CN106800021B - A kind of automobile active collision-avoidance system based on laser ranging - Google Patents
A kind of automobile active collision-avoidance system based on laser ranging Download PDFInfo
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- CN106800021B CN106800021B CN201510847932.4A CN201510847932A CN106800021B CN 106800021 B CN106800021 B CN 106800021B CN 201510847932 A CN201510847932 A CN 201510847932A CN 106800021 B CN106800021 B CN 106800021B
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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
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
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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
- B60W2554/00—Input parameters relating to objects
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Abstract
The present invention proposes a kind of automobile active collision-avoidance system based on laser ranging, including laser ranging module, motor turning measurement module, speed measuring module, laser pose adjustment module, data processing module；Laser ranging module includes No. three lasers, and No. three laser is evenly arranged on automotive front end, for measuring automobile at a distance from barrier；Motor turning measurement module is for measuring current turning radius；Speed measuring module is for acquiring automobile present speed；Laser pose adjustment module adjusts the optical path that the master drives laser and the passenger side laser to horizontal attitude according to the load-carrying of automobile；Data processing module provides alarm, deceleration or brake signal according to the data that aforementioned modules obtain.False alarm rate of the present invention is low, can provide reasonable alarm and control signal at the appropriate time.
Description
Technical field
The invention belongs to automobile collision preventing technical fields, more particularly to a kind of automobile automatic collision system based on laser ranging
System.
Background technique
From conventionally, automotive safety can be studied from both direction: first is that active safe practice, that is, prevent
The generation of accident, this kind of mode are the final purposes of current automotive safety research；Second is that passive type safe practice, i.e. accident occur
Passenger protection afterwards.The research of field of automobile safety passive security is more at present, mainly from air bag, ABS (anti-lock braking system)
Set about with suspension etc., to guarantee the safety of driver and passenger.For in terms of the economy and safety two, these passive securities
Measure is to protect at the accident generation moment to vehicle and personnel, there is significant limitation.In the twentieth century nineties, due to
By means of the electronic technology and computer technology to reach its maturity, automobile active anti-collision technique is just applied to the vapour of mass production
Che Shang is arranged for example, being equipped with safe eye, tailstock reflecting plate, range radar system etc. on passenger car with reinforcing Collsion proof safety
It applies, improves the active safety of automobile.In Germany, optical sensor branch, Wei Erde black cloth Lv Ge company has developed MEAR system
System.This laser ranging system consists of three parts: a sensor head (including distance measuring sensor and television camera), and one
Data logger and control unit and an instrument panel display section, this laser ranging system before headstock can be to
Driver provides the distance between other vehicles and object and relative velocity data, and video image can also be provided.In order to detect
With the object of exterior domain immediately ahead of headstock, a kind of referred to as " visual spatial attention radar " is being studied by General Motors Overseas Corporation
Security alarm system.The system measures road boundary and curvature by a television camera, is obtained further according to television camera
Information control laser radar, at this moment laser radar can adjust the direction of spy with the actual path of automobile, increase
EFFECTIVE RANGE realizes the optimum measurement to object
The research and development of the personal vehicle system in China is later, and with the systematic research and development phase of the high investment of foreign organization
Than, although domestic research and development institution is more, relative distribution, and also domestic research and development institution lacks mostly based on the research and development of oneself
Weary connection is linked up.Tsinghua University Hou Dezao is in doctor's thesis, based on dynamics of vehicle and control theory, to realization
The modeling of dynamics of vehicle involved in automobile longitudinal active collision-avoidance system function and control, safety driving distance model, practical friendship
Target vehicle identification and motion information acquisition, the exploitation of train experiment platform etc. are studied in logical environment, realize longitudinal direction
The system function of active anticollision.University Of Chongqing's bavin is firm in doctoral thesis, for the safety problem in running car, with automobile primary
Dynamic security system is research object, using the information processing technology and intellectualized technology to the expression of information, the dynamic of driving safety
Model, the composition of system and modeling, the real-time acquisition of information, traveling anticollision etc. have been carried out compared with systematic research from automotive safety
Angle, summarize and describe the relevant issues of automobile and its safety, discuss personal vehicle system and automobile collision preventing safety
System, the analysis that the research contents of automobile active safety system has been carried out.
Although having there is corresponding test products to come out.But up to the present, there is no the automobile-used of practical scale
Anti-collision system is formally produced and is launched, and other than the factor in terms of cost, technically there is the higher problem of false alarm rate, i.e.,
Anti-collision system has mistakenly judged that the probability of unsafe condition is higher when having no unsafe condition.
Summary of the invention
The purpose of the present invention is to provide a kind of automobile active collision-avoidance system based on laser ranging introduces steering wheel biography
Sensor, velocity sensor, vehicle body pitch sensor differentiate the motion state of automobile to combine, and false alarm rate is low, can be in due course
Time provides reasonable alarm and control signal.
In order to solve the above technical problem, the present invention provides a kind of automobile active collision-avoidance system based on laser ranging, packet
Include laser ranging module, motor turning measurement module, speed measuring module, laser pose adjustment module, data processing module；Laser
Range finder module includes No. three lasers, and No. three laser is evenly arranged on automotive front end, for measure automobile and barrier away from
From；Motor turning measurement module is for measuring current turning radius；Speed measuring module is for acquiring automobile present speed；Laser appearance
State adjustment module adjusts the optical path that the master drives laser and the passenger side laser to horizontal attitude according to the load-carrying of automobile；Data
Processing module provides alarm, deceleration or brake signal according to the data that aforementioned modules obtain.
Further, the data processing module shields the distance signal being located at except turning radius.
Further, the speed measuring module calculates car speed vTMethod be shown below,
Wherein, T is the current period of the speed signal on automobile code table, T0And v0It is priori value, T0It is by automobile with fixation
Speed v0The period of speed signal on its corresponding automobile code table of acquisition is measured when driving.
Further, measure the continuous N number of cycle length of speed signal on automobile code table, then successively remove maximum and
The smallest each s cycle length is averaging remaining N-2s cycle length and obtains the current period.
Further, the laser pose adjustment module is automatic comprising automotive pitch sensor, pitching angle of automobile detection radar
Adjust device and single-chip microcontroller；Single-chip microcontroller controls device for automatically adjusting pitching angle of automobile detection radar according to carload and main will drive and secondary
The optical path for the laser driven is adjusted to optimal detection position.
Further, the method for data processing module provides alarm, deceleration or brake signal are as follows:
Assuming that it is respectively Alarm that master, which drives the alarm, deceleration, brake signal of laser,z,Slowz,Brakez, in drive laser
Alarm, deceleration, brake signal be respectively Alarmo,Slowo,Brakeo, the alarm of the passenger side laser, deceleration, brake signal point
It Wei not Alarmf,Slowf,Brakef, the alarm, deceleration, brake signal that system finally does decision are respectively Alarm, Slow,
Brake, aforementioned signal are equal to 1 and represent effectively, and it is invalid to be equal to 0 representative；
If Alarmz+Alarmo+Alarmf>=2, then Alarm=1, otherwise Alarm=0；
If Slowz+Slowo+Slowf>=2, then Slow=1, otherwise Slow=0；
If Brakez+Brakeo+Brakef>=2, then Brake=1, otherwise Brake=0.
Compared with prior art, the present invention its remarkable advantage is: (1) using be located at automobile chassis in front of master drive, in
Drive, the passenger side No. three laser measures automobile at a distance from front obstacle, by laser, united mode is improved two-by-two
The stability of target identification reduces false alarm rate；(2) measure whether automobile is in turn condition using steering wheel sensor, with
And the size of turning, and corresponding safe distance is obtained according to the angular dimension of steering wheel, the barrier except this safe distance
Hinder object that can not consider, thus when masking due to turning laser probe to barrier without risk when generate
False alarm；(3) absolute velocity for introducing velocity sensor measurement automobile, due to running at a low speed or the state of vehicle stationary
Under, potential risk is very small, so even if system has detected the barrier within risk distance and reported without transmission
Alert, deceleration, brake signal, enhance the stability of system；(4) laser pose adjustment module is introduced, due to carload
Variation, laser can introduce very big heeling error, the detection angle of laser with respect to the horizontal plane caused to change, cannot
Barrier is detected, and laser pose adjustment module can adjust laser and horizontal plane according to the variation of carload in real time
Angle so that laser is in optimal detection posture.
Detailed description of the invention
Fig. 1 is that the present invention is based on the automobile active collision-avoidance systems of laser ranging to constitute schematic diagram.
Specific embodiment
It is readily appreciated that, technical solution according to the present invention, in the case where not changing connotation of the invention, this field
Those skilled in the art can imagine the numerous embodiments of the automobile active collision-avoidance system the present invention is based on laser ranging.Cause
This, following specific embodiments and attached drawing are only the exemplary illustrations to technical solution of the present invention, and are not to be construed as this hair
Bright whole is considered as limitation or restriction to technical solution of the present invention.
In conjunction with Fig. 1, the automobile active collision-avoidance system based on laser ranging includes laser ranging module, motor turning measurement mould
Block, speed measuring module, laser pose adjustment module, data processing module；When opening vehicle door, laser pose adjustment
Module according to the load condition of automobile by laser ranging module master, in, the optical paths of secondary No. three lasers adjusts to horizontal appearance
State, the laser in laser ranging module is started to work at this time, is constantly issued laser pulse to vehicle front and is carried out ranging, swashs
The range data measured is sent to data processing module by ligh-ranging module；Speed measuring module will on automobile dial plate collected speed
Degree signal is sent to data processing module；Motor turning measurement module is by the corresponding turning radius of angle of the current steering wheel measured
It send to data processing module；The data that data processing module combines aforementioned modules to send carry out analytical calculation, provide current
The signal of the appropriate actions such as system should be taken under situation alarm, deceleration, brake.Detailed description are as follows for whole system module:
1, laser ranging module
Laser ranging module for the distance between real-time measurement automobile and front obstacle be worth, mainly by transmitting unit,
Receiving unit, high-precision timing module and single-chip microcontroller are constituted.The working principle of laser ranging module are as follows: the hair in transmitting unit
Optical diode emits a laser pulse by optical transmitting system, and pulse is radiated at the barrier in front with the light velocity by spatial
Hindering on object, the receiving optics for being received unit after reflection is collected, and is focused on the photodiode of receiving unit,
Light pulse is converted electric pulse by photodiode, measures transmitting pulse by high-precision timing module and receives between pulse
Time interval, to obtain the distance between barrier and automobile, since there is a certain error for laser ranging module, so
Obtained initial range data need to reduce error as far as possible by certain calibration algorithm calibration.In addition, in order to avoid
The phenomenon for causing algorithm unstable due to the packet loss in data transmission procedure, is also packaged into reasonable data for initial data
Frame format, calibration process and data encapsulation process are realized in single-chip microcontroller.
In order to cope with the false alarm rate that automobile is generated in situations such as climb and fall, lane change, pulling over observing, laser ranging module includes
No. three lasers are uniformly distributed three lasers in automotive front end, first laser is mounted in front of main driving position, referred to as
Master drives laser；Second laser is mounted on the front of co-driver, referred to as the passenger side laser；Third laser is mounted on
The centre of body frame and the passenger side, referred to as middle frame laser.It is main drive it is parallel with automobile chassis with the laser optical path of the passenger side two-way laser,
Drive the laser optical path of laser in and and then tilt a low-angle β upwards, i.e., in drive the laser optical path and automobile chassis of laser
Between there are an angle β.
2, motor turning measurement module
Since automobile is in turning, although the object being located at except turning radius can be detected by laser ranging module,
But will not constitute a threat to the traveling of automobile, motor turning measurement module is for providing automobile current steering angle size, vapour
Vehicle turns to the angular dimension that the automobile steering sensor in measurement module is turned over by measuring vehicle steering wheel, can obtain automobile
The size of turning radius R at that time, data processing module shield the distance signal being located at except turning radius R.In this way
The generation that false alarm rate can be greatly reduced enhances the reliability and stability of system.Motor turning measurement module is turning half
The size data of diameter R passes to data processing module and carries out subsequent processing.
3, speed measuring module
Speed measuring module be obtain automobile absolute velocity device, mainly by signal processing circuit, level shifting circuit and
Data processor in FPGA is constituted.Since automobile cannot take the measure of bringing to a halt when running at high speed, when running at a low speed
People can react completely does not need slowing-down brake measure yet, so needing to consider automobile in active collision-avoidance system of the present invention
Absolute velocity.The present invention directlys adopt the speed signal on automobile code table, which is a square-wave signal, the period of square wave
Inversely with speed, it is possible to find out this functional relation in advance, then be determined by measuring the period of signal
Corresponding car speed.Since signal quality is not able to satisfy measurement request, so to pass through signal processing circuit, it is thus obtained
Signal is input to inside FPGA by suitable level shifting circuit carries out being further processed for data again.
Signal in view of entering FPGA might have noise jamming, so the week in continuous N number of period to square-wave signal
Phase length measures, and then carries out a sequence to period size, removing maximum and the smallest each s, (value of s can be by reality
Situation voluntarily determines) a value, it averages to the data of remaining N-2s, using this average value as the week of current vehicle speed signal
Phase size.That is:
The cycle length in its N number of period is continuously measured square-wave signal, are as follows:
T1,T2,T3,…,Tn-2,Tn-1,Tn
Wherein, subscript 1 is the sequence of the N number of cycle length continuously measured to n.
Sequence from small to large is carried out to this ordered series of numbers, is obtained:
Wherein, subscript i1To inFor the sequence of N number of cycle length after sequence.
Remove s value of its head and the tail, to remaining data calculation art average value:
At this point, T is the period of current car speed signal.
The cycle T and automobile absolute velocity v of speed signalTProduct be constant K, that is, have following relationship:
TvT=K (5)
This constant K in order to obtain, by automobile with fixed speed v0Traveling, measures the period of its corresponding speed signal
For T0, then K=v0T0。
The analytic expression of car speed under different cycles length can so be obtained:
Finally automobile absolute velocity vTIt is sent to data processing module.
4, laser pose adjustment module
Laser pose adjustment module, for eliminating the offset of the laser posture due to caused by carload variation.
Laser pose adjustment module includes automotive pitch sensor, device for automatically adjusting pitching angle of automobile detection radar and single-chip microcontroller.By
Change in carload, can cause automobile chassis that can be a certain included angle with horizontal plane, be not at body frame and the passenger side laser
Horizontal posture.Cause laser that can get to ground or sky and capture less than effective target, so the present invention is equipped with one
A pitch sensor detects the variation of carload, and single-chip microcontroller control device for automatically adjusting pitching angle of automobile detection radar passes through vapour
Vehicle measures load condition and the attitude angle of laser is adjusted to optimal detection position.Its working principles are as follows:
To different load-carrying mi, automotive pitch sensor exports the voltage V that corresponds toi；Meanwhile the appearance different in laser
Under state angle, device for automatically adjusting pitching angle of automobile detection radar can also provide a voltage Vo.By voltage ViIt is transferred to single-chip microcontroller
In, SCM system is calculated by formula (7) can make voltage V corresponding to body frame and the passenger side laser posture holding levelo。
Vo=kVi+b (7)
Wherein, k, b are constant related with bus attribute, can voluntarily experimental fit be obtained.
Then single-chip microcontroller controls device for automatically adjusting pitching angle of automobile detection radar for laser pose adjustment to VoIt is corresponding
Position.The posture of body frame and the passenger side laser in this way would be at horizontality.
5, data processing module
Data processing module is mainly the processing analysis for realizing No. three lasers and various sensing datas, is provided specific
Under the conditions of alarm, deceleration, brake signal.
First, it is assumed that it is respectively Alarm that master, which drives the alarm, deceleration, brake signal of laser,z,Slowz,Brakez, in drive
The alarm of laser, deceleration, brake signal are respectively Alarmo,Slowo,Brakeo, alarm, deceleration, the brake of the passenger side laser
Signal is respectively Alarmf,Slowf,Brakef, these signals are equal to 1 and represent effectively, invalid equal to 0 representative.
Data processing module is FIFO (first in first out) queue that a length L is arranged per laser range data all the way.
By taking body frame laser as an example, laser 100 distances of survey per second are simultaneously deposited into obtained range data in queue, are often come in one
Each data of queue are just moved one by new range data backward, then newest data are placed on the position of foremost,
Assuming that the main data driven in the data fifo queue of laser are as follows:
D1,D2,D3,…DL-1,DL
Newest data D is so added every time0When, D0Queue head end is just appeared in, other data successively move one backward
Position, the D of original queue tail endLIt then loses, queue becomes:
D0,D1,D2,D3,…DL-1
Median filtering is carried out to queue again, data become:
Wherein, subscript i0To iLFor the sequence after subscript 0 to L-1 rearrangement
After filtering is completed, cast out two data of queue head end and tail end, carries out difference averaged power spectrum automobile and front
The relative velocity of barrier, it may be assumed that
In formula, v is the relative velocity of automobile and front obstacle.
Master, which is calculated, then in conjunction with alarm, deceleration, braking time drives laser alarm, deceleration, braking safe distance:
Dza=Sz+vτa (11)
Dzs=Sz (12)
Wherein, Δ t is the duration of reduce-speed sign, asDeceleration when deceleration, abDeceleration when to brake, τ are to be
It unites delay time, τaTime difference between alarm signal and reduce-speed sign, D0After stopping under the action of anti-collision system for automobile
The distance between barrier, DzaFor alarm security distance, DzsFor deceleration safe distance, DzbFor braking safe distance.
Then it is counted according to above four formula and is less than alarm security distance, deceleration safe distance, braking safe in fifo queue
The number of the distance value of distance, respectively nza, nzs, nzb。
Give three threshold value NTa,NTs,NTbIf nza, nzs, nzbIt has been more than corresponding count threshold NTa,NTs,NTb,
So program just provides corresponding signal, i.e., if nza≥NTa, then Alarmz=1, otherwise Alarmz=0；If nzs≥
NTs, then Slowz=1, otherwise Slowz=0；If nzb≥NTb, then Brakez=1, otherwise Brakez=0.
If currently available new range data value D0(R is within the corresponding turning radius R of automotive steering angle
The current turning radius of the automobile that motor turning measurement module transmits), that is, meet D0< R, then main drive corresponding alarm deceleration
Brake signal is all reset: Alarmz=0, Slowz=0, Brakez=0.
Similarly, the corresponding alarm of laser data, deceleration, brake signal Alarm are driven ino,Slowo,Brakeo, and
The corresponding alarm of the passenger side laser data is slowed down, brake signal Alarmf,Slowf,BrakefLaser can be driven according to similar master
The calculation method of device data is to out.
In order to improve the stability of system, the pre-signal that No. three lasers obtain is combined two-by-two and is taken and operation, it may be assumed that
If Alarmz+Alarmo+Alarmf>=2, then Alarm=1, otherwise Alarm=0；
If Slowz+Slowo+Slowf>=2, then Slow=1, otherwise Slow=0；
If Brakez+Brakeo+Brakef>=2, then Brake=1, otherwise Brake=0；
Wherein, Alarm, Slow, Brake are total (finally doing decision) alarm, deceleration, brake signal.
If the absolute velocity of automobile be do not provide when being in climb and fall less than a threshold value or automobile alarm, deceleration,
Brake signal；Since the middle frame laser of automobile tilts a low-angle β upwards, so middle frame swashs if front is a slope
Light device, which measures distance, can be significantly greater than other two-way.Whether automobile is in the climb and fall distance that frame laser measures in and body frame
The passenger side makes comparisons to obtain, it may be assumed that
IfOr Do-Dz> ΔSlope,Do-Df> ΔSlope
So Alarm=0, Slow=0, Brake=0
Wherein, vTFor the current absolute velocity of automobile that speed measuring module transmits,To need system to execute brake living of slowing down
Minimum absolute velocity.DoThe distance that laser currently measures, D are driven inzFor the distance that body frame laser currently measures, DfFor pair
Drive the distance that laser currently measures, ΔSlopeFrame distance is greater than the minimum threshold of body frame the passenger side in when for front being slope.
The data characteristics on the greenbelt of roadside are beaten in conjunction with laser, false-alarm is reduced, when No. three roads laser Da
When on the greenbelt of side, from the main state that increasing or decreasing can be presented to secondary three data, any measure is not executed this when,
That is:
If Dz-Do> ΔParkAnd Do-Df> ΔPark, or Df-Do> ΔParkAnd Do-Dz> ΔPark,
So Alarm=0, Slow=0, Brake=0
Wherein, ΔParkFor the minimum threshold of increasing or decreasing.
Final alarm, deceleration, brake signal can be exported to anti-collision retarding brake and emergency brake arrangement.
Claims (1)
1. a kind of automobile active collision-avoidance system based on laser ranging, which is characterized in that including laser ranging module, motor turning
Measurement module, speed measuring module, laser pose adjustment module, data processing module；Laser ranging module includes No. three lasers,
No. three laser is evenly arranged on automotive front end, for measuring automobile at a distance from barrier；Motor turning measurement module is used for
Measure current turning radius；Speed measuring module is for acquiring automobile present speed；Laser pose adjustment module is according to the load of automobile
The optical path that the master drives laser and the passenger side laser is adjusted to horizontal attitude again；Data processing module is obtained according to aforementioned modules
The data obtained provide alarm, deceleration or brake signal；
The data processing module shields the distance signal being located at except turning radius；
The speed measuring module calculates car speed vTMethod be shown below,
Wherein, T is the current period of the speed signal on automobile code table, T0And v0It is priori value, T0It is by automobile with fixed speed
Spend v0The period of speed signal on its corresponding automobile code table of acquisition is measured when driving；
The continuous N number of cycle length of speed signal on automobile code table is measured, maximum and the smallest each s are then successively removed
Cycle length is averaging remaining N-2s cycle length and obtains the current period；
The laser pose adjustment module includes automotive pitch sensor, device for automatically adjusting pitching angle of automobile detection radar and list
Piece machine；Single-chip microcontroller controls device for automatically adjusting pitching angle of automobile detection radar according to carload and drives master and the laser of the passenger side
Optical path is adjusted to optimal detection position；
The method of alarm, deceleration or brake signal that data processing module provides are as follows:
Assuming that it is respectively Alarm that master, which drives the alarm, deceleration, brake signal of laser,z,Slowz,Brakez, in drive the report of laser
Alert, deceleration, brake signal are respectively Alarmo,Slowo,Brakeo, the alarm of the passenger side laser, deceleration, brake signal are respectively
Alarmf,Slowf,Brakef, the alarm, deceleration, brake signal that system finally does decision are respectively Alarm, Slow, Brake,
Aforementioned signal is equal to 1 and represents effectively, and it is invalid to be equal to 0 representative；
If Alarmz+Alarmo+Alarmf>=2, then Alarm=1, otherwise Alarm=0；
If Slowz+Slowo+Slowf>=2, then Slow=1, otherwise Slow=0；
If Brakez+Brakeo+Brakef>=2, then Brake=1, otherwise Brake=0.
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| CN108776344A (en) * | 2018-05-03 | 2018-11-09 | 南京理工大学 | A kind of low cost can slant laser radar |
| CN109655798B (en) * | 2018-11-29 | 2023-06-23 | 惠州华阳通用电子有限公司 | Vehicle-mounted radar self-adaptive adjustment method and device |
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| CN113433554B (en) * | 2021-06-16 | 2022-10-18 | 苏州艾美睿智能系统有限公司 | Automatic buffering and anti-collision system of unmanned carrying vehicle |
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