CN110758387A - Unmanned vehicle-based anti-collision device and method - Google Patents
Unmanned vehicle-based anti-collision device and method Download PDFInfo
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- CN110758387A CN110758387A CN201911040332.1A CN201911040332A CN110758387A CN 110758387 A CN110758387 A CN 110758387A CN 201911040332 A CN201911040332 A CN 201911040332A CN 110758387 A CN110758387 A CN 110758387A
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000012545 processing Methods 0.000 claims description 26
- 238000004891 communication Methods 0.000 claims description 9
- 230000001133 acceleration Effects 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 description 7
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
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- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Regulating Braking Force (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to the technical field of unmanned vehicles, in particular to an anti-collision device and method based on an unmanned vehicle. The device can automatically brake or turn according to the size of the obstacle, and is very convenient.
Description
Technical Field
The invention relates to the technical field of unmanned vehicles, in particular to an anti-collision device and method based on an unmanned vehicle.
Background
With the development of intelligent technology, unmanned vehicles are beginning to be developed and applied. In the driving process of the unmanned vehicle, the phenomenon that the unmanned vehicle meets an obstacle often occurs, and the unmanned vehicle is required to avoid the obstacle.
In the prior art, unmanned vehicles based on the L3 system are now provided with collision avoidance systems that perform collision detection, and then the unmanned vehicles issue collision warnings, and then are operated by drivers to perform braking and the like to prevent the unmanned vehicles from colliding.
However, in the existing unmanned vehicle based on the L4 system, the driver does not need to directly interact with the automatic driving system or the vehicle chassis to brake, so that how to detect collision and prevent the collision of the unmanned vehicle based on the L4 system is a problem to be solved.
Disclosure of Invention
It is an object of the present invention to provide an unmanned vehicle-based collision avoidance apparatus and method that overcomes some or all of the disadvantages of the prior art.
According to the invention, the collision preventing device based on the unmanned vehicle comprises:
the sensor module is used for acquiring original signals;
a controller for arithmetic processing;
the camera module is used for acquiring image information of a front obstacle;
the image processing module is connected with the camera module and used for comparing the obstacle information with the information in the database to obtain the size of the obstacle;
a communication module for wireless communication with a remote console;
the turning module is used for controlling the unmanned vehicle to turn;
the brake module is used for controlling the brake of the unmanned vehicle;
the sensor module, the camera module, the image processing module, the communication module, the turning module and the brake module are respectively connected with the controller.
Preferably, the sensor module comprises a six-axis sensor and a distance sensor, the six-axis sensor is used for acquiring an acceleration signal of the body of the unmanned vehicle, and the distance sensor is used for acquiring a distance signal between the unmanned vehicle and the obstacle.
The six-axis sensor can acquire the acceleration signal of the automobile body, so that the controller can judge the time when the unmanned automobile reaches the obstacle according to the acceleration information, and the controller can judge the operation of the braking module or the turning module according to the time.
Preferably, the remote control console is connected with an alarm module and a manual remote control module, and the alarm module is used for giving an alarm when meeting an obstacle; the manual remote control module is used for manually remotely controlling the unmanned vehicle.
Preferably, the camera module comprises a foreground camera and a background camera, and the foreground camera is irradiated by laser to obtain a foreground image; the background camera obtains a background image without laser irradiation.
Preferably, the image processing module comprises a frame buffer module, a real-time image processing module, a comparison module and an interface module;
the frame buffer module is used for storing the image information collected by the camera module;
the real-time image processing module is used for processing image information;
the comparison module is used for comparing the image information with the database information;
the interface module is used for digital-to-analog conversion.
The sensor module is used for collecting original signals and barrier information, the camera module is used for collecting image information, the image processing module is used for comparing the image information and judging the size of a barrier, and the controller is used for automatically braking or turning according to the size of the barrier. The device can automatically brake or turn according to the size of the obstacle, and is very convenient.
The invention also provides an anti-collision method based on the unmanned vehicle, which comprises the following steps:
firstly, a sensor module detects an obstacle distance signal;
secondly, when the distance between the obstacles reaches a preset threshold value, the camera module acquires image information of the obstacles;
thirdly, the image processing module compares the image information with the database information to judge the size of the obstacle;
fourthly, the controller judges whether the vehicle brakes or turns according to the size of the obstacle, and if the vehicle brakes, the brake module operates; if the vehicle is turned, the turning module operates.
Preferably, in step three, the image information and the distance information are transmitted to the remote console through the wireless module.
Preferably, in the fourth step, after the brake module operates, the alarm module operates, and the remote control console can control the unmanned vehicle to run through the manual remote control module.
Drawings
Fig. 1 is a block diagram illustrating a collision avoidance apparatus according to embodiment 1.
Detailed Description
For a further understanding of the invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings and examples. It is to be understood that the examples are illustrative of the invention and not limiting.
Example 1
As shown in fig. 1, the present embodiment provides an unmanned vehicle-based collision avoidance apparatus, which includes:
the sensor module is used for acquiring original signals;
a controller for arithmetic processing;
the camera module is used for acquiring image information of a front obstacle;
the image processing module is connected with the camera module and used for comparing the obstacle information with the information in the database to obtain the size of the obstacle;
a communication module for wireless communication with a remote console;
the turning module is used for controlling the unmanned vehicle to turn;
the brake module is used for controlling the brake of the unmanned vehicle;
the sensor module, the camera module, the image processing module, the communication module, the turning module and the brake module are respectively connected with the controller.
In this embodiment, the sensor module includes six sensors and distance sensor, and six sensors are used for gathering the acceleration signal of unmanned car automobile body, and distance sensor is used for gathering the distance signal of unmanned car and barrier.
In the embodiment, the remote control console is connected with an alarm module and a manual remote control module, and the alarm module is used for alarming when an obstacle is met; the manual remote control module is used for manually remotely controlling the unmanned vehicle.
In this embodiment, the camera module includes a foreground camera and a background camera, and the foreground camera is irradiated by laser light to obtain a foreground image; the background camera obtains a background image without laser irradiation.
In this embodiment, the image processing module includes a frame buffer module, a real-time image processing module, a comparison module and an interface module;
the frame buffer module is used for storing the image information collected by the camera module;
the real-time image processing module is used for processing image information;
the comparison module is used for comparing the image information with the database information;
the interface module is used for digital-to-analog conversion.
The sensor module is used for collecting original signals and barrier information, the camera module is used for collecting image information, the image processing module is used for comparing the image information and judging the size of a barrier, and the controller is used for automatically braking or turning according to the size of the barrier. The device can automatically brake or turn according to the size of the obstacle, and is very convenient.
The embodiment also provides an unmanned vehicle-based anti-collision method, which comprises the following steps:
firstly, a sensor module detects an obstacle distance signal;
secondly, when the distance between the obstacles reaches a preset threshold value, the camera module acquires image information of the obstacles;
thirdly, the image processing module compares the image information with the database information to judge the size of the obstacle;
fourthly, the controller judges whether the vehicle brakes or turns according to the size of the obstacle, and if the vehicle brakes, the brake module operates; if the vehicle is turned, the turning module operates.
In this embodiment, in step three, the image information and the distance information are transmitted to the remote console through the wireless module.
In the fourth step, after the brake module operates, the alarm module operates, and the remote control console can control the unmanned vehicle to run through the manual remote control module.
The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the invention, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the invention.
Claims (8)
1. The utility model provides an anti-collision device based on unmanned car which characterized in that: the method comprises the following steps:
the sensor module is used for acquiring original signals;
a controller for arithmetic processing;
the camera module is used for acquiring image information of a front obstacle;
the image processing module is connected with the camera module and used for comparing the obstacle information with the information in the database to obtain the size of the obstacle;
a communication module for wireless communication with a remote console;
the turning module is used for controlling the unmanned vehicle to turn;
the brake module is used for controlling the brake of the unmanned vehicle;
the sensor module, the camera module, the image processing module, the communication module, the turning module and the brake module are respectively connected with the controller.
2. The unmanned vehicle-based collision avoidance device of claim 1, wherein: the sensor module comprises a six-axis sensor and a distance sensor, the six-axis sensor is used for collecting acceleration signals of the body of the unmanned vehicle, and the distance sensor is used for collecting distance signals of the unmanned vehicle and the obstacle.
3. The unmanned vehicle-based collision avoidance device of claim 2, wherein: the remote control console is connected with an alarm module and a manual remote control module, and the alarm module is used for giving an alarm when meeting an obstacle; the manual remote control module is used for manually remotely controlling the unmanned vehicle.
4. The unmanned vehicle-based collision avoidance device of claim 3, wherein: the camera module comprises a foreground camera and a background camera, and the foreground camera is irradiated by laser to obtain a foreground image; the background camera obtains a background image without laser irradiation.
5. The unmanned vehicle-based collision avoidance device of claim 4, wherein: the image processing module comprises a frame cache module, a real-time image processing module, a comparison module and an interface module;
the frame buffer module is used for storing the image information collected by the camera module;
the real-time image processing module is used for processing image information;
the comparison module is used for comparing the image information with the database information;
the interface module is used for digital-to-analog conversion.
6. An anti-collision method based on an unmanned vehicle is characterized in that: the method comprises the following steps:
firstly, a sensor module detects an obstacle distance signal;
secondly, when the distance between the obstacles reaches a preset threshold value, the camera module acquires image information of the obstacles;
thirdly, the image processing module compares the image information with the database information to judge the size of the obstacle;
fourthly, the controller judges whether the vehicle brakes or turns according to the size of the obstacle, and if the vehicle brakes, the brake module operates; if the vehicle is turned, the turning module operates.
7. The unmanned vehicle-based collision avoidance method according to claim 6, wherein: in the third step, the image information and the distance information are transmitted to the remote control station through the wireless module.
8. The unmanned vehicle-based collision avoidance method of claim 7, wherein: in the fourth step, after the brake module operates, the alarm module operates, and the remote control console can control the unmanned vehicle to run through the manual remote control module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911040332.1A CN110758387A (en) | 2019-10-29 | 2019-10-29 | Unmanned vehicle-based anti-collision device and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911040332.1A CN110758387A (en) | 2019-10-29 | 2019-10-29 | Unmanned vehicle-based anti-collision device and method |
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| CN110758387A true CN110758387A (en) | 2020-02-07 |
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| CN201911040332.1A Pending CN110758387A (en) | 2019-10-29 | 2019-10-29 | Unmanned vehicle-based anti-collision device and method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111572515A (en) * | 2020-04-30 | 2020-08-25 | 北京三快在线科技有限公司 | Unmanned vehicle and unmanned vehicle braking method |
| WO2021213527A1 (en) * | 2020-04-24 | 2021-10-28 | 北京智行者科技有限公司 | Parallel driving and automatic collision avoidance system for vehicle, storage medium, product and system |
| CN114047763A (en) * | 2021-11-16 | 2022-02-15 | 中国人民解放军陆军工程大学 | System, method and device for distinguishing collision barrier by unmanned vehicle and electronic equipment |
-
2019
- 2019-10-29 CN CN201911040332.1A patent/CN110758387A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021213527A1 (en) * | 2020-04-24 | 2021-10-28 | 北京智行者科技有限公司 | Parallel driving and automatic collision avoidance system for vehicle, storage medium, product and system |
| CN111572515A (en) * | 2020-04-30 | 2020-08-25 | 北京三快在线科技有限公司 | Unmanned vehicle and unmanned vehicle braking method |
| CN114047763A (en) * | 2021-11-16 | 2022-02-15 | 中国人民解放军陆军工程大学 | System, method and device for distinguishing collision barrier by unmanned vehicle and electronic equipment |
| CN114047763B (en) * | 2021-11-16 | 2024-04-05 | 中国人民解放军陆军工程大学 | System, method and device for distinguishing collision barriers by unmanned vehicles and electronic equipment |
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Application publication date: 20200207 |