CN104369736A - Front vehicle following device using visual light communication and method - Google Patents
Front vehicle following device using visual light communication and method Download PDFInfo
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- CN104369736A CN104369736A CN201410176166.9A CN201410176166A CN104369736A CN 104369736 A CN104369736 A CN 104369736A CN 201410176166 A CN201410176166 A CN 201410176166A CN 104369736 A CN104369736 A CN 104369736A
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- 238000004891 communication Methods 0.000 title claims abstract description 39
- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000000007 visual effect Effects 0.000 title abstract 3
- 230000009471 action Effects 0.000 claims abstract description 11
- 238000005516 engineering process Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 206010041349 Somnolence Diseases 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 210000001747 pupil Anatomy 0.000 description 2
- 239000013589 supplement Substances 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
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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
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- 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
-
- 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
- B60W2420/408—Radar; Laser, e.g. lidar
-
- 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
- B60W2420/54—Audio sensitive means, e.g. ultrasound
-
- 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
- B60W2540/18—Steering angle
-
- 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
- B60W2540/215—Selection or confirmation of options
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4042—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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/14—Cruise control
- B60Y2300/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60Y2300/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a front vehicle following device for communication by use of visual light and a method. The device comprises a communication part, an angle calculation part, a distance measuring part and a control part. In the method, by use of visual light communication, a vehicle tries to connect with the front vehicle, and speed of the front vehicle is received, thereby calculating angles of the front vehicle. After distance between the vehicle and the front vehicle is measured, by use of the distance, the speed of the front vehicle, the calculated angel of the front vehicle and the moving distance of the vehicle, a throttle valve and an actuator are adjusted, actuator input is obtained from a user, and action is stopped after steering wheel adjustment input is obtained from the user. According to the invention, a driver is capable of stably running on a road with no need for operating the steering wheel and performing other actions except for driving during running, so a traditional problem of the feeling of fatigue generated during driving of the driver in long roads like traffic communication lines caused by similar driving environment is solved.
Description
Technical field
The present invention relates to a kind of front vehicles following device and method, specifically, the front vehicles following device utilizing visible light to communicate and method.
Background technology
At present, by light-emitting diode (Light Emitting Diode, LED) light equipment used as light source universal more extensive, there is a kind of visible light radio communication (Visible Light Communication, VLC) technology implementing to communicate with LED illumination device thereupon.
VLC technology is by Data import to the discernible visible light wave band of human eye, the communication technology wirelessly transmitted.The difference of VLC technology and existing wired optical communication technique and infrared wireless communication technology is, it uses the light of visible light wave band.VLC technology communicates different from radio frequency (Radio Frequency), from frequency utilization aspect, unrestricted do not need yet through examination & approval, use more convenient, and physical security is good, user can identify link personally.
Utilizing the VLC system of LED light source, cannot the phase information of detection of transmitted signals from receiving end, configuration is simple, therefore, sending end generally applies the intensity modulating method or two scale notation on off keying (On-Off Keying, OOK) modulator approach that electric data " 0 " and " 1 " are modulated into visible light change in signal strength.Utilize the sending end of the VLC system of LED light source as the sending end of ordinary numbers communication system, the encoding block of signal waveform data " 0 " and " 1 " being matched to " 0 " and " 1 " that specifies in system can be comprised, non-return-to-zero (Non-Return to Zero, NRZ), coding method such as zero (Return-to-Zero), Manchester (Manchester) etc. is applied respectively according to system.
But traditional technical Problems existing is, although implement transmitting-receiving with multiple LED, visible light radio communication (VLC) function can only be implemented, other various function can not be implemented.
Summary of the invention
The object of the present invention is to provide a kind of utilize visible light communication system to follow front vehicles vehicle following device and method, it can make driver not need to operate control wheel, also can stably travel, during traveling except driving, other behavior can also be made, thus solve the Problems existing traditionally producing sense of fatigue when driver travels on vital communication lines isometric section of road because running environment is similar.
In order to realize such scheme, the invention provides a kind of front vehicles following device utilizing visible light to communicate, wherein:
Comprise:
Utilize visible light communication, implement with front vehicles the Department of Communication Force received and dispatched;
Receive the front vehicles speed of a motor vehicle by described Department of Communication Force, calculate thus display with after the vertical composition of car direct of travel and described front vehicles between the angle calculation portion of front vehicles angle of angle;
Measure the range acquisition portion with the vehicle headway of described front vehicles; And
Described vehicle headway, the described front vehicles speed of a motor vehicle, described front vehicles angle and described vehicle miles of relative movement is utilized to regulate the control part of throttle gate and drg.
Described control part is, utilizes the miles of relative movement of described vehicle headway, the described front vehicles speed of a motor vehicle, described front vehicles angle and described vehicle to regulate bearing circle.
Described control part is, obtains drg input from user, obtains after bearing circle regulates input export the control signal stopping action from described user.
Receive data by timestamp from the left side of described front vehicles and right side taillight, utilize the time delay occurred thus, the angle formed by described left side and described right side taillight, calculates described front vehicles angle.
Described control part is, based on the miles of relative movement of described vehicle headway, the front vehicles speed of a motor vehicle, described front vehicles angle and described vehicle, calculate the steering wheel angle that described front vehicles generates in this place, by described vehicle headway, calculate the adjustment time point of described throttle gate and described drg.
Receiving the described front vehicles speed of a motor vehicle is, to be communicated implement to receive from the left side of described front vehicles and right side taillight by visible light.
Described range acquisition portion is, at least by the described vehicle headway of some mensuration in ultrasonic transduter, infradred sensor and laser sensor.
The front vehicles follower method utilizing visible light to communicate, wherein this implementation step comprises:
The step that visible light communicates is attempted with front vehicles;
After being connected with described front vehicles, communicated by described visible light, receive the described front vehicles speed of a motor vehicle, calculate thus display with from the vertical composition of car direct of travel and described front vehicles below between the step of front vehicles angle of angle;
Measure the step of vehicle headway between described front vehicles;
Based on the miles of relative movement of the described vehicle headway measured, the described front vehicles speed of a motor vehicle of reception, the described front vehicles angle of calculating and described vehicle, regulate the step of throttle gate, drg and bearing circle; And
Obtain drg input from user, obtain the step stopping action after bearing circle regulates input from described user.
Described front vehicles angle calculating step also comprises:
On the left of described front vehicles, taillight and right side taillight receive the step of self-clock time;
Receive the signal of described left side taillight and described right side taillight, calculate the step with the time of reception difference marking the signal stabbed at the same time;
The step of the circle that the certain distance that picture is as the criterion with receptor is radius;
Search on described vehicle headway to estimate circle that overall width is radius and the step by the contact point of the circle that is radius of the certain distance centered by car receptor;
Predict the step of described front vehicles position; And
Centered by the described front vehicles position of prediction and receptor, obtain contact point and center, then calculate the step of described front vehicles angle.
Described certain distance is, the distance with described front vehicles is added to the value of the half of the difference of described time of reception and the value of the light velocity.
The determination step of described vehicle headway is, from ultrasonic transduter, infradred sensor and laser sensor, at least passes through the wherein described vehicle headway of some mensuration.
After adopting such scheme, effective effect of the present invention is:
1, driver does not need to operate control wheel, also can stably travel, during traveling except driving, other behavior can also be made, thus solve the Problems existing traditionally producing sense of fatigue when driver travels on vital communication lines isometric section of road because running environment is similar;
2, according to the present invention, supplement and increase travel assist system function and lifting vehicle performance, convenient effect can be played as semi-automatic driving system;
3, compared with smart cruise control system, smart cruise control system is must by driver's steering dish, but the present invention is, driver does not need to handle control wheel, can auto-steering and more convenient;
4, in addition, realize link with sleepy driving monitoring system (such as, pupil tracing device), then can auto-steering when detecting that driver drives under sleepy state, thus prevent to have an accident because of fatigue driving.
Accompanying drawing explanation
Fig. 1 is the constructional drawing of the front vehicles following device of the embodiment of the present invention;
Fig. 2 is the precedence diagram of the front vehicles follower method of the embodiment of the present invention;
Fig. 3 is the precedence diagram of vehicle angles computation process in the front vehicles follower method of the embodiment of the present invention;
Fig. 4 is the schematic diagram calculating vehicle angles in the front vehicles follower method of the embodiment of the present invention.
In figure:
210: Department of Communication Force; 220: angle calculation portion;
230: range acquisition portion; 240: control part.
Detailed description of the invention
According to the present invention, the front vehicles following device of visible light communication is utilized to comprise: to utilize visible light communication and front vehicles to implement the Department of Communication Force received and dispatched; Receive the front vehicles speed of a motor vehicle by described Department of Communication Force, calculate on this basis display with after the vertical composition of car direct of travel and described front vehicles between the angle calculation portion of front vehicles angle of angle; Measure the range acquisition portion with the vehicle headway of described front vehicles; And utilize described vehicle headway, the described front vehicles speed of a motor vehicle, described front vehicles angle and described vehicle miles of relative movement to regulate the control part of throttle gate and drg.
According to the present invention, described control part utilizes the miles of relative movement of described vehicle headway, the described front vehicles speed of a motor vehicle, described front vehicles angle and described vehicle to regulate bearing circle.
According to the present invention, described control part output obtains drg input from user and obtains bearing circle from described user and regulates the rear output of input to stop the control signal of action.
According to the present invention, described angle calculation portion receives data by timestamp from the left side of described vehicle in front and right side taillight, utilizes the time delay occurred thus, and the angle formed by described left side and described right side taillight, calculates the angle of described front vehicles.
According to the present invention, described control part is based on described vehicle headway, the described front vehicles speed of a motor vehicle, described front vehicles angle and described vehicle miles of relative movement, calculate the steering wheel angle of described front vehicles in this ground dot generation, by described vehicle headway, calculate described throttle gate and described drg adjustment time point.
According to the present invention, receiving the described front vehicles speed of a motor vehicle is communicated by visible light, from left side and the reception of right side taillight of described front vehicles.
According to the present invention, described range acquisition portion at least passes through the wherein described vehicle headway of some mensuration from ultrasonic transduter, infradred sensor and laser sensor.
For making the object of the embodiment of the present invention, technical scheme and advantage clearly, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.The term used in the present invention, only in order to embodiment to be described, is not limit the invention.Singulative in this specification sheets, under not having the prerequisite of special suggestion, also comprises plural form in sentence." comprising (comprises) " of using in specification sheets or " (comprising) that comprise " do not get rid of other component more than one beyond involved component, step, action and/or element, step, action and/or element existence or supplement.
Below in conjunction with accompanying drawing, implementation column of the present invention is described in detail.
Fig. 1 is the constructional drawing of the front vehicles following device of the embodiment of the present invention.
As shown in Figure 1, front vehicles following device comprises Department of Communication Force 210, angle calculation portion 220, range acquisition portion 230 and control part 240.
Department of Communication Force 210 implements transceive communications by visible light communication and front vehicles.Specifically, the visible light transceiver communication data of Department of Communication Force 210 by being dispersed by left side taillight and the right side taillight of front vehicles.
Angle calculation portion 220 receives the front vehicles speed of a motor vehicle by Department of Communication Force 210, calculates front vehicles angle on this basis.Front vehicles angle be with after the vertical composition of car direct of travel and described front vehicles between angle.
Specifically, angle calculation portion 220, by timestamp, receives data from front vehicle left side and right side taillight, utilizes the time delay occurred thus, the angle calculation front vehicles angle formed by left side and right side taillight.Such as, front vehicles angle is 15 degree.
The front vehicles speed of a motor vehicle is received from the left side of front vehicles and right side taillight by visible light communication.Such as, the front vehicles speed of a motor vehicle is 60 km/h.
Range acquisition portion 230 measures the vehicle headway with front vehicles.Specifically, range acquisition portion 230, from ultrasonic transduter, infradred sensor and laser sensor, at least passes through wherein some mensuration vehicle headways.Such as, be 20m with the vehicle headway of front vehicles.
It is some that control part 240 utilizes in front vehicles angular adjustment throttle gate, drg and bearing circle.
Control part 240 utilizes vehicle headway, front vehicles speed, front vehicles angle and vehicle miles of relative movement to regulate bearing circle.
Specifically, control part 240 is sent to power system based on front vehicles angle CAN Bus, regulates throttle gate and drg.
Control part, based on the miles of relative movement of vehicle headway, front vehicles speed, front vehicles angle and vehicle, is delivered to bearing circle or MDPS (Motor Driving Power Steering) by CAN Bus, regulates the direction of bearing circle.
Control part 240 obtains drg input from user, obtains bearing circle and regulates input, then export the control signal stopping action from user.In other words, user steps on drg, regulates bearing circle, then need not follow front vehicles again, therefore starts the driving according to user intention.
Control part 240, based on vehicle headway, front vehicles speed, front vehicles angle and vehicle miles of relative movement, calculates the steering wheel angle of front vehicles in this ground dot generation, by vehicle headway, calculates throttle gate and drg adjustment time point.
Fig. 2 is the precedence diagram of the front vehicles follower method of the embodiment of the present invention.
As shown in Figure 2, first attempt implementing visible light with front vehicles and communicate (step S310).Specifically, attempt implementing visible light with vehicle in front by Department of Communication Force 210 to communicate.
Then, be confirmed whether to be connected with front vehicles (step S320).Specifically, confirm whether to be connected with front vehicles by Department of Communication Force 210.
After confirming connection, by the visible light communications reception front vehicles speed of a motor vehicle, this speed of a motor vehicle is utilized to calculate front vehicles angle (step S330).Specifically, receive the front vehicles speed of a motor vehicle by Department of Communication Force 210, calculate front vehicles angle by angle calculation portion 220.
Subsequently, the vehicle headway (step S340) with front vehicles is measured.Specifically, from ultrasonic transduter, infradred sensor and laser sensor, at least wherein some mensuration vehicle headways are passed through.
From the front vehicles angle and vehicle miles of relative movement of vehicle headway, the front vehicles speed of a motor vehicle, calculating, some at least based on wherein, at least regulates (step S350) to the some enforcement in throttle gate, braking and bearing circle.Specifically, by control part 240, some based in the front vehicles speed of vehicle headway, the front vehicles speed of a motor vehicle, calculating and vehicle miles of relative movement, at least regulates the some enforcement in throttle gate, drg and bearing circle.
Then, be confirmed whether to obtain drg input (step S360) from user.
And be confirmed whether that obtaining bearing circle from user regulates input (step S370).
Obtain drg input from user, and stop action after obtaining bearing circle adjustment input.Specifically, user steps on drg, direction of operating dish, then stop the automatic Pilot by vehicle following device, starts by user's manual drive.
Describe the method for calculating of front vehicles angle below.
-calculate the method for front vehicles angle-
D: applications distances determinator obtain with the distance of front vehicles
L: and the distance between the taillight of left side
R: and the distance between the taillight of right side
Lt=x: from the signal time of left side taillight Signal reception
Rt=x+a: from the signal time of right side taillight Signal reception
C: the light velocity (300,000 km/s)
A: the difference of the time of reception of left side taillight signal and right side taillight signal
O: with from car from the position of D distance
Fig. 3 is the precedence diagram to vehicle angles computation process in the front vehicles follower method of the embodiment of the present invention.
As shown in Figure 3, first, self-clock time (S331) is received from front vehicle left side taillight and right side taillight.Specifically, send as timestamp.
Then, receive the signal of left side taillight and right side taillight, calculate the difference (step S332) marking the signal reception time stabbed at the same time.Specifically, time of reception difference is a=Lt-Rt.
Draw the circle (step S333) that the certain distance that is as the criterion with receptor is radius subsequently.Specifically, certain distance be to front vehicles between distance (D) add that the difference (a) of time of reception is multiplied by the value of the half of the value of the light velocity (c).In other words, certain distance=D+a * C/2.
Then, search on vehicle headway to estimate circle that overall width is radius and the contact point (step S334) by the circle that is radius of the certain distance centered by car receptor.
The position (step S335) of prediction front vehicles.Such as, with the form of A and B prediction vehicle form, and Rt > Lt, therefore be difficult to the form forming B, but become the form of A.
Finally, obtain contact point and center centered by the front vehicles position of predicting and receptor after, calculate front vehicles angle (step S336).Such as, the contact point of the circle that the certain distance centered by A and receptor is radius is (v1, w1), and the position of 0 is (v2, w2), then vehicle angles is
.
Here, suppose that 0 for the center of front vehicles, therefore radius is D+a * C/2.
Fig. 4 is the schematic diagram calculating vehicle angles according to the front vehicles follower method of the embodiment of the present invention.As shown in Figure 4, vehicle form is illustrated as the form of A, A below and the angle of horizontal direction line segment formation become front vehicles angle.In other words, front vehicles angle be with from the vertical composition of car direct of travel and front vehicles (A) below between angle.
-timestamp-
Timestamp (time stamp) is the character string representing particular moment.For more plural moment or computing interval, display format is unified.Actual information is called time stab (time stamping) according to the behavior of timestamp form record.In file system, timestamp represents the moment being stored file generated or change.
2005-10-30 T 10:45 UTC
2007-11-09 T 11:20 UTC
Sat Jul 23 02:16:57 2005
According to the present invention, driver's inoperation bearing circle, also can stablize traveling on road, during traveling except driving, other behavior can also be made, thus solve the problem producing sense of fatigue when driver travels on the longer roads such as vital communication lines because running environment is similar.
The present invention is function because of supplementary travel assist system and lifting vehicle performance, as semi-automatic driving system, for driver provides more convenience.
Moreover, compared with smart cruise control system, smart cruise control system is must by driver's adjustment direction dish on bend, and the present invention is driver does not need direction of operating dish, can auto-steering and more convenient.
Therefore, link with real-time driving fatigue monitoring system (such as, pupil tracing device), and driver's sleepy meeting later auto-steering detected, thus prevent to cause the accident because of fatigue driving.
Above embodiment only in order to technical scheme of the present invention to be described, is not intended to limit; Although with reference to previous embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of technical scheme described in various embodiments of the present invention.Protection scope of the present invention should make an explanation according to following right, and all technical schemes in its equivalents should all belong to right of the present invention.
Claims (11)
1. utilize the front vehicles following device that visible light communicates, it is characterized in that:
Comprise:
Utilize visible light communication, implement with front vehicles the Department of Communication Force received and dispatched;
Receive the front vehicles speed of a motor vehicle by described Department of Communication Force, calculate thus display with after the vertical composition of car direct of travel and described front vehicles between the angle calculation portion of front vehicles angle of angle;
Measure the range acquisition portion with the vehicle headway of described front vehicles; And
Described vehicle headway, the described front vehicles speed of a motor vehicle, described front vehicles angle and described vehicle miles of relative movement is utilized to regulate the control part of throttle gate and drg.
2. the front vehicles following device utilizing visible light to communicate according to claim 1, is characterized in that:
Described control part is, utilizes the miles of relative movement of described vehicle headway, the described front vehicles speed of a motor vehicle, described front vehicles angle and described vehicle to regulate bearing circle.
3. the front vehicles following device utilizing visible light to communicate according to claim 1, is characterized in that:
Described control part is, obtains drg input from user, obtains after bearing circle regulates input export the control signal stopping action from described user.
4. the front vehicles following device utilizing visible light to communicate according to claim 1, is characterized in that:
Receive data by timestamp from the left side of described front vehicles and right side taillight, utilize the time delay occurred thus, the angle formed by described left side and described right side taillight, calculates described front vehicles angle.
5. the front vehicles following device utilizing visible light to communicate according to claim 1, is characterized in that:
Described control part is, based on the miles of relative movement of described vehicle headway, the front vehicles speed of a motor vehicle, described front vehicles angle and described vehicle, calculate the steering wheel angle that described front vehicles generates in this place, by described vehicle headway, calculate the adjustment time point of described throttle gate and described drg.
6. the front vehicles following device utilizing visible light to communicate according to claim 1, is characterized in that:
Receiving the described front vehicles speed of a motor vehicle is, to be communicated implement to receive from the left side of described front vehicles and right side taillight by visible light.
7. the front vehicles following device utilizing visible light to communicate according to claim 1, is characterized in that:
Described range acquisition portion is, at least by the described vehicle headway of some mensuration in ultrasonic transduter, infradred sensor and laser sensor.
8. utilize the front vehicles follower method that visible light communicates, it is characterized in that: this implementation step comprises:
The step that visible light communicates is attempted with front vehicles;
After being connected with described front vehicles, communicated by described visible light, receive the described front vehicles speed of a motor vehicle, calculate thus display with from the vertical composition of car direct of travel and described front vehicles below between the step of front vehicles angle of angle;
Measure the step of vehicle headway between described front vehicles;
Based on the miles of relative movement of the described vehicle headway measured, the described front vehicles speed of a motor vehicle of reception, the described front vehicles angle of calculating and described vehicle, regulate the step of throttle gate, drg and bearing circle; And
Obtain drg input from user, obtain the step stopping action after bearing circle regulates input from described user.
9. the front vehicles follower method utilizing visible light to communicate according to claim 8, is characterized in that:
Described front vehicles angle calculating step also comprises:
On the left of described front vehicles, taillight and right side taillight receive the step of self-clock time;
Receive the signal of described left side taillight and described right side taillight, calculate the step with the time of reception difference marking the signal stabbed at the same time;
The step of the circle that the certain distance that picture is as the criterion with receptor is radius;
Search on described vehicle headway to estimate circle that overall width is radius and the step by the contact point of the circle that is radius of the certain distance centered by car receptor;
Predict the step of described front vehicles position; And
Centered by the described front vehicles position of prediction and receptor, obtain contact point and center, then calculate the step of described front vehicles angle.
10. the front vehicles follower method utilizing visible light to communicate according to claim 9, is characterized in that:
Described certain distance is, the distance with described front vehicles is added to the value of the half of the difference of described time of reception and the value of the light velocity.
The 11. front vehicles follower methods utilizing visible light to communicate according to claim 8, is characterized in that:
The determination step of described vehicle headway is, from ultrasonic transduter, infradred sensor and laser sensor, at least passes through the wherein described vehicle headway of some mensuration.
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| Application Number | Priority Date | Filing Date | Title |
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| KR1020130095959A KR102110582B1 (en) | 2013-08-13 | 2013-08-13 | Device of following forward vehicle using visible light communication, and the method of thereof |
| KR10-2013-0095959 | 2013-08-13 |
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| CN104369736A true CN104369736A (en) | 2015-02-25 |
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| CN201410176166.9A Active CN104369736B (en) | 2013-08-13 | 2014-04-29 | Utilize the front vehicles following device and method of visual optic communication |
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| KR20150019285A (en) | 2015-02-25 |
| KR102110582B1 (en) | 2020-05-13 |
| CN104369736B (en) | 2017-08-04 |
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