CN102923055A - Car backing assisting system and method based on camera and ultrasonic sensor - Google Patents
Car backing assisting system and method based on camera and ultrasonic sensor Download PDFInfo
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- CN102923055A CN102923055A CN2012104666633A CN201210466663A CN102923055A CN 102923055 A CN102923055 A CN 102923055A CN 2012104666633 A CN2012104666633 A CN 2012104666633A CN 201210466663 A CN201210466663 A CN 201210466663A CN 102923055 A CN102923055 A CN 102923055A
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Abstract
The invention discloses a car backing assisting system and method based on a camera and an ultrasonic sensor. With the adoption of the system, early warning while a driver backs up a vehicle and the control for compulsive brake if necessary are realized; the driving state is automatically fed back according to required detection information of infrared sensors and cameras and data of multi-wangle ultrasonic distance measuring sensors; and the safety assisting function while the driver backs up the vehicle is realized through modes such as ordinary early warning and compulsive brake, so that the phenomenon that the driver steps down the clutch by mistake because of the dead vision angle of the driver or in emergency state is effectively reduced, particularly for situations that a ravine exists or a person is behind the vehicle while the vehicle is backed up, powerful security guarantee is provided. The car backing assisting system can be applied to most vehicle car backing modes used at present, is simple to realize and strong in adaptability, and the driving security is improved, and the blank of such aspect in the field is filled up.
Description
Technical field
The invention belongs to the driving safety field, relate to a kind of reversing security system, particularly a kind of supersonic sounding, infrared acquisition, image is processed and image recognition, sensing, signal is processed the reversing security system with the field Comprehensive Control such as electromagnetism relay.
Background technology
Along with the propelling of urbanization and the raising of people's living standard, Automobile ownership ratio is constantly soaring, and the Exploration on Train Operation Safety of automobile also more and more causes popular concern.Wherein in reversing process, because chaufeur often is difficult to accurately to know the situation behind the car, easily in reversing process, produce bump, the pedestrian accidents causes danger.
The reversing security system of current automobile also is confined to the stage of Reverse Sensor substantially.Reverse Sensor can recognize basic car and obstruction (comprising the people), but feel simply helpless for the situation that whether someone should dodge behind the gully behind the vehicle body and the car, particularly in the situation that the people is arranged behind the car and need to take urgent measure, often cause reacting too late because of the panic or carelessness of chaufeur.For the situation that has the gully behind the car, current chaufeur can only be observed and relies on micro-judgment by back mirror in reversing process, have very large potential safety hazard, and, like this for zanjon, secretly gully is often helpless.Above these situations are for most of automobile drivers, and particularly driving new hand is that quite worries but are difficult to avoid, and the blank of therefore utilizing prior art as far as possible simply to fill up efficiently this respect is urgent and needs.In addition, existing Reverse Sensor only has realizes basic function of reporting to the police, and still needs chaufeur manually to operate under dangerous situation, in the situation that chaufeur maloperation or report to the police does not cause the chaufeur enough attention situation of still may causing danger.Therefore this patent has been realized the multiple protective in chaufeur and the multiple situation of automobile on the basis of the original Reverse Sensor of automobile.
Summary of the invention
The object of the invention is to for the deficiencies in the prior art, a kind of reversing aid system based on camera and ultrasonic transduter and method are provided; Improve the safety factor of automobile under complicated state.
The objective of the invention is to be achieved through the following technical solutions: a kind of reversing aid system based on camera and ultrasonic transduter, it is characterized in that, it is mainly by signal pickup assembly, signal analysis and processing system and the actuating unit composition that is linked in sequence; Wherein, described signal pickup assembly comprises four horizontal ultrasonic distance-measuring sensors, apogee ultrasonic distance-measuring sensor, perigee ultrasonic distance-measuring sensor, two infrared pickoffs, camera and gear pressure sensors etc.; Actuating unit comprises brake, electromagnetic relay, first brake coil, the second brake coil and warning device etc.; Horizontal ultrasonic distance-measuring sensor, apogee ultrasonic distance-measuring sensor, perigee ultrasonic distance-measuring sensor, infrared pickoff, camera, electromagnetic relay, gear pressure sensor and warning device all link to each other with the signal analysis and processing system, and electromagnetic relay links to each other with the second brake coil with the first brake coil respectively.
Further, described four horizontal ultrasonic distance-measuring sensors are by the middle upside that equidistantly places on the automobile rear bumper, the apogee ultrasonic distance-measuring sensor is installed in automobile rear bumper, the perigee ultrasonic distance-measuring sensor is installed in the middle downside of automobile rear bumper, the angle on apogee ultrasonic distance-measuring sensor and ground
Be 15-45 °, the angle on perigee ultrasonic distance-measuring sensor and ground
Be 45-75 °; Two infrared pickoffs be installed in respectively the automobile rear bumper two ends far from the edge 1/6 place; Camera is installed on the roof rear to obtain the car rearward vision; The first brake coil is fixed in the brake bottom plate outside; The second brake coil is fixed on the brake, and relative with the first brake technical front, and the gear pressure sensor places the bottom of gear box reverse gear position, can make gear pressure sensor output high level when gear level is in reverse gear position.
A kind of reversing householder method of using above-mentioned reversing aid system, the method may further comprise the steps:
(1) reversing state-detection: behind the automobile starting, be in the readiness for action that powers on based on the reversing aid system of camera and ultrasonic transduter; In the normal driving process, when the gear pressure sensor detects the reversing state, when namely changing the change speed gear box gear level and being in reverse gear position, gear pressure sensor output signal is to the incoming signal analysis process system;
(2) state signal collecting behind the car: the signal analysis and processing system receives the output signal of gear pressure sensor, control horizontal ultrasonic distance-measuring sensor, apogee ultrasonic distance-measuring sensor, perigee ultrasonic distance-measuring sensor, infrared pickoff and camera collection automobile rear information, these automobile rear communications are to the signal analysis and processing system;
(3) situation is judged behind the car: the signal analysis and processing system receives automobile rear information, and situation behind the car is divided into following four kinds of situations:
(3.1) there is the people at the self-propelled vehicle rear in the reversing process: infrared pickoff detects the existence that people or other life entities are arranged behind the car, after detecting reversing, simultaneously horizontal ultrasonic distance-measuring sensor has obstacle, after being judged as car the people is arranged, incoming signal is to the signal analysis and processing system;
(3.2) inhuman obstacle is arranged behind the backing track car: infrared pickoff does not detect the existence that people or other life entities are arranged behind the car, when there is obstacle at one of horizontal ultrasonic distance-measuring sensor, apogee ultrasonic distance-measuring sensor, perigee ultrasonic distance-measuring sensor mensuration rear, after being judged as car inhuman obstacle is arranged, incoming signal is to the signal analysis and processing system;
(3.3) gully is arranged behind the reversing process car: be divided into two kinds of situations according to camera work double tides condition restriction: during daytime, if being positioned at the camera at roof rear detects car rear image the boundary of obvious gray scale is arranged, and the feedback of apogee ultrasonic distance-measuring sensor or perigee ultrasonic distance-measuring sensor distance greater than preset value 10% the time, after being judged as car the gully is arranged, incoming signal is to the signal analysis and processing system; During night, the image of camera output does not have obvious gray scale boundary, if the feedback of apogee ultrasonic distance-measuring sensor or perigee ultrasonic distance-measuring sensor distance greater than preset value 10% the time, the gully is arranged after being judged as car, incoming signal is to the signal analysis and processing system;
(3.4) normal condition behind the car: horizontal ultrasonic distance-measuring sensor, apogee ultrasonic distance-measuring sensor, perigee ultrasonic distance-measuring sensor, infrared pickoff and camera all do not have obvious exporting change, are judged as normal condition;
(4) first order signal is processed, and for four kinds of situations of step 3, takes one of following mode to process:
(4.1) when the signal analysis and processing system judges that there is the people at the self-propelled vehicle rear in the reversing process, start the people's pattern of keeping away, when horizontal ultrasonic distance-measuring sensor was measured the people distance of the tailstock behind the car less than 1.5 meters, signal analysis and processing system control warning device sent alerting signal;
When (4.2) after the backing track car is judged by the signal analysis and processing system, inhuman obstacle being arranged, start the barrier pattern of keeping away, when horizontal ultrasonic distance-measuring sensor was measured the obstacle distance of the tailstock behind the car less than 1.5 meters, signal analysis and processing system control warning device sent alerting signal;
When (4.3) after the reversing process car is judged by the signal analysis and processing system, the gully being arranged, start the gully pattern, when the range measurements of one of apogee ultrasonic distance-measuring sensor and perigee ultrasonic distance-measuring sensor greater than original setting value 10% the time, signal analysis and processing system control warning device sends alerting signal;
(4.4) after judging car, the signal analysis and processing system during normal condition, continues to survey until stop;
(5) second stage signal is processed: continue reverse travel after alerting signal is sounded, and arrive the restriction threshold value, automobile is carried out forced brake, take one of following mode to process:
(5.1) after startup keeps away people's pattern, when horizontal ultrasonic distance-measuring sensor is measured the people distance of the tailstock behind the car less than 0.8 meter, signal analysis and processing system output high level makes electromagnetic relay charged, thereby so that first brake coil and the mutual adhesive of the second brake coil, then adhesive brake is realized the forced brake of automobile;
(5.2) after startup keeps away the barrier pattern, when horizontal ultrasonic distance-measuring sensor 1 is measured the obstacle distance of the tailstock behind the car less than 0.3 meter, signal analysis and processing system output high level makes electromagnetic relay charged, thereby so that first brake coil and the mutual adhesive of the second brake coil, then adhesive brake is realized the forced brake of automobile;
(5.3) after the pattern of startup gully, when the range measurements of perigee ultrasonic distance-measuring sensor greater than preset value 30% the time, signal analysis and processing system output high level makes electromagnetic relay charged, thereby so that first brake coil and the mutual adhesive of the second brake coil, then adhesive brake is realized the forced brake of automobile;
(6) release behind the forced brake: when the signal analysis and processing system judges that automobile is in the forced brake state, if need to be to the release of automobile sport system, only need gearbox-gear is pushed away the reverse gear gear, this moment the gear pressure sensor collection signal incoming signal analysis process system, again make the reversing aid system based on camera and ultrasonic transduter be in readiness for action, at this moment, automatic unlocking.
The present invention is with respect to prior art, its beneficial effect is the synergy by multiple sensors, make chaufeur in reversing process, can obtain more information, then effectively reduce because stepping on the generation that wrong power-transfer clutch causes safety misadventure under visual dead angle or the emergency, simultaneously to running into the gully in the reversing process and the reversing rear has people's situation that strong safety control is provided.And, the present invention is based on conventional ultrasonic wave distance measuring sensor (Reverse Sensor), the synergy of infrared pickoff and camera has that accurate location, reliable and stable, antijamming capability are strong, the practicality high, is fit to auxiliary driving of reversing of most of automobiles.
Description of drawings
Fig. 1 is the structural representation of this reversing aid system;
Fig. 2 is the algorithm schematic flow sheet of this reversing aid system;
Fig. 3 is the ultrasonic distance measuring module locus detail drawing of this reversing aid system;
Fig. 4 is that this reversing aid system is based on the self-actuating brake schematic diagram of electromagnetic relay control;
Fig. 5 is the general function diagram of circuit of this reversing aid system;
Fig. 6 is the people's pattern of the keeping away implementation diagram of circuit of this reversing aid system;
Fig. 7 is the barrier pattern of the keeping away implementation diagram of circuit of this reversing aid system;
Fig. 8 is the gully pattern implementation diagram of circuit of this reversing aid system;
Fig. 9 is the signal transitive graph of this reversing aid system;
Among the figure, horizontal ultrasonic distance-measuring sensor 1, apogee ultrasonic distance-measuring sensor 2, perigee ultrasonic distance-measuring sensor 3, infrared pickoff 4, camera 5, automobile rear bumper 6, first brake coil 7, the second brake coil 8, brake 9, electromagnetic relay 10, signal analysis and processing system 11, gear pressure sensor 12, warning device 13.
The specific embodiment
The present invention is based on the reversing aid system of camera and ultrasonic transduter mainly by signal pickup assembly, signal analysis and processing system 11 and the actuating unit composition (Fig. 1) that is linked in sequence.Wherein, signal pickup assembly comprises four horizontal ultrasonic distance-measuring sensors 1, apogee ultrasonic distance-measuring sensor 2, perigee ultrasonic distance-measuring sensor 3, two infrared pickoffs 4, camera 5 and gear pressure sensors 12.Actuating unit comprises brake 9, electromagnetic relay 10, first brake coil 7, the second brake coil 8 and warning device 13.Horizontal ultrasonic distance-measuring sensor 1, apogee ultrasonic distance-measuring sensor 2, perigee ultrasonic distance-measuring sensor 3, infrared pickoff 4, camera 5, electromagnetic relay 10, gear pressure sensor 12 and warning device 13 all link to each other with signal analysis and processing system 11, and electromagnetic relay 10 links to each other with the second brake coil 8 with first brake coil 7 respectively.
As shown in Figure 3, horizontal ultrasonic distance-measuring sensor 1 is traditional Reverse Sensor, four horizontal ultrasonic distance-measuring sensors 1 are by the middle upside that equidistantly places on the automobile rear bumper 6, apogee ultrasonic distance-measuring sensor 2 is installed in automobile rear bumper 6, perigee ultrasonic distance-measuring sensor 3 is installed in the middle downside of automobile rear bumper 6, the angle on apogee ultrasonic distance-measuring sensor 2 and ground
Be 15-45 °, the angle on perigee ultrasonic distance-measuring sensor 3 and ground
Be 45-75 °.Two infrared pickoffs 4 be installed in respectively automobile rear bumper 6 two ends far from the edge 1/6 place.Camera 5 is installed on the roof rear to obtain the car rearward vision.As shown in Figure 4, first brake coil 7 is fixed in the brake bottom plate outside; The second brake coil 8 is fixed on the brake 9, and with first brake coil 7 vis-a-vis, wherein brake coil electric power is provided by automobile storage battery.Gear pressure sensor 12 places the bottom of gear box reverse gear position, can make gear pressure sensor 12 output high level when gear level is in reverse gear position.
Wherein, signal analysis and processing system 11 can be realized by DSP or arm processor, such as the new DSP product TMS320F2812 that releases of TI company, but is not limited to this.
The present invention is based on the reversing householder method of camera and ultrasonic transduter, may further comprise the steps (Fig. 2):
1, reversing state-detection
Behind the automobile starting, be in the readiness for action that powers on based on the reversing aid system of camera and ultrasonic transduter.In the normal driving process, when gear pressure sensor 12 detects the reversing state, when namely changing the change speed gear box gear level and being in reverse gear position, gear pressure sensor 12 output signals are to incoming signal analysis process system 11.
2, state signal collecting behind the car
Signal analysis and processing system 11 receives the output signal of gear pressure sensor 12, control horizontal ultrasonic distance-measuring sensor 1, apogee ultrasonic distance-measuring sensor 2, perigee ultrasonic distance-measuring sensor 3, infrared pickoff 4 and camera 5 and gather automobile rear information, these automobile rear communications are to signal analysis and processing system 11.
3, situation is judged behind the car
Signal analysis and processing system 11 receives automobile rear information, and situation behind the car is divided into following four kinds of situations:
3.1, there is the people at the self-propelled vehicle rear in the reversing process: infrared pickoff 4 detects the existence that people or other life entities are arranged behind the car, after detecting reversing, simultaneously horizontal ultrasonic distance-measuring sensor 1 has obstacle, after being judged as car the people is arranged, incoming signal is to signal analysis and processing system 11.
3.2, inhuman obstacle arranged behind the backing track car: infrared pickoff 4 does not detect the existence that people or other life entities are arranged behind the car, when there is obstacle at one of horizontal ultrasonic distance-measuring sensor 1, apogee ultrasonic distance-measuring sensor 2, perigee ultrasonic distance-measuring sensor 3 mensuration rear, after being judged as car inhuman obstacle is arranged, incoming signal is to signal analysis and processing system 11.
3.3, the gully is arranged behind the reversing process car: be divided into two kinds of situations according to camera work double tides condition restriction.
During daytime, if being positioned at the camera 5 at roof rear detects car rear image the boundary of obvious gray scale is arranged, and the feedback of apogee ultrasonic distance-measuring sensor 2 or perigee ultrasonic distance-measuring sensor 3 distance greater than original setting value 10% the time (different according to vehicle, this setting value can be different), after being judged as car the gully is arranged, incoming signal is to signal analysis and processing system 11;
During night, the image of camera 5 outputs does not have obvious gray scale boundary, if the feedback of apogee ultrasonic distance-measuring sensor 2 or perigee ultrasonic distance-measuring sensor 3 distance is different according to vehicle greater than the 10%(of original setting value, this setting value can be different), after being judged as car the gully is arranged, incoming signal is to signal analysis and processing system 11.
3.4, normal condition behind the car
Horizontal ultrasonic distance-measuring sensor 1, apogee ultrasonic distance-measuring sensor 2, perigee ultrasonic distance-measuring sensor 3, infrared pickoff 4 and camera 5 all do not have obvious exporting change, are judged as normal condition.
4, first order signal is processed (warning)
4.1, when signal analysis and processing system 11 judges that there is the people at the self-propelled vehicle rear in the reversing process, start the people's pattern (Fig. 6) of keeping away, when horizontal ultrasonic distance-measuring sensor 1 was measured the people distance of the tailstock behind the car less than 1.5 meters, signal analysis and processing system 11 control warning devices 13 sent alerting signal.
4.2, when after the backing track cars are judged by signal analysis and processing system 11, inhuman obstacle being arranged, start the barrier pattern (Fig. 7) of keeping away, when horizontal ultrasonic distance-measuring sensor 1 was measured the obstacle distance of the tailstock behind the car less than 1.5 meters, signal analysis and processing system 11 control warning devices 13 sent alerting signal.
4.3, when after the reversing process cars are judged by signal analysis and processing system 11, the gully being arranged, start gully pattern (Fig. 8), when apogee ultrasonic distance-measuring sensor 2 and perigee ultrasonic distance-measuring sensor 3 both one of range measurements greater than original setting value 10% the time (different according to vehicle, this setting value can be different), signal analysis and processing system 11 control warning devices 13 send alerting signal.
4.4, after cars are judged by signal analysis and processing system 11, during normal condition, continue to survey until stop.
5, second stage signal is processed (forced brake)
If chaufeur continues reverse travel after alerting signal is sounded, and arrive certain restriction threshold value, can think that the serious threat of behavior of chaufeur to self or other peoples' safety, need to realize the forced brake to automobile, that is: under specific circumstances this moment
5.1, start and to keep away (Fig. 6) after people's pattern, when horizontal ultrasonic distance-measuring sensor 1 is measured the people distance of the tailstock behind the car less than 0.8 meter, signal analysis and processing system 11 output high level make electromagnetic relay 10 charged, thereby so that first brake coil 7 and the 8 mutual adhesives of the second brake coil, then the adhesive brake 9, realize the forced brake of automobile.
5.2, start and to keep away (Fig. 7) after the barrier pattern, when horizontal ultrasonic distance-measuring sensor 1 is measured the obstacle distance of the tailstock behind the car less than 0.3 meter, signal analysis and processing system 11 output high level make electromagnetic relay 10 charged, thereby so that first brake coil 7 and the 8 mutual adhesives of the second brake coil, then the adhesive brake 9, realize the forced brake of automobile.
5.3, start (Fig. 8) after the pattern of gully, when the range measurements of perigee ultrasonic distance-measuring sensor 3 greater than original setting value 30% the time (different according to vehicle, this setting value can be different), signal analysis and processing system 11 output high level make electromagnetic relay 10 charged, thereby so that first brake coil 7 and the 8 mutual adhesives of the second brake coil, then the adhesive brake 9, realize the forced brake of automobile.
6, the release behind the forced brake
When signal analysis and processing system 11 judges that automobile is in the forced brake state, if need to be to the release of automobile sport system, chaufeur only needs gearbox-gear is pushed away the reverse gear gear, this moment gear pressure sensor 12 collection signal incoming signal analysis process system 11, again enable to be in readiness for action based on the reversing aid system of camera and ultrasonic transduter, at this moment, automobile sport system automatic unlocking, automobile can manually be driven by chaufeur and advance.
Above-described embodiment is used for the present invention that explains, rather than limits the invention, and in the protection domain of spirit of the present invention and claim, any modification and change to the present invention makes all fall into protection scope of the present invention.
Claims (3)
1. the reversing aid system based on camera and ultrasonic transduter is characterized in that, it is mainly by signal pickup assembly, signal analysis and processing system and the actuating unit composition that is linked in sequence; Wherein, described signal pickup assembly comprises four horizontal ultrasonic distance-measuring sensors, apogee ultrasonic distance-measuring sensor, perigee ultrasonic distance-measuring sensor, two infrared pickoffs, camera and gear pressure sensors etc.; Actuating unit comprises brake, electromagnetic relay, first brake coil, the second brake coil and warning device etc.; Horizontal ultrasonic distance-measuring sensor, apogee ultrasonic distance-measuring sensor, perigee ultrasonic distance-measuring sensor, infrared pickoff, camera, electromagnetic relay, gear pressure sensor and warning device all link to each other with the signal analysis and processing system, and electromagnetic relay links to each other with the second brake coil with the first brake coil respectively.
2. described reversing aid system based on camera and ultrasonic transduter according to claim 1, it is characterized in that, described four horizontal ultrasonic distance-measuring sensors are by the middle upside that equidistantly places on the automobile rear bumper, the apogee ultrasonic distance-measuring sensor is installed in automobile rear bumper, the perigee ultrasonic distance-measuring sensor is installed in the middle downside of automobile rear bumper, the angle on apogee ultrasonic distance-measuring sensor and ground
Be 15-45 °, the angle on perigee ultrasonic distance-measuring sensor and ground
Be 45-75 °; Two infrared pickoffs be installed in respectively the automobile rear bumper two ends far from the edge 1/6 place; Camera is installed on the roof rear to obtain the car rearward vision; The first brake coil is fixed in the brake bottom plate outside; The second brake coil is fixed on the brake, and relative with the first brake technical front, and the gear pressure sensor places the bottom of gear box reverse gear position, can make gear pressure sensor output high level when gear level is in reverse gear position.
3. an application rights requires the reversing householder method of 1 described reversing aid system, it is characterized in that, the method may further comprise the steps:
(1) reversing state-detection: behind the automobile starting, be in the readiness for action that powers on based on the reversing aid system of camera and ultrasonic transduter; In the normal driving process, when the gear pressure sensor detects the reversing state, when namely changing the change speed gear box gear level and being in reverse gear position, gear pressure sensor output signal is to the incoming signal analysis process system;
(2) state signal collecting behind the car: the signal analysis and processing system receives the output signal of gear pressure sensor, control horizontal ultrasonic distance-measuring sensor, apogee ultrasonic distance-measuring sensor, perigee ultrasonic distance-measuring sensor, infrared pickoff and camera collection automobile rear information, these automobile rear communications are to the signal analysis and processing system;
(3) situation is judged behind the car: the signal analysis and processing system receives automobile rear information, and situation behind the car is divided into following four kinds of situations:
(3.1) there is the people at the self-propelled vehicle rear in the reversing process: infrared pickoff detects the existence that people or other life entities are arranged behind the car, after detecting reversing, simultaneously horizontal ultrasonic distance-measuring sensor has obstacle, after being judged as car the people is arranged, incoming signal is to the signal analysis and processing system;
(3.2) inhuman obstacle is arranged behind the backing track car: infrared pickoff does not detect the existence that people or other life entities are arranged behind the car, when there is obstacle at one of horizontal ultrasonic distance-measuring sensor, apogee ultrasonic distance-measuring sensor, perigee ultrasonic distance-measuring sensor mensuration rear, after being judged as car inhuman obstacle is arranged, incoming signal is to the signal analysis and processing system;
(3.3) gully is arranged behind the reversing process car: be divided into two kinds of situations according to camera work double tides condition restriction: during daytime, if being positioned at the camera at roof rear detects car rear image the boundary of obvious gray scale is arranged, and the feedback of apogee ultrasonic distance-measuring sensor or perigee ultrasonic distance-measuring sensor distance greater than preset value 10% the time, after being judged as car the gully is arranged, incoming signal is to the signal analysis and processing system; During night, the image of camera output does not have obvious gray scale boundary, if the feedback of apogee ultrasonic distance-measuring sensor or perigee ultrasonic distance-measuring sensor distance greater than preset value 10% the time, the gully is arranged after being judged as car, incoming signal is to the signal analysis and processing system;
(3.4) normal condition behind the car: horizontal ultrasonic distance-measuring sensor, apogee ultrasonic distance-measuring sensor, perigee ultrasonic distance-measuring sensor, infrared pickoff and camera all do not have obvious exporting change, are judged as normal condition;
(4) first order signal is processed, and for four kinds of situations of step 3, takes one of following mode to process:
(4.1) when the signal analysis and processing system judges that there is the people at the self-propelled vehicle rear in the reversing process, start the people's pattern of keeping away, when horizontal ultrasonic distance-measuring sensor was measured the people distance of the tailstock behind the car less than 1.5 meters, signal analysis and processing system control warning device sent alerting signal;
When (4.2) after the backing track car is judged by the signal analysis and processing system, inhuman obstacle being arranged, start the barrier pattern of keeping away, when horizontal ultrasonic distance-measuring sensor was measured the obstacle distance of the tailstock behind the car less than 1.5 meters, signal analysis and processing system control warning device sent alerting signal;
When (4.3) after the reversing process car is judged by the signal analysis and processing system, the gully being arranged, start the gully pattern, when the range measurements of one of apogee ultrasonic distance-measuring sensor and perigee ultrasonic distance-measuring sensor greater than original setting value 10% the time, signal analysis and processing system control warning device sends alerting signal;
(4.4) after judging car, the signal analysis and processing system during normal condition, continues to survey until stop;
(5) second stage signal is processed: continue reverse travel after alerting signal is sounded, and arrive the restriction threshold value, automobile is carried out forced brake, take one of following mode to process:
(5.1) after startup keeps away people's pattern, when horizontal ultrasonic distance-measuring sensor is measured the people distance of the tailstock behind the car less than 0.8 meter, signal analysis and processing system output high level makes electromagnetic relay charged, thereby so that first brake coil and the mutual adhesive of the second brake coil, then adhesive brake is realized the forced brake of automobile;
(5.2) after startup keeps away the barrier pattern, when horizontal ultrasonic distance-measuring sensor 1 is measured the obstacle distance of the tailstock behind the car less than 0.3 meter, signal analysis and processing system output high level makes electromagnetic relay charged, thereby so that first brake coil and the mutual adhesive of the second brake coil, then adhesive brake is realized the forced brake of automobile;
(5.3) after the pattern of startup gully, when the range measurements of perigee ultrasonic distance-measuring sensor greater than preset value 30% the time, signal analysis and processing system output high level makes electromagnetic relay charged, thereby so that first brake coil and the mutual adhesive of the second brake coil, then adhesive brake is realized the forced brake of automobile;
(6) release behind the forced brake: when the signal analysis and processing system judges that automobile is in the forced brake state, if need to be to the release of automobile sport system, only need gearbox-gear is pushed away the reverse gear gear, this moment the gear pressure sensor collection signal incoming signal analysis process system, again make the reversing aid system based on camera and ultrasonic transduter be in readiness for action, at this moment, automatic unlocking.
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| CN103323851A (en) * | 2013-07-18 | 2013-09-25 | 镇江三维知识产权有限公司 | Automobile reversing two-dimensional ranging alarming system |
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