CN107380163A - Automobile intelligent alarm forecasting system and its method based on magnetic navigation - Google Patents
Automobile intelligent alarm forecasting system and its method based on magnetic navigation Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- 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
- 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
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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Abstract
Automobile intelligent alarm forecasting system and its method of the present invention based on magnetic navigation, are related to magnetic navigation intelligent identification technology field.It follows closely navigation system (1) by magnetic, and comprehensive monitoring system (2), automated driving system (3), communication system (4) and master control system (5) are connected and composed in a manner of wireless network.Its step：Capture images information；Pretreatment；Road Detection, adjust automatically pilotless automobile direction, pilotless automobile is kept in the centre position in track；Obstacle recognition；By ultrasonic ranging, distance between vehicle and barrier is calculated, if being more than safe distance, continues capture images information；If being less than safe distance, this vehicle speed, acceleration are calculated, simultaneously adjust automatically speed of alarming, continues capture images information.Accurate progress Road Detection of the invention, judges direction of advance；Barrier in scope is identified；Intelligent treatment and disturbance of analysis thing, carry out alarm avoidance；Comprehensively monitoring is carried out to whole system, realizes that safe driving is dispatched.
Description
Technical field
The present invention relates to magnetic navigation intelligent identification technology field, refers specifically to a kind of actual effect that can improve operation, safety
The alarm forecasting system and its method of the obstacle vehicle thing Intelligent Recognition of property and accuracy.
Background technology
The use of collision-proof alarm forecasting system is in the market largely that artificial judgment operates, can be because person's development speed
The factor such as degree, tired situation, environment complexity produces operational error, triggers security incident.And magnetic nail navigation system can be because of road surface
Situation causes magnetic induction module to be forbidden, and traffic safety is impacted.In recent years, although major state of the world is devoted to exploitation peace
Complete reliable obstacle vehicle thing identification and processing system, but the practicality device that can really put into market is also not much,
And use the device of the method progress disturbance of intelligence thing identification of vision even more few.Want ideally to reduce road accident rate
Or a very long process, the active safe driving servicing units such as the identification of obstacle vehicle thing and processing system are developed energetically, it is right
Solve traffic safety, improve transport capacity, reduce pernicious traffic accident incidence, reducing life and property loss and improve society's warp
There is great realistic meaning and wide application prospect for Ji benefit.Therefore, study autonomous unmanned for China
Obstacle vehicle thing identifies and processing system all has larger value either in theoretical research or practical application.
The content of the invention
It is an object of the invention to overcome existing for prior art missing and deficiency, there is provided one kind improve operation it is effective,
Accuracy and security, that reduces traffic accident casualties and the related enormous expenditure of saving as far as possible establishes road ahead and side
Barrier judgment alarm method and car net judge communication system, automatic stopping aided positioning system.
Automobile intelligent identification alarm forecasting system of the present invention based on magnetic navigation, its feature is, navigation system is followed closely by magnetic,
Comprehensive monitoring system, automated driving system, communication system and master control system are connected and composed in a manner of wireless network.
The magnetic follows closely navigation system, in the front of road and side, is buried according to certain arrangement mode, certain spacing
Magnetic nail composition on the road surface of traveling.
The comprehensive monitoring system, by car networking communication system, including wireless telecommunications between vehicle and central control room, control
Special instruction is assigned in room processed by being wirelessly transferred to vehicle, establishes car net and judges that communication system forms, for monitoring vehicle in real time
Running status, so as to monitor vehicle-state, carry out operation processing to barrier, finally realize the information sharing between related system
With coordinate mutual assistance, realize the transmission networks of uniform user interfaces.
The automated driving system, is gathered by road information, obstacle recognition, auxiliary positioning composition.
The communication system is wide by Transmission system, special wired scheduling, wireless vehicle scheduling, cctv surveillance, station
Broadcast, clock, optical fiber monitoring, UPS uninterruptible power systems composition.
The master control system, by information acquisition module, image information processing module, control module and magnetic induction module and
Infrared sensor forms；
The context aware systems of described information acquisition module, vision signal is collected by CCD camera, decoded by video
Chip is decoded into data signal and is then fed into central processing unit；
Central processing unit in time starts ultrasonic sensor, laser radar by detecting the signal of video sensor,
Obtain the output valve of these sensors；
The camera of video sensor, on the one hand it is used for that road mark line is identified and tracked, and generates vision road road sign
Will line chart, location-aware is on the other hand provided, it is the defects of microcosmic to make up GPS, and additionally laser and radar can not be surveyed
To barrier carry out making up identification；
Described image message processing module, central processing unit are analyzed and handled to the vision signal collected；Pass through
Analyze obtained infomation detection road, cognitive disorders thing；If it is determined that there is barrier, central processing unit reads supersonic sensing
The output valve of device, laser radar, quantization is detected to the output valve of these sensors, obtains the numerical value such as distance；
The control module, after central processing unit is analyzed sensor signal, if it is determined that there is barrier in front, and
And the distance between Ben Che and barrier are less than safe distance, then these information are sent into control module, control module combines this
Speed, acceleration, the speed of steering angle adjust automatically pilotless automobile of car, and alarmed, so as to realize automatic obstacle-avoiding；
The magnetic induction module, by being embedded to wire below ground, and the alternating current of certain frequency is passed to, so that
A concentric circular field is produced around wire, is adjusted with the induction coil on automobile by the change of inductive electromagnetic signal
The traffic direction of car；
The infrared sensor, it is in vehicle speed measuring, detecting and locating system, it is ensured that accuracy, using not by electromagnetic interference
Diffusing reflection, working range is adjustable, and fast response time, and state is only blocked and do not blocked, and is not influenceed by road speed, accurately
Property is higher and easy for installation, lower-cost with the measuring system that infrared ray is medium.
Automobile intelligent identification alarm forecasting system method of the present invention based on magnetic navigation, including step：：
A capture images information；
B is pre-processed；
C Road Detections, adjust automatically pilotless automobile direction, pilotless automobile are kept in the centre position in track；
D obstacle recognitions；
E is by ultrasonic ranging, distance between calculating vehicle and barrier,
If being more than safe distance, continue capture images information；
If being less than safe distance, this vehicle speed, acceleration are calculated, alarms and adjust automatically speed, continuation capture images is believed
Breath.
As described above, the present invention is based on magnetic nail navigation system：Using electromagnetic induction principle, by being embedded to magnetic below ground
Nail, installs Magnetic Sensor on car body, magnetic is followed closely the letter for carrying out detection magnetic nail using vehicle-mounted magnetic navigation sensor as signal source
Number, the operation of vehicle is controlled by the processing of detection signal.
Pass through comprehensive monitoring system：Car networking communication system is established, and monitors the running status of vehicle in real time, it is final real
Information sharing and coordination mutual assistance, wireless telecommunications between vehicle and central control room, control room between existing related system can lead to
Cross to be wirelessly transferred to vehicle and assign special instruction, establish car net and judge communication system, realize uniform user interfaces, so as to monitor car
State, operation processing is carried out to barrier.
With reference to automated driving system.Be mounted with vehicle Split computer, image procossing and identification equipment, display and
Warning device, by converge the information obtained by camera, laser radar, sonac and Magnetic Sensor carry out front and
The barrier judgment alarm of side.Specific equipment and technology have：(1) camera and image processing techniques：Accurately identify ground,
Image sequence is obtained, so as to judge direction of advance；(2) laser radar range equipment and technology：The car of the 80 meters of scopes in sensing front
And pedestrian；(3) Intelligent treatment and analytical equipment：By Split computer, image procossing and identification equipment, display and alarm dress
Composition is put, car around is avoided by converging the information obtained by camera, laser radar, ultrasonic sensor and Magnetic Sensor
And pedestrian；(4) center control monitoring and dispatch deal technology：Special instruction is assigned by being wirelessly transferred to vehicle.
In addition, because magnetic induction module road pavement requires very high, inevitably break down, for this point, sheet
Invention employs less radio-frequency (RFID) technology and infrared technique, coordinates cctv surveillance (CCTV) system, can overcome with
On the environmental impact factor mentioned, vehicle is accurately positioned and recorded, staff is understood vehicle location, operation rail
Mark, foundation is provided for follow-up vehicle driving scheduling controlling.
Brief description of the drawings
Fig. 1 is automobile intelligent identification alarm forecasting system block diagram of the present invention based on magnetic navigation；
Fig. 2 is car networking communication system schematic diagram of the embodiment of the present invention；
Fig. 3 is present invention method FB(flow block).
Embodiment
Below in conjunction with drawings and examples, the invention will be further described
A kind of automobile intelligent identification alarm forecasting system based on magnetic navigation, it is characterised in that navigation system 1 is followed closely by magnetic,
Comprehensive monitoring system 2, automated driving system 3, communication system 4 and master control system 5 are connected and composed in a manner of wireless network.
Magnetic nail navigation system 1 is buried according to certain arrangement mode, certain spacing in the front of road and side
Magnetic nail composition on the road surface of traveling.
The comprehensive monitoring system 2, by car networking communication system, including wireless telecommunications between vehicle and central control room,
Control room assigns special instruction by being wirelessly transferred to vehicle, establishes car net and judges that communication system forms, for monitoring vehicle in real time
Running status, so as to monitor vehicle-state, carry out operation processing to barrier, finally realize that the information between related system is total to
Enjoy and coordinate mutual assistance, realize the transmission network of uniform user interfaces.
The automated driving system 3, is gathered, obstacle recognition by road information, auxiliary positioning composition.
The communication system 4 is wide by Transmission system, special wired scheduling, wireless vehicle scheduling, cctv surveillance, station
Broadcast, clock, optical fiber monitoring, UPS uninterruptible power systems composition.
Wherein, wireless communication unit of the DRF1602C1 types ZigBee module as magnetic navigation is employed, this is a
RS232 turns the communication module of ZigBee wireless data transparent transmissions.ZigBee is similar with bluetooth, be a kind of emerging short distance without
Line technology.Its low-power consumption Personal Area Network agreement based on IEEE802.15.4 standards, have apart from it is short, complexity is low, self-organization
By force, power consumption and message transmission rate is low and low cost and other advantages.It is mainly suitable for being used for remote control and automation field, should
It is wide with scope.ZigBee module master chip employed in research employs the ZigBeeSOC of the latest generation of American TI Company
Chip CC2530F256, built-in 256K Flash, its wireless frequency is 2.4GHz, is wirelessly assisted based on ZigBee2007/PRO
View, transmission range 400m, enough covering magnetic navigation vehicle application environment.The module has automatic network-building function, when all
Be automatic network-building after electricity in module, and such as power down of the module in network, then network there is automatic repair function, utilize the module to use
Family can carry out data dissemination between any node by serial ports and data transfer is transparent, user when in use without the concern for
Zigbee protocol, the wireless module can be used as using common Serial Port Line.
The automated driving system 3 also includes the chain subsystem of computer, vehicle automatic protection subsystem, vehicle and supervised automatically
Control subsystem, automatic car operation subsystem.
The master control system 5 by information acquisition module, image information processing module, control module and magnetic induction module and
Infrared sensor forms；
The context aware systems of described information acquisition module, vision signal is collected by CCD camera, decoded by video
Chip is decoded into data signal and is then fed into central processing unit；
Central processing unit in time starts ultrasonic sensor, laser radar by detecting the signal of video sensor,
Obtain the output valve of these sensors；
The camera of video sensor, on the one hand it is used for that road mark line is identified and tracked, and generates vision road road sign
Will line chart, location-aware is on the other hand provided, it is the defects of microcosmic to make up GPS, and additionally laser and radar can not be surveyed
To barrier carry out making up identification；
Described image message processing module, central processing unit are carried out to the vision signal collected
Analysis and processing；By analyzing obtained infomation detection road, cognitive disorders thing；If it is determined that have barrier, in
Central processor reads ultrasonic sensor, the output valve of laser radar, and the output valves of these sensors is detected and quantified, obtain away from
From grade numerical value；
The control module, after central processing unit is analyzed sensor signal, if it is determined that there is barrier in front, and
And the distance between Ben Che and barrier are less than safe distance, then these information are sent into control module, control module combines this
Speed, acceleration, the speed of steering angle adjust automatically pilotless automobile of car, and alarmed, so as to realize automatic obstacle-avoiding；
The magnetic induction module, by being embedded to wire below ground, and the alternating current of certain frequency is passed to, so that
A concentric circular field is produced around wire, is adjusted with the induction coil on automobile by the change of inductive electromagnetic signal
The traffic direction of car；
The infrared sensor, it is in vehicle speed measuring, detecting and locating system, it is ensured that accuracy, using not by electromagnetic interference
Diffusing reflection, working range is adjustable, and fast response time, and state is only blocked and do not blocked, and is not influenceed by road speed, accurately
Property is higher and easy for installation, lower-cost with the measuring system that infrared ray is medium.
Less radio-frequency (RFID) technology and infrared technique are utilized in the present invention, coordinate cctv surveillance (CCTV) system
System, can overcome above-mentioned environmental impact factor, vehicle is accurately positioned and recorded, and staff is understood vehicle
Position, running orbit, foundation is provided for follow-up vehicle driving scheduling controlling.
RFID is English Radio Frequency Identification abbreviation, i.e. radio RF recognition technology.It
It is a kind of non-contact automatic identification technology, by radiofrequency signal automatic identification destination object and obtains related data.Work as label
During into Reader radio frequency magnetic field, label, which is excited, produces induced-current, and the information stored in label is transmitted into reader,
Identification information is further transferred to computer information processing system and analyzed by reader by decoding system identification label
Processing and deeply application.
Described road information collection, including the vertical view camera positioned at vehicle front vision sensor；
Overlook the laser thunder of " breath " of vehicle and pedestrian in the range of the part road ahead 80m that camera protrudes on one side
Up to rangefinder；
The sonac of left and right vehicle wheel both sides installation；
Installed in the Magnetic Sensor of vehicle bottom perceiving ground magnetic bodies；
Assign special command by being wirelessly transferred to vehicle interior split computer, pedestrian and barrier are carried out early warning with
The remotely located central control room avoided.
The obstacle recognition, based on magnetic navigation automobile, the barrier that it runs into during automatic Pilot is entered
Row information identifies and processing, and video dynamic image is believed by the image sequence gathered installed in the video sensor of vehicle front
Breath carries out Objective extraction, and passes through the distance of laser radar range instrument and ultrasonic sensor disturbance in judgement thing.
Automobile intelligent identification alarm forecasting system method (as shown in Figure 3) based on magnetic navigation, it includes step：
A capture images information；
B is pre-processed；
C Road Detections, adjust automatically pilotless automobile direction, pilotless automobile are kept in the centre position in track；
D obstacle recognitions；
E is by ultrasonic ranging, distance between calculating vehicle and barrier,
If being more than safe distance, continue capture images information；
If being less than safe distance, this vehicle speed, acceleration are calculated, alarms and adjust automatically speed, continuation capture images is believed
Breath.
Key technology of the present invention is exactly the identification to barrier, to accomplish dynamically to identify in garage's envelope in (in track)
Every obstacle thing, including abnormal landform, puddle, groove, object, pedestrian etc..System forms：CCD camera, image procossing and knowledge
Other device, laser radar, ultrasonic sensor, infrared sensor, Magnetic Sensor, video decoding chip, warning device etc..Technology
It is upper that road information is acquired by CCD camera, gradation of image rank is found out, then count the picture of original image grey level
Element, histogram sequence is calculated, gray value is calculated using greyscale transformation function, determine grey scale change relation, the ash after statistics conversion
Image is spent, calculates the histogram sequence after conversion.Then using Hough (Hough) conversion, least square fitting the methods of, carry
Lane information, the envelope in track are taken, to vehicle front road surface regional reconstruction, forms barrier frame, and to the preliminary inspection of barrier
Survey, positioning.
Invention achieves：Road Detection can be carried out exactly, obtained image sequence, judged direction of advance；To scope
Interior barrier is identified；Intelligent treatment and disturbance of analysis thing, so as to be alarmed and be avoided；Whole system is integrated
Monitoring, realizes safe TD.
In summary, in order to improve adaptability of the pilotless automobile to road environment, realize it independently on road
Quick and stable motion, it is necessary to select suitable sensor.The present invention passes through inspection using TMS320F2812DSP chips as core
The signal of the sensor (CCD simulate camera) of view-based access control model is surveyed in time to start wheel speed sensor, acceleration sensing
Device, ultrasonic sensor etc., detection quantization is carried out to these sensor output values, it is equivalent to obtain distance, speed, acceleration.It is logical
Rational calculating is crossed, these Variable Factors are combined, compensation is modified to various data, draws more accurate knot
Fruit.Most control system is transferred in the fusion of these perception informations at last, and the traveling behavior to Current vehicle is adjusted and controlled, so as to
Reach unpiloted purpose.
The detection method of barrier vehicle mainly by means of active sensor it is such as based on radar, based on laser, be based on
Magnetic navigation, sensor based on video.
Microwave based on from the sensor of radar to air-launched specific wavelength, microwave reflection receives to radar when vehicle passes through
Device, vehicle detection is realized, it can detect the remote targets of at least 150m.Its biggest advantage is exactly when detecting barrier pair
The change of environment has very strong robustness, is not influenceed and the environmental factor such as noise, pollution by weather conditions such as sleet hazes
Influence, it is possible to increase the reliability of system.But current millimetre-wave radar system is all huger and prohibitively expensive and fails
Input widely uses.
Launched based on the sensor of laser by high-frequency and receive electromagnetic wave, detect vehicle, its price is with respect to radar just
Preferably, but under the bad weathers such as sleet can not work well.
Magnetic navigation is the reliable scheme of current comparative maturity, its biggest advantage is that not by effect of natural conditions such as weather,
It is similarly effective that even if dust storm or heavy snow bury road surface.In addition, by converting magnetic pole towards being encoded, can be passed to vehicle
Defeated link characteristics information, such as position, direction, radius of curvature, next road outlet port etc..But magnetic navigation method needs
To be embedded to certain navigation equipment (such as magnetic nail or electric wire) in advance on road.
The pilotless automobile obstacle information of view-based access control model sensor identifies has its unrivaled excellent with processing system
Gesture, it does not have to be exchanged with road and other vehicle, it is possible to obtains than more complete road conditions and information of vehicles, and cost
It is low that environment will not be polluted again.The detection of obstacles technology of view-based access control model is to utilize the video sensor being installed on vehicle
(video camera), traffic scene information, Land use models identification technology, image processing techniques etc. is obtained in real time to realize vehicle detection.
Had the following advantages based on video sensor compared to other sensors：A. equipment is easily installed and debugged, convenient transplanting；B. can
Bulk information is provided.The sensor of half is limited by technical elements and detection range, it is impossible to a variety of traffic parameters are detected, and
The characteristics of video detection can then utilize video camera coverage wide, can obtain more traffic parameter；C. view-based access control model
Detection technique can also distinguish specific target, such as pedestrian, bicycle, barrier；D. historic scenery, video camera can be reappeared
The image of acquisition can be got up by backstage record storage, can call video data at any time.Just because of video sensor not
Analogous superiority, therefore suitable for the application of the present invention, be also widely used in intelligent transportation system.
Claims (10)
- A kind of 1. automobile intelligent identification alarm forecasting system based on magnetic navigation, it is characterised in that navigation system (1) is followed closely by magnetic, Comprehensive monitoring system (2), automated driving system(3), communication system (4) and master control system (5) are connected and composed in a manner of wireless network.
- 2. the automobile intelligent identification alarm forecasting system based on magnetic navigation as claimed in claim 1, it is characterised in that described Magnetic nail navigation system (1) is embedded in the road of traveling according to certain arrangement mode, certain spacing in the front of road and side Magnetic nail composition on face.
- 3. the automobile intelligent identification alarm forecasting system based on magnetic navigation as claimed in claim 1, it is characterised in that described Comprehensive monitoring system (2), by car networking communication system, including wireless telecommunications between vehicle and central control room, control room passes through It is wirelessly transferred to vehicle and assigns special instruction, establishes car net and judge that communication system forms, to monitor the running status of vehicle in real time, So as to monitor vehicle-state, carry out operation processing to barrier, finally realize the information sharing between related system and coordinate mutual Help, realize the transmission network of uniform user interfaces.
- 4. the automobile intelligent identification alarm forecasting system based on magnetic navigation as claimed in claim 1, it is characterised in that described Automated driving system (3), is gathered, obstacle recognition by road information, auxiliary positioning composition.
- 5. the automobile intelligent identification alarm forecasting system based on magnetic navigation as claimed in claim 1, it is characterised in that described Communication system (4) is by Transmission system, special wired scheduling, wireless vehicle scheduling, cctv surveillance, station broadcast, clock, light Fibre on-line monitoring, UPS uninterruptible power systems composition.
- 6. the automobile intelligent identification alarm forecasting system based on magnetic navigation as claimed in claim 1, it is characterised in that described Automated driving system (3) also include the chain subsystem of computer, vehicle automatic protection subsystem, the automatic Monitor And Control Subsystem of vehicle, Automatic car operation subsystem.
- 7. the automobile intelligent identification alarm forecasting system based on magnetic navigation as claimed in claim 1, it is characterised in that described Master control system (5) is by information acquisition module, image information processing module, control module and magnetic induction module and infrared sensor Composition；The context aware systems of described information acquisition module, vision signal is collected by CCD camera, by video decoding chip It is decoded into data signal and is then fed into central processing unit；Central processing unit in time starts ultrasonic sensor, laser radar by detecting the signal of video sensor, obtains The output valve of these sensors；The camera of video sensor, on the one hand it is used for that road mark line is identified and tracked, and generates vision road mark line Figure, location-aware is on the other hand provided, it is the defects of microcosmic to make up GPS, and additionally laser and radar can not be measured Barrier carries out making up identification；Described image message processing module, central processing unit are analyzed and handled to the vision signal collected；Pass through analysis Obtained infomation detection road, cognitive disorders thing；If it is determined that there is barrier, central processing unit reads ultrasonic sensor, swashed The output valve of optical radar, quantization is detected to the output valve of these sensors, obtains the numerical value such as distance；The control module, after central processing unit is analyzed sensor signal, if it is determined that there are barrier, and this in front The distance between car and barrier are less than safe distance, then these information are sent into control module, and control module combines this car Speed, acceleration, the speed of steering angle adjust automatically pilotless automobile, and alarmed, so as to realize automatic obstacle-avoiding；The magnetic induction module, by being embedded to wire below ground, and the alternating current of certain frequency is passed to, so as in wire Surrounding produces a concentric circular field, and car is adjusted by the change of inductive electromagnetic signal with the induction coil on automobile Traffic direction；The infrared sensor, it is vehicle speed measuring, in detecting and locating system, it is ensured that accuracy, using not overflow by electromagnetic interference Reflection, working range is adjustable, and fast response time, and state is only blocked and do not blocked, and is not influenceed by road speed, accuracy ratio It is higher and easy for installation, lower-cost with the measuring system that infrared ray is medium.
- 8. the automobile intelligent identification alarm forecasting system based on magnetic navigation as claimed in claim 4, it is characterised in that described The road information collection, including the vertical view camera positioned at vehicle front vision sensor；The laser radar for overlooking " breath " of vehicle and pedestrian in the range of the part road ahead 80m that camera protrudes on one side is surveyed Distance meter；The sonac of left and right vehicle wheel both sides installation；Installed in the Magnetic Sensor of vehicle bottom perceiving ground magnetic bodies；Special command is assigned by being wirelessly transferred to vehicle interior split computer, early warning is carried out with avoiding to pedestrian and barrier Remotely located central control room.
- 9. the automobile intelligent identification alarm forecasting system based on magnetic navigation as claimed in claim 4, it is characterised in that the barrier Hinder thing to identify, based on magnetic navigation automobile, row information identification and place are entered to the barrier that it runs into during automatic Pilot Reason, carried by carrying out target to video dynamic image data installed in the image sequence that the video sensor of vehicle front gathers Take, and pass through the distance of laser radar range instrument and ultrasonic sensor disturbance in judgement thing.
- 10. the automobile intelligent identification alarm forecasting system method based on magnetic navigation, it is characterised in that including step：A capture images information；B is pre-processed；C Road Detections, adjust automatically pilotless automobile direction, pilotless automobile are kept in the centre position in track；D obstacle recognitions；E is by ultrasonic ranging, distance between calculating vehicle and barrier,If being more than safe distance, continue capture images information；If being less than safe distance, this vehicle speed, acceleration are calculated, simultaneously adjust automatically speed of alarming, continues capture images information.
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Application publication date: 20171124 |