CN102320299A - System, method and device for controlling vehicle operation, and vehicle - Google Patents
System, method and device for controlling vehicle operation, and vehicle Download PDFInfo
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- CN102320299A CN102320299A CN201110188592A CN201110188592A CN102320299A CN 102320299 A CN102320299 A CN 102320299A CN 201110188592 A CN201110188592 A CN 201110188592A CN 201110188592 A CN201110188592 A CN 201110188592A CN 102320299 A CN102320299 A CN 102320299A
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Abstract
The invention provides a system, a method and a device for controlling the vehicle operation, and a vehicle, which are used for solving the problems that an electric sanitation truck in the prior art can not realize the automatic coasting and can not avoid ordinary obstacles. The system comprises three photoelectric sensors and a controller, wherein the first photoelectric sensor is arranged in a vertical central axis of a vehicle underpan, the second photoelectric sensor and the third photoelectric sensor are respectively arranged at the left side and the right side of the central axis, the photoelectric sensors send out signals when detecting mark lines of the pavement, and the controller is connected with the three photoelectric sensors and is used for sending out signals for driving a left back wheel and a right back wheel of the vehicle when the signals sent by the first photoelectric sensor are detected, sending out signals for stopping the left back wheel of the vehicle when the signals sent by the second photoelectric sensor are detected and sending out signals for stopping the right back wheel of the vehicle when the signals sent by the third photoelectric sensor are detected. When the technical scheme is adopted, the work load of drivers can be favorably reduced, and the vehicle performance is improved.
Description
Technical field
The present invention relates to the Electromechanical Control technical field, relate to a kind of system, method and apparatus and vehicle of control vehicle operation especially.
Background technology
Existing small-sized electric environmental sanitation vehicles is usually by pilot steering, and chaufeur need notice constantly whether vehicle goes along the ground-surface trend, the direction that needs driver's operation bearing circle adjustment vehicle to advance when trend changes on the road surface, and promptly vehicle can't be go the rounds automatically.When running into obstacle, make the vehicle avoiding obstacles by the driver's operation bearing circle, and then on the route that vehicle is returned to originally advanced by the driver's operation bearing circle.This mode needs the chaufeur frequent operation, because the common time of environmental sanitation vehicles operation is longer, therefore makes chaufeur overtired easily.
The principle of work of present a kind of anti-collision prewarning apparatus for vehicle is following: ccd video camera and image pick-up card are gathered front vehicles and ground-surface graphicinformation, and obtain digital image information; Graphics processing unit at first carries out image processing to graphicinformation, comprises that pretreatment, rim detection, image cut apart and binaryzation, carries out feature extraction then, obtains the vehicle license plate characteristic and the lane mark information of front vehicles; The Decision Control unit calculates according to the characteristic information that extracts and judges, comprises the relative distance information of Ben Che and front vehicles and the relative distance on Ben Che and lane mark border, and sends executive command to warning device and actuating unit; Warning device externally sends early warning or alarm message.
Above-mentioned principle only can be judged the distance of vehicle and front truck, and comes the theoretical method of judging distance feasible for front truck vehicle license plate characteristic pixel size, but a whole set of vision system and control system are comparatively complicated, cause its cost higher.
In the prior art, electronic environmental sanitation car can't be go the rounds automatically, and only can judge the distance of vehicle and front truck, can't hide general obstacle.For these problems, effective solution is not proposed as yet at present.
Summary of the invention
Main purpose of the present invention provides a kind of system, method and apparatus and vehicle of control vehicle operation, to solve the problem that electronic environmental sanitation car can't be go the rounds automatically in the prior art.Another object of the present invention is to solve the problem that electronic environmental sanitation car can't be hidden general obstacle.Other purposes of the present invention can obtain from specification sheets.
To achieve these goals, according to an aspect of the present invention, a kind of system of control vehicle operation is provided.
The system of control vehicle operation of the present invention comprises: three opto-electronic pickups; Wherein first opto-electronic pickup is installed in vehicle chassis longitudinal central axis line place, and second opto-electronic pickup and the 3rd opto-electronic pickup are installed in the left and right sides, said axis respectively, and said opto-electronic pickup sends signal when detecting ground-surface sign line; Controller; Be connected with said three opto-electronic pickups; Be used for when detecting the signal of said first opto-electronic pickup; Send drive said vehicle about the signal of two trailing wheels, when detecting the signal of said second opto-electronic pickup, send the signal of the left side trailing wheel that stops said vehicle; And when detecting the signal of said the 3rd opto-electronic pickup, send the signal of the right side rear wheel that stops said vehicle.
A kind of method of control vehicle operation is provided according to a further aspect in the invention.
The method of control vehicle operation of the present invention comprises: whether the spacing of judging vehicle chassis longitudinal central axis line and road marking line gets into first preset range; And whether pre-selected locations and the spacing of said road marking line of judging the left side of said vehicle chassis longitudinal central axis line get into second preset range, and judge whether pre-selected locations and the spacing of said road marking line on the right side of said vehicle chassis longitudinal central axis line get into the 3rd preset range; Whether the spacing at said vehicle chassis longitudinal central axis line and road marking line gets under the situation of first preset range, drive said vehicle about two trailing wheels; Get under the situation of second preset range at the pre-selected locations in the left side of said vehicle chassis longitudinal central axis line and the spacing of said road marking line, stop the trailing wheel of said vehicle left side; Get under the situation of second preset range at the pre-selected locations on the right side of said vehicle chassis longitudinal central axis line and the spacing of said road marking line, stop the trailing wheel on said vehicle right side.
A kind of device of control vehicle operation is provided according to a further aspect in the invention.
The device of control vehicle operation of the present invention comprises: first judge module is used to judge whether the spacing of vehicle chassis longitudinal central axis line and road marking line gets into first preset range; Second judge module is used to judge whether pre-selected locations and the spacing of said road marking line in the left side of said vehicle chassis longitudinal central axis line gets into second preset range; The 3rd judge module is used to judge whether pre-selected locations and the spacing of said road marking line on the right side of said vehicle chassis longitudinal central axis line gets into the 3rd preset range; Whether first driver module is used for getting under the situation of first preset range in the spacing of said vehicle chassis longitudinal central axis line and road marking line, drive said vehicle about two trailing wheels; Second driver module is used for getting under the situation of second preset range at the pre-selected locations in the left side of said vehicle chassis longitudinal central axis line and the spacing of said road marking line, stops the trailing wheel on said vehicle right side; The 3rd driver module is used for getting under the situation of second preset range at the pre-selected locations on the right side of said vehicle chassis longitudinal central axis line and the spacing of said road marking line, stops the trailing wheel of said vehicle left side.
According to a further aspect in the invention, a kind of vehicle is provided, this vehicle comprises the system of the control vehicle operation among the present invention.
According to technical scheme of the present invention; Through judging the spacing of vehicle chassis longitudinal central axis line and road marking line, whether the direct of travel that can detect vehicle departs from this sign line, and when departing from, makes correction; Thereby realized go the rounds automatically of vehicle, alleviated the work load of chaufeur.Confirm through adopting opto-electronic pickup to detect ground-surface sign line whether the direct of travel of vehicle departs from this sign line particularly, realize comparatively simple and reliable.
Description of drawings
Figure of description is used to provide further understanding of the present invention, constitutes the application's a part, and illustrative examples of the present invention and explanation thereof are used to explain the present invention, do not constitute improper qualification of the present invention.In the accompanying drawings:
Fig. 1 is the scheme drawing according to system's chief component of the control vehicle operation of the embodiment of the invention;
Fig. 2 is the scheme drawing of installing according to the opto-electronic pickup of the embodiment of the invention;
Fig. 3 A is the scheme drawing of installing according to the distance measuring sensor of the embodiment of the invention;
Fig. 3 B is the scheme drawing according to a kind of optional structure of the controller of the embodiment of the invention;
Fig. 3 C is the scheme drawing according to the another kind of optional structure of the controller of the embodiment of the invention;
Fig. 4 A is the diagram of circuit according to the method for a kind of control vehicle operation of the embodiment of the invention;
Fig. 4 B is the diagram of circuit according to the method for the another kind of control vehicle operation of the embodiment of the invention;
Fig. 4 C is the scheme drawing according to the optimal way of the control vehicle of the embodiment of the invention;
Fig. 5 is the chief component scheme drawing according to the device of the control vehicle operation of the embodiment of the invention.
The specific embodiment
Need to prove that under the situation of not conflicting, embodiment and the characteristic among the embodiment among the application can make up each other.Below with reference to accompanying drawing and combine embodiment to specify the present invention.
Be that example describes with electronic environmental sanitation car in the present embodiment.Fig. 1 is the scheme drawing according to system's chief component of the control vehicle operation of the embodiment of the invention, and Fig. 2 is the scheme drawing of installing according to the opto-electronic pickup of the embodiment of the invention.As shown in Figure 1, the system 10 of control vehicle operation mainly comprises like lower component: opto- electronic pickup 11,12 and 13, and with above-mentioned opto-electronic pickup bonded assembly controller 14.The effect of opto-electronic pickup is to detect ground-surface to indicate line (for example white line), when detecting ground-surface sign line, sends signal.Three opto- electronic pickups 11,12 and 13 and controller 14 synergies can guarantee that vehicle advances along the road marking line.
With reference to figure 2, opto-electronic pickup 11 is installed in longitudinal central axis line 21 places of vehicle chassis 20, and by vehicle forward direction, opto- electronic pickup 12,13 is installed in 21 left and right sides, axis respectively.The processing mode of controller 14 is: when detecting the signal of opto-electronic pickup 11, send powered vehicle about the signal of two trailing wheels, thereby make vehicle along straight ahead; When detecting the signal of opto-electronic pickup 12; Explain that this moment, the vehicle direct of travel took over respect to the white line of ground; So controller 14 sends the signal of the left side trailing wheel that stops vehicle, this moment, right side rear wheel kept operation, and the vehicle direct of travel is corrected to left; Similarly, when controller 14 detects the signal of opto-electronic pickup 13, send the signal of the right side rear wheel that stops vehicle, this moment, the left side trailing wheel kept moving row, made vehicle to right-hand correction.Because the trailing wheel of environmental sanitation car is a motor-driven, so can be the signal of control motor to the signal of wheel drive.Opto- electronic pickup 12,13 can be to be installed in 21 left and right sides, axis symmetrically, and their setting mode is consistent like this, that is to say that they are identical with the distance of this sign line when they detect the road marking line.
Can find out from above-mentioned description; Detect ground-surface sign line through opto-electronic pickup is installed at vehicle chassis, whether the direct of travel that can detect vehicle departs from this sign line, and when departing from, makes correction; Thereby realized go the rounds automatically of vehicle, alleviated the work load of chaufeur.
In the present embodiment, the system 10 of control vehicle operation can also comprise the distance measuring sensor (not shown), and through distance measuring sensor is installed on vehicle, controller can be realized more control according to the signal of distance measuring sensor.Distance measuring sensor can be a supersonic range finder, also can be radar range unit etc.
Fig. 3 A is the scheme drawing of installing according to the distance measuring sensor of the embodiment of the invention.Shown in Fig. 3 A; The place ahead of vehicle 30 is equipped with distance measuring sensor 31, and (quantity can be one or more; The situation of 2 distance measuring sensors 31 has been shown among the figure), and distance measuring sensor 31 is connected the signal that distance measuring sensor 31 is used to detect the distance of vehicle 30 front ends and vehicle 30 objects in front and sends this distance with controller 14; After this signal Be Controlled device 14 receives; Whether controller 14 judges this distance less than the preset value of preserving in the controller 14, and in this way, then controller 14 is exported cue or brake control signals.This cue can be a sound and light signal, or prompts displayed information on the man-machine interface, with prompting chaufeur the place ahead obstacle is arranged.Here a kind of optional structure of controller 14 is shown in Fig. 3 B, and Fig. 3 B is the scheme drawing according to a kind of optional structure of the controller of the embodiment of the invention.Shown in Fig. 3 B, controller 14 comprises receiving-member B1 and processing element B2, and wherein receiving-member B1 is used to receive the signal of the distance that distance measuring sensor 31 sends; Processing element B2 is used for when receiving-member B1 receives the signal of this distance, judging the magnitude relationship of this distance and preset value, and at this distance output cue or brake control signal during less than preset value.
Can distance measuring sensor be installed at vehicle periphery, detecting the vehicle and the distance of object on every side, and send the signal of this distance.Fig. 3 A shows the situation that distance measuring sensor is installed in vehicle 30 both sides simultaneously.Shown in Fig. 3 A, distance measuring sensor 32 is installed in vehicle 30 both sides, and every side one or more (situations that every side shown in the figure is 2) all is connected with controller 14.Fig. 3 C is the scheme drawing according to the another kind of optional structure of the controller of the embodiment of the invention.As at vehicle periphery distance measuring sensor being installed, then a kind of optional structure of controller 14 is to comprise receiving-member C1 and processing element C2 shown in Fig. 3 C, and wherein receiving-member C1 is used to receive the signal of the distance of distance measuring sensor 31,32 transmissions; Processing element C2 is used for judging according to the signal that receiving-member C1 sends; Output prompting the place ahead there is the signal of obstacle in the distance measuring sensor 31 detected distances of vehicle front during greater than first preset value; The distance measuring sensor 31,32 of vehicle periphery detect distance between first preset value and second preset value time output dodge the control signal of the interior obstacle of this distance, when the distance measuring sensor 31,32 of vehicle periphery detects distance less than second preset value, export the control signal that vehicle is braked; Wherein second preset value is less than first preset value.The control signal of dodging the interior obstacle of this distance specifically comprises the signal that stops vehicle left rear wheel or off hind wheel.
This structure of controller 14 can make vehicle dodge the obstacle of the place ahead or side automatically, thereby has improved traffic safety.Under the situation that has realized automatic running on transmisson line, dodge after the obstacle vehicle and can recover again along preceding road surface that white line advances, need not driver's operation, so just alleviated the work load of chaufeur.
In the present embodiment, the system 10 of control vehicle operation can also comprise GPS module (not shown).This GPS module is used for obtaining the current position of vehicle 30, i.e. latitude and longitude coordinates.Can preserve some geographic position in advance in the controller 14 like this; It for example can be the position in rubbish distribution centre; Position with vehicle 30 current locations and preservation compares then; And vehicle 30 does not for example have the information of the position of process after at the fixed time after the 24:00 in the output position of preserving, and chaufeur is just learnt does not so also have do not go today for which rubbish distribution centre.
In the present embodiment, under the situation that comprises the GPS module, the system 10 of control vehicle operation can also comprise general packet radio service GPRS module, with the telecommunication of realization with Master Control Center.The GPRS module can send to Master Control Center with vehicle 30 current positions, and receives the control information of sending in the master control.Master Control Center is controlled vehicle 30 according to this position, and control information can be that notice vehicle 30 gets around some highway section (part that for example the crowd is dense), also can be that notice vehicle 30 goes to some highway section etc.
Fig. 4 A is the diagram of circuit according to the method for a kind of control vehicle operation of the embodiment of the invention.According to the method shown in Fig. 4 A, carry out steps A 41, steps A 42, steps A 43 simultaneously, be correspondingly under the situation that is to carry out steps A 44, A45, A46 in judged result then, otherwise proceed to judge.Each step is specific as follows:
Steps A 41: whether the spacing of judging vehicle chassis longitudinal central axis line and road marking line gets into first preset range;
Steps A 42: whether pre-selected locations and the spacing of road marking line of judging the left side of vehicle chassis longitudinal central axis line get into second preset range;
Steps A 43: whether pre-selected locations and the spacing of road marking line of judging the right side of vehicle chassis longitudinal central axis line get into the 3rd preset range;
Steps A 44: two trailing wheels about powered vehicle;
Steps A 45: the trailing wheel that stops the vehicle right side;
Steps A 46: the trailing wheel that stops vehicle left side.
According to the mode shown in Fig. 4 A, make vehicle concern the direct of travel of adjusting vehicle, thereby realize go the rounds automatically of vehicle according to self and the position of road marking line on left and right directions.
Fig. 4 B is the diagram of circuit according to the method for the another kind of control vehicle operation of the embodiment of the invention; This method is on the basis of the mode of Fig. 4 A; Specifically adopted opto-electronic pickup to detect the road marking line; Be that pre-selected locations among Fig. 4 A is the installation site of opto-electronic pickup, preset range is the detection range of opto-electronic pickup.Under the situation that adopts opto-electronic pickup, the concrete mode of steps A 41 can be the signal that judges whether to detect first opto-electronic pickup that is installed in vehicle chassis longitudinal central axis line place; Similarly; The concrete mode of steps A 42 and steps A 43 can be respectively the signal that judges whether to detect second opto-electronic pickup that is installed in pre-selected locations place, vehicle chassis longitudinal central axis line left side, and the signal that judges whether to detect second opto-electronic pickup that is installed in pre-selected locations place, vehicle chassis longitudinal central axis line right side.
Shown in Fig. 4 B, the method for this control vehicle operation of the embodiment of the invention mainly comprises the steps:
Step B41: the signal that detects three opto- electronic pickups 11,12 and 13.After this step, look the result of signal detection, get into step B42, step B43 or step B44, specific as follows:
Step B42: when receiving the signal of opto-electronic pickup 11, send drive said vehicle about the signal of two trailing wheels.
Step B43: when receiving the signal of opto-electronic pickup 12, send the signal of the right side rear wheel that drives said vehicle.
Step B44: when receiving the signal of opto-electronic pickup 13, send the signal of the left side trailing wheel that drives said vehicle.
In the method for the control vehicle of embodiment of the invention operation, can also comprise following processing: the distance that detects vehicle front and vehicle front object; Judge the magnitude relationship of this distance and preset value, at this distance output cue or brake control signal during less than preset value.
In the method for the control vehicle of embodiment of the invention operation, can comprise following processing in addition: detect the vehicle and the distance of object on every side; There is the signal of obstacle in time output prompting the place ahead greater than first preset value in the detected distance of the distance measuring sensor of vehicle front; The distance measuring sensor of vehicle periphery detect distance between first preset value and second preset value time output prompting dodge the signal of the interior obstacle of this distance, when the distance measuring sensor of vehicle periphery detects distance less than second preset value, export the control signal that vehicle is braked; Wherein second preset value is less than first preset value.Based on this processing, in the embodiment of the invention, preferably can control vehicle by the flow process shown in Fig. 4 C.Fig. 4 C is the scheme drawing according to the optimal way of the control vehicle of the embodiment of the invention.Fig. 4 C comprises the steps:
Step C40: start all distance measuring sensors.
Step C41: judge that distance measuring sensor range that whether vehicle front exist vehicle front is with interior obstacle.If then get into step C42, otherwise in the process that vehicle is advanced, continue to judge.In this step, with interior obstacle, then this distance measuring sensor can obtain detected value as if the distance measuring sensor range that has vehicle front.Can judge in view of the above that distance measuring sensor range that whether vehicle front exist vehicle front is with interior obstacle.
Step C42: the distance measuring sensor output obstacle distance detected value that is installed in vehicle front.
Step C43: whether detected distance is greater than preset value A1 among the determining step C42.This preset value A1 is a kind of safety distance, and obstacle is safe for vehicle in this distance in addition.In this step if judged result for being, then gets into step C44, otherwise entering step C45.The distance measuring sensor of vehicle front adopts the sensor of range greater than A1, to guarantee to detect the obstacle of distance greater than A1.
Step C44: there is the signal of obstacle in output prompting the place ahead.Like this chaufeur can be according to this signal to vehicle operating to dodge or to stop.
Step C45: the distance measuring sensor that is installed in vehicle periphery detects obstacle distance.
Step C46: the detected obstacle distance of determining step C45 whether between preset value A2 and preset value A1, A1＞A2 wherein.In this step if judged result for being, then gets into step C47, otherwise entering step C48.
Step C47: the output vehicle is dodged the signal of obstacle.
Step C48: whether the distance of judging vehicle and obstacle is less than A2, if get into step C49, otherwise vehicle keeps current running state.
Step C49: the signal that the output vehicle brakes.
Fig. 5 is the chief component scheme drawing according to the device of the control vehicle operation of the embodiment of the invention.As shown in Figure 5, the device 50 of control vehicle operation mainly comprises like lower module:
If vehicle is equipped with opto-electronic pickup, then first judge module 51 also can be used for judging whether to detect the signal of first opto-electronic pickup that is installed in vehicle chassis longitudinal central axis line place; Second judge module 52 also can be used for judging whether to detect the signal of second opto-electronic pickup that is installed in pre-selected locations place, vehicle chassis longitudinal central axis line left side; The 3rd judge module 53 also can be used for judging whether to detect the signal of second opto-electronic pickup that is installed in pre-selected locations place, vehicle chassis longitudinal central axis line right side.
The device 50 of control vehicle among Fig. 5 operation also can comprise like the lower module (not shown): the place ahead range finder module is used to detect the distance of vehicle front and vehicle front object; Judging treatmenting module is used to judge the magnitude relationship of this distance and preset value, at this distance output cue or brake control signal during less than preset value.
The device 50 of control vehicle among Fig. 5 operation also can comprise like the lower module (not shown): range finder module on every side is used to detect the vehicle and the distance of object on every side; Judging treatmenting module; Be used for that there is the signal of obstacle in time output prompting the place ahead greater than first preset value in the detected distance of the distance measuring sensor of vehicle front; The distance measuring sensor of vehicle periphery detect distance between first preset value and second preset value time output prompting dodge the signal of the interior obstacle of this distance, when the distance measuring sensor of vehicle periphery detects distance less than second preset value, export the control signal that vehicle is braked; Wherein second preset value is less than first preset value.
Vehicle in the present embodiment comprises the system of the control vehicle operation in the present embodiment, and this vehicle can be electronic environmental sanitation vehicles.
Can find out from above description,, can make vehicle advance and dodge the obstacle of the place ahead and both sides along the road marking line automatically through opto-electronic pickup and distance measuring sensor are installed.In addition, can make chaufeur learn which place was not gone in addition, helped the comprehensive operation of vehicle through installing the GPS module additional; Install the GPRS module additional and make vehicle to communicate by letter, obtain control command with long-range control center.Use the technical scheme of present embodiment, help to alleviate the work load of chaufeur, improve vehicle performance.
Obviously, it is apparent to those skilled in the art that above-mentioned each module of the present invention or each step can realize with the general calculation device; They can concentrate on the single computer device; Perhaps be distributed on the network that a plurality of computer device forms, alternatively, they can be realized with the executable program code of computer device; Thereby; Can they be stored in the memory storage and carry out, perhaps they are made into each integrated circuit modules respectively, perhaps a plurality of modules in them or step are made into the single integrated circuit module and realize by computer device.Like this, the present invention is not restricted to any specific hardware and software combination.
The above is merely the preferred embodiments of the present invention, is not limited to the present invention, and for a person skilled in the art, the present invention can have various changes and variation.All within spirit of the present invention and principle, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (16)
1. the system of a control vehicle operation is characterized in that, comprising:
Three opto-electronic pickups; Wherein first opto-electronic pickup is installed in vehicle chassis longitudinal central axis line place, and second opto-electronic pickup and the 3rd opto-electronic pickup are installed in the left and right sides, said axis respectively, and said opto-electronic pickup sends signal when detecting ground-surface sign line;
Controller; Be connected with said three opto-electronic pickups; Be used for when detecting the signal of said first opto-electronic pickup; Send drive said vehicle about the signal of two trailing wheels, when detecting the signal of said second opto-electronic pickup, send the signal of the left side trailing wheel that stops said vehicle; And when detecting the signal of said the 3rd opto-electronic pickup, send the signal of the right side rear wheel that stops said vehicle.
2. system according to claim 1 is characterized in that, said second opto-electronic pickup and the 3rd opto-electronic pickup are installed in the left and right sides, said axis symmetrically.
3. system according to claim 1 is characterized in that,
Said system also comprises the distance measuring sensor that is installed in vehicle front, the signal that is used to detect the distance of vehicle front and vehicle front object and sends this distance;
Said controller also is connected with said distance measuring sensor, and comprises:
Receiving-member is used to receive the signal of the distance that said distance measuring sensor sends;
Processing element is used for when said receiving-member is received the signal of said distance, judging the magnitude relationship of this distance and preset value, and at this distance output cue or brake control signal during less than preset value.
4. system according to claim 1 is characterized in that,
Said system also comprises:
Be installed in the distance measuring sensor of vehicle periphery, be used to detect the distance of vehicle and object on every side and send the signal of this distance;
Said controller also is connected with said distance measuring sensor, and comprises:
Receiving-member is used to receive the signal of the distance that said distance measuring sensor sends;
Processing element; Be used for judging according to the signal that said receiving-member sends; There is the signal of obstacle in time output prompting the place ahead greater than first preset value in the detected distance of the distance measuring sensor of vehicle front; The distance measuring sensor of vehicle periphery detect distance between first preset value and second preset value time output dodge the control signal of the interior obstacle of this distance, when the distance measuring sensor of vehicle periphery detects distance less than second preset value, export the control signal that vehicle is braked; Wherein said second preset value is less than said first preset value.
5. according to each described system in the claim 1 to 4, it is characterized in that said vehicle is electronic environmental sanitation vehicles.
6. according to each described system in the claim 1 to 4, it is characterized in that,
Said system also comprises the global position system GPS module, is used to obtain the current position of vehicle;
Said controller also is connected with said GPS module, is used for the position of vehicle current location and preservation is compared, and exports the information that vehicle in the position of said preservation does not have the position of process after at the fixed time.
7. according to each described system in the claim 1 to 4, it is characterized in that said system also comprises GPS module and general packet radio service GPRS module, wherein:
Said GPS module is used to obtain the current position of vehicle;
Said GPRS module is used for the position that said vehicle is current and sends to Master Control Center, and receives the control information that Master Control Center sends.
8. the method for a control vehicle operation is characterized in that, comprising:
Whether the spacing of judging vehicle chassis longitudinal central axis line and road marking line gets into first preset range; And whether pre-selected locations and the spacing of said road marking line of judging the left side of said vehicle chassis longitudinal central axis line get into second preset range, and judge whether pre-selected locations and the spacing of said road marking line on the right side of said vehicle chassis longitudinal central axis line get into the 3rd preset range;
Whether the spacing at said vehicle chassis longitudinal central axis line and road marking line gets under the situation of first preset range, drive said vehicle about two trailing wheels;
Get under the situation of second preset range at the pre-selected locations in the left side of said vehicle chassis longitudinal central axis line and the spacing of said road marking line, stop the trailing wheel of said vehicle left side;
Get under the situation of second preset range at the pre-selected locations on the right side of said vehicle chassis longitudinal central axis line and the spacing of said road marking line, stop the trailing wheel on said vehicle right side.
9. method according to claim 8 is characterized in that,
Whether the spacing of judging vehicle chassis longitudinal central axis line and road marking line gets into first preset range comprises: the signal that judges whether to detect first opto-electronic pickup that is installed in vehicle chassis longitudinal central axis line place;
Whether the spacing of pre-selected locations and said road marking line of judging the left side of said vehicle chassis longitudinal central axis line gets into second preset range comprises: the signal that judges whether to detect second opto-electronic pickup that is installed in pre-selected locations place, vehicle chassis longitudinal central axis line left side;
Whether the spacing of pre-selected locations and said road marking line of judging the right side of said vehicle chassis longitudinal central axis line gets into second preset range comprises: the signal that judges whether to detect second opto-electronic pickup that is installed in pre-selected locations place, vehicle chassis longitudinal central axis line right side.
10. according to Claim 8 or 9 described methods, it is characterized in that, also comprise:
Detect the distance of vehicle front and vehicle front object;
Judge the magnitude relationship of said distance and preset value, at said distance output cue or brake control signal during less than preset value.
11. according to Claim 8 or 9 described methods, it is characterized in that, also comprise:
Detect the vehicle and the distance of object on every side;
There is the signal of obstacle in time output prompting the place ahead greater than first preset value in the detected distance of the distance measuring sensor of vehicle front; The distance measuring sensor of vehicle periphery detect distance between first preset value and second preset value time output dodge the control signal of the interior obstacle of this distance, when the distance measuring sensor of vehicle periphery detects distance less than second preset value, export the control signal that vehicle is braked; Wherein said second preset value is less than said first preset value.
12. the device of a control vehicle operation is characterized in that, comprising:
First judge module is used to judge whether the spacing of vehicle chassis longitudinal central axis line and road marking line gets into first preset range;
Second judge module is used to judge whether pre-selected locations and the spacing of said road marking line in the left side of said vehicle chassis longitudinal central axis line gets into second preset range;
The 3rd judge module is used to judge whether pre-selected locations and the spacing of said road marking line on the right side of said vehicle chassis longitudinal central axis line gets into the 3rd preset range;
Whether first driver module is used for getting under the situation of first preset range in the spacing of said vehicle chassis longitudinal central axis line and road marking line, drive said vehicle about two trailing wheels;
Second driver module is used for getting under the situation of second preset range at the pre-selected locations in the left side of said vehicle chassis longitudinal central axis line and the spacing of said road marking line, stops the trailing wheel on said vehicle right side;
The 3rd driver module is used for getting under the situation of second preset range at the pre-selected locations on the right side of said vehicle chassis longitudinal central axis line and the spacing of said road marking line, stops the trailing wheel of said vehicle left side.
13. device according to claim 12 is characterized in that, comprising:
Said first judge module also is used to judge whether to detect the signal of first opto-electronic pickup that is installed in vehicle chassis longitudinal central axis line place;
Said second judge module also is used to judge whether to detect the signal of second opto-electronic pickup that is installed in pre-selected locations place, vehicle chassis longitudinal central axis line left side;
Said the 3rd judge module also is used to judge whether to detect the signal of second opto-electronic pickup that is installed in pre-selected locations place, vehicle chassis longitudinal central axis line right side.
14. according to claim 12 or 13 described devices, it is characterized in that, also comprise:
The place ahead range finder module is used to detect the distance of vehicle front and vehicle front object;
Judging treatmenting module is used to judge the magnitude relationship of said distance and preset value, at said distance output cue or brake control signal during less than preset value.
15. according to claim 12 or 13 described devices, it is characterized in that, also comprise:
Range finder module on every side is used to detect the vehicle and the distance of object on every side;
Judging treatmenting module; Be used for that there is the signal of obstacle in time output prompting the place ahead greater than first preset value in the detected distance of the distance measuring sensor of vehicle front; The distance measuring sensor of vehicle periphery detect distance between first preset value and second preset value time output dodge the control signal of the interior obstacle of this distance, when the distance measuring sensor of vehicle periphery detects distance less than second preset value, export the control signal that vehicle is braked; Wherein said second preset value is less than said first preset value.
16. a vehicle is characterized in that, comprises each described system in the claim 1 to 7.
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