CN105109491B - A kind of vehicle traveling course prediction device and Forecasting Methodology based on bend longitudinal curvature - Google Patents
A kind of vehicle traveling course prediction device and Forecasting Methodology based on bend longitudinal curvature Download PDFInfo
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- CN105109491B CN105109491B CN201510472423.8A CN201510472423A CN105109491B CN 105109491 B CN105109491 B CN 105109491B CN 201510472423 A CN201510472423 A CN 201510472423A CN 105109491 B CN105109491 B CN 105109491B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/10—Path keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
Abstract
The invention discloses a kind of vehicle traveling course prediction device based on bend longitudinal curvature and Forecasting Methodology, including：Navigation antenna, navigation signal differential received module, navigation module, control unit and memory cell, vehicle speed sensor, steering wheel angle sensor and steering indicating light signal transducer, speech prompting system and LCD display；Navigation antenna, navigation signal differential received module provide location information to navigation module, the Vehicular turn information of vehicle location information, the high-precision cartographic information of memory cell offer, the speed information of vehicle speed sensor offer, the vehicle corner information that steering wheel angle sensor is provided and steering indicating light signal transducer offer that control unit is provided according to navigation module, vehicle corner information, optimal angle range and route or travel by vehicle are calculated, and controls display to send warning sound or display result of calculation with alarm unit.The present invention is avoided using and is simplified in various range sensors, structure, while improving measurement accuracy and integrated level.
Description
Technical field
The invention belongs to automotive field, and in particular to a kind of vehicle traveling course prediction device based on bend longitudinal curvature
And control method.
Background technology
Automobile has become the main means of transport in current life, and its security performance also turns into what people increasingly paid close attention to
Focus.When one automobile is travelled to bend on highway due to it is unsighted, lack experience, fatigue and drunk driving, very
The situation in track where easily sailing out of the car.This frequently can lead to automobile and drives towards to come track or knock road tooth, if in speed
It is also possible to turning on one's side in the case of fast.It is more and more frequent plus the present haze weather of China, occur thing on bend
Therefore probability will further improve.
Two major classes are broadly divided into currently for the research that vehicle is travelled in bend：The first kind is by vehicle technology liter
Level auxiliary driver controls the state of Ackermann steer angle, such as the curve control technology of Ford, the Corner of Volvo
Traction Control systems, Omron infrared control bend speed etc., but for the control to cost, it is not all
Vehicle be equipped with such device.And it is unsighted, lack experience, in the case of fatigue and drunk driving, even if equipped with this
The automobile of class device can not also ensure the security of automobile.Equations of The Second Kind is to pass through computer system control using unmanned technology
Traveling of the automobile on bend, this kind of technology has been tested on red flag HQ3, but because cost is huge and can not tackle each
Complex road condition is planted, this technology nearly stage can not also be popularized.
The content of the invention
The invention aims to overcome, above-mentioned cost in the prior art is too high, technically have limitation and fog
Unconspicuous defect is acted in the case that the visibility such as weather are not high, it is proposed that a kind of inexpensive, practicality is relatively strong, it is multiple to tackle
The vehicle bend of miscellaneous road conditions travels the solution of course prediction.The technical solution adopted by the present invention is：
A kind of vehicle traveling course prediction device based on bend longitudinal curvature, including：Sensor unit, processing unit with
And display and alarm unit；
The processing unit includes：Navigation antenna, navigation signal differential received module, navigation module, control unit and deposit
Storage unit；The navigation antenna and the navigation signal differential received module are connected with the navigation module, the navigation
Module and the memory cell module are connected with described control unit；The navigation antenna is used to receive satellite navigation electricity
Text, the navigation signal differential received module is used for the navigation differential signal for receiving ground base station, and the navigation module is based on
Vehicle location information is calculated, the memory cell is used to store high-precision map；
The sensor unit includes：Vehicle speed sensor, steering wheel angle sensor and steering indicating light signal transducer；It is described
Vehicle speed sensor, the steering wheel angle sensor and the steering indicating light signal transducer are connected with described control unit；
The vehicle speed sensor is used to obtain GES, and the steering wheel angle sensor is used to obtain the real-time corner value letter of vehicle
Number, the steering indicating light signal transducer is used to obtain steering signal of vehicle；The vehicle speed sensor, steering wheel angle sensing
The signal of acquisition is transferred to described control unit by device and the steering indicating light signal transducer；
The display includes with alarm unit：Speech prompting system and LCD display；The speech prompting system and described
LCD display is connected with described control unit；Described control unit controls the speech prompting system to send sound warning
Signal, described control unit controls the LCD display display suggestion corner information；
It is high-precision that vehicle location information that described control unit is provided according to the navigation module, the memory cell are provided
The vehicle corner information that cartographic information, the speed information of vehicle speed sensor offer, the steering wheel angle sensor are provided
The Vehicular turn information provided with the steering indicating light signal transducer, calculates vehicle corner information, optimal angle range and car
Travel route.
Further, the vehicle speed sensor is the vehicle speed sensor of vehicle self-carrying.
Further, the steering wheel angle sensor is installed in steering spindle.
Further, the steering indicating light signal transducer is arranged at pole changer.
Further, navigation antenna and navigation signal the differential received module is installed on vehicle roof without metal occlusion part
Position；Before navigation module, control unit, memory cell are installed on below instrument desk at instrument desk crossbeam；Speech prompting system and LCD
Display is installed at console.
Further, described control unit is used using special purpose vehicle level MCU as core and peripheral circuit, the peripheral circuit
Including wheel speed process circuit, steering wheel angle process circuit and steering indicating light signal processing circuit；The MCU captures interface signal enters
Row data acquisition；The wheel speed process circuit uses PWM waveform modulate circuit；The steering wheel angle process circuit is for simulation
A/D converter circuit and interruption is respectively adopted for output class sensor and digital output class sensor plus timer mode carries out data and adopted
Collection；The steering indicating light signal processing circuit adds interrupt mode to carry out data acquisition using isolation circuit；The navigation module and control
Unit 7 processed uses serial communication mode, and synchronous serial communication and SPI interface is respectively adopted in speech prompting system and LCD display
Communicated with control unit 7.
Based on above-mentioned prediction meanss, the invention also provides a kind of vehicle based on bend longitudinal curvature travels course prediction
Method, comprises the following steps：
Step 1：High-precision map calculation curve ahead radius of curvature of the control unit in memory cellAnd road surface
Width S simultaneously generates lane line；Wherein, k is bend curvature；
Step 2：Control unit obtains vehicle location according to the difference precise location information of navigation module and simulated with step 1
Lane line calculate optimal angle rangeShown by LCD display；
Wherein, Y is vehicle commander, R1For the minimum corner travel route L of vehicle1Radius of curvature, R2Travelled for vehicle hard-over
Route L2Radius of curvature；
Step 3：By current steering wheel angle, now steering wheel for vehicle corner value is with optimal angle range comparative analysis
No safety, so as to prejudge whether vehicle will sail out of track, and points out driver's adjustment direction by speech prompting system；
Step 4：Route or travel by vehicle L is simulated by positioning of the vehicle in track and vehicle corner β, its radius isTo route or travel by vehicle L and left side boundary line W1, the right boundary line W2It is compared, and is pointed out by speech prompting system
Driver；Wherein, Y is vehicle commander, and β is vehicle corner；
Step 5：Control unit is accurately positioned the accurate road information calculating with high-precision map according to the difference of navigation module
Go out now vehicle most right preceding point C of anchor point B coordinate, vehicle after vehicle prelocalization point A coordinate, vehicle in track seat
The point D most left front point E of coordinate, the vehicle most left back point F of coordinate, vehicle coordinate after mark, vehicle are most right, and calculated by coordinate
Go out vehicle and left-lane line N1Minimum distance S1, vehicle and right-lane line N2Minimum distance S2；
Step 6：Control unit is according to the result of calculation of step 5, and whether real-time judge vehicle can cause danger, if S1Or S2
Less than 20cm, then alarmed by speech prompting system.
Further, vehicle and left-lane line N in the step 51Minimum distance S1, vehicle and right-lane line N2Most low coverage
From S2Respectively：
Wherein, a, b are vehicle prelocalization point A coordinate (a, b), and c, d are the coordinate (c, d) of anchor point B after vehicle, and X is
Overall width, r is road curvature radius, and S is width of roadway.
Compared to the prior art, the beneficial effects of the invention are as follows：
(1) difference that the present invention is provided using navigation module is accurately positioned accurate with the high-precision map of memory cell storage
The function of road information, it is to avoid use various range sensors, make to be simplified in structure while improving measurement accuracy
And saved cost.
(2) the technical scheme is that being extended on the basis of high-precision navigation locating function, high-precision map is utilized
Accurate road information obtain road ahead information function, and it is integrated aided in road curvature and width simulated roadway
Thread Xu ﹑ with steering wheel angle simulated driving Lu thread Xu ﹑ generate in real time coordinate program of the vehicle in track, calculate it is minimum between
Away from program and speech prompting system and LCD display, by calculating safe corner and simulating lane line and vehicle driving line
And coordinate of the generation vehicle in track, to judge security that vehicle is travelled in bend, and provide it is safe sail out of it is curved
Road corner aids in driver to sail out of bend, so as to reach the function of prediction and alarm.
(3) control and the processing of data to various pieces are completed using control unit so that whole device has more
High integrated level.
Brief description of the drawings
Fig. 1 is the structural representation that vehicle of the present invention based on bend longitudinal curvature travels course prediction device and method；
Fig. 2 is the workflow diagram that vehicle of the present invention based on bend longitudinal curvature travels course prediction device and method；
Fig. 3 is the lane line that vehicle traveling course prediction device and method of the present invention based on bend longitudinal curvature is simulated
Figure；
Fig. 4 is the optimal corner route that vehicle of the present invention based on bend longitudinal curvature travels course prediction device and method
Figure；
Fig. 5 is that the hard-over of vehicle traveling course prediction device and method of the present invention based on bend longitudinal curvature is calculated
Illustrate figure；
Fig. 6 is the vehicle row that vehicle traveling course prediction device and method of the present invention based on bend longitudinal curvature is simulated
Sail route；
Fig. 7 is the vehicle of vehicle traveling course prediction device and method generation of the present invention based on bend longitudinal curvature curved
Coordinate schematic diagram in road.
Marked in figure：
1- vehicle speed sensor, 2- steering wheel angle sensors, 3- steering indicating light signal transducers, 4- navigation antennas, 5- navigation
Signal differential receiving module, 6- navigation modules, 7- control units, 8- memory cell, 9- speech prompting systems, 10-LCD is shown
Device；S- widths of roadway, r- road curvature radiuses；L1- vehicle minimum corner travel route, L2- vehicle hard-over travel route,
Z- longitudinal direction of car center lines, W1- left side boundary line, W2- the right boundary line, a- boundary lines and lane line interval, αMAX- hard-over, C-
Front axle midpoint effective rotation, Y- vehicle commander, X- overall width, R2- vehicle hard-over travel route L2Radius of curvature；β-vehicle corner,
L- route or travel by vehicle, the radius of curvature of R- route or travel by vehicle；Anchor point, C- vehicles after A- vehicles prelocalization point, B- vehicles
Most left front point, the most left back point of D- vehicles, the most right preceding point of E- vehicles, point, S after F- vehicles are most right1- vehicle and left-lane line most low coverage
From S2- vehicle and right-lane line minimum distance, N1- left-lane line, N2- right-lane line, the O- origins of coordinates.
Embodiment
The present invention proposes a kind of vehicle traveling course prediction device and method based on bend longitudinal curvature, including sensing
Device unit, processing unit and display and alarm unit.The sensor unit includes vehicle speed sensor 1 and passed with steering wheel angle
Sensor 2 and steering modulating signal 3, it is responsible for vehicle real time data being input to control unit 7；The processing unit includes navigation
Antenna 4, navigation signal differential received module 5, navigation module 6, control unit 7, memory cell 8, navigation antenna 4 receive satellite and led
Avionics text, the navigation differential signal that navigation signal differential received module 5 receives ground base station is connected with navigation module 6, and navigate mould
Block 6 is used to calculate vehicle location information, vehicle location information and the institute of memory cell 8 that control unit 7 is sent according to navigation module 6
The high-precision map of storage is calculated；Speech prompting system 9 sends acoustic warning signal in the display alarm unit, and LCD shows
Show the display suggestion corner of device 10.
Control unit 7 is responsible for calculating generation lane line (left-lane line N1, right-lane line N2), calculate best safety corner model
Enclose, simulate and compare route or travel by vehicle L, compare vehicle and lane line relative position, control direction disk rotary angle transmitter 2, control
The work of speech prompting system 9 and LCD display 10 processed, speech prompting system 9 be connected to after signal can to driver's voice message,
The display suggestion corner of LCD display 10, steering wheel angle sensor 2 obtains Current vehicle corner β, and vehicle speed sensor 1, which is obtained, to be worked as
Preceding speed, control unit 7 calculates best safety corner and simulation and compares route or travel by vehicle, and required parameter deposit storage is single
Member 8 is interior and can be recalled by control unit 7, and the navigation differential signal that navigation module 6 obtains ground base station enters with satellite navigation message
Row navigation and location Calculation.
It is described further below in conjunction with the accompanying drawings for the specific embodiment of the present invention.
Vehicle traveling course prediction device and forecast Control Algorithm proposed by the present invention based on bend longitudinal curvature, are profits
The function with the accurate road information of high-precision map is accurately positioned with the difference of navigation module, the generation of integrated simulation lane line is calculated
Method, best safety corner calculation procedure, route or travel by vehicle real-time tracking program, safe corner show system, voice message system
System 9, the optimal steering situation of vehicle traveling, judges the safety of vehicle actual travel in bend in prediction following certain time
Property, and alarm is provided by speech prompting system 9.
As shown in figure 1, vehicle traveling course prediction device of the present invention based on bend longitudinal curvature includes：Vehicle speed sensor
1, steering wheel angle sensor 2, steering indicating light signal transducer 3, navigation antenna 4, navigation signal differential received module 5, navigate mould
Block 6, control unit 7, memory cell 8, speech prompting system 9, LCD display 10.Navigation module 6 and the input of control unit 7
End is connected, for vehicle location；Control unit 7 is connected with memory cell 8, for obtaining stored in memory cell 8 high-precision
Parameter needed for figure and calculating；Vehicle speed sensor 1 is the sensor of vehicle self-carrying, and vehicle speed sensor 1 is used to obtain speed information
And the speed information is fed back into control unit 7；Steering wheel angle sensor 2 is installed in steering spindle, and steering wheel angle is passed
Sensor 2 is used to obtain steering wheel angle value and the steering wheel angle value is passed into control unit 7 in real time；Steering indicating light is believed
Number sensor 3 obtains turn signal from pole changer and the turn signal of acquisition is transferred into control unit 7；The He of navigation antenna 4
Navigation signal differential received module 5 is installed on vehicle roof and blocks position without metal, is easy to the reception of signal；Navigation module 6, control
Before unit 7 processed, memory cell 8 are installed on below instrument desk at instrument desk crossbeam；Speech prompting system 9 and LCD display 10 are pacified
At console, meet ergonomics, the control display of control unit 7 shown with alarm unit suggestion safe corner and
Send warning sound.
Control unit use using special purpose vehicle level MCU as core and peripheral circuit, peripheral circuit including wheel speed process circuit,
Steering wheel angle process circuit and steering indicating light signal processing circuit etc.；MCU capture interface signals carry out data acquisition；Wheel speed processing
Circuit uses PWM waveform modulate circuit；Steering wheel angle process circuit is passed for simulation output class sensor and digital output class
Sensor, which is respectively adopted A/D converter circuit and interrupted, adds timer mode to carry out data acquisition；Steering indicating light signal processing circuit use every
Data acquisition is carried out from circuit plus interrupt mode；Navigation module 6 and control unit 7 use serial communication mode, voice message system
System 9 and LCD display are respectively adopted synchronous serial communication and SPI interface and are connected with control unit 7.
As shown in Fig. 2 being the present invention, the vehicle based on bend longitudinal curvature travels course prediction control method.When automobile is opened
When dynamic, driver presses start button and system initialized and self-inspection；Navigation module 6 starts positioning function；Control unit 7
By the location information of the navigation module 6 received and to call the high-precision map in memory cell 8 to analyze current
Vehicle location and curve ahead curvature k and width of roadway S；The control voice prompt system 9 of control unit 7 sends turning and slowed down
Prompting.The forecast Control Algorithm of the present invention is made up of three kinds of judgement schemes, is respectively：1st, the real-time corner of steering wheel is led with utilizing
The difference of model plane block 6 is accurately positioned the optimal angle range of vehicle gone out with high-precision map calculation and contrasted, so as to prejudge
Whether vehicle is i.e. by run-off-road；2nd, it is accurately positioned using the difference of current steering wheel angle and navigation module and simulates vehicle
Travel route L is compared with lane line, so as to whether prejudge vehicle i.e. by run-off-road；3rd, the difference of navigation module is utilized
The accurate road information point being accurately positioned with high-precision map calculates the seat of now vehicle each point (A, B, C, D, E, F) in track
Mark, by coordinate value calculate vehicle respectively with left-lane line N1With right-lane line N2Minimum distance S1、S2, and real-time judge car
Whether run-off-road, alarm is provided during run-off-road by speech prompting system.Control unit 7 passes through road curvature radiusAnd width of roadway S calculates lane line (left-lane line is N1, right-lane line be N2, as shown in Figure 3).
Concretely comprise the following steps：
Step 1：High-precision map calculation curve ahead radius of curvature of the control unit in memory cellAnd road surface
Width S simultaneously generates lane line；Wherein, k is bend curvature；
Step 2：Control unit obtains vehicle location according to the difference precise location information of navigation module and simulated with step 1
Lane line calculate optimal angle rangeShown by LCD display；
Wherein, Y is vehicle commander, R1For the minimum corner travel route L of vehicle1Radius of curvature, R2Travelled for vehicle hard-over
Route L2Radius of curvature；
Step 3：By current steering wheel angle, now steering wheel for vehicle corner value is with optimal angle range comparative analysis
No safety, so as to prejudge whether vehicle will sail out of track, and points out driver's adjustment direction by speech prompting system；
Step 4：Route or travel by vehicle L is simulated by positioning of the vehicle in track and vehicle corner β, its radius isTo route or travel by vehicle L and left side boundary line W1, the right boundary line W2It is compared, and is pointed out by speech prompting system
Driver；Wherein, Y is vehicle commander, and β is vehicle corner；
Step 5：Control unit is accurately positioned the accurate road information calculating with high-precision map according to the difference of navigation module
Go out now vehicle most right preceding point C of anchor point B coordinate, vehicle after vehicle prelocalization point A coordinate, vehicle in track seat
The point D most left front point E of coordinate, the vehicle most left back point F of coordinate, vehicle coordinate after mark, vehicle are most right, and calculated by coordinate
Go out vehicle and left-lane line N1Minimum distance
Vehicle and right-lane line N2Most
CloselyWherein, a, b are fixed before vehicle
Site A coordinate (a, b), c, d are the coordinate (c, d) of anchor point B after vehicle, and X is overall width, and r is road curvature radius, and S is road
Face width.
Step 6：Control unit is according to the result of calculation of step 5, and whether real-time judge vehicle can cause danger, if S1Or S2
Less than 20cm, then alarmed by speech prompting system.
As shown in Figure 4, Figure 5, it is vehicle traveling course prediction device and pre- observing and controlling of the present invention based on bend longitudinal curvature
The optimal corner route map and optimal corner calculation specifications figure of method processed, control unit 7 pass through vehicle location and the car simulated
Diatom calculates safe corner upper lower limit value, and (upper limit is αMAX, lower limit is αMIN), optimal corner model is shown by LCD display 10
Enclose.
Optimal corner size calculating process is as follows：It is minimum that control unit 7 simulates vehicle by vehicle location and lane line
Corner travel route L1With vehicle hard-over travel route L2, vehicle minimum corner travel route L1Respectively with longitudinal direction of car
Heart line Z, left side boundary line W1Tangent extending line of going off the curve it is tangent, vehicle hard-over travel route L2Respectively with longitudinal direction of car
Heart line Z, the right boundary line W2Tangent extending line of going off the curve it is tangent；Pass through left side boundary line W1With left-lane line N1Interval(20 be reserved minimum safe distance, and unit is cm), tries to achieve the minimum corner traveling of vehicle
Route L1Radius of curvature R1, pass through the right boundary line W2With right-lane line N2Interval(20 be pre-
The minimum safe distance stayed, unit is cm), try to achieve vehicle hard-over travel route L2Radius of curvature R2；Pass through R1And vehicle commander
Y calculates front axle midpoint effective rotation minimum valuePass through R2It is maximum that front axle midpoint effective rotation is calculated with vehicle commander Y
Value
Control unit 7 is obtained by steering wheel angle sensor 2 works as front hook value；Control unit 7 is by vehicle in track
In positioning and vehicle corner β simulate route or travel by vehicle L；The caller of control unit 7 is to route or travel by vehicle L and the left side
Boundary line W1, the right boundary line W2It is compared, the prompting driver's adjustment direction disk of speech prompting system 9 is driven if having intersection.
As shown in Figure 6 and Figure 7, route or travel by vehicle L radius of curvature R calculation formula：Control unit 7 passes through
Steering indicating light signal transducer 3 obtains steering indicating light information, judges whether vehicle is now in lane-change, if in lane-change state, should
It is invalid that result of calculation is considered as, and prompting is not sent；Control unit 7 calls the difference of navigation module 6 to be accurately positioned the essence with high-precision map
True road information calculates the coordinate of now vehicle each point (A, B, C, D, E, F in such as Fig. 7) in track.Vehicle and left-lane line
N1Minimum distance S1, vehicle and right-lane line N2Minimum distance S2Calculation：Vehicle location point A (a, b), B (c, d)
Position is accurately positioned by the difference of navigation module 6 and provided, left-lane line N1, right-lane line N2By being stored in the high-precision of memory cell 8
Map is provided, and it is lane curvature center to define origin of coordinates O (0,0), calculates C point coordinates E point coordinates F point coordinatesIt is logical
Coordinate is crossed to calculate
Work as S1Or S2Less than 20cm, then vehicle is dangerous, starts warning device (being reported by speech prompting system 9).
The detailed technology scheme described above for being only used for the description present invention, the protection domain being not intended to limit the present invention,
It should be appreciated that on the premise of without prejudice to substantive content of the present invention and spirit, change, improve or equivalent substitution etc. all
It will fall within the scope of protection of the present invention.
Claims (8)
1. a kind of vehicle traveling course prediction device based on bend longitudinal curvature, it is characterised in that including：Sensor unit,
Processing unit and display and alarm unit；
The processing unit includes：Navigation antenna (4), navigation signal differential received module (5), navigation module (6), control unit
And memory cell (8) (7)；The navigation antenna (4) and the navigation signal differential received module (5) with the navigation module
(6) it is connected, the navigation module (6) and the memory cell (8) are connected with described control unit (7)；The navigation
Antenna (4) is used to receive satellite navigation message, and the navigation signal differential received module (5) is used for the navigation for receiving ground base station
Differential signal, the navigation module (6) is used to calculate vehicle location information, and the memory cell (8) is used to store high-precision map；
The sensor unit includes：Vehicle speed sensor (1), steering wheel angle sensor (2) and steering indicating light signal transducer
(3)；The vehicle speed sensor (1), the steering wheel angle sensor (2) and the steering indicating light signal transducer (3) are and institute
Control unit (7) is stated to be connected；The vehicle speed sensor (1) is used to obtain GES, the steering wheel angle sensor (2)
For obtaining the real-time corner value signal of vehicle, the steering indicating light signal transducer (3) is used to obtain steering signal of vehicle；The car
Fast sensor (1), the steering wheel angle sensor (2) and the steering indicating light signal transducer (3) pass the signal of acquisition
It is defeated by described control unit (7)；
The display includes with alarm unit：Speech prompting system (9) and LCD display (10)；The speech prompting system (9)
It is connected with the LCD display (10) with described control unit (7)；Described control unit (7) controls the voice message
System (9) sends acoustic warning signal, and described control unit (7) controls LCD display (10) the display suggestion corner information；
Vehicle location information that described control unit (7) is provided according to the navigation module (6), the memory cell (8) are provided
High-precision cartographic information, the vehicle speed sensor (1) provide speed information, the steering wheel angle sensor (2) provide
The Vehicular turn information that vehicle corner information and the steering indicating light signal transducer (3) are provided, calculates vehicle corner information, optimal
Angle range and route or travel by vehicle.
2. a kind of vehicle traveling course prediction device based on bend longitudinal curvature according to claim 1, its feature exists
In the vehicle speed sensor (1) is the vehicle speed sensor of vehicle self-carrying.
3. a kind of vehicle traveling course prediction device based on bend longitudinal curvature according to claim 1, its feature exists
In the steering wheel angle sensor (2) is installed in steering spindle.
4. a kind of vehicle traveling course prediction device based on bend longitudinal curvature according to claim 1, its feature exists
In the steering indicating light signal transducer (3) is arranged at pole changer.
5. a kind of vehicle traveling course prediction device based on bend longitudinal curvature according to claim 1, its feature exists
In the navigation antenna (4) and navigation signal differential received module (5) are installed on vehicle roof and block position without metal；Navigation
Before module (6), control unit (7), memory cell (8) are installed on below instrument desk at instrument desk crossbeam；Speech prompting system (9)
It is installed on LCD display (10) at console.
6. a kind of vehicle traveling course prediction device based on bend longitudinal curvature according to claim 1, its feature exists
In described control unit (7) is used using special purpose vehicle level MCU as core and its peripheral circuit, and the peripheral circuit includes wheel speed
Process circuit, steering wheel angle process circuit and steering indicating light signal processing circuit；The MCU captures interface signal carries out data and adopted
Collection；The wheel speed process circuit uses PWM waveform modulate circuit；The steering wheel angle process circuit is passed for simulation output class
Sensor and digital output class sensor, which are respectively adopted A/D converter circuit and interrupted, adds timer mode to carry out data acquisition；Described turn
Interrupt mode is added to carry out data acquisition using isolation circuit to modulating signal process circuit；The navigation module (6) and control unit
(7) serial communication mode is used, the speech prompting system (9) and the LCD display (10) are respectively adopted synchronous serial and led to
Letter and SPI interface communicate with control unit (7).
7. a kind of vehicle traveling course prediction method based on bend longitudinal curvature, it is characterised in that comprise the following steps：
Step 1：High-precision map calculation curve ahead radius of curvature of the control unit (7) in memory cell (8)And road
Face width S simultaneously generates lane line；Wherein, k is bend curvature；
Step 2：Control unit (7) obtains vehicle location according to the difference precise location information of navigation module (6) and simulated with step 1
The lane line gone out calculates optimal angle rangeShown by LCD display (10)
Go out；
Wherein, Y is vehicle commander, R1For the minimum corner travel route L of vehicle1Radius of curvature, R2For vehicle hard-over travel route
L2Radius of curvature；
Step 3：Control unit (7) is according to current steering wheel angle and optimal angle range comparative analysis now steering wheel for vehicle
Whether corner is safe, so as to prejudge whether vehicle will sail out of track, and control voice prompt system (9) prompting driver
Adjustment direction；
Step 4：Control unit (7) determines that position and vehicle corner β of the vehicle in track simulate car according to navigation module (6)
Travel route L, its radius isTo route or travel by vehicle L and left side boundary line W1, the right boundary line W2It is compared, will
Comparative result points out driver by speech prompting system；Wherein, Y is vehicle commander, and β is vehicle corner；
Step 5：Control unit (7) is accurately positioned the accurate road information meter with high-precision map according to the difference of navigation module (6)
Calculate now vehicle most right preceding point C of anchor point B coordinate, vehicle after vehicle prelocalization point A coordinate, vehicle in track seat
The point D most left front point E of coordinate, the vehicle most left back point F of coordinate, vehicle coordinate after mark, vehicle are most right, and calculated by coordinate
Go out vehicle and left-lane line N1Minimum distance S1, vehicle and right-lane line N2Minimum distance S2；
Step 6：Control unit is according to the result of calculation of step 5, and whether real-time judge vehicle can cause danger, if S1Or S2It is less than
20cm, then alarmed by speech prompting system.
8. a kind of vehicle traveling course prediction method based on bend longitudinal curvature according to claim 7, its feature exists
In vehicle and left-lane line N described in the step 51Minimum distance S1, vehicle and right-lane line N2Minimum distance S2Respectively
For：
Wherein, a, b are vehicle prelocalization point A coordinate (a, b), and c, d are the coordinate (c, d) of anchor point B after vehicle, and X is overall width,
R is road curvature radius, and S is width of roadway.
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