CN108930890B - Movable external display screen bracket for driving assistance system experiment platform and control method thereof - Google Patents
Movable external display screen bracket for driving assistance system experiment platform and control method thereof Download PDFInfo
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- CN108930890B CN108930890B CN201810803664.XA CN201810803664A CN108930890B CN 108930890 B CN108930890 B CN 108930890B CN 201810803664 A CN201810803664 A CN 201810803664A CN 108930890 B CN108930890 B CN 108930890B
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- 238000000848 angular dependent Auger electron spectroscopy Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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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
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
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- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Rehabilitation Tools (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The invention discloses a movable external display screen bracket for a driving assistance system experiment platform, which comprises the following components: the bottom wheel frame is a metal frame, and universal wheels are arranged at the bottom of the bottom wheel frame; the top frame is square and is connected with the bottom wheel frame through a telescopic column; the fixing frame is arranged on the top frame; the telescopic frame, its pass through the hinge connection the mount includes: four "L" type frames are constituteed, the frame, it includes: the first frame is square, and one end of the first frame is provided with a cutting end; the second frame is square and provided with an array hole, one end of the second frame is integrally connected with the other end of the first frame, and a groove is formed in the second frame; the L-shaped frame is characterized in that one end with a cut-off end can slide at one end with a groove of the other frame, a movable base is adopted, and the size of the fixed frame of the display screen is adjustable, so that the adaptability is good.
Description
Technical Field
The invention relates to the field of automobile auxiliary driving, in particular to a movable external display screen bracket for a driving auxiliary system experiment platform and a control method thereof.
Background
Along with the rapid development of the automobile industry and the progress of automobile technology, an ADAS system is gradually perfected, and an ADAS experiment is gradually and conditionally carried out in universities, but the experiment is greatly limited due to incomplete equipment, devices and the like.
Disclosure of Invention
The invention designs and develops a movable external display screen bracket for a driving assistance system experiment platform, a movable base is adopted, and the size of a display screen fixing frame is adjustable, so that the adaptability is good.
The invention also aims to provide a movable external display screen bracket control method for the driving assistance system experiment platform, which adopts a fuzzy control algorithm to accurately calculate and adjust the height of the telescopic column, improves the practical effect of the driving assistance system experiment platform, realizes the height adjustment and can intelligently follow an experimenter.
The technical scheme provided by the invention is as follows:
a movable external display screen support for a driving assistance system experiment platform, comprising:
the bottom wheel frame is a metal frame, and universal wheels are arranged at the bottom of the bottom wheel frame;
the top frame is square and is connected with the bottom wheel frame through a telescopic column;
the fixing frame is arranged on the top frame;
the telescopic frame is connected with the fixing frame through a hinge piece;
the telescopic frame comprises: four L-shaped frames
The frame comprises:
the first frame is square, and one end of the first frame is provided with a cutting end;
the second frame is square and provided with an array hole, one end of the second frame is integrally connected with the other end of the first frame, and a groove is formed in the second frame;
wherein, the one end that the frame has the end of cutting off can match the slip at the one end that the frame has the recess.
Preferably, the first frame cutoff end has a pulley, and the pulley center has a through hole.
Preferably, the method further comprises: and the movable bolt can pass through the through hole and is fixed in the array hole of the second frame.
Preferably, the hinge comprises:
the fixing piece is fixed on the fixing frame;
one end of the rocker arm is hinged with the fixing piece;
a connecting member rotatably supported at the other end of the rocker arm;
and the mounting piece is hinged with the other end of the connecting piece and is used for fixing the telescopic frame.
Preferably, the included angle between the connecting piece and the rocker arm is 0-180 degrees.
Preferably, the angle between the mounting part and the connecting part is 0-90 degrees.
Preferably, the telescopic column comprises:
a fixing sleeve, one end of which is fixed on the bottom wheel frame;
a movable column disposed within the stationary sleeve;
one end of the pressure spring is connected with the bottom of the fixed sleeve, and the other end of the pressure spring is connected with the movable column;
the fixed sleeve is provided with a through chute, the movable column is provided with a limit column, and the limit column can slide in the chute.
A movable external display screen bracket control method for a driving assistance system experiment platform comprises the following steps:
placing an ultrasonic transmitter on a following object, arranging an ultrasonic receiver on a driving auxiliary system experiment platform, and monitoring the position of the following object in real time;
wherein the ultrasonic transmitter transmits an ultrasonic signal every k seconds;
in a Cartesian coordinate system, the position coordinate { x ] of the ultrasonic transmitter detected by the nkth second n ,y n ,z n (x) and (n-1) k seconds of the position coordinates of the ultrasonic detector n-1 ,y n-1 ,z n-1 -a }; n is a positive integer;
calculating the position difference delta lambda=z of the ultrasonic emitter and the ultrasonic detector according to the position coordinates n -z n-1 ；
Inputting the position difference and the moving speed of the ultrasonic transmitter into a fuzzy controller to obtain the adjusting height of the telescopic column;
calculating a linear displacement track of the ultrasonic transmitter on an xy plane according to the position coordinates;
calculating the following speed of the driving auxiliary system experiment platform, and moving along the displacement track at the following speed;
detecting an obstacle in front of a motion track through an infrared sensor, and when the obstacle is detected, steering the driving assistance system experiment platform at an angle alpha, and returning to the original track at the angle-alpha after t seconds of steering;
wherein the steering angle alpha is 30-60 degrees, and the time t is 0.32-0.45s.
Preferably, the calculating process of the fuzzy controller includes:
comparing the position difference with a preset position coefficient to obtain a position coefficient deviation signal, and comparing the following speed with an average following speed to obtain a following speed deviation signal;
the position coefficient deviation signal is subjected to differential calculation to obtain a position coefficient change rate signal; the following speed deviation signal is subjected to differential calculation to obtain a following speed change rate signal;
and inputting the position coefficient change rate signal and the following speed change rate signal into a fuzzy controller, and outputting the position coefficient change rate signal and the following speed change rate signal as the adjustment height of the telescopic column.
Preferably, the following speed calculation formula of the driving assistance system experiment platform is:
wherein lambda is a unit length, the value thereof is 0.2-0.5m, delta is delay time, and the value thereof is 0.24s
The beneficial effects of the invention are that
The invention designs and develops a movable external display screen bracket for a driving auxiliary system experiment platform, which adopts a movable base, is convenient to move and place other experiment equipment, has adjustable inclination angle of the display screen, adjustable size of a fixed frame and good adaptability, can meet the experiment requirements of different conditions, adopts aluminum profiles and steel as main materials, has light weight, is easy to move, and ensures that the display screen can rotate up and down by connecting a fixing frame through a hinge piece.
According to the invention, the height of the telescopic column is accurately calculated and adjusted by adopting a fuzzy control algorithm, the practical effect of the driving auxiliary system experiment platform is improved, the height adjustment is realized, and the intelligent following of an experimenter can be realized.
Drawings
Fig. 1 is a schematic structural diagram of a movable external display screen bracket according to the present invention.
Fig. 2 is a schematic structural view of a chassis according to the present invention.
Fig. 3 is a schematic structural view of the telescopic frame according to the present invention.
Fig. 4 is a schematic view of the structure of the hinge according to the present invention.
Fig. 5 is a schematic structural view of the extending lock cylinder according to the present invention.
Detailed Description
The present invention is described in further detail below with reference to the drawings to enable those skilled in the art to practice the invention by referring to the description.
As shown in fig. 1, the present invention provides a movable external display screen bracket for a driving assistance system experiment platform, comprising: the bottom wheel frame 110, the top frame 120, the fixing frame 130 and the telescopic frame 140.
As shown in fig. 2, the bottom wheel frame 110 is a metal frame, and the bottom part is provided with universal wheels; preferably, the bottom has 6 universal wheels, the top frame 120 is square, and the bottom wheel frame 110 is connected through the telescopic column 400; the fixing frame 130 is fixedly arranged on the top frame 120; the telescopic column 400 can adjust the height of the top frame 120 or the angle of the top frame 120 and the bottom wheel frame 110.
As shown in fig. 3, the telescopic frame 140 is connected to the fixing frame 130 through the hinge 200, the telescopic frame 140 is composed of four L-shaped frames, two-by-two to form a square frame, and each frame includes: the first frame 121 is square, and the end of the first frame 121 is provided with a cutting end; the second frame 122 is square and provided with an array hole, one end of the second frame is integrally connected with the other end of the first frame 121, and a groove is formed in the second frame 122; wherein, the end of the "L" shaped frame with the cut-off end can slide at the end of the other frame with the groove, and can be fixed at the end of the first frame 121 with the cut-off end by bolts, the bolts drive the first frame 121 to be fixed in the array holes of the second frame 122, and the relative positions of the first frame 121 and the second frame 122 are changed by changing the positions of the array holes.
In another embodiment, the telescopic frame 140 is connected to the fixing frame 130 by the hinge 200, the telescopic frame 140 is composed of four "L" shaped frames, two by two to form a square frame, each frame comprising: the first frame 121 is square, and the end of the first frame 121 is provided with a cutting end; the second frame 122 is square and provided with an array hole, one end of the second frame is integrally connected with the other end of the first frame 121, and a groove is formed in the second frame 122; wherein, one end of the L-shaped frame with a cut-off end can slide at one end of the other frame with a groove, the cut-off end of the first frame 121 is provided with a pulley 121a, the center of the pulley 121 is provided with a through hole, a bolt can be adopted to pass through the through hole, the bolt drives the first frame 121 to be fixed in the array hole of the second frame 122, and the relative position of the first frame 121 and the second frame 122 is changed by changing the position of the array hole.
As shown in fig. 4, the hinge 200 includes: the fixing member 210 is fixed to the fixing frame 130; one end of the rocker arm 220 is hinged with the fixing piece, the fixing piece is cylindrical, the rocker arm 220 is sleeved on the fixing piece 210, the rocker arm can rotate around the fixing piece 210, and the connecting piece 230 is rotatably supported at the other end of the rocker arm 220; the mounting piece 240 is hinged with the other end of the connecting piece 230 and is used for fixing the telescopic frame, the mounting piece 240 is provided with a mounting hole, and the mounting piece 240 is connected with the display screen through a bolt.
Preferably, the connection 230 is angled between 0 and 180 with respect to the rocker arm 220 and the mounting 240 is angled between 0 and 90 with respect to the connection 230.
As shown in fig. 5, the telescopic column 400 includes: one end of the fixing sleeve 410 is fixed on the bottom wheel frame 110; the movable column 420 is arranged in the fixed sleeve 410, the movable column 420 can slide along the inner wall of the fixed sleeve 410, one end of the pressure spring 430 is connected with the bottom of the fixed sleeve 410, and the other end is connected with the movable column 420; the fixed sleeve 410 has a through sliding slot movable column 420 with a limiting column 421, and the limiting column 421 can slide in the sliding slot.
The working process of the movable external display screen bracket is taken as an example for further explanation
The display screen is fixed in the telescopic frame 140, the telescopic frame 140 drives the first frame 121 to be fixed in the array hole of the second frame 122 by bolts, and the relative positions of the first frame 121 and the second frame 122 are changed by changing the positions of the array holes, so that the display screen can be set to be of any size and is suitable for display screens of any size.
The bottom wheel frame 110 is connected through a telescopic column 400; the fixing frame 130 is fixedly arranged on the top frame 120; the telescopic column 400 can adjust the height of the top frame 120 or the angle of the top frame 120 and the bottom wheel frame 110.
A movable external display screen bracket control method for a driving assistance system experiment platform comprises the following steps:
placing an ultrasonic transmitter on a following object, arranging an ultrasonic receiver on a driving auxiliary system experiment platform, and monitoring the position of the following object in real time;
wherein the ultrasonic transmitter transmits an ultrasonic signal every k seconds;
in a Cartesian coordinate system, the position coordinate { x ] of the ultrasonic transmitter detected by the nkth second n ,y n ,z n (x) and (n-1) k seconds of the position coordinates of the ultrasonic detector n-1 ,y n-1 ,z n-1 -a }; n is a positive integer;
calculating the position difference Deltalambda=z of the ultrasonic emitter and the ultrasonic detector according to the position coordinates n -z n-1 ；
Inputting the position difference delta lambda and the moving speed of the ultrasonic transmitter into a fuzzy controller to obtain the adjusting height of the telescopic column;
calculating a linear displacement track of the ultrasonic transmitter on the xy plane according to the position coordinates;
calculating the following speed of the driving auxiliary system experiment platform, and moving along the displacement track at the following speed; the following speed calculation formula of the driving auxiliary system experiment platform is as follows:
wherein lambda is a unit length, the value of lambda is 0.2-0.5m, delta is delay time, and the value of delta is 0.24s.
Detecting an obstacle in front of a motion track through an infrared sensor, and when the obstacle is detected, steering the driving assistance system experiment platform at an angle alpha, and returning to the original track at the angle-alpha after t seconds of steering;
wherein the steering angle alpha is 30-60 degrees, and the time t is 0.32-0.45s.
A computing process of a fuzzy controller, comprising:
the position difference delta lambda is compared with a preset position coefficient 0.32 to obtain a position coefficient deviation signal,
the following speed v and the average following speedComparing to obtain a following speed deviation signal;
the position coefficient deviation signal is subjected to differential calculation to obtain a position coefficient change rate signal; the following speed deviation signal is subjected to differential calculation to obtain a following speed change rate signal;
the position coefficient change rate signal e 1 And follow the rate of change of speed signal e 2 Input fuzzy controller, output is telescopic columnIs provided for the height q.
Wherein e 1 、e 2 Ranges of variation of q [0.2,0.6 ] respectively]，[0.5,3]，[0.1,0.2]；e 1 、e 1 The discrete domains of Q are {0,1,2,3,4,5,6,7,8,9, 10}, and } -6, -5, -4, -3, -2, -1,0,1,2,3,4,5,6}, respectively
Then the quantization factor k 1 ＝6/0.4，k 2 =6/2.5, scaling factor k 3 ＝10/0.1
Defining fuzzy subsets and membership functions:
dividing the evaluation factor change rate signal into 7 fuzzy states: PB (positive big), PM (median), PS (positive small), ZR (zero), NS (negative small), NM (negative median), NB (negative big), and empirically derived assessment factor change rate signal e 1 Membership function table of (2) as shown in table 1.
TABLE 1 rate of change of position coefficient signal e 1 Membership function table of (a)
| e 1 | -6 | -5 | -4 | -3 | -2 | -1 | -0 | +0 | +1 | +2 | +3 | +4 | +5 | +6 |
| PB | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0.2 | 0.7 | 1.0 |
| PM | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0.2 | 0.7 | 1.0 | 0.7 | 0.2 |
| PS | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0.1 | 0.7 | 1.0 | 0.7 | 0.1 | 0 | 0 |
| ZR | 0 | 0 | 0 | 0 | 0.1 | 0.7 | 1.0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
| NB | 0 | 0 | 0.1 | 0.7 | 1.0 | 0.7 | 0.1 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
| NM | 0.2 | 0.7 | 1.0 | 0.7 | 0.2 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
| NS | 1.0 | 0.7 | 0.2 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
Dividing the following speed change rate signal into 7 fuzzy states: PB (positive big), PM (median), PS (positive small), ZR (zero), NS (negative small), NM (negative median), NB (negative big), and empirically derived assessment factor change rate signal e 2 Is used for the membership function table of the (a),
TABLE 2 following the rate of speed change signal e 2 Membership function table of (a)
| e 2 | -6 | -5 | -4 | -3 | -2 | -1 | -0 | +0 | +1 | +2 | +3 | +4 | +5 | +6 |
| PB | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0.2 | 0.7 | 1.0 |
| PM | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0.2 | 0.7 | 1.0 | 0.7 | 0.2 |
| PS | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0.1 | 0.7 | 1.0 | 0.7 | 0.1 | 0 | 0 |
| ZR | 0 | 0 | 0 | 0 | 0.1 | 0.7 | 1.0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
| NB | 0 | 0 | 0.1 | 0.7 | 1.0 | 0.7 | 0.1 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
| NM | 0.2 | 0.7 | 1.0 | 0.7 | 0.2 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
| NS | 1.0 | 0.7 | 0.2 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
The adjustment height q of the telescopic column is divided into seven fuzzy states: PB (positive large), PM (median), PS (positive small), ZR (zero), NS (negative small), NM (negative median), NB (negative large), and empirically derived function tables of membership of the correction coefficients Δρ' as shown in table 3.
TABLE 3 membership function table for height q adjustment of telescoping column
The fuzzy reasoning process must execute complex matrix operation, the calculated amount is very large, the real-time requirement of the control system is difficult to meet by on-line implementation reasoning, the fuzzy reasoning operation is carried out by adopting a table look-up method, the fuzzy reasoning decision adopts a double-input single-output mode, and the control rule consists of the following reasoning languages:
If e is Ai and e c is Bi thenΔK j is Ci
wherein Ai, bi and Ci are respectively e 1 、e 2 And q fuzzy subsets.
The preliminary control rules of the fuzzy controller can be summarized empirically, wherein the parameter q control rules are shown in Table 4
The fuzzy controller defuzzifies the output signal according to the obtained fuzzy value to obtain the wind speed of the first blower, and obtains a fuzzy control lookup table, and as the discourse domain is discrete, the fuzzy control rule can be expressed as a fuzzy matrix, and adopts single-point fuzzification to obtain the fuzzy control lookup table, see table 5
Table 5 fuzzy control lookup table
According to the invention, the height of the telescopic column is accurately calculated and adjusted by adopting a fuzzy control algorithm, the practical effect of the driving auxiliary system experiment platform is improved, the height adjustment is realized, and the intelligent following of an experimenter can be realized.
The invention designs and develops a movable external display screen bracket for a driving auxiliary system experiment platform, which adopts a movable base, is convenient to move and place other experiment equipment, has adjustable inclination angle of the display screen, adjustable size of a fixed frame and good adaptability, can meet the experiment requirements of different conditions, adopts aluminum profiles and steel as main materials, has light weight, is easy to move, and ensures that the display screen can rotate up and down by connecting a fixing frame through a hinge piece.
Although embodiments of the present invention have been disclosed above, it is not limited to the details and embodiments shown and described, it is well suited to various fields of use for which the invention would be readily apparent to those skilled in the art, and accordingly, the invention is not limited to the specific details and illustrations shown and described herein, without departing from the general concepts defined in the claims and their equivalents.
Claims (3)
1. A movable external display screen bracket control method for a driving assistance system experiment platform is characterized by comprising the following steps:
placing an ultrasonic transmitter on a following object, arranging an ultrasonic receiver on a driving auxiliary system experiment platform, and monitoring the position of the following object in real time;
wherein the ultrasonic transmitter transmits an ultrasonic signal every k seconds;
in a Cartesian coordinate system, the position coordinate { x ] of the ultrasonic transmitter detected by the nkth second n ,y n ,z n (x) and (n-1) k seconds of the position coordinates of the ultrasonic detector n-1 ,y n-1 ,z n-1 -a }; n is a positive integer;
calculating the position difference Deltalambda=z of the ultrasonic emitter and the ultrasonic detector according to the position coordinates n -z n-1 ；
Inputting the position difference and the moving speed of the ultrasonic transmitter into a fuzzy controller to obtain the adjusting height of the telescopic column;
calculating a linear displacement track of the ultrasonic transmitter on an xy plane according to the position coordinates;
calculating the following speed of the driving auxiliary system experiment platform, and moving along the displacement track at the following speed;
detecting an obstacle in front of a motion track through an infrared sensor, and when the obstacle is detected, steering the driving assistance system experiment platform at an angle alpha, and returning to the original track at the angle-alpha after t seconds of steering;
wherein the steering angle alpha is 30-60 degrees, and the time t is 0.32-0.45s.
2. The method for controlling a movable external display screen bracket for a driving assistance system experimental platform according to claim 1, wherein the calculating process of the fuzzy controller comprises the following steps:
comparing the position difference with a preset position coefficient to obtain a position coefficient deviation signal, and comparing the following speed with an average following speed to obtain a following speed deviation signal;
the position coefficient deviation signal is subjected to differential calculation to obtain a position coefficient change rate signal; the following speed deviation signal is subjected to differential calculation to obtain a following speed change rate signal;
and inputting the position coefficient change rate signal and the following speed change rate signal into a fuzzy controller, and outputting the position coefficient change rate signal and the following speed change rate signal as the adjustment height of the telescopic column.
3. The movable external display screen bracket control method for the driving assistance system experiment platform according to claim 2, wherein a following speed calculation formula of the driving assistance system experiment platform is:
wherein lambda is a unit length, the value of lambda is 0.2-0.5m, delta is delay time, and the value of delta is 0.24s.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810803664.XA CN108930890B (en) | 2018-07-20 | 2018-07-20 | Movable external display screen bracket for driving assistance system experiment platform and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810803664.XA CN108930890B (en) | 2018-07-20 | 2018-07-20 | Movable external display screen bracket for driving assistance system experiment platform and control method thereof |
Publications (2)
| Publication Number | Publication Date |
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| CN108930890A CN108930890A (en) | 2018-12-04 |
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| CN109187047A (en) * | 2018-09-07 | 2019-01-11 | 王涵熙 | A kind of packaged type external display screen bracket and its control method for driving assistance system experiment porch |
| CN110906129A (en) * | 2019-12-10 | 2020-03-24 | 珠海横琴新区辉腾电子科技有限公司 | Detection apparatus for energy-conserving consumer |
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