CN110861581A - System and method for detecting arrival and stop postures of buses - Google Patents
System and method for detecting arrival and stop postures of buses Download PDFInfo
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- CN110861581A CN110861581A CN201911199513.9A CN201911199513A CN110861581A CN 110861581 A CN110861581 A CN 110861581A CN 201911199513 A CN201911199513 A CN 201911199513A CN 110861581 A CN110861581 A CN 110861581A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/002—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
Abstract
The invention discloses a system for detecting the arrival and stop postures of buses, which comprises: the two groups of ultrasonic sensors are respectively arranged on the parking side of the vehicle and are adjacent to the body of the front wheel and the body of the rear wheel; the early warning module is used for giving an early warning prompt when the parking posture of the vehicle is judged to be unqualified; the ECU module is used for judging the arrival state of the vehicle according to the vehicle state information, and if the arrival state is judged, the ECU module enters an arrival gesture detection preparation state; judging the parking state of the vehicle, if the vehicle is judged to be parked, starting detection, respectively calculating the distance information between the front wheels and the rear wheels of the vehicle and the platform road edge, judging the parking posture of the bus according to the distance information, judging whether the difference value between the distances between the front wheels and the rear wheels of the vehicle and the platform road edge exceeds a set threshold value, and if the difference value exceeds the set threshold value, judging that the parking posture of the vehicle is unqualified. By adopting an improved ultrasonic data processing method and combining a road edge detection algorithm, distance information can be effectively obtained, and the accuracy is greatly improved.
Description
Technical Field
The invention relates to a system for detecting the arrival and stop postures of a bus, in particular to a system and a method for detecting the arrival and stop postures of the bus based on an ultrasonic sensor.
Background
With the continuous development of society, the number of automobiles is continuously increased, the traffic pressure and the environmental problems are increasingly highlighted, more and more people begin to select public transport travel modes such as buses, and the like, so that higher requirements on the safety of the buses are provided. At present, the buses are not standard in station entering and stopping, but not in a designated area of a station platform or in the designated area, but the stopping postures are not good, and the nonstandard bus stopping can cause certain negative effects on passenger riding, such as no queuing and waiting, potential safety hazards in passenger getting on and off, and traffic jam, such as obstruction to normal traffic of a rear bus, even traffic accidents and the like. However, at present, no effective management means exists, and no system for detecting the station-entering and stopping postures of the bus exists at present. The invention is achieved accordingly.
Disclosure of Invention
In order to solve the technical problems, the invention provides a system and a method for detecting the arrival and stop postures of a bus based on ultrasonic sensors.
The technical scheme adopted by the invention is as follows:
a bus arrival and stop gesture detection system comprises:
the ultrasonic sensor module comprises two groups of ultrasonic sensors which are respectively arranged on the side surface of the vehicle, which is close to the body of the front wheel and the body of the rear wheel;
the early warning module is used for giving an early warning prompt when the vehicle parking posture at the moment is judged to be unqualified;
the vehicle-mounted communication module is used for carrying out data transmission with a vehicle to acquire vehicle state information;
the ECU module is used for judging the arrival state of the vehicle according to the vehicle state information, and if the arrival state is judged, the ECU module enters an arrival gesture detection preparation state; after entering a station, judging the parking state of the vehicle according to the vehicle state information, if the vehicle is judged to be parked, starting an ultrasonic sensor module for detection, and respectively calculating the distance information between front and rear wheels of the vehicle and a platform road edge through echo signals of front and rear ultrasonic sensors, wherein the distance D = (delta T acoustic velocity)/2; and determining the parking attitude of the bus according to the distance information, determining whether the absolute value of the difference between the distance d1 between the front wheels of the bus and the platform road edge and the distance d2 between the rear wheels of the bus and the platform road edge exceeds a set threshold, determining that the parking attitude of the bus is unqualified if the absolute value exceeds the set threshold, and determining that the parking attitude of the bus is qualified if the absolute value does not exceed the set threshold.
In the preferred technical scheme, the system further comprises a remote communication module which is communicated with the bus background management system, and when the stop posture of the bus is detected to be unqualified, the detection result is uploaded to the bus background management system.
In an optimal technical scheme, when the ECU module detects that the door of the bus is opened, the attitude detection system stops detecting, and stores the previous detection result, and gives an alarm and reports the alarm.
In the preferred technical scheme, each group of 2 ultrasonic sensors are respectively installed on a vehicle body of the side surface of a vehicle, which is close to a front wheel and a rear wheel, the two ultrasonic sensors of each group of ultrasonic sensors work in a time-sharing mode, distance information dA and distance information dB to a platform road edge are respectively calculated, and when the difference between dA and distance information dB exceeds a set value, an abnormality is judged to occur; when the difference value between the two is within the set value range, the smaller value between the two is taken as the distance information with the platform road edge.
In a preferred technical scheme, the ultrasonic sensor module comprises an ultrasonic transmitter, an ultrasonic receiver, a temperature sensor and a control circuit, wherein the control circuit performs temperature compensation on the sensitivity of the ultrasonic sensor according to temperature data acquired by the temperature sensor.
The invention also discloses a method for detecting the arrival and stop postures of the bus, which comprises the following steps:
s01: judging the arrival state of the vehicle according to the vehicle state information, and entering an arrival posture detection preparation state if the arrival state is judged;
s02: after entering a station, judging the parking state of the vehicle according to the vehicle state information, and if the vehicle is judged to be parked, starting an ultrasonic sensor module for detection, wherein the ultrasonic sensor module comprises two groups of ultrasonic sensors which are respectively arranged on the parking side of the vehicle and adjacent to the vehicle body of the front wheel and the rear wheel;
s03: respectively calculating distance information between front and rear wheels of the vehicle and a platform road edge through echo signals of front and rear ultrasonic sensors, wherein the distance D = (delta T sound velocity)/2; the method comprises the steps that A, delta T is the time interval of wave sending and wave receiving, bus parking attitude judgment is conducted according to distance information, whether the absolute value of the difference between the distance d1 between a front wheel of a bus and a platform road edge and the distance d2 between a rear wheel of the bus and the platform road edge exceeds a set threshold value or not is judged, if the absolute value exceeds the set threshold value, the parking attitude of the bus is judged to be unqualified, and if the absolute value does not exceed the set threshold value, the parking attitude of the bus is judged to be;
s04: and when the vehicle parking posture at the moment is judged to be unqualified, early warning prompt is carried out.
In a preferred technical solution, the step S04 further includes communicating with a bus background management system through a remote communication module, and uploading the detection result to the bus background management system when the stop posture of the vehicle is detected to be unqualified.
In a preferred technical solution, the step S04 further includes that when the door of the bus is detected to be opened, the attitude detection system stops detecting, and stores the previous detection result, and performs alarm and report processing.
In the preferred technical scheme, each group of 2 ultrasonic sensors are respectively installed on a vehicle body of the side surface of a vehicle, which is close to a front wheel and a rear wheel, the two ultrasonic sensors of each group of ultrasonic sensors work in a time-sharing mode, distance information dA and distance information dB to a platform road edge are respectively calculated, and when the difference between dA and distance information dB exceeds a set value, an abnormality is judged to occur; when the difference value between the two is within the set value range, the smaller value between the two is taken as the distance information with the platform road edge.
In a preferred technical scheme, the ultrasonic sensor module comprises an ultrasonic transmitter, an ultrasonic receiver, a temperature sensor and a control circuit, wherein the control circuit performs temperature compensation on the sensitivity of the ultrasonic sensor according to temperature data acquired by the temperature sensor.
Compared with the prior art, the invention has the beneficial effects that:
1. a brand-new installation mode of the ultrasonic sensors is designed, a plurality of groups of ultrasonic sensors are installed on the right side face of the vehicle close to the front wheels and the rear wheels, an improved ultrasonic data processing method is adopted, the distance information between the vehicle and the road edge can be effectively obtained by combining a developed road edge detection algorithm, and meanwhile, the misinformation interference of the road surface is greatly reduced.
2. The system for detecting the arrival and stop postures of the bus can timely remind a driver of the posture information of the bus, help is provided for the standard driving of the driver, and meanwhile potential safety hazards of passengers for getting on and off the bus are eliminated.
3. According to the system for detecting the stop gesture of the bus, when the stop gesture of the bus is unqualified, the system can send a test result to a bus background management system through a GPRS module, and therefore a driver can be effectively managed and examined.
Drawings
The invention is further described with reference to the following figures and examples:
FIG. 1 is a schematic block diagram of a bus arrival and stop attitude detection system;
FIG. 2 is a schematic view of an ultrasonic sensor assembly according to the present invention;
FIG. 3 is a working flow of the bus arrival and stop attitude detection system of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
Examples
The ultrasonic-based bus arrival and stop posture detection system comprises an ECU module and an ultrasonic sensor module, wherein the ultrasonic sensor module comprises two groups of ultrasonic sensors, an early warning module, a communication module and a GPRS module.
The method comprises the following steps that 1, an ECU module, as shown in figure 1, when a bus runs, the ECU module judges the arrival state through state information such as a GPS, the speed, a door and a gear, and the specific judging method can be that the GPS is near a preset position, the speed of the bus is decelerating, and the gear is changed from a high gear to a low gear.
If the station entering state is judged, entering a station entering posture detection preparation state; after entering the station, the parking state is judged according to state information such as a GPS, the vehicle speed, a vehicle door, a gear and the like, the GPS is not changed, the vehicle speed is 0, the gear is P gear or neutral gear, the vehicle is judged to be parked, if the vehicle is judged to be parked, an ultrasonic sensor is started for detection, the distance between the front wheel and the rear wheel of the vehicle and the platform road edge is calculated according to echo signals of the ultrasonic sensors arranged in front and at the rear, and the distance calculation formula is as follows: distance D = (Δ T × speed of sound)/2; where Δ T is the time interval between the transmission and reception of a wave. And then, judging the attitude of the bus according to the distance information, wherein the judgment mode is that the absolute value of the difference value between the distance d1 between the front wheels of the bus and the platform road edge and the distance d2 between the rear wheels of the bus and the platform road edge exceeds a set limit value, and then the parking attitude of the bus is considered to be unqualified. And finally, when the bus door is opened, the posture detection system stops detecting, and the previous detection result is stored, alarmed and reported.
2. The ultrasonic sensor module comprises an ultrasonic transmitter, an ultrasonic receiver, a temperature sensor and a control circuit, wherein the ultrasonic transmitted by the transmitter can generate obvious reflection to form a reflection echo when encountering an obstacle, the receiver receives the reflection echo, and the control circuit carries out temperature compensation on the sensitivity of the ultrasonic sensor according to temperature data acquired by the temperature sensor.
The ultrasonic sensors are installed at positions close to the front wheel and the rear wheel on the right side surface of the vehicle, 2 respectively, and as shown in fig. 2, two ultrasonic sensors RA and RB at the front are grouped together, and two ultrasonic sensors RC and RD at the rear are grouped together. The detection range can be effectively improved by adopting the installation mode that two sensors form a group, the two sensors work in a time-sharing mode, the distance values dA and dB which are respectively measured, and when the difference between dA and dB exceeds a set value, a test result is not informed; and when the difference value between the two is within the set range, taking the smaller value between the two as the distance between the vehicle and the platform road edge. The mounting height needs to be adjusted according to the actual condition of the vehicle, so that the road edge information can be effectively detected, and meanwhile, the condition that no road surface is misreported is ensured.
3. And the early warning module reports the detection result when the system judges that the vehicle parking posture is not qualified at the moment, and reminds a driver in an LED lamp or instrument indicating lamp mode.
4. And the communication module adopts a communication mode of CAN bus connection in order to transmit data between the system for detecting the arrival and stop postures of the bus and the bus. And the state information of the vehicle, including GPS, vehicle speed, vehicle door state, gear and the like, is read through the CAN bus.
And the GPRS module is used for transmitting the condition to the bus background management system in time by using a GPRS network in a short message, WeChat message or other message mode when the system detects that the vehicle posture is unqualified, and is used for checking the driving behavior of the driver.
The working process of the ultrasonic-based bus station-entering and stopping attitude detection system is provided below by combining the attached drawings.
1. According to the installation schematic diagram of the ultrasonic sensor of FIG. 2, the installation of the ultrasonic sensor is carried out in combination with the actual situation of the vehicle;
2. the system is powered up, as in fig. 3, and the ECU initializes. The method comprises the following steps: initializing an MCU clock, initializing a bottom layer driver, initializing CAN communication and initializing a GPRS module;
after the ECU is initialized, the system judges the arrival state of the vehicle through state information such as a GPS, the vehicle speed, a vehicle door, a gear and the like, and if the arrival state is judged, the system enters an arrival attitude detection preparation state;
4. after the vehicle arrives at the station, the system judges the parking state according to state information such as GPS, vehicle speed, vehicle door, gear and the like, if the vehicle is judged to be parked, radar detection is started, distance processing is carried out through echo signals of front and rear mounted radars, and the attitude of the bus is judged according to distance information;
5. the bus attitude determination result can be output in various forms, for example, an LED lamp or an instrument indicating lamp is used for prompting a driver, the driver can adjust the attitude accordingly, and in addition, the state can be sent to a bus background management system in a GPRS communication mode and is used for checking the driving behavior of the driver;
6. and stopping judging when the door opening message is detected.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.
Claims (10)
1. The utility model provides a bus gesture detecting system that stops that arrives at a station which characterized in that includes:
the ultrasonic sensor module comprises two groups of ultrasonic sensors which are respectively arranged on the side surface of the vehicle, which is close to the body of the front wheel and the body of the rear wheel;
the early warning module is used for giving an early warning prompt when the vehicle parking posture at the moment is judged to be unqualified;
the vehicle-mounted communication module is used for carrying out data transmission with a vehicle to acquire vehicle state information;
the ECU module is used for judging the arrival state of the vehicle according to the vehicle state information, and if the arrival state is judged, the ECU module enters an arrival gesture detection preparation state; after entering a station, judging the parking state of the vehicle according to the vehicle state information, if the vehicle is judged to be parked, starting an ultrasonic sensor module for detection, and respectively calculating the distance information between front and rear wheels of the vehicle and a platform road edge through echo signals of front and rear ultrasonic sensors, wherein the distance D = (delta T acoustic velocity)/2; and determining the parking attitude of the bus according to the distance information, determining whether the absolute value of the difference between the distance d1 between the front wheels of the bus and the platform road edge and the distance d2 between the rear wheels of the bus and the platform road edge exceeds a set threshold, determining that the parking attitude of the bus is unqualified if the absolute value exceeds the set threshold, and determining that the parking attitude of the bus is qualified if the absolute value does not exceed the set threshold.
2. The system for detecting the arrival and stop postures of the bus as claimed in claim 1, further comprising a remote communication module which is communicated with the bus background management system and uploads a detection result to the bus background management system when the stop posture of the bus is detected to be unqualified.
3. The system for detecting the arrival and stop postures of the bus as claimed in claim 1, wherein when the ECU module detects that the door of the bus is opened, the posture detection system stops detection, stores the previous detection result, and gives an alarm and reports the detection result.
4. The system for detecting the arrival and stop postures of the bus according to claim 1, wherein each group of ultrasonic sensors is 2 and is respectively installed on the body of the side surface of the bus close to the front wheel and the rear wheel, the two ultrasonic sensors of each group of ultrasonic sensors work in a time-sharing manner and respectively calculate distance information dA and dB with the platform road edge, and when the difference between dA and dB exceeds a set value, an abnormality is judged to occur; when the difference value between the two is within the set value range, the smaller value between the two is taken as the distance information with the platform road edge.
5. The system for detecting the arrival and stop postures of the bus according to claim 1, wherein the ultrasonic sensor module comprises an ultrasonic transmitter, an ultrasonic receiver, a temperature sensor and a control circuit, and the control circuit performs temperature compensation on the sensitivity of the ultrasonic sensor according to temperature data acquired by the temperature sensor.
6. A method for detecting the arrival and stop postures of a bus is characterized by comprising the following steps:
s01: judging the arrival state of the vehicle according to the vehicle state information, and entering an arrival posture detection preparation state if the arrival state is judged;
s02: after entering a station, judging the parking state of the vehicle according to the vehicle state information, and if the vehicle is judged to be parked, starting an ultrasonic sensor module for detection, wherein the ultrasonic sensor module comprises two groups of ultrasonic sensors which are respectively arranged on the parking side of the vehicle and adjacent to the vehicle body of the front wheel and the rear wheel;
s03: respectively calculating distance information between front and rear wheels of the vehicle and a platform road edge through echo signals of front and rear ultrasonic sensors, wherein the distance D = (delta T sound velocity)/2; the method comprises the steps that A, delta T is the time interval of wave sending and wave receiving, bus parking attitude judgment is conducted according to distance information, whether the absolute value of the difference between the distance d1 between a front wheel of a bus and a platform road edge and the distance d2 between a rear wheel of the bus and the platform road edge exceeds a set threshold value or not is judged, if the absolute value exceeds the set threshold value, the parking attitude of the bus is judged to be unqualified, and if the absolute value does not exceed the set threshold value, the parking attitude of the bus is judged to be;
s04: and when the vehicle parking posture at the moment is judged to be unqualified, early warning prompt is carried out.
7. The method as claimed in claim 6, wherein the step S04 further includes communicating with a bus background management system through a remote communication module, and uploading the detection result to the bus background management system when the stop gesture of the bus is detected to be unqualified.
8. The method as claimed in claim 6, wherein the step S04 further includes stopping the detection by the gesture detection system when detecting that the door of the bus is opened, storing the previous detection result, alarming and reporting.
9. The method for detecting the arrival and stop postures of the bus according to claim 6, wherein 2 ultrasonic sensors are arranged in each group, the two ultrasonic sensors are respectively arranged on the side surface of the bus close to the body of the front wheel and the body of the rear wheel, the two ultrasonic sensors in each group work in a time-sharing manner, distance information dA and dB with a platform road edge are respectively calculated, and when the difference between dA and dB exceeds a set value, an abnormality is judged to occur; when the difference value between the two is within the set value range, the smaller value between the two is taken as the distance information with the platform road edge.
10. The method for detecting the arrival and stop postures of the bus according to claim 6, wherein the ultrasonic sensor module comprises an ultrasonic transmitter, an ultrasonic receiver, a temperature sensor and a control circuit, and the control circuit performs temperature compensation on the sensitivity of the ultrasonic sensor according to temperature data acquired by the temperature sensor.
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| CN201911199513.9A CN110861581A (en) | 2019-11-29 | 2019-11-29 | System and method for detecting arrival and stop postures of buses |
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| CN201911199513.9A CN110861581A (en) | 2019-11-29 | 2019-11-29 | System and method for detecting arrival and stop postures of buses |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112634624A (en) * | 2020-11-17 | 2021-04-09 | 华录智达科技有限公司 | Bus standard stop detection method and system based on intelligent video analysis |
| CN113335207A (en) * | 2021-06-15 | 2021-09-03 | 东风电驱动系统有限公司 | Vehicle body control device and vehicle management system |
| CN113609949A (en) * | 2021-07-30 | 2021-11-05 | 深圳市锐明技术股份有限公司 | Method and device for detecting bus arrival behavior |
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