CN110359811A - A kind of vehicle and its passenger doors safety control system - Google Patents
A kind of vehicle and its passenger doors safety control system Download PDFInfo
- Publication number
- CN110359811A CN110359811A CN201910646785.2A CN201910646785A CN110359811A CN 110359811 A CN110359811 A CN 110359811A CN 201910646785 A CN201910646785 A CN 201910646785A CN 110359811 A CN110359811 A CN 110359811A
- Authority
- CN
- China
- Prior art keywords
- passenger doors
- passenger
- waiting area
- controller
- doors
- 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
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
- E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
- E05F15/79—Power-operated mechanisms for wings with automatic actuation using time control
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
- E05Y2900/506—Application of doors, windows, wings or fittings thereof for vehicles for buses
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
- E05Y2900/53—Application of doors, windows, wings or fittings thereof for vehicles characterised by the type of wing
- E05Y2900/531—Doors
Abstract
The present invention relates to a kind of vehicle and its passenger doors safety control systems, the system includes controller, door pump solenoid valve and the time-of-flight sensor for being installed on passenger doors waiting area top, controller control connection door pumps solenoid valve, controller sampling connection time-of-flight sensor, the detection module of time-of-flight sensor are used to obtain the three-dimensional data of passenger doors waiting area；The processing module of time-of-flight sensor judges whether passenger doors waiting area has passenger according to three-dimensional data；After control passenger doors are opened, if detecting there is passenger in passenger doors waiting area, controller controls the state that door pump solenoid valve maintains passenger doors to open.The passenger of passenger doors waiting area can be accurately detected by being mounted on the time-of-flight sensor above passenger doors waiting area, to keep the open state of passenger doors when waiting area has passenger after passenger doors opening, the generation of accidents such as avoid crushing, the precision of detection is higher, has preferable reliability.
Description
Technical field
The present invention relates to technical field of vehicle control, especially a kind of vehicle and its passenger doors safety control system.
Background technique
With the development of automatic Pilot technology, the bus of automatic Pilot is also one of the general orientation of the following public transport.
At present on unmanned bus, generally use distance measuring sensor etc. as the inspection that whether there is passenger in car door standing area
Measurement equipment, with realize it is this to car door standing area be easy to appear passenger behavior in the region of clamping accident and detect, and will inspection
Survey reference signal of the result as switch passenger doors.
Having Chinese invention patent application publication No. is that the patent application document of CN102358236A discloses one kind for public affairs
The alarm set at vehicle back door is handed over, which includes control box, door pump solenoid valve, distance measuring sensor and alarm, wherein ranging passes
Sensor is installed in passenger doors.
There are some problems for above scheme:
Firstly, for the passenger doors of single open-door, at least one distance measuring sensor is needed, for the passenger doors of double door, is needed
At least two distance measuring sensors are wanted, offside door and offside door are respectively arranged in.Even if in this way, can not also cover entire passenger doors
Forefoot area can only realize the detection of passenger doors forefoot area reluctantly；And the case where being easy to appear missing inspection children or article.
Furthermore sensor is installed in passenger doors, is unfavorable for the arrangement of route, and route frequently switches on process in passenger doors
In be prone to wear, or even occur electric leakage, poor contact the problems such as.
Finally, the distance measuring sensors detection accuracy such as infrared distance sensor is not high, can especially go out in passenger getting on/off
The case where existing individual passengers can not be detected accurately causes passenger doors to be closed ahead of time or can not be just under automatic driving mode
It often closes, influences passenger and experience by bus, or even influence car operation.
To sum up, in the security control scheme of existing passenger doors, the reliability of detection is poor, and there are certain security risks.
Summary of the invention
The object of the present invention is to provide a kind of vehicle and its passenger doors safety control systems, to solve existing Vehicular occupant
The poor problem of the reliability of door security control.
To achieve the goals above, the present invention provides a kind of passenger doors safety control system of vehicle, including controller and
Door pump solenoid valve, the controller control connection door pump solenoid valve, further include the flight for being installed on passenger doors waiting area top
Timer, the time-of-flight sensor include processing module and detection module, and the detection module is for obtaining passenger
The three-dimensional data of door waiting area, the processing module judge whether passenger doors waiting area has passenger according to three-dimensional data；Institute
It states controller sampling and connects the processing module, after control passenger doors are opened, multiply if detecting and having in passenger doors waiting area
Visitor, the then state that the controller control door pump solenoid valve maintains passenger doors to open.
Beneficial effect can be accurately detected by being mounted on the time-of-flight sensor above passenger doors waiting area
To the passenger of passenger doors waiting area, the opening state of passenger doors is kept when so that waiting area having passenger after passenger doors opening
State the generation of accidents such as avoids crushing, can accurately detect shutdown condition, error detection is avoided to lead to automatic door-closing disabler,
The precision of detection is higher, has preferable reliability.
Further, in order to guarantee message, information transmission reliability, the controller by CAN bus connection described in
Processing module.
Further, more accurately testing result, the time-of-flight sensor are infrared light pulse modulation in order to obtain
Highly-dynamic image sensor.
Further, for the ease of the control of realization passenger doors, the change of route is reduced, the controller is full-vehicle control
Device.
Further, in order to provide necessary driving trigger condition for automatic Pilot public transport, after control passenger doors are opened,
In the time interval of setting, if the not current Long-term change trend of passenger and passenger doors running track in passenger doors waiting area
It is not blocked, then controls door pump solenoid valve and close passenger doors.
The present invention provides a kind of vehicle, including vehicle body and setting controller and door on vehicle body pump electromagnetism
Valve, the controller control connection door pump solenoid valve, further include the flight time sensing for being installed on passenger doors waiting area top
Device, the time-of-flight sensor include processing module and detection module, and the detection module is for obtaining passenger doors Accreditation Waiting Area
The three-dimensional data in domain, the processing module judge whether passenger doors waiting area has passenger according to three-dimensional data；The controller
Sampling connects the processing module, described if detecting in passenger doors waiting area there is passenger after control passenger doors are opened
Controller controls the state that door pump solenoid valve maintains passenger doors to open.
Beneficial effect can be accurately detected by being mounted on the time-of-flight sensor above passenger doors waiting area
To the passenger of passenger doors waiting area, the opening state of passenger doors is kept when so that waiting area having passenger after passenger doors opening
State the generation of accidents such as avoids crushing, can accurately detect shutdown condition, error detection is avoided to lead to automatic door-closing disabler,
The precision of detection is higher, has preferable reliability.
Further, in order to guarantee message, information transmission reliability, controller described in vehicle by CAN bus company
Connect the processing module.
Further, more accurately testing result, time-of-flight sensor described in vehicle are infrared light arteries and veins in order to obtain
Modulated Highly-dynamic image sensor.
Further, for the ease of the control of realization passenger doors, the change of route is reduced, controller described in vehicle is whole
Vehicle controller.
Further, in order to provide necessary driving trigger condition for automatic Pilot public transport, vehicle is beaten in control passenger doors
After opening, in the time interval of setting, if the not current Long-term change trend of passenger and passenger doors in passenger doors waiting area are transported
Row track is not blocked, then controls door pump solenoid valve and close passenger doors.
Detailed description of the invention
Fig. 1 is a kind of structural block diagram of the passenger doors safety control system of vehicle of the invention；
Fig. 2 is the structural schematic diagram of infrared light pulse modulation Highly-dynamic image sensor of the invention.
Specific embodiment
The present invention will be further described in detail with reference to the accompanying drawing.
System embodiment:
The present invention provides a kind of passenger doors safety control system of vehicle, as shown in Figure 1, including entire car controller, door pump
Solenoid valve and flight time (TOF) sensor for being installed on passenger doors waiting area top, entire car controller are adopted by CAN bus
Sample connects TOF sensor, and vehicle control unit controls connect door and pump solenoid valve.
TOF sensor is used to obtain the 3 d image data of passenger doors waiting area, and is judged according to 3 d image data
Whether passenger doors waiting area has passenger；TOF sensor includes processing module and detection module, and wherein detection module can identify
The stereo data of three dimensions carries out stereoscan to the passenger for passing through lower section in real time, forms three-dimensional video data stream, then
Based on the high-speed dsp device and computer vision algorithms make in processing module, the dynamic 3 D target in detection zone is caught
It obtains and tracks, to judge passenger doors Accreditation Waiting Area whether with the presence of passenger.
When in passenger doors waiting area without target, TOF sensor measures the region height data and is similar to a plane, and
And the altitude information is equal to the mounting height of sensor, when there is target in Accreditation Waiting Area, in corresponding position, sensor can be detected
To the height profile for changing target, stored in the form of depth image, if the profile of the target meets human head's resemblance, and
Height is greater than 700mm (parameter can software adjustment), it is believed that with the presence of passenger.
When vehicle arrive at a station parking and control passenger doors open after, TOF sensor switchs to working condition from dormant state, if inspection
Measuring has passenger in passenger doors waiting area, then the state that vehicle control unit controls door pump solenoid valve maintains passenger doors to open, directly
Passenger doors are not closed after having passenger to reach certain time length to entire passenger doors waiting area or driver is strong according to the actual situation
System closes passenger doors.
Time-of-flight sensor is that infrared light pulse modulates high-dynamics image biography using TOF sensor in the present embodiment
Sensor, structure as shown in Fig. 2,
Infrared LED array: sensor light source is controlled by the pulse-modulated signal that 3DCMOS imager chip exports, and transmitting is special
The long pulsed infrared light of standing wave.
Infrared band logical optical lens: be used for the reflected infrared light of collecting sensor surrounding objects, after shaping with
The target surface size of 3DCMOS imager chip matches.
3DCMOS imager chip: controlling the transmitting of infrared LED array, and the reflected light received be converted to digital signal,
Inter-process is at the raw image data that can be used for depth data calculating.
Digital signal processor: for configuring the operating mode of 3DCMOS chip, original graph is read in timing (25 frames are per second)
It as data, calculates and generates 3 d image data, operational objective identification, tracking and Region detection algorithms pass through processing result
CAN transceiver is sent to entire car controller.The operating mode that sensor can also be adjusted according to current vehicle door status, works as car door
After closing in place, sensor is made to be in low-power consumption mode.
CAN bus transceiver: CAN interface circuit.
Door contact interrupter state-detection: the circuit current door contact interrupter state for identification.
Impulse modulation reference clock: reference frequency source is provided for the control signal to infrared LED array.
Power management: the working power and reference voltage of different voltages grade are provided for system.
As other embodiments, TOF sensor can also use TOF measurement sensor, be surveyed by TOF measurement sensor
The altitude information of object, passes through corresponding processing equipment or entire car controller further according to the altitude information in the monitoring region of amount
The case where processing obtains passenger doors waiting area.
Entire car controller samples the processing module of connection TOF sensor by CAN bus in the present embodiment, as other realities
Mode is applied, entire car controller can also connect TOF sensor by modes such as rigid lines.
Controller uses entire car controller in the present embodiment, and as other embodiments, in addition controller is also possible to
A controller being arranged.
Vehicle embodiments:
The present invention provides a kind of vehicle, including vehicle body, passenger doors and corresponding passenger doors safety control system, should
Passenger doors safety control system has been described in detail in the above system embodiment, and details are not described herein.
Specific embodiment of the present invention is presented above, but the present invention is not limited to described embodiment.
Under the thinking that the present invention provides, to the skill in above-described embodiment by the way of being readily apparent that those skilled in the art
Art means are converted, are replaced, are modified, and play the role of with the present invention in relevant art means it is essentially identical, realize
Goal of the invention it is also essentially identical, the technical solution formed in this way is to be finely adjusted to be formed to above-described embodiment, this technology
Scheme is still fallen in protection scope of the present invention.
Claims (10)
1. a kind of passenger doors safety control system of vehicle, including controller and door pump solenoid valve, the controller control connection
Door pump solenoid valve, which is characterized in that further include the time-of-flight sensor for being installed on passenger doors waiting area top, the flight
Timer includes processing module and detection module, and the detection module is used to obtain three dimensions of passenger doors waiting area
According to the processing module judges whether passenger doors waiting area has passenger according to three-dimensional data；The controller sampling connection institute
Processing module is stated, after control passenger doors are opened, if detecting there is passenger in passenger doors waiting area, the controller control
The state that door pump solenoid valve maintains passenger doors to open.
2. the passenger doors safety control system of vehicle according to claim 1, which is characterized in that the controller passes through
CAN bus connects the processing module.
3. the passenger doors safety control system of vehicle according to claim 1, which is characterized in that the flight time sensing
Device is that infrared light pulse modulates Highly-dynamic image sensor.
4. the passenger doors safety control system of vehicle according to claim 1, which is characterized in that the controller is vehicle
Controller.
5. the passenger doors safety control system of vehicle according to claim 1, which is characterized in that opened in control passenger doors
Afterwards, in the time interval of setting, if the not current Long-term change trend of passenger and passenger doors in passenger doors waiting area are run
Track is not blocked, then controls door pump solenoid valve and close passenger doors.
6. a kind of vehicle, including vehicle body and setting controller and door on vehicle body pump solenoid valve, the controller
Control connection door pumps solenoid valve, which is characterized in that and it further include the time-of-flight sensor for being installed on passenger doors waiting area top,
The time-of-flight sensor includes processing module and detection module, and the detection module is for obtaining passenger doors waiting area
Three-dimensional data, the processing module judge whether passenger doors waiting area has passenger according to three-dimensional data；The controller sampling
The processing module is connected, after control passenger doors are opened, if detecting there is passenger in passenger doors waiting area, the control
Device controls the state that door pump solenoid valve maintains passenger doors to open.
7. vehicle according to claim 6, which is characterized in that the controller connects the processing mould by CAN bus
Block.
8. vehicle according to claim 6, which is characterized in that the time-of-flight sensor is that infrared light pulse modulation is high
Dynamic image sensor.
9. vehicle according to claim 6, which is characterized in that the controller is entire car controller.
10. vehicle according to claim 6, which is characterized in that after control passenger doors are opened, in the time interval of setting
It is interior, if the not current Long-term change trend of passenger and passenger doors running track in passenger doors waiting area are not blocked, control
Door pump solenoid valve processed closes passenger doors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910646785.2A CN110359811A (en) | 2019-07-17 | 2019-07-17 | A kind of vehicle and its passenger doors safety control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910646785.2A CN110359811A (en) | 2019-07-17 | 2019-07-17 | A kind of vehicle and its passenger doors safety control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110359811A true CN110359811A (en) | 2019-10-22 |
Family
ID=68220950
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910646785.2A Pending CN110359811A (en) | 2019-07-17 | 2019-07-17 | A kind of vehicle and its passenger doors safety control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110359811A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201705106U (en) * | 2010-06-18 | 2011-01-12 | 缪冬 | Infrared inductive bus door anti-clamping device |
| CN102337822A (en) * | 2011-09-18 | 2012-02-01 | 曹志 | Anti-clamping device of bus door |
| CN106740460A (en) * | 2016-12-19 | 2017-05-31 | 集美大学 | Bus door open and-shut mode monitor based on FPGA |
| WO2017102573A1 (en) * | 2015-12-15 | 2017-06-22 | Iee International Electronics & Engineering S.A. | Optical smart trunk opener |
| CN107000766A (en) * | 2014-09-19 | 2017-08-01 | 盖伯.伯德有限两合公司 | Door system with the sensor unit for contactless passenger carriage monitoring |
| CN107355161A (en) * | 2017-06-28 | 2017-11-17 | 比业电子（北京）有限公司 | Safety guard for all-high shield door |
| CN108868450A (en) * | 2017-05-15 | 2018-11-23 | 奥的斯电梯公司 | Depth transducer for automatically-controlled door |
| CN208210162U (en) * | 2018-05-15 | 2018-12-07 | 湖北秉正讯腾科技有限公司 | The TOF 3D depth image sensing chip of integration laser driving circuit |
-
2019
- 2019-07-17 CN CN201910646785.2A patent/CN110359811A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201705106U (en) * | 2010-06-18 | 2011-01-12 | 缪冬 | Infrared inductive bus door anti-clamping device |
| CN102337822A (en) * | 2011-09-18 | 2012-02-01 | 曹志 | Anti-clamping device of bus door |
| CN107000766A (en) * | 2014-09-19 | 2017-08-01 | 盖伯.伯德有限两合公司 | Door system with the sensor unit for contactless passenger carriage monitoring |
| WO2017102573A1 (en) * | 2015-12-15 | 2017-06-22 | Iee International Electronics & Engineering S.A. | Optical smart trunk opener |
| CN106740460A (en) * | 2016-12-19 | 2017-05-31 | 集美大学 | Bus door open and-shut mode monitor based on FPGA |
| CN108868450A (en) * | 2017-05-15 | 2018-11-23 | 奥的斯电梯公司 | Depth transducer for automatically-controlled door |
| CN107355161A (en) * | 2017-06-28 | 2017-11-17 | 比业电子（北京）有限公司 | Safety guard for all-high shield door |
| CN208210162U (en) * | 2018-05-15 | 2018-12-07 | 湖北秉正讯腾科技有限公司 | The TOF 3D depth image sensing chip of integration laser driving circuit |
Non-Patent Citations (1)
| Title |
|---|
| 段志坚: "基于3D_TOF图像传感器采集系统的设计与实现", 《中国优秀硕士学位论文全文数据库信息科技辑》 * |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191022 |