CN108407715A - A kind of automobile safety early-warning system and method - Google Patents
A kind of automobile safety early-warning system and method Download PDFInfo
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- CN108407715A CN108407715A CN201810179623.8A CN201810179623A CN108407715A CN 108407715 A CN108407715 A CN 108407715A CN 201810179623 A CN201810179623 A CN 201810179623A CN 108407715 A CN108407715 A CN 108407715A
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Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
Abstract
The invention discloses a kind of automobile safety early-warning system and method, ultrasound information acquisition system is used to monitor the relative motion trend and relative position of vehicle surrounding objects；A/D converter after the information processing of ultrasonic acquisition system for will be transmitted to master controller；Turn signal state detection device is for judging that driver acts intention in vehicle travel process；Parking detecting system determines vehicle condition to make master controller that corresponding algorithm be selected to carry out operation by detecting the state of brake pedal and parking brake；Ups power is powered to whole system；The information that master controller calculates input judges whether to need to alert；Warning system reminds driver that danger by physical messages such as sound, light, tactiles.The present invention can help driver and passenger to find dangerous situation in advance, can effectively reduce the possibility of collision accident generation, improve traffic safety problem；The present invention can effectively reject useless dangerous information simultaneously, avoid the attention of unnecessary alarm dispersion driver.
Description
Technical field
The present invention relates to the vehicle blind zone vapour that automobile active safety technical field more particularly to a kind of ultrasonic radar detect
Vehicle safety pre-warning system and method.
Background technology
In more than 100 years development history of automobile, the research of the security performance in relation to automobile and the application of new technology also have occurred
Variation with rapid changepl. never-ending changes and improvements, from initial bumper vibration insulating system, Passenger-Seat-Belt system, air bag to vehicle impact testing,
To wheel anti-lock braking system(ABS) (ABS), Anti-slip regulation system (ASR), no blind spot, no parallax safety rear-view mirror and children's seat system
The security performance of the research of system, automobile is just gradually improved.Especially in recent years, with the rapid development of science and technology, increasingly
More advanced technologies are applied on automobile.Currently, countries in the world step up to develop automotive safety skill all with modern high-new section
Art, entrucking uses successively for many batches of cutting edge technologies in relation to automotive safety, new product, keeps following automobile safer.
Vehicle blind zone early warning system is the direction of one hot research of automobile active safety instantly, and so-called vehicle blind zone is
Refer to driver to be located at normal driving seat and set, sight is blocked by car body and the part region that cannot observe directly.Automobile
Blind area is also caused traffic accident one of the main reasons.Though having high-definition camera to can be supplied to driver currently on the market observes vapour
The case where vehicle blind area, but device is expensive, it is of high cost, only there is outfit on some top-of-the-range versions, it is low to popularize utilization rate.
Such as application No. is 201610658590.6 Chinese invention patent applications, and it is pre- to disclose a kind of vehicle blind zone driving
Alert system and method, including pyroelectric infrared sensor group, signal processing module, A/D conversion modules, central processing module and report
Alert module；Pyroelectric infrared sensor group includes multiple pyroelectric infrared sensors, for the blind spot region to respectively being covered
Carry out infrared information detection；Central processing module receives the data handled by signal processing module and carries out judgement processing, if sentencing
Break the blind spot region someone for have past outer sensor to be covered when, and engine has been turned on, central processing module driving alarm mould
Block carries out alarm.Although the device can carry out early warning to each blind area of automobile, early warning object is people, to it
The barrier of his type cannot effectively carry out early warning, while what is utilized is infrared sensor, and distance of reaction is short, anti-interference ability
Difference, precision are low.
For another example application No. is 201710245800.3 Chinese invention patent applications, disclose a kind of vapour based on more radars
Vehicle anti-collision early warning system and method, the system include Vehicular accumulator cell, control module, radar module, apart from display module, buzzing
Device and indicator light, control module are connected with other modules respectively, and radar is distributed in the front, rear portion, left and right side of vehicle body.
Vehicle anti-collision early warning system and method for this kind based on more radars installs multiple thunders respectively in the four direction all around of vehicle body
It reaches, respectively installation and car door, the air-inlet grille and the bumper after vehicle of Chinese herbaceous peony, and vision early warning again while sound early warning.
But the distribution of the radar of the device is simple, does not carry out calculating analysis, is unable to all vehicle blind zones of early warning.
The present invention is based on above-mentioned analyses, it is intended to develop a kind of automobile peace of more ultrasonic radars detection of low-cost and high-precision
Full early warning system.Realize the active safety of automobile.
Invention content
The object of the invention is exactly to provide a kind of automobile safety early-warning system and method to make up the defect of prior art.
The present invention is achieved by the following technical solutions：
A kind of automobile safety early-warning system includes ultrasound information acquisition system, A/D converter, turn signal state inspection
Device, parking detecting system, ups power, master controller and warning system are surveyed, the ups power gives ultrasound information respectively
Acquisition system, A/D converter, turn signal state detection device, parking detecting system, master controller and warning system power supply, institute
The ultrasound information acquisition system stated is connect with A/D converter, the A/D converter, turn signal state detection device, parking
Detecting system, warning system are connect with master controller, and the ultrasound information acquisition system monitors vehicle surrounding objects
Relative motion trend and relative position, and the information of acquisition is sent to A/D converter, A/D converter adopts ultrasound information
Master controller is transmitted to after the information processing of collecting system, turn signal state detection device is for judging driver in vehicle travel process
Middle action intention, parking detecting system determine vehicle condition, master controller meter by detecting the state of brake pedal and parking brake
The information for calculating input judges whether to need to alert；Warning system receives alarm signal and makes corresponding actuation of an alarm.
The ultrasound information acquisition system is made of 14 ultrasonic radar sensors, wherein automobile front/rear collision bumper
Each in the same horizontal line equably to arrange three, two sides of automobile are each in the same horizontal line equably to arrange four.
The turn signal state detection device is to stir steering to penetrating optoelectronic switch on steering indicating light poke rod
When lamp poke rod, by judging penetrating optoelectronic switch the position of operating lever or more, what is judged out is left-hand rotation or right-hand rotation lamp.
The parking detecting system includes the displacement sensor one on parking brake handle and is stepped on mounted on brake
The displacement sensor two of plate, displacement sensor judge that parking brake is still reduced according to the increment of displacement to distinguish, two kinds of output height
Different level, to judge that braking state or releasing orientation, wherein master controller are exported by displacement sensor one
Signal judges whether parking brake enables；Master controller judges whether brake pedal opens by the signal that displacement sensor two exports
With the two being combined to the parked state for judging automobile, only when service brake and parking brake are all in releasing orientation, vehicle is traveling
There are one being all braking state in braking state or both, vehicle is all dead ship condition for state, either service brake or parking brake.
The ups power is vehicle-mounted ups power；The warning system is by three mutually independent alarm module groups
At referring respectively to show lamp alarm module, vibrations alarm module and buzzer alert module composition.
The model STM32F103V of the master controller.
A kind of automotive safety method for early warning, includes the following steps：
Step 1, ultrasonic radar sensor is evenly distributed in the front, rear portion, left and right side of automobile, wherein vapour
Chinese herbaceous peony rear bumper respectively equably arranges three in the same horizontal line, and two sides of automobile are respectively in the same horizontal line equably
Arrangement four；
Step 2, after automobile engine starting, vehicle early warning system is opened, and surrounding ultrasonic radar sensor enables, respectively
A ultrasonic radar sensor acquires range data, and master controller processing judges in set safe distance either with or without obstacle
Object, if there is barrier, warning system sends out indicator light alarm；If clear, no corresponding actions；
Step 3, when parking detecting system detects that vehicle is transport condition, turn signal state detection device will detect
Information be sent to master controller, master controller judges that the direction of steering indicating light, each ultrasonic radar sensor acquire distance in real time
Information, master controller judge vehicle by prefabricated algorithm according to the range information that steering indicating light information and ultrasonic radar sensor acquire
Relative motion trend direction whether have barrier, if so, then warning system send out seat vibrations alarm；If nothing, no phase
It should act；
Step 4, when parking detecting system detects that vehicle is parked state, ultrasonic radar continues scanning collection correlation
Range information judges that peripheral obstacle has threat, warning system to vehicle if master controller judges that distance is less than given threshold
Send out buzzer alert；If being not less than given threshold, no corresponding actions；
Step 5, when receiving vehicle-locking signal, system stalls.
The principle of ultrasonic radar sensor acquisition range information in step 2,3,4 is to utilize time difference telemetry, i.e.,
Transmitter emits ultrasonic wave to a direction, starts timing while emission time, ultrasonic wave is propagated in air, is touched on the way
It just returns to come immediately to barrier, receiver receives back wave and just stops timing, the aerial spread speed of ultrasonic wave immediately
For 340m/s, according to the time t of timer record, so that it may to calculate distance s of the launch point away from barrier, i.e.,：S=340t/
2。
The prefabricated algorithm of the master controller is：Coordinate system is established in operation：Using car right side forward direction as X-axis,
It is that Y-axis establishes rectangular coordinate system and finds out the coordinate of peripheral obstacle and facilitates operation, computational methods as follows to the left with automobile rear：
r1,r2To detect two ultrasonic radar sensors of same barrier, wherein r1For close to the ultrasonic wave thunder of reference axis side
Up to sensor, the angles α are Δ r1r2The ∠ r of q1, q is barrier position, and d is barrier to the distance of nearest face vehicle body, p
For Δ r1r2The perimeter of q, w are vehicle width, and l is motor vehicle length, xr,yrFor the transverse and longitudinal coordinate of ultrasonic radar,
Utilize Heron's formula：
Solution obtains d；
Utilize the cosine law：Solution obtains cos α；
When barrier q is in automobile left side：yq=w+d, xq=xr1+|qr1| cos α, yqFor the ordinate of barrier q, xq
For the abscissa of barrier q,For ultrasonic radar sensor r1Abscissa；
When barrier q is in car right side：yq=-d,
When barrier q is before automobile：xq=l+d；
When barrier q is behind automobile：xq=-d.
Judge whether that the algorithm that needs alert is in step 3：Continuously scanned three times in t1,t2,t3Moment captures same obstacle
Three positions of object point p are p1,p2,p3, acquire barrier p to nearest face vehicle body distance d1,d2,d3, work as d2-d1＜ 0, d3-
d2When ＜ 0 meets simultaneously, master controller sends a signal to warning system, and warning system sends out vibrations alarm；In step 4 judge be
It is no to need the algorithm that alerts to be：Persistently scanning peripheral obstacle to nearest face vehicle body distance d, as d ＜ m, master controller
Warning system is sent a signal to, warning system sends out buzzer alert, and m is vehicle side to car door distalmost end distance.
The warning system is made of three mutually independent alarm modules, refers respectively to show lamp alarm module, shake
Dynamic alarm module and buzzer alert module composition.Wherein indicator light alarm module is connected by an indicator light with circuit, when having
When corresponding signal inputs, module work, indicator light luminous alarm；Vibrations alarm module is connected by a shaking device with circuit,
When there is corresponding signal input, module work, shaking device drives seat vibrations alarm；Buzzer alert module is by a buzzing
Device is connected with circuit, when there is corresponding signal input, module work, and buzzer sounding alarm.Pass through different alarm sides in this way
Formula judges different hazard types, to prompt driver to take should warn measure accordingly.Alarm mode in driving process
For indicator light alarm and seat vibrations alarm, the alarm mode after berthing is buzzer alert.
The turn signal state detection device judges that driver drives by monitoring the direction that the steering indicating light of vehicle is beaten
The intention in Vehicular turn direction.
The parking detecting system judges whether automobile is in parking shape by detecting the state of brake pedal and parking brake
State judges whether master controller needs to change operation mode in turn.
The ups power be vehicle-mounted ups power, for entire safety pre-warning system power with ensure system work can
By property.
The master controller receives the converted next digital signal of A/D converter, carries out calculation process, passes through inner setting
Calculating function calculate the approximate distance of barrier and vehicle, be compared with the threshold value of warning set, control alarm system
System makes corresponding actions.Master controller is electrically connected with A/D converter and warning system.
It is an advantage of the invention that：
(1) present invention is disposed with ultrasonic radar sensor in the surrounding of automobile, is able to detect that existing for driver
All blind areas assist the judgement of driver, realize the active safety of automobile, to reduce traffic accident.
(2) present invention uses ultrasonic radar sensor, and compared to high-definition camera sensing equipment, cost is relatively low；Phase
Than in pyroelectric infrared sensor, high certainty of measurement, wide range of measurement.
(3) present invention is generated different alarm modes, is driven using classification warning system, different situations control warning system
The person of sailing can more accurately judge unsafe condition, to targetedly take corresponding measure.
(4) data of primary processor of the invention be by A/D converter it is converted come digital signal, anti-interference ability
It greatly enhances, compared with the direct measurement method of traditional hardware, the accuracy of measurement greatly improves.
Description of the drawings
Fig. 1 is the operation principle block diagram of the present invention.
Fig. 2 is the work flow diagram of the present invention.
Fig. 3 is distribution signal of the ultrasonic radar detector on automobile.
Fig. 4 is the method schematic diagram for solving barrier coordinate points.
Fig. 5 is algorithm schematic diagram of the system in vehicle traveling process.
Fig. 6 is algorithm schematic diagram of the system in parking process of vehicle.
Fig. 7 is the peripheral circuit diagram of master controller.
Fig. 8 is ultrasound information acquisition system peripheral circuit diagram.
Fig. 9 is the peripheral circuit diagram of turn signal state detection device.
Figure 10 is parking detecting system peripheral circuit diagram.
Figure 11 is warning system peripheral circuit diagram.
Figure 12 is ups power peripheral circuit diagram.
Specific implementation mode
As shown in Figure 1, 2, a kind of automobile safety early-warning system includes ultrasound information acquisition system 1, A/D converter
2, turn signal state detection device 3, parking detecting system 4, ups power 5, master controller 6 and warning system 7, UPS electricity
Ultrasound information acquisition system 1, A/D converter 2, turn signal state detection device 3, parking detecting system 4, master are given in source 5 respectively
Controller 6 and warning system 7 are powered, and the ultrasound information acquisition system 1 is connect with A/D converter 2, and the A/D turns
Parallel operation 2, turn signal state detection device 3, parking detecting system 4, warning system 7 are connect with master controller 6, the ultrasound
Wave information acquisition system 1 monitors the relative motion trend and relative position of vehicle surrounding objects, and the information of acquisition is sent to
A/D converter 2, A/D converter 2 will be transmitted to master controller 6, steering indicating light shape after the information processing of ultrasound information acquisition system 1
State detection device 3 for judging that driver acts intention in vehicle travel process, by detecting brake stepped on by parking detecting system 4
The state of plate and parking brake determines vehicle condition, and the information that master controller 6 calculates input judges whether to need to alert；Warning system
7, which receive alarm signal, makes corresponding actuation of an alarm.Each peripheral circuit and specific connection relation such as Fig. 7,8,9,10,11,12
It is shown.
The ultrasound information acquisition system 1 is made of multiple ultrasonic radar sensors.
As shown in figure 3, the ultrasound information acquisition system 1 is made of 14 ultrasonic radar sensors, wherein vapour
Chinese herbaceous peony rear bumper is each in the same horizontal line equably to arrange three, two sides of automobile in the same horizontal line it is each equably
Arrangement four.
The turn signal state detection device 3 is to stir and turn to penetrating optoelectronic switch on steering indicating light poke rod
When to lamp poke rod, by judging penetrating optoelectronic switch the position of operating lever or more, what is judged out is left-hand rotation or right-hand rotation lamp.
The parking detecting system 4 includes displacement sensor 1 on parking brake handle and mounted on brake
The displacement sensor 29 of pedal, displacement sensor judge that parking brake is still reduced according to the increment of displacement to distinguish, output height two
The different level of kind, to judge that braking state or releasing orientation, wherein master controller are exported by displacement sensor one
Signal judge whether parking brake enables；Whether master controller judges brake pedal by the signal that displacement sensor two exports
It enables, the two is combined to the parked state for judging automobile.
The ups power 5 is vehicle-mounted ups power.
The model STM32F103V of the master controller 6.
The warning system 7 is made of three mutually independent alarm modules, refer respectively to show lamp alarm module 10,
It shakes alarm module 11 and buzzer alert module 12 forms.
A kind of automotive safety method for early warning, specific works step are as follows：
Step 1, ultrasonic radar is evenly distributed in the front, rear portion, left and right side of automobile, wherein before and after automobile
Bumper respectively equably arranges three in the same horizontal line, and two sides of automobile respectively equably arrange four in the same horizontal line
It is a.
Step 2, after automobile engine starting, vehicle early warning system is opened, and surrounding ultrasonic radar enables, each ultrasound
Wave radar acquires range data, and master controller processing judges in set safe distance either with or without barrier.If there is barrier,
Then warning system sends out indicator light alarm；If clear, no corresponding actions.
Step 3, ultrasonic radar acquires range information in real time, and master controller passes through prefabricated algorithm judgment object and vehicle phase
Or driver whether dangerous intention (to dangerous direction play steering indicating light) whether dangerous to movement tendency.If so, then alerting and being
System sends out seat vibrations alarm；If nothing, no corresponding actions.
Step 4, when automobile parking, ultrasonic radar continues scanning collection correlation distance information, if master controller judges
Distance is less than given threshold, then judges that peripheral obstacle has threat, warning system to send out buzzer alert on vehicle；If being not less than
Given threshold, then without corresponding actions.
Step 5, when receiving vehicle-locking signal, system stalls.
The principle of ultrasonic radar acquisition range information in the step 2,3,4 is to utilize time difference telemetry.It is i.e. super
Pinger emits ultrasonic wave to a direction, starts timing while emission time, and ultrasonic wave is propagated in air, way
In encounter barrier just immediately return come, ultrasonic receiver receives back wave and just stops timing immediately.Ultrasonic wave is in air
Spread speed be 340m/s, according to the time t of timer record, so that it may to calculate distance (s) of the launch point away from barrier,
I.e.：S=340t/2.
As shown in Figure 4,5, 6, the method that the step 2,3,4 master controllers establish coordinate system in operation is：With automobile
Right side forward direction is X-axis, is that Y-axis establishes rectangular coordinate system and finds out the coordinate of peripheral obstacle and facilitates fortune to the left with automobile rear
It calculates.Computational methods are as follows：r1,r2To detect two ultrasonic radars of same barrier, wherein r1For close to reference axis side
Ultrasonic radar, the angles α be Δ r1r2The ∠ r of q1.D is distance of the barrier to nearest face vehicle body, and p is Δ r1r2The perimeter of q,
W is vehicle width, and l is motor vehicle length, xr,yrFor the transverse and longitudinal coordinate of ultrasonic radar.
Utilize Heron's formula：
Solution obtains d.
Utilize the cosine law：Solution obtains cos α.
When barrier q is in automobile left side：yq=w+d,
When barrier q is in car right side：yq=-d,
When barrier q is before automobile：xq=l+d.
When barrier q is behind automobile：xq=-d.
Judge whether that the algorithm that needs alert is in step 3：Continuously scanned three times in t1,t2,t3Moment captures same obstacle
Three positions of object point p are p1,p2,p3, acquire d1,d2,d3, work as d2-d1＜ 0, d3-d2When ＜ 0 meets simultaneously, master controller hair
Go out signal to warning system, warning system sends out vibrations alarm.
Judge whether that the algorithm that needs alert is in step 4：Persistently the position of scanning peripheral obstacle is to acquire d, works as d
When ＜ m, master controller sends a signal to warning system, warning system send out buzzer alert (m be vehicle side to car door distalmost end away from
From).
Claims (10)
1. a kind of automobile safety early-warning system, it is characterised in that：Include ultrasound information acquisition system, A/D converter, steering
Lamp condition checkout gear, parking detecting system, ups power, master controller and warning system, the ups power are given super respectively
Information of acoustic wave acquisition system, A/D converter, turn signal state detection device, parking detecting system, master controller and warning system
Power supply, the ultrasound information acquisition system are connect with A/D converter, the A/D converter, turn signal state detection dress
It sets, parking detecting system, warning system are connect with master controller, ultrasound information acquisition system monitoring vehicle periphery
The relative motion trend and relative position of object, and the information of acquisition is sent to A/D converter, A/D converter is by ultrasonic wave
Master controller is transmitted to after the information processing of information acquisition system, turn signal state detection device is for judging driver in vehicle row
Intention is acted during sailing, parking detecting system determines vehicle condition, master control by detecting the state of brake pedal and parking brake
The information that device processed calculates input judges whether to need to alert；Warning system receives alarm signal and makes corresponding actuation of an alarm.
2. a kind of automobile safety early-warning system according to claim 1, it is characterised in that：The ultrasound information acquisition
System is made of 14 ultrasonic radar sensors, and wherein automobile front/rear collision bumper respectively equably arranges three in the same horizontal line
A, two sides of automobile are each in the same horizontal line equably to arrange four.
3. a kind of automobile safety early-warning system according to claim 1, it is characterised in that：The turn signal state detection
Device is on steering indicating light poke rod to penetrating optoelectronic switch.
4. a kind of automobile safety early-warning system according to claim 1, it is characterised in that：The parking detecting system packet
Include the displacement sensor one on parking brake handle and the displacement sensor two mounted on brake pedal, wherein master controller
The signal exported by displacement sensor one judges whether parking brake enables；The letter that master controller is exported by displacement sensor two
Number judge whether brake pedal enables, the two is combined to the parked state for judging automobile.
5. a kind of automobile safety early-warning system according to claim 1, it is characterised in that：The ups power is vehicle-mounted
Ups power；The warning system is made of three mutually independent alarm modules, refers respectively to show lamp alarm module, shake
Dynamic alarm module and buzzer alert module composition.
6. a kind of automobile safety early-warning system according to claim 1, it is characterised in that：The model of the master controller
For STM32F103V.
7. a kind of automotive safety method for early warning, it is characterised in that：Include the following steps：
Step 1, ultrasonic radar sensor is evenly distributed in the front, rear portion, left and right side of automobile, wherein before automobile
Rear bumper respectively equably arranges three in the same horizontal line, and two sides of automobile are respectively equably arranged in the same horizontal line
Four；
Step 2, after automobile engine starting, vehicle early warning system is opened, and surrounding ultrasonic radar sensor enables, Ge Gechao
Sound radar sensor acquires range data, and master controller processing judges in set safe distance either with or without barrier, if
There is barrier, then warning system sends out indicator light alarm；If clear, no corresponding actions；
Step 3, when parking detecting system detects that vehicle is transport condition, letter that turn signal state detection device will detect
Breath is sent to master controller, and master controller judges that the direction of steering indicating light, each ultrasonic radar sensor acquire range information in real time,
Master controller judges vehicle by prefabricated algorithm according to the range information that steering indicating light information and ultrasonic radar sensor acquire
Whether relative motion trend direction has barrier, if so, then warning system sends out seat vibrations alarm；If nothing, without corresponding dynamic
Make；
Step 4, when parking detecting system detects that vehicle is parked state, ultrasonic radar continues scanning collection correlation distance
Information judges that peripheral obstacle has threat, warning system to send out on vehicle if master controller judges that distance is less than given threshold
Buzzer alert；If being not less than given threshold, no corresponding actions；
Step 5, when receiving vehicle-locking signal, system stalls.
8. a kind of automotive safety method for early warning according to claim 7, it is characterised in that：Ultrasonic wave in step 2,3,4
The principle of radar sensor acquisition range information is to utilize time difference telemetry, i.e. transmitter emits ultrasonic wave to a direction,
Start timing while emission time, ultrasonic wave is propagated in air, is encountered barrier on the way and just is returned to come immediately, receiver
Receive back wave and just stop timing immediately, the aerial spread speed of ultrasonic wave is 340m/s, according to timer record when
Between t, so that it may to calculate distance s of the launch point away from barrier, i.e.,：S=340t/2.
9. a kind of automotive safety method for early warning according to claim 8, it is characterised in that：The prefabricated calculation of the master controller
Method is：Coordinate system is established in operation：It is that Y-axis establishes right angle seat to the left with automobile rear using car right side forward direction as X-axis
The coordinate that mark system finds out peripheral obstacle facilitates operation, computational methods as follows：r1,r2Two to detect same barrier surpass
Sound radar sensor, wherein r1For close to the ultrasonic radar sensor of reference axis side, the angles α are Δ r1r2The ∠ r of q1, q is
Barrier position, d are distance of the barrier to nearest face vehicle body, and p is Δ r1r2The perimeter of q, w are vehicle width, and l is
Motor vehicle length, xr,yrFor the transverse and longitudinal coordinate of ultrasonic radar,
Utilize Heron's formula：
Solution obtains d；
Utilize the cosine law：Solution obtains cos α；
When barrier q is in automobile left side：yq=w+d,yqFor the ordinate of barrier q, xqFor obstacle
The abscissa of object q,For ultrasonic radar sensor r1Abscissa；
When barrier q is in car right side：yq=-d,
When barrier q is before automobile：xq=l+d；
When barrier q is behind automobile：xq=-d.
10. a kind of automotive safety method for early warning according to claim 9, it is characterised in that：Judge whether to need in step 3
The algorithm of alarm is：Continuously scanned three times in t1,t2,t3Three positions that moment captures same obstacle object point p are p1,p2,p3, ask
Barrier p to nearest face vehicle body distance d1,d2,d3, work as d2-d1＜ 0, d3-d2When ＜ 0 meets simultaneously, master controller hair
Go out signal to warning system, warning system sends out vibrations alarm；Judge whether that the algorithm that needs alert is in step 4：Persistently sweep
Peripheral obstacle is retouched to the distance d of nearest face vehicle body, as d ＜ m, master controller sends a signal to warning system, alarm system
System sends out buzzer alert, and m is vehicle side to car door distalmost end distance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810179623.8A CN108407715A (en) | 2018-03-05 | 2018-03-05 | A kind of automobile safety early-warning system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810179623.8A CN108407715A (en) | 2018-03-05 | 2018-03-05 | A kind of automobile safety early-warning system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108407715A true CN108407715A (en) | 2018-08-17 |
Family
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| CN109229018A (en) * | 2018-09-30 | 2019-01-18 | 张家港天筑基业仪器设备有限公司 | A kind of automotive safety method for early warning based on man-computer cooperation |
| CN109782775A (en) * | 2019-03-13 | 2019-05-21 | 刘乐 | A kind of automobile obstacle avoidance system based on thermal image |
| CN110927726A (en) * | 2019-11-14 | 2020-03-27 | 广东奥迪威传感科技股份有限公司 | Approach detection method and module |
| CN111169444A (en) * | 2020-03-06 | 2020-05-19 | 上海峰华人工智能科技有限公司 | Collision relieving system and method for bus |
| CN111169443A (en) * | 2020-03-06 | 2020-05-19 | 上海峰华人工智能科技有限公司 | Anti-collision automatic emergency braking system and method for bus |
| CN111216717A (en) * | 2018-11-23 | 2020-06-02 | 广州汽车集团股份有限公司 | Vehicle side alarming method and device and computer readable storage medium |
| CN112319363A (en) * | 2020-09-30 | 2021-02-05 | 江苏悦达专用车有限公司 | Overspeed overtaking reminding system for pure electric vehicle |
| CN112406865A (en) * | 2020-11-18 | 2021-02-26 | 安徽工程大学 | Ultrasonic radar-based lane change auxiliary active safety system |
| CN113844362A (en) * | 2021-09-29 | 2021-12-28 | 杭州雄迈集成电路技术股份有限公司 | Vehicle driving safety warning method and system |
| CN114435238A (en) * | 2020-10-30 | 2022-05-06 | 上海汽车集团股份有限公司 | Method and device for reminding vehicle parking and door opening |
| CN116588050A (en) * | 2023-07-18 | 2023-08-15 | 深圳市九洲卓能电气有限公司 | Braking system for automobile and method thereof |
| CN117622177A (en) * | 2024-01-23 | 2024-03-01 | 青岛创新奇智科技集团股份有限公司 | Vehicle data processing method and device based on industrial large model |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109229018A (en) * | 2018-09-30 | 2019-01-18 | 张家港天筑基业仪器设备有限公司 | A kind of automotive safety method for early warning based on man-computer cooperation |
| CN111216717A (en) * | 2018-11-23 | 2020-06-02 | 广州汽车集团股份有限公司 | Vehicle side alarming method and device and computer readable storage medium |
| CN111216717B (en) * | 2018-11-23 | 2021-06-01 | 广州汽车集团股份有限公司 | Vehicle side alarming method and device and computer readable storage medium |
| CN109782775A (en) * | 2019-03-13 | 2019-05-21 | 刘乐 | A kind of automobile obstacle avoidance system based on thermal image |
| CN109782775B (en) * | 2019-03-13 | 2020-04-14 | 刘乐 | Automobile obstacle avoidance system based on thermal image |
| CN110927726A (en) * | 2019-11-14 | 2020-03-27 | 广东奥迪威传感科技股份有限公司 | Approach detection method and module |
| CN111169444A (en) * | 2020-03-06 | 2020-05-19 | 上海峰华人工智能科技有限公司 | Collision relieving system and method for bus |
| CN111169443A (en) * | 2020-03-06 | 2020-05-19 | 上海峰华人工智能科技有限公司 | Anti-collision automatic emergency braking system and method for bus |
| CN112319363A (en) * | 2020-09-30 | 2021-02-05 | 江苏悦达专用车有限公司 | Overspeed overtaking reminding system for pure electric vehicle |
| CN114435238A (en) * | 2020-10-30 | 2022-05-06 | 上海汽车集团股份有限公司 | Method and device for reminding vehicle parking and door opening |
| CN114435238B (en) * | 2020-10-30 | 2024-02-09 | 上海汽车集团股份有限公司 | Method and device for reminding door opening during vehicle parking |
| CN112406865A (en) * | 2020-11-18 | 2021-02-26 | 安徽工程大学 | Ultrasonic radar-based lane change auxiliary active safety system |
| CN113844362B (en) * | 2021-09-29 | 2024-01-16 | 浙江芯劢微电子股份有限公司 | Vehicle driving safety warning method and system |
| CN113844362A (en) * | 2021-09-29 | 2021-12-28 | 杭州雄迈集成电路技术股份有限公司 | Vehicle driving safety warning method and system |
| CN116588050A (en) * | 2023-07-18 | 2023-08-15 | 深圳市九洲卓能电气有限公司 | Braking system for automobile and method thereof |
| CN117622177A (en) * | 2024-01-23 | 2024-03-01 | 青岛创新奇智科技集团股份有限公司 | Vehicle data processing method and device based on industrial large model |
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