CN103661365A - Device and method for improving vehicle meeting safety performance - Google Patents
Device and method for improving vehicle meeting safety performance Download PDFInfo
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- CN103661365A CN103661365A CN201310577956.3A CN201310577956A CN103661365A CN 103661365 A CN103661365 A CN 103661365A CN 201310577956 A CN201310577956 A CN 201310577956A CN 103661365 A CN103661365 A CN 103661365A
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
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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
- B60W40/10—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 vehicle motion
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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
- B60W40/10—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 vehicle motion
- B60W40/105—Speed
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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
- B60W40/10—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 vehicle motion
- B60W40/107—Longitudinal acceleration
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal position
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/20—Direction indicator values
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
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Abstract
The invention belongs to the technical field of vehicle meeting safety, and discloses a device and method for improving the vehicle meeting safety performance. The device for improving the vehicle meeting safety performance comprises a vehicle-mounted CAN bus, a single-chip microcomputer, a data processing unit, a rearview mirror, a vehicle speed sensor, a steering wheel angle sensor, a brake pedal stroke sensor, a laser scanning radar, a camera and a rotation motor, wherein the laser scanning radar is fixedly installed in the right middle of a front bumper of a vehicle, the camera is used for collecting images of the head of a driver, and the rotation motor is used for rotating the rearview mirror. The laser scanning radar faces the position in front of the vehicle, the output end of the vehicle speed sensor is electrically connected with the vehicle-mounted CAN bus, the signal input end of the data processing unit is respectively and electrically connected with the vehicle-mounted CAN bus, the laser scanning radar, an I/O interface of the single-chip microcomputer, the output end of the steering wheel angle sensor and the brake pedal stroke sensor, the signal output end of the data processing unit is electrically connected with the control end of the rotation motor, and the single-chip microcomputer is electrically connected with a video line of the camera through a USB interface.
Description
Technical field
The invention belongs to automobile meeting safety method field, particularly a kind of device and method that improves vehicle meeting safety.
Background technology
When running car is in the prominent subtend of meeting of limited road while sending a car, steerman conventionally can be taked braking deceleration and beat direction to the right and realize and giving way and safety meeting.Now, whether steerman conventionally can judge the position of this car and estimate road rightward space by observing right rear and forward visibility, beat suitablely, and constantly adjust in this process with this definite direction to the right.But while being mainly used in normal driving due to right rear, help steerman to observe the track situation of this car right lateral side, therefore can not realize obtaining the road boundary information of vehicle body corresponding position.And now because road is narrow and the needs of meeting, vehicle body right side is original just very little apart from the distance of road right side boundary, and steerman is again by beating direction to the right, with this, by reducing vehicle body right side, apart from the space of road right side boundary, vacate the space in road left side, realize the safety meeting that this car and subtend are sent a car.Therefore, now often because steerman cannot obtain, judge by accident apart from the information of the distance of track right side boundary on this car vehicle body right side, maloperation, and two kinds of situations occur: the one, and vehicle by not, causes track leftward space inadequate to the right, cannot realize safety meeting; The 2nd, vehicle leans on too much to the right, causes vehicle to stride across road right side boundary, rides road right side curb, even goes out road.This just makes meeting danger and inefficiency in this kind of situation.
Summary of the invention
The object of the invention is to propose a kind of device and method that improves vehicle meeting safety.A kind of device that improves vehicle meeting safety of the present invention can help chaufeur to get vehicle body apart from the information such as distance of road right side boundary, and automatically adjusts right rear (turning an angle in vertical surface), realizes meeting safely and efficiently.
For realizing above-mentioned technical purpose, the present invention adopts following technical scheme to be achieved.
Technical scheme one:
A device that improves vehicle meeting safety, comprising: vehicle-mounted CAN bus 1, micro controller system, data processing unit, be positioned at vehicle body right side back mirror, be arranged on car speed sensor on change speed gear box, be fixedly mounted on the Centromedian scanning laser radar of vehicle front bumper/spoiler, be arranged on steering wheel angle sensor on steering wheel for vehicle, be arranged on the brake-pedal-travel sensor of brake pedal below, for gathering camera and the rotary electric machine for back mirror is rotated of chaufeur head image; Described scanning laser radar is towards vehicle front, and described camera is arranged on vehicle performance platform;
The mouth of described car speed sensor is electrically connected to described vehicle-mounted CAN bus, and the signal input part of described data processing unit is electrically connected to respectively the mouth of described vehicle-mounted CAN bus, scanning laser radar, the mouth of the I/O interface of micro controller system, steering wheel angle sensor mouth and brake-pedal-travel sensor; The signal output part of described data processing unit is electrically connected to the control end of rotary electric machine; Described micro controller system is electrically connected to the video line of camera by USB interface.
Described car speed sensor is used for the real-time speed of collection vehicle, and for the real-time speed of vehicle is sent to data processing unit by vehicle-mounted CAN bus; Described scanning laser radar is for measurement road width and the subtend state of motion of vehicle parameter of sending a car, and for road width, subtend are come distance, the subtend of this car of spacing send a car and this car angle and subtend is sent a car and this car between relative velocity send to data processing unit; Described camera is used for gathering chaufeur head image (comprising head rotation and sight line transform diagram picture), for in real time the chaufeur head image of collection being sent to micro controller system, described micro controller system is for carrying out pretreatment to view data, for pretreated signal is sent to data processing unit; Described square plate rotary angle transmitter is used for gathering steering wheel angle parameter, and in real time steering wheel angle parameter being sent to data processing unit; Described brake-pedal-travel sensor is used for gathering brake-pedal travel parameter, and in real time brake-pedal travel parameter being sent to data processing unit; Described data processing unit, for according to the data that receive, sends back mirror turn signal to rotary electric machine; Described rotary electric machine rotates for control back mirror under the triggering of back mirror turn signal.
The feature of the technical program and further improvement are:
Described car speed sensor is magneto-electric car speed sensor, and the sampling precision of described car speed sensor is 0.01km/h.
Described scanning laser radar is the safe laser scanner of SICK; the concrete model of the safe laser scanner of described SICK is S3000; the scanning angle of the safe laser scanner of described SICK is 190 degree; the protection zone scope of the safe laser scanner of described SICK is 7m, and 120 milliseconds of resolution of the safe laser scanner of described SICK are 30-150mm.
Described camera is culminant star YJS-01USB2.0 camera.
Described micro controller system is Freescale series monolithic, and the model of described micro controller system is S12.
Described steering wheel angle sensor is the 89245-0N020 type steering wheel angle sensor of CHHK brand.
Described brake-pedal-travel sensor is Bosch PWG series brake-pedal-travel sensor, and the concrete model of described Bosch PWG series brake-pedal-travel sensor is PWG13.
Technical scheme two:
Improve a method for vehicle meeting safety, the device based on the safety of above-mentioned raising vehicle meeting, is characterized in that, comprises the following steps:
S1: when Vehicle Driving Cycle, scanning laser radar is by the distance of scanning Real-time Obtaining vehicle and left side road boundary, vehicle and right side road boundary, then the distance of the distance of vehicle and left side road boundary, vehicle and right side road boundary is sent to data processing unit, data processing unit is according to the width of the distance of the distance of vehicle and left side road boundary, vehicle and right side road boundary and vehicle self, draw road width, when road width is less than setting road width threshold value, execution step S2;
S2: scanning laser radar detects in real time subtend and sends a car and send a car with relative velocity, the subtend of this car and the angle of the relative fore-and-aft distance of this car, two car front ends central authorities lines and horizontal direction, described two car front ends central authorities lines refer to subtend send a car front end central authorities and the central line of this car front end; And subtend is sent a car and sent a car and be sent in real time data processing unit with the central lines of relative fore-and-aft distance, two car front ends of this car and the angle of horizontal direction with relative velocity, the subtend of this car;
Meanwhile, car speed sensor detects the speed of a motor vehicle in real time, and real-time vehicle speed data is sent to data processing unit by vehicle-mounted CAN bus; Data processing unit draws vehicle acceleration data according to real-time vehicle speed data, and described vehicle acceleration data are braking deceleration or vehicle acceleration;
When subtend, send a car and be less than relative fore-and-aft distance threshold value with the relative fore-and-aft distance of this car, and the angle of two car front ends central authorities line and horizontal direction is while being less than set angle threshold value, performs step S3; When braking deceleration is less than relative velocity that braking deceleration threshold value and subtend send a car with this car and is less than relative velocity threshold value, execution step S3;
S3: data processing unit sends camera to micro controller system and starts energizing signal, micro controller system is receiving that camera starts after energizing signal, controls camera and opens; Camera is taken the head of chaufeur in real time, and the head image of chaufeur is sent to micro controller system, and micro controller system carries out after filtering processing chaufeur head image, and filtered chaufeur head image is sent to data processing unit;
In data processing unit, according to the chaufeur head image of processing after filtering, draw chaufeur head rotation angle and sight line transfer time; When chaufeur head rotation angle is greater than head rotation angle threshold, and pilot's line of vision is while being greater than sight line threshold value transfer time transfer time, execution step S4;
S4: steering wheel angle sensor is by steering wheel angle data transmission to data processing unit, and data processing unit, according to steering wheel angle data, judges whether to the right steering wheel angle direction; When steering wheel angle direction is for to the right time, execution step S5;
S5: data processing unit is according to the back mirror rotation direction of setting and set rotational angle, to rotary electric machine, send corresponding back mirror turn signal, rotary electric machine is receiving that corresponding back mirror turn signal control back mirror rotates to rear view of vehicle, and the rotational angle of back mirror is for setting rotational angle.
The feature of the technical program and further improvement are:
After step S5, data processing unit judges whether the instantaneous value of the angle of two car front end central authorities' lines and horizontal direction is less than set angle lower limit, and judges whether real-time vehicle acceleration/accel is greater than zero; When the instantaneous value of the angle of two car front ends central authorities lines and horizontal direction is less than set angle lower limit, and when real-time vehicle acceleration/accel is greater than zero, to rotary electric machine, send corresponding back mirror restoring signal, rotary electric machine is receiving that corresponding back mirror turn signal control back mirror returns to initial position.
Beneficial effect of the present invention is: can help chaufeur to get vehicle body apart from the information such as distance of road right side boundary, and automatically adjust right rear (turning an angle) in vertical surface, realize meeting safely and efficiently.
Accompanying drawing explanation
Fig. 1 is a kind of electrical block diagram that improves the device of vehicle meeting safety of the present invention;
Fig. 2 is a kind of method flow schematic diagram that improves vehicle meeting safety of the present invention;
Fig. 3 is a kind of send a car detection schematic diagram of state of motion of vehicle of subtend while improving the device busy of vehicle meeting safety of the present invention;
Fig. 4 is a kind of back mirror rotational angle schematic diagram that improves the device of vehicle meeting safety of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing, the invention will be further described:
With reference to Fig. 1, it is a kind of electrical block diagram that improves the device of vehicle meeting safety of the present invention.At this, improve in the device of vehicle meeting safety, in the place ahead of vehicle, bumper/spoiler centre is provided with scanning laser radar, and the direction of this scanning laser radar is towards the place ahead, for measurement road width and the subtend state of motion of vehicle parameter of sending a car.This scanning laser radar is the safe laser scanner of SICK, and its concrete model is S3000, and scanning angle is 190 degree, and protection zone scope is 7m, and 120 milliseconds of resolution are 30-150mm.On the operation bench of vehicle, camera is installed, camera is used for gathering steerman head image (comprising the image that head rotation and sight line shift), and this camera adopts culminant star YJS-01USB2.0 camera.On the change speed gear box of vehicle, be provided with car speed sensor, this car speed sensor is for gathering from the car speed of a motor vehicle.This car speed sensor is magneto-electric car speed sensor, and the sampling precision of described car speed sensor is 0.01km/h.On the bearing circle of vehicle, steering wheel angle sensor is installed, this steering wheel angle sensor is used for gathering steering wheel angle parameter, and this steering wheel angle sensor adopts the 89245-0N020 type steering wheel angle sensor of CHHK brand.Brake-pedal-travel sensor is installed below vehicle brake pedal, this brake-pedal-travel sensor is used for gathering brake-pedal travel parameter, this brake-pedal-travel sensor adopts Bosch PWG series brake-pedal-travel sensor, and its concrete model is PWG13.In vehicle right rear, be also connected with rotary electric machine, this rotary electric machine is used for making back mirror to rotate.In vehicle, be also provided with vehicle-mounted CAN bus 1, micro controller system, data processing unit.Wherein, micro controller system is Freescale series monolithic, and its concrete model is S12; Data processing unit is ARM9 treater.
In the embodiment of the present invention, in conjunction with Fig. 1, the mouth of this car speed sensor is electrically connected to described vehicle-mounted CAN bus 1, and the signal input part of this data processing unit is electrically connected to respectively the mouth of described vehicle-mounted CAN bus, laser radar, the I/O interface of micro controller system, steering wheel angle sensor mouth and brake-pedal-travel sensor mouth; The signal output part of this data processing unit is electrically connected to the control end of rotary electric machine; This micro controller system is electrically connected to the video line of camera by USB interface.
With reference to Fig. 2, it is a kind of method flow schematic diagram that improves vehicle meeting safety of the present invention.The method of this raising vehicle meeting safety comprises the following steps:
Road width detects:
When Vehicle Driving Cycle, scanning laser radar is by distance (transverse distance) L of scanning Real-time Obtaining vehicle and left side road boundary
l, vehicle and right side road boundary distance (transverse distance) L
r, known vehicle width is L
v, there is road width:
L=L
l+L
r+L
v
The standard lane width of considering is 3.75m, when road width is less than twice standard lane width, likely causes meeting difficulty.Therefore, when L<7.5m, be judged as limited road, now judge that meeting there will be problem.Now, carrying out the subtend state of motion of vehicle of sending a car detects.
The subtend state of motion of vehicle of sending a car detects:
With reference to Fig. 3, it is a kind of send a car detection schematic diagram of state of motion of vehicle of subtend while improving the device busy of vehicle meeting safety of the present invention.When L<7.5m, scanning laser radar detects the relative fore-and-aft distance L that subtend is sent a car with this car in real time
z, two car front ends central authorities lines and horizontal direction angle theta, two car front ends central authorities lines refer to subtend send a car front end central authorities and the central line of this car front end.Work as L
zone regularly (set closely L during meeting of two cars
z=5m), angle θ is larger, illustrates that two car headstock intersection are more.Limited road is closely during meeting, and two cars reduce θ by beating direction to the right just, and when θ is reduced to two car headstocks and does not just overlap position, the transverse distance L of two car vehicle centre-line
hbe half sum of vehicle width separately.In the embodiment of the present invention, data processing unit receives the data from scanning laser radar in real time, judgement L
zwhether be less than 5m and θ and whether be less than set angle threshold value.For example, set angle threshold value is 68.2 degree.
Braking deceleration detects:
The signal input part of data processing unit is electrically connected to this vehicle-mounted CAN bus.Car speed sensor is sent to data processing unit by real-time vehicle speed data by vehicle-mounted CAN bus; Brake-pedal-travel sensor by brake-pedal travel data transmission to data processing unit.Data processing unit draws vehicle acceleration data according to real-time vehicle speed data, and described vehicle acceleration data are braking deceleration a or vehicle acceleration a '.In the embodiment of the present invention, data processing unit can also be according to brake-pedal travel data acquisition braking deceleration a.In embodiments of the present invention, braking deceleration threshold value is made as to 1m/s.Data processing unit judges whether braking deceleration a is less than braking deceleration threshold value.
Meanwhile, laser radar detects the relative velocity V that this car and subtend are sent a car, and data processing unit receives after the relative velocity of laser radar transmission, and whether the relative velocity in judgement identification two workshops fast reducing.According to test, setting relative velocity threshold value is 5km/h.When data processing unit obtains relative velocity and is less than 5km/h, judgement is thought may all take braking deceleration measure because of the needs of meeting on limited road from car.
Comprehensive, when data processing unit judgement obtains: L
zwhen being less than 5m and θ and being less than set angle threshold value, carry out chaufeur head rotation and sight line and shift and detect; When braking deceleration a is less than relative velocity that braking deceleration threshold value and Ben Che and subtend send a car and is less than 5km/h, carry out chaufeur head rotation and sight line and shift and detect;
Chaufeur head rotation and sight line shift and detect:
S12 series monolithic starts, under normal circumstances, and camera continuous working.Camera is taken in real time to chaufeur head image, and chaufeur head image is sent in micro controller system.In micro controller system, the image of camera collection is carried out to pretreatment, the pretreated object of image is to remove camera to gather the interfere information in image.That is: for the reliability of assurance device work, need to camera collection to head and sight line image carry out filtering processing, to get rid of interference, therefore in image processing process, first image is carried out to filtering, specifically adopt median filtering algorithm to carry out.For the some pixels in image, calculate this some aviation value of the interior pixel gray value of 3 * 3 scopes around, the gray value with this aviation value as this point.By using 3 * 3 median filtering algorithm can substantially eliminate camera, gather existing interfere information in image.After the image of camera collection is carried out to pretreatment, send it to data processing unit, in data processing unit, according to through pretreated image, draw chaufeur head rotation angle and sight line transfer time.Judge whether chaufeur head rotation angle δ is greater than head rotation angle threshold, and judge whether sight line t transfer time is greater than sight line threshold value transfer time, for example, head rotation angle threshold is made as to 15 degree, and sight line threshold value transfer time is made as 3 seconds.If chaufeur head rotation angle δ is greater than head rotation angle threshold, and sight line t transfer time is greater than sight line threshold value transfer time, substantially can judge that now steerman obtains right lateral side road information by right rear and adjusts bearing circle and realize safety meeting, now travel direction dish operation detection.
Bearing circle operation detection:
Steering wheel angle sensor to data processing unit, in data processing unit, judges whether to the right steering wheel angle direction by steering wheel angle data transmission.In conjunction with judgement judgement above, be now two cars meeting on limited road, now, data processing unit is sent to rotary electric machine by back mirror turn signal, carries out back mirror and automatically controls; If steering wheel angle direction is not to the right, continue to detect steering wheel angle direction.
Back mirror is controlled automatically:
With reference to Fig. 4, it is a kind of back mirror rotational angle schematic diagram that improves the device of vehicle meeting safety of the present invention.Rotary electric machine receives after the back mirror turn signal of data processing unit transmission, controls the back mirror moving axis that rotates and rearward rotates (now minute surface starts towards ground).Back mirror rotational angle is for setting rotational angle.For example, in embodiments of the present invention, back mirror rotational angle is made as to 8 °.After back mirror rotates, carry out back mirror and rotate recovery.
Back mirror rotates and recovers:
In data processing unit, judge whether θ (is for example less than set angle lower limit, set angle lower limit is made as to 1 ° or 0.5 °), and judge whether acceleration/accel a ' is greater than zero, if θ is less than set angle lower limit and acceleration/accel a ' is greater than zero, illustrate that Vehicle during Crossing Event finishes, steerman need to not obtain vehicle body one side road boundary information from right rear.Now, data processing unit is sent to rotary electric machine by back mirror restoring signal, and rotary electric machine is controlled back mirror and rotated backward to home position.
In the embodiment of the present invention, the device of this raising vehicle meeting safety has mainly completed the identification to limited road meeting situation, and automatically by the position of right rear wheel word adjusting rearview mirror in vertical plane surface, help chaufeur to obtain the information such as vehicle body right side road boundary, help chaufeur to judge better and operate vehicle and carry out meeting, the safety and efficiently while having guaranteed described limited road meeting.After meeting finishes, right rear automatic rotary, to normal position, does not affect the use of right rear in normal circumstances and other situations.
A kind of device that improves vehicle meeting safety of the present invention detects send a car state of motion of vehicle parameter, the operation of this car braking deceleration, steerman sight line and head rotation and bearing circle of road width, subtend by the sensor on vehicle and operates, and under identification, after situation, right rear turn signal is sent to rotary electric machine.After successful meeting, according to steering wheel return just with the detection of accelerating, to rotary electric machine, send back mirror restoring signal, control right rear and rotate go back to normal position.
In sum, groundwork of the present invention is to pass through filled sensor to detect send a car state of kinematic motion, the operation of this car braking deceleration, steerman sight line and head rotation and bearing circle of road width, subtend and operate, comprehensive above parameter, identifies described vehicle and subtend and sends a car in the situation of limited road meeting.Right rear turn signal is sent to rotary electric machine, right rear turns an angle downwards to correct position in vertical surface according to actual conditions, help steerman by right rear can this car of Real-time Obtaining vehicle body right side apart from the distance of road right side boundary, realize the proper operation of steerman to this car, guarantee meeting safely and efficiently.After meeting finishes, right rear automatic rotary, to normal position, does not affect the use of right rear in normal circumstances and other situations.
Obviously, those skilled in the art can carry out various changes and modification and not depart from the spirit and scope of the present invention the present invention.Like this, if within of the present invention these are revised and modification belongs to the scope of the claims in the present invention and equivalent technologies thereof, the present invention is also intended to comprise these changes and modification interior.
Claims (9)
1. a device that improves vehicle meeting safety, it is characterized in that, comprising: vehicle-mounted CAN bus (1), micro controller system, data processing unit, be positioned at vehicle body right side back mirror, be arranged on car speed sensor on change speed gear box, be fixedly mounted on the Centromedian scanning laser radar of vehicle front bumper/spoiler, be arranged on steering wheel angle sensor on steering wheel for vehicle, be arranged on the brake-pedal-travel sensor of brake pedal below, for gathering camera and the rotary electric machine for back mirror is rotated of chaufeur head image; Described scanning laser radar is towards vehicle front, and described camera is arranged on vehicle performance platform;
The mouth of described car speed sensor is electrically connected to described vehicle-mounted CAN bus (1), and the signal input part of described data processing unit is electrically connected to respectively the mouth of described vehicle-mounted CAN bus, scanning laser radar, the I/O interface of micro controller system, steering wheel angle sensor mouth and brake-pedal-travel sensor mouth; The signal output part of described data processing unit is electrically connected to the control end of rotary electric machine; Described micro controller system is electrically connected to camera by USB interface.
2. a kind of device that improves vehicle meeting safety as claimed in claim 1, is characterized in that, described car speed sensor is magneto-electric car speed sensor, and the sampling precision of described car speed sensor is 0.01km/h.
3. a kind of device that improves vehicle meeting safety as claimed in claim 1; it is characterized in that; described scanning laser radar is the safe laser scanner of SICK; the concrete model of the safe laser scanner of described SICK is S3000; the scanning angle of the safe laser scanner of described SICK is 190 degree; the protection zone scope of the safe laser scanner of described SICK is 7m, and 120 milliseconds of resolution of the safe laser scanner of described SICK are 30-150mm.
4. a kind of device that improves vehicle meeting safety as claimed in claim 1, is characterized in that, described camera is culminant star YJS-01USB2.0 camera.
5. a kind of device that improves vehicle meeting safety as claimed in claim 1, is characterized in that, described micro controller system is Freescale series monolithic, and the model of described micro controller system is S12.
6. a kind of device that improves vehicle meeting safety as claimed in claim 1, is characterized in that, described steering wheel angle sensor is the 89245-0N020 type steering wheel angle sensor of CHHK brand.
7. a kind of device that improves vehicle meeting safety as claimed in claim 1, it is characterized in that, described brake-pedal-travel sensor is Bosch PWG series brake-pedal-travel sensor, and the concrete model of described Bosch PWG series brake-pedal-travel sensor is PWG13.
8. improve a method for vehicle meeting safety, based on a kind of device that improves vehicle meeting safety claimed in claim 1, it is characterized in that, comprise the following steps:
S1: when Vehicle Driving Cycle, scanning laser radar is by the distance of scanning Real-time Obtaining vehicle and left side road boundary, vehicle and right side road boundary, then the distance of the distance of vehicle and left side road boundary, vehicle and right side road boundary is sent to data processing unit, data processing unit is according to the width of the distance of the distance of vehicle and left side road boundary, vehicle and right side road boundary and vehicle self, draw road width, when road width is less than setting road width threshold value, execution step S2;
S2: scanning laser radar detects in real time subtend and sends a car and send a car with relative velocity, the subtend of this car and the angle of the relative fore-and-aft distance of this car, two car front ends central authorities lines and horizontal direction, described two car front ends central authorities lines refer to subtend send a car front end central authorities and the central line of this car front end; And subtend is sent a car and sent a car and be sent in real time data processing unit with the central lines of relative fore-and-aft distance, two car front ends of this car and the angle of horizontal direction with relative velocity, the subtend of this car;
Meanwhile, car speed sensor detects the speed of a motor vehicle in real time, and real-time vehicle speed data is sent to data processing unit by vehicle-mounted CAN bus; Data processing unit draws vehicle acceleration data according to real-time vehicle speed data, and described vehicle acceleration data are braking deceleration or vehicle acceleration;
When subtend, send a car and be less than relative fore-and-aft distance threshold value with the relative fore-and-aft distance of this car, and the angle of two car front ends central authorities line and horizontal direction is while being less than set angle threshold value, performs step S3; When braking deceleration is less than relative velocity that braking deceleration threshold value and subtend send a car with this car and is less than relative velocity threshold value, execution step S3;
S3: data processing unit sends camera to micro controller system and starts energizing signal, micro controller system is receiving that camera starts after energizing signal, controls camera and opens; Camera is taken the head of chaufeur in real time, and the head image of chaufeur is sent to micro controller system, and micro controller system carries out after filtering processing chaufeur head image, and filtered chaufeur head image is sent to data processing unit;
In data processing unit, according to the chaufeur head image of processing after filtering, draw chaufeur head rotation angle and sight line transfer time; When chaufeur head rotation angle is greater than head rotation angle threshold, and pilot's line of vision is while being greater than sight line threshold value transfer time transfer time, execution step S4;
S4: steering wheel angle sensor is by steering wheel angle data transmission to data processing unit, and data processing unit, according to steering wheel angle data, judges whether to the right steering wheel angle direction; When steering wheel angle direction is for to the right time, execution step S5;
S5: data processing unit is according to the back mirror rotation direction of setting and set rotational angle, to rotary electric machine, send corresponding back mirror turn signal, rotary electric machine is receiving that corresponding back mirror turn signal control back mirror rotates to rear view of vehicle, and the rotational angle of back mirror is for setting rotational angle.
9. a kind of method that improves vehicle meeting safety as claimed in claim 8, it is characterized in that, after step S5, data processing unit judges whether the instantaneous value of the angle of two car front end central authorities' lines and horizontal direction is less than set angle lower limit, and judges whether real-time vehicle acceleration/accel is greater than zero; When the instantaneous value of the angle of two car front ends central authorities lines and horizontal direction is less than set angle lower limit, and when real-time vehicle acceleration/accel is greater than zero, to rotary electric machine, send corresponding back mirror restoring signal, rotary electric machine is receiving that corresponding back mirror turn signal control back mirror returns to initial position.
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