CN103223901B - Device and method for identifying abnormal running state of commercial vehicle - Google Patents
Device and method for identifying abnormal running state of commercial vehicle Download PDFInfo
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Abstract
The invention relates to the vehicle safety running technology and discloses a device and a method for identifying the abnormal running state of a commercial vehicle. The device comprises a single chip, a liquid crystal display screen, a data collector connected with a vehicle bus, a microwave radar used for measuring the relative distance between a vehicle and a vehicle ahead, and a visual sensor used for measuring the distance between a vehicle tire and a lane line, wherein the corresponding I/O (input/output) input end of the single chip are connected with the output ends of the microwave radar, the visual sensor and the data collector respectively; and the I/O output end of the single chip is connected with the liquid crystal display screen. According to the device, the driver operation behavior bias and the vehicle running state bias can be automatically collected, and a driver can be timely prompted when the vehicle is in the abnormal running state, so that the vehicle is prevented from entering the dangerous running state and the running safety of the vehicle is guaranteed.
Description
Technical field
The present invention relates to vehicle safe driving technology, particularly a kind of commerial vehicle abnormal operating condition device for identifying and discrimination method thereof.
Background technology
All can there is many traffic accidents and cause personal casualty and a large amount of property damagees in each year, especially long-distance operating passenger car, distance is sailed at high speed uplink, what have reaches 1000 kilometers even more than 2000 kilometers, traveling and tired traveling can cause the visual cognitive ability state deteriorating of chaufeur continuously for a long time, the decline that the perception of chaufeur to road traffic environment and the operator perforniance to vehicle also will occur to a certain extent, thus the safety in operation of operating passenger car cannot farthest be ensured.For the operation characteristic of operating passenger car, portion of techniques personnel propose various operating passenger car safety monitoring system, such as, fatigue monitoring system when chaufeur is driven over a long distance, operating passenger car rear-end impact forewarn system, operating passenger car typical hazard running state Integrated Early Warning System etc.
The motoring condition of vehicle is divided into normal motoring condition, abnormal motoring condition and dangerous motoring condition, above-mentioned this kind of systematic difference scope is that commerial vehicle has been in dangerous motoring condition, carrying out early warning to steerman at this moment can point out chaufeur to take measures to avoid dangerous further deterioration, thus avoids the generation of accident.Say from practical application, the appearance of precarious position has meaned the accident risk that existence is larger, although this kind of safety pre-warning system can avoid the accident of a part, can not avoid the appearance of the dangerous motoring condition of operating passenger car completely.The present invention is evolved into abnormal motoring condition at operating passenger car by normal motoring condition, and chaufeur just takes Improving Measurements, stops to make abnormal motoring condition will change dangerous motoring condition into, thus avoids causing larger car accident.
Summary of the invention
The object of the present invention is to provide a kind of commerial vehicle abnormal operating condition device for identifying and discrimination method thereof, automatic collection driver's operation Deviant behavior and travel condition of vehicle deviation, point out timely when vehicle is in abnormal motoring condition, avoid vehicle to enter dangerous motoring condition, thus ensure the driving safety of vehicle.
For achieving the above object, the present invention is achieved by the following technical solutions.
(1) a kind of commerial vehicle abnormal operating condition device for identifying, it is characterized in that, comprise micro controller system, LCDs, the data trap be connected with vehicle bus, for measuring the microwave radar of vehicle and front vehicles relative distance, for measuring the vision sensor of vehicle tire and lane mark distance; The corresponding I/O input end of described micro controller system connects the mouth of described microwave radar, vision sensor and data trap respectively, and the I/O mouth of described micro controller system connects described LCDs.Feature and further improvement of the technical program are:
Described micro controller system is MC9S12XS256 type micro controller system.
Described vision sensor is located on the front windshield of vehicle.
Described data trap is the collector of CAN2.0A agreement.
Described LCDs is 12864 LCDs.
(2) a commerial vehicle abnormal operating condition discrimination method, is characterized in that, comprises the following steps:
(1) running velocity analysis: self speed of a motor vehicle input micro controller system that data trap is collected, the speed of a motor vehicle is divided into multiple speed interval to add up by micro controller system, speed of a motor vehicle aviation value in the speed of a motor vehicle and speed interval belonging to it is compared, when the absolute value of the speed of a motor vehicle aviation value difference in the speed of a motor vehicle and this speed interval is greater than speed setting value, assert that self speed of a motor vehicle is now abnormal, otherwise regard as normal;
(2) vehicle and lane mark distance analysis: the image of the left and right tire and left and right lane mark that vision sensor are collected vehicle is input to micro controller system, distance between tire and lane mark is divided between multiple distance regions by micro controller system adds up, aviation value in distance between tire and lane mark and distance regions belonging to it is compared, when the absolute value of the aviation value difference in the distance between tire and lane mark and this distance regions is greater than distance setting value, assert that the distance between vehicle and lane mark is abnormal, otherwise regard as normal;
(3) vehicle follow gallop behavioural analysis: the speed of a motor vehicle that the Distance geometry data trap between the vehicle tested by microwave radar and front truck collects inputs micro controller system, add up apart from interval when micro controller system calculates the time headway of vehicle and is divided into multiple, aviation value time by time headway and belonging to it in interval compares, time headway and this time when being greater than apart from the absolute value of the aviation value difference in interval apart from setting value time, assert vehicle follow gallop abnormal behavior, otherwise regard as normal;
(4) chaufeur is analyzed acceleration pedal operation behavior: the acceleration pedal aperture parameters input micro controller system of the vehicle collected by data trap, micro controller system calculates the aperture rate of change of acceleration pedal and is divided into multiple rate of change interval to add up, the aviation value that will speed up in the aperture rate of change of pedal and rate of change interval belonging to it compares, when the absolute value of the aviation value difference in the aperture rate of change of acceleration pedal and this rate of change interval is greater than rate of change setting value, assert that chaufeur is abnormal to the operation behavior of acceleration pedal, otherwise regard as normal;
(5) steering wheel for vehicle Rotational analysis: the rotating of steering wheel turning rate input of the vehicle collected by data trap is to micro controller system, rotating of steering wheel cireular frequency is divided into multiple cireular frequency interval to add up by micro controller system, mean angular velocity in rotating of steering wheel cireular frequency and cireular frequency interval belonging to it is compared, when the absolute value of the mean angular velocity difference in rotating of steering wheel cireular frequency and this interval is greater than cireular frequency setting value, assert that steering wheel for vehicle velocity of rotation is abnormal, otherwise regard as normal;
(6) automobile body yaw is analyzed: the vehicle body yaw velocity of the vehicle collected by data trap and self speed of a motor vehicle current input micro controller system, micro controller system counts out the yaw rate of vehicle and is divided into multiple yaw rate interval to add up, aviation value in yaw rate and described yaw rate interval is compared, when the absolute value of the aviation value difference in yaw rate and this yaw rate interval is greater than yaw rate setting value, assert that vehicle body yaw is abnormal, otherwise regard as normal;
(7) automobile body transverse acceleration is analyzed: self transverse acceleration collected by data trap is input to micro controller system, transverse acceleration is divided into multiple transverse acceleration interval to add up by micro controller system, aviation value in transverse acceleration and the transverse acceleration interval belonging to it is compared, when the absolute value of the aviation value difference in transverse acceleration and this transverse acceleration interval is greater than transverse acceleration setting value, assert that vehicle body transverse acceleration is abnormal, otherwise regard as normal;
(8) vehicle abnormality running state identification: have or more than one result in above-mentioned steps (1)-step (3) for abnormal, and have one or more than one result in step (4)-step (7) for abnormal, then assert that travel condition of vehicle identification result be exception; There are more than three or three results in above-mentioned steps (1)-step (7) for abnormal, then assert that travel condition of vehicle identification result is abnormal.Under all the other states, assert that travel condition of vehicle identification result is normal;
(9) vehicle abnormality runs prompting: when travel condition of vehicle identification result is abnormal, Single-chip Controlling LCDs carries out unusual condition display.
Commerial vehicle abnormal operating condition device for identifying of the present invention and discrimination method thereof, vehicle can be recognized in advance whether be in error state before vehicle enters precarious position, chaufeur is pointed out by LCDs when vehicle is in error state, thus street accidents risks suppression will be there is in bud, improve the safety that vehicle travels.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is further described.
Fig. 1 is the block schematic illustration of commerial vehicle abnormal operating condition device for identifying of the present invention and discrimination method thereof.
Detailed description of the invention
With reference to the block schematic illustration that Fig. 1, Fig. 1 are commerial vehicle abnormal operating condition device for identifying of the present invention and discrimination method thereof.The present invention includes micro controller system, LCDs, the data trap be connected with vehicle bus, for measuring the microwave radar of vehicle and front vehicles relative distance, for measuring the vision sensor of vehicle tire and lane mark distance; The corresponding I/O input end of micro controller system connects the mouth of microwave radar, vision sensor and data trap respectively, the I/O mouth connecting fluid crystal display screen of micro controller system.
Micro controller system adopts MC9S12XS256 type micro controller system, and micro controller system is installed on vehicle instrument and rents lower inner; Vision sensor is located on the front windshield of vehicle, the distance of the right tire of the Distance geometry for measuring vehicle left tire and left-hand lane line and right-hand lane line; Data trap is the collector of CAN2.0A agreement, be installed on meter panel of motor vehicle lower inner, the vehicle speed signal in Real-time Collection vehicle operational process, steering wheel angle signal, rotating of steering wheel angular velocity signal, acceleration pedal opening amount signal, vehicle body yaw rate signal, vehicle body transverse acceleration signal etc.; LCDs is 12864 LCDs, and this small LCD Liquid Crystal Display is installed on the gauge panel annex of vehicle, for pointing out chaufeur.
The discrimination method of commerial vehicle abnormal operating condition of the present invention, comprises the following steps:
(1) running velocity analysis: self speed of a motor vehicle input micro controller system that data trap is collected, the speed of a motor vehicle is divided into multiple speed interval to add up with 10km/h by micro controller system, speed of a motor vehicle aviation value in the speed of a motor vehicle and speed interval belonging to it is compared, when the absolute value of the speed of a motor vehicle aviation value difference in the speed of a motor vehicle and this speed interval is greater than 4km/h, assert that the speed of a motor vehicle is now abnormal, be probably that the reason such as the dispersion attention of chaufeur or fatigue driving causes, otherwise regard as normal.
(2) vehicle and lane mark distance analysis: the image of the left and right tire and left and right lane mark that vision sensor are collected vehicle is input to micro controller system, distance between tire and lane mark is divided between multiple distance regions with 10cm by micro controller system adds up, aviation value in distance between tire and lane mark and distance regions belonging to it is compared, when the absolute value of the aviation value difference in the distance between tire and lane mark and this distance regions is greater than 5cm, assert that the distance between vehicle and lane mark is abnormal, probably that error has appearred in the distance perspective of chaufeur to vehicle and lane mark, otherwise regard as normal.For vehicle left tire and the distance of left-hand lane line and the distance of the right tire of vehicle and right-hand lane line, as long as one of them result recognized is for abnormal, then regard as distance between vehicle and lane mark for abnormal.
(3) vehicle follow gallop behavioural analysis: the speed of a motor vehicle of the vehicle that the Distance geometry data trap between the vehicle tested by microwave radar and front truck collects inputs micro controller system, add up apart from interval when micro controller system calculates the time headway of vehicle and was divided into multiple with 0.5 second, aviation value time by time headway and belonging to it in interval compares, time headway and this time when being greater than 0.2 second apart from the absolute value of the aviation value difference in interval, assert vehicle follow gallop abnormal behavior, may be occur dispersion attention situation because chaufeur is subject to the interference of other factors, otherwise regard as normal.
(4) chaufeur is analyzed acceleration pedal operation behavior: the acceleration pedal aperture parameters input micro controller system collected by data trap, micro controller system calculates the aperture rate of change of acceleration pedal and is divided into multiple rate of change interval to add up with 5%, the aperture rate of change of acceleration pedal=(this acceleration pedal opening value-last time acceleration pedal opening value)/last time acceleration pedal opening value, the aviation value that will speed up in the aperture rate of change of pedal and rate of change interval belonging to it compares, when the absolute value of the aviation value difference in the aperture rate of change of acceleration pedal and this rate of change interval is greater than 3%, assert that chaufeur is abnormal to the operation behavior of acceleration pedal, show that certain deviation has appearred in the now normal driving behavior of chaufeur to the operation behavior of acceleration pedal and chaufeur, otherwise regard as normal.
(5) steering wheel for vehicle Rotational analysis: the rotating of steering wheel turning rate input collected by data trap is to micro controller system, rotating of steering wheel cireular frequency is divided into multiple cireular frequency interval to add up with 10 °/s by micro controller system, and the mean angular velocity in rotating of steering wheel cireular frequency and cireular frequency interval belonging to it is compared, when the absolute value of the mean angular velocity difference in rotating of steering wheel cireular frequency and this cireular frequency interval is greater than 5 °/s, assert that steering wheel for vehicle rotational angular velocity is abnormal, represent that now chaufeur exists certain deviation to the operation behavior of bearing circle and normal operation behavior, otherwise regard as normal.
(6) automobile body yaw is analyzed: self the vehicle body yaw velocity collected by data trap and self speed of a motor vehicle current input micro controller system, micro controller system counts out the yaw rate of vehicle and is divided into multiple yaw rate interval to add up with 15 (° km)/(sh), yaw rate=vehicle body yaw velocity * the speed of a motor vehicle of vehicle, aviation value in yaw rate and the yaw rate interval belonging to it is compared, when the absolute value of the aviation value difference in yaw rate and this yaw rate interval is greater than 9 (° km)/(sh), assert that vehicle body yaw is abnormal, there is some difference for the yaw characteristic showing in the yaw characteristic of now vehicle and normal driving process, otherwise regard as normal.
(7) automobile body transverse acceleration analyze: self transverse acceleration collected by data trap is input to micro controller system, micro controller system by transverse acceleration with 1m/s
2be divided into multiple transverse acceleration interval to add up, compared by the aviation value in transverse acceleration and transverse acceleration interval belonging to it, the absolute value of the aviation value difference in transverse acceleration and this transverse acceleration interval is greater than 0.4m/s
2time, assert that vehicle body transverse acceleration is abnormal, there is some difference to show the transverse acceleration of now vehicle and the lateral acceleration data in normal driving process, otherwise regard as normally.
(8) vehicle abnormality running state identification: have or more than one result in above-mentioned steps (1)-step (3) for abnormal, and have one or more than one result in step (4)-step (7) for abnormal, then assert that travel condition of vehicle identification result be exception; There are more than three or three results in above-mentioned steps (1)-step (7) for abnormal, then assert that travel condition of vehicle identification result is abnormal.Under all the other states, assert that travel condition of vehicle identification result is normal.
(9) vehicle abnormality runs prompting: when travel condition of vehicle identification result be abnormal, Single-chip Controlling LCDs carries out unusual condition display, points out chaufeur attentively to drive or stop rest.
Commerial vehicle abnormal operating condition device for identifying of the present invention and discrimination method thereof, vehicle can be recognized in advance whether be in error state before vehicle enters precarious position, the reason that initiation vehicle is in error state comprises multiple, such as fatigue driving, risk driving, dispersion attention etc.; Chaufeur is pointed out by LCDs display " please attentively driving or rest of stopping " when vehicle is in error state, and concrete display abnormal results item, chaufeur is reminded to take certain measure to make vehicle be in normal motoring condition, thus street accidents risks suppression will be there is in bud, precarious position is entered to avoid vehicle, even there is the situation such as deviation, rear-end impact, rollover, improve the safety that vehicle travels, be particularly useful for operating passenger car.
Although be below described embodiment of the present invention by reference to the accompanying drawings, the present invention is not limited to above-mentioned specific embodiments, and above-mentioned specific embodiments is only schematic, guiding, instead of restrictive.Those of ordinary skill in the art is under the enlightenment of this specification sheets, and when not departing from the scope that the claims in the present invention are protected, can also make a variety of forms, these all belong to the row of the present invention's protection.
Claims (1)
1. a commerial vehicle abnormal operating condition discrimination method, based on commerial vehicle abnormal operating condition device for identifying, described commerial vehicle abnormal operating condition device for identifying comprises micro controller system, LCDs, the data trap be connected with vehicle bus, for measuring the microwave radar of vehicle and front vehicles relative distance, for measuring the vision sensor of vehicle tire and lane mark distance; The corresponding I/O input end of described micro controller system connects the mouth of described microwave radar, vision sensor and data trap respectively, and the I/O mouth of described micro controller system connects described LCDs;
It is characterized in that, described commerial vehicle abnormal operating condition discrimination method comprises the following steps:
(1) running velocity analysis: self speed of a motor vehicle input micro controller system that data trap is collected, the speed of a motor vehicle is divided into multiple speed interval to add up by micro controller system, speed of a motor vehicle aviation value in the speed of a motor vehicle and speed interval belonging to it is compared, when the absolute value of the speed of a motor vehicle aviation value difference in the speed of a motor vehicle and this speed interval is greater than speed setting value, assert that self speed of a motor vehicle is now abnormal, otherwise regard as normal;
(2) vehicle and lane mark distance analysis: the image of the left and right tire and left and right lane mark that vision sensor are collected vehicle is input to micro controller system, distance between tire and lane mark is divided between multiple distance regions by micro controller system adds up, aviation value in distance between tire and lane mark and distance regions belonging to it is compared, when the absolute value of the aviation value difference in the distance between tire and lane mark and this distance regions is greater than distance setting value, assert that the distance between vehicle and lane mark is abnormal, otherwise regard as normal;
(3) vehicle follow gallop behavioural analysis: the speed of a motor vehicle that the Distance geometry data trap between the vehicle tested by microwave radar and front truck collects inputs micro controller system, add up apart from interval when micro controller system calculates the time headway of vehicle and is divided into multiple, aviation value time by time headway and belonging to it in interval compares, time headway and this time when being greater than apart from the absolute value of the aviation value difference in interval apart from setting value time, assert vehicle follow gallop abnormal behavior, otherwise regard as normal;
(4) chaufeur is analyzed acceleration pedal operation behavior: the acceleration pedal aperture parameters input micro controller system of the vehicle collected by data trap, micro controller system calculates the aperture rate of change of acceleration pedal and is divided into multiple rate of change interval to add up, the aviation value that will speed up in the aperture rate of change of pedal and rate of change interval belonging to it compares, when the absolute value of the aviation value difference in the aperture rate of change of acceleration pedal and this rate of change interval is greater than rate of change setting value, assert that chaufeur is abnormal to the operation behavior of acceleration pedal, otherwise regard as normal;
(5) steering wheel for vehicle Rotational analysis: the rotating of steering wheel turning rate input of the vehicle collected by data trap is to micro controller system, rotating of steering wheel cireular frequency is divided into multiple cireular frequency interval to add up by micro controller system, mean angular velocity in rotating of steering wheel cireular frequency and cireular frequency interval belonging to it is compared, when the absolute value of the mean angular velocity difference in rotating of steering wheel cireular frequency and this interval is greater than cireular frequency setting value, assert that steering wheel for vehicle velocity of rotation is abnormal, otherwise regard as normal;
(6) automobile body yaw is analyzed: the vehicle body yaw velocity of the vehicle collected by data trap and self speed of a motor vehicle current input micro controller system, micro controller system counts out the yaw rate of vehicle and is divided into multiple yaw rate interval to add up, aviation value in yaw rate and described yaw rate interval is compared, when the absolute value of the aviation value difference in yaw rate and this yaw rate interval is greater than yaw rate setting value, assert that vehicle body yaw is abnormal, otherwise regard as normal;
(7) automobile body transverse acceleration is analyzed: self transverse acceleration collected by data trap is input to micro controller system, transverse acceleration is divided into multiple transverse acceleration interval to add up by micro controller system, aviation value in transverse acceleration and the transverse acceleration interval belonging to it is compared, when the absolute value of the aviation value difference in transverse acceleration and this transverse acceleration interval is greater than transverse acceleration setting value, assert that vehicle body transverse acceleration is abnormal, otherwise regard as normal;
(8) vehicle abnormality running state identification: have or more than one result in above-mentioned steps (1)-step (3) for abnormal, and have one or more than one result in step (4)-step (7) for abnormal, then assert that travel condition of vehicle identification result be exception; There are more than three or three results in above-mentioned steps (1)-step (7) for abnormal, then assert that travel condition of vehicle identification result is abnormal; Under all the other states, assert that travel condition of vehicle identification result is normal;
(9) vehicle abnormality runs prompting: when travel condition of vehicle identification result is abnormal, Single-chip Controlling LCDs carries out unusual condition display.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104596564B (en) * | 2015-02-04 | 2017-03-15 | 中国工程物理研究院化工材料研究所 | The system and method that sensor fault judges |
| CN105391756A (en) * | 2015-10-09 | 2016-03-09 | 中国科学院计算技术研究所 | Communication resource allocation method and system for internet of vehicle |
| CN105835775A (en) * | 2016-03-17 | 2016-08-10 | 乐视网信息技术（北京）股份有限公司 | Vehicle traveling early-warning method and device and terminal equipment |
| CN107054375B (en) * | 2017-04-28 | 2023-02-28 | 深圳市车元素实业有限公司 | Management and evaluation device and method for driving behavior safety of motorcade drivers |
| CN107544350A (en) * | 2017-10-09 | 2018-01-05 | 长安大学 | A kind of passenger stock transport condition parameter real-time acquisition system |
| CN110843797A (en) * | 2018-07-24 | 2020-02-28 | 上海博泰悦臻网络技术服务有限公司 | Vehicle, vehicle equipment and screen display prompting method for vehicle running state |
| CN109747633A (en) * | 2019-03-04 | 2019-05-14 | 重庆交通大学 | Extremely active control system and control method are turned under commerial vehicle fast state |
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