CN105000064A - Pre-aiming and early warning system for automobile turning path and method of system - Google Patents
Pre-aiming and early warning system for automobile turning path and method of system Download PDFInfo
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- CN105000064A CN105000064A CN201510349662.4A CN201510349662A CN105000064A CN 105000064 A CN105000064 A CN 105000064A CN 201510349662 A CN201510349662 A CN 201510349662A CN 105000064 A CN105000064 A CN 105000064A
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- 230000007613 environmental effect Effects 0.000 claims 1
- 206010039203 Road traffic accident Diseases 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
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- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000004800 psychological effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Navigation (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention provides a pre-aiming and early warning system for an automobile turning path and a method of the system. The system comprises an embedded system, a steering wheel angle sensor, a locating module, a touch display screen, a power source and a storage unit, wherein the power source and the storage unit are connected with the embedded system. The embedded system serves as a host and stores an off-line map. A turning track is displayed on the touch display screen according to data of an existing steering wheel angle, the position and the speed of a user currently. Safety is judged according to the automobile position, the steering wheel angle and the speed. An early warning is given if it is judged that the existing travelling path is dangerous. The steering wheel angle sensor provides angle signals for the embedded system. The locating module provides position parameters and speed parameters. The touch display screen displays the map and early warning information. By the adoption of the system and the method, the probability of traffic accidents happening in the turning process of an automobile is reduced, estimation errors of a driver are avoided, the automobile turning path can be acquired in a pre-aiming manner and compared with a preset turning path, and warnings can be given to the driver in real time.
Description
Technical Field
The invention relates to the field of automobile driving control, in particular to an automobile turning path pre-aiming and early warning system and method.
Background
Various curves are often encountered in the driving process of the automobile, and different curves need to carry out different control on the speed of the automobile and the steering wheel angle. Traffic accidents occurring during the turning of the automobile are usually caused by improper control of the speed and the steering wheel angle of the automobile. Therefore, when the automobile turns, the driver can turn stably and timely, and the driver has to correctly estimate the speed, the turning angle and the driving track of the automobile by giving a proper driving instruction. However, sometimes, the driver is tired of driving or blocked by an obstacle, so that the driver has deviation in the command for controlling the steering wheel, and the deviation may be too much or too little, so that the automobile cannot run along a curved path, and the ability of following the road track is lost.
Ford developed the Curve Control system (Curve Control). The system is mainly used for assisting the vehicle to correct the dynamic state when the vehicle enters or exits a curve, and avoids accidents on the curve caused by too fast vehicle speed.
The most similar prior art implementation to the present invention:
the bend control system developed by Ford can reduce power and brake in a one-step manner when the situation that the vehicle speed is too fast to cause danger is sensed, and accidents are avoided. The system calculates data by comparing the steering wheel angle with the actual dynamic state of the vehicle, if the steering of the vehicle is found to be incapable of reaching an expected value, the system automatically intervenes for assistance, and brakes with different forces are respectively applied to each wheel by means of the traditional tracking control, so that the vehicle can smoothly pass a curve. However, the system cannot perform pre-aiming and pre-warning functions of the driver in curve driving, and cannot dynamically display the relation between the driver instruction and the road track in real time, so that the driver cannot correct the instruction in time, and can only ensure the stability of the automobile curve in a black box mode.
The prior art utilizes the mode of black box to guarantee the stability of car on the bend, has effectually promoted driving safety on the car bend. The prior art is however implemented in the form of a braking intervention. The driver does not clearly know that the input instruction is too much or too small, and the driver cannot know the behavior of the automobile under the instruction by using a dynamic image display mode. Therefore, it is inevitable to let the driver know the driving behavior in advance, and thus the driver cannot actively and securely grasp the state of the vehicle. These psychological effects on the driver are very large.
Disclosure of Invention
In order to solve the problems in the prior art, the invention aims to provide an automobile turning path preview and early warning system and an automobile turning path preview and early warning method. The driving path (the path is the automobile track determined by the operation instruction of the driver) of the automobile within a certain time (such as 10 seconds) in the future can be pre-aimed through two parameters of the current steering wheel angle and the speed of the automobile, the driving path is compared with the turning path given by a navigation system or other preset turning paths in real time, and the difference between the current path and the road path of the automobile is dynamically displayed in a graph mode. The difference shows that the operation instruction of the driver is excessive or insufficient, and finally whether the early warning information is given on the graph or not is determined through a decision algorithm so as to prompt the driver to correct the operation instruction. In addition, the system can be combined with a further automobile active safety system to perform active intervention, so that the driving safety is improved.
In order to achieve the purpose, the technical scheme of the invention is as follows:
an automobile turning path preview and early warning system, comprising: the device comprises an embedded system, a steering wheel corner sensor (connected with the embedded system through an ADC module), a positioning module, a touch display screen, a power supply and a storage unit (respectively connected with the embedded system). Wherein,
an embedded system: as a host, storing an off-line map therein; collecting and processing steering wheel angle sensor data and positioning data; calculating the expected turning track of the driver according to the current steering wheel turning angle, position and speed data of the user; and comparing the current state of the vehicle (positioning information, steering wheel angle, speed and the like) with the actual path (from map information data) to judge the safety of the current turning driving. And if the existing path is judged to be dangerous, early warning is carried out.
A positioning module: the vehicle position parameters and velocity parameters are provided using satellite positioning information (e.g., GPS, etc.).
A touch display screen: and displaying a map and early warning information.
Steering wheel angle sensor: the corner signal is provided for the embedded system.
Further, the positioning module obtains information such as the current position of the vehicle through a positioning system (such as a GPS) and communicates with the embedded tablet.
Further, the touch display screen can display information of the current driving and turning process of the vehicle, and also display turning information (such as left turning or right turning) of the vehicle, ambient weather information and other parameters.
Furthermore, the embedded system calculates and analyzes the steering target of the driver according to the information of the positioning module and the steering wheel angle sensor to obtain the expected turning track of the driver, and displays the expected turning track in real time through the display module.
Furthermore, the embedded system is provided with relevant map information, and the data transmitted by the positioning module is analyzed, so that the current path is displayed on the display module.
Further, the turning early warning specifically comprises: if the deviation between the expected turning track of the vehicle and the current driving path reaches a certain distance, the warning area displays warning information (for example, "please drive along the turning path"). When the speed of the vehicle in the turning exceeds the safe vehicle speed, warning information (such as 'please slow down', and the vehicle does not stop flashing until the vehicle speed is lower than the safe vehicle speed) is displayed.
A method for pre-aiming and pre-warning a turning path of an automobile is characterized in that a display screen draws the position of a current automobile (automatically draws a current path on a map) through map information in an embedded system and positioning parameters of a positioning module. Meanwhile, the turning radius of the automobile at the current moment is calculated according to the acquired speed signal and the acquired corner signal, a pre-aiming driving path within a certain time (such as 10 seconds) in the future is drawn by using the turning radius through a dotted line, and the driving positions of the automobile at different time intervals (such as 5 seconds, 8 seconds and 10 seconds) on the turning path are specially marked, so that a driver can clearly know whether the current moment of the automobile needs to correct the corner of the current steering wheel.
Further, if the automobile deviates from the actual path by a certain distance (such as 1 meter), early warning is carried out.
Further, the system utilizes images to display the turning path and the actual path in the future, and carries out early warning and prompting through display, sound and the like.
Furthermore, the system can be combined with the existing automobile navigation system, namely, the system is developed by adopting some hardware (such as a display part, map information and the like) of the existing navigation system. Or by adding or modifying certain algorithms using existing navigation systems.
Furthermore, the system can also be combined with subsequent automobile active safety devices and the like, so that the operation stability of the automobile during steering is improved.
Compared with the prior art, the invention has the beneficial effects that:
the method can pre-aim the driving path (the path is the automobile track determined by the operation instruction of the driver) of the automobile within a certain time (such as 10 seconds) in the future through two parameters of the current steering wheel angle and the speed of the automobile, compares the driving path with the given or other preset turning paths of the navigation system in real time, and dynamically displays the difference between the current path of the automobile and the road path in a graph form. The difference shows that the operation instruction of the driver is excessive or insufficient, and finally whether the early warning information is given on the graph or not is determined through a decision algorithm so as to prompt the driver to correct the operation instruction. In addition, the system can be combined with a further automobile active safety system to perform active intervention, so that the driving safety is improved. In order to reduce the probability of traffic accidents of the automobile in the turning process and simultaneously reduce estimation errors caused by driver fatigue or barrier shielding and the like, the method not only can pre-aim the turning path of the automobile, but also can compare the pre-aimed turning path with the preset turning path and give a warning to the driver in real time.
Drawings
FIG. 1 is a schematic flow diagram of the present invention.
FIG. 2 is a diagram of the hardware architecture of the system of the present invention.
FIG. 3 is a diagram of a turn interface display scenario in accordance with the present invention.
Detailed Description
The technical scheme of the invention is further described in detail by combining the drawings and the detailed implementation mode:
as shown in fig. 1, an automobile turning path pre-aiming and pre-warning system includes: the device comprises an embedded system, a steering wheel corner sensor, a positioning module, a touch display screen, a power supply, a storage unit and the like.
An embedded system: as a host, map information is stored inside; collecting and processing steering wheel angle sensor data and positioning data; calculating the expected turning track of the driver according to the current steering wheel turning angle, position and speed data of the user; and comparing the current state of the vehicle (positioning information, steering wheel angle, speed and the like) with the actual path (from map information data) to judge the safety of the current turning driving. And if the existing path is judged to be dangerous, early warning is carried out.
A positioning module: the vehicle position parameters and velocity parameters are provided using satellite positioning information (e.g., GPS, etc.).
A touch display screen: and displaying a map and early warning information.
Steering wheel angle sensor: and providing a corner signal for the embedded flat plate.
The positioning module is connected with the embedded flat plate through a serial port.
The touch display screen also displays ambient weather information and other parameters.
And a steering state of turning left or turning right is also displayed on the touch display screen.
The calculation or preview of the vehicle steering path is performed by using the vehicle information (steering wheel angle, position, speed, etc.).
The early warning of the host specifically comprises the following steps: if the distance between the position of the vehicle and the preset path exceeds a certain distance, the warning area displays warning words (for example, "please drive along the turning path"). When the speed of the bicycle during turning exceeds the safe speed, the related reminding words (such as 'please decelerate') can be displayed until the speed is lower than the safe speed.
A method for pre-aiming and pre-warning a turning path of an automobile is characterized in that a display screen draws the position of a current automobile (automatically draws a current path on a map) through map information in an embedded system and positioning parameters of a positioning module. Meanwhile, the turning radius of the automobile at the current moment is calculated according to the acquired speed signal and the acquired corner signal, a pre-aiming driving path within a certain time (such as 10 seconds) in the future is drawn by using the turning radius through a dotted line, and the driving positions of the automobile at different time intervals (such as 5 seconds, 8 seconds and 10 seconds) on the turning path are specially marked, so that a driver can clearly know whether the current moment of the automobile needs to correct the corner of the current steering wheel.
As shown in fig. 2, the working principle of the present invention is:
the invention is to be installed in a vehicle, and the power supply is solved by a vehicle-mounted power supply. After power-on is an initialization process. The current position of the vehicle is determined by the GPS, and the vehicle is read and analyzed. And reading the stored map information data, and drawing the current position of the vehicle and the path around the vehicle. And if navigation is needed, entering navigation setting, and starting to read the steering wheel angle information after the navigation setting is completed. If the vehicle is in the steering working condition, calculating the pre-aiming track of the vehicle according to the current state of the vehicle (such as the steering wheel angle, the vehicle speed, the road state and the like), simultaneously comparing the pre-aiming track with the actual path, and if the pre-aiming track exceeds a preset value, giving an early warning. And simultaneously, the track of the vehicle in a certain future time (such as 3 seconds, 5 seconds, 8 seconds, 10 seconds and the like) is dynamically displayed on the display module by using the color curve. The driver can clearly acquire the current turning state of the vehicle. If there is no turn, the next step in the loop is entered directly until a shutdown command.
Fig. 3 shows a display interface of a map portion of the system of the present invention at a certain time, wherein five stars in red are the own vehicle position. When the self-vehicle turns along the current road, the system can calculate the turning preview path of the self-vehicle according to the steering wheel angle and the current speed of the self-vehicle, and the turning preview path is displayed on a map, namely the color solid line part in the map. The displayed solid colored lines also show the future trajectory states (e.g., 3 seconds, 5 seconds, 10 seconds, etc.) at different times, where the blue solid line is the path that the vehicle will travel in the 3 seconds future at the current steering wheel angle and vehicle speed, the green solid line represents the 3 to 5 seconds future preview path, and the red solid line is the 5 to 10 seconds future preview path. Therefore, the driver can correct the steering wheel angle of the driver and control the speed of the automobile according to the displayed information, and the stability and the driving safety of the automobile are improved. And the system can monitor the position of the self-vehicle in real time, and if the distance between the position of the self-vehicle and the preset path exceeds a certain distance, the warning area can display a certain word (for example, "please drive along the turning path"). When the speed of the self-vehicle in the turning exceeds the safe vehicle speed, corresponding information (such as 'please decelerate') can be prompted until the vehicle speed is lower than the safe vehicle speed.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that are not thought of through the inventive work should be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope defined by the claims.
Claims (9)
1. The utility model provides a car turn path is prealigned and early warning system which characterized in that includes: the embedded system, the steering wheel corner sensor, the positioning module, the touch display screen, the power supply and the storage unit are respectively connected with the embedded system,
an embedded system: the system is used as a host and used for collecting and processing steering wheel angle sensor data and positioning data; calculating the expected turning track of the driver according to the current steering wheel turning angle, position and speed data of the user; storing an off-line map inside the mobile terminal; displaying a turning track on a touch display screen according to the current steering wheel turning angle, position and speed data of a user; judging safety according to the position, the steering wheel angle and the speed of the vehicle, and giving an early warning if the vehicle is judged to run on the existing path in danger;
the positioning module provides a position parameter and a speed parameter by utilizing the satellite positioning information;
a touch display screen: displaying a map and early warning information;
the steering wheel angle sensor provides an angle signal for the embedded system.
2. The system of claim 1, wherein the positioning module obtains current position information of the vehicle through the positioning system and communicates with the embedded tablet.
3. The system of claim 1, wherein the touch screen displays information about the current driving and turning process of the vehicle, turning information of the vehicle, environmental weather information, and other parameters.
4. The system of claim 1, wherein the embedded system calculates and analyzes the steering target of the driver according to the information of the positioning module and the steering wheel angle sensor, obtains the turning track expected by the driver, and displays the turning track in real time through the display module.
5. The system of claim 1, wherein the embedded system has associated map information, and the data transmitted by the positioning module is parsed to display the current route on the display module.
6. The system according to claim 1, wherein the turn warning is specifically: if the deviation between the expected turning track of the self vehicle and the current driving path reaches a certain distance, the warning area can give a prompt; when the speed of the self-vehicle in turning exceeds the safe vehicle speed, the self-vehicle can also give a prompt or continuously flicker until the vehicle speed is lower than the safe vehicle speed.
7. A method for pre-aiming and early warning of automobile turning path is characterized in that a display screen draws the position of a current automobile through map information in an embedded system and in combination with positioning parameters of a positioning module, calculates the turning radius of the automobile at the current moment according to collected speed signals and turning angle signals, draws a pre-aiming driving path within a certain time in the future by using the turning radius, and particularly marks the driving positions of the automobile on the turning path at different time intervals, so that a driver can clearly know whether the current moment of the automobile needs to correct the turning angle of a current steering wheel.
8. The method of claim 7, wherein the vehicle is warned after a certain distance from the actual path.
9. The method of claim 7, wherein the system uses graphics to display the turning path and the actual path for a future period of time, and uses display and sound to provide warning and prompt.
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| CN201510349662.4A CN105000064A (en) | 2015-06-23 | 2015-06-23 | Pre-aiming and early warning system for automobile turning path and method of system |
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| CN201510349662.4A CN105000064A (en) | 2015-06-23 | 2015-06-23 | Pre-aiming and early warning system for automobile turning path and method of system |
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Cited By (10)
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| CN105951573A (en) * | 2016-05-24 | 2016-09-21 | 安徽宜留电子科技有限公司 | Infrared guide warning assembly for scribing machine |
| CN108399394A (en) * | 2018-03-12 | 2018-08-14 | 海信集团有限公司 | Barrier method for early warning, device and terminal |
| WO2018187984A1 (en) * | 2017-04-12 | 2018-10-18 | 深圳市南北汽车美容有限公司 | Method for prompting speed reduction according to road curve, and prompting system |
| CN110751835A (en) * | 2019-11-06 | 2020-02-04 | 中国人民解放军战略支援部队航天工程大学士官学校 | Vehicle monitoring and early warning system and method based on Beidou navigation technology |
| CN111008505A (en) * | 2019-11-18 | 2020-04-14 | 西华大学 | Urban ramp driving condition construction method and application |
| US20200262424A1 (en) * | 2019-02-14 | 2020-08-20 | Honda Motor Co., Ltd. | Semi-autonomous vehicle control system and method of controlling a semi-autonomous vehicle |
| CN112698644A (en) * | 2019-10-22 | 2021-04-23 | 坤泰车辆系统（常州）有限公司 | Longitudinal speed adjusting strategy based on pure pursuit algorithm |
| CN112783143A (en) * | 2019-10-22 | 2021-05-11 | 坤泰车辆系统（常州）有限公司 | Obstacle avoidance control speed method based on Pure Pursuit algorithm |
| CN114481759A (en) * | 2022-01-27 | 2022-05-13 | 中国建筑第二工程局有限公司 | Small-radius connection sharp-bend paving method |
| CN117068195A (en) * | 2023-08-22 | 2023-11-17 | 宁波市海曙雪利曼电子仪表有限公司 | Communication terminal automobile driving track display processing system |
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| CN105951573A (en) * | 2016-05-24 | 2016-09-21 | 安徽宜留电子科技有限公司 | Infrared guide warning assembly for scribing machine |
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| CN111008505A (en) * | 2019-11-18 | 2020-04-14 | 西华大学 | Urban ramp driving condition construction method and application |
| CN111008505B (en) * | 2019-11-18 | 2023-05-23 | 西华大学 | Urban ramp driving condition construction method and application |
| CN114481759A (en) * | 2022-01-27 | 2022-05-13 | 中国建筑第二工程局有限公司 | Small-radius connection sharp-bend paving method |
| CN117068195A (en) * | 2023-08-22 | 2023-11-17 | 宁波市海曙雪利曼电子仪表有限公司 | Communication terminal automobile driving track display processing system |
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Application publication date: 20151028 |