CN104210491A - Car-following motorcade having capability of lane-changing following based on linear array image sensors - Google Patents
Car-following motorcade having capability of lane-changing following based on linear array image sensors Download PDFInfo
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- CN104210491A CN104210491A CN201410470244.6A CN201410470244A CN104210491A CN 104210491 A CN104210491 A CN 104210491A CN 201410470244 A CN201410470244 A CN 201410470244A CN 104210491 A CN104210491 A CN 104210491A
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- 238000004458 analytical method Methods 0.000 claims abstract description 9
- 238000013500 data storage Methods 0.000 claims abstract description 5
- 230000002452 interceptive effect Effects 0.000 claims description 10
- 230000001133 acceleration Effects 0.000 claims description 9
- 238000001514 detection method Methods 0.000 abstract description 4
- 230000008859 change Effects 0.000 abstract description 3
- 230000003993 interaction Effects 0.000 abstract description 2
- 230000003287 optical effect Effects 0.000 description 4
- 238000010276 construction Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 230000000505 pernicious effect Effects 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
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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
-
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
-
- 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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
-
- 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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/17—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle with provision for special action when the preceding vehicle comes to a halt, e.g. stop and go
-
- 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
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- 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
-
- 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
- B60W2520/105—Longitudinal acceleration
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a car-following motorcade having the capability of lane-changing following based on linear array image sensors. The car-following motorcade comprises car-following vehicles including a first car-following car and a second car-following car; each of the first and the second car-following cars comprises an automatic drive control analysis system; a linear array image sensor, a side slipping detection device, a signal interaction device, a data storage device and a state control device are connected to each automatic drive control analysis system. When a car in the motorcade sideslips, a solution can be taken in time, and the car following the side slipping car can change the lane to follow according to the side slipping car and the lane line information of the car.
Description
Technical field
The present invention relates to speeding automotive field, particularly, relate to a kind of fleet of speeding of following of speeding of following based on line scan image sensor Huan road.
Background technology
automobile is the motoring condition that rear car is followed front truck with speeding, and front truck and rear car are reached information communication, and rear car is according to the information of front truck, and car parameter differences before and after contrast, is scaled rear car and drives scheme and realize automatic Pilot.Automatically, with speeding in driving technique, with speeding, vehicle travels according to the parameter of travelling of front truck.Vehicle is travelling in way, is samely positioned at same lane mark with the fleet of speeding, and is not only conducive to the control with the control loop of speeding, and is also conducive to control of traffic, is convenient to realize all the other fleets and overtakes other vehicles and accelerate vehicular movement amount or realize Duo Dui fleet and drive simultaneously.In vehicle traveling process, due to condition of road surface, braking, rotator inertia or other reasons, cause and break away.Skid has a variety of situations, and skid particularly trailing wheel breaks away, and to the threat maximum of traffic safety, often causes the pernicious traffic accidents such as collision, overturning.With speeding in automobile queue, if wherein any automobile breaks away, its consequence is very serious, seriously time, may cause the paralysis of whole fleet.Existing skid detecting device, it utilizes the combination of displacement pickup and other physical constructions to realize the detection to displacement, and not only complex structure of physical construction, increases the volume of detecting device, and for automobile when speeding system, intelligent deficiency.And with speeding in fleet, there is sideslip when a certain with the automobile of speeding, must affect the safe operation of whole fleet, work as with a certain vehicle in the fleet of speeding and occur breakking away, realize the continuation of fleet below and follow safely the driving of speeding very important.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of with speeding fleet, measures when occurring in fleet breakking away, and it can take counter-measure in time, and front vehicle can be changed with speeding according to the lane mark information realization of sideslip vehicle and Ben Che.
The present invention addresses the above problem adopted technical scheme:
A kind of fleet of speeding of following of speeding of following based on line scan image sensor Huan road, comprise with speeding vehicle, described comprises that with the vehicle of speeding first follows with the automobile and second of speeding the automobile of speeding, described first includes automatic Pilot control analysis system with the automobile and second of speeding with the automobile of speeding, and on described rotation Driving control analysis system, is connected with line scan image sensor, sideslip detecting device, signal interactive device, data storage apparatus and behavior control device.
Line scan image sensor is a kind of photoelectricity optical transition device.The function of existing opto-electronic conversion, has again the function of signal charge, and it can divide other image a secondary spatial domain, is transformed into row by discrete point of other electric signal of time domain, and meanwhile, it has, and volume is little, noise is low, self-scanning, survey precision advantages of higher.Adopt line scan image sensor to detect terrain vehicle diatom, by the view data input automatic Pilot control analysis system of its output, extract the boundary characteristic of object, calculate the wire diameter size of terrain vehicle diatom, accurate Calculation is carried out in the position of vehicle.In the present invention, utilize information interactive device to realize the information interaction of front and back with the automobile of speeding, sideslip detecting device is monitored the sideslip situation of vehicle, data storage apparatus is stored with the driving information of the automobile of speeding front and back, is convenient to following and speed to drive according to the driving information of front truck with the vehicle of speeding of rear.When breakking away appears in front vehicles, first follow while speeding automobile appearance sideslip, send to second to take counter-measure with speed automobile state of a control control setup the lane mark information of line scan image sensor monitoring, carry out the adjustment of vehicle coordinate, speed, direction or directly take brake measure that vehicle is stopped.If first changes or has stopped with the position of the automobile of speeding, second receives the first information with the automobile of speeding with the automobile of speeding, according to the information of its lane mark, behavior control device is manipulated, realize and change and then the first continuation of the vehicle with the vehicle front of speeding with speeding.First prepares after brake or brake with the automobile of speeding, the second lane mark information gathering according to line scan image sensor with the automobile of speeding, implementation is changed, after changing, continue to travel in this lane mark according to the information of lane mark, when crossing first with speeding after automobile, change original lane mark according to the information of lane mark again, then follow and speed to drive with the travel conditions with the automobile of speeding of the automobile of speeding according to first.
As preferably, described line scan image sensor is line array CCD camera.CCD, charge-coupled device, is the main sensing element of camera; It is highly sensitive, it is little to distort, the life-span is long, anti-vibration and without ghost.The image-forming principle of CCD is: under the effect of optical system, the variation of certain specific character of testee is changed into the variation of beam angle, light beam irradiates is subject on optical window face CCD device, in the pixel that is subject to optical window face irradiated by light, produce photogenerated charge, and by charge storage in pixel cell, the pixel that is not subject to light irradiation does not produce photogenerated charge, then under the readout clock pulse control in CCD driving circuit, electric charge is shifted to also shift transport and, to output circuit, through output circuit, quantity of electric charge is converted into voltage output.It is simple in structure to adopt line array CCD, and with low cost.
Further, described line scan image sensor has two, and is arranged on respectively the both sides with the automobile of speeding.Lane mark has many, with speeding automobile in motion, between two lane maries, at least needs two line scan image sensors to realize the lane mark of vehicle both sides is detected.
As preferably, described sideslip detecting device comprises the acceleration pick-up that is arranged on respectively 4 speed sensors on wheel and be arranged on vehicle headstock.Utilize speed and acceleration/accel and sideslip situation is judged.While occurring to break away, according to 4 speed datas with the predetermined acceleration/accel of system of speeding, can judge acceleration/accel and speed and expection be not inconsistent judge.If acceleration/accel sidewise component does not meet expection, can judge sideslip has occurred; If acceleration/accel working direction component and speed are not inconsistent, can judge the sideslip that working direction has occurred; If acceleration level direction peak value has exceeded certain scope, can judge collision has occurred.
As preferably, described signal interactive device is wireless signal interactive device.
To sum up, the invention has the beneficial effects as follows:
The present invention monitors sideslip situation, when there is sideslip vehicle in fleet, speeds from moving to follow according to lane mark information realization with the vehicle of speeding, and ensures normally travelling with the fleet of speeding.
Detailed description of the invention
Below in conjunction with embodiment, the present invention is done to detailed description further, but embodiments of the present invention are not limited to this.
Embodiment 1:
A kind of fleet of speeding of following of speeding of following based on line scan image sensor Huan road, comprise with speeding vehicle, described comprises that with the vehicle of speeding first follows with the automobile and second of speeding the automobile of speeding, described first includes automatic Pilot control analysis system with the automobile and second of speeding with the automobile of speeding, and on described rotation Driving control analysis system, is connected with line scan image sensor, sideslip detecting device, signal interactive device, data storage apparatus and behavior control device.
Embodiment 2:
In order to strengthen the accuracy of detection to terrain vehicle diatom, the present embodiment has done refinement on the basis of above-described embodiment, and described line scan image sensor is line array CCD camera.
Embodiment 3:
The present embodiment is optimized on the basis of above-described embodiment, and described line scan image sensor has two, and is arranged on respectively the both sides with the automobile of speeding.
Embodiment 4:
In order to strengthen the accuracy in detection to the situation of blowing out, the present embodiment has done refinement on the basis of above-described embodiment, and described sideslip detecting device comprises the acceleration pick-up that is arranged on respectively 4 speed sensors on wheel and be arranged on vehicle headstock.
Embodiment 5:
Mutual for the ease of information, i.e. simplified apparatus, the present embodiment is optimized on the basis of above-described embodiment, and described signal interactive device is wireless signal interactive device.
As mentioned above, can realize preferably the present invention.
Claims (5)
1. follow the fleet of speeding of following of speeding based on line scan image sensor Huan road for one kind, comprise with speeding vehicle, described comprises that with the vehicle of speeding first follows with the automobile and second of speeding the automobile of speeding, described first includes automatic Pilot control analysis system with the automobile and second of speeding with the automobile of speeding, and it is characterized in that: on described rotation Driving control analysis system, be connected with line scan image sensor, sideslip detecting device, signal interactive device, data storage apparatus and behavior control device.
2. a kind of fleet of speeding of following of speeding of following based on line scan image sensor Huan road according to claim 1, is characterized in that: described line scan image sensor is line array CCD camera.
3. a kind of fleet of speeding of following of speeding of following based on line scan image sensor Huan road according to claim 1 and 2, is characterized in that: described line scan image sensor has two, and is arranged on respectively the both sides with the automobile of speeding.
4. a kind of fleet of speeding of following of speeding of following based on line scan image sensor Huan road according to claim 1, is characterized in that: described sideslip detecting device comprises the acceleration pick-up that is arranged on respectively 4 speed sensors on wheel and be arranged on vehicle headstock.
5. a kind of fleet of speeding of following of speeding of following based on line scan image sensor Huan road according to claim 1, is characterized in that: described signal interactive device is wireless signal interactive device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410470244.6A CN104210491A (en) | 2014-09-16 | 2014-09-16 | Car-following motorcade having capability of lane-changing following based on linear array image sensors |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410470244.6A CN104210491A (en) | 2014-09-16 | 2014-09-16 | Car-following motorcade having capability of lane-changing following based on linear array image sensors |
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| CN104210491A true CN104210491A (en) | 2014-12-17 |
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| CN201410470244.6A Pending CN104210491A (en) | 2014-09-16 | 2014-09-16 | Car-following motorcade having capability of lane-changing following based on linear array image sensors |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018032485A1 (en) * | 2016-08-19 | 2018-02-22 | 郑晓辉 | System for controlling unmanned transport fleet in mine |
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| EP1852325A1 (en) * | 2006-05-06 | 2007-11-07 | Bayerische Motoren Werke Aktiengesellschaft | Method for preceding-vehicle follow-up control for a motor vehicle |
| DE102010056438A1 (en) * | 2010-12-28 | 2012-06-28 | Valeo Schalter Und Sensoren Gmbh | Method for automatic guiding of motor vehicle by driver assistance system of motor vehicle, involves detecting running ahead vehicle by distance sensor of driver assistance system |
| CN202641690U (en) * | 2012-05-15 | 2013-01-02 | 王伟东 | Auxiliary driving adaptive cruise control system for drivers |
| CN103287336A (en) * | 2013-06-24 | 2013-09-11 | 成都衔石科技有限公司 | Vehicle self-condition monitoring device |
| CN103287285A (en) * | 2013-06-24 | 2013-09-11 | 成都衔石科技有限公司 | Following driving system |
-
2014
- 2014-09-16 CN CN201410470244.6A patent/CN104210491A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1608012A (en) * | 2001-12-21 | 2005-04-20 | 株式会社普利司通 | Method and apparatus for estimating road surface state and tire running state, abs and vehicle control using the same |
| EP1852325A1 (en) * | 2006-05-06 | 2007-11-07 | Bayerische Motoren Werke Aktiengesellschaft | Method for preceding-vehicle follow-up control for a motor vehicle |
| DE102010056438A1 (en) * | 2010-12-28 | 2012-06-28 | Valeo Schalter Und Sensoren Gmbh | Method for automatic guiding of motor vehicle by driver assistance system of motor vehicle, involves detecting running ahead vehicle by distance sensor of driver assistance system |
| CN202641690U (en) * | 2012-05-15 | 2013-01-02 | 王伟东 | Auxiliary driving adaptive cruise control system for drivers |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2018032485A1 (en) * | 2016-08-19 | 2018-02-22 | 郑晓辉 | System for controlling unmanned transport fleet in mine |
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Application publication date: 20141217 |