CN112349143B - Vehicle collision early warning terminal detection device - Google Patents
Vehicle collision early warning terminal detection device Download PDFInfo
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- CN112349143B CN112349143B CN202011213873.2A CN202011213873A CN112349143B CN 112349143 B CN112349143 B CN 112349143B CN 202011213873 A CN202011213873 A CN 202011213873A CN 112349143 B CN112349143 B CN 112349143B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/02—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/02—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof
- B60R2011/0294—Apparatus with multi-functionalities, e.g. radio and telephone
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Abstract
The invention discloses a vehicle collision early warning terminal detection device, and belongs to the technical field of motor vehicles. The device comprises a lossless vehicle-mounted support, a high-precision integrated navigation system, a signal triggering module, a power supply module, a data acquisition module, a data analysis and packaging module, an SD card storage module, a vehicle-mounted display module, a resolving display module and a wireless data transmission radio station. The invention has flexible integral installation and convenient disassembly, and can be installed on vehicles to be tested with various specifications without adding additional tools.
Description
Technical Field
The invention relates to the technical field of motor vehicles, in particular to a vehicle collision early warning terminal detection device.
Background
At present, various places encourage road transportation enterprises to install intelligent video monitoring and alarming devices on more than three classes of passenger cars, travel bags, dangerous goods road transportation vehicles, rural passenger vehicles and heavy-duty passenger cars, so as to realize automatic identification and real-time alarming of unsafe behaviors of drivers.
The unsafe behavior of the driver includes neglecting the early warning factor of the collision of the front vehicle besides some unsafe actions of the driver during driving. In order to achieve the purpose, manufacturers of some intelligent video monitoring terminals mainly design front vehicle collision early warning modules in corresponding products so as to accurately and real-timely provide early warning collision for drivers. Meanwhile, the data collected by the product provides a basis for local transportation administrative departments in the aspects of accident investigation and analysis, responsibility investigation and local road transportation safety policy measure making. Therefore, indexes such as performance, reliability and the like of the intelligent video monitoring terminal with the front vehicle collision early warning function are important, and a detection and authentication management system is necessary to be brought into. Therefore, a quantitative detection device is urgently needed for quantitative test and evaluation, and materials and data support for popularization and identification, quality screening, user type selection and the like in various places.
At present, some related design methods and finished products exist in the field of vehicle collision early warning terminals, and although the collision early warning terminal has a certain popularization and application prospect as a collision early warning product, the collision early warning terminal is used as detection reference equipment to quantitatively evaluate other detected products in the same field, and the accuracy, the instantaneity and the like cannot meet the current standard requirements.
Chinese patent application No. CN110979174A discloses a vehicle collision detection early warning device based on radar detection technology, which includes a radar detector, a calculation result acquisition module, a danger alarm data setting system, an unavoidable safety value module setting module, an angle measurement module, and a calculation system. The output end of the radar detector is connected with the input end of the laser transmitter, the output end of the radar detector is connected with the input end of the detection result data output module, the result of the radar detection can be generated into the result of the danger early warning by utilizing the cooperation of the data comparator, the speed measuring system, the computing system and the danger alarm data setting system, and the actual danger condition is judged by matching the angle measuring module. The system is complex in construction, certain technical requirements are required for installation of the laser transmitter and the reflector, the radar detector can only calculate the distance by means of laser reflected by the transmitter when encountering an obstacle, and the radar detector cannot intelligently judge whether a front vehicle is a test vehicle or not, so that the radar detector is not suitable for being used as detection reference equipment to carry out accurate detection on an actual road section.
Chinese patent publication No. CN108010388A discloses a collision detection and early warning method and a collision detection and early warning system based on an internet of vehicles, which employs a current vehicle to broadcast form information of its own vehicle through the internet of vehicles, and the current vehicle receives form information broadcasted by a surrounding vehicle, and predicts whether a safety detection area at a driving track point of the current vehicle and the surrounding vehicle overlaps within N seconds in the future according to the form information of the current measurement and the surrounding vehicle, and if so, sends an early warning. According to the method, the safety area around the driving track within N seconds is predicted, so that the detection is rough, the dynamic detection precision is poor, and the method is not suitable for being used as a detection reference system.
And a relative scholars researches a locust visual neural network collision early warning system based on a DSP aiming at the problem of collision safety early warning in a motion scene. The system receives scene video images through a video collector, extracts moving targets by means of an image processor, obtains the approaching behavior quantity of the targets by utilizing the neural network, and sends out early warning signals by utilizing the existing early warning detection scheme and the early warning device. Experimental results show that the early warning system can effectively early warn possible collisions in the visual field. The method adopts video image processing (including moving object recognition) and a neural network technology to carry out matching early warning with the existing scheme, has low real-time performance, can not distinguish whether an object in a front visual field is a test vehicle, and is not suitable for being used as a detection reference system.
Disclosure of Invention
In view of the above, the invention provides a vehicle collision warning terminal detection device, which has a simple and reasonable circuit structure, is easy to implement, and can effectively detect the relative information between two vehicles; the method fully ensures the reliability and continuity of various working condition data, the precision of the collected vehicle position can reach centimeter level, and the data updating rate is as high as 50 Hz.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a vehicle collision early warning terminal detection device comprises a lossless vehicle-mounted support, a high-precision integrated navigation system, a signal trigger module, a power supply module, a data acquisition module, a data analysis and packaging module, an SD card storage module, a vehicle-mounted display module, a solution display module and a wireless data transmission station, wherein the high-precision integrated navigation system, the signal trigger module, the power supply module, the data acquisition module, the data analysis and packaging module, the SD card storage module, the vehicle-mounted display module, the solution display module and the wireless data transmission station are positioned above the lossless vehicle-mounted support;
the signal triggering module is mainly used for sending a pulse signal to the high-precision integrated navigation system so as to trigger an event timestamp of the high-precision integrated navigation system, and is used for later data comparison and result tracing;
the high-precision integrated navigation system is used for acquiring the motion parameters of the vehicle; a 4G communication module is arranged in the device and used for realizing RTK differential positioning and acquiring centimeter-level position accuracy;
the wireless data transmission radio station is used for transmitting vehicle position and attitude data;
the calculation display module mainly refers to real-time calculation, display and storage software running on a computer end, and draws the motion tracks of the two vehicles in a software map display area; meanwhile, self-parking position posture data output by the high-precision integrated navigation system and front-parking position posture data transmitted by a wireless data transmission radio station are received in real time, collision early warning information is resolved, and the self-parking position posture data and the collision early warning information are stored in a computer hard disk;
the vehicle-mounted display module displays the vehicle operation parameters from the data analysis and packaging module in a striking manner; when the speed and the acceleration of the vehicle exceed preset threshold values, the vehicle-mounted display module generates a buzzing prompt signal to remind a driver;
the data acquisition module is used for collecting vehicle motion parameters and pose data from a high-precision navigation system and a wireless data transmission radio station;
the data analysis and packaging module is used for analyzing pose data among vehicles, extracting data required by resolving, packaging and sending the data to the resolving display module;
the SD card storage module is used for storing vehicle pose data output by the high-precision integrated navigation system in real time and used for later data comparison and result tracing;
the power supply module provides energy support for a high-precision integrated navigation system, a signal trigger module, a power supply module, a data analysis and packaging module, an SD card storage module, a vehicle-mounted display module, a data acquisition module, a resolving display module and a wireless data transmission radio station;
the data acquisition module acquires positioning and attitude determining data output by the high-precision integrated navigation system in real time through a serial port and sends the data to the wireless data transmission station; meanwhile, the data acquisition module also collects positioning and attitude determining data from other vehicles through a wireless data transmission radio station; the data analysis and packaging module extracts data from the data acquisition module, repacks the data and sends the data to the vehicle-mounted display module and the calculation display module; the resolving display module can calculate the relative motion information of the two vehicles in real time according to the positioning and attitude determination data from the data analyzing and packaging module and carry out time-delay correction, and finally more accurate relative speed and TTC time information are obtained;
when an external trigger signal is detected, the information trigger module can give an adaptive pulse to the high-precision navigation system after filtering, the high-precision navigation system information aligns the high-precision navigation system information with self TTC time information, the high-precision navigation system information and the TTC time information are sent to the data acquisition module together, trigger mark data are added to the last frame in a data packet, the frame data are analyzed by the resolving and displaying module, the calculated result can be automatically displayed in a popup window and stored in a file.
Further, an overcurrent reverse connection prevention circuit and a soft start circuit which are connected in series are arranged on the power supply module; the power supply module converts the power supply voltage of an external battery into the voltage required by other modules and the adjustable voltage output of 1 path of heavy current output after passing through the heavy current anti-reverse connection circuit and the soft start circuit respectively, and the adjustable voltage output of 1 path of heavy current output allows a user to be externally connected with a high-power wireless data transmission station or other testing equipment.
The interface extension module comprises an RS232 serial port extension module, a unified data input interface extension module, an external trigger interface extension module and each voltage signal acquisition circuit.
Furthermore, the nondestructive vehicle-mounted mounting bracket comprises at least two parallel transverse long rods, and the transverse long rods are fixed through connecting rods; the transverse long rod is provided with a mounting plate which can freely move along the direction of the transverse long rod; the transverse long rod is provided with a slide way, and the mounting plate and the slide way form a sliding connection structure; the bottom of the transverse long rod is also provided with a magnet.
Further, the sliding connection structure comprises a T-shaped bolt and a slideway; the slideway is a T-shaped groove positioned on the transverse long rod; the T-shaped bolt is fixed on the mounting plate through a flange nut, and the head of the T-shaped bolt is embedded in the T-shaped groove which can enable the T-shaped bolt to freely slide; the magnet is rubber coating magnet, and the central point of rubber coating magnet puts and is equipped with the screw hole, screw hole and T type bolt threaded connection, and the head of T type bolt inlays T type inslot.
The invention adopts the technical scheme to produce the beneficial effects that:
1. the circuit of each module is stable and reliable, the power supply module has a wide voltage input range, the power supply module has the functions of reverse connection prevention and soft start, most power supplies can be used for supplying power, two paths of serial port data for real-time calculation are converted into standard USB2.0 interfaces through the unified data output interface extension circuit, most notebook computers are conveniently accessed, the complexity of external USB serial port line conversion is reduced, in addition, the measurement data and the calculation information are stored by a large-capacity hard disk of the computer, the data can be collected and tested for a long time, and the data of the SD card storage module can be used for result recurrence testing and source tracing.
2. All the parts in the invention are integrated and fixed on the integrated equipment, thus, the whole equipment only needs a power supply interface, a memory card interface, an antenna interface and a data interface externally, and has better usability.
3. The invention adopts the RTK differential positioning and high-precision combined navigation system as the measuring reference, the position precision can reach centimeter level, and the data updating rate is as high as 50Hz, which is higher than the detecting method precision in the published patent, more importantly, the invention adopts the wireless data transmission radio station for the data transmission between the two vehicles, even if other interfering vehicles exist between the two vehicles, the detecting result is not influenced.
4. The built-in 4G communication module in the wireless data transmission radio station and the high-precision navigation system can be respectively used for transmitting vehicle motion parameter data and receiving differential data information transmitted by a GNSS base station through a wireless network.
Drawings
Fig. 1 is a block diagram showing the components of the modules in the embodiment of the present invention.
FIG. 2 is a block diagram of the front vehicle module in an embodiment of the present invention.
FIG. 3 is a block diagram of rear vehicle modules in an embodiment of the present invention.
Fig. 4 is a flow chart of collision information solution in the embodiment of the present invention.
Fig. 5 is a circuit diagram of high-current reverse connection prevention and soft start in the embodiment of the invention.
Fig. 6 is a circuit diagram of a large current adjustable voltage output circuit in an embodiment of the invention.
Fig. 7 is a circuit diagram of an expansion circuit of the unified data output interface according to an embodiment of the present invention.
FIG. 8 is a schematic structural view of a nondestructive vehicular mounting bracket in an embodiment of the invention.
In the figure: 1. mounting panel, 2, horizontal pole, 3, flange nut, 4, rubber coating magnet.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and specific embodiments.
A vehicle collision early warning terminal detection device comprises a lossless vehicle-mounted support, a high-precision integrated navigation system, a signal trigger module, a power supply module, a data acquisition module, a data analysis and packaging module, an SD card storage module, a vehicle-mounted display module, a solution display module and a wireless data transmission station, wherein the high-precision integrated navigation system, the signal trigger module, the power supply module, the data acquisition module, the data analysis and packaging module, the SD card storage module, the vehicle-mounted display module, the solution display module and the wireless data transmission station are positioned above the lossless vehicle-mounted support;
the signal triggering module is mainly used for sending a pulse signal to the high-precision integrated navigation system so as to trigger an event timestamp of the high-precision integrated navigation system, and is used for later data comparison and result tracing;
the high-precision integrated navigation system is used for acquiring the motion parameters of the vehicle; a 4G communication module is arranged in the device and used for realizing RTK differential positioning and acquiring centimeter-level position accuracy;
the wireless data transmission radio station is used for transmitting vehicle position and attitude data;
the calculation display module mainly refers to real-time calculation, display and storage software running on a computer end, and draws the motion tracks of the two vehicles in a software map display area; meanwhile, self-parking position posture data output by the high-precision integrated navigation system and front-parking position posture data transmitted by a wireless data transmission radio station are received in real time, collision early warning information is resolved, and the self-parking position posture data and the collision early warning information are stored in a computer hard disk;
the vehicle-mounted display module displays the vehicle operation parameters from the data analysis and packaging module in a striking manner; when the speed and the acceleration of the vehicle exceed preset threshold values, the vehicle-mounted display module generates a buzzing prompt signal to remind a driver;
the data acquisition module is used for collecting vehicle motion parameters and pose data from a high-precision navigation system and a wireless data transmission radio station;
the data analysis and packaging module is used for analyzing pose data among vehicles, extracting data required by resolving, packaging and sending the data to the resolving display module;
the SD card storage module is used for storing vehicle pose data output by the high-precision integrated navigation system in real time and used for later data comparison and result tracing;
the power supply module provides energy support for a high-precision integrated navigation system, a signal trigger module, a power supply module, a data analysis and packaging module, an SD card storage module, a vehicle-mounted display module, a data acquisition module, a resolving display module and a wireless data transmission radio station;
the data acquisition module acquires positioning and attitude determining data output by the high-precision integrated navigation system in real time through a serial port and sends the data to the wireless data transmission station; meanwhile, the data acquisition module also collects positioning and attitude determining data from other vehicles through a wireless data transmission radio station; the data analysis and packaging module extracts data from the data acquisition module, repacks the data and sends the data to the vehicle-mounted display module and the calculation display module; the resolving display module can calculate the relative motion information of the two vehicles in real time according to the positioning and attitude determination data from the data analyzing and packaging module and carry out time-delay correction, and finally more accurate relative speed and TTC time information are obtained;
when an external trigger signal is detected, the information trigger module can give an adaptive pulse to the high-precision navigation system after filtering, the information of the high-precision navigation system aligns the information with self TTC time information, the information is sent to the data acquisition module together with the TTC time information, trigger mark data are added to the last frame in a data packet, the frame data is analyzed by the resolving and displaying module, a calculated result can be automatically displayed in a popup window and stored in a file.
Further, an overcurrent reverse connection prevention circuit and a soft start circuit which are connected in series are arranged on the power supply module; the power supply module converts the power supply voltage of an external battery into the voltage required by other modules and the adjustable voltage output of 1 path of heavy current output after passing through the heavy current anti-reverse connection circuit and the soft start circuit respectively, and the adjustable voltage output of 1 path of heavy current output allows a user to be externally connected with a high-power wireless data transmission station or other testing equipment.
The interface extension module comprises an RS232 serial port extension module, a unified data input interface extension module, an external trigger interface extension module and each voltage signal acquisition circuit.
Furthermore, the nondestructive vehicle-mounted mounting bracket comprises at least two parallel transverse long rods, and the transverse long rods are fixed through connecting rods; the transverse long rod is provided with a mounting plate which can freely move along the direction of the transverse long rod; the transverse long rod is provided with a slide way, and the mounting plate and the slide way form a sliding connection structure; the bottom of the transverse long rod is also provided with a magnet.
Further, the sliding connection structure comprises a T-shaped bolt and a slideway; the slideway is a T-shaped groove positioned on the transverse long rod; the T-shaped bolt is fixed on the mounting plate through a flange nut, and the head of the T-shaped bolt is embedded in the T-shaped groove which can enable the T-shaped bolt to freely slide; the magnet is rubber coating magnet, and the central point of rubber coating magnet puts and is equipped with the screw hole, screw hole and T type bolt threaded connection, and the head of T type bolt inlays T type inslot.
The following is a more specific example:
referring to fig. 1 to 8, the present embodiment includes a lossless vehicle-mounted bracket, a high-precision integrated navigation system, an electrical control board, a wireless data transmission station, a manual trigger module, a resolving display module, and a vehicle-mounted display module.
The nondestructive vehicle-mounted mounting bracket is used for connecting a hardware system consisting of a high-precision integrated navigation system, an electric control panel, a wireless data transmission station and the like to the roof.
The high-precision integrated navigation system is used for acquiring the motion parameters of the vehicle, including information such as position, speed, attitude, course angle and acceleration. The built-in 4G communication module that has can realize RTK differential positioning to reach centimetre level location. In addition, in the test, the relative speed variation range between vehicles is large and can reach 72km/h at most, namely 20m/s, the detection error is required to be controlled within 1m, the smaller the error is, the better the error is, and therefore the data output frequency of the high-precision integrated navigation system 2 at least reaches 20 Hz. In order to preserve some safety margin, the data output frequency may be set in the range of up to 50Hz when in actual use.
The electric control board comprises a power supply module, a data acquisition module, a data analysis and packaging module and an SD card storage module, and is mainly used for supplying power to the whole hardware system, expanding various interfaces, analyzing and packaging data and storing the SD card. The electric control board converts the power supply voltage (15-30V) of an external battery into 12V voltage required by a high-precision combined navigation system, 5V voltage required by a wireless data transmission radio station, a manual trigger module and a vehicle-mounted display module respectively after passing through a large-current reverse-connection prevention and soft start circuit. The interface extension mainly comprises RS232 serial port extension, unified data output interface extension and external trigger interface extension. The data analysis and packaging mainly aim at analyzing pose data of two vehicles, extracting data required for calculation, timing the receiving time of the vehicle data and the receiving time of the front vehicle data respectively, packaging and sending the data to the calculation display module together, and meeting the requirement of high-frequency real-time calculation. The SD card is used for storing vehicle pose data output by the high-precision integrated navigation system in real time and is used for data reproduction and result tracing in the later period.
Fig. 5 shows a circuit diagram of reverse connection prevention and soft start for large current, in the diagram, the switching tube adopts IRF4905, the allowable maximum output current is 74A, and the power supply of most of the test equipment can be satisfied, and meanwhile, the power switch is selected in the control channel, the channel current is in mA level, and a button switch with small current can be selected to replace the traditional large-size large-current switch. When an input power supply (+24VIN) is normally connected to the circuit, a current passes through a diode built in the Q1 and the R1/R2/R4 to a Power Ground (PGND), and is divided by resistors, and finally, in a steady state, the gate-source voltage Ugs of the switching tube Q1 is divided by the resistor R1, and the resistances of the resistors are proper, so that the Q1 can be operated in a saturation state, that is, in a conducting state. Conversely, when the positive electrode and the negative electrode of the power supply are reversely connected, the built-in diode of the Q1 is cut off, no current loop is generated, and the Q1 is in a high-resistance state and cannot be conducted, so that subsequent equipment can be protected. In the figure, due to the existence of the capacitor C1, the grid source voltage of the switching tube cannot change suddenly but changes along with time, so that the on-resistance of the switching tube also becomes small slowly, the voltage +24VOut rises slowly, the effect of 'soft start' is achieved, and the adverse effect on a subsequent circuit at the moment of power-on can be effectively weakened.
In fig. 6, the switch power supply chip adopts LM2576S, the input power supply is +24VOut, the output voltage Vadj can change along with the change of the resistance value of the adjustable resistor R3, the maximum resistance value of the adjustable resistor is 10k Ω, the output voltage can be adjusted in a large range, the continuous output current can reach 3A, and the power supply of most wireless data transmission stations can be satisfied.
Fig. 7 is a circuit diagram of an expansion circuit of a unified data output interface according to the present invention, since a portable notebook computer is generally used for external field testing, and a common notebook computer in the market does not have a serial interface, a USB serial-to-serial line is required, and two USB serial-to-serial lines are required for two-way data output. The circuit directly converts two paths of serial port signals into 1 path of USB signals through the FD2232D chip, and can meet the requirement of acquiring 2 paths of data only by occupying 1 USB interface.
Because the data output frequency of the high-precision combined navigation system is high, and the data volume is large, a high-performance single chip microcomputer (model number is STM32F407VGT6) is designed on an electric control board, a DMA double-buffer transmission mode is adopted for serial port data reception, namely after buffer 0 data is filled, buffer 1 is automatically adopted for data filling, data in buffer 0 can be processed in a main program, after buffer 1 is filled, buffer 0 is automatically adopted for data filling, data in buffer 0 can be processed in the main program, and the data reception and processing of the baud rate of 460800bps, the transmission frequency of 200Hz and the data packet length of 200 bytes can be met through the test in such a reciprocating way.
The wireless data radio station is used for transmitting attitude data between vehicles, and for the front vehicle, the wireless data radio station is used for sending the attitude data (obtained by a high-precision integrated navigation system) of the front vehicle to the self vehicle; for the self vehicle, the wireless data transmission radio station is used for receiving the front parking position posture data sent by the front vehicle wireless data transmission radio station. In order to meet the real-time requirement, a wireless data transmission station with smaller time delay is selected. The output frequency of the navigation system is recommended to be 50Hz by the high-precision combination. Taking the data output frequency of 50Hz as an example, the delay of the radio data transmission station cannot exceed the interval of one frame data transmission, otherwise the data output frequency loses meaning, and the requirement of real-time performance cannot be met, so that the maximum delay cannot exceed 1 ÷ 50 ═ 0.02s ═ 20ms, a certain safety margin is reserved, and the delay of the radio data transmission station is recommended not to exceed 10 ms.
The manual trigger module is mainly used for sending a pulse signal to the high-precision integrated navigation system to trigger the event timestamp of the high-precision integrated navigation system, and can be used for system calibration, later data comparison and result tracing by combining data stored by the SD card. The signal trigger module can output positive and negative pulses at the same time, and supports two level signals of 3.3V and 5V. The signal trigger module has two main functions: (1) the method comprises the steps that a system calibration trigger signal is generated, the accuracy of the system needs to be calibrated due to the fact that the embodiment of the invention is a detection reference system, and at the moment, a switch of a signal trigger module needs to be set to a manual trigger mode; (2) and receiving a triggering signal of the collision early warning terminal, and during actual detection, receiving the triggering signal generated by the collision early warning terminal by the signal triggering module, generating a triggering pulse and sending the triggering pulse to the high-precision integrated navigation system for resolving vehicle collision information.
When the signal triggering module is used for system calibration, such as calibration of vehicle collision distance information, the specific operation is as follows: in an actual detection site (with a fixed distance marking line), the front vehicle stops at a certain designated position (with the fixed distance marking line) and is kept still. The embodiment of the invention can calculate the collision distance information of the vehicle at the moment, meanwhile, the collision distance information calculated in real time is compared according to the navigation data with a timestamp output by the high-precision integrated navigation system installed on the vehicle, the navigation data with UTC time output by the high-precision integrated navigation system installed on the front vehicle, the fixed distance marking line data and the data measured by a ruler under the field 'plane coordinates', and a plurality of groups of data are collected, so that the collision distance information calculated in real time can be calibrated.
The calculation display module mainly refers to real-time calculation, display and storage software running on a computer end, and draws the motion tracks of the two vehicles in a map display area; meanwhile, the self-parking position data output by the high-precision integrated navigation system and the front-parking position data transmitted by the wireless data transmission radio station are received in real time, the collision information is resolved, and the self-parking position data and the collision resolving information are stored in a computer hard disk. In particular, in order to realize high-precision detection, delay compensation is added during calculation on the basis of selecting wireless data transmission with small delay, namely, delay between the data of the front vehicle and the data of the self vehicle is calculated in software, and the relative distance is corrected through relative speed information, so that the precision is higher.
Specifically, because the relative position between two vehicles needs to be detected in real time, theoretically, the real-time pose data of the two vehicles are required to be at the same time, and actually, because the data transmission of the wireless data transmission radio station has a certain delay, although the delay parameter is small, the relative speed change range between the two vehicles is wide, so that the delay compensation is necessary. Considering the practical situation of the test, the speeds of the preceding vehicle and the following vehicle hardly change (because the acceleration is almost unchanged) within the time of the radio data transmission station delay (10ms or even shorter), so that it can be considered that the relative distance correction term is V × t, where V is the speed difference between the following vehicle and the preceding vehicle, and t is the delay of the radio data transmission station, and it should be noted that t here is not taken as a fixed value, but is taken as the criterion of the delay calculated by the high-performance singlechip in the electrical control board in the vehicle.
Therefore, after the serial port device is started, the calculation display module receives the pose data of the two vehicles sent by the high-performance single chip microcomputer in a packaging mode in real time, the GPS position coordinates, the speed and the timing time information of the two vehicles are analyzed, a relative distance is calculated through the GPS coordinates of the two vehicles, the speed difference and the delay time of the two vehicles are calculated, a correction item is obtained and added to the relative distance, and the high-precision relative distance is obtained. The relative speed information is the speed difference value of the two vehicles, the TTC collision time is the ratio of the corrected relative distance to the relative speed, and particularly, when the two vehicles are static, the TTC time is not calculated.
The vehicle-mounted display module is mainly used for displaying running parameters of the vehicle, such as speed, acceleration and other information in a striking mode, and a driver can conveniently and accurately control running of the vehicle. When the speed and the acceleration of the vehicle exceed the preset threshold values, the display module can generate a buzzing prompt signal to remind a driver.
The main working flow of the whole electric in the electric control board is as follows: in the reverse connection prevention and soft start circuit, when a switch P1 is closed, the power supply voltage (15-30V) of an external battery is stably output to subsequent circuit modules, the stable output voltage value is +24VOut, the voltage is almost equal to the integral amplitude of the input voltage of the battery, 1 path of a +24VOut voltage signal is converted into 12V voltage through a switch power supply chip LM2576S-12, the other path of the +24VOut voltage signal is converted into adjustable voltage through a switch power supply chip LM2576S-adj, and the voltage is related to an adjustable resistor R3.
The main signal flow in the electrical control board is as follows: aiming at the front vehicle, the single chip microcomputer collects positioning and attitude determining data output by the high-precision integrated navigation system in real time through a serial port, and sends the data through another 1-path serial port, the path of serial port is connected with a wireless data transmission radio station, and the positioning and attitude determining data is sent through the wireless data transmission radio station; meanwhile, the single chip microcomputer analyzes and extracts the positioning and attitude determination data, and sends the data to a vehicle-mounted display module installed in the front vehicle through the 1-path serial port after repacking the data. Aiming at the self vehicle, on one hand, the single chip microcomputer collects the positioning and attitude determination data output by a high-precision combined navigation system installed on the self vehicle in real time through a serial port, sends the data out through the other 1 path of serial port TTL _ TXD1_ A, receives the positioning and attitude determination data sent by the front vehicle through a wireless data transmission radio station, sends the front vehicle data out through the serial port TTL _ TXD2_ A, the two paths of serial port data send the two paths of positioning and attitude determination data to a calculation display module through a USB-to-serial port circuit in a USB communication mode, the calculation display module can calculate the relative motion information (including the calculation of relative position, speed and time) of the two vehicles in real time and carry out time-delay correction to finally obtain the relative speed and TTC time information which are more accurate, when an external trigger signal exists, an electric control board in the self vehicle can detect the trigger signal, the single chip microcomputer in the electric control board can add the trigger mark data in a data packet, the resolving display module analyzes the frame data, can automatically perform popup display on a calculation result, and stores the calculation result in a file.
Referring to fig. 8, the nondestructive vehicle-mounted mounting bracket comprises two long and horizontal rods 2 and three mounting plates 1, wherein the long and horizontal rods are aluminum profiles, and the mounting plates are aluminum plates. The two long and transverse rods are fixedly connected to form an adjustable mounting bracket. The square nut in the adjustable mounting bracket fixes the encapsulated magnet 4 at the bottom of the adjustable mounting bracket. Rubber coating magnet 4 has powerful magnetic attraction, simultaneously because 4 outer cladding of rubber coating magnet have annular rubber, can protect magnet can not fish tail automobile body on the one hand, and on the other hand can increase frictional force and radial appeal, can prevent effectively that the support from taking place to sideslip, and the specification and the quantity of rubber coating magnet 4 can be selected according to the weight isoparametric of specific erection equipment.
Owing to adopted the aluminium alloy support, T type bolt passes through flange nut 3 to be fixed on the mounting panel, and the head of T type bolt inlays the T type groove that is located horizontal long rod that can make its free slip, and in the same way, the position of rubber coating magnet also can be adjusted, consequently can satisfy most vehicle installation demands. In addition, if the installed equipment is heavy, the specification of the encapsulated magnets 4 may be changed or the number of encapsulated magnets 4 may be increased in order to further increase the magnetic attraction force and the friction force.
The embodiment adjusts the position of the encapsulated magnet according to the size of the vehicle roof to enhance the stability; the position of the mounting plate is adjusted according to the size of the detection equipment, and the mounting plate is locked through the flange nut.
Claims (3)
1. A vehicle collision early warning terminal detection device is characterized by comprising a lossless vehicle-mounted mounting support, a high-precision combined navigation system, a signal trigger module, a power supply module, a data acquisition module, a data analysis and packaging module, an SD card storage module, a vehicle-mounted display module, a resolving display module and a wireless data transmission station, wherein the high-precision combined navigation system, the signal trigger module, the power supply module, the data acquisition module, the data resolving and packaging module, the SD card storage module, the vehicle-mounted display module, the resolving display module and the wireless data transmission station are positioned above the lossless vehicle-mounted mounting support;
the signal triggering module is used for sending a pulse signal to the high-precision integrated navigation system so as to trigger an event timestamp of the high-precision integrated navigation system, and the event timestamp is used for later data comparison and result tracing;
the high-precision integrated navigation system is used for acquiring the motion parameters of the vehicle; a 4G communication module is arranged in the device and used for realizing RTK differential positioning and acquiring centimeter-level position accuracy;
the wireless data transmission radio station is used for transmitting vehicle position and attitude data;
the calculation display module refers to real-time calculation, display and storage software running on a computer end, and draws the motion tracks of the two vehicles in a software map display area; meanwhile, self-parking position posture data output by the high-precision integrated navigation system and front-parking position posture data transmitted by a wireless data transmission radio station are received in real time, collision early warning information is resolved, and the self-parking position posture data and the collision early warning information are stored in a computer hard disk;
the vehicle-mounted display module displays the vehicle operation parameters from the data analysis and packaging module in a striking manner; when the speed and the acceleration of the vehicle exceed preset threshold values, the vehicle-mounted display module generates a buzzing prompt signal to remind a driver;
the data acquisition module is used for collecting vehicle motion parameters and pose data from a high-precision navigation system and a wireless data transmission radio station;
the data analysis and packaging module is used for analyzing pose data among vehicles, extracting data required by resolving, packaging and sending the data to the resolving display module;
the SD card storage module is used for storing vehicle pose data output by the high-precision integrated navigation system in real time and used for later data comparison and result tracing;
the power supply module provides energy support for a high-precision integrated navigation system, a signal trigger module, a power supply module, a data analysis and packaging module, an SD card storage module, a vehicle-mounted display module, a data acquisition module, a resolving display module and a wireless data transmission radio station;
the data acquisition module acquires positioning and attitude determining data output by the high-precision integrated navigation system in real time through a serial port and sends the data to the wireless data transmission station; meanwhile, the data acquisition module also collects positioning and attitude determining data from other vehicles through a wireless data transmission radio station; the data analysis and packaging module extracts data from the data acquisition module, repacks the data and sends the data to the vehicle-mounted display module and the calculation display module; the resolving display module calculates the relative motion information of the two vehicles in real time according to the positioning and attitude determination data from the data resolving and packaging module and corrects the time delay to finally obtain relatively more accurate relative speed and TTC time information;
when a trigger signal is triggered externally, after the information trigger module detects the trigger signal, an adaptive pulse is sent to a high-precision navigation system through filtering, the high-precision navigation system information aligns the high-precision navigation system information with self TTC time information, the high-precision navigation system information and the TTC time information are sent to a data acquisition module together, trigger mark data are added to the last frame in a data packet, a resolving display module resolves the frame data, and a calculation result is automatically displayed in a popup window mode and stored in a file; comparing collision distance information resolved in real time according to navigation data with a timestamp output by a high-precision integrated navigation system installed on a self vehicle, navigation data with UTC time output by a high-precision integrated navigation system installed on a front vehicle, fixed distance marking line data and data measured by a ruler under a field plane coordinate, acquiring multiple groups of data, and calibrating the collision distance information resolved in real time;
the nondestructive vehicle-mounted mounting bracket comprises at least two parallel transverse long rods, and the transverse long rods are fixed through connecting rods; the transverse long rod is provided with a mounting plate which can freely move along the direction of the transverse long rod; the transverse long rod is provided with a slide way, and the mounting plate and the slide way form a sliding connection structure; the bottom of the transverse long rod is also provided with a magnet;
the sliding connection structure comprises a T-shaped bolt and a slideway; the slideway is a T-shaped groove positioned on the transverse long rod; the T-shaped bolt is fixed on the mounting plate through a flange nut, and the head of the T-shaped bolt is embedded in the T-shaped groove which can enable the T-shaped bolt to freely slide; magnet is rubber coating magnet, and the central point of rubber coating magnet puts and is equipped with the screw hole, screw hole and T type bolt threaded connection, and the head of T type bolt inlays T type inslot.
2. The vehicle collision early warning terminal detection device according to claim 1, wherein an overcurrent reverse connection prevention circuit and a soft start circuit which are connected in series are arranged on the power supply module; the power supply module converts the power supply voltage of an external battery into the voltage required by other modules and 1 path of large current output respectively after passing through the large current anti-reverse connection circuit and the soft start circuit
The output adjustable voltage output and the adjustable voltage output of the 1-path heavy current output are used for a user to externally connect a high-power wireless data transmission radio station or other testing equipment.
3. The vehicle collision early warning terminal detection device according to claim 1, further comprising an interface extension module, wherein the interface extension module comprises RS232 serial port extension, unified data input interface extension, external trigger interface extension and each voltage signal acquisition circuit.
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