CN102248945A - Laser scanned active anti-collision system for vehicle - Google Patents
Laser scanned active anti-collision system for vehicle Download PDFInfo
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- CN102248945A CN102248945A CN201010181656XA CN201010181656A CN102248945A CN 102248945 A CN102248945 A CN 102248945A CN 201010181656X A CN201010181656X A CN 201010181656XA CN 201010181656 A CN201010181656 A CN 201010181656A CN 102248945 A CN102248945 A CN 102248945A
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Abstract
The invention discloses a laser scanned active anti-collision system for a vehicle, mainly comprising a laser scanning ranger, an automatic steering mechanism, a controller, and the like. The laser scanning ranger can be used for measuring a plurality of kinds of information, such as goods queue scanning and ranging signals, car body structure parameters and running state signals of the vehicle, steering position signals of the automatic steering mechanism, and the like; the automatic steering control of the vehicle is realized according to an active anti-collision control rule so that the vehicle and the goods queue are kept in a safe distance range, and the vehicle is prevented from being collided with the goods in forwarding and withdrawing processes.
Description
Technical field
The present invention relates to a kind of automobile-used automatic collision device, the especially vehicle active collision avoidance system of controlling according to laser scanning and ranging information.
Background technology
At some special occasions (as goods yard, harbour, customs corridor etc.), some special vehicle (as tire tower crane, freight container inspection car etc.) need advance or retreat and go the rounds with the adjacent goods of a determining deviation (as freight container, container truck etc.) formation; For the crash-avoidance accident takes place, vehicle and goods formation are remained in the suitable spacing range.Because the work capacity of manual control collision avoidance is big and the collision avoidance reliability is difficult to guarantee, thereby is necessary to install additional the automatic collision avoidance device of vehicle.
Existing automatic collision avoidance device mainly divides straight line and actual measurement formula two classes by the tracking target difference.Wherein, the straight line device is followed the tracks of the straight line marker (as carriageway marking, guiding fence, correlation grating etc.) that sets in advance in goods formation side by onboard sensor, makes vehicle keep straight-line travelling to realize automatic deviation correction; Its shortcoming is: on-the-spot dead work amount is big, and goods formation straightness accuracy is had relatively high expectations, and collision avoidance reliability and compatible with environment are lower.The outline position that actual measurement formula device is followed the tracks of goods formation side by onboard sensor makes vehicle travel along smooth curve and realizes automatic collision avoidance; Its advantage is: need not on-the-spot dead work, and goods formation straightness accuracy requires lower, and collision avoidance reliability and compatible with environment are higher.
The automatic collision avoidance device of existing actual measurement formula is pressed the sensing device difference, mainly divides machine vision and laser ranging two classes.Wherein, the machine vision class adopts multichannel vehicle-mounted pick-up head, according to the relative motion that the position relation of target in two width of cloth images calculated target, as the maximum offset of relative movement parameters overshoot, promptly sends control command and carries out the automatic steering collision avoidance; Its shortcoming is: the prospect sighting distance of being subjected to influences bigger, is subject to extraneous veiling glare and disturbs, and image registration needs tangible road markings, the easy frame losing of making a video recording when the speed of a motor vehicle is very fast; Thereby be only applicable to low speed collision avoidance occasion, and collision avoidance reliability and compatible with environment are not high.The laser ranging class adopts laser single-point range finding pattern mostly, respectively installs a laser single-point distance measuring sensor additional at the headstock and the tailstock respectively, compares by measured value and preset value scope with each sensor, sends control command in good time and carries out the automatic steering collision avoidance; Though the control of this pattern is simple, good environmental adaptability and system cost are lower, because the quantity of information of 2 range findings is less, thereby is only applicable to low speed collision avoidance occasion equally, and the collision avoidance reliability is still not high.
Summary of the invention
Technical matters to be solved by this invention is: for remedying many deficiencies of existing vehicle active collision avoidance system, the invention provides a kind of laser scan type vehicle active collision avoidance system, the goods formation scanning distance measuring signal that can utilize vehicle-mounted laser scanning and ranging instrument to record, the driving states signal that automotive power is derived, the steering position signal of self-steering gear feedback, and the multiple information such as body construction parameter of vehicle, according to initiatively collision avoidance control law realization vehicle automatic steering control, vehicle and goods formation are remained in the safety distance scope, avoid vehicle when advance and retreat and goods formation to bump.
The technical solution adopted for the present invention to solve the technical problems is: mainly by component set-ups such as laser scanning and ranging instrument, self-steering gear, controllers; It is indoor that controller is installed on vehicular drive by support, self-steering gear is installed on the indoor steering handwheel of vehicular drive by support, the laser scanning and ranging instrument is installed on the nearly goods side of vehicle roof by support, can make the relative horizontal surface of the laser-scan face certain angle that has a down dip.Initiatively the principle of collision avoidance control law is: the scanning distance measuring signal that the laser scanning and ranging instrument is obtained passes through high speed communication interface input controller, and with the driving states signal of automotive power derivation and the steering position signal input controller of self-steering gear feedback; Controller is according to information such as apomecometer installation site and scanning plane angle of declinations, the scanning distance measuring signal is made to draw behind the trigonometric function operation outline data of goods formation side, by the outline data beyond the nearly vehicle side of recognizer filtering goods formation, more last data are done to draw trace after the linear fit computing; Controller is according to the body construction parameter and the driving states signal of vehicle, and the wheelpath of must sening as an envoy to meets the steering angle of trace; Controller is exported the steering travel control command in good time self-steering gear is carried out servocontrol according to the steering position signal, and vehicle and goods formation are remained in the safety distance scope, avoids vehicle when advance and retreat and goods formation to bump; When exceeding when turning to range of control or system to break down controller outputting parking and alerting signal; Under extreme runaway condition, rely on the contact anti-collision switch of vehicle outside setting to realize passive collision avoidance protection.
The invention has the beneficial effects as follows: goods formation scanning distance measuring signal, the driving states signal that automotive power is derived, the steering position signal of self-steering gear feedback and the multiple information such as body construction parameter of vehicle that can utilize vehicle-mounted laser scanning and ranging instrument to record, according to initiatively collision avoidance control law realization vehicle automatic steering control, vehicle and goods formation are remained in the safety distance scope, avoid vehicle when advance and retreat and goods formation to bump; Improved many deficiencies of existing automobile-used automatic collision device, having need not on-the-spot preparation, collision avoidance reliability height, characteristics such as applied widely.
Description of drawings
The present invention is further described below in conjunction with drawings and Examples.
Fig. 1 is the structure principle chart of control system among the present invention.
Fig. 2 is the back view of freight container inspection car among the present invention.
Fig. 3 is the birds-eye view of freight container inspection car among the present invention.
Fig. 4 is the diagram of circuit of active collision avoidance control law among the present invention.
The specific embodiment
Below with reference to accompanying drawing the present invention is further described.
In Fig. 1,2 and 3 illustrated embodiments, control system is mainly by laser scanning and ranging instrument (1), controller (2), self-steering gear component set-ups such as (3) among the present invention; Wherein, the laser scanning and ranging instrument comprises assemblies such as infrared pulse formula laser scanning and ranging instrument, dust boot, rain-proof shelter, the optional Programmable Logic Controller of controller, motion controller or industrial computer etc., self-steering gear is the DC permanent magnet electric pushrod of tape travel switch (or position feedback).Controller is installed in the operator's compartment (41) of inspection car (4) by support; Self-steering gear is installed on the steering handwheel in the inspection car operator's compartment by universal-joint; For reducing installation number, simplified structure and the cost-cutting of laser scanning and ranging instrument, consider the identical and general left-right symmetric of container truck (5) of width of ISO freight container, so only must scan range finding to the freight container left surface of truck formation; Stride folding the putting of arm (43) for not influencing gantry, the laser scanning and ranging instrument is installed on inspection car control cabin casing (42) front right top by support; For striding upright arm in crash-avoidance gantry, the maximum safety distance between inspection car right side and truck left side should be striden the poor of inboard width of arm and truck width less than gantry; For avoiding the laser scanning and ranging instrument to enter minimum range hole and guarantee that the freight container of differing heights and specification all can be swept in the safety distance scope, can make laser-scan face (11) the horizontal surface certain angle that has a down dip relatively; Be further cost-cutting, satisfying under the prerequisite of tracking response, can select the laser scanning and ranging instrument of less maximum detectable range for use.
In the embodiment shown in fig. 4, among the present invention initiatively the control flow of collision avoidance control law be: the scanning distance measuring signal (comprising obstacle distance-scanning angle sequence) that the laser scanning and ranging instrument is obtained is by high speed communication interface input controller, and the driving states signal that the inspection car power system is derived (comprise advance, retreat, the speed of a motor vehicle etc.) and self-steering gear steering position signal (comprising stroke, the Hui Zheng etc.) input controller of deriving; Controller is according to information such as apomecometer installation site and scanning plane angle of declinations, the scanning distance measuring signal is made to draw behind the trigonometric function operation outline data of truck formation side, by the outline data beyond the recognizer filtering freight container formation left side, more last data are done to draw trace after the linear fit computing; Controller is according to the body construction parameter (comprising wheelbase, front/rear outstanding length, wheel back gauge etc.) and the driving states signal of inspection car, and the wheelpath of must sening as an envoy to meets the steering angle of trace; Controller is exported the steering travel control command in good time self-steering gear is carried out servocontrol according to the steering position signal, and inspection car right side and truck formation left side is remained in the safety distance scope, avoids inspection car when advance and retreat and truck formation to bump; When exceeding when turning to range of control or system to break down controller outputting parking and alerting signal; Under extreme runaway condition, dependence is patrolled and examined the contact anti-collision switch of establishing in the passage and is realized passive collision avoidance protection.In addition, for striding upright arm and the nonstandard over-wide container collision of minority in prevention gantry, when advancing, inspection car, can obtain the width information of the place ahead freight container in advance, so that adjust the maximum safety distance between inspection car right side and truck left side in good time by scanning range finding to freight container aft end face between the truck formation; The width information that can prestore when advancing when inspection car retreats realizes said function.
Claims (2)
1. laser scan type vehicle active collision avoidance system, goods formation scanning distance measuring signal, the body construction parameter of vehicle and the multiple information of steering position signal of driving states signal and self-steering gear that can utilize vehicle-mounted laser scanning and ranging instrument to record, according to initiatively collision avoidance control law realization vehicle automatic steering control, vehicle and goods formation are remained in the safety distance scope, avoid vehicle when advance and retreat and goods formation to bump; It is characterized in that: mainly constitute by laser scanning and ranging instrument, self-steering gear, controller, it is indoor that controller is installed on vehicular drive by support, self-steering gear is installed on the indoor steering handwheel of vehicular drive by support, the laser scanning and ranging instrument is installed on the nearly goods side of vehicle roof by support, can make the relative horizontal surface of the laser-scan face certain angle that has a down dip.
2. laser scan type vehicle active collision avoidance system according to claim 1, the control flow of described active collision avoidance control law is: the scanning distance measuring signal that the laser scanning and ranging instrument is obtained passes through high speed communication interface input controller, and with the driving states signal of automotive power derivation and the steering position signal input controller of self-steering gear feedback; Controller is according to apomecometer installation site and scanning plane angle of declination information, the scanning distance measuring signal is made to draw behind the trigonometric function operation outline data of goods formation side, by the outline data beyond the nearly vehicle side of recognizer filtering goods formation, more last data are done to draw trace after the linear fit computing; Controller is according to the body construction parameter and the driving states signal of vehicle, and the wheelpath of must sening as an envoy to meets the steering angle of trace; Controller is exported the steering travel control command in good time self-steering gear is carried out servocontrol according to the steering position signal, and vehicle and goods formation are remained in the safety distance scope, avoids vehicle when advance and retreat and goods formation to bump; When exceeding when turning to range of control or system to break down controller outputting parking and alerting signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010181656.XA CN102248945B (en) | 2010-05-21 | 2010-05-21 | Laser scanned active anti-collision system for vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010181656.XA CN102248945B (en) | 2010-05-21 | 2010-05-21 | Laser scanned active anti-collision system for vehicle |
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| Publication Number | Publication Date |
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| CN102248945A true CN102248945A (en) | 2011-11-23 |
| CN102248945B CN102248945B (en) | 2014-10-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201010181656.XA Expired - Fee Related CN102248945B (en) | 2010-05-21 | 2010-05-21 | Laser scanned active anti-collision system for vehicle |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103171554A (en) * | 2011-12-26 | 2013-06-26 | 现代自动车株式会社 | System and method for controlling inter-vehicle distance using side and rear sensor |
| CN103538585A (en) * | 2013-09-25 | 2014-01-29 | 浙江吉利控股集团有限公司 | Vehicle automatic return method |
| CN104460666A (en) * | 2014-10-27 | 2015-03-25 | 上海理工大学 | Robot autonomous obstacle avoidance moving control method based on distance vectors |
| CN107139921A (en) * | 2017-04-05 | 2017-09-08 | 吉利汽车研究院（宁波）有限公司 | A kind of steering collision-proof method and system for vehicle |
| CN108712721A (en) * | 2017-04-10 | 2018-10-26 | 日月光半导体制造股份有限公司 | The device and method of relative position between object for identification |
| CN108828518A (en) * | 2018-03-29 | 2018-11-16 | 上海大学 | A kind of boxcar inside carrier-and-stacker localization method |
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| JP2005014710A (en) * | 2003-06-25 | 2005-01-20 | Nissan Motor Co Ltd | Drive assist device for vehicle and vehicle having drive assist device for vehicle |
| JP2005056016A (en) * | 2003-08-08 | 2005-03-03 | Adoin Kenkyusho:Kk | Collision avoidance apparatus |
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| EP1944189A2 (en) * | 2005-08-04 | 2008-07-16 | Ford Global Technologies, LLC | Automatic collision management system |
| CN101409019A (en) * | 2007-10-11 | 2009-04-15 | 罗伯特·博世有限公司 | Spatial resolution driver assist system |
| CN101475002A (en) * | 2008-01-04 | 2009-07-08 | 威伯科有限公司 | Device and method for avoiding collisions or minimizing the collision severity in case of a collision, for vehicles |
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2010
- 2010-05-21 CN CN201010181656.XA patent/CN102248945B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2005014710A (en) * | 2003-06-25 | 2005-01-20 | Nissan Motor Co Ltd | Drive assist device for vehicle and vehicle having drive assist device for vehicle |
| JP2005056016A (en) * | 2003-08-08 | 2005-03-03 | Adoin Kenkyusho:Kk | Collision avoidance apparatus |
| EP1944189A2 (en) * | 2005-08-04 | 2008-07-16 | Ford Global Technologies, LLC | Automatic collision management system |
| CN2840071Y (en) * | 2005-08-30 | 2006-11-22 | 谢纯 | The automobile collision preventing pilot instrument |
| CN101409019A (en) * | 2007-10-11 | 2009-04-15 | 罗伯特·博世有限公司 | Spatial resolution driver assist system |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103171554A (en) * | 2011-12-26 | 2013-06-26 | 现代自动车株式会社 | System and method for controlling inter-vehicle distance using side and rear sensor |
| CN103538585A (en) * | 2013-09-25 | 2014-01-29 | 浙江吉利控股集团有限公司 | Vehicle automatic return method |
| CN103538585B (en) * | 2013-09-25 | 2016-03-30 | 浙江吉利控股集团有限公司 | A kind of Vehicle automatic return method |
| CN104460666A (en) * | 2014-10-27 | 2015-03-25 | 上海理工大学 | Robot autonomous obstacle avoidance moving control method based on distance vectors |
| CN104460666B (en) * | 2014-10-27 | 2017-05-10 | 上海理工大学 | Robot autonomous obstacle avoidance moving control method based on distance vectors |
| CN107139921A (en) * | 2017-04-05 | 2017-09-08 | 吉利汽车研究院（宁波）有限公司 | A kind of steering collision-proof method and system for vehicle |
| CN107139921B (en) * | 2017-04-05 | 2019-10-29 | 吉利汽车研究院（宁波）有限公司 | A kind of steering collision-proof method and system for vehicle |
| CN108712721A (en) * | 2017-04-10 | 2018-10-26 | 日月光半导体制造股份有限公司 | The device and method of relative position between object for identification |
| CN108712721B (en) * | 2017-04-10 | 2021-08-06 | 日月光半导体制造股份有限公司 | Apparatus and method for identifying relative position between objects |
| CN108828518A (en) * | 2018-03-29 | 2018-11-16 | 上海大学 | A kind of boxcar inside carrier-and-stacker localization method |
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|---|---|
| CN102248945B (en) | 2014-10-29 |
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