CN105059184B - The rollover early warning of passenger stock bend and actively prevention and control device and determination methods thereof - Google Patents
The rollover early warning of passenger stock bend and actively prevention and control device and determination methods thereof Download PDFInfo
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Abstract
The invention discloses the rollover early warning of passenger stock bend and actively prevention and control device and determination methods thereof, including digital signal processor, the input of described digital signal processor connects image capture module and signal acquisition module；Described signal acquisition module connects vehicle speed sensor by data wire P1；The outfan of described digital signal processor connects signal output module, liquid crystal display, storage hard disk and alarm module.The present invention utilizes signal processor to be compared with calculated critical speed by real-time GES, magnitude relationship according to the two, utilize alarm module voice message driver's vehicle speed condition, make corresponding rollover risk early warning, and take vehicle preparation measures in advance, reach the purpose of active protection rollover, reduce the casualty rate of passenger stock accident；Reach, to rollover risk early warning and the combination of actively prevention and control, to contribute to improving the safety assurance ability of highway in China Passenger Transport Enterprises.
Description
Technical field
The invention belongs to passenger stock active safety field, relate to the rollover early warning of passenger stock bend and fill with main prevention and control
Put and determination methods.
Background technology
Passenger stock rollover is a kind of relatively conventional vehicle accident, and excessive centrifugal force makes vehicle lose riding stability
And topple over.Rollover ratio shared by vehicle accident is the highest, but the casualty rate that rollover brings is but far above rollover
Accident rate.Especially passenger stock is once turned on one's side, and tends to occur serious casualties and economic loss.
Turn on one's side and the most often occur after vehicle enters bend, and the domestic and international research to turn on one's side early warning or rollover early warning is opened
Send out, tend to rely on the signal that sensor provides and the threshold value being previously set, only at lateral acceleration or body roll
When angle reaches certain value, anti-rollover system just works.Early warning and prevention and control measure are crossed late so that can not provide enough to driver
In the response time, driver is the most nervous in the face of precipitate early warning, there is certain erroneous judgement or the risk of maloperation,
Easy and other vehicles motions interweave and cause second accident.Due to the Current vehicle especially vehicle on highway speed of service very
Height, existing anti-rollover technology there is the problem that first not to rollover risk section early warning；Second is in risk
The anti-side tipping that section may need can not carry out the vehicle of necessity before operation and prepare；3rd is brief moment control before danger
The amount of calculation of device processed is too big, there is certain false dismissal and false alarm；4th is not to road ahead and driver's operation behavior
Record.
Summary of the invention
For above-mentioned problems of the prior art and defect, it is an object of the invention to, it is provided that a kind of passenger stock
Bend rollover early warning and actively prevention and control device, can allow passenger stock identify risk bend before entering rollover risk bend
And carry out early warning, before entering bend, the most automatically take certain vehicle preparation measures, reduce and travel passenger traffic in bend
The rollover risk of vehicle, accomplishes the combination of early warning and actively prevention and control；And algorithmically improved, reduce amount of calculation, with
And be there is hard disk for suitable in other vehicle movable informations video recording in the ccd video camera visual field in the driving locus of driver, road
Time read.
To achieve these goals, the present invention adopts the following technical scheme that
The rollover early warning of passenger stock bend and actively prevention and control device, including digital signal processor, described numeral
The input of signal processor connects image capture module and signal acquisition module；Described signal acquisition module passes through data wire
P1 connects vehicle speed sensor；
The outfan of described digital signal processor connects that to perform logarithmic output signal hard according to line, liquid crystal display, storage
Dish and alarm module, described execution logarithmic output signal connects execution module according to line.
Described storage hard disk connects image capture module.
Specifically, described image capture module include being arranged on the ccd video camera inside passenger stock front windshield and
Image decoder, described ccd video camera connects image decoder.
Further, described digital signal processor, signal acquisition module, liquid crystal display, alarm module and storage are hard
Dish is all by draw-in groove or be bolted in a metal shell, and described metal shell is by support and is bolted to passenger train
The top of instrumental panel.
Specifically, described logarithmic output signal according to line include 3 logarithmic output signals according to line, respectively data wire Q1, data wire
Q2 and data wire Q3, described execution module includes that retarder switchs, half/Active suspension switch and servo steering system, three
Connect described data wire Q1, data wire Q2 and data wire Q3 respectively.
A kind of Passenger Vehicle bend rollover early warning and actively prevention and control determination methods, specifically include following steps:
Step 1: demarcate ccd video camera, obtains inner parameter and the external parameter of ccd video camera；
Step 2: utilize ccd video camera to gather road ahead image, and be sent at digital signal by image decoder
In reason device 1；
Step 3: the road image collecting step 2 carries out pretreatment；
Step 4: the lane line of the pretreated road image that extraction step 3 obtains；
Step 5: the lane line linear equation aspect ratio relation obtaining step 4 carries out bend identification, it is judged that vehicle is
No will sail bend into；If vehicle will sail bend into, then perform step 6, otherwise, go to step 2；
Step 6: the turning radius R of the lane line that calculation procedure 4 obtains；
Step 7: the turning radius R obtained according to step 6, seeks the critical speed in negotiation of bends anti-rollover behavior, as faced
Boundary's speed is more than passenger stock max. speed, goes to step 2, otherwise goes to step 8；；
Step 8: gather the actual speed in real time of passenger stock, judge with the contrast of critical speed according to it, it is judged that front is curved
Travel in road and whether there is rollover risk, implement graduation early warning and prevention and control rollover measure.
Specifically, the concrete methods of realizing of described step 4 is as follows:
Step 4.1: below road image, 1/4 region is set as that first paragraph detects image sections, is divided into ROIA and ROIB,
During about the ROI lane line of detection first paragraph image extracts, search left and right lane line within the specific limits；Extract ROIA
With the left and right lane line in ROIB, the slope in the track, left and right that line midpoint is a, ROIA and ROIB of two lane line upper extreme points
Average K1；
Step 4.2: from a from sending out and with K1The dividing line of area-of-interest in next section of image, this dividing line is made for slope
Both sides be respectively ROIC and ROID, go out left and right lane line at the two region detection, in the line of two lane line upper extreme points
Point is slope average K in the track, left and right of b, ROIC and ROID2；
Step 4.3: from b from sending out and with K2Doing the dividing line of area-of-interest in next section of image for slope, the rest may be inferred
Till utilizing the lane line detecting six sections of all ROI of image of road image.
Specifically, the concrete methods of realizing of described step 8 is as follows:
By gathering the actual vehicle velocity V in real time of passenger stock, judge according to the contrast with critical speed, implement graduation in early days
Early warning；Concrete grammar is as follows:
V≤0.8VT, voice reminder driver vehicle will enter bend；
0.8VT＜ V≤VT, voice message driver vehicle will enter bend, and current vehicle speed and critical speed are shown
On a display screen, and inform existence rollover risk, automatically tackle operation by automatically carrying out tertiary risk, i.e. start vehicle-mounted slowly
Device, and remind driver that retarder has automatically turned on；
1.1VT＞ V ＞ VT, voice message driver's speed is too high, and current vehicle speed and critical speed are shown at display screen
On, automatically tackle operation by automatically carrying out light breeze danger, i.e. on the basis of three grades of reply operations, remind driver to regulate speed
Suggestion is linked into be kept out, as passenger stock is equipped with the passenger stock of half/Active suspension；
V≥1.1VT, voice message driver's speed is the highest, and current vehicle speed and critical speed are shown on a display screen,
Automatically tackling operation by automatically carrying out prime risk, i.e. on the basis of two, three grades of reply operations, servo steering system provides
The negative power-assisted of 5%.
Compared with prior art, the present invention has following technical effect that
1, the present invention utilizes signal processor to be compared with calculated critical speed by real-time GES, according to
The magnitude relationship of the two, utilizes alarm module voice message driver's vehicle speed condition, makes corresponding rollover risk early warning,
And open passenger stock relevant device in advance by signal output module, thus for anti-side that may be present after will entering bend
The behavior of turning over is carried out and is prepared in advance, turns over operation for passenger stock in the contingent anti-side of bend and sets aside some time, and can give driver
Certain mental preparation and complete vehicle and prepare, accomplishes early warning and the combination of actively prevention and control, reaches the mesh of prevention and control rollover
, reduce the casualty rate of passenger stock accident, contribute to improving the safety assurance ability of highway in China Passenger Transport Enterprises.
2, the present invention uses the method that lane line is extracted in divided area combination, accomplishes that subregion becomes more meticulous extraction lane line,
Amount of calculation reduces relatively, and uses the method dynamically dividing ROI, is also beneficial to reduce amount of calculation, improves calculation to a certain extent
The real-time of method and stability.
3, the present invention arrange storage hard disk for the track of vehicle of the emergency operation of memory of driving person and and ccd video camera regard
, once there is vehicle accident in other vehicle movable informations in wild, can be that traffic control department provides basis for estimation.
Accompanying drawing explanation
Fig. 1 is CCD camera scheme of installation；
Fig. 2 is the hardware architecture diagram of the present invention；
Fig. 3 is combination ROI dynamic partition figure；
Fig. 4 is the method flow diagram of the present invention；
In figure, label represents: 1 digital signal processor, 2 image capture modules, 3 signal acquisition module, 4 liquid
Crystal display, 5 alarm modules, 6 storage hard disks, 7 perform logarithmic output signals according to line, 8 vehicle speed sensor, 9 metals
Housing, 10 on and off switch.
With embodiment the solution of the present invention done below in conjunction with the accompanying drawings and explain in further detail and illustrate.
Detailed description of the invention
Deferring to technique scheme, see Fig. 1 and 2, the Passenger Vehicle bend rollover early warning of the present invention is with the most anti-
Control device, including digital signal processor 1, the input of described digital signal processor 1 connects image capture module 2 and letter
Number acquisition module 3；Described signal acquisition module 3 connects vehicle speed sensor 8 by data wire P1；Described Digital Signal Processing
The outfan connection execution logarithmic output signal of device 1 is according to line 7, liquid crystal display 4, storage hard disk 6 and alarm module 5, and described holds
Row logarithmic output signal connects execution module according to line 7.
Specifically, described image capture module includes ccd video camera and image decoder, and ccd video camera is arranged on passenger traffic
Inside vehicle front windshield, the track being tiltedly directing forwardly, ccd video camera connects image decoder.Setting height(from bottom) is h, tilts
Angle α, camera lens towards front slightly biased under.
The present invention utilizes the instantaneous picture of ccd video camera shooting vehicle front road, by image after image decoder
Signal is transferred in digital signal processor 1；According to its plug-in, digital signal processor 1 judges whether road ahead exists
Bend, if through judging that road ahead exists bend, then calculates passenger stock and the critical speed of rollover occurs.
Described signal acquisition module 3 gathers the real-time GES that vehicle speed sensor 8 records, and is transferred to digital signal
In processor 1.
Real-time GES is compared by digital signal processor 1 with calculated critical speed, according to the two
Magnitude relationship, utilizes alarm module 5 voice message driver's vehicle speed condition, makes corresponding rollover risk early warning, and leads to
Cross logarithmic output signal and open passenger stock relevant device according to wire harness 7 in advance, such as retarder, half/Active suspension and power-assisted steering system
System, thus carry out extraction for anti-rollover behavior that may be present after will entering bend and prepare, may at bend for passenger stock
The anti-side occurred is turned over operation and is set aside some time, and can give the certain mental preparation of driver and complete vehicle and prepare, reaching to take precautions against
The purpose of rollover, reduces the casualty rate of passenger stock accident.Contribute to improving the safety assurance ability of highway in China Passenger Transport Enterprises.
Described storage hard disk 6 other cars in the ccd video camera visual field in the driving locus and road of memory of driving person
, once there is vehicle accident in movable information, can be that traffic control department provides basis for estimation.
Described liquid crystal display is used for showing danger classes and critical speed value, to remind driver safety to drive, and liquid
Crystal display and alarm module are Tong Bu on time and content.
Alternatively, described ccd video camera uses SONY 1/4 " machine vision industrial camera, model is WAT-232,
The model of image decoder is TVP5150.The outfan of described image decoder passes through at USB2.0 data wire and digital signal
Reason device 1 connects, and image decoder uses TVP5150.
Specifically, described alarm module 5 includes speech chip and speaker.
Further, described digital signal processor 1, signal acquisition module 3, liquid crystal display 4, alarm module 5 and
Storage hard disk 6 is all by draw-in groove or be bolted to anticipate in metal shell 9, and described metal shell 9 is solid by support and bolt
It is scheduled on the top of passenger stock instrumental panel.
On and off switch 10 is installed on described metal shell 9, described on and off switch 10 and described digital signal processor 1,
Signal acquisition module 3, liquid crystal display 4, alarm module 5 and storage hard disk 6 are all connected by respective power-switching circuit, power supply
It is each module for power supply that change-over circuit is used for regulating voltage.
Specifically, described logarithmic output signal according to line 7 include 3 logarithmic output signals according to line, respectively data wire Q1, data
Line Q2 and data wire Q3, described execution module includes that retarder switchs, half/Active suspension switch and servo steering system, three
Person connects data wire Q1, data wire Q2 and data wire Q3 respectively.
Alternatively, described digital signal processor 1 uses TMS320DM6437, the type that described ccd video camera uses
Number being SONY WAT-232, signal acquisition module 3 uses MC9S12DG128B, uses liquid crystal display 4 to use TVG-703, institute
Stating the speech chip in warning module 5 and use ISD4004-08, speaker uses 2 cun of speakers, and storage hard disk 6 uses Seagate
STEA2000400；Described vehicle speed sensor 8 uses KF-01004 Hall vehicle speed sensor.
The rollover early warning of Passenger Vehicle bend and the actively prevention and control determination methods of the present invention, sees Fig. 4, specifically include with
Lower step:
Step 1: ccd video camera is demarcated
Need ccd video camera is demarcated before device is installed, obtain the inner parameter of ccd video camera and outside ginseng
Number.
First making scaling board, scaling board is provided with calibration graph, calibration graph selects chequered with black and white square side
Frame, the length of side is 10cm.Ccd video camera is utilized to gather the image of scaling board different angles, soft to the imagery exploitation matlab gathered
Part is demarcated, and obtains inner parameter and the external parameter of ccd video camera.Inner parameter mainly has: effective focal length f, distortion system
Number fc and distortion factor kc, these parameters have reacted the video camera distortion to image itself.The outside that camera calibration obtains
Parameter has video camera away from ground level h, with car lateral extent d, angle of rotation γ, angle of pitch α.Ccd video camera demarcates posterior fixation devices,
Turn on the power switch during real work, start system.
Step 2: gather road image
Utilize ccd video camera to gather road ahead image, and be sent to digital signal processor 1 by image decoder
In.
Step 3: road image is carried out pretreatment
Because actual road conditions is typically complex, there is greasy dirt in the road image that in step 2, ccd video camera photographs
With other chaff interference, therefore digital signal processor 1 needs road image is carried out pretreatment, to remove the interference on image
Point and useless point, and increase picture contrast.
Step 3.1: utilize Wiener filtering that road image is implemented Filtering Processing to filter part random noise.Wiener filtering
Device belongs to Modern Filter, is still suitable for when signal and interference band have overlap when, and dialogue noise filtering effect is obvious.Simultaneously
Wiener filtering amount of calculation and storage area in various Modern Filters is relatively small, beneficially the real-time calculating of system.
In the road image that step 3.2:CCD video camera obtains, the gray difference between each object may be less, makes image
Contrast is poor.The present invention utilizes histogram modification gradation of image spacing to pull open, and is conducive to strengthening the overall contrast of road image
Degree.The whole gray value of image all adjusts in interval (0,255).
Step 4: lane line is extracted in divided area combination
Carriageway image after the process obtaining step 3 carries out subregion combination and extracts lane line.Generally road image is
Top 1/4 region be natural landscape, in order to reduce amount of calculation, the present invention using image base 3/4 region as Initial R OI
(Region Of Interest) candidate region, and divide the image into multiple region, as shown in Figure 3.Below road image
3/4 region divides the difference according to lane line slope characteristics to be divided into four regions, in order to reduce amount of calculation further, by track, left and right
The straight-line detection of line separately processes, and is subdivided into again multiple ROI region according to features, due to the more institute of subregion in each region
Straight way line is all regarded as with the lane line in each ROI.I district, in image base 1/4 region, is divided into left and right ROI region, this region
Lane line be generally straightway；II district accounts for the 1/4 of picture traverse, and if any bend in this area image, slope is not
Can be too big, it is separated into two pieces to this region is wide, draws again for every piece and set about two ROI region；The 1/ of III district occupied road image
8 width, owing to being in, the general slope of the lane line of this position is higher and lane line length is shorter, preferably further at segmentation
Reason, so division the most wide to this region, and left and right is drawn and is set ROI；IV district accounts for 1/8 width of image, owing to lane line is at this
The probability of the appearance in one region is less and line segment slope is shorter, in order to avoid operand, and the most wide division, only draw in this region
If two, left and right ROI.
The present invention uses the method dynamically dividing ROI region, and the lane line slope detected in upper two ROI in a region is equal
Value and left and right lane line end points, make the partitioning standards of subsequent region both sides ROI region, is so conducive to the basis divided at ROI
Upper Quick Test Vehicle diatom.The method utilizing subregion combination to extract lane line advantageously reduces amount of calculation, to a certain extent
Improve real-time and the stability of algorithm.Implement step as follows:
Step 4.1: below road image, 1/4 region is set as first paragraph ROI (i.e. ROIA and ROIB), at detection first paragraph
During about ROI lane line, set initial left-lane line search angular range as 40 degree to 70 degree, right lane line search angle
Degree scope is defined as 110 degree to 160 degree, so contributes to reducing hunting zone, reduces the amount of calculation of digital signal processor；Carry
Take out the left and right lane line in ROIA and ROIB, the left and right car that line midpoint is a, ROIA and ROIB of two lane line upper extreme points
Slope average K in road1；
Step 4.2: owing to lane line is that continuous print does not exist distortion, so from a and with K1Next section is made for slope
The dividing line of area-of-interest in image, the both sides of this dividing line are respectively ROIC and ROID, go out a left side at the two region detection
Right lane line, slope average K in the track, left and right that line midpoint is b, ROIC and ROID of two lane line upper extreme points2。
Step 4.3: from b and with K2Doing the dividing line of area-of-interest in next section of image for slope, the rest may be inferred
Till utilizing the lane line detecting six sections of all ROI in region of road image.
Said method, combination is used to divide multiple region, both decreased amount of calculation and also ensure that lane line extracts simultaneously
Fineness；During each region lane line extracts, using the average of left and right lane line slope as next section of area-of-interest
Partitioning standards, above-mentioned design has fully taken into account the variation characteristic of Ackermann steer angle lane line, thus more laminating application is real
Border so that the lane line extracted is more accurate, it is ensured that the accuracy that track radius and critical speed calculate；Use simultaneously by
Step reduces the mode of hunting zone, increases accuracy and the real-time of algorithm.
Wherein, the described concrete grammar extracting left and right lane line is as follows:
(a): utilize Sobel operator to detect lane line edge, obtain track edge line strengthened lane line image.Image
There is pixel grey scale discontinuity, especially change greatly at edge's pixel grey scale, utilize Sobel operator can detect image
Pixel break edge line also strengthens edge line.Sobel operator edge detection effect is obvious, and affected by noise little, permissible
The edge line segment being quickly detected in image includes left and right lane line.Taking that to determine Sobel operator as follows, SR is the inspection of right lane line edge
Measuring and calculating, SL is left-lane line edge detection operator:
(b): image binaryzation.The road edge line strengthened lane line image obtaining step (a) carries out binaryzation
Process, the gray value of the pixel on image is arranged to 0 or 255.Image can present obvious black and white, and edge lines are white
Color, all black of background.Method particularly includes: the road edge line utilizing dynamic threshold segmentation method to obtain step (a) is strengthened
After lane line image split, with a dynamic threshold, the grey level histogram of image is classified, less than the gray scale of this threshold value
It is set to 0, is set to 255 higher than the gray scale of this threshold value, make edge line display in the picture.
Dynamic threshold value determination method is as follows: by front 3 two field pictures, finds pixel maximum in this three frames road image,
Tried to achieve average Pm of three two field picture gray scale maximums by plug-in, and calculate in 1/6 region below image road is put down
All gray value Pd, dynamic threshold Pt=1/5 | Pm-Pd |.Dynamic threshold, every 6 hours, is updated once by system automatically.
C (): to the image after step (b) binaryzation, carries out probability Hough transformation, extract lane line.Described Hough becomes
Whole piece curve in original road image or straight line are converted into a point of parameter space by transducing.Identification parameter space can be used
The means of middle peak dot, replace detection curve or the method for straight line in original road image.Graph line is converted into polar coordinate side
Journey: ρ=xcos θ+ysin θ.The concrete step of probability Hough transformation is played as follows:
The parameter space of each ROI is divided into several zonule, and each region is correspondingly arranged an accumulator, and initial value is
0。
A point (x on image borderi, yi) it is mapped to polar coordinate formula, calculate corresponding ρ, accumulator is added 1, so
After from concentrate delete this point.
Process (the x that each region is wholei, yi) until image border point set is empty, it is judged that whether the value of each accumulator is more than threshold
, there is a significant line segment if greater than just explanation in value thr.
By (xi, yi) and (ρ, θ) jointly determine the line segment parameter in image, and breaking portion is connected.
Step 5: bend judges
Utilize the lane line linear equation aspect ratio relation that step 4 obtains, it is judged that whether vehicle will sail bend into.
The left and right straightway equation slope that each ROI region recognizes is designated as K the most respectivelyL1,KL2,KL3,KL4,KL5With
And KR1,KR2,KR3,KR4,KR5, remember PL1i=| KL1/KLi|, PR1i=| KR1/KRi|, i >=2.
Real-time in view of system needs, and algorithm must have the lowest time complexity, and the present invention utilizes searching slope
The method of the maximum of ratio tentatively identifies whether front exists bend.
Max[PL1i]≤1.5 and Max [PR1i]≤1.5,System default is that at distant view, lane line is straight way, and system does not performs
Subsequent step, goes to step 2.
Max[PL1i] ＞ 1.5 or Max [PR1i] ＞ 1.5, at system default distant view, there is bend in lane line, goes to step 6.
Step 6: calculate the turning radius of front lane line
Extracting three pixel point groups on the track line segment that step 4 obtains, concrete operation method is as follows: as it is shown on figure 3, from
Topmost starting, (right) lane line is J, K, L, M at the intersection point of adjacent image section.Extract the lane line image of 2 positions of J, K
Pixel point group and J, K between the pixel point group of position, midpoint, calculate above three pixel point group respectively in image coordinate
In coordinate average, be respectively (x1,y1),(x2,y2),(x3,y3.If) between J, K, do not have track line segment or track line segment too short,
Then extracting pixel point group at K, L and midpoint between the two at 2, the rest may be inferred.
The conversion of image coordinate and world coordinates is obtained according to ccd sensor parameter and sensor setting height(from bottom) and the angle of pitch
Formula, is (X1, Y1) the coordinate on the world coordinates obtained after in image coordinate three point transformation respectively, (X2, Y2), (X3,
Y3)。
Utilize equation of a circle general formulae X2+Y2+ DX+EY+F=0, brings three point coordinates in above-mentioned formula into, obtains D, E,
The value of F, thus obtain turning radius
Owing to vehicle exists vibration in actual travel, there is certain incidental error factor, so taking continuous three frame figures
As the radius value R obtained1, R2, R3Average the value as turning radius R.Three two field pictures chosen are: to detect for the first time
The image of bend and two two field pictures afterwards.
Step 7: critical speed calculates
The turning radius R obtained according to step 6 seeks the critical speed in negotiation of bends anti-rollover behavior, and at liquid crystal display
Device shows.
Utilize formulaTrying to achieve critical speed VT, b is passenger stock wheelspan, and h is passenger stock barycenter
High.Vmax is the max. speed of passenger stock, if VT≥Vmax, then step 2 is proceeded to；If VT＜ Vmax, then step 8 is proceeded to.
Step 8: risk class early warning and prevention and control rollover measure
By gathering the actual vehicle velocity V in real time of passenger stock, judge according to the contrast with critical speed, it is judged that in curve ahead
Travel and whether there is rollover risk, implement graduation early warning and the rollover measure of prevention and control in early days.
In order to avoid the generation of event of turning on one's side, before entering bend, start relevant apparatus, can shorten contingent anti-
The operating time of rollover behavior.By gathering the actual vehicle velocity V in real time of passenger stock, judge according to the contrast with critical speed, real
Execute graduation early warning.Concrete grammar is as follows:
V≤0.8VT, voice reminder driver vehicle will enter bend.
0.8VT＜ V≤VT, voice message driver vehicle will enter bend, and current vehicle speed and critical speed are shown
On a display screen, and inform existence rollover risk, automatically tackle operation by automatically carrying out tertiary risk, i.e. start vehicle-mounted slowly
Device, and remind driver that retarder has automatically turned on, passenger stock speed of operation in bend can be avoided too high, allow and drive
The person of sailing can control speed in the reasonable scope.
1.1VT＞ V ＞ VT, voice message driver's speed is too high, and current vehicle speed and critical speed are shown at display screen
On, automatically tackle operation by automatically carrying out light breeze danger, i.e. on the basis of three grades of reply operations, remind driver to regulate speed
Suggestion is linked into be kept out, and as being equipped with the passenger stock of half/Active suspension, starts half/Active suspension, improves the bend of passenger stock
The anti-rolling capability of interior traveling.
V≥1.1VT, voice message driver's speed is the highest, and current vehicle speed and critical speed are shown on a display screen,
Automatically tackling operation by automatically carrying out prime risk, i.e. on the basis of two, three grades of reply operations, servo steering system provides
The negative power-assisted of 5%, postpone driver in time turns to behavior, prevents excessive instantaneous steering angle.
Claims (2)
1. a Passenger Vehicle bend rollover early warning and actively prevention and control determination methods, it is characterised in that specifically include following
Step:
Step 1: demarcate ccd video camera, obtains inner parameter and the external parameter of ccd video camera；
Step 2: utilize ccd video camera to gather road ahead image, and be sent to digital signal processor by image decoder
In；
Step 3: the road image collecting step 2 carries out pretreatment；
Step 4: the lane line of the pretreated road image that extraction step 3 obtains；
Step 5: the lane line linear equation aspect ratio relation obtaining step 4 carries out bend identification, it is judged that whether vehicle is
Bend will be sailed into；If vehicle will sail bend into, then perform step 6, otherwise, go to step 2；
Step 6: the turning radius R of the lane line that calculation procedure 4 obtains；
Step 7: the turning radius R obtained according to step 6, seeks the critical speed in negotiation of bends anti-rollover behavior, such as critical car
Speed more than passenger stock max. speed, then performs step 2, otherwise performs step 8；
Step 8: gather the actual speed in real time of passenger stock, judge with the contrast of critical speed according to it, it is judged that in curve ahead
Travel and whether there is rollover risk, implement graduation early warning and prevention and control rollover measure；
The concrete methods of realizing of described step 4 is as follows:
Step 4.1: below road image, 1/4 region is set as that first paragraph detects image sections, is divided into ROIA and ROIB, in detection
During about the ROI lane line of first paragraph image extracts, search left and right lane line within the specific limits；Extract ROIA and
Left and right lane line in ROIB, the slope in the track, left and right that line midpoint is a, ROIA and ROIB of two lane line upper extreme points is equal
Value K1；
Step 4.2: from a and with K1The dividing line of area-of-interest in next section of image, the both sides of this dividing line are made for slope
Being respectively ROIC and ROID, go out left and right lane line at the two region detection, the line midpoint of two lane line upper extreme points is b,
Slope average K in the track, left and right of ROIC and ROID2；
Step 4.3: from b and with K2Do the dividing line of area-of-interest in next section of image for slope, the rest may be inferred until profit
Till the lane line detecting six sections of all ROI in region of road image.
2. Passenger Vehicle bend rollover early warning as claimed in claim 1 and actively prevention and control determination methods, it is characterised in that
The concrete methods of realizing of described step 8 is as follows:
By gathering the actual vehicle velocity V in real time of passenger stock, judge according to the contrast with critical speed, implement graduation the most pre-
Alert；Concrete grammar is as follows:
V≤0.8VT, voice reminder driver vehicle will enter bend；
0.8VT＜ V≤VT, voice message driver vehicle will enter bend, and current vehicle speed and critical speed are shown aobvious
In display screen, and inform existence rollover risk, automatically tackle operation by automatically carrying out tertiary risk, i.e. start vehicle-mounted retarder, and
Driver's retarder is reminded to automatically turn on；
1.1VT＞ V ＞ VT, voice message driver's speed is too high, and current vehicle speed and critical speed are shown on a display screen,
Automatically tackle operation by automatically carrying out light breeze danger, i.e. on the basis of three grades of reply operations, remind driver to regulate speed and build
View is linked into keeps out；
V≥1.1VT, voice message driver's speed is the highest, and current vehicle speed and critical speed are shown on a display screen, will be from
The dynamic prime risk that carries out tackles operation automatically, and i.e. on the basis of two, three grades of reply operations, servo steering system provides 5%
Negative power-assisted.
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| CN105551263B (en) * | 2015-12-11 | 2018-01-23 | 航天重型工程装备有限公司 | A kind of Vehicular turn speed method for early warning and device |
| CN106864406A (en) * | 2017-04-01 | 2017-06-20 | 上海海事大学 | Prevent truck from turning on one's side and press to car safe escape cabin |
| CN108973576A (en) * | 2018-08-12 | 2018-12-11 | 苏州青科艾莉电子科技有限公司 | A kind of anti-rollover regulation method of road vehicle high-performance electronic control air suspension |
| CN108973575A (en) * | 2018-08-12 | 2018-12-11 | 苏州青科艾莉电子科技有限公司 | A kind of anti-rollover control method and device based on electronic control air suspension |
| CN111976580A (en) * | 2020-08-31 | 2020-11-24 | 南京交通职业技术学院 | Anti-rollover control and alarm system for hazardous chemical vehicle |
| CN114435429A (en) * | 2022-03-10 | 2022-05-06 | 湖南铁路科技职业技术学院 | Safety management and control system for electric locomotive driving |
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| EP2082936B1 (en) * | 2008-01-23 | 2012-06-20 | Aisin AW Co., Ltd. | Speed control device for vehicle on curves |
| CN102346970B (en) * | 2011-09-23 | 2013-09-18 | 交通运输部公路科学研究所 | Method for obtaining and processing vehicle swerving anti-overturn information |
| CN202357979U (en) * | 2011-12-08 | 2012-08-01 | 长安大学 | Curve road overspeed early-warning device based on video image recognition |
| CN103121447B (en) * | 2013-03-19 | 2015-10-28 | 大连理工大学 | A kind of bend preventing side sliding and side turning autonomous cruise speed system and method |
| CN103802826B (en) * | 2014-03-07 | 2016-02-10 | 大连交通大学 | Stability forewarn system in a kind of automobile high-speed turning driving |
| CN204296583U (en) * | 2014-12-09 | 2015-04-29 | 贵州大学 | A kind of trailer turning security forewarn system |
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