CN107310471A - It is a kind of that method for early warning is aided in based on the wide scope automobile that dual sensor is detected - Google Patents

It is a kind of that method for early warning is aided in based on the wide scope automobile that dual sensor is detected Download PDF

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Publication number
CN107310471A
CN107310471A CN201611269456.3A CN201611269456A CN107310471A CN 107310471 A CN107310471 A CN 107310471A CN 201611269456 A CN201611269456 A CN 201611269456A CN 107310471 A CN107310471 A CN 107310471A
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vehicle
detection
detection sensor
sub
sensor
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刘全英
赵芬芬
高晓东
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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 CN201611269456.3A priority Critical patent/CN107310471A/en
Publication of CN107310471A publication Critical patent/CN107310471A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/002—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle
    • B60Q9/004—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors
    • B60Q9/006—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors using a distance sensor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/002—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle
    • B60Q9/007—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle providing information about the distance to an obstacle, e.g. varying sound
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • 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
    • 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

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Human Computer Interaction (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Multimedia (AREA)
  • Traffic Control Systems (AREA)

Abstract

A kind of wide scope vehicle assistant drive method for early warning detected based on dual sensor, including optimal design-aside first, second, 3rd, 4th sub- detection sensor and height detecting sensor, calibrated in advance, step on detection direction is scanned, calculating obtains 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, avoid detection blind area, effectively prevent to scratch.

Description

It is a kind of that method for early warning is aided in based on the wide scope automobile that dual sensor is detected
Technical field
The present invention relates to field of vehicle safety, and in particular to a kind of wide scope automobile auxiliary detected based on dual sensor is in advance Alarm method.
Background technology
With the development of the social economy, vehicle becomes the preferred walking-replacing tool of family of modern society, its quantity is nearly 10 Rapidly increase in year.The problem of current parking difficulty, has 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, being frequently necessary to reach the step in roadside such as when parking, in these feelings Under condition, due to the height of the difference that the structure of different brands and the vehicle of different model is all designed, especially chassis and ground It is different, and driver also can be different for the judgement of roadside obstacle situation, are especially in vehicle energy in the size of barrier When near the no critical parameters passed through, driver is difficult accurate 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, utilizes 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, which is in, 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
The height of real-time anticipation barrier can be realized it is an object of the invention to overcome the deficiencies of the prior art and provide a kind of Degree, with vehicle can used height contrasted, the prompting driver of quantification, and increase investigative range, it is to avoid Detection blind area, so as to effectively prevent the wide scope automobile auxiliary method for early warning detected based on dual sensor scratched.
The invention provides a kind of wide scope automobile auxiliary method for early warning detected based on dual sensor, successively including following Step：
(1) vehicle the tailstock center position at a distance of M distance at be respectively arranged to detect rear step height First, second detection sensor of degree, wherein the set location of first, second sensor is as far as possible close to the both sides of vehicle body,
Wherein, first, second detection sensor is respectively set to two sub- detection sensors of position identical, the first detection Sensor include first, second sub- detection sensor, the second detection sensor include the three, the 4th sub- detection sensors, first, Second, third, the detection direction in the vertical direction of the 4th sub- detection sensor can adjust, and adjust detection angle it is pre- First demarcated；
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)；
(3) by the first, the 3rd sub- detection sensor in vertical direction with predeterminated frequency emission detection signal, in real time adjust Whole detection angle, complete scan is carried out in the vertical investigative range at rear, real respectively by the first and second level detectors When detection headstock and the tailstock to ground apart from P1 and P2, judge the incline direction of vehicle and to incline by comparing P1 and P2 value Oblique degree, is compensated, the gap width after being compensated to the gap width between vehicle and ground；
(4) after complete scan is carried out, when it is determined that there is step, visited while opening first, second, third, fourth son Survey sensor：
Adjustment detection angle causes first and second sub- detection sensor to separately detect upper edge and the lower edge of step, records respectively The search angle angle value α that first, second sub- detection sensor now is separately detected1And β1, and record now first, second son Detection sensor is respectively to the upper edge of step and the length value L 11 and L21 of lower edge；
Adjusting detection angle simultaneously causes third and fourth sub- detection sensor to separately detect upper edge and the lower edge of step, respectively The search angle angle value α that the three, the 4th sub- detection sensors of record now are separately detected2And β2, and record now the 3rd, the Four sub- detection sensors are respectively to the upper edge of step and the length value L 31 and L41 of lower edge；
(5) height of step is calculated respectively：With H=max (H1, H2), i.e. H take H1 and H2 maximum, and vehicle is obtained to step apart from D while can calculate, wherein
(6) if D is more than the safe distance threshold value of vehicle, speed and look-in frequency is kept, speed is otherwise reduced, and Improve look-in frequency；
(7) obtained shoulder height H will be calculated in step (5), is contrasted with the gap width after compensation, report step high H and the gap width after compensation difference are spent, early warning is sent；
(8) vehicle continues to travel, and in next detection cycle, the angle value α of detection is adjusted respectively1And β1, α2And β2, So that the first and second, third and fourth detection sensor still corresponds to upper edge and the lower edge of detecting obstacles thing respectively, and respectively The search angle angle value α of record now1And β1, α2And β2, and the first, the 3rd sub- detection sensor is respectively to the upper edge of step Length value L 11 and L12 and the second, the 4th sub- sensor of detection respectively to step lower edge length value L 31, L42；
(9) the height H and vehicle of now step are obtained to the distance of step with the calculating of step (5) identical calculation D；
(10) repeat step (2)-(9), according to the height H and vehicle of step to step apart from D, real-time broadcasting is simultaneously sent Early warning, adjusts the drive manner of vehicle.
Further, first, second, third, fourth sub- 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 pass through the manual mode of driver.
Further, in step (10) according to the height H and vehicle of step to step apart from D, real-time broadcasting is simultaneously sent Early warning, the drive manner of drive manner for adjusting vehicle is specially：
If A, D be more than vehicle safe distance threshold value, and H be more than compensation after gap width when, do not reduce speed, protect Hold look-in frequency constant；
If B, D be less than or equal to vehicle safe distance threshold value, and H be more than compensation after gap width when, reduce speed, Improve look-in frequency；
If C, D be more than vehicle safe distance threshold value, and H be less than compensation after gap width when, reduce speed, improve Look-in frequency, sends alarm；
If D, D be less than vehicle safe distance threshold value, and H be less than compensation after gap width when, automatically control vehicle Brake.
The present invention's aids in method for early warning based on the wide scope automobile that dual sensor is detected, it is possible to achieve real-time anticipation obstacle The height of thing, the height that can be crossed with vehicle is contrasted, the prompting driver of quantification, and increases investigative range, Avoid detection blind area, without using when carry out closing energy-conservation, while acquisition detection vehicle and obstacle can be calculated The distance between thing, drive manner is adjusted with reference to the elevation information of detection in real time, so as to effectively prevent to scratch；And The set-up mode of double detection sensor effectively reduces the time of scanning probe, improves efficiency；Also, sub- detection sensor Setting can detect the step of wide scope respectively so that when avoiding single position sensing, because the change in shape of step is big, There is the inaccurate situation of detection.
Brief description of the drawings
Fig. 1 is that the vehicle tailstock detects schematic diagram
Fig. 2 is setting schematic diagram of the sub- detection sensor in the tailstock
Fig. 3 be road do not have it is inclined in the case of auxiliary early warning principle schematic
Fig. 4 be road have it is inclined in the case of auxiliary early warning principle schematic
In reference：1 vehicle；2 first, second, third, fourth sub- detection sensors.
Embodiment
The following detailed description of the specific implementation of the present invention, it is necessary to it is pointed out here that, implement to be only intended to this hair below 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 wide scope automobile auxiliary method for early warning detected based on dual sensor, it can be needed in vehicle Measured in advance when reaching step, the driver of quantitative prompting.As shown in figure 1, the tailstock of vehicle needs to reach step, if If the height of step is higher than vehicle ground clearance, then vehicle reaches that the tailstock of vehicle can occur for step and step scratches Situation.Although existing radar detection or image can equally detect the presence of step, and remind driver, simultaneously Not quantitative prompting driver needs the height of the step reached, and the difference situation with vehicle ground clearance, therefore i.e. Make to have reminded driver to have step, but be due to the erroneous judgement of driver, when still thinking that vehicle can reach step, then can send out It is raw to scratch, cause the loss of vehicle.
In the driving procedure of vehicle, the anterior situation driver of car can intuitively see, and the situation of the tailstock by 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, answers When setting detection sensor as much as possible, so as to avoid the occurrence of blind area, the scratch of vehicle is caused.
Therefore, as shown in Fig. 2 setting first, second respectively at M distance in the center position of the tailstock of vehicle Detection sensor, the height for detecting rear step, wherein the set location of first, second sensor is as far as possible close to vehicle body Both sides, the detection direction in the vertical direction of first, second detection sensor can be adjusted, and the detection angle adjusted is advance Demarcated, i.e. first, second detection sensor in the vertical direction and the angle of vehicle vertical direction are 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 To be dynamic mode, you can dynamically to be corrected using inertia device, begun with the detection angle for ensureing detection sensor It is the angle in detection direction direction perpendicular to the ground eventually.
During vehicle assistant drive early warning, when the tailstock of vehicle need not reach step, then step detection is opened Close in the state closed, can be with automatic or beaten by the manual mode of driver when the tailstock of vehicle needs to reach step Begin a theatrical performance rank search switch, can so reduce power consumption, improve efficiency.After step search switch is opened, detection sensor is perpendicular Nogata adjusts detection angle in real time to predeterminated frequency emission detection signal, in the vertical investigative range in rear or front It is scanned, wherein the scanning of the investigative range first completed headed by the mode scanned.
During scanning, if being only to be scanned using a detection sensor in the same side, in detection During, due to only one of which detector, therefore the upper edge of detection step and it is lower along when, be all that same detection sensor is come Detection, the detection process from upper edge to lower edge then needs the consuming time, but is preventing the process that vehicle scratches to be likely at once Occur, therefore the effective saving time can reduce the probability of scratch.Therefore, first, second detection sensor of the invention difference Two sub- detection sensors of position identical are set to, the first detection sensor includes the first sub- detection sensor and the second son is visited Survey sensor, the second detection sensor include the 3rd sub- detection sensor and the 4th sub- detection sensor, and first, second, Three, the 4th sub- sensors are respectively to applied to the upper edge of probe station rank and lower edge, so carrying out the spy of upper edge and lower edge simultaneously Survey, saved the time.In addition, during the scanning of the investigative range of completion, only can be passed using one of son detection Sensor is carried out, and again while open two sub- detection sensors when waiting the determination to there is step, can so be saved the energy, be improved effect Rate.
After so step search switch is opened, first by the first, the 3rd sub- detection sensor in vertical direction to preset Frequency emission detection signal, adjusts detection angle in real time, is scanned in the vertical investigative range at rear, wherein scan The scanning of the investigative range first completed headed by mode.
It is determined that when there is step, while opening first, second, third, fourth sub- detection sensor, adjustment detection angle makes First, second, third, fourth sub- detection sensor respectively correspond to detection step upper edge and lower edge, record now first, The search angle angle value α that second sub- detection sensor is detected1、β1, and the detection that the three, the 4th sub- detection sensors are detected Angle value α2And β2, and record now first, second sub- detection sensor respectively to the upper edge of step and the length value L 11 of lower edge And L21, the three, the 4th sub- detection sensors are respectively to the upper edge of step and the length value L 31 and L41 of lower edge.
At this point it is possible to calculate the height of stepWith H=max (H1, H2), i.e. H take H1 and H2 maximum, and vehicle is obtained to step apart from D while can calculate, whereinIf D is more than the safe distance threshold value of vehicle, either It is no by the way that speed can not be reduced because reduction speed can lower the driving sense of driver in this case, and drive Member may be just hoped close to step, therefore does not reduce speed.If D is in when being less than or equal to safe distance threshold value of vehicle, It is very possible to be scratched not in time due to reacting, therefore in this case it is necessary to speed is timely reduced, while at this In the case of kind, because closer step, it is therefore desirable to improve the frequency of first, second detection sensor to detect step, so that Driver is reminded in real time.
The gap on vehicle and ground is generally fixed value, therefore the shoulder height H real-time detected by detection sensor, Gap width between vehicle and ground is contrasted, it is possible to show that vehicle can smoothly reach the conclusion of step, so that real When prompting driver, driver can just judge 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 is also changed, therefore will keep detection To the upper edge of step and lower edge, then adjustment search angle angle value α is needed1, α2, β1And β2, and in order to avoid false alarm, therefore car Continue to travel, the operating range of each detection cycle is S, then first, second, third, fourth sub- detection sensor difference The upper edge for keeping detection step and lower edge are still corresponded to, then records now first, second, third, fourth son detection sensing respectively The search angle angle value α of device1, β1, α2And β2, and record now first, second sub- detection sensor respectively to the upper edge of step and under The length value L 11 and L21 on edge, the three, the 4th sub- detection sensors are respectively to the upper edge of step and the and of length value L 31 of lower edge L41。
The height of step can equally be calculatedWith H=max (H1, H2), i.e. H take H1 and H2 maximum, and vehicle is obtained to step apart from D while can calculate, 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, pass through 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 using this through overcompensation post gap value, then judged As a result it is more accurate, so as 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, keeps look-in frequency constant；When D is less than or equal to the safe distance threshold value of vehicle, and H is more than after compensation Gap width, reduce speed, improve look-in frequency；When D be more than vehicle safe distance threshold value when, and H be less than compensation after between Gap value, reduces speed, improves look-in frequency；When D is less than the safe distance threshold value of 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 the extreme case for not meeting the present invention is likely to occur during calculating, but for this It should be rejected for art personnel for being unsatisfactory for the extreme case of design conditions.
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, can be in form and details in the case of the scope and spirit for not departing from invention disclosed in appended claims The upper change for carrying out various modifications, addition and replacement etc., and all these changes 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 embodiment 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 aid in method for early warning based on the wide scope automobile that dual sensor is detected, it is characterised in that successively including following step Suddenly：
(1) it is respectively arranged to detect the height of rear step at M distance in the center position of the tailstock of vehicle First, second detection sensor, wherein the set location of first, second sensor is as far as possible close to the both sides of vehicle body,
Wherein, first, second detection sensor is respectively set to two sub- detection sensors of position identical, the first detection sensing Device includes first, second sub- detection sensor, and the second detection sensor includes the three, the 4th sub- detection sensors, first, the 2nd, the detection direction in the vertical direction of the three, the 4th sub- detection sensors can be adjusted, and the detection angle adjusted is advance Demarcated；
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) adjusted and visited with predeterminated frequency emission detection signal, in real time in vertical direction by the first, the 3rd sub- detection sensor Measuring angle, complete scan is carried out in the vertical investigative range at rear, is visited by the way that the first and second level detectors are real-time respectively Measuring car head and the tailstock, apart from P1 and P2, the incline direction of vehicle are judged by comparing P1 and P2 value and journey is tilted to ground Degree, is compensated, the gap width after being compensated to the gap width between vehicle and ground；
(4) after complete scan is carried out, when it is determined that there is step, passed while opening first, second, third, fourth son detection Sensor：
Adjustment detection angle causes first and second sub- detection sensor to separately detect upper edge and the lower edge of step, records respectively now The search angle angle value α that separately detects of first, second sub- detection sensor1And β1, and record now first, second son detection Sensor is respectively to the upper edge of step and the length value L 11 and L21 of lower edge；
Adjusting detection angle simultaneously causes third and fourth sub- detection sensor to separately detect upper edge and the lower edge of step, records respectively The search angle angle value α that the three, the 4th sub- detection sensors now are separately detected2And β2, and record now the three, the 4th son Detection sensor is respectively to the upper edge of step and the length value L 31 and L41 of lower edge；
(5) height of step is calculated respectively：With H=max (H1, H2), i.e. H take H1 and H2 maximum, and vehicle is obtained to step apart from D while can calculate, wherein
(6) if D is more than the safe distance threshold value of vehicle, speed and look-in frequency is kept, speed is otherwise reduced, and improve Look-in frequency；
(7) obtained shoulder height H will be calculated in step (5), is contrasted with the gap width after compensation, report 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, the angle value α of detection is adjusted respectively1And β1, α2And β2So that the One still corresponds to upper edge and the lower edge of detecting obstacles thing with second, third respectively with the 4th detection sensor, and records this respectively When search angle angle value α1And β1, α2And β2, and the first, the 3rd sub- detection sensor is respectively to the length value on the upper edge of step L11 and L12 and second, the 4th sub- sensor of detection respectively to step lower edge length value L 31, L42；
(9) the height H and vehicle that obtain now step are calculated to step apart from D with step (5) identical calculation；
(10) repeat step (2)-(9), according to the height H and vehicle of step to step apart from D, real-time broadcasting simultaneously sends early warning Prompting, adjusts the drive manner of vehicle.
2. the method as described in claim 1, it is characterised in that：The first, second, third, fourth sub- detection sensor is 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 pass through 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 are more than the safe distance threshold value of vehicle, and H is when being more than the gap width after compensation, does not reduce speed, keeps visiting Measured frequency is constant；
If B, D be less than or equal to vehicle safe distance threshold value, and H be more than compensation after gap width when, reduce speed, improve Look-in frequency；
If C, D be more than vehicle safe distance threshold value, and H be less than compensation after gap width when, reduce speed, improve detection Frequency, sends alarm；
If D, D be less than vehicle safe distance threshold value, and H be less than compensation after gap width when, automatically control vehicle brake.
CN201611269456.3A 2016-12-31 2016-12-31 It is a kind of that method for early warning is aided in based on the wide scope automobile that dual sensor is detected Pending CN107310471A (en)

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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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CN202987117U (en) * 2012-12-08 2013-06-12 杨家坤 Rear-end anti-collision device of vehicle
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
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Application publication date: 20171103