CN103419737A - Anti-collision control method and system for vehicle - Google Patents
Anti-collision control method and system for vehicle Download PDFInfo
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- CN103419737A CN103419737A CN2013103562190A CN201310356219A CN103419737A CN 103419737 A CN103419737 A CN 103419737A CN 2013103562190 A CN2013103562190 A CN 2013103562190A CN 201310356219 A CN201310356219 A CN 201310356219A CN 103419737 A CN103419737 A CN 103419737A
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Abstract
The invention discloses an anti-collision control method and an anti-collision control system for a vehicle. The system comprises an ultrasonic ranging module (1), an infrared laser module (2), a photoelectric conversion module (3), an anti-collision control module (4) and a display screen (5), wherein the ultrasonic ranging module (1) is used for measuring the distance from the vehicle to an obstacle around the vehicle, comparing the measured distance with a preset warning distance and outputting a control signal to the infrared laser module (2) and the anti-collision control module (4) according to the comparison result; the infrared laser module (2) is used for emitting infrared ray to the obstacle close to the vehicle; the photoelectric conversion module (3) is used for acquiring an optical signal reflected by the obstacle and converting the optical signal into an electric signal; the anti-collision control module (4) is used for processing the electric signal to generate image data of the obstacle and sounding a warning to the driver of the vehicle; the display screen (5) is used for displaying the image data of the obstacle.
Description
Technical field
The present invention relates to the safe driving of vehicle technical field, more particularly, relate to a kind of anti-collision control method for vehicle and system.
Background technology
Fatigue driving is one of key factor caused various traffic accidents.The user easily produces tired in the process of driving over a long distance, there will be absent minded, the situation of even dozing off.The scheme that the active anti-corrosion control system of prior art is taked is when the close driving vehicle of obstacle, by seat is carried out to the alerting by vibration user, vehicle is carried out to associative operation, with avoiding obstacles.As the user in fatigue driving state, and not to be noted gradually near the obstacle of vehicle.When vehicle speed very fast, and during the close together between vehicle and obstacle, even the user senses the vibration of seat, recognize imminent collision risk, and promptly adjust the travel direction of vehicle, or vehicle is carried out to the acceleration/deceleration operation, late.Under the effect of inertia of vehicle, user action is fast again, still can't avoid the generation of the collision case of vehicle and obstacle.Therefore, the user needs to focus one's attention on for a long time in the process of driving over a long distance, and the user is careless and inadvertent for the moment may lead to the tragedy of car crash.How to develop a active anti-corrosion control system of the user's that drives over a long distance driving safety of effectively protecting and become problem demanding prompt solution.
Summary of the invention
The technical problem to be solved in the present invention is, for the above-mentioned defect of prior art provide a kind of can be according to the variable in distance of vehicle and its peripheral obstacle, automatically show the obstructions chart picture near vehicle, and send the anti-collision control method for vehicle and the system of the warning signal based on orientation, obstacle place.
The technical solution adopted for the present invention to solve the technical problems is: construct a kind of anti-collision control method for vehicle, said method comprising the steps of:
S1) measure the distance between the obstacle of vehicle in travelling and this vehicle periphery, by surveyed vehicle and obstacle apart from preset for judging whether that the warning distance that should give a warning to the chaufeur of described vehicle compares;
S2) as the distance of vehicle as described in determining and obstacle be equal to or less than as described in warning distance, the chaufeur to described vehicle gives a warning, simultaneously to the emission of the obstacle near described vehicle infrared ray;
S3) gather the infrared ray through the obstacle surface reflection, obtain the view data of obstacle;
S4) show the view data of obstacle to the chaufeur of described vehicle.
At the above-mentioned anti-collision control method for vehicle of the present invention, also comprise the steps:
S0) before described step S1, pre-stored described warning distance, and for judging whether the braking distance that brake immediately.
At the above-mentioned anti-collision control method for vehicle of the present invention, the operation of measuring the distance between the obstacle of vehicle in travelling and this vehicle periphery in described step S1 comprises: start timing starting to launch hypracoustic to the obstacle of vehicle periphery simultaneously, and stop timing when the echoed signal received through the obstacle surface reflection, first calculate the time that starts timing and the time difference that stops the time of timing, again by the described time difference and in conjunction with super sonic more airborne propagation speed calculate the distance between the obstacle of vehicle in travelling and this vehicle periphery.
At the above-mentioned anti-collision control method for vehicle of the present invention, described step S2 also comprises: as the distance that determines surveyed vehicle and the place ahead obstacle be no more than as described in warning distance, further by surveyed vehicle and the place ahead obstacle apart from comparing with described braking distance; As described in determining the distance of vehicle and the place ahead obstacle be equal to or less than as described in braking distance, described vehicle is carried out to brake operating, make the speed of a motor vehicle of described vehicle reduce to 0.
The present invention also constructs a kind of anticollision control system for vehicle, described system comprises ultrasonic distance measuring module, the IR laser module be connected with the mouth of described ultrasonic distance measuring module, the photoelectric conversion module be connected with the mouth of described IR laser module, the anticollision control module be connected with the mouth of described photoelectric conversion module and described ultrasonic distance measuring module, and the read-out be connected with the mouth of described anticollision control module, described ultrasonic distance measuring module is for the distance between the obstacle of measuring vehicle and vehicle's surroundings, by range finding from its storage for judging whether that the warning distance that should give a warning to the chaufeur of described vehicle compares, and export control signal according to comparative result to described IR laser module and described anticollision control module, described IR laser module is under the control of described ultrasonic distance measuring module, to the emission of the obstacle near vehicle infrared ray, described photoelectric conversion device is for gathering the optical signal through the obstacle surface reflection, and described optical signal is converted to electric signal, described anticollision control module is the view data with the dyspoiesis thing for the treatment of this electric signal, and for receiving the alarm command of described ultrasonic distance measuring module (1), and send alerting signal, described read-out is for showing the view data of described obstacle.
At the above-mentioned anticollision control system for vehicle of the present invention, described ultrasonic distance measuring module comprises for the emission of the obstacle to vehicle periphery hypracoustic ultrasonic transmitting element, for receiving the super sonic receiving element by the echoed signal of obstacle surface reflection, for start timing when described ultrasonic transmitting element is launched super sonic, and the timing unit that stops timing when described super sonic receiving element receives described echoed signal, for first memory cell of storing described warning distance, with described ultrasonic transmitting element, described super sonic receiving element is connected with described timing unit, for the distance according between the poor obstacle that calculates vehicle and vehicle's surroundings of the timing time of described timing unit, by range finding from comparing with described warning distance, and according to comparative result the MCU to described IR laser module and described anticollision control module output control signal.
At the above-mentioned anticollision control system for vehicle of the present invention, described anticollision control module comprises with the mouth of described photoelectric conversion module and being connected, for described electric signal being amplified to the amplifying circuit of processing, for the filter circuit that described electric signal is carried out to the filtering processing, for described electric signal being converted to the analog to digital conversion circuit of digital signal, for described digital signal is carried out to the view data of imaging calculating with the dyspoiesis thing, and for receiving the alarm command of described ultrasonic distance measuring module, the CPU of operation alert program, for storing second memory cell of view data of obstacle, for the loudspeaker unit sent warning signal, and for described vehicle being carried out to the speed of a motor vehicle control unit of brake operating.
At the above-mentioned anticollision control system for vehicle of the present invention, the first memory cell of described ultrasonic distance measuring module also stores the braking distance that brake immediately for judging whether, described braking distance is less than described warning distance, when described ultrasonic distance measuring module also is less than described warning distance for the distance that determines surveyed vehicle and the place ahead obstacle, further the distance of surveyed vehicle and the place ahead obstacle is compared with described braking distance, and when the distance that determines surveyed vehicle and the place ahead obstacle is equal to or less than described braking distance, control described speed of a motor vehicle control unit by described CPU described vehicle is carried out to brake operating.
At the above-mentioned anticollision control system for vehicle of the present invention, described CPU is also controlled for the emissive power to described IR laser module, to regulate the ultrared Illumination intensity of described IR laser module emission.
Implement the anti-collision control method for vehicle of the present invention and system, have following beneficial effect: 1) the present invention provides very big facility for the anticollision control system of vehicle for those users that need to drive over a long distance, under anticollision control system of the present invention auxiliary, the user can watch in real time by read-out the obstructions chart picture of vehicle periphery, and the prompting received based on orientation, obstacle place is broadcasted, when the distance between vehicle and obstacle is equal to or less than the warning distance of user preset, anticollision control system of the present invention automatically demonstrates the image of obstacle on read-out, and the alarm voice of broadcasting based on this orientation, obstacle place, the user is reminded in advance, the user can be according to obstructions chart picture shown on read-out, and the warning voice of reporting carry out associative operation to vehicle, can avoid in time the dangerous obstacles near vehicle, the present invention can reduce the incidence of the collision case between driving vehicle and the obstacle around it for the anticollision control system of vehicle, 2) distance between vehicle and obstacle is more and more nearer, when the distance between vehicle and obstacle is equal to or less than the warning distance of user preset, anticollision control system of the present invention is first warned the user in advance by the image demonstration of dangerous obstacles and auxiliary prompting broadcast, in the situation that above-mentioned warning measure can not be played reminding effect to the user, determine the distance of obstacle of vehicle and vehicle front while being equal to or less than the braking distance of user preset at anticollision control system of the present invention, anticollision control system of the present invention will start the preventing collision protection function automatically, operation brake program, vehicle is carried out to emergency brake operations, to avoid the obstacle generation rear-end collision of vehicle and vehicle front, therefore the present invention can reduce the incidence of vehicle rear-end collision accident widely for the anticollision control system of vehicle, 3) user can also control the ultrared Illumination intensity that IR laser module penetrates by the emissive power of regulating IR laser module, to obtain more clear bright obstructions chart picture.
The accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
Fig. 1 is the structured flowchart of the anticollision control system for vehicle that provides of preferred embodiment of the present invention;
Fig. 2 is the structured flowchart of the ultrasonic distance measuring module of the anticollision control system for vehicle shown in Fig. 1;
Fig. 3 is the structured flowchart of the anticollision control module of the anticollision control system for vehicle shown in Fig. 1;
Fig. 4 is the diagram of circuit of the anti-collision control method for vehicle that provides of preferred embodiment of the present invention.
The specific embodiment
In order to make purpose of the present invention clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
As shown in Figure 1, the present invention comprises for the distance between measuring vehicle and vehicle's surroundings obstacle for the anticollision control system 19 of vehicle, by range finding from default for judging whether the warning distance that should give a warning to the chaufeur of vehicle, or for judging whether that the braking distance that brake immediately compares, and the ultrasonic distance measuring module 1 that sends alarm command or brake instruction according to comparative result, for under the control of this ultrasonic distance measuring module 1, launch ultrared IR laser module 2 to the obstacle near vehicle, optical signal for collection through the graphicinformation of the characterizing disorders thing of obstacle surface reflection, and this optical signal is converted to the photoelectric conversion module 3 of electric signal, for alarm command or the brake instruction that receives this ultrasonic distance measuring module 1, send warning signal or vehicle is carried out to brake operating, and for this electric signal is processed, the anticollision control module 4 of the view data of dyspoiesis thing, for showing the read-out 5 of view data of obstacle.
The input end of this IR laser module is connected with the mouth of ultrasonic distance measuring module 1, and its mouth is connected to photoelectric conversion module 3.The input end of this anticollision control module is connected with the mouth of photoelectric conversion module 3 with ultrasonic distance measuring module 1, and its mouth is connected to read-out 5 and IR laser module 2.This anticollision control module 4 is also for controlling the emissive power of this IR laser module 2, to regulate the ultrared Illumination intensity of these IR laser module 2 emissions.
Wherein, this ultrasonic distance measuring module 1 can be existing ultrasonic range finder, this IR laser module 2 can be existing infrared laser, this photoelectric conversion module 3 can be existing charge-coupled device (Charge-coupled Device), and this read-out 5 can be existing Liquid Crystal Display or plasma display.This warning distance is greater than this braking distance.
As shown in Figure 2, this ultrasonic distance measuring module 1 comprises for storing the first memory cell of warning distance and braking distance, for the emission of the obstacle to vehicle periphery hypracoustic ultrasonic transmitting element 6, for receiving the super sonic receiving element 7 through the echoed signal of obstacle surface reflection, for start timing when this ultrasonic transmitting element 6 is launched super sonic, and the timing unit 9 that stops timing when this super sonic receiving element 7 receives this echoed signal, poor with the timing time of the time that stops timing for the beginning timing time according to this timing unit 9, and calculate the distance between the obstacle of vehicle and vehicle periphery in conjunction with the aerial propagation speed of super sonic, by range finding from comparing with above-mentioned warning distance or braking distance, and according to comparative result give a warning instruction or the brake instruction MCU8 (Micro Control Unit).The input end of this MCU8 is connected with super sonic receiving element 7, and its mouth is connected to ultrasonic transmitting element 6, timing unit 9 and IR laser module 2.And this MCU8 and the first memory cell 10 be input end and mouth each other.This timing unit 9 can be existing time meter, and this first memory cell 10 can be existing read-only memory (ROM) (Read Only Memory).
As shown in Figure 3, this anticollision control module 4 comprises with the mouth of this photoelectric conversion module 3 and being connected, amplify for the electric signal by these photoelectric conversion module 3 conversions the amplifying circuit 12 of processing, with the mouth of this amplifying circuit 12, be connected, for the filter circuit 13 that this electric signal is carried out to the filtering processing, with the mouth of this filter circuit 13, be connected, be converted to the analog to digital conversion circuit 14 of digital signal for the electric signal by this amplification and filtering processing, with the mouth of this analog to digital conversion circuit 14, be connected, for according to the digital image processing algorithm, this digital signal being carried out to imaging calculating, CPU15 with the view data of dyspoiesis thing.The input end of this CPU15 is connected with the mouth of ultrasonic distance measuring module 1 with analog to digital conversion circuit 14, and its mouth is connected to IR laser module 2, loudspeaker unit 17, read-out 5 and speed of a motor vehicle control unit 18.This CPU15 is also for receiving the alarm command of super sonic control module 1, show the image near the obstacle of vehicle by read-out 5, and play preset warning voice by loudspeaker unit 17, avoid in time the dangerous obstacles near vehicle with reminding user.This CPU15 also, for receiving the brake instruction of ultrasonic distance measuring module 1, carries out emergency brake operations by 18 pairs of vehicles of speed of a motor vehicle control unit, makes this vehicle speed reduce at short notice 0, to avoid the obstacle generation rear-end collision of vehicle and this vehicle front.
The present invention also comprises a microphone 11 for the anticollision control system of driving vehicle.The mouth of this microphone 11 is connected to the input end of analog to digital conversion circuit 14.This microphone 11 is for gathering user's voice signal.The voice signal of user input, after analog to digital conversion circuit 14 and CPU15 process respectively, is converted to digitized voice signal and is stored in the second memory cell, the warning voice of playing to the user as loudspeaker unit 17.But the warning voice that user's choice for use anticollision control system of the present invention carries.The user also can, according to self needs, carry out the warning voice of the various personalizations of typing by microphone 11.The step of user's typing warning voice is as follows: S1) user is by microphone 11 input speech signals; S2) microphone 11 gathers user's voice signal, after this voice signal is converted to electric signal, sends to analog to digital conversion circuit 14 to be processed; S3) analog to digital conversion circuit 14 is converted to digitized voice signal by this electric signal, and CPU15 receives this digitized voice signal, and extracts the characteristic data in this digitized voice signal, and this characteristic data is stored in to the second memory cell 16.In better embodiment of the present invention, the warning voice that the voice of user input or system of the present invention carry comprise " obstacle appears in forward/rear; ask Reduced Speed Now/give it the gun ", " obstacle appears in left/right, and please keep right/left lateral is sailed, and please keep spacing ".
Wherein, this CPU15 can be existing mobile treater or digital signal processor (Digital Signal Processor) based on the ARM framework.This second memory cell 16 can be existing hard disk or flash memory.This speed of a motor vehicle control unit 18 can be existing automobile brake system.
The present invention comprises the following steps for the anti-collision control method of vehicle:
S1) measure the distance between the obstacle of vehicle in travelling and this vehicle periphery, by surveyed vehicle and obstacle apart from preset for judging whether that the warning distance that should give a warning to the chaufeur of described vehicle compares;
S2) as the distance of vehicle as described in determining and obstacle be equal to or less than as described in warning distance, the chaufeur to described vehicle gives a warning, simultaneously to the emission of the obstacle near described vehicle infrared ray;
S3) gather the infrared ray through the obstacle surface reflection, obtain the view data of obstacle;
S4) show the view data of obstacle to the chaufeur of described vehicle.
Below will take better embodiment of the present invention as example, the present invention will be described further for the principle of work of the anticollision control system of vehicle:
As shown in Figure 4, in step S100, the user opens the interface that arranges of ultrasonic distance measuring module 1, enter that anticollision distance that this arranges interface arranges vehicle under option and the warning distance of obstacle arranges option, at this warning distance, the warning distance that the chaufeur that is provided for judging whether tackling vehicle gives a warning is set under option, and opens obstacle Presentation Function option and the warning function option corresponding with this warning distance option.After the user preserves above-mentioned the setting, the anticollision that enters again this ultrasonic distance measuring module 1 arranges option apart from the braking distance arranged under interface, arrange under option and be provided for judging whether the braking distance that brake immediately at this braking distance, and open the brake function option corresponding with this braking distance.After the user preserves above-mentioned the setting, exit the interface that arranges of ultrasonic distance measuring module 1.
The user opens the interface that arranges of anticollision control module 4, enters the emissive power option that this anticollision control module 4 arranges the IR laser module under interface, and the emissive power of IR laser module 2 is suitably regulated.The user can improve or reduce by the emissive power of regulating IR laser module 2 Illumination intensity of this IR laser module 2 to the Infrared of obstacle emission, catch and reduce the image detail of meticulousr obstacle to flutter by photoelectric conversion module 3 and anticollision control module 4, obtain more clear bright obstructions chart picture.
In step S200, ultrasonic distance measuring module 1 is controlled ultrasonic transmitting element 6, super sonic receiving element 7 and timing unit 9 by MCU8, to survey the obstacle near the surrounding of vehicle, the distance between the obstacle of calculating vehicle and this vehicle's surroundings.When this ultrasonic transmitting element 6 emission super sonic, this MCU8 sends the control signal of timing to timing unit 9.After timing unit 9 is received control signal, open clocking capability.When super sonic receiving element 7 receives echoed signal, MCU8 sends the control signal that stops timing to timing unit 9, makes timing unit 9 stop timing.This MCU8 calculates the time and the time difference that stops the time of timing of the unlatching timing of this timing unit 9, calculate the distance between vehicle and obstacle according to the ultrasonic ranging formula, range finding is compared from the warning distance with user preset or braking distance, and according to comparative result to above-mentioned anticollision control module 4 give a warning instruction or the brake instruction.
In step S300, this MCU8 judge its distance of the vehicle of surveying and obstacle be greater than warning distance, this MCU8 continues to carry out the distance between the obstacle of measuring vehicle and vehicle periphery according to step S200, by range finding from comparing with above-mentioned warning distance.
In step S300, this MCU8 judge its distance of the vehicle of surveying and obstacle be less than or equal to above-mentioned warning distance, this MCU8 sends alarm command to anticollision control module 4, sends to IR laser module 2 control signal that irradiates target obstacle simultaneously.
In step S400, after this IR laser module 2 is received the instruction of MCU8, to the emission of the target obstacle near vehicle infrared ray.Infrared radiation is reflected behind the surface of target obstacle.
In step S500, photoelectric conversion module 2 gathers through the obstacle surface reflection, and the optical signal of the graphicinformation of characterizing disorders thing, be converted to electric signal by this optical signal, then this electric signal is issued to anticollision control module 4 and processed.Anticollision control module 4 receives this electric signal by amplifying circuit 12.This electric signal amplifies respectively and after filtering processes, filter circuit 13 sends to analog to digital conversion circuit 14 by this electric signal through amplifying circuit 12 and filter circuit 13.Analog to digital conversion circuit 14 receives this and amplifies and the electric signal of filtering processing, sends to CPU15 after this electric signal is converted to digital signal.CPU15 receives the digital signal of analog to digital conversion circuit 14 conversions, according to the digital image processing algorithm, this digital signal is carried out to imaging calculating, extract the view data of the obstacle in this digital signal, the view data of the obstacle of this extraction is stored in to the second memory cell 16.
In step S600, CPU15 sends to read-out 5 by the view data of obstacle, and read-out 5 receives the view data of obstacle and shows the view data of obstacle.Meanwhile, this CPU15 sends the control signal of playing the warning voice to loudspeaker unit 17.After loudspeaker unit 17 is received control signal, play the warning voice based on orientation, obstacle place to the user, improve/reduce the speed of a motor vehicle of vehicle with reminding user, or adjust the travel direction of vehicle by bearing circle, bump between vehicle and obstacle avoiding, improve user's driving safety.
Therefore but whether the present invention is positioned at the warning distance scope for the anticollision control system 19 automatic decision vehicles of vehicle and the distance between obstacle, and obtain the image near the obstacle of vehicle according to judged result, and report the warning voice based on orientation, obstacle place, the user is reminded in advance.The user is by the obstructions chart picture shown on read-out 5, and the warning voice that loudspeaker unit 17 is reported carry out associative operation to vehicle, to avoid those gradually near the obstacle of vehicle, effectively avoided the generation of the collision case between vehicle and obstacle.
In step S700, between its institute's vehicle of surveying of this ultrasonic distance measuring module 1 judgement and the place ahead obstacle apart from being positioned between the distance regions that above-mentioned warning distance and braking distance form, this ultrasonic distance measuring module 1 sends alarm command by MCU8 to anticollision control module 4.This anticollision is controlled mould fast 4 and is received alarm command by CPU15, and obtain the image of obstacle according to above-mentioned steps S400 to S600, show the graphicinformation near the peripheral obstacle of vehicle on read-out 5, and play the warning voice based on orientation, obstacle place by loudspeaker unit 17, with reminding user, vehicle is carried out to associative operation, avoid those dangerous obstacles of close vehicle gradually.
In step S700, its institute's vehicle of surveying of this ultrasonic distance measuring module 1 judgement and the place ahead obstacle apart from being less than braking distance, this ultrasonic distance measuring module 1 sends the brake instruction to anticollision control module 4.After this anticollision control module 4 is received the brake instruction by CPU15, the judgement user is the driving condition in being in extreme danger, and vehicle can bump with the obstacle of vehicle front at any time.This anticollision control module 4 is moved the brake program by CPU15, sends the control signal of braking to speed of a motor vehicle control unit 18.After this speed of a motor vehicle control unit is received control signal, vehicle is carried out to emergency brake operations, make the speed of a motor vehicle of vehicle reduce at short notice 0.
Compared with prior art, the present invention has plurality of advantages for the anticollision control system 19 of driving vehicle.
The present invention can show the obstructions chart picture near vehicle according to the variable in distance between the obstacle of vehicle and vehicle periphery automatically for the anticollision control system 19 of vehicle, and plays the warning voice based on orientation, obstacle place.
In the present invention, under the anticollision control system 19 of vehicle auxiliary, the user can watch in real time by read-out 5 brilliant image of the obstacle of vehicle's surroundings, and receives the various promptings broadcast based on orientation, obstacle place.As the user in tired motoring condition, while scatterbrained situation occurring, user's dangerous obstacles that not to be noted vehicle front occurs.Distance between vehicle and obstacle is more and more nearer, when the distance between vehicle and obstacle is equal to or less than the warning distance of user preset, anticollision control system 19 of the present invention is first warned the user in advance by the image demonstration of dangerous obstacles and auxiliary prompting broadcast.In the situation that above-mentioned warning measure can not be played reminding effect to the user, the distance of obstacle that determines vehicle and vehicle front at anticollision control system 19 of the present invention is while being equal to or less than the braking distance of user preset, and the user sits on a volcano.Now, anticollision control system 19 of the present invention will start the preventing collision protection function automatically, and operation brake program, carry out emergency brake operations to vehicle, to avoid the obstacle generation rear-end collision of vehicle and vehicle front.Therefore the present invention can reduce the incidence of vehicle rear-end collision accident widely for the anticollision control system 19 of vehicle.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (9)
1. the anti-collision control method for vehicle, is characterized in that, said method comprising the steps of:
S1) measure the distance between the obstacle of vehicle in travelling and this vehicle periphery, by surveyed vehicle and obstacle apart from preset for judging whether that the warning distance that should give a warning to the chaufeur of described vehicle compares;
S2) as the distance of vehicle as described in determining and obstacle be equal to or less than as described in warning distance, the chaufeur to described vehicle gives a warning, simultaneously to the emission of the obstacle near described vehicle infrared ray;
S3) gather the infrared ray through the obstacle surface reflection, obtain the view data of obstacle;
S4) show the view data of obstacle to the chaufeur of described vehicle, and send warning signal.
2. the anti-collision control method for vehicle according to claim 1, is characterized in that, also comprises the steps:
S0) before described step S1, pre-stored described warning distance, and for judging whether the braking distance that brake immediately.
3. the anti-collision control method for driving vehicle according to claim 1, it is characterized in that, the operation of measuring the distance between the obstacle of vehicle in travelling and this vehicle periphery in described step S1 comprises: start timing starting to launch hypracoustic to the obstacle of vehicle periphery simultaneously, and stop timing when the echoed signal received through the obstacle surface reflection, first calculate the time that starts timing and the time difference that stops the time of timing, again by this time difference and calculate the distance between the obstacle of vehicle in travelling and this vehicle periphery in conjunction with the aerial propagation speed of super sonic.
4. the anti-collision control method for vehicle according to claim 2, it is characterized in that, described step S2 also comprises: as the distance that determines surveyed vehicle and the place ahead obstacle be no more than as described in warning distance, further by surveyed vehicle and the place ahead obstacle apart from comparing with described braking distance; As described in determining the distance of vehicle and the place ahead obstacle be equal to or less than as described in braking distance, described vehicle is carried out to brake operating, make the speed of a motor vehicle of described vehicle reduce to 0.
5. the anticollision control system for vehicle, it is characterized in that, described system comprises ultrasonic distance measuring module (1), the IR laser module (2) be connected with the mouth of described ultrasonic distance measuring module (1), the photoelectric conversion module (3) be connected with the mouth of described IR laser module (2), the anticollision control module (4) be connected with the mouth of described photoelectric conversion module (3) and described ultrasonic distance measuring module (1), and the read-out (5) be connected with the mouth of described anticollision control module (4), described ultrasonic distance measuring module (1) is for the distance between the obstacle of measuring vehicle and vehicle's surroundings, by range finding from its storage for judging whether that the warning distance that should give a warning to the chaufeur of described vehicle compares, and export control signal according to comparative result to described IR laser module (2) and described anticollision control module (4), described IR laser module (2) is under the control in described ultrasonic distance measuring module (1), to the emission of the obstacle near vehicle infrared ray, described photoelectric conversion device (3) is for gathering the optical signal through the obstacle surface reflection, and described optical signal is converted to electric signal, described anticollision control module (4) is the view data with the dyspoiesis thing for the treatment of this electric signal, and for receiving the alarm command of described ultrasonic distance measuring module (1), and send alerting signal, described read-out (5) is for showing the view data of described obstacle.
6. the anticollision control system for vehicle according to claim 5, it is characterized in that, described ultrasonic distance measuring module (1) comprises for the emission of the obstacle to vehicle periphery hypracoustic ultrasonic transmitting element (6), for receiving the super sonic receiving element by the echoed signal of obstacle surface reflection, for start timing when described ultrasonic transmitting element (6) is launched super sonic, and stop the timing unit (9) of timing while receiving described echoed signal at described super sonic receiving element (7), for first memory cell (10) of storing described warning distance, with described ultrasonic transmitting element (6), described super sonic receiving element (7) is connected with described timing unit (9), for the distance according between the poor obstacle that calculates vehicle and vehicle's surroundings of the timing time of described timing unit (9), by range finding from comparing with described warning distance, and according to comparative result the MCU(8 to described IR laser module (2) and described anticollision control module (4) output control signal).
7. the anticollision control system for vehicle according to claim 5, it is characterized in that, described anticollision control module (4) comprises with the mouth of described photoelectric conversion module (3) and being connected, for described electric signal being amplified to the amplifying circuit (12) of processing, for the filter circuit (13) that described electric signal is carried out to the filtering processing, for described electric signal being converted to the analog to digital conversion circuit (14) of digital signal, for described digital signal is carried out to the view data of imaging calculating with the dyspoiesis thing, and for receiving the alarm command of described ultrasonic distance measuring module (1), the CPU(15 of operation alert program), for storing second memory cell (16) of view data of obstacle, for the loudspeaker unit (17) sent warning signal, and for described vehicle being carried out to the speed of a motor vehicle control unit (18) of brake operating.
8. the anticollision control system for vehicle according to claim 6, it is characterized in that, first memory cell (10) of described ultrasonic distance measuring module (1) also stores the braking distance that brake immediately for judging whether, described braking distance is less than described warning distance, when described ultrasonic distance measuring module (1) also is less than described warning distance for the distance that determines surveyed vehicle and the place ahead obstacle, further the distance of surveyed vehicle and the place ahead obstacle is compared with described braking distance, and when the distance that determines surveyed vehicle and the place ahead obstacle is equal to or less than described braking distance, by described CPU(15) control described speed of a motor vehicle control unit (18) described vehicle is carried out to brake operating.
9. the anticollision control system for vehicle according to claim 7, it is characterized in that, described CPU(15) also for the emissive power to described IR laser module (2), controlled, to regulate the ultrared Illumination intensity of described IR laser module (2) emission.
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| CN201310356219.0A CN103419737B (en) | 2013-08-15 | 2013-08-15 | A kind of anti-collision control method for vehicle and system |
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| CN201310356219.0A CN103419737B (en) | 2013-08-15 | 2013-08-15 | A kind of anti-collision control method for vehicle and system |
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| CN103419737A true CN103419737A (en) | 2013-12-04 |
| CN103419737B CN103419737B (en) | 2015-12-02 |
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| CN104369729A (en) * | 2014-10-24 | 2015-02-25 | 苏州德鲁森自动化系统有限公司 | Active automobile braking method |
| CN104977590A (en) * | 2014-04-01 | 2015-10-14 | 光宝科技股份有限公司 | Optical device and method thereof for detecting surrounding environment |
| CN105182839A (en) * | 2015-07-20 | 2015-12-23 | 柳州一健科技有限公司 | Method for controlling driving unit of self-propelled engineering machinery |
| CN105301595A (en) * | 2015-10-12 | 2016-02-03 | 无锡还有网络科技有限公司 | Obstacle identification device through sound ranging |
| CN105966309A (en) * | 2016-05-24 | 2016-09-28 | 浙江合众新能源汽车有限公司 | Real-time brake display device and method suitable for automobile |
| CN106004658A (en) * | 2016-07-21 | 2016-10-12 | 乐视控股（北京）有限公司 | Anti-collision reminding system and method and vehicle |
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| CN109143248A (en) * | 2018-07-19 | 2019-01-04 | 中山大学深圳研究院 | A kind of real collision-proof method of VR interaction based on ultrasonic distance measurement |
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| CN104977590A (en) * | 2014-04-01 | 2015-10-14 | 光宝科技股份有限公司 | Optical device and method thereof for detecting surrounding environment |
| CN104369729A (en) * | 2014-10-24 | 2015-02-25 | 苏州德鲁森自动化系统有限公司 | Active automobile braking method |
| CN105182839A (en) * | 2015-07-20 | 2015-12-23 | 柳州一健科技有限公司 | Method for controlling driving unit of self-propelled engineering machinery |
| CN107921969A (en) * | 2015-08-25 | 2018-04-17 | 马自达汽车株式会社 | Controller of vehicle |
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| CN105301595A (en) * | 2015-10-12 | 2016-02-03 | 无锡还有网络科技有限公司 | Obstacle identification device through sound ranging |
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| CN106184201A (en) * | 2016-07-22 | 2016-12-07 | 池州学院 | A kind of car bump protection control system |
| CN106093953A (en) * | 2016-07-27 | 2016-11-09 | 石家庄学院 | Road barricade detector |
| CN106292666A (en) * | 2016-08-29 | 2017-01-04 | 无锡卓信信息科技股份有限公司 | Pilotless automobile barrier-avoiding method based on ultrasonic distance detection and system |
| CN107878384A (en) * | 2016-09-29 | 2018-04-06 | 法乐第(北京)网络科技有限公司 | A kind of automobile monitoring method, apparatus and automobile |
| CN108205144A (en) * | 2018-03-28 | 2018-06-26 | 李强 | A kind of road work vehicle collision prewarning device, road work vehicle and anti-collision warning method |
| CN109143248A (en) * | 2018-07-19 | 2019-01-04 | 中山大学深圳研究院 | A kind of real collision-proof method of VR interaction based on ultrasonic distance measurement |
| CN109084998A (en) * | 2018-09-18 | 2018-12-25 | 深圳易嘉恩科技有限公司 | Vehicle safety automatic checkout system and method |
| CN111216624A (en) * | 2018-11-23 | 2020-06-02 | 北京比亚迪模具有限公司 | Vehicle control method and device and vehicle |
| CN109917792A (en) * | 2019-04-10 | 2019-06-21 | 湖南汽车工程职业学院 | A kind of autonomous collision avoidance system based on unmanned sightseeing electric car |
| CN109917792B (en) * | 2019-04-10 | 2023-10-13 | 湖南汽车工程职业学院 | Autonomous anti-collision system based on unmanned sightseeing electric vehicle |
| CN110542905A (en) * | 2019-07-16 | 2019-12-06 | 深圳市双盈电子科技有限公司 | ultrasonic vehicle detection method, device and storage medium |
| CN110716540B (en) * | 2019-10-08 | 2022-08-26 | 深圳市乐骑智能科技有限公司 | Automatic running system of electric scooter |
| CN110716540A (en) * | 2019-10-08 | 2020-01-21 | 深圳市乐骑智能科技有限公司 | Automatic running system of electric scooter |
| CN112224186A (en) * | 2020-09-18 | 2021-01-15 | 珠海广通汽车有限公司 | Control method and device of vehicle, computer readable storage medium and processor |
| CN112874518A (en) * | 2021-01-19 | 2021-06-01 | 合肥索斯智能科技有限公司 | Vehicle-vehicle interconnection and anti-collision system based on visible light communication |
| CN113183876A (en) * | 2021-06-03 | 2021-07-30 | 辽宁工程技术大学 | Early warning prompt system for preventing vehicle collision |
| CN113291273B (en) * | 2021-07-28 | 2021-09-24 | 天津所托瑞安汽车科技有限公司 | AEB-based vehicle brake control method and device, electronic device and medium |
| CN113291273A (en) * | 2021-07-28 | 2021-08-24 | 天津所托瑞安汽车科技有限公司 | AEB-based vehicle brake control method and device, electronic device and medium |
| CN113665486A (en) * | 2021-09-28 | 2021-11-19 | 中车大同电力机车有限公司 | Anti-collision control device and method for dump truck |
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