CN112373465A - Auxiliary driving system of trackless rubber-tyred vehicle and control method - Google Patents
Auxiliary driving system of trackless rubber-tyred vehicle and control method Download PDFInfo
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- CN112373465A CN112373465A CN202011381906.4A CN202011381906A CN112373465A CN 112373465 A CN112373465 A CN 112373465A CN 202011381906 A CN202011381906 A CN 202011381906A CN 112373465 A CN112373465 A CN 112373465A
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
Abstract
The invention discloses a trackless rubber-tyred vehicle assistant driving system and a control method, wherein the assistant driving system comprises an information acquisition module, a communication module, a video module, a positioning module, a display module, an execution module and a control module; the video module comprises a driver state monitoring camera, the driver state monitoring camera monitors the state of a driver and driving behaviors, and when the driving behaviors or the driving states of the driver influencing driving safety are monitored, the driver state monitoring camera sends an alarm signal to the control module. The auxiliary driving system of the trackless rubber-tyred vehicle can monitor the driving behavior and state of a driver, actively early warn and prompt the driver, and realize safe and preventive driving; under the emergency condition, when safety measures such as speed reduction, braking and the like can be taken in time, emergency braking is automatically realized, so that accidents such as rear-end collision and the like are reduced, the loss of personnel and property is reduced, and the safety of auxiliary transportation equipment is improved.
Description
Technical Field
The invention belongs to the field of coal mine auxiliary transportation equipment, and particularly relates to an auxiliary driving system of a trackless rubber-tyred vehicle and a control method.
Background
In recent years, trackless rubber-tyred vehicles are increasingly applied to underground coal mine auxiliary transportation in China. The vehicle has the characteristics of flexibility, strong adaptability, safety, high efficiency, wide application range and the like due to no track limitation, is more and more emphasized, and is an advanced auxiliary transport vehicle for transporting materials, equipment and personnel. The rubber-tyred vehicle is more and more widely applied and popularized in the underground, and is the main development direction of coal mine auxiliary transportation.
However, most of coal mines in China have low underground environment illumination, poor visibility and single roadway scene, drivers are prone to visual fatigue in the transportation process of vehicles, the reaction is slow, and safety accidents such as rear-end collision and the like are prone to being caused when the vehicles operate under the working conditions of turning and ascending and descending. In the coal mine safety regulation, speed limitation is carried out on various transport equipment, but overspeed driving is often carried out in actual transportation, the braking distance is lengthened in emergency braking, and the accident rate is increased. The branch tunnel is many in the pit, and the operation personnel who participates in production are also more, often have personnel to walk out from the condition of branch tunnel and appear, and the driver leads to constructor to be disabled or fatal if the reaction is untimely and the easy collision takes place under the too fast condition of speed of a motor vehicle this moment.
Disclosure of Invention
In order to solve the technical problems, the invention provides an auxiliary driving system and a control method of a trackless rubber-tyred vehicle, which provide safe and preventive driving assistance for a driver and reduce the occurrence of safety accidents to the maximum extent.
In order to achieve the above object, the invention provides a trackless rubber-tyred vehicle assistant driving system, comprising:
the information acquisition module is used for detecting and sensing the surrounding environment of the vehicle and acquiring the running information of the trackless rubber-tyred vehicle; the communication module is used for carrying out information interaction with the scheduling platform; the video module is used for detecting the surrounding environment and monitoring the state of a driver; the positioning module is used for reporting the position information of the trackless rubber-tyred vehicle and the personnel and vehicles nearby the trackless rubber-tyred vehicle to the scheduling platform; the display module is used for receiving and displaying the alarm information and carrying out voice reminding; the execution module is used for receiving the control information and completing response state conversion; the control module is used for controlling the information acquisition module, the communication module, the video module, the positioning module, the display module and the execution module;
the video module comprises a driver state monitoring camera, the driver state monitoring camera is integrated with an infrared camera and a thermal imaging camera and used for detecting the driving state and the driving behavior of a driver, and when the driving behavior or the driving state that the driver affects the driving safety is monitored, the driver state monitoring camera sends an alarm signal to the control module.
Specifically, the information acquisition module includes laser radar perception module, millimeter wave radar perception module, ultrasonic radar perception module, speed sensor, inclination sensor and corner sensor at least, laser radar perception module installs in the front side and the rear side of vehicle, and millimeter wave radar perception module installs in the front side and the rear side of vehicle, and ultrasonic radar perception module installs in four all around of vehicle about.
Specifically, the information acquisition module further comprises a wireless radio frequency identifier, and the wireless radio frequency identifier acquires speed limit information by identifying a passive radio frequency identification card; the display module comprises a liquid crystal display screen and a head-up display system, and the head-up display system projects warning light stripes and sends out warning prompt tones.
Specifically, the communication module is a wireless communication module and comprises a 5G communication module, a 4G communication module and a WIFI communication module, and the wireless communication module performs information interaction with the dispatching platform through the underground base station.
Specifically, the video module further comprises a panoramic camera and a thermal infrared imager, wherein the number of the panoramic camera is at least 4, the panoramic camera is respectively installed on the upper portions of the front, the rear, the left and the right of the vehicle, and the thermal infrared imager is installed on the front side of the vehicle.
Specifically, the execution module comprises a digital amplifier, a proportional solenoid valve, a safety belt tightening device and a voice alarm, wherein the digital amplifier provides a current signal for the proportional solenoid valve, and the proportional solenoid valve converts the current signal into a force to realize brake pressure regulation.
According to the trackless rubber-tyred vehicle assistant driving system, the invention also provides a trackless rubber-tyred vehicle assistant driving system control method, which comprises the following steps:
(1) the laser radar sensing module, the millimeter wave radar sensing module and the thermal infrared imager detect a target obstacle in front of the trackless rubber-tyred vehicle in real time, acquire the relative distance, the relative angle and the relative speed of the trackless rubber-tyred vehicle and the target obstacle, and transmit the relative distance, the relative angle and the relative speed to the control module;
(2) the control module calculates collision time according to the relative distance, the relative angle and the relative speed;
(3) when the collision time is smaller than the collision early warning time threshold value, the control module sends an alarm signal to the display module and the execution module, the head-up display system gives an alarm prompt, and the safety belt tightening device generates a safety belt tightening constraint force;
(4) when the collision time is smaller than the collision emergency braking time threshold value, the control module acquires the current vehicle speed and vehicle pitch angle information and outputs a braking pressure control signal to the digital amplifier, the digital amplifier provides a corresponding current signal for the proportional solenoid valve according to the control signal, and the proportional solenoid valve converts the current signal into force to realize the braking pressure regulation of the trackless rubber-tyred vehicle.
Specifically, the control method of the trackless rubber-tyred vehicle auxiliary driving system further comprises the following steps:
(1) respectively installing a passive radio frequency identification card A and a passive radio frequency identification card B at the head and the tail of a section of a roadway with multiple accidents and needing speed limitation;
(2) when the trackless rubber-tyred vehicle is driven to approach the passive radio frequency identification card A, the wireless radio frequency identification device reads the speed limit information stored by the passive radio frequency identification card A and sends the speed limit information to the control module, and the control module adjusts the vehicle speed to the speed limit value through the control execution module to continue driving;
(3) when the trackless rubber-tyred vehicle runs close to the passive radio frequency identification card B, the radio frequency identification device reads speed limit releasing information stored in the passive radio frequency identification card B and sends the speed limit releasing information to the control module, and the control module adjusts the vehicle speed to a normal running speed.
Specifically, the control method of the trackless rubber-tyred vehicle auxiliary driving system further comprises the following steps:
(1) the infrared camera is used for identifying and positioning the head of the driver;
(2) the thermal imaging camera detects the head of the driver according to the positioning information of the infrared camera;
(3) the thermal imaging camera judges whether the driver wears a safety helmet or a dust mask according to the average value of the detection temperature in the upper and lower preset areas of the eyes of the driver;
(4) the infrared camera outputs a human eye positioning area, a human eye profile and an eyeball sampling point are obtained, and whether a driver is in a fatigue driving state or not is judged according to the proportion and time of the eyeball being shielded in unit time;
(5) the infrared camera is combined with a left steering lamp control signal, a right steering lamp control signal and a steering wheel turning angle signal, and whether the attention of the driver is concentrated or not is judged according to the head deviation direction and the eyeball pointing angle of the driver;
(6) when the infrared camera or the thermal imaging camera judges that the driver does not wear a safety helmet or a dust mask or is in a fatigue driving state or a driving state with inattention, the driver state monitoring camera sends an alarm signal to the control module;
(7) the control module displays the alarm information through the liquid crystal display screen and sends out an alarm prompt tone.
Specifically, the control method of the trackless rubber-tyred vehicle auxiliary driving system further comprises the following steps:
the positioning module sends the position information and the movement direction of personnel and vehicles near the trackless rubber-tyred vehicle to the dispatching platform;
the control module interacts information with the dispatching platform through the wireless communication module to acquire position information and movement direction of personnel and vehicles near the trackless rubber-tyred vehicle;
the control module measures and calculates whether the possibility of collision exists between the trackless rubber-tyred vehicle and nearby personnel and vehicles according to the acquired position information and the movement direction;
if collision possibility exists, the control module controls the trackless rubber-tyred vehicle to decelerate, and the voice alarm in the execution module gives out alarm prompt sound.
The trackless rubber-tyred vehicle assistant driving system and the control method provided by the invention can monitor the driving behavior and state of a driver, actively early warn and prompt the driver, and realize safe and preventive driving; under the emergency condition, when safety measures such as speed reduction, braking and the like can be taken in time, emergency braking is automatically realized, so that accidents such as rear-end collision and the like are reduced, the loss of personnel and property is reduced, and the safety of auxiliary transportation equipment is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a control block diagram of a trackless rubber-tyred vehicle auxiliary system of the present invention;
FIG. 2 is an exploded view of an information acquisition module of the present invention;
FIG. 3 is an exploded view of the video module of the present invention;
fig. 4 is an exploded view of an actuator module according to the present invention.
Illustration of the drawings:
1 is a control module; 2 is an information acquisition module; 3 is a communication module; 4 is a video module; 5 is a positioning module; 6 is a display module; and 7 is an execution module.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 to 4, the invention provides a trackless rubber-tyred vehicle assistant driving system, which comprises a control module 1, an information acquisition module 2, a communication module 3, a video module 4, a positioning module 5, a display module 6 and an execution module 7.
The control module 1 controls the information acquisition module, the communication module, the video module, the positioning module, the display module and the execution module.
The information acquisition module 2 is used for detecting and sensing the surrounding environment of the vehicle and acquiring the running information of the trackless rubber-tyred vehicle, and as shown in fig. 2, the information acquisition module 2 at least comprises a laser radar sensing module, a millimeter wave radar sensing module, an ultrasonic radar sensing module, a vehicle speed sensor, an inclination angle sensor and a corner sensor. The laser radar sensing module and the millimeter wave radar sensing module are arranged on the front side and the rear side of the vehicle and can detect and sense obstacles in front of and behind the vehicle; the ultrasonic radar sensing modules are arranged on the front, the back, the left and the right surfaces of the vehicle and used for detecting blind areas of backing and small-angle turning; the vehicle speed sensor is used for detecting and acquiring the vehicle speed of the vehicle; the tilt angle sensor is used for measuring the pitch angle of the vehicle; and the rotation angle sensor is used for measuring the rotation angle of the steering wheel of the trackless rubber-tyred vehicle. The information acquisition module 2 provided by the invention is not limited by the design, and the number and various types of the sensing modules and the sensors can be increased according to actual requirements.
Specifically, the information acquisition module 2 further includes a Radio Frequency Identification (RFID) (radio Frequency identification) identifier, and the RFID identifier obtains the speed limit information by identifying an RFID identification card.
The communication module 3 is a wireless communication module, a 5G communication module, a 4G communication module and a WIFI communication module are integrated on the wireless communication module, and information interaction is carried out between the underground base station and the dispatching platform; the positioning module 5 is used for providing position information of the trackless rubber-tyred vehicle and nearby personnel and vehicles for the dispatching platform and the control platform; the display module 6 comprises a liquid crystal display screen and a head-up display system, and the head-up display system projects warning light stripes and sends out warning prompt tones. Communication module 3 still includes a vehicle-mounted wireless transmission terminal, receives the influence of tunnel environment, and some tunnels can not communicate signal very well, vehicle-mounted wireless transmission terminal can be used for the repeater temporarily, strengthens wireless signal transmission.
Fig. 3 is an exploded view of the video module 4, the video module 4 includes a driver state monitoring camera, a panoramic camera and a thermal infrared imager, the number of the panoramic camera is at least 4, the panoramic camera is respectively installed on the upper portions of the front, the rear, the left and the right of the body of the trackless rubber-tyred vehicle, and the thermal infrared imager is installed on the front side of the vehicle. The driver state monitoring camera is integrated with an infrared camera and a thermal imaging camera. The video module further supplements the environment detection perception around the trackless rubber-tyred vehicle through cameras with different functions, so that the safety of the trackless rubber-tyred vehicle auxiliary system is further improved.
Fig. 4 is an exploded view of the execution module 7, and the execution module 7 includes a digital amplifier, a proportional solenoid valve, a seat belt tightening device, a voice alarm, an explosion-proof motor, and an explosion-proof diesel engine. The execution module 7 is used for receiving the control information sent by the control module 1 and completing response state conversion, such as vehicle braking, safety belt tightening, alarm prompting and the like.
The control process of the trackless rubber-tyred vehicle assistant driving system provided by the invention is described below with reference to fig. 1 to 4 and an embodiment.
Example 1:
sensing elements such as a laser radar sensing module, a millimeter wave radar sensing module or a thermal infrared imager detect surrounding environments and obstacles in real time, when a target obstacle is detected in front of a vehicle, data information such as the relative distance, the relative angle and the relative speed between the trackless rubber-tyred vehicle and the target obstacle is acquired and sent to the control module 1, and the control module 1 calculates the collision time through a core platform-embedded computing control platform. The control module 1 compares the collision time calculated in real time with a collision warning time threshold and an emergency braking time threshold stored in the control module 1. When the collision time is smaller than the collision early warning time threshold value, the control module 1 sends a control signal and an alarm signal to the display module 6 and the execution module 7, a head-up display system in the display module 6 projects a red warning light bar onto the front windshield and continuously sends out alarm prompt tones, a safety belt tightening device in the execution module 7 generates safety belt tightening restraint force according to the control signal, the restraint force on passengers is strengthened, impact injury is reduced, and meanwhile, the voice alarm sends out alarm prompt tones to surrounding people and vehicles. When the collision time is less than the emergency braking time threshold value, the control module 1 outputs a braking pressure control curve required by safe braking to a digital amplifier based on a vehicle running state control strategy according to data such as the current vehicle speed detected by a vehicle speed sensor and a pitch angle detected by an inclination angle sensor, the digital amplifier provides a corresponding current signal for a proportional solenoid valve according to a control signal provided by the control module 1, the proportional solenoid valve converts the current signal into force to perform braking hydraulic pressure regulation, the braking of the trackless rubber-tyred vehicle is realized, and the running safety of the trackless rubber-tyred vehicle is ensured.
Example 2:
the driver state monitoring camera instrument continuously monitors and records the driving state and the driving behavior of a driver in the driving process, and mainly comprises the following steps:
(1) an infrared camera in the driver state monitoring camera shoots a driver head image for identification and positioning detection;
(2) the thermal imaging camera shoots and detects the head of the driver according to the positioning information of the infrared camera, and images shot by the infrared camera and the thermal imaging camera are placed in the same coordinate system;
(3) the thermal imaging camera judges whether the driver wears a safety helmet or a dust mask according to the average value of the detection temperature in the upper and lower preset areas of the eyes of the driver;
(4) the infrared camera outputs a human eye positioning area, a human eye profile and an eyeball sampling point are obtained, and whether a driver is in a fatigue driving state or not is judged according to the proportion and time of the eyeball being shielded in unit time;
(5) the infrared camera is combined with a left steering lamp control signal, a right steering lamp control signal and a steering wheel turning angle signal, and whether the attention of the driver is concentrated or not is judged according to the head deviation direction and the eyeball pointing angle of the driver;
(6) when the infrared camera or the thermal imaging camera judges that the driver does not wear a safety helmet or a dust mask or is in a fatigue driving state or a driving state with inattention, the driver state monitoring camera sends an alarm signal to the control module 1;
(7) control module 1 shows alarm information through the liquid crystal display in display module 6 to continuously send out warning prompt tone, warn the driver to pay attention to driving safety.
Example 3:
and respectively installing an RFID identification card A and an RFID identification card B at the head and the tail of the section of the lane with the need of limiting the speed or the accident multiple-occurrence lane. When the trackless rubber-tyred vehicle runs and approaches to the RFID identification card A, the RFID identifier reads the speed limit information stored in the RFID identification card A and sends the speed limit information to the control module 1, the control module 1 sends a control signal to the execution module 7 according to the speed limit information, and the vehicle speed is adjusted to the speed limit value to continue running. When the trackless rubber-tyred vehicle runs and approaches to the RFID identification card B, the RFID identifier reads speed limit releasing information stored in the RFID identification card B and sends the speed limit releasing information to the control module 1, and the control module 1 sends control information to the execution module 7 to adjust the vehicle speed to the normal running speed to continue running.
Example 4:
the positioning module 5 sends information such as position information and moving direction of personnel and vehicles near the trackless rubber-tyred vehicle to the dispatching platform, the control module 1 interacts information with the dispatching platform through the wireless communication module to acquire information such as position information and moving direction of the personnel and vehicles near the trackless rubber-tyred vehicle, and the control module 1 calculates whether the nearby personnel and vehicles enter a running path of the trackless rubber-tyred vehicle from a branch roadway according to the acquired information; if collision possibility exists, the control module 1 controls the trackless rubber-tyred vehicle to properly decelerate, and simultaneously sends an alarm instruction to the voice alarm in the execution module 7, and the voice alarm gives out an alarm prompt tone to warn people and vehicles in the branch roadway to avoid.
Example 5:
control module 1 passes through laser radar perception module, the personnel at millimeter wave radar perception module real-time detection rear, the relative distance of vehicle distance trackless rubber-tyred car, relative angle and relative speed, when rear vehicle, personnel are less than when safe following the car distance apart from trackless rubber-tyred car, control module 1 sends alarm signal to the audio alert ware in the execution module 7, audio alert ware sends the warning prompt tone to rear vehicle and personnel, the warning rear vehicle is noticed and is kept safe inter-vehicle distance.
Example 6:
the panoramic cameras in the video module 4 are respectively arranged on the front, back, left and right sides of the trackless rubber-tyred vehicle, shoot video pictures and transmit the video pictures to the control module 1, and the control module 1 controls and synthesizes the video pictures into a 360-degree panoramic image.
The ultrasonic radar sensing in the information acquisition module 2 is respectively arranged on the front, the back, the left and the right of the vehicle and is used for detecting the short-distance obstacles, the ultrasonic radar sensing module converts the acquired information into digital signals and transmits the digital signals to the control module 1, and the control module 1 calculates the distance between the trackless rubber-tyred vehicle and the target obstacles.
The control module 1 sends 360-degree panoramic image information and a distance signal between the trackless rubber-tyred vehicle and a target obstacle to a liquid crystal display screen in the display module 6. Therefore, when a driver turns and backs at a small angle in a roadway, the driver can operate the turning and the backing of the vehicle by observing the panoramic image picture around the trackless rubber-tyred vehicle displayed in the liquid crystal display screen and indicating the distance between the vehicle and the obstacle.
The trackless rubber-tyred vehicle assistant driving system and the control method provided by the invention can monitor the driving behavior and state of a driver, actively early warn and prompt the driver, and realize safe and preventive driving; under an emergency condition, when safety measures such as speed reduction, braking and the like can be taken in time, emergency braking can be automatically realized, so that accidents such as rear-end collision and the like are reduced, and personnel and property loss is reduced.
It should be understood that the above-described specific embodiments are merely illustrative of the present invention and are not intended to limit the present invention. Obvious variations or modifications which are within the spirit of the invention are possible within the scope of the invention.
Claims (10)
1. The utility model provides a trackless rubber-tyred car driver assistance system which characterized in that includes:
the information acquisition module is used for detecting and sensing the surrounding environment of the vehicle and acquiring the running information of the trackless rubber-tyred vehicle;
the communication module is used for carrying out information interaction with the scheduling platform;
the video module is used for detecting the surrounding environment and monitoring the state of a driver;
the positioning module is used for reporting the position information of the trackless rubber-tyred vehicle and the personnel and vehicles nearby the trackless rubber-tyred vehicle to the scheduling platform;
the display module is used for receiving and displaying the alarm information and carrying out voice reminding;
the execution module is used for receiving the control information and completing response state conversion;
the control module is used for controlling the information acquisition module, the communication module, the video module, the positioning module, the display module and the execution module;
the video module comprises a driver state monitoring camera, the driver state monitoring camera is integrated with an infrared camera and a thermal imaging camera and used for detecting the driving state and the driving behavior of a driver, and when the driving behavior or the driving state that the driver affects the driving safety is monitored, the driver state monitoring camera sends an alarm signal to the control module.
2. The system as claimed in claim 1, wherein the information collecting module comprises at least a lidar sensing module, a millimeter wave radar sensing module, an ultrasonic radar sensing module, a vehicle speed sensor, an inclination sensor and a rotation angle sensor, the lidar sensing module is mounted on the front side and the rear side of the vehicle, the millimeter wave radar sensing module is mounted on the front side and the rear side of the vehicle, and the ultrasonic radar sensing module is mounted on the front, the rear, the left and the right of the vehicle.
3. The auxiliary driving system of a trackless rubber-tyred vehicle of claim 2, wherein the information acquisition module further comprises a radio frequency identifier, the radio frequency identifier obtaining speed limit information by identifying a passive radio frequency identification card; the display module comprises a liquid crystal display screen and a head-up display system, and the head-up display system projects warning light stripes and sends out warning prompt tones.
4. The auxiliary driving system of a trackless rubber-tyred vehicle of claim 3, wherein the communication module is a wireless communication module, including a 5G communication module, a 4G communication module and a WIFI communication module, and the wireless communication module performs information interaction with the dispatching platform through a downhole base station.
5. The auxiliary driving system of a trackless rubber-tyred vehicle as claimed in claim 4, wherein the video module further comprises a panoramic camera and a thermal infrared imager, wherein the number of the panoramic camera is at least 4, the panoramic camera and the thermal infrared imager are respectively mounted on the upper portions of the front, the rear, the left and the right of the vehicle, and the thermal infrared imager is mounted on the front side of the vehicle.
6. A trackless rubber-tyred vehicle driver assist system according to claim 5, wherein said actuator module comprises a digital amplifier, a proportional solenoid valve, a seat belt tightening device, and a voice alarm, wherein said digital amplifier provides a current signal to said proportional solenoid valve, and said proportional solenoid valve converts said current signal into a force to adjust the brake pressure.
7. A control method of a trackless rubber-tyred vehicle assistant driving system is applied to the trackless rubber-tyred vehicle assistant driving system as claimed in any one of claims 1 to 6, and mainly comprises the following steps:
(1) the laser radar sensing module, the millimeter wave radar sensing module and the thermal infrared imager detect a target obstacle in front of the trackless rubber-tyred vehicle in real time, acquire the relative distance, the relative angle and the relative speed of the trackless rubber-tyred vehicle and the target obstacle, and transmit the relative distance, the relative angle and the relative speed to the control module;
(2) the control module calculates collision time according to the relative distance, the relative angle and the relative speed;
(3) when the collision time is smaller than the collision early warning time threshold value, the control module sends an alarm signal to the display module and the execution module, the head-up display system gives an alarm prompt, and the safety belt tightening device generates a safety belt tightening constraint force;
(4) when the collision time is smaller than the collision emergency braking time threshold value, the control module acquires the current vehicle speed and vehicle pitch angle information and outputs a braking pressure control signal to the digital amplifier, the digital amplifier provides a corresponding current signal for the proportional solenoid valve according to the control signal, and the proportional solenoid valve converts the current signal into force to realize the braking pressure regulation of the trackless rubber-tyred vehicle.
8. A control method for a trackless rubber-tyred vehicle aided steering system according to claim 7, wherein the method further comprises the steps of:
(1) respectively installing a passive radio frequency identification card A and a passive radio frequency identification card B at the head and the tail of a section of a roadway with multiple accidents and needing speed limitation;
(2) when the trackless rubber-tyred vehicle is driven to approach the passive radio frequency identification card A, the wireless radio frequency identification device reads the speed limit information stored by the passive radio frequency identification card A and sends the speed limit information to the control module, and the control module adjusts the vehicle speed to the speed limit value through the control execution module to continue driving;
(3) when the trackless rubber-tyred vehicle runs close to the passive radio frequency identification card B, the radio frequency identification device reads speed limit releasing information stored in the passive radio frequency identification card B and sends the speed limit releasing information to the control module, and the control module adjusts the vehicle speed to a normal running speed.
9. A control method for a trackless rubber-tyred vehicle aided steering system according to claim 8, wherein the method further comprises the steps of:
(1) the infrared camera is used for identifying and positioning the head of the driver;
(2) the thermal imaging camera detects the head of the driver according to the positioning information of the infrared camera;
(3) the thermal imaging camera judges whether the driver wears a safety helmet or a dust mask according to the average value of the detection temperature in the upper and lower preset areas of the eyes of the driver;
(4) the infrared camera outputs a human eye positioning area, a human eye profile and an eyeball sampling point are obtained, and whether a driver is in a fatigue driving state or not is judged according to the proportion and time of the eyeball being shielded in unit time;
(5) the infrared camera is combined with a left steering lamp control signal, a right steering lamp control signal and a steering wheel turning angle signal, and whether the attention of the driver is concentrated or not is judged according to the head deviation direction and the eyeball pointing angle of the driver;
(6) when the infrared camera or the thermal imaging camera judges that the driver does not wear a safety helmet or a dust mask or is in a fatigue driving state or a driving state with inattention, the driver state monitoring camera sends an alarm signal to the control module;
(7) the control module displays the alarm information through the liquid crystal display screen and sends out an alarm prompt tone.
10. A control method for a trackless rubber-tyred vehicle aided steering system according to claim 9, wherein the method further comprises the steps of:
the positioning module sends the position information and the movement direction of personnel and vehicles near the trackless rubber-tyred vehicle to the dispatching platform;
the control module interacts information with the dispatching platform through the wireless communication module to acquire position information and movement direction of personnel and vehicles near the trackless rubber-tyred vehicle;
the control module measures and calculates whether the possibility of collision exists between the trackless rubber-tyred vehicle and nearby personnel and vehicles according to the acquired position information and the movement direction;
if collision possibility exists, the control module controls the trackless rubber-tyred vehicle to decelerate, and the voice alarm in the execution module gives out alarm prompt sound.
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| CN112947496A (en) * | 2021-05-05 | 2021-06-11 | 中国矿业大学 | Unmanned trackless rubber-tyred vehicle standardized transportation platform and control method thereof |
| CN114005105A (en) * | 2021-12-30 | 2022-02-01 | 青岛以萨数据技术有限公司 | Driving behavior detection method and device and electronic equipment |
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| CN112947496A (en) * | 2021-05-05 | 2021-06-11 | 中国矿业大学 | Unmanned trackless rubber-tyred vehicle standardized transportation platform and control method thereof |
| CN114005105A (en) * | 2021-12-30 | 2022-02-01 | 青岛以萨数据技术有限公司 | Driving behavior detection method and device and electronic equipment |
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