CN104002809A - Vehicle fork road segment detection device and detection method - Google Patents

Abstract

The invention relates to the vehicle safety auxiliary driving technology and discloses a vehicle fork road segment detection device and a detection method. The device comprises a vehicle-mounted industrial personal computer, a vehicle speed sensor, a multiline laser radar sensor, a steering wheel steering angle sensor and a display; the multiline laser radar sensor is used for detecting the height of the left road side and the right road side of a road portion in front of a vehicle and the distance between the vehicle and the left road side and the right road side; the steering wheel steering angle sensor is used for detecting the vehicle steering angle in real time; the vehicle-mounted industrial personal computer calculates and draws according to the vehicle steering angle, the vehicle speed, the height of the left road side and the right road side and the distance between the vehicle and the left road side and the right road side to enable a vehicle driving predicted track curve and estimation curves of the left road side and the right road side of the front fork road segment to be obtained; the display is used for displaying the estimation curves of the left road side and the right road side and the vehicle driving predicted track curve in real time. The vehicle fork road segment detection device has the advantages of enabling the estimation curves of the left road side and the right road side and the vehicle driving predicted track curve at the fork road segment to be obtained, reminding a driver to appropriately operate, relieving driver judgment burden and reducing misjudgment possibilities.

Description

A kind of vehicle fork section detecting device and method of inspection

Technical field

The present invention relates to the auxiliary driving technique of vehicle safety, relate in particular to a kind of vehicle fork section detecting device and method of inspection.

Background technology

Show according to Ministry of Public Security's statistics of traffic accidents annual report data in recent years, the traffic accident in section, fork occurs often.Because this section vehicle flowrate is large, the speed of a motor vehicle is fast, and driver's seat blind area is large, and chaufeur is made most probably improperly subjective judgement and taked the excessive or too small steering operation of steering angle, and the vehicle travelling is in potential collision or rollover danger.When steering angle is excessive, easily cause vehicle to go out turnout, when steering angle is too small, vehicle cannot pass through turnout smoothly.If predict in advance the linear and curvature at road ahead fork, expected trajectory curve simultaneously that travel in conjunction with current vehicle, chaufeur just can be taked the steering operation of proper angle in advance according to prompting, avoid accident to occur.In theory, utilize GPS technology can sensed in advance road ahead fork linear and curvature, but middlely need to measure in advance all fork road information of storage actual promoting the use of, this process work capacity is excessive, therefore cannot promote the use of.

Summary of the invention

The object of the present invention is to provide a kind of vehicle fork section detecting device and method of inspection, this device can obtain the two side line limit estimation curve in section, fork and the prediction locus curve of Vehicle Driving Cycle, and point out chaufeur to take suitable steering operation, for chaufeur alleviates judgement burden, reduce wrongheaded possibility.

For realizing above-mentioned technical purpose, the present invention adopts following technical scheme to be achieved.

Scheme one:

Section, a kind of vehicle fork detecting device, it is characterized in that, comprise vehicle-mounted industrial computer, car speed sensor, for detecting in real time the height on twice limit, left and right of vehicle self road ahead and the multi-line laser radar sensor of the distance on vehicle and twice limit, left and right, for detecting in real time the steering wheel angle sensor of vehicle deflection angle, described vehicle-mounted industrial computer is according to Vehicular turn angle, car speed, the distance calculating and plotting on the height on twice limit, left and right and vehicle and twice limit, left and right obtains the prediction locus curve of Vehicle Driving Cycle and twice limit, the left and right estimation curve in section, fork, front, for showing in real time the telltale of the prediction locus curve of Liang Tiao road, left and right limit estimation curve and Vehicle Driving Cycle,

The mouth of the mouth of described car speed sensor, the mouth of multi-line laser radar sensor, steering wheel angle sensor is electrically connected respectively the corresponding I/O input end of described vehicle-mounted industrial computer, and the video output terminals of described vehicle-mounted industrial computer is electrically connected the video inputs of described telltale;

Described multi-line laser radar sensor is two, is arranged on respectively symmetrical position, vehicle front bumper both sides; Described steering wheel angle sensor is arranged on vehicle steering shaft; Described car speed sensor is fixedly mounted on the steering swivel of vehicle front vehicle wheel; Described telltale is fixedly mounted on meter panel of motor vehicle.

The feature of the technical program and further improvement are:

Described multi-line laser radar sensor adopts IBEO LUX4 scanning laser radar, and sweep rate is 12.5Hz, and scanning distance scope is 0.3m-200m.

Described car speed sensor adopts W221 wheel speed sensors.

Described steering wheel angle sensor adopts KMT32B angular transducer

Described telltale adopts 2.2 cun of LCD displays.

Scheme two:

Section, a kind of vehicle fork method of inspection, based on section, above-mentioned vehicle fork detecting device, is characterized in that, comprises the following steps:

(1) data acquisition: the real-time speed of car speed sensor collection vehicle, and the real-time speed of vehicle is sent to vehicle-mounted industrial computer; Four layers of discrete laser scanning point data on the twice limit, left and right of two the multi-line laser radar sensor roads that corresponding Real-time Collection vehicle is travelling respectively in left and right, every layer of laser scanning point data are multiple, and by Real-time Collection to four layers of discrete laser scanning point data be sent to vehicle-mounted industrial computer; The corner of steering wheel angle sensor Real-time Collection vehicle, and the vehicle corner of Real-time Collection is sent to vehicle-mounted industrial computer;

(2) data processing: vehicle-mounted industrial computer obtains the height on the twice limit, left and right of the road that vehicle travelling according to above-mentioned four layers of laser scanning point data, and the distance on vehicle and twice limit, left and right, calculating and plotting obtains twice limit, the left and right estimation curve in section, fork, front;

Vehicle-mounted industrial computer is according to the real-time corner of the real-time speed of vehicle, vehicle, and calculating and plotting obtains the prediction locus curve of Vehicle Driving Cycle;

(3) judgement shows: if twice limit, left and right estimation curve is parallel for the prediction locus curve approximation of Vehicle Driving Cycle, and shown in green of the color display space of telltale; If limit, the prediction locus curve Yu Liangtiao road estimation curve of Vehicle Driving Cycle intersects in certain, shown in red of the color display space of telltale.

The feature of the technical program and further improvement are:

In the calculating and plotting process of twice limit, the left and right estimation curve in the section, fork, front in step 2, choose fixing rectangular coordinate system (X ₀, O, Y ₀) be the fixed reference frame of calculating and plotting process, for one deck laser scanning point of a multi-line laser radar sensor, vehicle-mounted industrial computer is chosen for this layer first Scanning Section since the first laser scanning point according to regular length by this layer of multiple laser scanning point, first laser scanning point taking the tail laser scanning point of this layer the first Scanning Section as this layer the second Scanning Section again, be chosen for this layer the second Scanning Section according to regular length, according to the choosing method of above-mentioned this layer the second Scanning Section, this layer of remaining laser scanning point chosen and formed this layer of corresponding Scanning Section, by the head and the tail laser scanning point in this layer of all Scanning Section separately correspondence be connected to form this layer and estimate line, the vertical distance that this layer of laser scanning point estimated line to this layer is judged as Gai Ceng road edge point while being less than setting threshold, the edge point Wei Gaiceng road limit matched curve of matching Gai Ceng road, four layers of laser scanning point of a multi-line laser radar sensor respectively matching obtain limit, the road matched curve of four homonymies, then limit, the road matched curve of four homonymies is merged, the abscissa value after fusion is with this fixing rectangular coordinate system (X ₀, O, Y ₀) the scale value value of axis of abscissa, the ordinate value of the corresponding Si Ge road limit matched curve of each abscissa value, the aviation value of the ordinate value of the ordinate value Wei Sige road limit matched curve after fusion, merges limit, the road matched curve of four homonymies to obtain complete limit, a road estimation curve, two four layers of laser scanning points of two the multi-line laser radar sensors in left and right obtain limit, corresponding Liang Tiao road estimation curve, obtain twice limit, the left and right estimation curve in section, fork, front.

In the calculating and plotting process of the prediction locus curve of the Vehicle Driving Cycle in step 2, choose fixing rectangular coordinate system (X ₀, O, Y ₀) be the fixed reference frame of calculating and plotting process; Set up taking Vehicle Speed direction as axis of abscissa, with axis of abscissa in same level and the axle vertical with the axis of abscissa dynamic coordinate system (X that is axis of ordinate _j, j, Y _j), set predicted time section T _pcross velocity, longitudinal velocity and the transverse acceleration of interior vehicle, longitudinal acceleration remain unchanged, by T _pbe subdivided into J decile, be often divided into Δ t _p, establishing each decile moment point is j, j=1, and 2 ... J, for moment point j Vehicle Speed direction and X ₀angle, utilize formula of reduction

$\left\{\begin{array}{c}{\stackrel{\·}{x}}_j={\stackrel{\·}{x}}_{j-1}+{\stackrel{\·\·}{x}}_{j-1}\·{\mathrm{\Δt}}_p\\ {\stackrel{\·}{y}}_j={\stackrel{\·}{y}}_{j-1}+{\stackrel{\·\·}{y}}_{j-1}\·{\mathrm{\Δt}}_p\end{array}\right.\left\{\begin{array}{c}{x}_j=x_{j-1}+{\stackrel{\·}{x}}_{j-1}\·{\mathrm{\Δt}}_p+\frac{1}{2}\·{\stackrel{\·\·}{x}}_{j-1}\·{{\mathrm{\Δt}}^2}_p\\ y_j=y_{j-1}+{\stackrel{\·}{y}}_{j-1}\·{\mathrm{\Δt}}_p+\frac{1}{2}\·{\stackrel{\·\·}{y}}_{j-1}\·{{\mathrm{\Δt}}^2}_p\end{array}\right.$

Calculate and can try to achieve dynamic coordinate system (X according to above-mentioned formula _j, j, Y _j) lower vehicle is at the position coordinate of moment point j;

By dynamic coordinate system (X _j, j, Y _j) descend vehicle to be transformed into same fixing rectangular coordinate system (X at the position coordinate of moment point j ₀, O, Y ₀) under, establish dynamic coordinate system (X _j, j, Y _j) and fixing rectangular coordinate system (X ₀, O, Y ₀) relative rotation angle be ψ _j, from dynamic coordinate system (X _j, j, Y _j) to fixing rectangular coordinate system (X ₀, O, Y ₀) transition matrix be

$A_j=\left[\begin{array}{cc}{\cos \mathrm{\ψ}}_j& -{\sin \mathrm{\ψ}}_j\\ {\sin \mathrm{\ψ}}_j& {\cos \mathrm{\ψ}}_j\end{array}\right]$

Thereby provide formula:

$\left[\begin{array}{c}{\stackrel{\·}{x}}_j\\ {\stackrel{\·}{y}}_j\end{array}\right]=\left[\begin{array}{c}{\stackrel{\·}{x}}_{j-1}\\ {\stackrel{\·}{y}}_{j-1}\end{array}\right]+A_{j-1}(\left[\begin{array}{c}{\stackrel{\·\·}{x}}_{j-1}\\ {\stackrel{\·\·}{y}}_{j-1}\end{array}\right]\·{\mathrm{\Δt}}_p)$

$\left[\begin{array}{c}{x}_j\\ y_j\end{array}\right]=\left[\begin{array}{c}{x}_{j-1}\\ y_{j-1}\end{array}\right]+\left[\begin{array}{c}{\stackrel{\·}{x}}_{j-1}\\ {\stackrel{\·}{y}}_{j-1}\end{array}\right]\·{\mathrm{\Δt}}_p+A_{j-1}\·(\frac{1}{2}\left[\begin{array}{c}{\stackrel{\·\·}{x}}_{j-1}\\ {\stackrel{\·\·}{y}}_{j-1}\end{array}\right]\·{{\mathrm{\Δt}}^2}_p)$

Vehicle-mounted industrial computer obtains the prediction locus curve of Vehicle Driving Cycle according to above-mentioned formula and then calculating and plotting.

Preferably, in step 2, obtaining after the height of left and right Dao Bian and the distance on vehicle and twice limit, left and right of the road that vehicle travelling, utilizing the range data on the twice limit, left and right of the road that Kalman's discrete type filter travelling to vehicle to carry out filtering.

Vehicle of the present invention fork section detecting device and method of inspection, this detecting device can obtain the prediction locus curve of left and right twice limit estimation curve and Vehicle Driving Cycle, if twice limit, left and right estimation curve is parallel for the prediction locus curve approximation of Vehicle Driving Cycle, illustrate that chaufeur can section, safety fork, shown in green of the color display space of telltale; If the prediction locus curve of Vehicle Driving Cycle is crossing in certain with limit, Liang Tiao road, left and right estimation curve, illustrate that chaufeur need to continue to adjust turning angle of steering wheel to pass through smoothly section, fork, shown in red of the color display space of telltale.

The major part of this device adopts multi-line laser radar sensor and vehicle-mounted industrial computer, simple to operate, easy to detect, survey precision is high, and is not subject to extraneous weather effect and does not also exist the problem of potential safety hazard; This section, vehicle fork detecting device investment cost is few, is applicable to large-scale promotion and uses, and its method of inspection has the advantages that intellectuality, automation and reliability are high, can, in time for chaufeur provides steering operation information accurately, reduce the generation of traffic accident.

Brief description of the drawings

Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.

Fig. 1 is the mounting structure schematic diagram of section, a kind of vehicle fork of the present invention detecting device;

Fig. 2 is the electrical connection schematic diagram of section, a kind of vehicle fork of the present invention detecting device;

Fig. 3 is coordinate transformation schematic diagram of the present invention;

In figure: 1, vehicle; 2, left side multi-line laser radar sensor; 3, right side multi-line laser radar sensor; 4, vehicle-mounted industrial computer; 5, telltale; 6, limit, road, fork.

Detailed description of the invention

The object of the present invention is to provide a kind of vehicle fork section detecting device and method of inspection, this device can obtain the left and right twice limit estimation curve in section, fork and the prediction locus curve of Vehicle Driving Cycle, and point out chaufeur to take suitable steering operation, for chaufeur alleviates judgement burden, reduce wrongheaded possibility.

With reference to Fig. 1, it is the mounting structure schematic diagram of section, a kind of vehicle fork of the present invention detecting device.

In order to achieve the above object, first need to carry out the installation of device, the process of installing is as follows: adopt respectively bolt to be fixedly mounted on vehicle 1 symmetrical position, front bumper both sides left side multi-line laser radar sensor 2 and right side multi-line laser radar sensor 3, left side multi-line laser radar 2 and right side multi-line laser radar 3 adopt respectively IBEO LUX4 scanning laser radar, sweep rate is 12.5Hz, and scanning distance scope is 0.3m-200m; Steering wheel angle sensor is arranged on vehicle 1 steering shaft, and steering wheel angle sensor adopts KMT32B angular transducer; Car speed sensor is fixedly mounted on the steering swivel of vehicle 1 front vehicle wheel, and car speed sensor adopts W221 wheel speed sensors, and car speed sensor can utilize the self-contained car speed sensor of vehicle, is conducive to reduce costs; Telltale 5 is fixedly mounted on the region that meter panel of motor vehicle left handle drive person easily notices, telltale 5 adopts 2.2 cun of LCD displays; Vehicle-mounted industrial computer 4 is arranged on under-dash in car.

Left side multi-line laser radar sensor 2 and right side multi-line laser radar sensor 3 are for detecting in real time the height on twice limit, left and right and the distance on vehicle and twice limit, left and right of vehicle self road ahead, steering wheel angle sensor is for detecting in real time vehicle deflection angle, vehicle-mounted industrial computer 4 is according to Vehicular turn angle, car speed, the distance calculating and plotting on the height on twice limit, left and right and vehicle and twice limit, left and right obtains the prediction locus curve of Vehicle Driving Cycle and twice limit, the left and right estimation curve in section, fork, front, telltale 5 is for showing in real time the prediction locus curve of Liang Tiao road, left and right limit estimation curve and Vehicle Driving Cycle.

With reference to Fig. 2, it is the electrical connection schematic diagram of section, a kind of vehicle fork of the present invention detecting device; The mouth of mouth, left side multi-line laser radar sensor 2 and the right side multi-line laser radar sensor 3 of car speed sensor, the mouth of steering wheel angle sensor are electrically connected respectively the corresponding I/O input end of described vehicle-mounted industrial computer 4, the video inputs of the video output terminals electrical connection telltale 5 of vehicle-mounted industrial computer 4.

Detect in order to realize section, vehicle of the present invention fork, taking section, above-mentioned vehicle fork detecting device as basis, concrete steps are as follows:

(1) data acquisition: the real-time speed of car speed sensor collection vehicle, and the real-time speed of vehicle is sent to vehicle-mounted industrial computer 4; Four layers of discrete laser scanning point data on the twice limit, left and right of two the multi-line laser radar sensor roads that corresponding Real-time Collection vehicle is travelling respectively in left and right, every layer of laser scanning point data are multiple, and by Real-time Collection to four layers of discrete laser scanning point data be sent to vehicle-mounted industrial computer 4; Direction value and the angle value of the corner of steering wheel angle sensor Real-time Collection vehicle, wherein direction value sign vehicle is left or bends to right, angle value characterizes the degree size of turn inside diameter, and the vehicle corner of Real-time Collection is sent to vehicle-mounted industrial computer.

(2) data processing: vehicle-mounted industrial computer 4 obtains the height on the twice limit, left and right of the road that vehicle travelling according to above-mentioned four layers of laser scanning point data, and the distance on vehicle and twice limit, left and right, calculating and plotting obtains twice limit, the left and right estimation curve in section, fork, front.

In the calculating and plotting process of twice limit, the left and right estimation curve in section, fork, choose fixing rectangular coordinate system (X forwardly ₀, O, Y ₀) be the fixed reference frame of calculating and plotting process, for one deck laser scanning point of a multi-line laser radar sensor, vehicle-mounted industrial computer is chosen for this layer first Scanning Section since the first laser scanning point according to regular length by this layer of multiple laser scanning point, first laser scanning point taking the tail laser scanning point of this layer the first Scanning Section as this layer the second Scanning Section again, be chosen for this layer the second Scanning Section according to regular length, according to the choosing method of above-mentioned this layer the second Scanning Section, this layer of remaining laser scanning point chosen and formed this layer of corresponding Scanning Section, by the head and the tail laser scanning point in this layer of all Scanning Section separately correspondence be connected to form this layer and estimate line, the vertical distance that this layer of laser scanning point estimated line to this layer is judged as Gai Ceng road edge point while being less than setting threshold, the edge point Wei Gaiceng road limit matched curve of matching Gai Ceng road, four layers of laser scanning point of a multi-line laser radar sensor respectively matching obtain limit, the road matched curve of four homonymies, then limit, the road matched curve of four homonymies is merged, the abscissa value after fusion is with this fixing rectangular coordinate system (X ₀, O, Y ₀) the scale value value of axis of abscissa, the ordinate value of the corresponding Si Ge road limit matched curve of each abscissa value, the aviation value of the ordinate value of the ordinate value Wei Sige road limit matched curve after fusion, merges limit, the road matched curve of four homonymies to obtain complete limit, a road estimation curve, two four layers of laser scanning points of two the multi-line laser radar sensors in left and right obtain limit, corresponding Liang Tiao road estimation curve, obtain twice limit, the left and right estimation curve in section, fork, front.

For avoiding the impacts such as obstacle, laser scanning point is adopted to random sampling consistency algorithm, iteration is randomly drawed three some fit Plane, the satisfied plane of last most of laser scanning point is limit height, it is the boss of road edge that the object of obtaining limit height is clearly to scan what obtain, but not other obstacles.

Typical case's road area comprises region, section, crossing transitional region and region, crossing three classes.Vehicle Driving Cycle of the present invention is in region, section, also do not enter the road side information that utilizes fork, laser radar sensor Real-time Collection front before the transitional region of crossing.Common fork type is divided into Y shape, T shape and criss-cross.Wide if two of about fork partial distance is not less than, fork vertically towards passing through, be criss-cross fork.Otherwise be Y shape fork or T shape fork.Because the LUX4 tetra-line laser radars that use in the present embodiment are four layers, the line laser that above-below direction is 0.8 degree by four angle intervals forms, a nethermost laser scanning line angle of depression maximum, thereby its lower extreme point is subject to car body pitch angle variable effect minimum.

Vehicle-mounted industrial computer 4 is according to the real-time corner of the real-time speed of vehicle, vehicle, and calculating and plotting obtains the prediction locus curve of Vehicle Driving Cycle.

In the calculating and plotting process of the prediction locus curve of Vehicle Driving Cycle, choose fixing rectangular coordinate system (X ₀, O, Y ₀) be the fixed reference frame of calculating and plotting process; Set up taking Vehicle Speed direction as axis of abscissa, with axis of abscissa in same level and the axle vertical with the axis of abscissa dynamic coordinate system (X that is axis of ordinate _j, j, Y _j), set predicted time section T _pcross velocity, longitudinal velocity and the transverse acceleration of interior vehicle, longitudinal acceleration remain unchanged, according to infinitely small principle, by T _pbe subdivided into J decile, be often divided into Δ t _p, establishing each decile moment point is j, j=1,2 ... J, because time length is very short, can ignore longitudinal direction of car and laterally between influence each other, for moment point j Vehicle Speed direction and X ₀angle, utilize formula of reduction

$\left\{\begin{array}{c}{\stackrel{\·}{x}}_j={\stackrel{\·}{x}}_{j-1}+{\stackrel{\·\·}{x}}_{j-1}\·{\mathrm{\Δt}}_p\\ {\stackrel{\·}{y}}_j={\stackrel{\·}{y}}_{j-1}+{\stackrel{\·\·}{y}}_{j-1}\·{\mathrm{\Δt}}_p\end{array}\right.\left\{\begin{array}{c}{x}_j=x_{j-1}+{\stackrel{\·}{x}}_{j-1}\·{\mathrm{\Δt}}_p+\frac{1}{2}\·{\stackrel{\·\·}{x}}_{j-1}\·{{\mathrm{\Δt}}^2}_p\\ y_j=y_{j-1}+{\stackrel{\·}{y}}_{j-1}\·{\mathrm{\Δt}}_p+\frac{1}{2}\·{\stackrel{\·\·}{y}}_{j-1}\·{{\mathrm{\Δt}}^2}_p\end{array}\right.$

Calculate and can try to achieve dynamic coordinate system (X according to above-mentioned formula _j, j, Y _j) lower vehicle is at the position coordinate of moment point j;

With reference to Fig. 3, it is coordinate transformation schematic diagram of the present invention.Because the system of axes of the calculating institute reference of the position coordinate of above-mentioned each moment point j is different, therefore can not simply the result of calculation of each step be added, must be transformed under same frame of reference and could be added, need be by dynamic coordinate system (X _j, j, Y _j) descend vehicle to be transformed into same fixing rectangular coordinate system (X at the position coordinate of moment point j ₀, O, Y ₀) under, establish dynamic coordinate system (X _j, j, Y _j) and fixing rectangular coordinate system (X ₀, O, Y ₀) relative rotation angle be ψ _j, from dynamic coordinate system (X _j, j, Y _j) to fixing rectangular coordinate system (X ₀, O, Y ₀) transition matrix be

$A_j=\left[\begin{array}{cc}{\cos \mathrm{\ψ}}_j& -{\sin \mathrm{\ψ}}_j\\ {\sin \mathrm{\ψ}}_j& {\cos \mathrm{\ψ}}_j\end{array}\right]$

Thereby provide formula:

$\left[\begin{array}{c}{\stackrel{\·}{x}}_j\\ {\stackrel{\·}{y}}_j\end{array}\right]=\left[\begin{array}{c}{\stackrel{\·}{x}}_{j-1}\\ {\stackrel{\·}{y}}_{j-1}\end{array}\right]+A_{j-1}(\left[\begin{array}{c}{\stackrel{\·\·}{x}}_{j-1}\\ {\stackrel{\·\·}{y}}_{j-1}\end{array}\right]\·{\mathrm{\Δt}}_p)$

$\left[\begin{array}{c}{x}_j\\ y_j\end{array}\right]=\left[\begin{array}{c}{x}_{j-1}\\ y_{j-1}\end{array}\right]+\left[\begin{array}{c}{\stackrel{\·}{x}}_{j-1}\\ {\stackrel{\·}{y}}_{j-1}\end{array}\right]\·{\mathrm{\Δt}}_p+A_{j-1}\·(\frac{1}{2}\left[\begin{array}{c}{\stackrel{\·\·}{x}}_{j-1}\\ {\stackrel{\·\·}{y}}_{j-1}\end{array}\right]\·{{\mathrm{\Δt}}^2}_p)$

Vehicle-mounted industrial computer 4 obtains the prediction locus curve of Vehicle Driving Cycle according to above-mentioned formula and then calculating and plotting.

(3) judgement shows: if twice limit, left and right estimation curve is parallel for the prediction locus curve approximation of Vehicle Driving Cycle, approximate parallelly can not intersect for the prediction locus curve of Vehicle Driving Cycle for twice limit, left and right estimation curve, illustrate that chaufeur can section, safety fork, shown in green of the color display space of telltale 4; If limit, the prediction locus curve Yu Liangtiao road estimation curve of Vehicle Driving Cycle intersects in certain, illustrate that chaufeur need to continue to adjust turning angle of steering wheel to pass through smoothly section, fork, shown in red of the color display space of telltale 4.

In the process of data processing, obtaining after the height of left and right Dao Bian and the distance on vehicle and twice limit, left and right of the road that vehicle travelling, utilizing the range data on the twice limit, left and right of the road that Kalman's discrete type filter travelling to vehicle to carry out filtering.Vehicle-mounted industrial computer 4 utilizes Kalman filtering to realize the detection in section, fork is followed the tracks of, and extracts road profile information.Making filter vector is X (k)=[A _lb _la _rb _ra _ub _u] ^t, equation of state is X (k)=f[X (k-1), U (k)] and+V (k), wherein observational equation is Z (k)=X (k)+W (k).Predicting covariance matrix is

$P\left(k\right)=\left(\frac{\∂f}{\∂X}\right)P(k-1){\left(\frac{\∂f}{\∂X}\right)}^T+\left(\frac{\∂f}{\∂U}\right)G_u{\left(\frac{\∂f}{\∂U}\right)}^T+R$

Kalman observes renewal equation group be

$\left\{\begin{array}{c}\mathrm{kg}=P\left(k\right)/(P\left(k\right)+Q)\\ X\left(k\right)=X\left(k\right)+\mathrm{kg}(Z\left(k\right)-X\left(k\right))\\ P\left(k\right)=P\left(k\right)-\mathrm{kg}\·\×P\left(k\right)\end{array}\right.$

Wherein, W (k), V (k) is Gaussian white noise, R, Q, G _ube respectively W (k), V (k), the covariance of U (k).

Section, a kind of vehicle fork of the present invention detecting device, major part adopts multi-line laser radar and vehicle-mounted industrial computer, simple to operate, easy to detect, survey precision is high, and is not subject to extraneous weather effect and does not also have the problem that potential safety hazard is many.Section, a kind of vehicle fork of the present invention method of inspection is based on section, above-mentioned fork detecting device, it detects and completes by vehicle-mounted industrial computer various types of forks, intelligent high, simple to operate, chaufeur can turn to control effectively according to directly perceived, failure-free testing result.

Although below by reference to the accompanying drawings embodiment of the present invention are described, the present invention is not limited to above-mentioned specific embodiments and applications field, and above-mentioned specific embodiments is only schematic, guiding, instead of restrictive.Those of ordinary skill in the art, under the enlightenment of specification sheets, in the case of not departing from the scope that the claims in the present invention protect, can also make a variety of forms, and these all belong to the row of the present invention's protection.

Claims (9)

1. section, vehicle fork detecting device, it is characterized in that, comprise vehicle-mounted industrial computer, car speed sensor, for detecting in real time the height on twice limit, left and right of vehicle self road ahead and the multi-line laser radar sensor of the distance on vehicle and twice limit, left and right, for detecting in real time the steering wheel angle sensor of vehicle deflection angle, described vehicle-mounted industrial computer is according to Vehicular turn angle, car speed, the distance calculating and plotting on the height on twice limit, left and right and vehicle and twice limit, left and right obtains the prediction locus curve of Vehicle Driving Cycle and twice limit, the left and right estimation curve in section, fork, front, for showing in real time the telltale of the prediction locus curve of Liang Tiao road, left and right limit estimation curve and Vehicle Driving Cycle,

The mouth of the mouth of described car speed sensor, the mouth of multi-line laser radar sensor, steering wheel angle sensor is electrically connected respectively the corresponding I/O input end of described vehicle-mounted industrial computer, and the video output terminals of described vehicle-mounted industrial computer is electrically connected the video inputs of described telltale;

Described multi-line laser radar sensor is two, is arranged on respectively symmetrical position, vehicle front bumper both sides; Described steering wheel angle sensor is arranged on vehicle steering shaft; Described car speed sensor is fixedly mounted on the steering swivel of vehicle front vehicle wheel; Described telltale is fixedly mounted on meter panel of motor vehicle.

2. section, a kind of vehicle fork according to claim 1 detecting device, is characterized in that, described multi-line laser radar sensor adopts IBEO LUX4 scanning laser radar, and sweep rate is 12.5Hz, and scanning distance scope is 0.3m-200m.

3. section, a kind of vehicle fork according to claim 1 detecting device, is characterized in that, described car speed sensor adopts W221 wheel speed sensors.

4. section, a kind of vehicle fork according to claim 1 detecting device, is characterized in that, described steering wheel angle sensor adopts KMT32B angular transducer.

5. section, a kind of vehicle fork according to claim 1 detecting device, is characterized in that, described telltale adopts 2.2 cun of LCD displays.

6. section, a vehicle fork method of inspection, based on section, a kind of vehicle fork claimed in claim 1 detecting device, is characterized in that, comprises the following steps:

(1) data acquisition: the real-time speed of car speed sensor collection vehicle, and the real-time speed of vehicle is sent to vehicle-mounted industrial computer; Four layers of discrete laser scanning point data on the twice limit, left and right of two the multi-line laser radar sensor roads that corresponding Real-time Collection vehicle is travelling respectively in left and right, every layer of laser scanning point data are multiple, and by Real-time Collection to four layers of discrete laser scanning point data be sent to vehicle-mounted industrial computer; The corner of steering wheel angle sensor Real-time Collection vehicle, and the vehicle corner of Real-time Collection is sent to vehicle-mounted industrial computer;

(2) data processing: vehicle-mounted industrial computer obtains the height on the twice limit, left and right of the road that vehicle travelling according to above-mentioned four layers of laser scanning point data, and the distance on vehicle and twice limit, left and right, calculating and plotting obtains twice limit, the left and right estimation curve in section, fork, front;

Vehicle-mounted industrial computer is according to the real-time corner of the real-time speed of vehicle, vehicle, and calculating and plotting obtains the prediction locus curve of Vehicle Driving Cycle;

(3) judgement shows: if twice limit, left and right estimation curve is parallel for the prediction locus curve approximation of Vehicle Driving Cycle, and shown in green of the color display space of telltale; If limit, the prediction locus curve Yu Liangtiao road estimation curve of Vehicle Driving Cycle intersects in certain, shown in red of the color display space of telltale.

7. section, a kind of vehicle fork according to claim 6 method of inspection, is characterized in that, in the calculating and plotting process of twice limit, the left and right estimation curve in the section, fork, front in step 2, chooses fixing rectangular coordinate system (X ₀, O, Y ₀) be the fixed reference frame of calculating and plotting process, for one deck laser scanning point of a multi-line laser radar sensor, vehicle-mounted industrial computer is chosen for this layer first Scanning Section since the first laser scanning point according to regular length by this layer of multiple laser scanning point, first laser scanning point taking the tail laser scanning point of this layer the first Scanning Section as this layer the second Scanning Section again, be chosen for this layer the second Scanning Section according to regular length, according to the choosing method of above-mentioned this layer the second Scanning Section, this layer of remaining laser scanning point chosen and formed this layer of corresponding Scanning Section, by the head and the tail laser scanning point in this layer of all Scanning Section separately correspondence be connected to form this layer and estimate line, the vertical distance that this layer of laser scanning point estimated line to this layer is judged as Gai Ceng road edge point while being less than setting threshold, the edge point Wei Gaiceng road limit matched curve of matching Gai Ceng road, four layers of laser scanning point of a multi-line laser radar sensor respectively matching obtain limit, the road matched curve of four homonymies, then limit, the road matched curve of four homonymies is merged, the abscissa value after fusion is with this fixing rectangular coordinate system (X ₀, O, Y ₀) the scale value value of axis of abscissa, the ordinate value of the corresponding Si Ge road limit matched curve of each abscissa value, the aviation value of the ordinate value of the ordinate value Wei Sige road limit matched curve after fusion, merges limit, the road matched curve of four homonymies to obtain complete limit, a road estimation curve, two four layers of laser scanning points of two the multi-line laser radar sensors in left and right obtain limit, corresponding Liang Tiao road estimation curve, obtain twice limit, the left and right estimation curve in section, fork, front.

8. section, a kind of vehicle fork according to claim 6 method of inspection, is characterized in that, in the calculating and plotting process of the prediction locus curve of the Vehicle Driving Cycle in step 2, chooses fixing rectangular coordinate system (X ₀, O, Y ₀) be the fixed reference frame of calculating and plotting process; Set up taking Vehicle Speed direction as axis of abscissa, with axis of abscissa in same level and the axle vertical with the axis of abscissa dynamic coordinate system (X that is axis of ordinate _j, j, Y _j), set predicted time section T _pcross velocity, longitudinal velocity and the transverse acceleration of interior vehicle, longitudinal acceleration remain unchanged, by T _pbe subdivided into J decile, be often divided into Δ t _p, establishing each decile moment point is j, j=1, and 2 ... J, for moment point j Vehicle Speed direction and X ₀angle, utilize formula of reduction

$\left\{\begin{array}{c}{\stackrel{\·}{x}}_j={\stackrel{\·}{x}}_{j-1}+{\stackrel{\·\·}{x}}_{j-1}\·{\mathrm{\Δt}}_p\\ {\stackrel{\·}{y}}_j={\stackrel{\·}{y}}_{j-1}+{\stackrel{\·\·}{y}}_{j-1}\·{\mathrm{\Δt}}_p\end{array}\right.\left\{\begin{array}{c}{x}_j=x_{j-1}+{\stackrel{\·}{x}}_{j-1}\·{\mathrm{\Δt}}_p+\frac{1}{2}\·{\stackrel{\·\·}{x}}_{j-1}\·{{\mathrm{\Δt}}^2}_p\\ y_j=y_{j-1}+{\stackrel{\·}{y}}_{j-1}\·{\mathrm{\Δt}}_p+\frac{1}{2}\·{\stackrel{\·\·}{y}}_{j-1}\·{{\mathrm{\Δt}}^2}_p\end{array}\right.$

Calculate and can try to achieve dynamic coordinate system (X according to above-mentioned formula _j, j, Y _j) lower vehicle is at the position coordinate of moment point j;

By dynamic coordinate system (X _j, j, Y _j) descend vehicle to be transformed into same fixing rectangular coordinate system (X at the position coordinate of moment point j ₀, O, Y ₀) under, establish dynamic coordinate system (X _j, j, Y _j) and fixing rectangular coordinate system (X ₀, O, Y ₀) relative rotation angle be ψ _j, from dynamic coordinate system (X _j, j, Y _j) to fixing rectangular coordinate system (X ₀, O, Y ₀) transition matrix be

$A_j=\left[\begin{array}{cc}{\cos \mathrm{\ψ}}_j& -{\sin \mathrm{\ψ}}_j\\ {\sin \mathrm{\ψ}}_j& {\cos \mathrm{\ψ}}_j\end{array}\right]$

Thereby provide formula:

$\left[\begin{array}{c}{\stackrel{\·}{x}}_j\\ {\stackrel{\·}{y}}_j\end{array}\right]=\left[\begin{array}{c}{\stackrel{\·}{x}}_{j-1}\\ {\stackrel{\·}{y}}_{j-1}\end{array}\right]+A_{j-1}(\left[\begin{array}{c}{\stackrel{\·\·}{x}}_{j-1}\\ {\stackrel{\·\·}{y}}_{j-1}\end{array}\right]\·{\mathrm{\Δt}}_p)$

$\left[\begin{array}{c}{x}_j\\ y_j\end{array}\right]=\left[\begin{array}{c}{x}_{j-1}\\ y_{j-1}\end{array}\right]+\left[\begin{array}{c}{\stackrel{\·}{x}}_{j-1}\\ {\stackrel{\·}{y}}_{j-1}\end{array}\right]\·{\mathrm{\Δt}}_p+A_{j-1}\·(\frac{1}{2}\left[\begin{array}{c}{\stackrel{\·\·}{x}}_{j-1}\\ {\stackrel{\·\·}{y}}_{j-1}\end{array}\right]\·{{\mathrm{\Δt}}^2}_p)$

Vehicle-mounted industrial computer obtains the prediction locus curve of Vehicle Driving Cycle according to above-mentioned formula and then calculating and plotting.

9. section, a kind of vehicle fork according to claim 6 method of inspection, it is characterized in that, in step 2, obtaining after the height of left and right Dao Bian and the distance on vehicle and twice limit, left and right of the road that vehicle travelling, utilizing the range data on the twice limit, left and right of the road that Kalman's discrete type filter travelling to vehicle to carry out filtering.