CN107885203A - A kind of front truck follower method and system based on wheel speed sensors - Google Patents
A kind of front truck follower method and system based on wheel speed sensors Download PDFInfo
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- CN107885203A CN107885203A CN201711059357.7A CN201711059357A CN107885203A CN 107885203 A CN107885203 A CN 107885203A CN 201711059357 A CN201711059357 A CN 201711059357A CN 107885203 A CN107885203 A CN 107885203A
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- 238000005516 engineering process Methods 0.000 claims description 14
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
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Abstract
The invention discloses a kind of front truck follower method and system based on wheel speed sensors, it is related to mobile unit technical field, is invented to reduce the existing cost for preventing collision method.The method of the present invention includes：The real-time wheel speed information that the wheel speed sensors of the second vehicle in first vehicle receiver communication range obtain；Prompt message is generated according to the real-time wheel speed information of the second vehicle, to control the running status of the first vehicle according to prompt message.During the present invention is suitably applied in car collision avoidance System exploitation.
Description
Technical field
The present invention relates to mobile unit technical field, more particularly to a kind of front truck follower method based on wheel speed sensors and
System.
Background technology
When driving, it is to ensure that traffic safety prevents the requisite measure of collision to keep with the spacing of front truck.At present, it is
Keep preventing collision from needing to understand in real time and the spacing of front truck and the speed of front truck, conventional ranging and the mode master that tests the speed
To be realized using radar and camera, however carry out ranging using radar and camera and the usual price of mode that tests the speed compared with
Costliness, be not suitable for widely using.
The content of the invention
In view of the above problems, the present invention provides a kind of front truck follower method and system based on wheel speed sensors, in order to drop
The low existing cost for preventing collision method.
In order to solve the above technical problems, in a first aspect, the invention provides a kind of front truck based on wheel speed sensors to follow
Method, including：
Wireless connection is established with front truck；
The movement state information of acceleration or the deceleration of the front truck sent in response to receiving front truck, makes corresponding acceleration
Or the reaction action slowed down, the movement state information of the front truck are gathered by the wheel speed sensors of front truck and report to information control
Center processed, sent by information control center by wireless connection.
Second aspect, the invention provides a kind of front truck system for tracking based on wheel speed sensors, including：
Link block, for establishing wireless connection with front truck；
Action module, in response to receive front truck transmission front truck acceleration or deceleration movement state information,
The corresponding reaction action for accelerating or slowing down is made, the movement state information of the front truck is gathered by the wheel speed sensors of front truck
And information control center is reported to, sent by information control center by wireless connection.
The third aspect, the invention provides a kind of front truck follower method based on wheel speed sensors, this method includes：
The real-time wheel speed information that the wheel speed sensors of the second vehicle in first vehicle receiver communication range obtain；
Prompt message is generated according to the real-time wheel speed information of the second vehicle, to control the fortune of the first vehicle according to prompt message
Row state.
Fourth aspect, present invention also offers a kind of front truck system for tracking based on wheel speed sensors, the system includes：
Receiving unit, the real-time wheel that the wheel speed sensors for the second vehicle in the first vehicle receiver communication range obtain
Fast information；
Generation unit, for generating prompt message according to the real-time wheel speed information of the second vehicle, with according to prompt message control
Make the running status of the first vehicle.
5th aspect, present invention also offers a kind of front truck system for tracking based on wheel speed sensors, the system includes the
One vehicle and the second vehicle：
First vehicle includes the system described in above-mentioned fourth aspect；
Second vehicle, it is connected for establishing radio communication with the first vehicle；The wheel speed sensors of second vehicle are by the second car
Real-time wheel speed information be sent to the first vehicle.
To achieve these goals, according to the sixth aspect of the invention, there is provided a kind of storage medium, the storage medium
Program including storage, wherein, equipment where the storage medium is controlled when described program is run performs above-mentioned one kind and is based on
The front truck follower method of wheel speed sensors.
To achieve these goals, according to the seventh aspect of the invention, there is provided a kind of electronic equipment, the electronic equipment
Including：
One or more processors；
Memory, for storing one or more programs；
When one or more of programs are by one or more of computing devices so that one or more of processing
Device realizes a kind of front truck follower method based on wheel speed sensors as described above.
By above-mentioned technical proposal, a kind of front truck follower method and system based on wheel speed sensors provided by the invention,
First vehicle can obtain the real-time wheel speed information of the second vehicle in real time by the second vehicle wheel speed sensor, and the second vehicle can be with
For the front vehicles of the first vehicle, prompt message is then generated according to the real-time wheel speed information of the second vehicle, makes to be believed according to prompting
The running status of breath the first vehicle of control, you can to ensure that the first vehicle can adjust with the real-time wheel speed information of the second vehicle
Speed, reach the effect of anticollision.Radar and camera are used due to using wheel speed sensors, therefore compared to existing
Mode largely reduce cost.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of specification, and in order to allow above and other objects of the present invention, feature and advantage can
Become apparent, below especially exemplified by the embodiment of the present invention.
Brief description of the drawings
By reading the detailed description of hereafter preferred embodiment, it is various other the advantages of and benefit it is common for this area
Technical staff will be clear understanding.Accompanying drawing is only used for showing the purpose of preferred embodiment, and is not considered as to the present invention
Limitation.And in whole accompanying drawing, identical part is denoted by the same reference numerals.In the accompanying drawings：
Fig. 1 is a kind of flow chart of front truck follower method based on wheel speed sensors of the embodiment of the present invention；
Fig. 2 is a kind of structured flowchart of front truck system for tracking based on wheel speed sensors of the embodiment of the present invention；
Fig. 3 shows a kind of front truck follower method flow chart based on wheel speed sensors provided in an embodiment of the present invention；
Fig. 4 shows another front truck follower method flow chart based on wheel speed sensors provided in an embodiment of the present invention；
Fig. 5 shows a kind of composition frame of front truck system for tracking based on wheel speed sensors provided in an embodiment of the present invention
Figure；
Fig. 6 shows the composition frame of another front truck system for tracking based on wheel speed sensors provided in an embodiment of the present invention
Figure.
Embodiment
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although the disclosure is shown in accompanying drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
Limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
Completely it is communicated to those skilled in the art.
The embodiments of the invention provide a kind of front truck follower method based on wheel speed sensors, as shown in figure 1, including：
Step S10, wireless connection is established with front truck.
Step S20, the movement state information of acceleration or the deceleration of the front truck in response to receiving front truck transmission, makes phase
The acceleration or the reaction action of deceleration answered, the movement state information of the front truck are gathered and reported by the wheel speed sensors of front truck
To information control center, sent by information control center by wireless connection.
Wherein it is preferred to the wireless connection is bluetooth connection.
The embodiment of the present invention additionally provides a kind of front truck system for tracking based on wheel speed sensors, as shown in Fig. 2 including：
Link block 1, for establishing wireless connection with front truck.
Action module 2, in response to receive front truck transmission front truck acceleration or deceleration movement state information,
The corresponding reaction action for accelerating or slowing down is made, the movement state information of the front truck is gathered by the wheel speed sensors of front truck
And information control center is reported to, sent by information control center by wireless connection.
Wherein it is preferred to the wireless connection is bluetooth connection.
The present invention using wheel speed sensors detection front truck movement state information, and by wireless connection by the motion of front truck
Status information is sent to rear car, makes rear car and follows action accordingly, realizes automatically with the function of amiable anticollision, while not
The expensive equipment such as radar, camera is needed to use, reduces cost, there is preferable application prospect.
The embodiments of the invention provide a kind of storage medium, program is stored thereon with, it is real when the program is executed by processor
A kind of front truck follower method based on wheel speed sensors described in existing above-mentioned Fig. 1.
The embodiments of the invention provide a kind of processor, the processor is used for operation program, wherein, described program operation
A kind of front truck follower method based on wheel speed sensors described in the above-mentioned Fig. 1 of Shi Zhihang.
The embodiments of the invention provide a kind of equipment, equipment includes processor, memory and storage on a memory and can
The program run on a processor, before realizing during computing device program a kind of described in above-mentioned Fig. 1 based on wheel speed sensors
Car follower method.
In order to reduce the existing cost for preventing collision method, the embodiments of the invention provide one kind to be based on wheel speed sensors
Front truck follower method, as shown in figure 3, this method includes：
101st, the real-time wheel speed information that the wheel speed sensors of the second vehicle in the first vehicle receiver communication range obtain.
The embodiment of the present invention illustrates using the first vehicle as subject of implementation, the first vehicle and the second vehicle in practical application
It can serve as a kind of subject of implementation of the front truck follower method based on wheel speed sensors.The second vehicle is and the in the present embodiment
The second vehicle in the communication range that one vehicle can be communicated.Because communication has effective communication distance, so communication model
Refer in enclosing in the range of effective communication distance.It should be noted that the second vehicle be not limited to the front of the first vehicle to or
Person dead astern is to the second vehicle can be the second vehicle of any direction in communication range.In practical application, the first vehicle energy
It is enough to be communicated with multiple second vehicles of different directions, in order to enable driver to distinguish the reality of the second different vehicles
When wheel speed information, can be determined by angle of arrival method (Angle of Arrival, AOA) positioning principle real-time wheel speed information with
Corresponding relation between the vehicle of different directions second.Because AOA positioning principles can be sentenced according to the arrival direction of transmission signal
The disconnected position for determining transmission signal side, the arrival direction that can send information according to the second vehicle in the present embodiment determine the
The direction of two vehicles.
The wheel speed sensors of second vehicle are typically mounted on main reducing gear or speed changer as existing wheel speed sensors
In, wheel speed sensors are the sensors that can measure automotive wheel rotating speed, wheel speed sensors can be magneto-electric type wheel speed sensor,
Hall wheel speed sensor etc..The wheel speed sensors of specific second vehicle are in the measured real-time wheel for getting the second vehicle
When fast information is vehicle wheel rotational speed, real-time wheel speed information can be uploaded to the information control center of the second vehicle, then by information control
Real-time wheel speed information is sent to the first vehicle by center processed, therefore the first vehicle can receive the real-time wheel speed letter of the second vehicle
Breath.
In addition, it should also be noted that, the first vehicle and the second vehicle are the equipment that can carry out radio communication.This implementation
Specific communication is unrestricted in example, for example can be Wireless Fidelity wifi technologies, Bluetooth technology etc..
102nd, prompt message is generated according to the real-time wheel speed information of the second vehicle, to control the first vehicle according to prompt message
Running status.
From step 101, the wheel speed information of the second vehicle is got, the purpose of the present invention is to make the first vehicle
The effect of the motion state of itself and then anticollision can be changed in real time according to the motion state of the second vehicle.Therefore exist
After getting the real-time wheel speed information of the second vehicle, prompt message can be generated according to the real-time wheel speed information of the second vehicle, this is carried
It is that can interpolate that whether the second state of motion of vehicle changes to show information, and the prompt message of which type of change occurs, such as
Prompt message can be to accelerate, slow down, keeping constant etc..After generating prompt message, first can be controlled according to prompt message
The running status of vehicle.Can be that automatic mode can also be manual mode when changing the running status of the first vehicle, than
Such as when the second vehicle is for the front truck of the first vehicle and in the case of bring to a halt urgent, because people believes according to prompting
Make brake also needs to certain reaction time to breath manually, so in order to reduce danger, can be brought to a halt in the second vehicle
In the case of automatically control the first vehicle brake, as far as possible reduce the reaction time ensure that the first vehicle is made instead in the very first time
Should.It is not the running status of the vehicle of control first that can be manual in the case that urgent motion state changes for others.
In addition, it is necessary to explanation, because prompt message is to can interpolate that whether the second state of motion of vehicle changes,
The prompt message of which type of change occurs, therefore when generating prompt message, it is impossible to only according to the real-time wheel currently got
Fast information also needs to the real-time wheel speed information that the moment obtains according to before, the real-time wheel speed information obtained by duration section come
Judge the change of the second state of motion of vehicle., wherein it is desired to explanation is that the first vehicle can be preserved in a period of time and got
The real-time wheel speed information of second vehicle.
A kind of front truck follower method based on wheel speed sensors provided in an embodiment of the present invention, the first vehicle can pass through
Two vehicle wheel speed sensors obtain the real-time wheel speed information of the second vehicle in real time, and the second vehicle can be the front car of the first vehicle
, prompt message is then generated according to the real-time wheel speed information of the second vehicle, makes the fortune that the first vehicle is controlled according to prompt message
Row state, you can to ensure that the first vehicle can adjust speed with the real-time wheel speed information of the second vehicle, reach anticollision
Effect.Due to using wheel speed sensors, thus compared to it is existing using the mode of radar and camera largely
Reduce cost.
Further, another base is additionally provided as the refinement and extension to embodiment illustrated in fig. 3, the embodiment of the present invention
In the front truck follower method of wheel speed sensors, as shown in Figure 4.
201st, the first vehicle is established radio communication with the second vehicle and is connected.
First vehicle and the second vehicle and the first vehicle in Fig. 3 steps 101 and the second vehicle are identicals, herein no longer
Repeat.Because the first vehicle needs to need to be communicated with the second vehicle, therefore the first vehicle and second are needed before a communication
Vehicle establishes radio communication connection.Because the cost of Bluetooth technology in itself is relatively low, and the reality of the function of the present invention can be ensured
It is existing, therefore the first vehicle is established radio communication according to Bluetooth technology with the second vehicle and is connected in the present embodiment, specifically by
First vehicle initiates connection request to the second vehicle, and automatic receive is asked after the second vehicle receiver is to connection request, then complete
Into the first vehicle and the radio communication establishment of connection of the second vehicle, the first vehicle is set to connect with the second vehicle by the radio communication
Tap into the follow-up information transfer of row.First vehicle can position former when initiating connection request according to the AOA in Fig. 3 steps 101
Reason selection specifically initiates request to which or which the second vehicle.
202nd, the first vehicle connects the wheel speed sensors acquisition for receiving the second vehicle in communication range by radio communication
Real-time wheel speed information.
First vehicle and the second vehicle are established after radio communication is connected, and the transmission into row information is connected by radio communication,
In specific the present embodiment connected by radio communication, the wheel speed sensors of the second vehicle in the first vehicle receiver communication range
The real-time wheel speed information obtained.The real-time wheel speed letter that the specific wheel speed sensors for receiving the second vehicle in communication range obtain
The implementation of breath in Fig. 3 steps 101 with being achieved in that identical, and here is omitted.
203rd, judge whether the second vehicle is slowed down or accelerated according to real-time wheel speed information.
It should be noted that because in the application of reality, situation about being collided with front truck is more common, therefore this reality
Apply primarily directed to situation about preventing with front truck collision in example, therefore the second vehicle is specially the front vehicles of the first vehicle.
Vehicle wheel rotational speed is primarily referred to as in real-time wheel speed information in this step, vehicle wheel rotational speed is approximately equal to speed.According to reality
When wheel speed information judge whether the second vehicle is slowed down or accelerated and be to believe by the real-time wheel speed of the second vehicle currently obtained
What the real-time wheel speed information that breath and before moment obtain was judged.If the speed in the real-time wheel speed information at current time is big
Speed in the real-time wheel speed information at moment before, it is determined that the second vehicle is being accelerated；If corresponding current time
Speed before speed in real-time wheel speed information is less than in the real-time wheel speed information at moment, it is determined that the second vehicle is being subtracted
Speed.In addition in the application of reality, the acceleration magnitude of the second vehicle can also be calculated, more specifically embodies the second vehicle speed
The intensity of variation of degree.
If the 204, the second vehicle carries out acceleration or deceleration, the prompt message of acceleration or deceleration is generated, to believe according to prompting
The running status of breath the first vehicle of control.
According to the judgement of step 203, if judging, obtaining the second vehicle carries out acceleration or deceleration, can correspond to generation and accelerate
Prompt message or the prompt message of deceleration, to control the running status of the first vehicle according to prompt message, that is, control the first vehicle
Accelerated, slowed down or kept original motion state.Additionally as the reference of the first travel condition of vehicle of control, letter is prompted
The acceleration magnitude of current vehicle speed (vehicle wheel rotational speed) and the second vehicle in breath also including the second vehicle.The first car of specific control
Running status implementation and Fig. 3 steps 102 in, can be that self-action can also be hand, specifically
It can be selected according to different situations.
In addition, it should also be noted that, due to the first vehicle may also as the anticollision object of other vehicles, therefore
One vehicle is also required to implement following methods, other vehicles is controlled its operation in real time according to the change of the running status of the first vehicle
State：
The wheel speed sensors of first vehicle obtain the real-time wheel speed information of the first vehicle；
The information that the real-time wheel speed information of first vehicle is sent to the first vehicle by the wheel speed sensors of the first vehicle controls
Center；
The wheel speed letter information of first vehicle is sent to the second vehicle by information control center, so that the second vehicle is according to first
Prompt message corresponding to the real-time wheel speed information generation of vehicle, and according to the running status of prompt message the second vehicle of control.Tool
The transmission that real-time wheel speed information is carried out by the radio communication connection between the first vehicle and the second vehicle of body, wherein the second car
It is other vehicles using the first vehicle as anticollision object, and the second vehicle is also to belong to the first vehicle communication scope
The second interior vehicle.
Further, also carried as the realization to method shown in above-mentioned Fig. 3 and Fig. 4, another embodiment of the embodiment of the present invention
A kind of front truck system for tracking based on wheel speed sensors is supplied, for being realized to the method shown in above-mentioned Fig. 3 and Fig. 4.Should
System embodiment is corresponding with preceding method embodiment, and for ease of reading, the system embodiment is no longer in preceding method embodiment
Detail content repeated one by one, it should be understood that the system in the present embodiment can correspond to realize preceding method embodiment
In full content.As shown in figure 5, the system includes：Receiving unit 31 and generation unit 32.
Receiving unit 31, the wheel speed sensors for the second vehicle in the first vehicle receiver communication range obtain real-time
Wheel speed information；
Because communication has effective communication distance, so referring in communication range in the range of effective communication distance.Need
It is bright, the second vehicle be not limited to the front of the first vehicle to or dead astern to the second vehicle can be communication range
Second vehicle of interior any direction.
The wheel speed sensors of second vehicle are typically mounted on main reducing gear or speed changer as existing wheel speed sensors
In, wheel speed sensors are the sensors that can measure automotive wheel rotating speed, wheel speed sensors can be magneto-electric type wheel speed sensor,
Hall wheel speed sensor etc..The wheel speed sensors of specific second vehicle are in the measured real-time wheel for getting the second vehicle
When fast information is vehicle wheel rotational speed, real-time wheel speed information can be uploaded to the information control center of the second vehicle, then by information control
Real-time wheel speed information is sent to the first vehicle by center processed, therefore the first vehicle can receive the real-time wheel speed letter of the second vehicle
Breath.In practical application, the first vehicle can be communicated with multiple second vehicles of different directions, in order to enable driver
The real-time wheel speed information of the second different vehicles is enough distinguished, can be fixed by angle of arrival method (Angle ofArrival, AOA)
Position principle determines the corresponding relation between real-time wheel speed information and the vehicle of different directions second.Because AOA positioning principles can root
The position of determination transmission signal side is judged according to the arrival direction of transmission signal, in the present embodiment can be according to the second vehicle
The arrival direction for sending information determines the direction of the second vehicle.
In addition, it should also be noted that, the first vehicle and the second vehicle are the equipment that can carry out radio communication.This implementation
Specific communication is unrestricted in example, for example can be Wireless Fidelity wifi technologies, Bluetooth technology etc..
Generation unit 32, for generating prompt message according to the real-time wheel speed information of the second vehicle, with according to prompt message
Control the running status of the first vehicle.
After the real-time wheel speed information of the second vehicle is got, it can be generated and prompted according to the real-time wheel speed information of the second vehicle
Information, the prompt message are to can interpolate that whether the second state of motion of vehicle changes, and the prompting of which type of change occurs
Information, such as prompt message can be to accelerate, slow down, keeping constant etc.., can be according to prompt message after generating prompt message
Control the running status of the first vehicle.Can be that automatic mode can also be manual when changing the running status of the first vehicle
Mode, such as when the second vehicle is for the front truck of the first vehicle and in the case of bring to a halt etc. urgent, because people exists
Make brake manually according to prompt message and also need to certain reaction time, so in order to reduce danger, can be second
Vehicle automatically controls the first vehicle brake in the case of bringing to a halt, the reduction reaction time as far as possible ensures the first vehicle first
Time reacts.It is not in the case that urgent motion state changes for others, the vehicle of control first that can be manual
Running status.
In addition, it is necessary to explanation, because prompt message is to can interpolate that whether the second state of motion of vehicle changes,
The prompt message of which type of change occurs, therefore when generating prompt message, it is impossible to only according to the real-time wheel currently got
Fast information also needs to the real-time wheel speed information that the moment obtains according to before, the real-time wheel speed information obtained by duration section come
Judge the change of the second state of motion of vehicle., wherein it is desired to explanation is that the first vehicle can be preserved in a period of time and got
The real-time wheel speed information of second vehicle.
As shown in fig. 6, the system also includes：
Unit 33 is established, the reality that the wheel speed sensors for the second vehicle in the first vehicle receiver communication range obtain
When wheel speed information before the first vehicle establish radio communication with the second vehicle and be connected；
The receiving unit 31 is additionally operable to：
First vehicle is connected by radio communication receives the reality that the wheel speed sensors of the second vehicle in communication range obtain
When wheel speed information.
The unit 33 of establishing is additionally operable to：
First vehicle is established radio communication according to Bluetooth technology with the second vehicle and is connected.
As shown in fig. 6, the second vehicle is the front vehicles of the first vehicle, it is characterised in that the generation unit 32 includes：
Judge module 321, for judging whether the second vehicle is slowed down or accelerated according to real-time wheel speed information；
If the speed before the speed in the real-time wheel speed information at current time is more than in the real-time wheel speed information at moment,
Determine that the second vehicle is being accelerated；The reality at moment before if the speed in the real-time wheel speed information at corresponding current time is less than
When wheel speed information in speed, it is determined that the second vehicle is being slowed down.In addition in the application of reality, the can also be calculated
The acceleration magnitude of two vehicles, more specifically embody the intensity of variation of the second car speed.
Generation module 322, if carrying out acceleration or deceleration for the second vehicle, the prompt message of acceleration or deceleration is generated,
The second vehicle current vehicle speed is included in the prompt message.
If judgement obtains the second vehicle and carries out acceleration or deceleration, the prompt message of generation acceleration or proposing for deceleration can be corresponded to
Show information, to control the running status of the first vehicle according to prompt message, that is, control the first vehicle to be accelerated, slowed down or protected
Hold original motion state.Additionally as the reference of the first travel condition of vehicle of control, also include the second vehicle in prompt message
Current vehicle speed (vehicle wheel rotational speed) and the second vehicle acceleration magnitude.The realization of the running status of the first vehicle of specific control
Can be that self-action can also be hand in mode and generation unit 32, specifically can be according to different situations
Selected.
As shown in fig. 6, the system also includes：
Acquiring unit 34, the wheel speed sensors for the first vehicle obtain the real-time wheel speed information of the first vehicle；
The real-time wheel speed information of first vehicle is sent to by the first transmitting element 35, the wheel speed sensors for the first vehicle
The information control center of first vehicle；
Second transmitting element 36, the real-time wheel speed information of the first vehicle is sent to the second car for information control center
.
Because the first vehicle may also be as the anticollision object of other vehicles, therefore the first vehicle is also required to comprising above-mentioned
Acquiring unit 34, the first transmitting element 35 and the second transmitting element 36, make running status of other vehicles according to the first vehicle
Change control its running status in real time.
A kind of front truck system for tracking based on wheel speed sensors provided in an embodiment of the present invention, the first vehicle can pass through
Two vehicle wheel speed sensors obtain the real-time wheel speed information of the second vehicle in real time, and the second vehicle can be the front car of the first vehicle
, prompt message is then generated according to the real-time wheel speed information of the second vehicle, makes the fortune that the first vehicle is controlled according to prompt message
Row state, you can to ensure that the first vehicle can adjust speed with the real-time wheel speed information of the second vehicle, reach anticollision
Effect.Due to using wheel speed sensors, thus compared to it is existing using the mode of radar and camera largely
Reduce cost.
Further, also carried as the realization to method shown in above-mentioned Fig. 3 and Fig. 4, another embodiment of the embodiment of the present invention
A kind of front truck system for tracking based on wheel speed sensors is supplied, for being realized to the method shown in above-mentioned Fig. 3 and Fig. 4.Should
System embodiment is corresponding with preceding method embodiment, and for ease of reading, the system embodiment is no longer in preceding method embodiment
Detail content repeated one by one, it should be understood that the system in the present embodiment can correspond to realize preceding method embodiment
In full content.The system includes the first vehicle and the second vehicle, specifically：
First vehicle includes the system shown in above-mentioned Fig. 5 or Fig. 6；
Second vehicle, it is connected for establishing radio communication with the first vehicle；The wheel speed sensors of second vehicle are by the second car
Real-time wheel speed information be sent to the first vehicle.
Front truck system for tracking of the another kind based on wheel speed sensors provided in an embodiment of the present invention, the first vehicle can pass through
Second vehicle wheel speed sensor obtains the real-time wheel speed information of the second vehicle in real time, and the second vehicle can be the front of the first vehicle
Vehicle, prompt message is then generated according to the real-time wheel speed information of the second vehicle, make to control the first vehicle according to prompt message
Running status, you can to ensure that the first vehicle can adjust speed with the real-time wheel speed information of the second vehicle, reach anticollision
Effect.Due to using wheel speed sensors, thus compared to it is existing using the mode of radar and camera largely
On reduce cost.
A kind of front truck system for tracking based on wheel speed sensors includes processor and memory, above-mentioned receiving unit 31
And the grade of generation unit 32 as program unit storage in memory, by computing device storage in memory above-mentioned
Program unit realizes corresponding function.
Kernel is included in processor, is gone in memory to transfer corresponding program unit by kernel.Kernel can set one
Or more, improve the accuracy of user requirements analysis result by adjusting kernel parameter.
Memory may include computer-readable medium in volatile memory, random access memory (RAM) and/
Or the form such as Nonvolatile memory, such as read-only storage (ROM) or flash memory (flash RAM), memory includes at least one deposit
Store up chip.
The embodiments of the invention provide a kind of storage medium, program is stored thereon with, it is real when the program is executed by processor
A kind of existing front truck follower method based on wheel speed sensors.
The embodiments of the invention provide a kind of processor, the processor is used for operation program, wherein, described program operation
A kind of front truck follower method based on wheel speed sensors described in Shi Zhihang.
The embodiments of the invention provide a kind of equipment, equipment includes processor, memory and storage on a memory and can
The program run on a processor, following steps are realized during computing device program：In first vehicle receiver communication range
The real-time wheel speed information that the wheel speed sensors of two vehicles obtain；Prompt message is generated according to the real-time wheel speed information of the second vehicle,
To control the running status of the first vehicle according to prompt message.
Further, the real-time wheel speed that the wheel speed sensors of the second vehicle in the first vehicle receiver communication range obtain
Information foregoing description method also includes：
First vehicle is established radio communication with the second vehicle and is connected；
The real-time wheel speed information that the wheel speed sensors of the second vehicle in the first vehicle receiver communication range obtain, bag
Include：
First vehicle is connected by radio communication receives the reality that the wheel speed sensors of the second vehicle in communication range obtain
When wheel speed information.
Further, first vehicle and the second vehicle establish radio communication be connected including：
First vehicle is established radio communication according to Bluetooth technology with the second vehicle and is connected.
Further, the second vehicle is the front vehicles of the first vehicle, it is characterised in that the reality according to the second vehicle
When wheel speed information generation prompt message include：
Judge whether the second vehicle is slowed down or accelerated according to real-time wheel speed information；
If the second vehicle carries out acceleration or deceleration, the prompt message of acceleration or deceleration is generated, is wrapped in the prompt message
Containing the second vehicle current vehicle speed.
Further, methods described also includes：
The wheel speed sensors of first vehicle obtain the real-time wheel speed information of the first vehicle；
The information that the real-time wheel speed information of first vehicle is sent to the first vehicle by the wheel speed sensors of the first vehicle controls
Center；
The real-time wheel speed information of first vehicle is sent to the second vehicle by information control center.
Equipment in the embodiment of the present invention can be server, PC, PAD, mobile phone etc..
The embodiment of the present invention additionally provides a kind of computer program product, when being performed on data processing equipment, is suitable to
Perform the program of initialization there are as below methods step：The wheel speed sensors of the second vehicle in first vehicle receiver communication range obtain
The real-time wheel speed information taken；Prompt message is generated according to the real-time wheel speed information of the second vehicle, with according to prompt message control the
The running status of one vehicle.
Further, the real-time wheel speed that the wheel speed sensors of the second vehicle in the first vehicle receiver communication range obtain
Information foregoing description method also includes：
First vehicle is established radio communication with the second vehicle and is connected；
The real-time wheel speed information that the wheel speed sensors of the second vehicle in the first vehicle receiver communication range obtain, bag
Include：
First vehicle is connected by radio communication receives the reality that the wheel speed sensors of the second vehicle in communication range obtain
When wheel speed information.
Further, first vehicle and the second vehicle establish radio communication be connected including：
First vehicle is established radio communication according to Bluetooth technology with the second vehicle and is connected.
Further, the second vehicle is the front vehicles of the first vehicle, it is characterised in that the reality according to the second vehicle
When wheel speed information generation prompt message include：
Judge whether the second vehicle is slowed down or accelerated according to real-time wheel speed information；
If the second vehicle carries out acceleration or deceleration, the prompt message of acceleration or deceleration is generated, is wrapped in the prompt message
Containing the second vehicle current vehicle speed.
Further, methods described also includes：
The wheel speed sensors of first vehicle obtain the real-time wheel speed information of the first vehicle；
The information that the real-time wheel speed information of first vehicle is sent to the first vehicle by the wheel speed sensors of the first vehicle controls
Center；
The real-time wheel speed information of first vehicle is sent to the second vehicle by information control center.
The invention discloses one kind
A1, a kind of front truck follower method based on wheel speed sensors, including：
Wireless connection is established with front truck；
The movement state information of acceleration or the deceleration of the front truck sent in response to receiving front truck, makes corresponding acceleration
Or the reaction action slowed down, the movement state information of the front truck are gathered by the wheel speed sensors of front truck and report to information control
Center processed, sent by information control center by wireless connection.
A2, the front truck follower method based on wheel speed sensors as described in A1, the wireless connection are bluetooth connection.
B3, a kind of front truck system for tracking based on wheel speed sensors, including：
Link block, for establishing wireless connection with front truck；
Action module, in response to receive front truck transmission front truck acceleration or deceleration movement state information,
The corresponding reaction action for accelerating or slowing down is made, the movement state information of the front truck is gathered by the wheel speed sensors of front truck
And information control center is reported to, sent by information control center by wireless connection.
B4, the front truck system for tracking based on wheel speed sensors as described in B3, the wireless connection are bluetooth connection.
C5, a kind of front truck follower method based on wheel speed sensors, methods described are applied to the first vehicle, methods described
Including：
The real-time wheel speed information that the wheel speed sensors of the second vehicle in first vehicle receiver communication range obtain；
Prompt message is generated according to the real-time wheel speed information of the second vehicle, to control the fortune of the first vehicle according to prompt message
Row state.
C6, the method as described in C5, the wheel speed sensors of the second vehicle in the first vehicle receiver communication range obtain
Real-time wheel speed information foregoing description method also include：
First vehicle is established radio communication with the second vehicle and is connected；
The real-time wheel speed information that the wheel speed sensors of the second vehicle in the first vehicle receiver communication range obtain, bag
Include：
First vehicle is connected by radio communication receives the reality that the wheel speed sensors of the second vehicle in communication range obtain
When wheel speed information.
C7, the method as described in C6, first vehicle and the second vehicle establish radio communication be connected including：
First vehicle is established radio communication according to Bluetooth technology with the second vehicle and is connected.
C8, the method as any one of C5-C7, the second vehicle are the front vehicles of the first vehicle, described according to the
The real-time wheel speed information generation prompt message of two vehicles includes：
Judge whether the second vehicle is slowed down or accelerated according to real-time wheel speed information；
If the second vehicle carries out acceleration or deceleration, the prompt message of acceleration or deceleration is generated, is wrapped in the prompt message
Containing the second vehicle current vehicle speed.
C9, the method as any one of C5-C7, methods described also include：
The wheel speed sensors of first vehicle obtain the real-time wheel speed information of the first vehicle；
The information that the real-time wheel speed information of first vehicle is sent to the first vehicle by the wheel speed sensors of the first vehicle controls
Center；
The real-time wheel speed information of first vehicle is sent to the second vehicle by information control center.
D10, a kind of front truck system for tracking based on wheel speed sensors, the system are applied in the first vehicle side, the system
System includes：
Receiving unit, the real-time wheel that the wheel speed sensors for the second vehicle in the first vehicle receiver communication range obtain
Fast information；
Generation unit, for generating prompt message according to the real-time wheel speed information of the second vehicle, with according to prompt message control
Make the running status of the first vehicle.
D11, the system as described in D10, the system also include：
Unit is established, the wheel speed sensors for the second vehicle in the first vehicle receiver communication range obtain real-time
The first vehicle is established radio communication with the second vehicle and is connected before wheel speed information；
The receiving unit is additionally operable to：
First vehicle is connected by radio communication receives the reality that the wheel speed sensors of the second vehicle in communication range obtain
When wheel speed information.
D12, the system as described in D11, the unit of establishing are additionally operable to：
First vehicle is established radio communication according to Bluetooth technology with the second vehicle and is connected.
D13, the system as any one of D10-D12, the second vehicle be the first vehicle front vehicles, the generation
Unit includes：
Judge module, for judging whether the second vehicle is slowed down or accelerated according to real-time wheel speed information；
Generation module, if carrying out acceleration or deceleration for the second vehicle, the prompt message of acceleration or deceleration is generated, it is described
The second vehicle current vehicle speed is included in prompt message.
D14, the system as any one of D10-D12, the system also include：
Acquiring unit, the wheel speed sensors for the first vehicle obtain the real-time wheel speed information of the first vehicle；
The real-time wheel speed information of first vehicle is sent to by the first transmitting element, the wheel speed sensors for the first vehicle
The information control center of one vehicle；
Second transmitting element, the real-time wheel speed information of the first vehicle is sent to the second vehicle for information control center.
E15, a kind of front truck system for tracking based on wheel speed sensors, the system include the first vehicle and the second vehicle：
First vehicle includes the system described in any one in the claims D10-D14；
Second vehicle, it is connected for establishing radio communication with the first vehicle；The wheel speed sensors of second vehicle are by the second car
Real-time wheel speed information be sent to the first vehicle.
F16, a kind of storage medium, the storage medium include the program of storage, wherein, controlled when described program is run
Equipment where the storage medium performs a kind of any one of above-mentioned A1 to A2 or C5 to C9 based on wheel speed sensors
Front truck follower method.
G17, a kind of electronic equipment, the electronic equipment include：
One or more processors；
Memory, for storing one or more programs；
When one or more of programs are by one or more of computing devices so that one or more of processing
Device realizes a kind of front truck follower method based on wheel speed sensors any one of above-mentioned A1 to A2 or C5 to C9.
It should be understood by those skilled in the art that, embodiments herein can be provided as method, system or computer program
Product.Therefore, the application can use the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware
Apply the form of example.Moreover, the application can use the computer for wherein including computer usable program code in one or more
The computer program production that usable storage medium is implemented on (including but is not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The application is with reference to the flow according to the method for the embodiment of the present application, equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that can be by every first-class in computer program instructions implementation process figure and/or block diagram
Journey and/or the flow in square frame and flow chart and/or block diagram and/or the combination of square frame.These computer programs can be provided
The processors of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that produced by the instruction of computer or the computing device of other programmable data processing devices for real
The device for the function of being specified in present one flow of flow chart or one square frame of multiple flows and/or block diagram or multiple square frames.
These computer program instructions, which may be alternatively stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory, which produces, to be included referring to
Make the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one square frame of block diagram or
The function of being specified in multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that counted
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented processing, so as in computer or
The instruction performed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in individual square frame or multiple square frames.
In a typical configuration, computing device includes one or more processors (CPU), input/output interface, net
Network interface and internal memory.
Memory may include computer-readable medium in volatile memory, random access memory (RAM) and/
Or the form such as Nonvolatile memory, such as read-only storage (ROM) or flash memory (flash RAM).Memory is computer-readable Jie
The example of matter.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology come realize information store.Information can be computer-readable instruction, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase transition internal memory (PRAM), static RAM (SRAM), moved
State random access memory (DRAM), other kinds of random access memory (RAM), read-only storage (ROM), electric erasable
Programmable read only memory (EEPROM), fast flash memory bank or other memory techniques, read-only optical disc read-only storage (CD-ROM),
Digital versatile disc (DVD) or other optical storages, magnetic cassette tape, the storage of tape magnetic rigid disk or other magnetic storage apparatus
Or any other non-transmission medium, the information that can be accessed by a computing device available for storage.Define, calculate according to herein
Machine computer-readable recording medium does not include temporary computer readable media (transitory media), such as data-signal and carrier wave of modulation.
It should also be noted that, term " comprising ", "comprising" or its any other variant are intended to nonexcludability
Comprising so that process, method, commodity or equipment including a series of elements not only include those key elements, but also wrapping
Include the other element being not expressly set out, or also include for this process, method, commodity or equipment intrinsic want
Element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that including key element
Other identical element in process, method, commodity or equipment also be present.
It will be understood by those skilled in the art that embodiments herein can be provided as method, system or computer program product.
Therefore, the application can be using the embodiment in terms of complete hardware embodiment, complete software embodiment or combination software and hardware
Form.Deposited moreover, the application can use to can use in one or more computers for wherein including computer usable program code
The shape for the computer program product that storage media is implemented on (including but is not limited to magnetic disk storage, CD-ROM, optical memory etc.)
Formula.
Embodiments herein is these are only, is not limited to the application.To those skilled in the art,
The application can have various modifications and variations.All any modifications made within spirit herein and principle, equivalent substitution,
Improve etc., it should be included within the scope of claims hereof.
Claims (10)
- A kind of 1. front truck follower method based on wheel speed sensors, it is characterised in that including：Wireless connection is established with front truck；In response to the movement state information of acceleration or the deceleration of the front truck that receives front truck transmission, make it is corresponding accelerate or The reaction action of deceleration, the movement state information of the front truck are gathered and reported in information control by the wheel speed sensors of front truck The heart, sent by information control center by wireless connection.
- A kind of 2. front truck system for tracking based on wheel speed sensors, it is characterised in that including：Link block, for establishing wireless connection with front truck；Action module, for the movement state information of acceleration or the deceleration of the front truck in response to receiving front truck transmission, make The corresponding reaction action for accelerating or slowing down, the movement state information of the front truck by front truck wheel speed sensors collection and on Report is sent to information control center by information control center by wireless connection.
- 3. a kind of front truck follower method based on wheel speed sensors, methods described is applied to the first vehicle, it is characterised in that described Method includes：The real-time wheel speed information that the wheel speed sensors of the second vehicle in first vehicle receiver communication range obtain；Prompt message is generated according to the real-time wheel speed information of the second vehicle, to control the operation shape of the first vehicle according to prompt message State.
- 4. according to the method for claim 3, it is characterised in that the second vehicle in the first vehicle receiver communication range The real-time wheel speed information foregoing description method that wheel speed sensors obtain also includes：First vehicle is established radio communication with the second vehicle and is connected；The real-time wheel speed information that the wheel speed sensors of the second vehicle in the first vehicle receiver communication range obtain, including：First vehicle is connected by radio communication receives the real-time wheel that the wheel speed sensors of the second vehicle in communication range obtain Fast information.
- 5. according to the method for claim 4, it is characterised in that first vehicle and the second vehicle establish radio communication company Connect including：First vehicle is established radio communication according to Bluetooth technology with the second vehicle and is connected.
- 6. according to the method any one of claim 3-5, the second vehicle is the front vehicles of the first vehicle, and its feature exists In described to be included according to the real-time wheel speed information of the second vehicle generation prompt message：Judge whether the second vehicle is slowed down or accelerated according to real-time wheel speed information；If the second vehicle carries out acceleration or deceleration, the prompt message of acceleration or deceleration is generated, comprising the in the prompt message Two vehicle current vehicle speeds.
- 7. a kind of front truck system for tracking based on wheel speed sensors, the system is applied in the first vehicle side characterized in that, institute The system of stating includes：Receiving unit, the real-time wheel speed letter that the wheel speed sensors for the second vehicle in the first vehicle receiver communication range obtain Breath；Generation unit, for generating prompt message according to the real-time wheel speed information of the second vehicle, with according to prompt message control the The running status of one vehicle.
- 8. a kind of front truck system for tracking based on wheel speed sensors, it is characterised in that the system includes the first vehicle and second Vehicle：First vehicle wants the system described in 7 comprising aforesaid right；Second vehicle, it is connected for establishing radio communication with the first vehicle；The wheel speed sensors of second vehicle are by the second vehicle Real-time wheel speed information is sent to the first vehicle.
- A kind of 9. storage medium, it is characterised in that the storage medium includes the program of storage, wherein, run in described program When control the storage medium where equipment perform the claims 1 or a kind of base any one of claim 3 to 6 In the front truck follower method of wheel speed sensors.
- 10. a kind of electronic equipment, it is characterised in that the electronic equipment includes：One or more processors；Memory, for storing one or more programs；When one or more of programs are by one or more of computing devices so that one or more of processors are real A kind of now front truck follower method based on wheel speed sensors as any one of claim 1 or claim 3 to 6.
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| CN2017100739549 | 2017-02-10 | ||
| CN201710073954.9A CN107329467A (en) | 2017-02-10 | 2017-02-10 | A kind of front truck follower method and system based on wheel speed sensors |
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| CN201711059357.7A Active CN107885203B (en) | 2017-02-10 | 2017-11-01 | Front vehicle following method and system based on wheel speed sensor |
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| CN107329467A (en) | 2017-11-07 |
| CN107885203B (en) | 2020-12-11 |
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