CN105564307B - Vehicle side turning security based reminding method - Google Patents
Vehicle side turning security based reminding method Download PDFInfo
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- CN105564307B CN105564307B CN201610019418.6A CN201610019418A CN105564307B CN 105564307 B CN105564307 B CN 105564307B CN 201610019418 A CN201610019418 A CN 201610019418A CN 105564307 B CN105564307 B CN 105564307B
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- radar sensor
- ultrasonic radar
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- alarm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- Emergency Alarm Devices (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention relates to automotive field, more particularly to a kind of safety reminding device and method of automobile turning blind area.A kind of vehicle side turning security alarm set, including ultrasonic radar sensor, alarm and controller, the ultrasonic radar sensor shares several, and the ultrasonic radar sensor described in several is arranged in the side of vehicle body, controller control connection alarm in the horizontal direction.A kind of oversize vehicle side turning security based reminding method, set alarm threshold value, start ultrasonic radar sensor when controller receives steering signal of vehicle, alarm signal is sent to controller when ultrasonic radar sensor, which detects, has barrier in the range of alarm threshold value；Buzzer warning is controlled after alarm signal.The present invention is having found when turn inside diameter and that in car gusset certain limit system can remind driver, take safety measures, and to reduce the generation of security incident, improve the security reliability of driving when having barrier by arranging ultrasonic radar sensor in the side of car.
Description
Technical field
The present invention relates to automotive field, more particularly to a kind of safety prompt function method of automobile turning blind area.
Background technology
Oversize vehicle can cause the rectangle of front wheels and rear wheels variant due to influences of vehicle commander when turning, the difference and quilt
Referred to as lubrication groove difference Difference of Radius Between Inner Wheels, it is Nose Wheel Steering half in Ackermann steer angle
Footpath and the difference of inner rear wheel radius of turn.To truck combination, then be tractor interior front-wheel and trailer inner rear wheel radius of turn it
Difference.Because the presence of lubrication groove difference, Ackermann steer angle, the movement locus of forward and backward wheel are misaligned.In driving if before only paying attention to
Wheel can be by forgetting that lubrication groove is poor, it is possible to causes rear lubrication groove to roll road surface or the accident with the collision of other objects away from.
As shown in figure 1, car turn when, trailing wheel be not along front-wheel track traveling, rear wheel tracks 10 can with it is preceding
Take turns track 20 and produce deviation, the deviation for formation of turning is " wheel is poor ", and vehicle body is longer, and " wheel is poor " of formation is bigger, lubrication groove difference
Scope also can and then expand.As the vehicle body of this heavy construction car of bulk cement carrier is all long, after especially headstock turns round, also
There is very long vehicle body not turn over；And driver is limited by visual angle, it is blind to have one piece of vision in the side away from driver's cabin
After area, the vision dead zone again can be overlapping with lubrication groove difference, therefore non-motor vehicle or pedestrian step into " vision dead zone " scope of lubrication groove,
Caused dangerous increase, it is likely that rear when being turned round is dragged in in-car, causes traffic accident.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of vehicle side turning security based reminding method, by the side of car
Ultrasonic radar sensor is arranged on side, when turn inside diameter and when discovery has barrier in car gusset certain limit, system
Driver can be reminded, is taken safety measures, to reduce the generation of security incident, improves the security reliability of driving.
What the present invention was realized in：A kind of vehicle side turning security alarm set, including ultrasonic radar sensor, report
Alert device and controller, the ultrasonic radar sensor share several, and the ultrasonic radar sensor described in several is along water
Square to the side for being arranged in vehicle body, the alarm is arranged in driver's cabin, the output end of the ultrasonic radar sensor
It is connected with controller, controller control connection alarm.
Detection height distance 0.5 ~ 0.6m of ground of the ultrasonic radar sensor.
The alarm is buzzer.
The ultrasonic radar sensor is arranged on the right flank of vehicle body.
A kind of vehicle side turning security based reminding method, comprises the following steps：
S1：Set alarm threshold value；
S2：Controller is connected with vehicle-mounted computer, and makes following selection：
A. start ultrasonic radar sensor when controller receives steering signal of vehicle and enter step S3；
B. ultrasonic radar sensor is closed when controller does not receive steering signal of vehicle；
S3：When ultrasonic radar sensor, which detects, has barrier in the range of alarm threshold value alarm is sent to controller
Signal；
S4：Controller controls buzzer warning after receiving alarm signal.
In the step S2, the step of self-test is also included when controller receives steering signal of vehicle, and by controller control
System sends self-diagnosis condition prompting sound.
Alarm threshold value in the step S1 is obtained by formula 1,
（1）
In formula, m is alarm threshold value；
R is vehicle front radius of turn；Function f (v) by experiment according to the speed of Ackermann steer angle acquirement r and v, r=
F (v), v are current vehicle speed when turning；
L is vehicle body wheelbase；
D is automobile rear wheel wheelspan.
Vehicle side turning security based reminding method of the present invention works as vehicle by arranging ultrasonic radar sensor in the side of car
Turn and finding that system can remind driver, take safety measures, to reduce when having barrier in car gusset certain limit
The generation of security incident, improve the security reliability of driving.
Brief description of the drawings
Fig. 1 is the lubrication groove difference principle schematic of Ackermann steer angle；
Fig. 2 is the arrangement schematic diagram of vehicle side turning security alarm set of the present invention.
In figure：Before 1 ultrasonic radar sensor, 2 alarms, 3 controllers, 4 vehicle bodies, 5 driver's cabins, 10 rear wheel tracks, 20
Take turns track.
Embodiment
With reference to specific embodiment, the present invention is expanded on further.It should be understood that these embodiments are merely to illustrate the present invention
Rather than limitation the scope of the present invention.In addition, it is to be understood that after the content of the invention stated has been read, people in the art
Member can make various changes or modifications to the present invention, and these equivalent form of values equally fall within the application appended claims and limited
Scope.
Embodiment 1
As shown in Fig. 2 a kind of vehicle side turning security alarm set, including ultrasonic radar sensor 1, the and of alarm 2
Controller 3, the ultrasonic radar sensor 1 share several, and the ultrasonic radar sensor 1 described in several is along level side
To the side for being arranged in vehicle body 4, the alarm 2 is arranged in driver's cabin 5, the output end of the ultrasonic radar sensor 1
It is connected with controller 3, the control connection alarm 2 of controller 3, in the present embodiment, for the alarm for reminding driver to be alarmed
Device 2 is buzzer.
In the present embodiment, the setting height(from bottom) of ultrasonic radar sensor 1 is too low to be disturbed by low obstructions, and pacifies
Dress height is more high may then leak through child, therefore preferably, the detection height distance of the ultrasonic radar sensor 1
0.5 ~ 0.6m of face.
In addition, in the present embodiment, in order to reduce cost and simplify control logic, it is contemplated that be located at vehicle in Chinese driver
Left side, the only blind area when turning right is larger, therefore preferably, the ultrasonic radar sensor 1 is arranged on
On the right flank of vehicle body 4.
At work, ultrasonic radar sensor sends a branch of very brief ultrasonic pulse, when pulse runs into barrier
It will reflect, sensor will receive reflection echo.Spread speed is certain to ultrasonic wave at normal temperatures, in air, is connect
Receive CPU in device and, according to the time interval between transmitting and received wave, calculate the distance between sensor and barrier.Then pass through
Calculating processing is crossed, judges that reflection echo is received by which sensor, obtains the distance with barrier accordingly.
A kind of oversize vehicle side turning security based reminding method, comprises the following steps：
S1：Set alarm threshold value m；
As optimal case, the current vehicle speed calculating in real time when alarm threshold value m passes through turning obtains, most appropriate to obtain
Alarm region is engaged with actual lubrication groove difference blind area；
（1）
In formula, r is vehicle front radius of turn；R and v function f is obtained according to the speed of Ackermann steer angle by testing
(v), r=f (v), v are current vehicle speed when turning；
L is vehicle body wheelbase；
D is automobile rear wheel wheelspan.
S2：Controller 3 is connected with vehicle-mounted computer, and makes following selection：
A. start ultrasonic radar sensor 1 when controller 3 receives steering signal of vehicle and enter step S3；In this hair
Bright middle turn signal can be using turning to modulating signal or hand-wheel signal carries out judgement acquisition；Furthermore, it is contemplated that the factor of safety,
In order to avoid the failure of ultrasonic radar sensor 1, the step of self-test is also included when controller 3 receives steering signal of vehicle, and
Self-diagnosis condition prompting sound is sent by the control of controller 3, such driver's can is according to self-diagnosis condition prompting sound
Solve the working condition of ultrasonic radar sensor 1；
B. ultrasonic radar sensor 1 is closed when controller 3 does not receive steering signal of vehicle；
S3：When ultrasonic radar sensor 1, which detects, has barrier in the range of alarm threshold value report is sent to controller 3
Alert signal；
S4：Controller 3 controls buzzer warning after receiving alarm signal.
Claims (5)
1. a kind of vehicle side turning security based reminding method, including ultrasonic radar sensor (1), alarm (2) and controller
(3), the ultrasonic radar sensor (1) shares several, and ultrasonic radar sensor (1) described in several is along level side
To the side for being arranged in vehicle body (4), the alarm (2) is arranged in driver's cabin (5), the ultrasonic radar sensor (1)
Output end be connected with controller (3), controller (3) control connection alarm (2), it is characterized in that, comprise the following steps：
S1：Set alarm threshold value；
Alarm threshold value is obtained by formula 1,
（1）
In formula, m is alarm threshold value；
R is vehicle front radius of turn；R and v function f (v), r=f is obtained according to the speed of Ackermann steer angle by testing
(v), v is current vehicle speed when turning；
L is vehicle body wheelbase；
D is automobile rear wheel wheelspan；
S2：Controller (3) is connected with vehicle-mounted computer, and makes following selection：
A. start ultrasonic radar sensor (1) when controller (3) receives steering signal of vehicle and enter step S3；
B. ultrasonic radar sensor (1) is closed when controller (3) does not receive steering signal of vehicle；
S3：When ultrasonic radar sensor (1), which detects, has barrier in the range of alarm threshold value report is sent to controller (3)
Alert signal；
S4：Controller (3) controls buzzer warning after receiving alarm signal.
2. vehicle side turning security based reminding method as claimed in claim 1, it is characterized in that：The ultrasonic radar sensor
(1) detection height distance 0.5 ~ 0.6m of ground.
3. vehicle side turning security based reminding method as claimed in claim 1, it is characterized in that：The alarm (2) is buzzer.
4. vehicle side turning security based reminding method as claimed in claim 1, it is characterized in that：The ultrasonic radar sensor
(1) it is arranged on the right flank of vehicle body (4).
5. vehicle side turning security based reminding method as claimed in claim 1, it is characterized in that：In the step S2, work as controller
(3) the step of also including carrying out self-test to ultrasonic radar sensor (1) when receiving steering signal of vehicle, and by controller (3)
Control sends self-diagnosis condition prompting sound.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610019418.6A CN105564307B (en) | 2016-01-13 | 2016-01-13 | Vehicle side turning security based reminding method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610019418.6A CN105564307B (en) | 2016-01-13 | 2016-01-13 | Vehicle side turning security based reminding method |
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| CN105564307A CN105564307A (en) | 2016-05-11 |
| CN105564307B true CN105564307B (en) | 2017-11-14 |
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Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107472127A (en) * | 2016-06-07 | 2017-12-15 | 重庆工程职业技术学院 | Automobile side image detecting method and system based on binocular ranging |
| WO2018023386A1 (en) * | 2016-08-02 | 2018-02-08 | 张阳 | Method for collecting use data of lane change early warning technology and alarm system |
| WO2018023385A1 (en) * | 2016-08-02 | 2018-02-08 | 张阳 | Vecicle lane-change alarm method and alarm system |
| CN106828292A (en) * | 2017-02-27 | 2017-06-13 | 李良杰 | Turn inside diameter blind area reminding system |
| CN110654309A (en) * | 2018-06-29 | 2020-01-07 | 慧展科技股份有限公司 | Vehicle side obstacle detection and warning method and vehicle side obstacle detection and warning system |
| CN109383374B (en) * | 2018-10-23 | 2022-01-07 | 侯静阳 | Safety early warning braking system for truck |
| CN111824009B (en) * | 2019-04-22 | 2023-06-20 | 宁波舜宇车载光学技术有限公司 | Driving interaction system, vehicle and driving interaction method thereof |
| CN111566508B (en) * | 2019-07-04 | 2022-03-15 | 深圳市大疆创新科技有限公司 | Lateral stationary object and moving speed detection method based on lateral millimeter wave radar |
| CN111361506A (en) * | 2020-03-26 | 2020-07-03 | 江铃汽车股份有限公司 | Prompting lamp control method and system, readable storage medium and vehicle |
| CN111443348B (en) * | 2020-04-15 | 2022-03-15 | 厦门华厦学院 | Obstacle detection system based on mathematical model |
| CN111497832A (en) * | 2020-04-28 | 2020-08-07 | 深圳市国脉畅行科技股份有限公司 | Vehicle inner wheel difference risk monitoring method and device, computer equipment and storage medium |
| CN111845695A (en) * | 2020-06-10 | 2020-10-30 | 东风柳州汽车有限公司 | Vehicle steering control method and device |
| CN112009368A (en) * | 2020-08-17 | 2020-12-01 | 黄冈格罗夫氢能汽车有限公司 | 360-degree panoramic image ultrasonic radar control system and method for fuel cell hydrogen energy automobile |
| CN112793507A (en) * | 2020-11-16 | 2021-05-14 | 理工雷科智途(北京)科技有限公司 | Blind area early warning braking system based on inertial device perception vehicle right turn motion characteristic |
| CN113942452A (en) * | 2021-11-25 | 2022-01-18 | 上海电机学院 | Automobile blind area detection device based on ultrasonic array |
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| CN105564307A (en) | 2016-05-11 |
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