CN102320299B - 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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Abstract
The invention provides a system, a method and a device for controlling vehicle operation and a vehicle, which are used for solving the problems that an electric sanitation vehicle in the prior art cannot automatically patrol and can not avoid common obstacles. The system comprises: three photoelectric sensors; the first photoelectric sensor is arranged on a longitudinal central axis of a vehicle chassis, the second photoelectric sensor and the third photoelectric sensor are respectively arranged on the left side and the right side of the central axis, and the photoelectric sensors send signals when detecting a marking line of a road surface; a controller; and three photoelectric sensors connected to the left and right rear wheels of the vehicle for emitting signals to drive the left and right rear wheels of the vehicle when the signal of the first photoelectric sensor is detected, for emitting a signal to stop the left rear wheel of the vehicle when the signal of the second photoelectric sensor is detected, and for emitting a signal to stop the right rear wheel of the vehicle when the signal of the third photoelectric sensor is detected. By adopting the technical scheme of the invention, the workload of a driver is reduced, and the vehicle performance is improved.
Description
Technical field
The present invention relates to the Electromechanical Control technical field, relate to especially a kind of system, method and apparatus and vehicle of controlling vehicle operating.
Background technology
Existing small-sized electric environmental sanitation vehicles is usually by pilot steering, and chaufeur need to notice constantly whether vehicle travels along the trend on road surface, needs the driver's operation bearing circle to adjust the direction that vehicle advances when the road surface trend changes, and namely 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 easily chaufeur overtired.
The principle of work of present a kind of anti-collision prewarning apparatus for vehicle is as follows: ccd video camera and image pick-up card gather the graphicinformation on front vehicles and road surface, and obtain digital image information; Graphics processing unit at first carries out image to graphicinformation to be processed, and comprises pretreatment, rim detection, image segmentation and binaryzation, then carries out feature extraction, obtains 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, electric sanitation truck 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 proposed not yet at present.
Summary of the invention
Main purpose of the present invention provides a kind of system, method and apparatus and vehicle of controlling vehicle operating, to solve the problem that electric sanitation truck can't be go the rounds automatically in the prior art.Another object of the present invention is to solve the problem that electric sanitation truck 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, provide a kind of system that controls vehicle operating.
The system of control vehicle operating of the present invention comprises: three opto-electronic pickups; Wherein the first opto-electronic pickup is installed in vehicle chassis longitudinal central axis line place, and the second opto-electronic pickup and the 3rd opto-electronic pickup are installed in respectively the left and right sides, described axis, and described opto-electronic pickup sends signal when detecting the marking line on road surface; Controller; Be connected with described three opto-electronic pickups, be used for when detecting the signal of described the first opto-electronic pickup, send drive described vehicle about the signal of two trailing wheels, when detecting the signal of described the second opto-electronic pickup, send the signal of the left side trailing wheel that stops described vehicle, and when detecting the signal of described the 3rd opto-electronic pickup, send the signal of the right side rear wheel that stops described vehicle.
According to a further aspect in the invention, provide a kind of method of controlling vehicle operating.
The method of control vehicle operating of the present invention comprises: whether the spacing of judging vehicle chassis longitudinal central axis line and road marking timberline enters the first preset range, and judge whether the pre-selected locations in left side of described vehicle chassis longitudinal central axis line and the spacing of described road marking timberline enter the second preset range, and judge whether the pre-selected locations on right side of described vehicle chassis longitudinal central axis line and the spacing of described road marking timberline enter the 3rd preset range; Whether the spacing at described vehicle chassis longitudinal central axis line and road marking timberline enters in the situation of the first preset range, drive described vehicle about two trailing wheels; Enter in the situation of the second preset range at the pre-selected locations in the left side of described vehicle chassis longitudinal central axis line and the spacing of described road marking timberline, stop the trailing wheel of described vehicle left side; Enter in the situation of the 3rd preset range at the pre-selected locations on the right side of described vehicle chassis longitudinal central axis line and the spacing of described road marking timberline, stop the trailing wheel on described vehicle right side.
According to a further aspect in the invention, provide a kind of device of controlling vehicle operating.
The device of control vehicle operating of the present invention comprises: the first judge module is used for judging whether the spacing of vehicle chassis longitudinal central axis line and road marking timberline enters the first preset range; Whether the second judge module enters the second preset range for the pre-selected locations in the left side of judging described vehicle chassis longitudinal central axis line and the spacing of described road marking timberline; Whether the 3rd judge module enters the 3rd preset range for the pre-selected locations on the right side of judging described vehicle chassis longitudinal central axis line and the spacing of described road marking timberline; Whether the first driver module is used for entering in the situation of the first preset range in the spacing of described vehicle chassis longitudinal central axis line and road marking timberline, drive described vehicle about two trailing wheels; The second driver module is used for entering in the situation of the second preset range at the pre-selected locations in the left side of described vehicle chassis longitudinal central axis line and the spacing of described road marking timberline, stops the trailing wheel of described vehicle left side; The 3rd driver module is used for entering in the situation of the 3rd preset range at the pre-selected locations on the right side of described vehicle chassis longitudinal central axis line and the spacing of described road marking timberline, stops the trailing wheel on described vehicle right side.
According to a further aspect in the invention, provide a kind of vehicle, this vehicle comprises the system of the control vehicle operating among the present invention.
According to technical scheme of the present invention, by judging the spacing of vehicle chassis longitudinal central axis line and road marking timberline, whether the direct of travel that can detect vehicle departs from this marking line, and makes correction when departing from, thereby realized automatically go the rounds of vehicle, alleviated the work load of chaufeur.Determine by the marking line that adopts opto-electronic pickup to detect the road surface whether the direct of travel of vehicle departs from this marking line particularly, realize comparatively simple and reliable.
Description of drawings
Figure of description is used to provide a further understanding of the present invention, consists of the application's a part, and illustrative examples of the present invention and explanation thereof are used for explaining the present invention, do not consist of improper restriction of the present invention.In the accompanying drawings:
Fig. 1 is the scheme drawing according to system's chief component of the control vehicle operating 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 a kind of diagram of circuit of controlling the method for vehicle operating according to the embodiment of the invention;
Fig. 4 B is the diagram of circuit according to the method for the another kind control vehicle operating 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 operating of the embodiment of the invention.
The specific embodiment
Need to prove that in the situation of not conflicting, embodiment and the feature among the embodiment among the application can make up mutually.Describe below with reference to the accompanying drawings and in conjunction with the embodiments the present invention in detail.
Describe as an example of electric sanitation truck example in the present embodiment.Fig. 1 is the scheme drawing according to system's chief component of the control vehicle operating 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 operating mainly comprises such as lower member: opto- electronic pickup 11,12 and 13, and the controller 14 that is connected with above-mentioned opto-electronic pickup.The effect of opto-electronic pickup is the marking line (for example white line) that detects the road surface, sends signal when detecting the marking line on road surface.Three opto- electronic pickups 11,12 and 13 and controller 14 synergies can guarantee that vehicle advances along the road marking timberline.
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 respectively 21 left and right sides, axis.The processing mode of controller 14 is: when detecting the signal of opto-electronic pickup 11, send drive vehicle about the signal of two trailing wheels, thereby make vehicle along straight ahead; When detecting the signal of opto-electronic pickup 12, illustrate 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 of stop 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 of stop vehicle, this moment, the left side trailing wheel kept moving row, made vehicle to right-hand correction.Because the trailing wheel of sanitation cart is motor-driven, so the signal that wheel is driven can be the signal of control motor.Opto- electronic pickup 12,13 can be to be installed in symmetrically 21 left and right sides, axis, and their setting mode is consistent like this, that is to say that they are identical with the distance of this marking line when they detect the road marking timberline.
As can be seen from the above description, by at vehicle chassis the marking line that opto-electronic pickup detects the road surface being installed, whether the direct of travel that can detect vehicle departs from this marking line, and makes correction when departing from, thereby realized automatically go the rounds of vehicle, alleviated the work load of chaufeur.
In the present embodiment, the system 10 of control vehicle operating can also comprise the distance measuring sensor (not shown), and by at vehicle distance measuring sensor being installed, controller can be realized more control according to the signal of distance measuring sensor.Distance measuring sensor can be 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.As shown in Figure 3A, it can be one or more that the place ahead of vehicle 30 is equipped with distance measuring sensor 31(quantity, there is shown the situation of 2 distance measuring sensors 31), and distance measuring sensor 31 is connected with controller 14, distance measuring sensor 31 is for detection of the distance of vehicle 30 front ends and vehicle 30 objects in front and send the signal of this distance, after this signal is received by controller 14, controller 14 judges that this distance is whether less than the preset value of controller 14 interior preservations, in this way, then controller 14 is exported cue or brake control signals.This cue can be sound and light signal, or the information that shows 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 for the signal of the distance of reception distance measuring sensor 31 transmissions; Processing element B2 is used for judging the magnitude relationship of this distance and preset value when receiving-member B1 receives the signal of this distance, and exports cue or brake control signal during less than preset value in this distance.
Can distance measuring sensor be installed at vehicle periphery, detecting 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.As shown in Figure 3A, 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 for receiving the signal of distance measuring sensor 31,32 distances that send; Processing element C2 is used for judging according to the signal that receiving-member C1 sends, there is the signal of obstacle in the distance that detects at the distance measuring sensor 31 of vehicle front in output prompting the place ahead during greater than the first preset value, the distance measuring sensor 31,32 of vehicle periphery detect distance between the first preset value and the second preset value the 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 the second preset value, export the control signal that vehicle is braked; Wherein the second preset value is less than the first preset value.The control signal of dodging the interior obstacle of this distance specifically comprises the signal of stop vehicle left rear wheel or off hind wheel.
This structure of controller 14 can make vehicle automatically dodge the obstacle of the place ahead or side, thereby has improved traffic safety.In the situation that has realized automatic running on transmisson line, dodge that vehicle can recover again to advance along front road surface white line after the obstacle, need not driver's operation, so just alleviated the work load of chaufeur.
In the present embodiment, the system 10 of control vehicle operating 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.But such some geographic position of pre-save in the controller 14, it for example can be the position in rubbish distribution centre, then the position with vehicle 30 current locations and preservation compares, and in the output position of preserving vehicle 30 the schedule time after for example 24:00 do not have the information of the position of process afterwards, chaufeur is just learnt does not so also have do not go today for which rubbish distribution centre.
In the present embodiment, in the situation that comprises the GPS module, the system 10 of control vehicle operating 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 that sends 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 a kind of diagram of circuit of controlling the method for vehicle operating according to the embodiment of the invention.According to the method shown in Fig. 4 A, carry out simultaneously steps A 41, steps A 42, steps A 43, be correspondingly in 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 timberline enters the first preset range;
Steps A 42: judge whether the pre-selected locations in left side of vehicle chassis longitudinal central axis line and the spacing of road marking timberline enter the second preset range;
Steps A 43: judge whether the pre-selected locations on right side of vehicle chassis longitudinal central axis line and the spacing of road marking timberline enter the 3rd preset range;
Steps A 44: two trailing wheels about the driving vehicle;
Steps A 45: the trailing wheel on stop vehicle right side;
Steps A 46: the trailing wheel in stop vehicle left side.
According to the mode shown in Fig. 4 A, make vehicle adjust the direct of travel of vehicle according to self and the position relationship of road marking timberline on left and right directions, thereby realize automatically go the rounds of vehicle.
Fig. 4 B is the diagram of circuit according to the method for the another kind control vehicle operating of the embodiment of the invention, the method is on the basis of the mode of Fig. 4 A, specifically adopted opto-electronic pickup to detect the road marking timberline, 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.In the situation that adopts opto-electronic pickup, the concrete mode of steps A 41 can be the signal that judges whether to detect the 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 the 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 the 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 operating of the embodiment of the invention mainly comprises the steps:
Step B41: detect three opto- electronic pickups 11,12 and 13 signal.After this step, depending on the result of signal detection, enter step B42, step B43 or step B44, specific as follows:
Step B42: when receiving the signal of opto-electronic pickup 11, send drive described 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 described vehicle.
Step B44: when receiving the signal of opto-electronic pickup 13, send the signal of the left side trailing wheel that drives described vehicle.
In the method for the control vehicle operating of the embodiment of the invention, 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 operating of the embodiment of the invention, can comprise following processing in addition: detect vehicle and the distance of object on every side; There is the signal of obstacle in the distance that detects at the distance measuring sensor of vehicle front in output prompting the place ahead during greater than the first preset value, the distance measuring sensor of vehicle periphery detect distance between the first preset value and the second preset value the 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 the second preset value, export the control signal that vehicle is braked; Wherein the second preset value is less than the 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 whether vehicle front exists the distance measuring sensor range of vehicle front with interior obstacle.If then enter step C42, otherwise in the process that vehicle is advanced, continue to judge.In this step, if the distance measuring sensor range that has vehicle front with interior obstacle, then this distance measuring sensor can obtain detected value.Can judge accordingly whether vehicle front exists the distance measuring sensor range of vehicle front with interior obstacle.
Step C42: the distance measuring sensor output obstacle distance detected value that is installed in vehicle front.
Step C43: whether the distance that detects among the determining step C42 is greater than preset value A1.This preset value A1 is a kind of safety distance, and obstacle is safe for vehicle in this distance in addition.If judged result is yes in this step, then enters step C44, otherwise enter step C45.The distance measuring sensor of vehicle front adopts range greater than the sensor of A1, to guarantee detecting distance greater than the obstacle of 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 obstacle distance that determining step C45 detects whether between preset value A2 and preset value A1, A1 wherein〉A2.If judged result is yes in this step, then enters step C47, otherwise enter step C48.
Step C47: the output vehicle is dodged the signal of obstacle.
Step C48: whether judge the distance of vehicle and obstacle less than A2, if enter 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 operating of the embodiment of the invention.As shown in Figure 5, the device 50 of control vehicle operating mainly comprises such as lower module:
The first judge module 51 is used for judging whether the spacing of vehicle chassis longitudinal central axis line and road marking timberline enters the first preset range; Whether the second judge module 52 enters the second preset range for the pre-selected locations in the left side of judging vehicle chassis longitudinal central axis line and the spacing of road marking timberline; Whether the 3rd judge module 53 enters the 3rd preset range for the pre-selected locations on the right side of judging vehicle chassis longitudinal central axis line and the spacing of road marking timberline; The first driver module 54 is used for whether entering in the situation of the first preset range in the spacing of vehicle chassis longitudinal central axis line and road marking timberline two trailing wheels about the driving vehicle; The second driver module 55 is used for entering in the situation of the second preset range the trailing wheel of driving vehicle left side with the spacing of road marking timberline at the pre-selected locations in the left side of vehicle chassis longitudinal central axis line; The 3rd driver module 56 is used for entering in the situation of the second preset range the trailing wheel on driving vehicle right side with the spacing of road marking timberline at the pre-selected locations on the right side of vehicle chassis longitudinal central axis line.
If vehicle is equipped with opto-electronic pickup, then the first judge module 51 also can be used for judging whether to detect the signal of the first opto-electronic pickup that is installed in vehicle chassis longitudinal central axis line place; The second judge module 52 also can be used for judging whether to detect the signal of the 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 the second opto-electronic pickup that is installed in pre-selected locations place, vehicle chassis longitudinal central axis line right side.
The device 50 of the control vehicle operating among Fig. 5 also can comprise such as the lower module (not shown): the place ahead range finder module, for detection of the distance of vehicle front and vehicle front object; Judging treatmenting module be used for to be judged the magnitude relationship of this distance and preset value, exports cue or brake control signal during less than preset value in this distance.
The device 50 of the control vehicle operating among Fig. 5 also can comprise such as the lower module (not shown): range finder module on every side, for detection of vehicle and the distance of object on every side; Judging treatmenting module, there is the signal of obstacle in output prompting the place ahead when being used for distance that the distance measuring sensor at vehicle front detects greater than the first preset value, the distance measuring sensor of vehicle periphery detect distance between the first preset value and the second preset value the 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 the second preset value, export the control signal that vehicle is braked; Wherein the second preset value is less than the first preset value.
Vehicle in the present embodiment comprises the system of the control vehicle operating in the present embodiment, and this vehicle can be the electric sanitation vehicle.
Can find out from above description, by opto-electronic pickup and distance measuring sensor are installed, can make vehicle automatically advance and dodge the obstacle of the place ahead and both sides along the road marking timberline.In addition, can make chaufeur learn which place was not gone in addition, helped the comprehensive operation of vehicle by installing the GPS module additional; Install the GPRS module additional so that vehicle can be communicated by letter with long-range control center, obtain control command.Use the technical scheme of present embodiment, help to alleviate the work load of chaufeur, improve vehicle performance.
Obviously, those skilled in the art should be understood that, above-mentioned each module of the present invention or each step can realize with general computer device, they can concentrate on the single computer device, perhaps be distributed on the network that a plurality of computer devices form, alternatively, they can be realized with the executable program code of computer device, thereby, they can be stored in the memory storage and be carried out by computer device, perhaps they are made into respectively each integrated circuit modules, perhaps a plurality of modules in them or step are made into the single integrated circuit module and realize.Like this, the present invention is not restricted to any specific hardware and software combination.
The above is the preferred embodiments of the present invention only, is not limited to the present invention, and for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (16)
1. a system that controls vehicle operating is characterized in that, comprising:
Three opto-electronic pickups; Wherein the first opto-electronic pickup is installed in vehicle chassis longitudinal central axis line place, and the second opto-electronic pickup and the 3rd opto-electronic pickup are installed in respectively the left and right sides, described axis, and described opto-electronic pickup sends signal when detecting the marking line on road surface;
Controller; Be connected with described three opto-electronic pickups, be used for when detecting the signal of described the first opto-electronic pickup, send drive described vehicle about the signal of two trailing wheels, when detecting the signal of described the second opto-electronic pickup, send the signal of the left side trailing wheel that stops described vehicle, and when detecting the signal of described the 3rd opto-electronic pickup, send the signal of the right side rear wheel that stops described vehicle.
2. system according to claim 1 is characterized in that, described the second opto-electronic pickup and the 3rd opto-electronic pickup are installed in the left and right sides, described axis symmetrically.
3. system according to claim 1 is characterized in that,
Described system also comprises the distance measuring sensor that is installed in vehicle front, for detection of the distance of vehicle front and vehicle front object and send the signal of this distance;
Described controller also is connected with described distance measuring sensor, and comprises:
Receiving-member is for the signal of the distance that receives described distance measuring sensor transmission;
Processing element is used for judging the magnitude relationship of this distance and preset value when described receiving-member is received the signal of described distance, and exports cue or brake control signal during less than preset value in this distance.
4. system according to claim 1 is characterized in that,
Described system also comprises:
Be installed in the distance measuring sensor of vehicle front, for detection of the distance of vehicle front and vehicle front object and send the signal of this distance;
Be installed in the distance measuring sensor of vehicle periphery, for detection of the distance of vehicle and object on every side and send the signal of this distance;
Described controller also respectively with the described distance measuring sensor that is installed in vehicle front be connected the distance measuring sensor that is installed in vehicle periphery and be connected, and comprise:
Receiving-member is used for receiving the described distance measuring sensor of vehicle front and the signal of the distance that the described distance measuring sensor that is installed in vehicle periphery sends of being installed in;
Processing element, be used for judging according to the signal that described receiving-member sends, there is the signal of obstacle in the distance that detects at the distance measuring sensor of vehicle front in output prompting the place ahead during greater than the first preset value, the distance measuring sensor of vehicle periphery detect distance between the first preset value and the second preset value the 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 the second preset value, export the control signal that vehicle is braked; Wherein said the second preset value is less than described the first preset value.
5. each described system in 4 according to claim 1 is characterized in that described vehicle is the electric sanitation vehicle.
6. each described system in 4 according to claim 1 is characterized in that,
Described system also comprises the global position system GPS module, is used for obtaining the current position of vehicle;
Described controller also is connected with described global position system GPS module, is used for the position of vehicle current location and preservation is compared, and exports vehicle in the position of described preservation does not have the position of process after the schedule time information.
7. each described system in 4 according to claim 1 is characterized in that described system also comprises global position system GPS module and general packet radio service GPRS module, wherein:
Described global position system GPS module is used for obtaining the current position of vehicle;
Described GPRS module is used for the position that described vehicle is current and sends to Master Control Center, and receives the control information that Master Control Center sends.
8. a method of controlling vehicle operating is characterized in that, comprising:
Whether the spacing of judging vehicle chassis longitudinal central axis line and road marking timberline enters the first preset range, and judge whether the pre-selected locations in left side of described vehicle chassis longitudinal central axis line and the spacing of described road marking timberline enter the second preset range, and judge whether the pre-selected locations on right side of described vehicle chassis longitudinal central axis line and the spacing of described road marking timberline enter the 3rd preset range;
Spacing at described vehicle chassis longitudinal central axis line and road marking timberline enters in the situation of the first preset range, drive described vehicle about two trailing wheels;
Enter in the situation of the second preset range at the pre-selected locations in the left side of described vehicle chassis longitudinal central axis line and the spacing of described road marking timberline, stop the trailing wheel of described vehicle left side;
Enter in the situation of the 3rd preset range at the pre-selected locations on the right side of described vehicle chassis longitudinal central axis line and the spacing of described road marking timberline, stop the trailing wheel on described 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 timberline enters the first preset range comprises: the signal that judges whether to detect the first opto-electronic pickup that is installed in vehicle chassis longitudinal central axis line place;
Whether the spacing of judging the pre-selected locations in left side of described vehicle chassis longitudinal central axis line and described road marking timberline enters the second preset range comprises: the signal that judges whether to detect the second opto-electronic pickup that is installed in pre-selected locations place, vehicle chassis longitudinal central axis line left side;
Whether the spacing of judging the pre-selected locations on right side of described vehicle chassis longitudinal central axis line and described road marking timberline enters the 3rd preset range comprises: the signal that judges whether to detect the 3rd 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 described distance and preset value, at described 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 distance of vehicle front and vehicle front object;
Detect vehicle and the distance of object on every side;
There is the signal of obstacle in the distance that detects at the distance measuring sensor of vehicle front in output prompting the place ahead during greater than the first preset value, the distance measuring sensor of vehicle periphery detect distance between the first preset value and the second preset value the 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 the second preset value, export the control signal that vehicle is braked; Wherein said the second preset value is less than described the first preset value.
12. a device of controlling vehicle operating is characterized in that, comprising:
The first judge module is used for judging whether the spacing of vehicle chassis longitudinal central axis line and road marking timberline enters the first preset range;
Whether the second judge module enters the second preset range for the pre-selected locations in the left side of judging described vehicle chassis longitudinal central axis line and the spacing of described road marking timberline;
Whether the 3rd judge module enters the 3rd preset range for the pre-selected locations on the right side of judging described vehicle chassis longitudinal central axis line and the spacing of described road marking timberline;
The first driver module is used for entering in the situation of the first preset range in the spacing of described vehicle chassis longitudinal central axis line and road marking timberline, drive described vehicle about two trailing wheels;
The second driver module is used for entering in the situation of the second preset range at the pre-selected locations in the left side of described vehicle chassis longitudinal central axis line and the spacing of described road marking timberline, stops the trailing wheel of described vehicle left side;
The 3rd driver module is used for entering in the situation of the 3rd preset range at the pre-selected locations on the right side of described vehicle chassis longitudinal central axis line and the spacing of described road marking timberline, stops the trailing wheel on described vehicle right side.
13. device according to claim 12 is characterized in that, comprising:
Described the first judge module also is used for judging whether to detect the signal of the first opto-electronic pickup that is installed in vehicle chassis longitudinal central axis line place;
Described the second judge module also is used for judging whether to detect the signal of the second opto-electronic pickup that is installed in pre-selected locations place, vehicle chassis longitudinal central axis line left side;
Described the 3rd judge module also is used for judging whether to detect the signal of the 3rd 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 for detection of the distance of vehicle front and vehicle front object;
Judging treatmenting module is used for judging the magnitude relationship of described distance and preset value, at described 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:
The place ahead range finder module is for detection of the distance of vehicle front and vehicle front object;
Range finder module on every side is for detection of vehicle and the distance of object on every side;
Judging treatmenting module, there is the signal of obstacle in output prompting the place ahead when being used for distance that the distance measuring sensor at vehicle front detects greater than the first preset value, the distance measuring sensor of vehicle periphery detect distance between the first preset value and the second preset value the 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 the second preset value, export the control signal that vehicle is braked; Wherein said the second preset value is less than described the first preset value.
16. a vehicle is characterized in that, comprises each described system in the claim 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201110188592 CN102320299B (en) | 2011-07-06 | 2011-07-06 | System, method and device for controlling vehicle operation and vehicle |
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| CN 201110188592 CN102320299B (en) | 2011-07-06 | 2011-07-06 | System, method and device for controlling vehicle operation and vehicle |
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| CN102320299B true CN102320299B (en) | 2013-03-20 |
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| CN 201110188592 Expired - Fee Related CN102320299B (en) | 2011-07-06 | 2011-07-06 | System, method and device for controlling vehicle operation and vehicle |
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| CN107226091B (en) * | 2016-03-24 | 2021-11-26 | 松下电器（美国）知识产权公司 | Object detection device, object detection method, and recording medium |
| DE102016216135A1 (en) * | 2016-08-29 | 2018-03-01 | Bayerische Motoren Werke Aktiengesellschaft | Lane change assistance system and method for automatically performing multiple lane changes |
| US10394241B2 (en) * | 2017-06-15 | 2019-08-27 | GM Global Technology Operations LLC | Multi-stage voting control |
| CN107357296B (en) * | 2017-08-18 | 2021-02-02 | 西安鸣士机电开发有限公司 | Automatic deviation rectifying system and method for seedling raising machine and seedling raising machine |
| JP6967444B2 (en) * | 2017-12-22 | 2021-11-17 | パナソニック株式会社 | Mobile vehicle |
| CN110588604A (en) * | 2019-08-27 | 2019-12-20 | 山东浩睿智能科技有限公司 | Active anti-collision control system under working state of sanitation vehicle |
| CN114399399B (en) * | 2022-03-25 | 2022-07-12 | 青岛慧拓智能机器有限公司 | Unloading and parking method and device for mine vehicles, computer equipment and storage medium |
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| DE10012737B4 (en) * | 2000-03-16 | 2007-09-06 | Daimlerchrysler Ag | Device for carrying out a lane change by a motor vehicle |
| CN1712267A (en) * | 2004-06-21 | 2005-12-28 | 上海中油企业集团有限公司 | Indicating method and indicator for preventing vehicle from departurning road |
| JP4534754B2 (en) * | 2004-12-21 | 2010-09-01 | 日産自動車株式会社 | Lane departure prevention device |
| DE102005024382A1 (en) * | 2005-05-27 | 2006-12-07 | Robert Bosch Gmbh | Lane departure warning for motor vehicles |
| EP1961639A1 (en) * | 2007-02-22 | 2008-08-27 | Nederlandse Organisatie voor toegepast- natuurwetenschappelijk onderzoek TNO | Vehicle driving assistance |
| JP4656098B2 (en) * | 2007-06-28 | 2011-03-23 | 日産自動車株式会社 | Lane departure prevention device |
| JP2010149723A (en) * | 2008-12-25 | 2010-07-08 | Toyota Industries Corp | Parking assist device |
| CN102107661A (en) * | 2009-12-25 | 2011-06-29 | 樊涛 | Safe driving and positioning system for vehicle |
| CN202225865U (en) * | 2011-07-06 | 2012-05-23 | 中联重科股份有限公司 | System for controlling vehicle operation and vehicle |
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