digital wireless electronic road and the parking charge system block diagram based on above-mentioned electronic license plate of the embodiment of the invention, in fact also is a function composition frame chart after the system shown in Figure 1 refinement.20 are the vehicle in travelling among the figure, 21 control system (abbreviating the charge monitoring point as) for electronic license plate reader or electronics road or parking fee collective system gateway (monitoring point), include first wireless launcher in 21, can include the first wireless encoding signal 22 that electronic license plate is checked solicited message to the vehicle emission of approaching, 22 are received by first radio receiver in the vehicle 20, and deliver to in-vehicle processor 27 and carry out the signal decoding processing, after relevant solicited message is identified, can send the second wireless encoding signal 23 (within the electronic license plate message unit of described electronic license plate information storage in 20) that includes electronic license plate information and vehicle relevant information by second wireless signal transmitting device.The second wireless encoding signal is received by the 21 second interior radio receivers, and relevant signal given be positioned at 21 monitoring point processor 28 and carry out decoding processing, thereby obtain 20 electronic license plate and other relevant information (comprising the information that type of vehicle, load-carrying, the number of axle etc. are relevant with charge), can show its number-plate number by the car plate display device simultaneously.

If the 21, would be installed on the unit, charge monitoring point at road or Entrance place, then 21 interior monitoring point processor 28 can be with relevant electronic license plate and other relevant information, the unit, monitoring point in Fare Collection System exit is provided by data communication units together with the entry time location information that provides by time location information unit, or the background server that sends to Fare Collection System is handled, also can send to central cash desk handles, vehicle can also be sent to 20 in the time of porch location information by first wireless launcher, deposit within its nonvolatile memory or the IC-card/rate card by 20, allow vehicle self take relevant information to the charge exit.

If the 21, would be installed on the charge monitoring means at road or EXIT place, then 21 interior monitoring point processor 28 can be with relevant electronic license plate and other relevant information, handle by the background server that data communication units sends to Fare Collection System together with the outlet time location information that provides by time location information unit, or the central cash desk that sends to system is confirmed, or handle in the exit through the time location information of portal monitoring point, or from vehicle nonvolatile memory or IC-card/rate card, extract its time location information and handle etc. through the charge monitoring point from obtain vehicle according to data communication units.The modes of payments as for expense also is can be diversified, can collect automatically by payment system by background server, also can confirm in the outlet monitoring point, also can pay in cash in the exit in the payment of central cash desk, or directly on the IC-card/stored value card of vehicle, deduct etc.

Can see that from above-mentioned analysis Unit 21 of native system can be installed on the charge porch, also can be installed on the charge exit; The information of relevant vehicle reaches the central cash desk that can be stored in the background server of Fare Collection System, system in the time of porch location information, also can be stored in the monitoring means in charge exit, can also be stored within nonvolatile memory, IC-card or the rate card of driving vehicle; Relevant charge can be undertaken by the background server of system, central cash desk, also can be undertaken by the charge monitoring means in exit, can also carry out (directly deducting) in IC-card/rate card by driving vehicle self system.The pattern that is to say charge is flexibly, crucial part is that system is when vehicle enters and roll the toll zone away from, must effectively discern the time and the location information of the turnover of vehicle and registration of vehicle, and according to information such as the type of vehicle, load-carrying, the number of axle and charge and charge in the time of gateway location information.

Except above-mentioned major function, system shown in Figure 2 also has other function.Further include the 3rd wireless launcher in 21, can launch the 3rd wireless encoding signal 24 to the vehicle 20 of approaching, and also include the 3rd radio receiver in 20, can receive described three wireless encoding signals; Further, also include the 4th wireless launcher in 20, can be to 21 emissions the 4th wireless encoding signal 25, and 21 also include the 4th radio receiver, can receive described four wireless encoding signals.

In the present embodiment, first, second wireless signal is the infra-red code signal, be mainly used in the transmission of digital code information, for example transmit the electronic license plate solicited message, the return electron license board information, transmit the entry time location information, transmit pay imformation, and transmit various encryptions or not ciphered data question and answer or confirmation etc.And the 3rd, the 4th wireless signal is the ultrasound wave coded signal, is mainly used in the usefulness of location, navigation and test to vehicle.Above-mentioned two kinds of signals that signal all is harmless and environmentally safe do not have the electromagnetic interference problem of the microwave radiation and the VPS system of existing DSRC road toll system, also do not have the injury to human visual that systems such as laser may exist.Above-mentioned infrared ray and ultrasonic signal can carry out directional transmissions, the interference of signal can be minimized, and above-mentioned two kinds of signals all have the ability of all weather operations simultaneously, do not have existing ANPR optical recognition system to be subjected to the defective of weather effect.Infrared ray (the particularly infrared ray of 8～14 micron wave lengths) and the transmittability of ultrasound wave (the particularly ultrasound wave about 20 KHz) in atmosphere are all very strong, are subjected to the influence of airborne light, thick fog, dust, rainwater, wind and snow and electromagnetic interference (EMI) hardly.

Driving vehicle of the present invention not only can receive the signal instruction/request (or claiming query statement) from the monitoring point according to the first wireless encoding signal (infrared ray) of monitoring point emission, can also calculate distance and speed between vehicle and monitoring point (for example charging gate) simultaneously according to the 3rd wireless encoding signal (ultrasonic signal) of monitoring point emission, so that guided vehicle enters charging gate or charge ring road reposefully, and is making vehicle be stopped on the optimal parking spot whenever necessary.Fare Collection System of the present invention can adapt to different charge/control model (bar gate type or ring road formula), the then vehicle dispense with parking if the ring road formula is charged, at this moment system of the present invention can (make prompting by demonstration/suggestion device to driving the personage with the most appropriate speed by ring road by guided vehicle, or the speed of vehicle is regulated automatically) by controlling device for vehicle running, when being identified, vehicle can send confirmation signal to vehicle, vehicle can recover cruising, if vehicle has problem maybe can't confirm, then can also guided vehicle sail the parking area into or stop in position and wait to look into.

Vehicle speed measuring of the present invention and range finding realize that by described infrared ray and ultrasonic signal these two kinds of signals are launched simultaneously in the monitoring point, and have identical or relevant coded message.Because above-mentioned two kinds of signals are in airborne velocity of propagation difference, infrared signal is propagated (300,000 kilometers of per seconds) with the light velocity, therefore need not to consider the delay of its transmission, and ultrasonic signal is that 340 meters of per seconds are (15 degrees centigrade the time in airborne velocity of propagation, the velocity of propagation of sound wave is slightly different during the difference air themperature, need compensate it), it is slow a lot of that the relative infrared ray of this speed is wanted, therefore driving vehicle 20 just can according to mistiming of the above-mentioned two kinds of signals that receive (because above-mentioned signal has identical or relevant coding and is launched simultaneously, therefore we claim that also this mistiming is phase time difference or phase differential) differentiate the distance of vehicle and monitoring point, specific algorithm is: S=V* Δ T, wherein S is the distance between receiver and the transmitter, V be ultrasound wave in airborne velocity of propagation, Δ T is that the phase time of infrared signal and ultrasonic signal is poor.

Because the distance between measuring vehicle and the monitoring point in real time, therefore system of the present invention also has the ability of the kinetic measurement speed of a motor vehicle simultaneously, promptly by just can calculate the real-time speed of a motor vehicle of vehicle to the continuous coverage of monitoring point distance, this helps and the transport condition of vehicle is made prompting (by demonstration/suggestion device) or make adjustment (by the travel controlling system of vehicle).Distance between measuring vehicle and the monitoring point also has an effect can validity to received signal to confirm exactly in real time, because in actual environment, may have undesired signal or spurious reflections signal, system can confirm just that according to orientation, the distance of signal the signal that is received to guarantee is true and reliable to the validity of signal.

In Fig. 2, can further include passing controller (for example gate) in the unit, monitoring point 21, the vehicle that can only allow identity be identified enters, this access control to the restricted area is particularly useful, for example be used in private savings place, club, government department, or other place of limitting particular vehicle to enter.The monitoring point unit further is used in combination (including the traffic signals unit in 21) with traffic signal lamp system in addition, traffic lights are had simultaneously enter/charge monitoring and control function, this function is particularly suitable for entering charge or being detained charge of street, to solve indivedual streets or the congested problem of specific period of street, can also on traffic point, implement to follow the trail of simultaneously, have anti-theft feature vehicle.

From top analysis, know, synchronized transmissions first, the 3rd wireless signal are mainly used in to vehicle and transmit query statement and vehicle is navigated (distance detecting) in the system of the present invention, the vehicle in travelling can according to above-mentioned the first, the 3rd wireless signal calculate and monitoring point (signal source) between distance.Similarly, the second, the 4th wireless signal that vehicle returns is also by synchronized transmissions, also include identical or relevant coded message, the monitoring point equally also can be by calculating the range data of vehicle and monitoring point to the phase time difference of these two signals, and the validity of the second, the 4th wireless signal is differentiated the interference that may occur to get rid of according to these data.Test instruction can also be sent to the vehicle that preparation enters highway or restricted area by the first, the 3rd wireless signal in the monitoring point in addition, and according to the second, the 4th wireless signal that vehicle returns vehicle is confirmed, make and have only satisfactory vehicle to enter.

Please refer to shown in Figure 3ly below again, this is the ultrasonic locating and the navigation signal of the embodiment of the invention.System of the present invention both had been suitable for non-parking charge, also was suitable for Car park payment, the situation when having shown a Car park payment among Fig. 3 simultaneously.30 for driving towards the vehicle of charging gate among the figure, 31 is the charging gate railing, 32 is monitoring point wireless launcher (signal source), can launch infrared radio coded signal (first wireless signal) 33 and ultrasound wave wireless encoding signal (the 3rd wireless signal) 35L and 35R, 35L and 35R are actually same signal (being referred to as 35), just the direction difference of its emission.Vehicle 30 anterior left sides, respectively there is a ultrasonic probe, ultrasonic receiver (36L and 36R) right both sides, because the position difference of receiving apparatus, the signal that 36L receives (left side the 3rd wireless receiving signal) just may be different on phase place with the signal (right side the 3rd wireless receiving signal) that 36R receives, this depends primarily on the distance between 36L/36R and the signal source 32, if distance equates then phase place is identical, otherwise it is poor a phase time to occur, vehicle 30 just can judge whether the travel direction of vehicle is accurate according to this mistiming, and can adjust the travel direction of vehicle to realize the function of ultrasound wave navigation according to deviation.

Realize that accurate location to signal source is except needs signal 35L and 35R, also to rely on infrared signal 33, because infrared signal 33 and ultrasonic signal 35 are to launch simultaneously and have an identical or relevant digital code information, vehicle can accurately be judged the orientation and the distance of signal source according to these information and phase time difference, and calculate the speed of vehicle by the continuous coverage of adjusting the distance, vehicle 30 can be made relevant prompting by 38 couples of vehicle drivers of demonstration/suggestion device according to these data, or makes necessary adjustment by the attitude of travelling of 39 pairs of vehicles of controlling device for vehicle running.

Please refer to shown in Figure 4ly below again, this is wireless digital coded signal waveform and the range measurement principle synoptic diagram that is used for the embodiment of the invention of above-mentioned Fig. 2 and system shown in Figure 3.(the i.e. first wireless encoding signal of the 40 infra-red code signal waveforms that receive for vehicle among the figure, corresponding to 33 among 22 among Fig. 2 and Fig. 3), 41L is the left side ultrasound wave coded signal waveform that receives, 41R is the right side ultrasound wave coded signal waveform for receiving then, for the ease of analyzing, here suppose that vehicle just in time is in the midline position of runway and forward in the face of signal source, a vehicle left side like this, the received ultrasound wave coded signal of ultrasonic probe, ultrasonic receiver of right both sides is equally (at this moment can unify to be called 41, being the 3rd wireless encoding signal, is corresponding with 35 among 24 among Fig. 2 and Fig. 3).Suppose that again infrared ray and ultrasonic signal all are the same (having identical coded format) in the waveform of transmitting terminal with phase place, but because emission has certain distance between receiving, and infrared ray is different with the velocity of propagation of ultrasonic signal, therefore signal a difference just occurs in the waveform that the take over party saw on phase place, and this difference is called phase differential for we or phase time is poor.It is poor that T1, T2 have just showed the phase time of these two kinds of signals among the figure, and T3 also is that the phase time of these two kinds of signals is poor, only its position difference of measuring.Can be in different ways for signal encoding, most common form is to adopt the numerical coding of " 0 " and " 1 ", and defines with the time length of the high-low level of signal pulse.In the drawings, digital " 0 " is represented at the relative narrow interval with of pulse, and numeral " 1 " is represented at the relative wide interval with of pulse, and the definition mode of other different coding and numeral can also be arranged in real system.Whether in order to discern two waveforms (packet) is the data of same moment emission, the cognizance code (ID) that in above-mentioned waveform, has also comprised packet, the ID of previous ripple is 0110 in Fig. 4, the ID of the ripple in back is 0111, the waveform of system only can be identical with having (or relevant) ID compares, the situation that can just not have phase shift has like this occurred, and it is synchronous to realize that promptly signal receives.

Below carry out relevant calculating and analysis with some concrete data instances.Suppose that above-mentioned waveform is from system shown in Figure 3, and initial speed per hour (during T1) is 8.0 meters/per second (28.8 kilometers/hour), T1 is 52.94 milliseconds among the figure, T2 is 50.62 milliseconds, T1, T2 is spaced apart 0.10 second, then can calculate vehicle at T1 according to aforementioned formula S=V* Δ T, during T2 and the distance between gate (signal source) be respectively 18.00 meters and 17.21 meters (ultrasonic propagation velocity is in 340 meter per seconds), again according to Acceleration Formula (S=V0*t+0.5*a*t^2, Vt^2-Vo^2=2*a*S, a=(Vt-V0)/t) calculates described vehicle and is just slowing down with the average acceleration of-2.00 meters/square seconds, estimate that vehicle will move ahead 16.0 meters in 4.0 seconds, and stop at 2.0 meters of distance gate.

Above analysis is that hypothesis gate place is the position of signal emitting-source, and system in fact of the present invention also has virtual function gate, and this function is that other existing system can't be realized at present.For example signal emitting-source can be embedded on the center line of charge gateway runway, perhaps be suspended on the top of charge gateway runway, and send cutoff command, so just, formed a virtual gate, the bootable vehicle of this virtual gate enters and is parked in (by demonstration/suggestion device or controlling device for vehicle running) on the most appropriate position.By regulate the initial phase between infra-red code signal and the ultrasound wave coded signal in transmitting terminal, after the position of virtual gate can also being pushed away preceding or drawing.Because it is gate is virtual, does not have the appearance of hitting the lock situation, therefore all safer to vehicle and charge monitoring point.For this virtual gate, sometimes can connect with some specific sign (for example stop line), the position of virtual like this gate is just dropped on the position of stop line, like this vehicle detection distance that arrive and the front signal source in fact be exactly and stop line between distance, vehicle can accurately be stopped on the position of stop line.Because signal source and signals of vehicles receiving trap be not on same horizontal line, therefore vehicle calculate relevant apart from the time may also need relevant data is carried out the correction of angle, the information that can comprise its setting height(from bottom) like this in the information of signal source is so that vehicle utilizes triangle length of side formula to have the air line distance of angular deviation to be modified to the horizontal range in the place ahead to what calculate with travel direction.

The reaction velocity of electronic installation is faster than people's reaction velocity, so its adjustment process is also just more timely, it is accurate steadily to reach.System of the present invention can realize adjusting the distance, the continuous detecting of speed, with the reliability that increases system and avoid bringing error because of accidentalia or interference.In above-mentioned example, analyzed between the corresponding packet (for example 42, between the 43L/R and 45, between the 46L/R) range information that comprises, and further calculate between the two acceleration in view of the above.In addition, can also detect, this point is done further to analyze and explanation below in conjunction with Fig. 4 in any one pulse position of a packet.42 is first packet of infrared signal among the figure, and 45 is second packet of infrared signal, and each packet all has leading waveform portion 421/451, numerical coding district part 422/452.Similarly, also include two ultrasound data bags 43 and 46 among the figure, each packet also all has leading waveform portion 431/461, and numerical coding district part 432/462.T1 and T2 just in leading waveform the phase time difference to two kinds of different wireless signals in the same packet (having identical ID) compare, because the time interval between packet is relatively grown (for example 0.1 second packet), therefore the present invention also provides a kind of sample mode faster, exactly after receiver has effectively been discerned the same packet (having identical packet ID) of two different wireless signals, just can carry out measurements and calculations on any one pulse signal on this packet, this state is called as the synchronous detection state.For example T3 measures on the rising edge of first pulse in numerical coding district, similarly also can on the rising edge of subsequently each pulse or negative edge, measure, the time interval of so each sampling just can shorten dramatically, this has not only increased the reaction velocity of system, can also analyze a plurality of measurement data simultaneously, can improve the reliability of system and eliminate the accuracy of individual data sample error effect to systematic survey.

Among this example, because vehicle faces signal emitting-source, therefore left and right two ultrasonic signal waveforms are the same.If an angle is arranged between direction of traffic and the signal source, the phase place of then left and right two ultrasonic signal waveforms will be different, relatively more leading relatively near a side phase place of signal source, and it is backward relatively from a signal source side phase place far away, phase time according to left and right two ultrasonic signals is poor, and the phase time of ultrasonic signal and infrared signal is poor, just can accurately calculate the angle in vehicle offset signal source, thereby can regulate the travel direction of vehicle effectively, make vehicle can accurately go into lock and be parked on the most appropriate position.

The described oscillogram of Fig. 4 is applicable to that in fact also the monitoring point receives the situation that driving vehicle sends wireless signal.At this moment 40 among Fig. 4 just is equivalent to the second wireless encoding signal, 23 corresponding with among Fig. 2; Similarly 41 among Fig. 4 just is equivalent to the 4th wireless encoding signal, 25 corresponding with among Fig. 2.Above-mentioned the second, the 4th wireless signal synchronized transmissions and have identical or relevant coded message (being to have identical packet ID) in the example of Fig. 4 in vehicle, the monitoring point can according to the phasometer of the second, the 4th wireless signal calculate and vehicle between distance, this can get rid of the signal interference that may occur on the one hand, and whether the wireless signal system that also can test described vehicle on the other hand is working properly.

Except the ultrasonic locating/navigation feature of the foregoing description, the embodiment of the invention also provides another ultrasound wave navigation system's (runway departs from monitoring system), this system specifically sees shown in Figure 5, and this is that the runway of the embodiment of the invention departs from the monitoring synoptic diagram.50 is a vehicle that travels in the navigation section among the figure, 51 is ultrasonic transmission device, be installed on the center line of runway, can launch ultrasonic signal 52L and 52R to the left and right sides, the ultrasonic probe, ultrasonic receiver 53L/R that 52L/R is installed in the vehicle and arranged on left and right sides respectively receives.Because 52L and 52R are identical signal (have identical coding and launched simultaneously), if vehicle is in the midline position in track, then the received signal waveform phase place of the ultrasonic probe, ultrasonic receiver 53L/R of its and arranged on left and right sides is the same, if but vehicle has departed from runway, then the signal waveform phase place of and arranged on left and right sides will produce difference, and the side phase place that a side phase place of close center line departs from center line relatively in advance is backward relatively.Just can calculate the deviation distance of vehicle according to the phase differential of left and right two signals, at this moment can drive the personage by 55 pairs of the demonstration/suggestion devices on the car points out, or directly the attitude of travelling of vehicle is made adjustment by controlling device for vehicle running 56, to eliminate described difference/depart from.The and arranged on left and right sides (51L and 51R) that above-mentioned ultrasonic transmission device also can be installed in the track respectively transmits to the track center line, but left and right two ultrasonic probe, ultrasonic receivers (53L/R) of vehicle must have the signal reception on this direction, and its ultimate principle is the same with ultrasonic transmission device 51 on being installed in center line.

Please refer to shown in Figure 6ly below again, this is that the runway of the embodiment of the invention departs from the monitoring oscillogram, and is corresponding with system shown in Figure 5.61 is the waveform of ultrasonic signal in the center line transmitting terminal among the figure, and 62L and 62R then are respectively the ultrasonic signal waveform that the vehicle and arranged on left and right sides receives.In order to distinguish 62L/62R among the figure and the 41L/41R among Fig. 4, here claim that 41L and 41R are left side first ultrasound wave received signal and the right side first ultrasound wave received signal, and 62L and 62R are left side second ultrasound wave received signal and the right side second ultrasound wave received signal.Can find to have between 62L, 62R and 61 a poor (T1L/R of phase time in the drawings, T2L/R, T3L/R, be referred to as TL/TR), on behalf of signal, this phase differential receive the delay that occurs from being transmitted into, and this is also representing the distance between receiving trap and the emitter.In the present embodiment, vehicle also is indifferent to the absolute value of TL/TR, but is concerned about its relative difference (TL-TR), and this species diversity has been represented the irrelevance of vehicle with respect to center line.In the drawings when first pulse 611, T1L=T1R represents waveform phase identical, mean that vehicle to run is on center line, and when second pulse 612, difference (T2L＞T2R) has appearred in the phase place of T2L and T2R, represent vehicle to be partial to the left side, at this moment system can send prompting to driving the personage by demonstration/suggestion device, or automatically the travel direction of vehicle is regulated by controlling device for vehicle running, make vehicle from newly returning on the center line, when making the 3rd pulse 613, T3L equates once again with T3R.

Please refer to shown in Figure 7ly below again, this is the ultrasonic locating/navigation and the deviation monitoring system block diagram of the embodiment of the invention, is the summary to Fig. 3 to Fig. 6 embodiment function.70 is driving vehicle among the figure, and 71 is signal emitting-source, includes first ultrasonic transmission device, second ultrasonic transmission device, infrared signal emitter, and the signal source processor that is used for the signal emission control.Signal source 71 is by infrared signal emitter emission infra-red code signal 72, and this signal includes the digital code information about location/navigation on the one hand, on the other hand also as the synchronizing signal of ultrasonic locating.With the first ultrasound wave coded signal 73 that has of 72 synchronized transmissions, this ultrasonic signal has identical or relevant digital code information with above-mentioned infrared signal.Infrared ray 72 and ultrasonic signal 73 received by the infrared signal receiver in the vehicle 70 and left side first ultrasonic probe, ultrasonic receiver, right side first ultrasonic probe, ultrasonic receiver simultaneously, vehicle 70 can according to the ultrasonic signal phase place of above-mentioned and arranged on left and right sides whether balance judge the direction of signal source, and according to the phase time difference calculating vehicle of ultrasonic signal and infrared signal and the distance between the signal source, to realize hyperacoustic location and navigation feature.In onboard system 70, also further comprise the in-vehicle processor 76 that is used to receive control, signal decoding and distance calculation, and to driving demonstration/suggestion device 77 that the personage shows and points out, also have electronic vehicle travel controlling system 78, make adjustment with the transport condition to vehicle where necessary.

Deviation situation for further monitor vehicle, in signal source 71, also include the second ultrasonic signal emitter, this emitter is installed on the center line in track left, right both sides are launched ultrasonic signal 74 simultaneously, also can be installed in a left side, track, right both sides are launched ultrasonic signal 74 to the midline, this signal is by the left side in 70, right both sides second ultrasonic probe, ultrasonic receiver receives, and according to a left side, the ultrasonic signal phase place of right both sides whether balance is judged whether run-off-road of vehicle, when discovery vehicle run-off-road, can drive personages by 77 pairs of demonstration/suggestion devices and make prompting or make automatic adjusting by the transport condition of 78 pairs of vehicles of electronic vehicle travel controlling system.

In signal source 71, also further include traffic signals/message unit, signal/the information of this unit can be by after the signal source processor processing, pass to 70 onboard system again by infrared signal emitter (or ultrasonic signal emitter), and can show by it/suggestion device shows or points out.These signal/information can include lock information, pay imformation, speed-limiting messages, bend information (comprising the camber parameter), dangerous information, and traffic signals, for example traffic light signal, stop sign, inspection signal, all-clear etc. make the system of the embodiment of the invention can have the function of traffic lights and traffic indication board simultaneously.From another perspective, also can be described as this traffic signal system and also have navigation feature simultaneously.

Please refer to shown in Figure 8ly below again, this is the ultrasound wave environmental protection horn system synoptic diagram of the embodiment of the invention.This horn system is to adopt infrared ray and ultrasound wave to transmit audible warning with the maximum different of orthodox car loudspeaker, this audible warning only can be heard in car, and car does not have sound to send outward, so both realized the loudspeaker prompting/warning function between the vehicle, simultaneously can not produce noise effect again, therefore just be referred to as in the present invention by " environmental protection loudspeaker " surrounding environment.

85 and 80 are respectively forward and backward two cars among the figure, when back car 80 need be to 85 audible warnings of front truck, can send ultrasonic signal 82L and 82R by the wireless launcher 81 that is installed in front part of vehicle, 82L and 82R (being referred to as 82) are actually same ultrasonic signal, just its transmission of angle difference.Include electronic horn signal instruction (coding) in 82, receive signal 82 and from 82, separate and read loudspeaker when instruction when 85, just can send simulation tucket or prompting sound by the audio frequency sound-producing device 88 in the car, thereby realize the function of ultrasound wave environmental protection loudspeaker.

In order to realize that in 85 the vehicle 80 that sends the loudspeaker instruction is positioned, in 85, dispose two (or more than) ultrasonic probe, ultrasonic receivers, be respectively 86L and 86R, these receiving traps are installed in the rear portion of vehicle usually.85 can judge the roughly direction of ultrasound wave sound source according to the phase differential of 86L and 86R.Further, in the vehicle rear returning apparatus infrared receiving device 87 is arranged in 85, can receive the infrared radio coded signal 83 of wireless launcher 81 emissions in 80, because 83 with 82 synchronized transmissions and have identical or relevant coded message, therefore 85 can accurately calculate the orientation and the distance of signal source 81, and can show by display device 88 according to the phase time difference of 82L/82R and 83.85 system can also further have the intelligent distinguishing function, when signal source 81 and 85 apart from each others, or not when same direction, sound can be masked, and drives in order to avoid influence is normal, because the audible warning of at this moment receiving may be irrelevant with this car.

Please refer to shown in Figure 9ly below again, this is the process flow diagram of the realization electronic license plate identification and the test of the embodiment of the invention, wherein:

Step S901 includes the solicited message that described vehicle electric car plate is consulted in requirement for to launch the first digital radio coded signal to driving vehicle on the electronic license plate reader in this signal;

Step S902 receives the first above-mentioned digital radio coded signal on driving vehicle, and the solicited message that it comprises is decoded and confirmed;

Step S903 is for after above-mentioned solicited message is identified, and driving vehicle is launched the second digital radio coded signal to the electronic license plate reader, and this signal packet contains vehicle electric car plate identification code information;

Step S904 receives the above-mentioned second digital radio coded signal on the electronic license plate reader, and understands the electronic license plate identification code information that it comprises, thereby realizes the wireless identification of above-mentioned electronic license plate;

Step S905 is for also launching the 3rd wireless signal to driving vehicle on the electronic license plate reader, the first, the 3rd wireless encoding signal is by synchronized transmissions and have identical or relevant coded message;

Step S906 is for also receiving synchronously the first, the 3rd wireless signal in driving vehicle, and goes out distance between vehicle and the electronic license plate reader according to the first, the 3rd wireless encoding calculated signals;

Step S907 be also in driving vehicle to the electronic license plate reader synchronized transmissions four wireless encoding signal different with the second wireless encoding signal velocity;

Step S908 receives described the second, the 4th wireless encoding signal for also synchronous on the electronic license plate reader, and according to this second, the 4th wireless encoding signal driving vehicle is carried out dependence test.

Please refer to shown in Figure 10ly below again, this is the process flow diagram of the realization ultrasonic locating of the embodiment of the invention and ultrasound wave navigation, wherein:

Step S1001 is in road, gateway, or on the front specific location, launches the first ultrasound wave coded signal to driving vehicle;

Step S1002 receives the above-mentioned first ultrasound wave coded signal synchronously in driving vehicle the place ahead and arranged on left and right sides, and produces left side first ultrasound wave received signal and the right side first ultrasound wave received signal;

Step S1003 is in road, gateway, or emission infra-red code signal on the front specific location, and this signal is with the first ultrasonic signal synchronized transmissions and identical or relevant coded message is arranged;

Step S1004 is on the anterior position of driving vehicle, receives above-mentioned infra-red code signal;

Step S1005 orientation and distance that to be driving vehicle calculate road, gateway, the place ahead certain objects and driving vehicle according to and arranged on left and right sides first ultrasonic signal that receives and infrared signal;

Step S1006 is that driving vehicle is made prompting or vehicle ' is implemented control the driver according to the speed of a motor vehicle of self and above-mentioned orientation, distance parameter;

Step S1007 is for also on the traveling lane center line, and left and right direction is launched second ultrasonic signal to the track, or in the both sides of traveling lane, center line synchronized transmissions second ultrasonic signal to the track;

Step S1008 also receives the second above-mentioned ultrasonic signal synchronously in driving vehicle below and arranged on left and right sides, and produces the left side second ultrasound wave received signal and the right second ultrasound wave received signal;

Step S1009 be driving vehicle also according to the left side second ultrasound wave received signal that receives, and the right second ultrasound wave received signal judges whether driving vehicle has departed from runway;

Step S1010 is for when vehicle is found run-off-road, also can by demonstrations/suggestion device the driver is pointed out or by controlling device for vehicle running to vehicle ' enforcement control.

Please refer to shown in Figure 11ly below again, this is the realization electronics road of the embodiment of the invention and the process flow diagram of parking fee collective system, wherein:

Step S1101 is in the charge porch, launches the first wireless encoding signal to sailing vehicle into, includes the solicited message that electronic license plate is consulted in requirement in this signal;

Step S1102 receives the described first wireless encoding signal, and this first wireless signal is carried out decoding processing in sailing vehicle into;

Step S1103 is in sailing vehicle into, when the solicited message in the first wireless encoding signal is identified, includes the second wireless encoding signal of self car plate identification information and other relevant information to the porch emission;

Step S1104 is in the charge porch, receives the described second wireless encoding signal, and second wireless signal is carried out decoding processing, obtains vehicle electric license board information and the relevant information of other vehicle of sailing into;

Step S1105 is in the charge porch, send vehicle electric car plate and other relevant information to relevant charge monitoring point, system's background server, or central cash desk, or deposit the time location information that vehicle sails in sail vehicle into nonvolatile memory, or within IC-card/rate card;

Step S1106 is in the charge exit, and outgoing vehicles is launched the first wireless encoding signal, includes the solicited message that electronic license plate is consulted in requirement in this signal;

Step S1107 is in outgoing vehicles, receives the described first wireless encoding signal, and this first wireless signal is carried out decoding processing;

Step S1108 is in outgoing vehicles, when the solicited message in the first wireless encoding signal is identified, includes the second wireless encoding signal of self car plate identification information and other relevant information to exit emission;

Step S1109 is in the charge exit, receives the described second wireless encoding signal, and second wireless signal is carried out decoding processing, obtains electronic license plate information and other relevant information of outgoing vehicles;

Step S1110 is that time location information and other relevant information that system is pursuant to gateway place carried out accounting processing.

Please refer to shown in Figure 12 at last, this is the system and the prior art system combination property comparison complete list of the embodiment of the invention, as we can see from the figure, system of the present invention is not only at system cost, charge accuracy rate, all weather operations ability, anti-electromagnetic interference performance, and has outstanding performance on the function of tonic chords such as easy difficult degree of operation management, simultaneously more with the cooperating of ITS, and aspect the expansion of traffic signals, vehicle safety, vehicle turnover management, has the unexistent technical advantage of other system.Other three patented technologies of the inventor who mentions in above-mentioned these expanded functions and " background technology " " realize the method that dynamic distance detects and information is transmitted " (application number 200810216836.X) in driving vehicle, " all-weather electronic wireless communication information indication mechanism and device " (application number 200810216835.5) and " all-weather vehicle driving safety indication and control system device " (application number 200810216834.0) are relevant, the present invention is easy to integrate with above-mentioned patent, thereby under the prerequisite that minimum cost increases, realize E-payment system and ITS system, the perfect adaptation of traffic signal system and signals of vehicles system has not then further been given unnecessary details here.

In contents such as the encoding and decoding of the temperature effect of air borne speed and compensation, signal and emission receptions, be the known technology in the association area about the above ultrasonic ultrared characteristic of mentioning, ultrasound wave of involving herein, this paper is not described further at this.As herein described simultaneously only is part preferred implementation of the present invention; should be pointed out that technological development personnel, under the prerequisite that does not break away from the principle of the invention for this area; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.

Claims (10)

1, a kind of ultrasonic locating and ultrasound wave navigation system and device is characterized in that, comprising:

First ultrasonic transmission device is installed on road, gateway, or on the front specific location, is used for launching the first ultrasound wave coded signal to driving vehicle; And

Left side first ultrasonic probe, ultrasonic receiver, right side first ultrasonic probe, ultrasonic receiver, be installed on driving vehicle the place ahead and arranged on left and right sides respectively, receive the above-mentioned first ultrasound wave coded signal synchronously, and produce left side first ultrasound wave received signal and the right side first ultrasound wave received signal thus; And

Infrared transmitting device is installed on road, gateway, or on the front specific location, is used to launch the infra-red code signal, and this infra-red code signal is with the first ultrasound wave coded signal synchronized transmissions and have identical or relevant coded message; And

Infrared receiver is installed on the place ahead of driving vehicle, is used to receive above-mentioned infra-red code signal; And

Described driving vehicle can go out road, gateway according to the and arranged on left and right sides first ultrasound wave received signal and the infra-red code calculated signals that receive, or orientation between the place ahead certain objects and driving vehicle and distance.

2, the system as claimed in claim 1 device is characterized in that, described system and device further comprises:

Second ultrasonic transmission device is installed on the traveling lane center line, to track and arranged on left and right sides synchronized transmissions second ultrasonic signal, or is installed on the both sides of traveling lane, center line synchronized transmissions second ultrasonic signal to the track; And

Left side second and right side second ultrasonic probe, ultrasonic receiver are installed on driving vehicle below and arranged on left and right sides respectively, receive the second above-mentioned ultrasonic signal synchronously, and produce left side second ultrasound wave received signal and the right side second ultrasound wave received signal thus; And

Described driving vehicle judges whether to depart from runway according to the and arranged on left and right sides second ultrasound wave received signal that receives.

3, the system as claimed in claim 1 device is characterized in that described first ultrasound wave coded signal and infra-red code signal are digitally encoded signal, and includes identical or relevant packet ID.

4, the system as claimed in claim 1 device is characterized in that described driving vehicle further includes demonstration/suggestion device, or controlling device for vehicle running, can show, point out automotive run-off-road, or implement to travel control.

5, the method for a kind of ultrasonic locating and ultrasound wave navigation is characterized in that, may further comprise the steps:

In road, gateway, or on the front specific location, launch the first ultrasound wave coded signal to driving vehicle; And

Receive the first above-mentioned ultrasound wave coded signal synchronously in driving vehicle the place ahead and arranged on left and right sides, and produce the left side first ultrasound wave received signal, the right side first ultrasound wave received signal thus; And

In road, gateway, or on the front specific location, emission infra-red code signal, this infra-red code signal is with the first ultrasound wave coded signal synchronized transmissions and have identical or relevant coded message; And

In the place ahead of driving vehicle, receive above-mentioned infra-red code signal; And

Described driving vehicle goes out road, gateway according to the and arranged on left and right sides first ultrasound wave received signal and the infra-red code calculated signals that receive, or orientation between the place ahead certain objects and driving vehicle and distance; And

Described driving vehicle is made prompting or vehicle ' is implemented control the driver according to the speed of a motor vehicle of self and above-mentioned orientation, range data.

6, method as claimed in claim 5 is characterized in that described method further may further comprise the steps:

On the runway center line, to track and arranged on left and right sides synchronized transmissions second ultrasonic signal, or in the both sides of traveling lane, to track center line synchronized transmissions second ultrasonic signal; And

And arranged on left and right sides receives the second above-mentioned ultrasonic signal synchronously in the driving vehicle below, and produces the left side second ultrasound wave received signal, the right side second ultrasound wave received signal thus; And

Described driving vehicle judges whether to depart from runway according to the and arranged on left and right sides second ultrasound wave received signal that receives; And

When driving vehicle is found run-off-road, can show the driver or point out by demonstrations/suggestion device, or by controlling device for vehicle running enforcement control of travelling to vehicle.

7, the method for a kind of ultrasonic locating and ultrasound wave navigation is characterized in that, may further comprise the steps:

On the runway center line, to track and arranged on left and right sides synchronized transmissions ultrasonic signal, or in the both sides of runway, the center line synchronized transmissions ultrasonic signal to the track; And

And arranged on left and right sides receives above-mentioned ultrasonic signal synchronously in the driving vehicle below, and produces left side ultrasound wave received signal, right side ultrasound wave received signal thus; And

Described driving vehicle judges whether to depart from runway according to the and arranged on left and right sides ultrasound wave received signal that receives; And

When driving vehicle finds to depart from runway, can show the driver or point out by demonstrations/suggestion device, or by controlling device for vehicle running enforcement control of travelling to vehicle.

8, a kind of environmental protection loudspeaker device based on ultrasound wave coding and ultrasonic locating technology is characterized in that, comprising:

Ultrasonic transmission device is installed on front part of vehicle, is used to launch the ultrasound wave coded signal, and this coded signal includes the loudspeaker command information;

Ultrasonic probe, ultrasonic receiver is installed on vehicle rear, is used to receive above-mentioned ultrasound wave coded signal, and extracts described loudspeaker command information from signal;

The audio frequency sound-producing device after receiving above-mentioned loudspeaker command information, sends simulation tucket or prompting sound in car.

9, environmental protection loudspeaker device as claimed in claim 8 is characterized in that described ultrasonic probe, ultrasonic receiver includes two or more ultrasound waves and receives head, can analyze the ultrasonic signal source direction.

10, environmental protection loudspeaker device as claimed in claim 9 is characterized in that described device also comprises:

Infrared transmitting device is installed on front part of vehicle, is used to launch the infra-red code signal, and this infrared signal has identical or relevant digital code information and synchronized transmissions with above-mentioned ultrasonic signal; And

Infrared receiver is installed on vehicle rear, is used to receive described infra-red code signal; And

The vehicle of received signal can calculate the orientation and the distance of the vehicle that sends the ultrasonic horn signal according to the infrared signal that receives and ultrasonic signal; And

Display device shows the orientation and the distance of the vehicle that sends the ultrasonic horn signal in the vehicle of received signal.

Images