CN103523015A - Road condition automatic identification system of road construction vehicle - Google Patents
Road condition automatic identification system of road construction vehicle Download PDFInfo
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- CN103523015A CN103523015A CN201310257272.5A CN201310257272A CN103523015A CN 103523015 A CN103523015 A CN 103523015A CN 201310257272 A CN201310257272 A CN 201310257272A CN 103523015 A CN103523015 A CN 103523015A
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- construction vehicle
- lower computer
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- automatic recognition
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
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- Engineering & Computer Science (AREA)
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- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a road condition automatic identification system of a road construction vehicle. The road condition automatic identification system comprises a lower computer and an upper computer, wherein the lower computer is connected with an ultrasonic wave distance measuring system and a photoelectric sensor circuit, and the upper computer is connected with a camera and a path programming and control system. The ultrasonic wave distance measuring system is adopted to detect whether barriers exist within the effective range or not, judge whether turning is required or not and judge the direction or barrier avoidance. The photoelectric sensor circuit is adopted to control the road construction vehicle to run within the safety range and conduct real-time deviation rectifying, the camera is adopted to collect environmental image information, the lower computer conducts processing on an ultrasonic wave detection signal and a photoelectric sensor detection signal, and the upper computer conducts digital image processing, and gives out path programming and control information of the construction vehicle.
Description
Technical field
The present invention relates to automatic detection field technology, refer in particular to a kind of road conditions automatic recognition system of road construction vehicle.
Background technology
Because control algorithm and control policy based on road conditions identification can play obvious improved action to the safety of the adaptive control effect of vehicle and vehicle, so real-time road recognition technology has obtained certain development in recent years abroad, researchers work out multiple diverse ways and realize the identification to road conditions.Along with increasing sharply of automobile pollution, traffic safety problem becomes increasingly conspicuous.It is one of critical function of road conditions identification that obstacle information obtains, and is also the indispensable pacing factor of traffic safety.The vehicle travelling in the place ahead is modal obstacle, and the information of utilizing road conditions recognition technology in real time, effectively to obtain front vehicles is to remain a safe distance behind the car in front, and prevents collision case, guarantees the condition precedent of traffic safety.
By test apparatus, carrying out the adhesion value measurement of direct road pavement is a kind of the simplest method.In countries such as Britain, Sweden, just oneself 20 century 70s,, through there being the equipment that can measure coefficient of road adhesion, constantly improve through development for many years, and its kind and principle of measurement are also not quite similar.But there is repeatable poor, the problem such as cost is higher and influence factor is many in the test of measuring road-adhesion coefficient, has caused certain difficulty to accurately definite adhesion value.
Have researchist optical pickocff to be equipped in to the front portion of automobile, by ground reflected light is carried out to spectral analysis, come road pavement to assess, the control system of being convenient to automobile is taked corresponding strategy.But optical pickocff is harsher to the requirement of working environment, and be subject to the many factors of external action, use and have limitation.
Summary of the invention
In view of this, the present invention is directed to the disappearance of prior art existence, its main purpose is to provide a kind of road conditions automatic recognition system of road construction vehicle, the road conditions that are comprised of vehicle-mounted ultrasonic distance measuring module, opto-electronic pickup detection module and image acquisition and identification module detect and recognition system, easy to use, dependable performance, improves the safety of driving.
For achieving the above object, the present invention adopts following technical scheme:
A road conditions automatic recognition system, comprise lower computer and upper computer, this lower computer is connected with ultrasonic ranging system and photoelectric sensor circuit, this upper computer is connected with camera and path planning and control system; Adopt ultrasonic ranging system to detect in efficient range, whether there is obstacle, judge whether to need to turn, and judge direction or keep away barrier; Adopt opto-electronic pickup electrical equipment control Construction traffic in the scope of safety, to travel and real-time deviation correcting; Adopt camera collection ambient image information, by lower computer, carried out the processing of ultrasonic testing signals and opto-electronic pickup detection signal, by upper computer, carry out digital image processing, provide path planning and the control information of Construction traffic.
Preferably, described lower computer is selected 80C196KC micro controller system.
Preferably, described ultrasonic ranging system comprises ultrasonic transducer and the transceiver that is connected in lower computer, and ultrasonic transducer is divided into two kinds of projector and receptors; By projector and receptor, controlled hypracoustic transmitting and received, the order that takes turns to operate, the launch time that by lower computer, are completed definite ultrasonic transducer are controlled and give control system by return of value.
Preferably, described ultrasonic transducer and transceiver have four groups, are installed on respectively left front, right front, left back and the right abaft of Construction traffic, and each transceiver connects lower computer by multidiameter option switch.
Preferably, described photoelectric sensor circuit comprises luminous element and the receiving element that is connected in lower computer, luminous element sends infrared ray, utilizes receiving element detection of reflected light intensity and judges the position of Construction traffic in road, then detection signal is sent into lower computer.
Preferably, described luminous element is used infrared LEDs, and receiving element is used photodiode.
Preferably, described camera is USB camera.
Preferably, described upper computer is provided with image acquisition and recognition system, adopt that BP neural network algorithm carries out under different light, the identification in various shade and fuzzy dirty path, judge road information and obstacle information in road, and send path planning to and control system is calculated.
The present invention compared with prior art has obvious advantage and beneficial effect, particularly, as shown from the above technical solution, herein on the basis of sensor technology application, in conjunction with microcomputer control principle and digital image processing techniques, with modular thought, designed the road conditions that formed by vehicle-mounted ultrasonic distance measuring module, opto-electronic pickup detection module and image acquisition and identification module and detected and recognition system.This system is easy to use, dependable performance, and road construction vehicle is monitoring road conditions in real time, for chaufeur provides reference, improves the safety of driving.
For more clearly setting forth architectural feature of the present invention and effect, below in conjunction with accompanying drawing and specific embodiment, the present invention is described in detail.
Accompanying drawing explanation
Fig. 1 is the System Working Principle block diagram of the present invention's embodiment;
Fig. 2 is the 4 road ultrasonic ranging system structured flowcharts of the present invention's embodiment;
Fig. 3 (a) is ultrasonic ranging subroutine flow chart in the present invention's embodiment;
Fig. 3 (b) is the interrupt service routine block diagram of the present invention's embodiment;
Fig. 4 is the opto-electronic pickup schematic diagram of the present invention's embodiment.
Accompanying drawing identifier declaration:
10, lower computer 11, ultrasonic ranging system
111, multidiameter option switch 111 112, transceiver 112
12, photoelectric sensor circuit 20, upper computer
21, camera 22, path planning and control system
The specific embodiment
Please refer to shown in Fig. 1, it has demonstrated the concrete structure of the present invention's preferred embodiment, comprise lower computer 10 and upper computer 20, this lower computer 10 is connected with ultrasonic ranging system 11 and photoelectric sensor circuit 12, and this upper computer 20 is connected with camera 21 and path planning and control system 22; Adopt ultrasonic ranging system 11 to detect in efficient range, whether there is obstacle, judge whether to need to turn, and judge direction or keep away barrier; Adopt opto-electronic pickup electrical equipment control Construction traffic in the scope of safety, to travel and real-time deviation correcting; Adopt camera 21 to gather ambient image information, by lower computer 10, carried out the processing of ultrasonic testing signals and opto-electronic pickup detection signal, by upper computer 20, carry out digital image processing, provide path planning and the control information of Construction traffic.
Described ultrasonic ranging system 11 comprises ultrasonic transducer and the transceiver 112 that is connected in lower computer 10, and ultrasonic transducer divides by function, can be divided into two kinds of projector and receptors; Projector and receptor are used for controlling hypracoustic transmitting and receive; Described lower computer 10 is selected 80C196KC micro controller system, usings 80C196KC micro controller system as the controller of ultrasonic ranging system 11, mainly completes to determine and the order that takes turns to operate, the launch time of a plurality of transducers control and give control system by return of value.As shown in Fig. 2.Adopt four directions to ultrasonic ranging system 11 herein, for Construction traffic provides the range information of the object (road sign or obstacle) of left front, right front, left back and right abaft, each transceiver 112 connects 80C196KC micro controller systems by multidiameter option switch 111.
The principle of work of ultrasonic ranging system 11 is: transceiver 112 is launched super sonic to a direction when receiving the impulse singla being sent by the HSO mouth of micro controller system 80C 196KC, at x time, starts timing.If super sonic is encountered object in propagating way, can return immediately, receptor receives backward wave can export a low level detector signal, this signal is sent into the HSI mouth of 80C 196KC, and micro controller system stops timing.Now timer record the back and forth interval travel time t of super sonic between from automobile to object, calculate ultrasonic transmitter to the distance D of object.Because the efficiency that the frequency super sonic that is 40 about KHz is propagated in air is best, therefore by the ultrasonic wave modulation sending to 40 KHz left and right.
The four pairs of ultrasonic transducers are arranged on four jiaos of automobile, utilize the high-speed output hso .O transmission of 80C 196KC micro controller system to have interval modulation impulse singla, by monolithic processor controlled multidiameter option switch (CD4052) 111, determined the order of four pairs of transducer time-sharing works, the signal of the detector output of transceiver 112 inside is sent into the hsi port HSL2 of micro controller system, the moment transmitting and receiving for recording super sonic.
Control software, i.e. ultrasonic ranging subprogram and the interrupt service routine of ranging system are installed in this controller.Flow chart is respectively as Fig. 3 (a), (b) shown in, ultrasonic ranging subprogram mainly completes initialization ,Ge road super sonic and transmits and receives the control of order and record hypracoustic x time.The reading of the main deadline value of interrupt service routine, distance are calculated.
In the bottom of Construction traffic, a pair of opto-electronic pickup is installed, overhead general 30cm left and right.The principle of work block diagram of photoelectric sensor circuit 12 is as shown in Fig. 4.First the variation of measured parameter is converted to the variation of optical signal, then by photoelectric sensor components, be transformed into electric signal.
This opto-electronic pickup comprises luminous element and receiving element, principle of work is: luminous element sends infrared ray, utilize receiving element detection of reflected light intensity and judge the position of Construction traffic in road, then detection signal is sent into the P0 mouth of micro controller system 80C 196KC.
The present invention adopts modulation type opto-electronic pickup 57136, and the ability of its anti-external disturbance light is stronger, in various places, all can use.Luminous element is used the emission wavelength infrared LEDs consistent with 57136 actinism characteristics; Receiving element is used general photodiode.By pin P0.0 and the P0.1 of the output pin access micro controller system 80C 196KC of opto-electronic pickup 57136.In programming, realize the signal of P0.0 and P0.1 is carried out to circle collection.
Described image acquisition and recognition system consist of the USB camera 21 and the related software that are installed on Construction traffic the place ahead, main task is constantly to gather fast the real-time color image of Construction traffic road ahead, and these digital images are passed through to USB oral instructions to upper computer 20, after using corresponding algorithm process, identify road information and the obstacle information in road, and send path planning to and control system 22 is carried out correlation computations.
In the present embodiment, Road Recognition Algorithm adopts BP neural network algorithm to carry out (comprising early morning under different light, dusk and noon are not in the same time, varying strength, the illumination of different irradiating angles and flickering illumination), in various shades, (comprise the different shadow of the trees, the shadow, car shadow) and the identification in fuzzy dirty path, designed the structure of neural network, momentum term to BP algorithm improves, investigated the training speed of the number of hidden nodes to network, the impact of Path Recognition speed and recognition effect, and the method that adopts chaos optimization has been optimized the number of hidden nodes of network, investigated the impact of learning rate on convergence rate.
In sum, design focal point of the present invention is: on the basis of sensor technology application, in conjunction with microcomputer control principle and digital image processing techniques, Construction traffic road conditions are detected with some up-to-date technologys of identification and carried out research herein.Meanwhile, with modular thought, having designed the road conditions that are comprised of vehicle-mounted ultrasonic distance measuring module, opto-electronic pickup detection module and image acquisition and identification module detects and recognition system.
The above, it is only preferred embodiment of the present invention, not technical scope of the present invention is imposed any restrictions, therefore any trickle modification, equivalent variations and modification that every foundation technical spirit of the present invention is done above embodiment all still belong in the scope of technical solution of the present invention.
Claims (8)
1. a road conditions automatic recognition system for road construction vehicle, is characterized in that: comprise lower computer and upper computer, this lower computer is connected with ultrasonic ranging system and photoelectric sensor circuit, and this upper computer is connected with camera and path planning and control system; Adopt ultrasonic ranging system to detect in efficient range, whether there is obstacle, judge whether to need to turn, and judge direction or keep away barrier; Adopt opto-electronic pickup electrical equipment control Construction traffic in the scope of safety, to travel and real-time deviation correcting; Adopt camera collection ambient image information, by lower computer, carried out the processing of ultrasonic testing signals and opto-electronic pickup detection signal, by upper computer, carry out digital image processing, provide path planning and the control information of Construction traffic.
2. the road conditions automatic recognition system of road construction vehicle according to claim 1, is characterized in that: described lower computer is selected 80C196KC micro controller system.
3. the road conditions automatic recognition system of road construction vehicle according to claim 1, is characterized in that: described ultrasonic ranging system comprises ultrasonic transducer and the transceiver that is connected in lower computer, and ultrasonic transducer is divided into two kinds of projector and receptors; By projector and receptor, controlled hypracoustic transmitting and received, the order that takes turns to operate, the launch time that by lower computer, are completed definite ultrasonic transducer are controlled and give control system by return of value.
4. the road conditions automatic recognition system of road construction vehicle according to claim 3, it is characterized in that: described ultrasonic transducer and transceiver have four groups, the left front, right front, left back and the right abaft that are installed on respectively Construction traffic, each transceiver connects lower computer by multidiameter option switch.
5. the road conditions automatic recognition system of road construction vehicle according to claim 1, it is characterized in that: described photoelectric sensor circuit comprises luminous element and the receiving element that is connected in lower computer, luminous element sends infrared ray, utilize receiving element detection of reflected light intensity and judge the position of Construction traffic in road, then detection signal is sent into lower computer.
6. the road conditions automatic recognition system of road construction vehicle according to claim 5, is characterized in that: described luminous element is used infrared LEDs, and receiving element is used photodiode.
7. the road conditions automatic recognition system of road construction vehicle according to claim 1, is characterized in that: described camera is USB camera.
8. the road conditions automatic recognition system of road construction vehicle according to claim 1, it is characterized in that: described upper computer is provided with image acquisition and recognition system, adopt that BP neural network algorithm carries out under different light, the identification in various shade and fuzzy dirty path, judge road information and obstacle information in road, and send path planning to and control system is calculated.
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| CN201310257272.5A CN103523015A (en) | 2013-06-26 | 2013-06-26 | Road condition automatic identification system of road construction vehicle |
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| CN201310257272.5A CN103523015A (en) | 2013-06-26 | 2013-06-26 | Road condition automatic identification system of road construction vehicle |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105761453A (en) * | 2016-03-14 | 2016-07-13 | 汕头市奥斯卡网络科技有限公司 | Electronic device avoiding watching television at close range |
| CN109542099A (en) * | 2018-11-26 | 2019-03-29 | 江苏农牧科技职业学院 | A kind of agricultural machinery control method |
| CN117364570A (en) * | 2023-12-05 | 2024-01-09 | 中交第一航务工程局有限公司 | Asphalt tank truck sprinkler for road construction |
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| CN105761453A (en) * | 2016-03-14 | 2016-07-13 | 汕头市奥斯卡网络科技有限公司 | Electronic device avoiding watching television at close range |
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