CN106740477A - A kind of vehicle wide scope aids in method for early warning - Google Patents

A kind of vehicle wide scope aids in method for early warning Download PDF

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Publication number
CN106740477A
CN106740477A CN201611269470.3A CN201611269470A CN106740477A CN 106740477 A CN106740477 A CN 106740477A CN 201611269470 A CN201611269470 A CN 201611269470A CN 106740477 A CN106740477 A CN 106740477A
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China
Prior art keywords
vehicle
detection
sensor
detection sensor
angle
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Chinese (zh)
Inventor
徐苹
刘全英
赵芬芬
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QINGDAO R & D INSTITUTE XI'AN JIAOTONG UNIVERSITY
Qingdao Apulse Intellectual Property Management Co Ltd
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QINGDAO R & D INSTITUTE XI'AN JIAOTONG UNIVERSITY
Qingdao Apulse Intellectual Property Management Co Ltd
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Priority to CN201611269470.3A priority Critical patent/CN106740477A/en
Publication of CN106740477A publication Critical patent/CN106740477A/en
Pending legal-status Critical Current

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    • 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
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • 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
    • 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
    • B60R2300/8093—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 obstacle warning

Abstract

A kind of vehicle wide scope aids in method for early warning, including the detection sensor of optimal design-aside first, second and height detecting sensor, calibrated in advance, step on detection direction is scanned, it is calculated the height and vehicle of step to the distance of step, and the gap width between vehicle and ground is compensated, the scratch situation of vehicle is judged according to different detection cycles, and Realtime Alerts and adjustment drive manner, it is capable of the prompting driver of quantification, and increase investigative range, it is to avoid detection blind area, effectively prevent to scratch.

Description

A kind of vehicle wide scope aids in method for early warning
Technical field
The present invention relates to field of vehicle safety, and in particular to a kind of vehicle wide scope aids in method for early warning.
Background technology
With the development of social economy, vehicle becomes the first-selected walking-replacing tool of family of modern society, and its quantity is nearly 10 Rapidly increase in year.The problem of current parking difficulty has been highlighted, and complicated parking environment also increases increasingly.In the mistake of vehicle drive Cheng Zhong, occurs the obstacle road conditions that needs pass through unavoidably, such as be frequently necessary to reach the step in roadside etc. when stopping, in these feelings Under condition, due to the difference that the structure of different brands and the vehicle of different model is all designed, especially chassis and the height on ground It is different, and driver also can be different for the judgement of roadside obstacle situation, and especially the size in barrier is in vehicle energy When near the no critical parameters for passing through, driver is difficult accurately judgement.Therefore, vehicle often scratches, especially Scratch to chassis and bumper, causes economic loss.
At present, the existing big mode for being all suitable for radar and image of vehicle barrier detection, using radar detection to presence During barrier, send early warning and remind driver to note, or the image of barrier is presented to driver by way of influence To show early warning.However, although aforesaid way effectively can be avoided scratching and collided, prompting of the aforesaid way without standard measure Driver, so as in the case that driver is alerted, can also drive vehicle and scratch, is especially needing to reach the feelings of step Condition.Further, since existing detection method is mostly the barrier that periphery is measured with horizontal survey or approximately parallel mode, when Barrier is in and is less than vehicle rear, and when at the position of vehicle, these positions belong to the blind area of detection, it is impossible to pass through Existing mode is detected.
The content of the invention
It is an object of the invention to overcome the deficiencies in the prior art, there is provided a kind of height that can realize real-time anticipation barrier Degree, the height that can be crossed with vehicle is contrasted, the prompting driver of quantification, and increases investigative range, it is to avoid Detection blind area, so as to effectively prevent the vehicle wide scope auxiliary method for early warning for scratching.
The invention provides a kind of vehicle wide scope auxiliary method for early warning, comprise the following steps successively：
(1) it is respectively arranged to detect the height of rear step at the distance of M in the center of the tailstock of vehicle First, second detection sensor, wherein the set location of first, second sensor is tried one's best close to the both sides of vehicle body respectively, the First, the detection direction in the vertical direction of the second detection sensor can be adjusted, and the detection angle for adjusting is carried out in advance Demarcate；
The first and second level detectors are also respectively provided with the headstock of vehicle and the bottom of the tailstock；
(2) when the tailstock of vehicle need not reach step, then step search switch is in the state closed, when vehicle When the tailstock needs to reach step, step search switch is opened, into step (3)；
In vertical direction with predeterminated frequency emission detection signal, adjustment in real time is detected (3) first, second detection sensors Angle, complete scan is carried out in the vertical investigative range at rear, and real-time detection is distinguished by the first and second level detectors Headstock and the tailstock, apart from P1 and P2, the incline direction of vehicle are judged by comparing the value of P1 and P2 and journey is inclined to ground Degree, compensates, the gap width after being compensated to the gap width between vehicle and ground；
(4) after complete scan is carried out, when detection determination has step, adjustment detection angle causes first, second spy The upper edge that sensor separately detects step is surveyed, the search angle angle value α of now first, second detection sensor is recorded respectively1And α2, And record now first, second detection sensor respectively and, to the length value L 11, L12 on the upper edge of step, detection angle is adjusted afterwards So that first, second detection sensor detects the lower edge of step, the search angle of now first, second detection sensor is recorded respectively Angle value β1And β2, and the length value L 21 and L22 of now first, second detection sensor to the lower edge of step are recorded respectively；
(5) height of step is calculated respectively：WithH=max (H1, H2), i.e. H take the maximum of H1 and H2, while meter Calculation obtains vehicle to step apart from D, wherein
(6) if D is more than the safe distance threshold value of vehicle, speed and look-in frequency are kept, otherwise reduces speed, and Improve look-in frequency；
(7) the shoulder height H that will be calculated in step (5), is contrasted with the gap width after compensation, reports step high The difference of the gap width after degree H and compensation, sends early warning；
(8) vehicle continues to travel, and in next detection cycle, search angle angle value α is adjusted respectively1, α2, β1And β2So that First, second detection sensor still keeps upper edge and the lower edge of detection step respectively, and records detection angle now respectively Value α1, α2, β1And β2, and first, second detection sensor is respectively to the length value L 11 and L12 on the upper edge of step and to step Lower edge length value L 21, L22；
(9) with being calculated the height H and vehicle of now step to the distance of step with step (5) identical calculation D；
(10) repeat step (2)-(9), to step apart from D, real-time broadcasting simultaneously sends for height H and vehicle according to step Early warning, adjusts the drive manner of vehicle.
Further, first, second detection sensor is ultrasonic listening sensor or laser acquisition sensor.
Further, the ultrasonic listening sensor or laser acquisition sensor be ultrasonic distance detection sensor or Laser distance detection sensor
Further, the mode for opening step search switch is automatic or by the manual mode of driver.
Further, to step apart from D, real-time broadcasting simultaneously sends the height H and vehicle in step (10) according to step Early warning, the drive manner for adjusting the drive manner of vehicle is specially：
If A, D more than vehicle safe distance threshold value, and H more than compensation after gap width when, do not reduce speed, protect Hold look-in frequency constant；
If B, D less than or equal to vehicle safe distance threshold value, and H more than compensation after gap width when, reduce speed, Improve look-in frequency；
If C, D more than vehicle safe distance threshold value, and H less than compensation after gap width when, reduce speed, improve Look-in frequency, sends alarm；
If D, D less than vehicle safe distance threshold value, and H less than compensation after gap width when, automatically control vehicle Brake.
Vehicle wide scope of the invention aids in method for early warning, it is possible to achieve the height of real-time anticipation barrier, with vehicle energy The height for enough crossing is contrasted, the prompting driver of quantification, and increase investigative range, it is to avoid detection blind area, Closing energy-conservation is carried out when use, while the distance between acquisition detection vehicle and barrier can be calculated, with reference to The elevation information of detection carrys out real-time adjustment drive manner, so as to effectively prevent to scratch；Also, first, second detection is passed The setting of sensor can detect the step of wide scope respectively, so as to avoid during single position sensing, because the shape of step becomes Change big, the inaccurate situation of appearance detection.
Brief description of the drawings
Fig. 1 is that the vehicle tailstock detects schematic diagram
Fig. 2 is setting schematic diagram of first, second detection sensor in the tailstock
Fig. 3 is that vehicle wide scope auxiliary drives early warning principle schematic
Vehicle wide scope auxiliary drives early warning principle schematic when Fig. 4 is inclination of vehicle
In reference：1 vehicle；2 first, second detection sensors.
Specific embodiment
The following detailed description of specific implementation of the invention, it is necessary to it is pointed out here that, below implement to be only intended to this hair Bright further illustrates, it is impossible to be interpreted as limiting the scope of the invention, and art skilled person is according to above-mentioned Some nonessential modifications and adaptations that the content of the invention is made to the present invention, still fall within protection scope of the present invention.
The invention provides a kind of vehicle wide scope auxiliary method for early warning, can in advance be surveyed when vehicle needs to reach step Amount, the driver of quantitative prompting.As shown in figure 1, the tailstock of vehicle needs to reach step, if the height of step is higher than vehicle If road clearance, then vehicle reaches step can occur the situation that the tailstock of vehicle and step scratch.Although, existing thunder The presence of step can be equally detected up to detection or image, and reminds driver, but not quantitative prompting drives Member needs the height of step for reaching, and the difference situation with vehicle ground clearance, even if therefore having reminded the driver to have platform Rank, but due to the erroneous judgement of driver, when still thinking that vehicle can reach step, then can scratch, cause vehicle Loss.
In the driving procedure of vehicle, the anterior situation driver of car can intuitively see, and the situation of the tailstock is received It is limited to the influence at visual angle, it is difficult to see the barrier at the tailstock rear of car clearly, therefore when the afterbody of vehicle needs to reach step, should When detection sensor as much as possible is set, so as to avoid the occurrence of blind area, the scratch of vehicle is caused.
Therefore, as shown in Fig. 2 being respectively provided with first, second spy at the distance of M in the center of the tailstock of vehicle Survey sensor, the height for detecting rear step, wherein the set location of first, second sensor is tried one's best close to the two of vehicle body Side, the detection direction in the vertical direction of first, second detection sensor can be adjusted, and the detection angle for adjusting is pre- advanced The angle of demarcation, i.e. first, second detection sensor in the vertical direction and vehicle vertical direction of having gone is demarcated, i.e., It is all known under all angles in the value of the angle in detection direction direction perpendicular to the ground, and the mode demarcated can be with Dynamic mode, you can dynamically corrected with using inertia device, with ensure detection sensor detection angle all the time It is the angle in detection direction direction perpendicular to the ground.
During vehicle assistant drive early warning, when the tailstock of vehicle need not reach step, then step detection is opened The state in closing is closed, when the tailstock of vehicle needs to reach step, can be with automatic or beaten by the manual mode of driver Begin a theatrical performance rank search switch, can so reduce power consumption, improve efficiency.After step search switch is opened, first, second detection is passed Sensor, with predeterminated frequency emission detection signal, adjusts detection angle in real time in vertical direction, in the vertical investigative range at rear Inside it is scanned, wherein the scanning of the investigative range first completed headed by the mode for scanning, it is determined that when there is step, adjustment is visited Measuring angle causes that first, second detection sensor separately detects the upper edge of step, and now first, second detection sensing is recorded respectively The search angle angle value α of device1And α2, and the length value L 11 of now first, second detection sensor to the upper edge of step is recorded respectively, L12, adjusts detection angle and causes that first, second detection sensor detects the lower edge of step afterwards, record respectively now first, the The search angle angle value β of two detection sensors1And β2, and the lower edge of now first, second detection sensor to step is recorded respectively Length value L 21 and L22.
At this point it is possible to calculate the height of step respectivelyWithH=max (H1, H2), i.e. H take the maximum of H1 and H2, while can count Calculation obtains vehicle to step apart from D, whereinIf D is more than the safe distance threshold value of vehicle When, regardless of whether by the way that speed can not be reduced, because reducing speed in this case can lower the driving sense of driver, And driver may be just hoped close to step, therefore speed is not reduced.If D be in vehicle less than or equal to safe distance During threshold value, it is more likely that because reaction is scratched not in time, therefore in this case it is necessary to timely reduce speed, In this case, because closer step, it is therefore desirable to improve look-in frequency to detect step, so as to remind in real time simultaneously Driver.
Vehicle is generally fixed value with the gap on ground, therefore real-time detected by first, second detection sensor Shoulder height H, the gap width between vehicle and ground is contrasted, it is possible to show that vehicle can smoothly reach the knot of step By so as to remind driver in real time, driver can just be judged by these numerical value, adjust drive manner.
In actual vehicle operation, in order to detection step in real time, if continuing to travel, then need after Continuous upper edge and the lower edge for detecting step, now because the distance of vehicle and step also there occurs change, therefore first, second visits Surveying sensor will keep detecting respectively upper edge and the lower edge of step, then need adjustment search angle angle value α1, α2, β1And β2, and In order to avoid false alarm, therefore vehicle continue to travel, the operating range of each detection cycle is S, then first, second detection is passed Sensor still keeps upper edge and the lower edge of detection step respectively, then record the detection of now first, second detection sensor respectively Angle value α1, α2, β1And β2, and first, second detection sensor is respectively to the length value L 11 and L12 and extremely on the upper edge of step The length value L 21, L22 of the lower edge of step, can equally calculate the height of stepWithH=max (H1, H2), i.e. H take the maximum of H1 and H2, while can calculate To vehicle to step apart from D, wherein
Fig. 3 be road do not have it is inclined in the case of auxiliary early warning principle illustrative method, but often track is simultaneously It is not smooth, then as shown in figure 4, road surface has certain gradient, then if directly between vehicle and ground Gap width, then be likely to occur because inclination causes to judge inaccurate situation, because in this case, gap width should compare The height of step is bigger, can just reach step.
Therefore, the first and second level detectors are also respectively provided with the headstock of vehicle and the bottom of the tailstock, by One and second level detector difference real-time detection headstock and the tailstock to ground apart from P1 and P2, by the value for comparing P1 and P2 To judge the incline direction and inclined degree of vehicle, so that by incline direction and inclined degree between vehicle and ground The theoretical value of gap value is compensated, the gap width after being compensated, and is judged through overcompensation post gap value using this, then judged Result is more accurate, such that it is able to preferably avoid scratching.
So when specifically judging, if D is more than the safe distance threshold value of vehicle, and H is more than the gap width after compensation When, speed is not reduced, keep look-in frequency constant；When D less than or equal to vehicle safe distance threshold value when, and H more than compensation after Gap width, reduce speed, improve look-in frequency；When D more than vehicle safe distance threshold value when, and H less than compensation after between Gap value, reduces speed, improves look-in frequency；When safe distance threshold values of the D less than vehicle, and H is less than the gap width after compensation, Automatically control vehicle brake.Certainly, in each detection process, all result of detection is shown, Realtime Alerts remind driver.
It should be noted that be likely to occur that during calculating extreme case of the invention is not met, but for this Should be rejected for being unsatisfactory for the extreme case of design conditions for art personnel.
Although for illustrative purposes, it has been described that illustrative embodiments of the invention, those skilled in the art Member it will be understood that, in the case of not departing from the scope and spirit of invention disclosed in appended claims, can be in form and details On carry out various modifications, addition and replace etc. change, and it is all these change should all belong to appended claims of the present invention Each step in protection domain, and claimed each department of product and method, can be in any combination Form is combined.Therefore, to disclosed in this invention implementation method description be not intended to limit the scope of the present invention, But for describing the present invention.Correspondingly, the scope of the present invention is not limited by embodiment of above, but by claim or Its equivalent is defined.

Claims (5)

1. a kind of vehicle wide scope aids in method for early warning, it is characterised in that comprise the following steps successively：
(1) it is respectively arranged to detect the of the height of rear step at the distance of M in the center of the tailstock of vehicle First, the second detection sensor, wherein the set location of first, second sensor is respectively as far as possible close to the both sides of vehicle body, first, the The detection direction in the vertical direction of two detection sensors can be adjusted, and the detection angle for adjusting is demarcated in advance；
The first and second level detectors are also respectively provided with the headstock of vehicle and the bottom of the tailstock；
(2) when the tailstock of vehicle need not reach step, then step search switch is in the state closed, when the tailstock of vehicle When needing to reach step, step search switch is opened, into step (3)；
(3) first, second detection sensors, with predeterminated frequency emission detection signal, adjust search angle in real time in vertical direction Degree, complete scan is carried out in the vertical investigative range at rear, and real-time detection car is distinguished by the first and second level detectors Head and the tailstock, apart from P1 and P2, the incline direction and inclined degree of vehicle are judged by comparing the value of P1 and P2 to ground, Gap width between vehicle and ground is compensated, the gap width after being compensated；
(4) after complete scan is carried out, when detection determination has step, adjustment detection angle causes that first, second detection is passed Sensor separately detects the upper edge of step, and the search angle angle value α of now first, second detection sensor is recorded respectively1And α2, and point Now first, second detection sensor is not recorded, to the length value L 11, L12 on the upper edge of step, detection angle to be adjusted afterwards and is caused First, second detection sensor detects the lower edge of step, and the search angle angle value of now first, second detection sensor is recorded respectively β1And β2, and the length value L 21 and L22 of now first, second detection sensor to the lower edge of step are recorded respectively；
(5) height of step is calculated respectively：WithH=max (H1, H2), i.e. H take the maximum of H1 and H2, while Vehicle is calculated to step apart from D, wherein
(6) if D is more than the safe distance threshold value of vehicle, speed and look-in frequency are kept, otherwise reduces speed, and improve Look-in frequency；
(7) the shoulder height H that will be calculated in step (5), is contrasted with the gap width after compensation, reports shoulder height H With the difference of the gap width after compensation, early warning is sent；
(8) vehicle continues to travel, and in next detection cycle, search angle angle value α is adjusted respectively1, α2, β1And β2So that first, Second detection sensor still keeps upper edge and the lower edge of detection step respectively, and records search angle angle value α now respectively1, α2, β1And β2, and first, second detection sensor is respectively to the length value L 11 and L12 on the upper edge of step and under step The length value L 21, L22 on edge；
(9) with being calculated with step (5) identical calculation the height H and vehicle of now step to step apart from D；
(10) repeat step (2)-(9), to step apart from D, real-time broadcasting simultaneously sends pre- for height H and vehicle according to step Alert prompting, adjusts the drive manner of vehicle.
2. the method for claim 1, it is characterised in that：First, second detection sensor is passed for ultrasonic listening Sensor or laser acquisition sensor.
3. method as claimed in claim 2, it is characterised in that：The ultrasonic listening sensor or laser acquisition sensor are Ultrasonic distance detection sensor or laser distance detection sensor.
4. the method as described in one of claim 1-3, it is characterised in that：The mode for opening step search switch is automatic Or by the manual mode of driver.
5. the method as described in one of claim 1-4, it is characterised in that：According to the height H and vehicle of step in step (10) To step apart from D, real-time broadcasting simultaneously sends early warning, and the drive manner for adjusting the drive manner of vehicle is specially：
If A, D more than vehicle safe distance threshold value, and H more than gap width after compensation when, do not reduce speed, keep visiting Measured frequency is constant；
If B, D less than or equal to vehicle safe distance threshold value, and H more than compensation after gap width when, reduce speed, improve Look-in frequency；
If C, D more than vehicle safe distance threshold value, and H less than compensation after gap width when, reduce speed, improve detection Frequency, sends alarm；
If D, D less than vehicle safe distance threshold value, and H less than compensation after gap width when, automatically control vehicle brake.
CN201611269470.3A 2016-12-31 2016-12-31 A kind of vehicle wide scope aids in method for early warning Pending CN106740477A (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2003104054A1 (en) * 2002-06-07 2003-12-18 Neelam Agarwal Vehicle protection systems
CN104442552A (en) * 2013-09-13 2015-03-25 富泰华工业（深圳）有限公司 Vehicular set and anti-collision system
US20150336546A1 (en) * 2014-05-19 2015-11-26 Umm Al-Qura University Method and system for vehicle to sense roadblock
DE102014114999A1 (en) * 2014-10-15 2016-04-21 Valeo Schalter Und Sensoren Gmbh Method for detecting at least one object in an environmental region of a motor vehicle, driver assistance system and motor vehicle
CN105946708A (en) * 2016-05-27 2016-09-21 奇瑞汽车股份有限公司 Car chassis anticollision prompting method and device

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2003104054A1 (en) * 2002-06-07 2003-12-18 Neelam Agarwal Vehicle protection systems
CN104442552A (en) * 2013-09-13 2015-03-25 富泰华工业（深圳）有限公司 Vehicular set and anti-collision system
US20150336546A1 (en) * 2014-05-19 2015-11-26 Umm Al-Qura University Method and system for vehicle to sense roadblock
DE102014114999A1 (en) * 2014-10-15 2016-04-21 Valeo Schalter Und Sensoren Gmbh Method for detecting at least one object in an environmental region of a motor vehicle, driver assistance system and motor vehicle
CN105946708A (en) * 2016-05-27 2016-09-21 奇瑞汽车股份有限公司 Car chassis anticollision prompting method and device

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Application publication date: 20170531