CN105667402A - Backing up assisting system of trailer - Google Patents
Backing up assisting system of trailer Download PDFInfo
- Publication number
- CN105667402A CN105667402A CN201610160036.5A CN201610160036A CN105667402A CN 105667402 A CN105667402 A CN 105667402A CN 201610160036 A CN201610160036 A CN 201610160036A CN 105667402 A CN105667402 A CN 105667402A
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- CN
- China
- Prior art keywords
- trailer
- radar
- potentiometer
- module
- steering wheel
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a backing up assisting system of a trailer. The backing up assisting system comprises a sensor module, a data processing module and an information display prompting module, wherein the sensor module is composed of a camera, a radar and a potentiometer; the data processing module is composed of a data input module, a central processing unit and a video segmentation device; the information display prompting module is composed of a display screen and a buzzer; a transmitting end of the radar, an output end of the camera and the output end of the potentiometer are connected with an input end of the data input module respectively; the output end of the data input module is connected with the input end of the central processing unit; the output end of the central processing unit is connected with the input end of the video segmentation device; the output end of the video segmentation device is connected with the display screen; the output end of the central processing unit is connected with a positive electrode of the buzzer and a negative electrode of the buzzer is grounded. According to the backing up assisting system disclosed by the invention, data acquisition is realized through utilizing a radar plus steering engine innovative approach and reasonably matching and arranging the radar and the camera; a driver can be more effectively assisted by adopting screen segmentation and screen color change, and driving safety is guaranteed.
Description
Technical field
The invention belongs to driving intelligent detecting early-warning field, it relates to a kind of reversing of trailer subsystem.
Background technology
Along with the raising day by day to vehicle driving safety requirements, in reversing is auxiliary, current distance survey technology, image sensing technology, the technology such as video transmission technologies and safe early warning has had on vehicle to be applied more and more widely, as by camera, radar for backing car, the reverse aid of the composition such as display screen is especially widely applied in riding and part commercial car on family saloon, and on the Drop and pull transport class vehicles such as trailer, though these devices have application, but owing to Drop and pull transport class vehicle tow tractor and trailer hinged place when moveing backward are incomplete constraint, officer wayward trailer direction during reversing, the angle of cut of tow tractor and trailer makes to occur around trailer blind area simultaneously, and owing to trailer is in size, structural framing and functionally with car and incomplete same, therefore applying to the reverse aid on car can not be transplanted on trailer completely, this is also present reversing of trailer subsystem and some immature and perfect reasons, and existing reversing technology, as by radar, camera, display screen, the backing system of the composition such as hummer, just help officer to the perception of road conditions and vigilance to a certain extent, and mainly still carried out decision-making by officer according to prompting and experience and then move backward, and wherein exist as different azimuth hazardous location remind mode, the process of sensor information, the fusion of data and the display etc. of result, and data processing and then to realize the aspects such as the more intelligent prediction such as backing track instruction officer's reversing deep not enough.
Notification number be CN201833953U utility model patent in describe tow tractor video radar reversing arrangement, comprise camera, radar for backing car and indicating meter, camera is connected indicating meter with radar for backing car, the main driving that indicating meter is positioned at tow tractor is indoor, image splitter it is provided with in indicating meter, the external connection indicating meter of image splitter, the picture of indicating meter is divided into three parts by image splitter, show simultaneously get off captured by three cameras real-time pictures, the information that radar for backing car senses also shows over the display, by installing radar in the afterbody of car and front end, both sides, trailer compartment and camera carries out complementary fit (three cameras and three radars combine one by one), solve the vision blind spot problem produced when tow tractor is moveed backward, decrease the traffic accident that some cause because of vision blind spot.
But there is the problem of following several respects in prior art: combination, installation position and the installation mode etc. of sensor affect the comprehensive principal element of information detection, and prior art does not give abundant consideration; Range information and graphic information display mode on a display screen is related to the response of officer accurate Quick Catch hazardous location situation, and prior art can not be accomplished in the simultaneous display mode of information can by officer's Quick Catch when a certain orientation is hazardous location; Existing major part technology is all to provide reversing information specifically as target, and decision-making is still depended on the experience of officer and state of the art completely and do not given officer with reference by provider to prompting.
Summary of the invention
Technical problem to be solved by this invention is the problems referred to above overcoming prior art existence, it provides a kind of reversing of trailer subsystem.
For solving the problems of the technologies described above, the present invention adopts following technical scheme to realize:
A kind of reversing of trailer subsystem, comprises sensor assembly, data processing module and information displaying reminding module; Described sensor assembly is made up of camera, radar and potentiometer; Described data processing module is made up of data input module and central processing unit, video dispenser; Described information displaying reminding module is made up of display screen and hummer;
The sending end of radar, the output terminal of camera are connected with the input terminus of data input module respectively with potentiometer output terminal;
Data input module output terminal is connected with central processing unit input terminus, and central processing unit output terminal is connected with video dispenser input terminus, and video dispenser output terminal connects display screen;
Central processing unit output terminal connects the positive pole of hummer, hummer negative pole ground connection.
Camera in sensor assembly described in technical scheme arranges three, lays respectively at the left and right sides and the rear in front, trailer compartment.
Radar in sensor assembly described in technical scheme arranges ten, each uniform three of trailer compartment arranged on left and right sides, uniform four of rear, trailer compartment.
The lower section of each uniform three radars of the compartment of trailer described in technical scheme arranged on left and right sides connects steering wheel, connects steering wheel below two radars that rearward edges place, trailer compartment is arranged; Described steering wheel is connected on trailer collision bumper by mounting bracket.
Potentiometer described in technical scheme arranges two, is respectively potentiometer a300, potentiometer b301; Described potentiometer a300 is arranged on the junction of trailer compartment and tow tractor, and described potentiometer b301 is arranged on below tow tractor bearing circle 303, and potentiometer a300 and potentiometer b301 output terminal are connected with data input module 401.
Mounting bracket described in technical scheme comprises sway brace a, sway brace b, steering wheel is fixed on mounting bracket by stub a, stub b by the both sides that sway brace a, sway brace b clamp steering wheel, screw passes the threaded hole a bottom mounting bracket, threaded hole b, threaded hole c are connected with trailer compartment, is fixed on trailer by mounting bracket.
Compared with prior art the invention has the beneficial effects as follows:
1. the present invention is by the detection of camera and radar, and both effectively coordinate layout, trailer officer can be facilitated more directly to go the safe information in prediction road surface, driver behavior assisted, effectively ensure driving safety.
2. present invention utilizes the innovative approach of radar+steering wheel to go to realize radar data collection, it is achieved data gathering is comprehensive, avoids the problem that traditional method dead angle can not be measured.
3. the present invention is at driving indoor location display screen, adopts screen partition technology, and screen partition and screen variable color replace warning light, realize more effective warning means.
4. the present invention effectively achieves figure image signal and the information fusion of distance by radar information, system road pavement range information is judged more accurate, better auxiliary reversing of trailer.
5. the present invention is used as performer with the use of hummer, changes its corresponding frequencies by the distance of obstacle difference and better helps officer to judge road conditions.
6. backing track after the information processing that collects being analyzed by controller, will be predicted, obtained an optimum backing track by the present invention, and indicating officer to get a suitable steering wheel angle, auxiliary officer drives better.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the present invention is further illustrated:
Fig. 1 is reversing of trailer subsystem schematic diagram of the present invention;
Fig. 2 is the assembling conceptual scheme of the radar in reversing of trailer subsystem of the present invention, steering wheel;
Fig. 3 is the assembling conceptual scheme between the bearing circle 303 in reversing of trailer subsystem of the present invention, potentiometer b301; Fig. 4 is the axonometric drawing of the mounting bracket 900 in reversing of trailer subsystem of the present invention;
In figure: 101, camera a; 102, camera b; 103, camera c; 201, radar a; 202, radar b; 203, radar c; 204, radar d; 205, radar e; 206, radar f; 207, radar g; 208, radar h; 209, radar i; 210, radar j; 300, potentiometer a; 301, potentiometer b; 303, bearing circle; 401, data input module; 402, central processing unit; 500, hummer; 600, display screen; 601, video dispenser; 701, steering wheel a; 702, steering wheel b; 703, steering wheel c; 704, steering wheel d; 707, steering wheel g; 708, steering wheel h; 709, steering wheel i; 710, steering wheel j;
800, tow tractor; 1000, trailer compartment;
900, mounting bracket; 901, sway brace a; 902, sway brace b; 903, threaded hole a; 904, threaded hole b; 905, threaded hole c; 906, stub a; 907, stub b.
Embodiment
Below in conjunction with accompanying drawing, the present invention is explained in detail:
The concrete structure of this device is such as Fig. 1, and by sensor assembly, data processing module and information displaying reminding module three part form.
Sensor assembly comprises: camera a101, camera b102, camera c103, radar a201, radar b202, radar c203, radar d204, radar e205, radar f206, radar g207, radar h208, radar i209, radar j210, potentiometer a300, potentiometer b301; Radar model is hc-sr04, and camera model is ccd camera.
Data processing module comprises: data input module 401, central processing unit 402, screen partition device 601;
Information displaying reminding module comprises: display screen 600, hummer 500.
Apart from 20cm place, both sides on trailer compartment 1000 afterbody collision bumper, radar d204, steering wheel d704, radar g207, steering wheel g707 are installed respectively, radar d204 and steering wheel d704, radar g207 and steering wheel g707 bond together and are connected on trailer collision bumper by mounting bracket 900, radar e205, radar f206, be directly connected on trailer collision bumper by mounting bracket 900.
Sensor section adopts 3 cameras and 10 radars to carry out Information Monitoring altogether. Adopting the Vehicular accumulator cell of 12v to be energized to steering wheel, steering wheel swings with radar, so that radar gathers two jiaos, compartment peripheral information.
In the middle of radar d204 and radar g207, separately fill two same model radar e205 and radar f206 by mounting bracket is equidistant, on trailer afterbody collision bumper, in order to gather the range information of trailer afterbody obstacle.
Equidistantly installing three radars with mounting bracket respectively on the vehicle frame of both sides, trailer compartment, right side is followed successively by radar a201, radar b202, radar c203, and left side is followed successively by radar j210, radar i209, radar h208 from front to back; These six radars link together with steering wheel a701, steering wheel b702, steering wheel c703, steering wheel 710, steering wheel 709, steering wheel 708 respectively, to obtain the range information of peripheral obstacle. This model radar totally four pins, wherein two pins are in order to connect power supply, and the positive pole power supply positive and negative electrode corresponding with data processing module respectively to negative pole is connected.
Sensor section constrained input end is connected with output, the input terminus of data input module 401 respectively, inputs 20khz frequency wave by controller chip to each radar, inspires each radar and send ultrasonic wave. After ultrasonic wave returns, each radar calculates obstacle distance according to the time difference. The range information that all radars collect passes to the input terminus of data input module 401 by its Echo end (sending end).
Adopt mounting bracket 900 that a camera c103 is installed in the middle part of trailer compartment 1000 afterbody collision bumper, fill camera a101 and camera b102 in addition in the both sides of trailer front end respectively, tilt 15 ° downwards. The supply lead of all cameras is connected with 12v store battery, namely by battery power. Each camera output terminal is connected with data processing module, the graphic information input that will collect.
In the junction in trailer compartment 1000 with tow tractor 800, potentiometer a300 is installed, to obtain the connection angle of tow tractor 800 with trailer compartment 1000. A potentiometer b301 is installed below tow tractor bearing circle 303, consults Fig. 3, control steering wheel angle to obtain officer in real time. Potentiometer b301 and potentiometer a300 output terminal are connected with data input module 401.
The tow tractor 800 recorded by the steering wheel angle measured by rotation angular sensing device b301 and potentiometer a300 and the connection angle in trailer compartment 1000 reach data processing module;
In data processing module, the input port of data input module 401 is connected with Echo end (sending end) mouth of each radar, namely receives the distance of the obstacle of all radar detections, all distances is compared by programmed algorithm, draw minor increment, then compare with safe distance. If minor increment is less than one-level safe distance, then central processing unit 402 controls hummer 500 and sends high frequency sound. If minor increment is greater than one-level safe distance and is less than two level security distances, then hummer 500 sends low frequency sound. If minor increment is greater than two level security distances, then show trailer safety, hummer 500 not sounding. The signal of the output of camera obtains numerary signal after analog to digital conversion module, the central processing unit 402 (model is al422b) being made up of queue-type storage chip stores, the graphic information of each frame is extracted by interruption controls, when trailer compartment 1000, certain side radar range is less than two grades of exposure distances, data processing module is processed by the graphic information of algorithm by corresponding side camera, deepens by the red value of pixel in image. The upper right corner that the shortest distance of each radar detection is displayed in the image of right side camera collection by algorithm routine, i.e. the shortest distance numeral of certain radar detection is corresponding with the rgb value of image upper right corner pixel. The graphic information of each camera after treatment is exported by the output port of controller after digital-to-analog conversion, is connected with video dispenser 601 by output port, and the output terminal of video dispenser 601 is connected with display screen 600.
The tow tractor 800 recorded by the steering wheel angle measured by potentiometer b301 and potentiometer a300 and the connection angle in trailer compartment 1000 reach data processing module, after data processing module extracts corner, algorithm based on the motion model of trailer is by the motion track of corner and the distance analysis trailer of all radar detections, the image of track with trailer rear is combined, namely in the picture set up virtual coordinate system, track is corresponding pixel in correspondence image then, is changed the rgb value of respective pixel point by algorithm routine.
Video dispenser 601 controls the graphic information after display screen 600 display process, the i.e. graphic information of display screen 600 left side (right side) upper part display tow tractor 800 left side (right side) side camera collection, the graphic information of trailer compartment 1000 afterbody camera collection is shown in display screen 600 bottom, and the prediction locus of mark trailer. When a trailer left side (right side) side radar detection shortest distance is less than two level security distances, upside, display screen 600 left side (right side) image is shown as redness, to represent dangerous. The shortest distance of each radar detection is displayed in the image of the upper right portion of display screen 600.
The connection of radar and steering wheel is consulted shown in Fig. 2, a bonding tubular shaft matched with steering wheel output shaft in the lower section of each radar probe, it is fixed together by output shaft and this parts of steering wheel, after being energized to steering wheel, steering wheel output shaft rotates, drive this tubular shaft axle to rotate, namely drive radar probe to rotate. Each steering wheel is connected with trailer by mounting bracket 900, and the structure of mounting bracket 900 consults Fig. 4, sway brace a901, the sway brace b902 that mounting bracket stretches out, it is fixed with stub a906, stub b907, clip the both sides of steering wheel, fix by steering wheel and mounting bracket 900, screw passes the respective screw hole a903 bottom mounting bracket 900, threaded hole b904, threaded hole c905 are connected with trailer compartment 1000, is fixed on trailer by mounting bracket 900.
Claims (6)
1. a reversing of trailer subsystem, it is characterised in that: comprise sensor assembly, data processing module and information displaying reminding module; Described sensor assembly is made up of camera, radar and potentiometer; Described data processing module is made up of data input module and central processing unit, video dispenser; Described information displaying reminding module is made up of display screen and hummer;
The sending end of radar, the output terminal of camera are connected with the input terminus of data input module respectively with potentiometer output terminal;
Data input module output terminal is connected with central processing unit input terminus, and central processing unit output terminal is connected with video dispenser input terminus, and video dispenser output terminal connects display screen;
Central processing unit output terminal connects the positive pole of hummer, hummer negative pole ground connection.
2. a kind of reversing of trailer subsystem according to claim 1, it is characterised in that:
Camera in described sensor assembly arranges three, lays respectively at the left and right sides and the rear in front, trailer compartment.
3. a kind of reversing of trailer subsystem according to claim 1, it is characterised in that:
Radar in described sensor assembly arranges ten, each uniform three of trailer compartment arranged on left and right sides, uniform four of rear, trailer compartment.
4. a kind of reversing of trailer subsystem according to claim 3, it is characterised in that:
The lower section of each uniform three radars of described trailer compartment arranged on left and right sides connects steering wheel, connects steering wheel below two radars that rearward edges place, trailer compartment is arranged; Described steering wheel is connected on trailer collision bumper by mounting bracket.
5. a kind of reversing of trailer subsystem according to claim 1, it is characterised in that:
Described potentiometer arranges two, is respectively potentiometer a (300), potentiometer b (301);Described potentiometer a (300) is arranged on the junction of trailer compartment and tow tractor, described potentiometer b (301) is arranged on tow tractor bearing circle (303) lower section, and potentiometer a (300) and potentiometer b (301) output terminal are connected with data input module (401).
6. a kind of reversing of trailer subsystem according to claim 4, it is characterised in that:
Described mounting bracket comprises sway brace a, sway brace b, steering wheel is fixed on mounting bracket by stub a, stub b by the both sides that sway brace a, sway brace b clamp steering wheel, screw passes the threaded hole a bottom mounting bracket, threaded hole b, threaded hole c are connected with trailer compartment, is fixed on trailer by mounting bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610160036.5A CN105667402A (en) | 2016-03-21 | 2016-03-21 | Backing up assisting system of trailer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610160036.5A CN105667402A (en) | 2016-03-21 | 2016-03-21 | Backing up assisting system of trailer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105667402A true CN105667402A (en) | 2016-06-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610160036.5A Pending CN105667402A (en) | 2016-03-21 | 2016-03-21 | Backing up assisting system of trailer |
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| Country | Link |
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| CN (1) | CN105667402A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110562139A (en) * | 2019-08-08 | 2019-12-13 | 湖南成鑫专用汽车有限公司 | Novel multifunctional intelligent visual system for semitrailer |
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| JP2002029345A (en) * | 2000-07-14 | 2002-01-29 | Mitsubishi Motors Corp | Device for supporting parking |
| JP2003034206A (en) * | 2001-07-19 | 2003-02-04 | Nissan Motor Co Ltd | Device for supporting parking for vehicle |
| CN201400129Y (en) * | 2009-03-18 | 2010-02-10 | 惠州市德赛汽车电子有限公司 | Automobile safety rear-view device |
| CN201833953U (en) * | 2010-10-09 | 2011-05-18 | 董利兵 | Visual radar reversing device for trailer |
| CN103754076A (en) * | 2014-01-04 | 2014-04-30 | 张少靖 | Truck tractor and trailer docking aid |
| CN103913748A (en) * | 2014-03-06 | 2014-07-09 | 武汉理工大学 | Automobile sensing system based on multiple sensors and sensing method |
| CN105313890A (en) * | 2014-05-29 | 2016-02-10 | 陕西重型汽车有限公司 | Automobile reversing auxiliary system |
| CN205601702U (en) * | 2016-03-21 | 2016-09-28 | 吉林大学 | Trailer auxiliary system that backs a car |
-
2016
- 2016-03-21 CN CN201610160036.5A patent/CN105667402A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002029345A (en) * | 2000-07-14 | 2002-01-29 | Mitsubishi Motors Corp | Device for supporting parking |
| JP2003034206A (en) * | 2001-07-19 | 2003-02-04 | Nissan Motor Co Ltd | Device for supporting parking for vehicle |
| CN201400129Y (en) * | 2009-03-18 | 2010-02-10 | 惠州市德赛汽车电子有限公司 | Automobile safety rear-view device |
| CN201833953U (en) * | 2010-10-09 | 2011-05-18 | 董利兵 | Visual radar reversing device for trailer |
| CN103754076A (en) * | 2014-01-04 | 2014-04-30 | 张少靖 | Truck tractor and trailer docking aid |
| CN103913748A (en) * | 2014-03-06 | 2014-07-09 | 武汉理工大学 | Automobile sensing system based on multiple sensors and sensing method |
| CN105313890A (en) * | 2014-05-29 | 2016-02-10 | 陕西重型汽车有限公司 | Automobile reversing auxiliary system |
| CN205601702U (en) * | 2016-03-21 | 2016-09-28 | 吉林大学 | Trailer auxiliary system that backs a car |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110562139A (en) * | 2019-08-08 | 2019-12-13 | 湖南成鑫专用汽车有限公司 | Novel multifunctional intelligent visual system for semitrailer |
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Application publication date: 20160615 |