CN109778695A - A kind of bridge inspection vehicle with lane centering function - Google Patents

A kind of bridge inspection vehicle with lane centering function Download PDF

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Publication number
CN109778695A
CN109778695A CN201910221160.1A CN201910221160A CN109778695A CN 109778695 A CN109778695 A CN 109778695A CN 201910221160 A CN201910221160 A CN 201910221160A CN 109778695 A CN109778695 A CN 109778695A
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CN
China
Prior art keywords
bridge inspection
inspection vehicle
vehicle
bridge
lane
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910221160.1A
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Chinese (zh)
Inventor
雷治国
魏杰
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Fujian Agriculture and Forestry University
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Fujian Agriculture and Forestry University
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Filing date
Publication date
Application filed by Fujian Agriculture and Forestry University filed Critical Fujian Agriculture and Forestry University
Priority to CN201910221160.1A priority Critical patent/CN109778695A/en
Publication of CN109778695A publication Critical patent/CN109778695A/en
Pending legal-status Critical Current

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Abstract

The present invention relates to a kind of bridge inspection vehicles with lane centering function.In the operation process of bridge machinery, the lane centering system of invention can guarantee that bridge inspection vehicle is travelled along lane center always, there can also be the testing staff on job platform to manually adjust distance of the bridge inspection vehicle apart from right-hand lane line on car-mounted terminal display screen, to ensure that job platform immobilizes at a distance from bridge edge, the operating efficiency of bridge inspection vehicle is improved.

Description

A kind of bridge inspection vehicle with lane centering function
Technical field
The present invention relates to a kind of bridge inspection vehicles with lane centering function.
Background technique
Bridge inspection vehicle is that one kind can provide job platform, equipment bridge inspection in the detection process for bridge machinery personnel Instrument is surveyed for flow detection or the special purpose vehicle of maintenance activity.It can shift position, energy be safe, fast, efficient at any time It allows testing staff to enter job platform to detect or maintenance activity.
Existing highway bridge detects vehicle in operation process, and the Edge Distance of job platform and bridge changes frequent occurrence.Therefore, During bridge inspection vehicle is advanced, bridge machinery personnel repair on job platform and detect the low efficiency of operation. How to improve the operating efficiency of bridge inspection vehicle is the problem for needing to solve.
Summary of the invention
The purpose of the present invention is to provide a kind of bridge inspection vehicles with lane centering function, in the operation of bridge machinery In the process, the lane centering system of invention can guarantee that bridge inspection vehicle is travelled along lane center always, can also there is work Testing staff on industry platform manually adjusts distance of the bridge inspection vehicle apart from right-hand lane line on car-mounted terminal display screen, from And ensure that job platform immobilizes at a distance from bridge edge, improve the operating efficiency of bridge inspection vehicle.
To achieve the above object, the technical scheme is that a kind of bridge inspection vehicle with lane centering function, packet It includes Vehicle Controller and the front camera connecting with the Vehicle Controller, turn to executing agency, car-mounted terminal, warning device;
The front camera is installed on bridge machinery front side, for obtaining the lane line information of bridge machinery front side And bridge inspection vehicle own location information;
Bridge machinery is calculated according to lane line information and bridge inspection vehicle own location information in the Vehicle Controller Vehicle steering wheel angle, and export to executing agency is turned to, it is travelled, is guaranteed along lane center always with controlling bridge inspection vehicle The distance at job platform and bridge edge remains unchanged;
The car-mounted terminal is set on the job platform of bridge inspection vehicle, for showing bridge inspection vehicle and left and right lane line Distance;
The warning device issues alarm signal for realizing when automotive run-off-road line.
In an embodiment of the present invention, the front camera is installed on the cab windshield top of bridge inspection vehicle Portion.
In an embodiment of the present invention, the Vehicle Controller is installed in the bridge instrumentation platform of bridge inspection vehicle.
In an embodiment of the present invention, also have the function of to manually adjust, i.e., driver can according to demand, in car-mounted terminal It is manually entered apart from regulated value, feeds back to Vehicle Controller and calculate steering wheel angle, and export to executing agency is turned to, adjust bridge The position of beam detection vehicle.
In an embodiment of the present invention, the Vehicle Controller is believed according to lane line information and bridge inspection vehicle self-position Breath, the specific implementation that bridge inspection vehicle steering wheel angle is calculated are as follows:
1) the bridge inspection vehicle lateral displacement at taking aim in advance is calculated
Wherein, dy0For the distance of bridge inspection vehicle run-off-road center line under current location,For bridge under current location Detect the direction of advance of vehicle and the angle of lane center, dxpFor the preview distance of bridge inspection vehicle, v is speed;
2) distance for assuming desired bridge inspection vehicle run-off-road center line is d;When bridge inspection vehicle is located in lane When the right side of heart line, d is positive value;It is travelled if it is desire to bridge inspection vehicle is maintained at lane center, then d=0;
3) ask the result of difference as the input of Vehicle Controller Δ d and d, it can outbound course disk corner.
Compared to the prior art, the invention has the following advantages:
Detailed description of the invention
Fig. 1 is the realization principle schematic diagram for the bridge inspection vehicle that the present invention has lane centering function.
Fig. 2 is the lane centering system global structure of bridge inspection vehicle of the present invention.
Fig. 3 is the lane centering System Working Principle schematic diagram of bridge inspection vehicle of the present invention.
Specific embodiment
With reference to the accompanying drawing, technical solution of the present invention is specifically described.
The present invention provides a kind of bridge inspection vehicle with lane centering function, including Vehicle Controller and vehicle-mounted with this The front camera of controller connection turns to executing agency, car-mounted terminal, warning device;
The front camera is installed on bridge machinery front side, for obtaining the lane line information of bridge machinery front side And bridge inspection vehicle own location information;
Bridge machinery is calculated according to lane line information and bridge inspection vehicle own location information in the Vehicle Controller Vehicle steering wheel angle, and export to executing agency is turned to, it is travelled, is guaranteed along lane center always with controlling bridge inspection vehicle The distance at job platform and bridge edge remains unchanged;
The car-mounted terminal is set on the job platform of bridge inspection vehicle, for showing bridge inspection vehicle and left and right lane line Distance;
The warning device issues alarm signal for realizing when automotive run-off-road line.
The front camera is installed at the top of the cab windshield of bridge inspection vehicle.The Vehicle Controller installation In in the bridge instrumentation platform of bridge inspection vehicle.
Bridge inspection vehicle also has the function of to manually adjust, i.e., driver can be manually entered in car-mounted terminal according to demand It apart from regulated value, feeds back to Vehicle Controller and calculates steering wheel angle, and export to executing agency is turned to, adjust bridge inspection vehicle Position.
Bridge machinery is calculated according to lane line information and bridge inspection vehicle own location information in the Vehicle Controller The specific implementation of vehicle steering wheel angle is as follows:
1) the bridge inspection vehicle lateral displacement at taking aim in advance is calculated
Wherein, dy0For the distance of bridge inspection vehicle run-off-road center line under current location,For bridge under current location Detect the direction of advance of vehicle and the angle of lane center, dxpFor the preview distance of bridge inspection vehicle, v is speed;
2) distance for assuming desired bridge inspection vehicle run-off-road center line is d;When bridge inspection vehicle is located in lane When the right side of heart line, d is positive value;It is travelled if it is desire to bridge inspection vehicle is maintained at lane center, then d=0;
3) ask the result of difference as the input of Vehicle Controller Δ d and d, it can outbound course disk corner.
The following are specific implementation processes of the invention.
As shown in Figure 1, basic principle of the invention: bridge inspection vehicle installs front camera, for identifying vehicle front Lane line information.Vehicle Controller is embedded with lane centering algorithm routine code, lane line information and vehicle position by input Suitable steering wheel angle order can be calculated in confidence breath, and exports to execution unit is turned to, to control vehicle always It is travelled along lane center, guarantees that the distance at job platform and bridge edge remains unchanged.
As shown in Fig. 2, the lane centering system global structure of bridge inspection vehicle of the present invention includes front camera, vehicle-mounted control Device processed turns to executing agency, car-mounted terminal (display screen), warning device, sensor signal lines, display screen signal line, chassis letter Number line, alarm signal line.Front camera is arranged at the top of cab windshield, and front camera for identification believe by lane line Cease (equation, lane curvature of a curve including lane line) and vehicle position information (distance of vehicle to lane line).Preposition camera shooting Head is connect by sensor signal lines with Vehicle Controller.Vehicle Controller is arranged in bridge instrumentation platform, Vehicle Controller It is embedded with lane centering algorithm routine code.Vehicle Controller is connect by chassis signal wire with executing agency is turned to.Steering is held The steering of row mechanism controls vehicle.Car-mounted terminal (display screen) is arranged on job platform, and Vehicle Controller is believed by display screen Number line is connect with car-mounted terminal.Obvious place is arranged above bridge instrumentation platform in warning device.
As shown in figure 3, the lane centering System Working Principle of bridge inspection vehicle of the present invention: front camera identifies vehicle in real time Diatom information and vehicle position information are sent to Vehicle Controller by sensor signal lines, and Vehicle Controller is embedded with lane Algorithm routine code placed in the middle is carried out that the control of steering wheel angle displacement instruction is calculated by lane centering algorithm, and is sent to steering Executing agency turns to the steering of actuating mechanism controls vehicle.Meanwhile Vehicle Controller is by the distance etc. of vehicle to left and right lane line Information is sent to car-mounted terminal (display screen) by display screen signal line, shows vehicle to left and right vehicle on car-mounted terminal (display screen) The range information of diatom, in addition, vehicle distances right-hand lane linear distance adjusting key is provided on car-mounted terminal (display screen), according to Different demands are manually entered apart from regulated value, which feeds back to Vehicle Controller.Direction is recalculated by lane centering algorithm Disk corner instruction, to adjust the position of vehicle.When automotive run-off-road line, Vehicle Controller is (aobvious to car-mounted terminal respectively Display screen) and warning device sending alarm signal, warning device issues voice and acousto-optic is reminded.Car-mounted terminal (display screen) issues language Sound, image are reminded.
The specific lane centering algorithm logic of the present invention is as follows:
Calculate the vehicle lateral displacement at taking aim in advance
Wherein, dy0For the distance of bridge inspection vehicle run-off-road center line under current location,For bridge under current location Detect the direction of advance of vehicle and the angle of lane center, dxpFor the preview distance of bridge inspection vehicle, v is speed.dy0With? It can be obtained by front camera.
2) distance for assuming desired automotive run-off-road center line is d.When vehicle is located at the right side of lane center, D is positive value.It is travelled if it is desire to vehicle is maintained at lane center, then d=0.
3) poor is asked for Δ d and d, as a result as the input parameter of the PID controller of vehicle control device, output parameter is side To the rotational angle of disk.Therefore, testing staff is by manually adjusting the size of d, thus it is possible to vary job platform is apart from bridge edge Distance.
The above are preferred embodiments of the present invention, all any changes made according to the technical solution of the present invention, and generated function is made When with range without departing from technical solution of the present invention, all belong to the scope of protection of the present invention.

Claims (5)

1. a kind of bridge inspection vehicle with lane centering function, which is characterized in that including Vehicle Controller and with the vehicle-mounted control The front camera of device connection processed turns to executing agency, car-mounted terminal, warning device;
The front camera is installed on bridge machinery front side, for obtaining the lane line information and bridge of bridge machinery front side Beam detects vehicle own location information;
Bridge inspection vehicle side is calculated according to lane line information and bridge inspection vehicle own location information in the Vehicle Controller It to disk corner, and exports to executing agency is turned to, is travelled always along lane center with controlling bridge inspection vehicle, guarantee operation The distance at platform and bridge edge remains unchanged;
The car-mounted terminal is set on the job platform of bridge inspection vehicle, for show bridge inspection vehicle and left and right lane line away from From;
The warning device issues alarm signal for realizing when automotive run-off-road line.
2. a kind of bridge inspection vehicle with lane centering function according to claim 1, which is characterized in that described preposition Camera is installed at the top of the cab windshield of bridge inspection vehicle.
3. a kind of bridge inspection vehicle with lane centering function according to claim 1, which is characterized in that described vehicle-mounted Controller is installed in the bridge instrumentation platform of bridge inspection vehicle.
4. a kind of bridge inspection vehicle with lane centering function according to claim 1, which is characterized in that also have hand Dynamic regulatory function, i.e. driver can be manually entered apart from regulated value in car-mounted terminal according to demand, feed back to Vehicle Controller Steering wheel angle is calculated, and is exported to executing agency is turned to, the position of bridge inspection vehicle is adjusted.
5. a kind of bridge inspection vehicle with lane centering function according to any one of claims 1 to 4, which is characterized in that Bridge inspection vehicle steering wheel is calculated according to lane line information and bridge inspection vehicle own location information in the Vehicle Controller The specific implementation of corner is as follows:
1) the bridge inspection vehicle lateral displacement at taking aim in advance is calculated
Wherein, dy0For the distance of bridge inspection vehicle run-off-road center line under current location,For bridge inspection vehicle under current location Direction of advance and lane center angle, dxpFor the preview distance of bridge inspection vehicle, v is speed;
2) distance for assuming desired bridge inspection vehicle run-off-road center line is d;When bridge inspection vehicle is located at lane center Right side when, d is positive value;It is travelled if it is desire to bridge inspection vehicle is maintained at lane center, then d=0;
3) ask the result of difference as the input of Vehicle Controller Δ d and d, it can outbound course disk corner.
CN201910221160.1A 2019-03-22 2019-03-22 A kind of bridge inspection vehicle with lane centering function Pending CN109778695A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910221160.1A CN109778695A (en) 2019-03-22 2019-03-22 A kind of bridge inspection vehicle with lane centering function

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910221160.1A CN109778695A (en) 2019-03-22 2019-03-22 A kind of bridge inspection vehicle with lane centering function

Publications (1)

Publication Number Publication Date
CN109778695A true CN109778695A (en) 2019-05-21

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104442814A (en) * 2014-10-31 2015-03-25 重庆长安汽车股份有限公司 Lane keeping and automatic centering system and method based on deviation prediction algorithm
CN205188814U (en) * 2015-11-23 2016-04-27 江苏建筑职业技术学院 Observation system in driver's cabin of truss -like bridge tool car
CN205469262U (en) * 2015-12-29 2016-08-17 浙江交通职业技术学院 Car lane keeps auxiliary system based on embedded recognition technology that makes a video recording
CN108622093A (en) * 2018-05-04 2018-10-09 奇瑞汽车股份有限公司 The track of intelligent vehicle keeps control method and device
JP2018200600A (en) * 2017-05-29 2018-12-20 マツダ株式会社 Driver state estimation device
CN109466552A (en) * 2018-10-26 2019-03-15 中国科学院自动化研究所 Intelligent driving lane keeping method and system

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104442814A (en) * 2014-10-31 2015-03-25 重庆长安汽车股份有限公司 Lane keeping and automatic centering system and method based on deviation prediction algorithm
CN205188814U (en) * 2015-11-23 2016-04-27 江苏建筑职业技术学院 Observation system in driver's cabin of truss -like bridge tool car
CN205469262U (en) * 2015-12-29 2016-08-17 浙江交通职业技术学院 Car lane keeps auxiliary system based on embedded recognition technology that makes a video recording
JP2018200600A (en) * 2017-05-29 2018-12-20 マツダ株式会社 Driver state estimation device
CN108622093A (en) * 2018-05-04 2018-10-09 奇瑞汽车股份有限公司 The track of intelligent vehicle keeps control method and device
CN109466552A (en) * 2018-10-26 2019-03-15 中国科学院自动化研究所 Intelligent driving lane keeping method and system

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