CN105109491A - Vehicle running-direction predicting device and predicting method based on longitudinal curvature of bend - Google Patents

Abstract

The invention discloses a vehicle running-direction predicting device and predicting method based on the longitudinal curvature of a bend. The vehicle running-direction predicting device comprises a navigation antenna, a navigation differential signal receiving module, a navigation module, a control unit, a storage unit, a vehicle speed sensor, a steering wheel angle sensor, a steering lamp signal sensor, a voice warning system and an LCD, wherein the navigation antenna and the navigation differential signal receiving module provide positioning signals for the navigation module; the control unit calculates vehicle steering angle information, the best steering angle range and a vehicle running route according to vehicle positioning information provided by the navigation module, high-precision map information provided by the storage unit, vehicle speed information provided by the vehicle speed sensor, vehicle steering angle information provided by the steering wheel angle sensor, and vehicle steering information provided by the steering lamp signal sensor, and controls a displaying and warning unit to send out warning sound or display calculation results. Through the adoption of the vehicle running-direction predicting device disclosed by the invention, the usage of various distance sensors is avoided, so that the structure is simplified; besides, the measuring precision and the integration level are improved.

Description

A kind of vehicle based on bend longitudinal curvature travels course prediction device and Forecasting Methodology

Technical field

The invention belongs to automotive field, be specifically related to a kind of vehicle based on bend longitudinal curvature and travel course prediction device and control method.

Background technology

Automobile has become the main traffic instrument in current life, and its safety performance also becomes the focus that people more and more pay close attention to.When an automobile travels to bend on highway due to unsighted, lack experience, overtired and drunk driving, be easy to the situation of sailing out of this track, car place.This often causes automobile to drive towards track or knocks road tooth, if also likely turn on one's side when the speed of a motor vehicle is fast.Add that the present haze weather of China is more and more frequent, bend occurs the probability of accident will improve further.

The current research travelled in bend for vehicle is mainly divided into two large classes: the first kind is the state by controlling Ackermann steer angle to vehicle technology upgrading driver assistance, the curve control technology of such as Ford, the CornerTractionControl system of Volvo, the Omron infrared control bend speed of a motor vehicle etc., but for the control to cost, not all vehicle is all equipped with such device.And unsighted, lack experience, in overtired and drunk driving situation, even if the automobile that this kind of device is housed also cannot ensure the safety of automobile.Equations of The Second Kind utilizes driverless operation technology by the traveling of computer system control automobile on bend, this kind of technology is tested on red flag HQ3, but because cost is huge and cannot tackle various complex road condition, this technology nearly stage also cannot be popularized.

Summary of the invention

The object of the invention is to overcome high cost in above-mentioned prior art, act on unconspicuous defect when technically having the visbility such as limitation and fog weather not high, propose the solution that a kind of low cost, practicality are comparatively strong, vehicle bend that is that can tackle complex road condition travels course prediction.The technical solution used in the present invention is:

Vehicle based on bend longitudinal curvature travels a course prediction device, comprising: sensor unit, processing unit and display and alarm unit;

Described processing unit comprises: navigation antenna, navigation signal differential received module, navigation module, control unit and memory cell; Described navigation antenna is all connected with described navigation module with described navigation signal differential received module, and described navigation module is all connected with described control unit with described memory cell module; Described navigation antenna is for receiving satellite navigation message, and described navigation signal differential received module is for receiving the navigation differential signal of ground base station, and described navigation module is for calculating vehicle location information, and described memory cell is for storing high-precision map;

Described sensor unit comprises: car speed sensor, steering wheel angle sensor and steering indicating light signal transducer; Described car speed sensor, described steering wheel angle sensor are all connected with described control unit with described steering indicating light signal transducer; Described car speed sensor is for obtaining vehicle speed signal, and described steering wheel angle sensor is for obtaining the real-time corner value signal of vehicle, and described steering indicating light signal transducer is for obtaining steering signal of vehicle; The Signal transmissions of acquisition is all given described control unit by described car speed sensor, described steering wheel angle sensor and described steering indicating light signal transducer;

Described display and alarm unit comprise: speech prompting system and LCD display; Described speech prompting system is all connected with described control unit with described LCD display; Described control unit controls described speech prompting system and to sound alarm signal, and described control unit controls described LCD display display suggestion corner information;

The vehicle corner information that the speed information that the high-precision cartographic information that the vehicle location information that described control unit provides according to described navigation module, described memory cell provide, described car speed sensor provide, described steering wheel angle sensor provide and the Vehicular turn information that described steering indicating light signal transducer provides, calculate vehicle corner information, best angle range and route or travel by vehicle.

Further, described car speed sensor is the car speed sensor of vehicle self-carrying.

Further, described steering wheel angle sensor is installed on steering shaft.

Further, described steering indicating light signal transducer is arranged on pole changer place.

Further, described navigation antenna and navigation signal differential received module are installed on vehicle roof and block position without metal; Navigation module, control unit, memory cell are installed on instrument desk crossbeam place below front instrument desk; Speech prompting system and LCD display are installed on console place.

Further, described control unit adopts with special-use vehicle level MCU for core and peripheral circuit, and described peripheral circuit comprises wheel speed treatment circuit, steering wheel angle treatment circuit and steering indicating light signal processing circuit; Described MCU catches interface signal and carries out data acquisition; Described wheel speed treatment circuit adopts PWM waveform modulate circuit; Described steering wheel angle treatment circuit adopts A/D convertor circuit and interruption to add timer mode for modulating output class sensor and digital output class sensor to carry out data acquisition respectively; Described steering indicating light signal processing circuit employing buffer circuit adds interrupt mode and carries out data acquisition; Described navigation module and control unit 7 adopt serial communication mode, and speech prompting system and LCD display adopt synchronous serial communication to communicate with control unit 7 with SPI interface respectively.

Based on above-mentioned prediction unit, the invention allows for a kind of vehicle based on bend longitudinal curvature and travel course prediction method, comprise the steps:

Step 1: control unit is according to the high-precision map calculation curve ahead radius of curvature in memory cell and surface width of road S generate lane mark; Wherein, k is bend curvature;

Step 2: the lane mark that control unit simulates according to difference precise location information acquisition vehicle location and the step 1 of navigation module calculates best angle range demonstrated by LCD display;

Wherein, Y is vehicle commander, R ₁for vehicle minimum corner running route L ₁radius of curvature, R ₂for vehicle hard-over running route L ₂radius of curvature;

Step 3: by current steering wheel angle and best angle range comparative analysis now steering wheel for vehicle corner value whether safety, thus prejudge vehicle and whether be about to sail out of track, and point out chaufeur adjustment direction by speech prompting system;

Step 4: simulate route or travel by vehicle L by the location of vehicle in track and vehicle corner β, its radius is to route or travel by vehicle L and left side boundary line W ₁, the right boundary line W ₂compare, and point out chaufeur by speech prompting system; Wherein, Y is vehicle commander, and β is vehicle corner;

Step 5: control unit accurately locates the coordinate, coordinate, the coordinate of vehicle the most right front some C, the coordinate of vehicle the most right back some D, the coordinate of vehicle the most left front some E, the coordinate of vehicle the most left back some F of locating point B after vehicle that calculate now vehicle vehicle predetermination site A in track with the accurate road information of high-precision map according to the difference of navigation module, and calculates vehicle and left-lane line N by coordinate ₁closest range S ₁, vehicle and right lane line N ₂closest range S ₂;

Step 6: control unit is according to the result of calculation of step 5, and whether real-time judge vehicle can cause danger, if S ₁or S ₂be less than 20cm, then reported to the police by speech prompting system.

Further, vehicle and left-lane line N in described step 5 ₁closest range S ₁, vehicle and right lane line N ₂closest range S ₂be respectively:

$\begin{array}{c}{S}_1=r+\frac{S}{2}-\sqrt{({\left(c-\frac{X}{2}\sin \left({\tan }^{-1}\frac{b-d}{c-a}\right)\right)}^2+{\left(d+\frac{X}{2}\cos \left({\tan }^{-1}\frac{b-d}{c-a}\right)\right)}^2)}\\ S_2=\sqrt{({\left(a+\frac{X}{2}\sin \left({\tan }^{-1}\frac{b-d}{c-a}\right)\right)}^2+{\left(b-\frac{X}{2}\cos \left({\tan }^{-1}\frac{b-d}{c-a}\right)\right)}^2)}-r+\frac{S}{2},\end{array},$

Wherein, a, b are the coordinate (a, b) of vehicle predetermination site A, and c, d are the coordinate (c, d) of locating point B after vehicle, and X is overall width, and r is road curvature radius, and S is surface width of road.

Compared to the prior art, the invention has the beneficial effects as follows:

(1) difference that the present invention utilizes navigation module to provide accurately locates the function with the accurate road information of the high-precision map of cell stores, avoid and use various rang sensor, make structure is simplified and improve survey precision simultaneously and saved cost.

(2) technical scheme of the present invention is extended on the basis of high-precision navigation locating function, the accurate road information of high-precision map is utilized to obtain the function of road ahead information, and integrated assisted generate the coordinate program of vehicle in track with road curvature and width simulated roadway thread sequence ﹑ in real time with steering wheel angle simulated driving road thread sequence ﹑, calculate minimum spacing program and speech prompting system and LCD display, by calculating safe corner and simulating lane mark and vehicle driving line and generate the coordinate of vehicle in track, judge the safety that vehicle travels in bend, and provide the safe bend corner that sails out of to carry out driver assistance and sail out of bend, thus the function reaching prediction and report to the police.

(3) utilize control unit to complete the process of control to various piece and data, make whole device have higher integrated level.

Accompanying drawing explanation

Fig. 1 is the structural representation of the vehicle traveling course prediction device and method that the present invention is based on bend longitudinal curvature;

Fig. 2 is the workflow diagram of the vehicle traveling course prediction device and method that the present invention is based on bend longitudinal curvature;

Fig. 3 is the track line chart that the vehicle traveling course prediction device and method that the present invention is based on bend longitudinal curvature simulates;

Fig. 4 is the best corner course diagram of the vehicle traveling course prediction device and method that the present invention is based on bend longitudinal curvature;

Fig. 5 is the hard-over calculation specifications figure of the vehicle traveling course prediction device and method that the present invention is based on bend longitudinal curvature;

Fig. 6 is the route or travel by vehicle that the vehicle traveling course prediction device and method that the present invention is based on bend longitudinal curvature simulates;

Fig. 7 is the coordinate schematic diagram of vehicle in bend that the vehicle traveling course prediction device and method that the present invention is based on bend longitudinal curvature generates.

Mark in figure:

1-car speed sensor, 2-steering wheel angle sensor, 3-steering indicating light signal transducer, 4-navigation antenna, 5-navigation signal differential received module, 6-navigation module, 7-control unit, 8-memory cell, 9-speech prompting system, 10-LCD telltale; S-surface width of road, r-road curvature radius; L ₁the minimum corner running route of-vehicle, L ₂-vehicle hard-over running route, Z-longitudinal direction of car line of centers, W ₁boundary line ,-the left side, W ₂boundary line ,-the right, a-boundary line and lane mark interval, α _mAX-hard-over, C-front axle mid point effective rotation, Y-vehicle commander, X-overall width, R ₂-vehicle hard-over running route L ₂radius of curvature; β-vehicle corner, L-route or travel by vehicle, the radius of curvature of R-route or travel by vehicle; A-vehicle predetermination site, locating point after B-vehicle, the most left front point of C-vehicle, the most left back point of D-vehicle, the most right front point of E-vehicle, the most right back point of F-vehicle, S ₁-vehicle and left-lane line closest range, S ₂-vehicle and right lane line closest range, N ₁-left-lane line, N ₂-right lane line, the O-origin of coordinates.

Detailed description of the invention

The present invention proposes a kind of vehicle based on bend longitudinal curvature and travel course prediction device and method, comprise sensor unit, processing unit and display and alarm unit.Described sensor unit comprises car speed sensor 1 and steering wheel angle sensor 2 and steering indicating light signal 3, and it is responsible for vehicle real time data to be input to control unit 7; Described processing unit comprises navigation antenna 4, navigation signal differential received module 5, navigation module 6, control unit 7, memory cell 8, navigation antenna 4 receives satellite navigation message, the navigation differential signal that navigation signal differential received module 5 accepts ground base station is connected with navigation module 6, navigation module 6 is for calculating vehicle location information, and the vehicle location information that control unit 7 sends according to navigation module 6 and the high-precision map that memory cell 8 stores calculate; In described display alarm unit, speech prompting system 9 is sounded alarm signal, and LCD display 10 shows suggestion corner.

Control unit 7 is responsible for calculating and is generated lane mark (left-lane line N ₁, right lane line N ₂), calculate best safety angle range, simulation and comparison route or travel by vehicle L, relatively vehicle and lane mark relative position, control steering wheel angle sensor 2, control the work of speech prompting system 9 and LCD display 10, speech prompting system 9 can to chaufeur voice message after receiving signal, LCD display 10 shows suggestion corner, steering wheel angle sensor 2 obtains Current vehicle corner β, car speed sensor 1 obtains current vehicle speed, control unit 7 calculates best safety corner and simulation and comparison route or travel by vehicle, desired parameters also can be recalled by control unit 7 stored in memory cell 8, navigation module 6 obtains the navigation differential signal of ground base station and satellite navigation message carries out Navigation and localization calculating.

Below in conjunction with accompanying drawing, specific embodiments of the invention are described further.

The vehicle based on bend longitudinal curvature that the present invention proposes travels course prediction device and forecast Control Algorithm, utilize the difference of navigation module accurately to locate the function with the accurate road information of high-precision map, integrated simulation lane mark generating algorithm, best safety corner calculation procedure, route or travel by vehicle real-time tracking program, safe corner display system, speech prompting system 9, predict that the best that in following certain hour, vehicle travels turns to situation, judge the safety of vehicle actual travel in bend, and provide alarm by speech prompting system 9.

As shown in Figure 1, the vehicle that the present invention is based on bend longitudinal curvature travels course prediction device and comprises: car speed sensor 1, steering wheel angle sensor 2, steering indicating light signal transducer 3, navigation antenna 4, navigation signal differential received module 5, navigation module 6, control unit 7, memory cell 8, speech prompting system 9, LCD display 10.Navigation module 6 is connected with the input end of control unit 7, for vehicle location; Control unit 7 is connected with memory cell 8, for obtaining the high-precision map that stores in memory cell 8 and calculating desired parameters; Car speed sensor 1 is the sensor of vehicle self-carrying, and car speed sensor 1 is for obtaining speed information and described speed information being fed back to control unit 7; Steering wheel angle sensor 2 is installed on steering shaft, and steering wheel angle sensor 2 is for obtaining steering wheel angle value and real-time for described steering wheel angle value being passed to control unit 7; Steering indicating light signal transducer 3 obtains turn sign from pole changer and the turn sign of acquisition is transferred to control unit 7; Navigation antenna 4 and navigation signal differential received module 5 are installed on vehicle roof and block position without metal, are convenient to the reception of signal; Navigation module 6, control unit 7, memory cell 8 are installed on instrument desk crossbeam place below front instrument desk; Speech prompting system 9 and LCD display 10 are installed on console place, meet ergonomics, and control unit 7 controls display and shows suggestion safe corner with alarm unit and send warning sound.

Control unit adopts with special-use vehicle level MCU for core and peripheral circuit, and peripheral circuit comprises wheel speed treatment circuit, steering wheel angle treatment circuit and steering indicating light signal processing circuit etc.; MCU catches interface signal and carries out data acquisition; Wheel speed treatment circuit adopts PWM waveform modulate circuit; Steering wheel angle treatment circuit adopts A/D convertor circuit and interruption to add timer mode for modulating output class sensor and digital output class sensor to carry out data acquisition respectively; Steering indicating light signal processing circuit employing buffer circuit adds interrupt mode and carries out data acquisition; Navigation module 6 and control unit 7 adopt serial communication mode, and speech prompting system 9 and LCD display adopt synchronous serial communication to be connected with control unit 7 with SPI interface respectively.

As shown in Figure 2, the vehicle for the present invention is based on bend longitudinal curvature travels course prediction control method.When automobile starting, chaufeur is pressed start button and is carried out initialization and self-inspection to system; Navigation module 6 starts positioning function; Control unit 7 can analyze current vehicle location and curve ahead curvature k and surface width of road S by the locating information of navigation module 6 that receives and the high-precision map called in memory cell 8; Control unit 7 controls speech prompting system 9 and sends prompting of slowing down of turning.Forecast Control Algorithm of the present invention is made up of three kinds of judgement schemes, be respectively: 1, best to real-time for bearing circle corner and the vehicle utilizing the difference of navigation module 6 accurately to locate to go out with high-precision map calculation angle range is contrasted, thus whether prejudge vehicle by run-off-road; 2, utilize the accurate positioning module of the difference of current steering wheel angle and navigation module to draw up route or travel by vehicle L and lane mark compares, thus whether prejudge vehicle by run-off-road; 3, utilize the difference of navigation module accurately to locate the coordinate calculating now vehicle each point (A, B, C, D, E, F) in track with the accurate road information of high-precision map, by coordinate figure calculate vehicle respectively with left-lane line N ₁with right lane line N ₂closest range S ₁, S ₂, and real-time judge vehicle whether run-off-road, provide warning by speech prompting system during run-off-road.Control unit 7 is by road curvature radius and surface width of road S calculates lane mark, and (left-lane line is N ₁, right lane line is N ₂, as shown in Figure 3).

Concrete steps are:

Step 1: control unit is according to the high-precision map calculation curve ahead radius of curvature in memory cell and surface width of road S generate lane mark; Wherein, k is bend curvature;

Step 2: the lane mark that control unit simulates according to difference precise location information acquisition vehicle location and the step 1 of navigation module calculates best angle range demonstrated by LCD display;

Wherein, Y is vehicle commander, R ₁for vehicle minimum corner running route L ₁radius of curvature, R ₂for vehicle hard-over running route L ₂radius of curvature;

Step 3: by current steering wheel angle and best angle range comparative analysis now steering wheel for vehicle corner value whether safety, thus prejudge vehicle and whether be about to sail out of track, and point out chaufeur adjustment direction by speech prompting system;

Step 4: simulate route or travel by vehicle L by the location of vehicle in track and vehicle corner β, its radius is to route or travel by vehicle L and left side boundary line W ₁, the right boundary line W ₂compare, and point out chaufeur by speech prompting system; Wherein, Y is vehicle commander, and β is vehicle corner;

Step 5: control unit accurately locates the coordinate, coordinate, the coordinate of vehicle the most right front some C, the coordinate of vehicle the most right back some D, the coordinate of vehicle the most left front some E, the coordinate of vehicle the most left back some F of locating point B after vehicle that calculate now vehicle vehicle predetermination site A in track with the accurate road information of high-precision map according to the difference of navigation module, and calculates vehicle and left-lane line N by coordinate ₁closest range

$S_1=r+\frac{S}{2}-\sqrt{({\left(c-\frac{X}{2}\sin \left({\tan }^{-1}\frac{b-d}{c-a}\right)\right)}^2+{\left(d+\frac{X}{2}\cos \left({\tan }^{-1}\frac{b-d}{c-a}\right)\right)}^2)},$ Vehicle and right lane line N ₂closest range $S_2=\sqrt{({\left(a+\frac{X}{2}\sin \left({\tan }^{-1}\frac{b-d}{c-a}\right)\right)}^2+{\left(b-\frac{X}{2}\cos \left({\tan }^{-1}\frac{b-d}{c-a}\right)\right)}^2)}-r+\frac{S}{2};$ Wherein, a, b are the coordinate (a, b) of vehicle predetermination site A, and c, d are the coordinate (c, d) of locating point B after vehicle, and X is overall width, and r is road curvature radius, and S is surface width of road.

Step 6: control unit is according to the result of calculation of step 5, and whether real-time judge vehicle can cause danger, if S ₁or S ₂be less than 20cm, then reported to the police by speech prompting system.

As shown in Figure 4, Figure 5, for the vehicle that the present invention is based on bend longitudinal curvature travels the best corner course diagram of course prediction device and forecast Control Algorithm and best corner calculation specifications figure, control unit 7 calculates safe corner upper lower limit value by vehicle location and the lane mark simulated, and (upper limit is α _mAX, lower limit is α _mIN), demonstrate best angle range by LCD display 10.

Best corner size computation process is as follows: control unit 7 simulates vehicle minimum corner running route L by vehicle location and lane mark ₁with vehicle hard-over running route L ₂, vehicle minimum corner running route L ₁respectively with longitudinal direction of car line of centers Z, left side boundary line W ₁tangent extending line of going off the curve tangent, vehicle hard-over running route L ₂respectively with longitudinal direction of car line of centers Z, the right boundary line W ₂tangent extending line of going off the curve tangent; By left side boundary line W ₁with left-lane line N ₁interval (20 is reserved minimum safe distance, and unit is cm), tries to achieve vehicle minimum corner running route L ₁radius of curvature R ₁, by the right boundary line W ₂with right lane line N ₂interval (20 is reserved minimum safe distance, and unit is cm), tries to achieve vehicle hard-over running route L ₂radius of curvature R ₂; Pass through R ₁front axle mid point effective rotation minimum value is calculated with vehicle commander Y pass through R ₂front axle mid point effective rotation maxim is calculated with vehicle commander Y ${\mathrm{\α}}_{MAX}=\arctan \frac{Y}{R_2}.$

Control unit 7 obtains when front hook value by steering wheel angle sensor 2; Control unit 7 simulates route or travel by vehicle L by the location of vehicle in track and vehicle corner β; Control unit 7 calling program is to route or travel by vehicle L and left side boundary line W ₁, the right boundary line W ₂compare, if there is intersection, drive speech prompting system 9 to point out chaufeur adjustment direction dish.

As shown in Figure 6 and Figure 7, the radius of curvature R computing formula of route or travel by vehicle L: control unit 7 obtains steering indicating light information by steering indicating light signal transducer 3, judges whether vehicle is now in and changes, if be in the state of changing, then this result of calculation is considered as invalid, does not send prompting; The difference that control unit 7 calls navigation module 6 accurately locates the coordinate calculating now vehicle each point (A, B, C, D, E, F as in Fig. 7) in track with the accurate road information of high-precision map.Vehicle and left-lane line N ₁closest range S ₁, vehicle and right lane line N ₂closest range S ₂account form: vehicle location point A (a, b), B (c, d) position are accurately located by the difference of navigation module 6 and are provided, left-lane line N ₁, right lane line N ₂provided by the high-precision map leaving memory cell 8 in, definition origin of coordinates O (0,0) is lane curvature center, calculates C point coordinate e point coordinate f point coordinate calculated by coordinate

$\left\{\begin{array}{c}{S}_1=r+\frac{S}{2}-\sqrt{({\left(c-\frac{X}{2}\sin \left({\tan }^{-1}\frac{b-d}{c-a}\right)\right)}^2+{\left(d+\frac{X}{2}\cos \left({\tan }^{-1}\frac{b-d}{c-a}\right)\right)}^2)}\\ S_2=\sqrt{({\left(a+\frac{X}{2}\sin \left({\tan }^{-1}\frac{b-d}{c-a}\right)\right)}^2+{\left(b-\frac{X}{2}\cos \left({\tan }^{-1}\frac{b-d}{c-a}\right)\right)}^2)}-r+\frac{S}{2}\end{array}\right.$

Work as S ₁or S ₂then vehicle is dangerous to be less than 20cm, starts warning device (being reported by speech prompting system 9).

The above is only for describing detailed technology scheme of the present invention; the protection domain be not intended to limit the present invention; should be appreciated that under the prerequisite without prejudice to flesh and blood of the present invention and spirit, institute changes, improve or equivalent replacement etc. all will fall within the scope of protection of the present invention.

Claims (8)

1. the vehicle based on bend longitudinal curvature travels a course prediction device, it is characterized in that, comprising: sensor unit, processing unit and display and alarm unit;

Described processing unit comprises: navigation antenna (4), navigation signal differential received module (5), navigation module (6), control unit (7) and memory cell (8); Described navigation antenna (4) is all connected with described navigation module (6) with described navigation signal differential received module (5), and described navigation module (6) is all connected with described control unit (7) with described memory cell (8); Described navigation antenna (4) is for receiving satellite navigation message, described navigation signal differential received module (5) is for receiving the navigation differential signal of ground base station, described navigation mould (6) block is for calculating vehicle location information, and described memory cell (8) is for storing high-precision map;

Described sensor unit comprises: car speed sensor (1), steering wheel angle sensor (2) and steering indicating light signal transducer (3); Described car speed sensor (1), described steering wheel angle sensor (2) are all connected with described control unit (7) with described steering indicating light signal transducer (3); Described car speed sensor (1) is for obtaining vehicle speed signal, and described steering wheel angle sensor (2) is for obtaining the real-time corner value signal of vehicle, and described steering indicating light signal transducer (3) is for obtaining steering signal of vehicle; The Signal transmissions of acquisition is all given described control unit (7) by described car speed sensor (1), described steering wheel angle sensor (2) and described steering indicating light signal transducer (3);

Described display and alarm unit comprise: speech prompting system (9) and LCD display (10); Described speech prompting system (9) is all connected with described control unit (7) with described LCD display (10); Described control unit (7) controls described speech prompting system (9) and to sound alarm signal, and described control unit (7) controls described LCD display (10) display suggestion corner information;

The vehicle corner information that the speed information that the high-precision cartographic information that the vehicle location information that described control unit (7) provides according to described navigation module (6), described memory cell (8) provide, described car speed sensor (1) provide, described steering wheel angle sensor (2) provide and the Vehicular turn information that described steering indicating light signal transducer (3) provides, calculate vehicle corner information, best angle range and route or travel by vehicle.

2. a kind of vehicle based on bend longitudinal curvature according to claim 1 travels course prediction device, it is characterized in that, the car speed sensor that described car speed sensor (1) is vehicle self-carrying.

3. a kind of vehicle based on bend longitudinal curvature according to claim 1 travels course prediction device, and it is characterized in that, described steering wheel angle sensor (2) is installed on steering shaft.

4. a kind of vehicle based on bend longitudinal curvature according to claim 1 travels course prediction device, and it is characterized in that, described steering indicating light signal transducer (3) is arranged on pole changer place.

5. a kind of vehicle based on bend longitudinal curvature according to claim 1 travels course prediction device, it is characterized in that, described navigation antenna (4) and navigation signal differential received module (5) are installed on vehicle roof and block position without metal; Navigation module (6), control unit (7), memory cell (8) are installed on instrument desk crossbeam place below front instrument desk; Speech prompting system (9) and LCD display (10) are installed on console place.

6. a kind of vehicle based on bend longitudinal curvature according to claim 1 travels course prediction device, it is characterized in that, described control unit (7) adopts with special-use vehicle level MCU for core and peripheral circuit thereof, and described peripheral circuit comprises wheel speed treatment circuit, steering wheel angle treatment circuit and steering indicating light signal processing circuit; Described MCU catches interface signal and carries out data acquisition; Described wheel speed treatment circuit adopts PWM waveform modulate circuit; Described steering wheel angle treatment circuit adopts A/D convertor circuit and interruption to add timer mode for modulating output class sensor and digital output class sensor to carry out data acquisition respectively; Described steering indicating light signal processing circuit employing buffer circuit adds interrupt mode and carries out data acquisition; Described navigation module (6) and control unit (7) adopt serial communication mode, and described speech prompting system (9) and described LCD display (10) adopt synchronous serial communication to communicate with control unit (7) with SPI interface respectively.

7. the vehicle based on bend longitudinal curvature travels a course prediction method, it is characterized in that, comprises the steps:

Step 1: control unit (7) is according to the high-precision map calculation curve ahead radius of curvature in memory cell (8) and surface width of road S generate lane mark; Wherein, k is bend curvature;

Step 2: the lane mark that control unit (7) simulates according to difference precise location information acquisition vehicle location and the step 1 of navigation module (6) calculates best angle range demonstrated by LCD display (10);

Wherein, Y is vehicle commander, R ₁for vehicle minimum corner running route L ₁radius of curvature, R ₂for vehicle hard-over running route L ₂radius of curvature;

Step 3: control unit (7) is according to current steering wheel angle and best angle range comparative analysis now steering wheel for vehicle corner whether safety, thus prejudge vehicle and whether be about to sail out of track, and control speech prompting system (9) prompting chaufeur adjustment direction;

Step 4: according to navigation module (6), control unit (7) determines that the position of vehicle in track and vehicle corner β simulate route or travel by vehicle L, its radius is to route or travel by vehicle L and left side boundary line W ₁, the right boundary line W ₂compare, point out chaufeur by comparative result by speech prompting system; Wherein, Y is vehicle commander, and β is vehicle corner;

Step 5: control unit (7) accurately locates the coordinate, coordinate, the coordinate of vehicle the most right front some C, the coordinate of vehicle the most right back some D, the coordinate of vehicle the most left front some E, the coordinate of vehicle the most left back some F of locating point B after vehicle that calculate now vehicle vehicle predetermination site A in track with the accurate road information of high-precision map according to the difference of navigation module (6), and calculates vehicle and left-lane line N by coordinate ₁closest range S ₁, vehicle and right lane line N ₂closest range S ₂;

Step 6: control unit is according to the result of calculation of step 5, and whether real-time judge vehicle can cause danger, if S ₁or S ₂be less than 20cm, then reported to the police by speech prompting system.

8. a kind of vehicle based on bend longitudinal curvature according to claim 7 travels course prediction method, it is characterized in that, the vehicle described in described step 5 and left-lane line N ₁closest range S ₁, vehicle and right lane line N ₂closest range S ₂be respectively:

$\begin{array}{c}{S}_1=r+\frac{S}{2}-\sqrt{({\left(c-\frac{X}{2}\sin \left({\tan }^{-1}\frac{b-d}{c-a}\right)\right)}^2+{\left(d+\frac{X}{2}\cos \left({\tan }^{-1}\frac{b-d}{c-a}\right)\right)}^2)}\\ S_2=\sqrt{({\left(a+\frac{X}{2}\sin \left({\tan }^{-1}\frac{b-d}{c-a}\right)\right)}^2+{\left(b-\frac{X}{2}\cos \left({\tan }^{-1}\frac{b-d}{c-a}\right)\right)}^2)}-r+\frac{S}{2},\end{array},$

Wherein, a, b are the coordinate (a, b) of vehicle predetermination site A, and c, d are the coordinate (c, d) of locating point B after vehicle, and X is overall width, and r is road curvature radius, and S is surface width of road.