CN112793507A - Blind area early warning braking system based on inertial device perception vehicle right turn motion characteristic - Google Patents
Blind area early warning braking system based on inertial device perception vehicle right turn motion characteristic Download PDFInfo
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- CN112793507A CN112793507A CN202011278000.XA CN202011278000A CN112793507A CN 112793507 A CN112793507 A CN 112793507A CN 202011278000 A CN202011278000 A CN 202011278000A CN 112793507 A CN112793507 A CN 112793507A
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- vehicle
- early warning
- blind area
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/022—Collision avoidance systems
Abstract
The invention discloses a blind area early warning braking system for sensing the motion characteristic of the right turn of a vehicle based on an inertial device, which is characterized in that the motion characteristic of the right turn of the vehicle is collected based on a vehicle attitude sensor, and the traveling attitude of the vehicle is calculated to distinguish the radius of the right turn and the range of related blind areas; meanwhile, monitoring pedestrians/vehicles near the vehicle head and on the right side of the vehicle body based on the intelligent optical + radar; measuring and calculating the relative distance and azimuth angle between the pedestrian and the vehicle from the vehicle body in real time; the core control unit calculates and calculates the intersection point of the direction of the target and the vehicle body and the vehicle running track so as to make early warning braking operation; the invention can avoid the occurrence of a malignant safety accident when a large carrying vehicle has a large right-turning blind area, can actively identify and actively prevent the generation of danger, and warns the final early warning brake operation at the dangerous moment.
Description
Technical Field
The invention belongs to the technical field of vehicle auxiliary driving, and particularly relates to a blind area early warning braking system for sensing the characteristic of right-turn motion of a vehicle based on an inertial device.
Background
In the existing market, vision blind area systems such as 360-degree look around are adopted, or the condition of a vehicle body is simply displayed to a driver, so that a great deal of energy of the driver is occupied for observing screen content, and the driver is mainly focused on other road conditions such as coming vehicles from the left side and the right side. Or the pedestrian is subjected to undifferentiated early warning aiming at the video sensor, and the driving experience of a driver is greatly interfered by undifferentiated early warning sound.
From the above, the defects of the existing system are mainly caused by the fact that dangerous areas in the dead areas cannot be sensed and distinguished.
Disclosure of Invention
In view of the above, the invention provides a blind area early warning braking system based on sensing of vehicle right turning movement characteristics by an inertial device, which can avoid a serious safety accident when a large-sized carrier vehicle has a large right turning blind area, can actively identify and actively prevent danger generation, and warns a final early warning braking operation at a dangerous moment.
The technical scheme for realizing the invention is as follows:
the blind area early warning and braking system comprises a millimeter wave and ultrasonic wave radar sensor, an intelligent optical sensor, a vehicle body posture measuring unit, an in-vehicle and out-vehicle sound and light and electricity early warning unit, an intelligent braking robot and a core control unit, wherein the blind area early warning and braking system senses the right turning motion characteristic of a vehicle on the basis of an inertial device;
the millimeter wave and ultrasonic radar sensors are used for detecting the distances from obstacles appearing in a front dead zone of a vehicle head of the large vehicle to the vehicle head and a side dead zone of the vehicle body to the vehicle head and the vehicle body respectively and transmitting the distances to the core control unit;
the intelligent optical sensor detects barrier information of blind areas in the front direction of the locomotive and the side direction of the locomotive body through a large amount of data AI training and transmits the barrier information to the core control unit;
the vehicle body posture measuring unit is used for measuring the running state of a vehicle body, calculating the turning blind area range of the vehicle body according to the running state, and transmitting the turning blind area range to the core control unit;
on one hand, the core control unit receives data of the millimeter wave and ultrasonic radar sensor and the intelligent optical sensor, fuses and outputs the data of the millimeter wave and ultrasonic radar sensor and the intelligent optical sensor through a multi-source data fuzzy matching algorithm, and angle information is obtained by performing video characteristic value matching filtering on radar angles, so that measurement errors caused by instability of the millimeter wave and ultrasonic radar sensor RCS are reduced; thus, the identification and position measurement of the obstacles in the vehicle blind area are completed; on the other hand, the difference between the inner wheels of the front wheel and the rear wheel of the vehicle is calculated through the measured value of the micro-electromechanical inertia device, the vehicle body track is predicted and calculated, and the vehicle body track is matched with the vehicle blind area range; whether the barrier is located in an overlapping area of the track and the blind area is confirmed, and early warning is carried out on pedestrians or vehicles only located in the blind area; alarming and braking pedestrians or vehicles in the blind area and the overlapping area of the driving tracks;
the intelligent braking robot generates the maximum braking force by acting on a brake pedal under the control of the core control unit;
the interior and exterior sound and light early warning units of the vehicle perform early warning and broadcasting on the positions of pedestrians or vehicles under the control of the core control unit, and the exterior sound and light early warning unit warns the pedestrians or vehicles suddenly in the blind area in loud mode.
Has the advantages that:
the invention can solve the problems that the existing blind zone protection system has single function, a driver needs to stare at a 360-degree all-round screen all the time, or indiscriminate warning is carried out on a target appearing in an optical viewing angle, the attention of the driver is greatly dispersed, great psychological burden is brought to the driver, even the driver feels repugnance, and the operation of a blind zone active safety system is damaged.
Secondly, the blind area and the vehicle body driving track are accurately identified, the overlapped area is mainly monitored, the driver and passersby are only reminded of danger in the pure blind area, and braking can be started only when a target rushing into the driving track.
Thirdly, the method realizes accurate identification and accurate measurement of the target by fusing radar and optical data, only carries out early warning on pedestrians and vehicles in the blind area, and simultaneously measures the distance and the direction of the pedestrians and the vehicles to the vehicle body. The false alarm rate and the safety of the system are greatly reduced, and the applicability of the system in special application scenes is improved.
Drawings
FIG. 1 is a general block diagram of a blind area early warning braking system based on the characteristic that an inertial device senses the right-turning motion of a vehicle.
FIG. 2 is a schematic view of a vehicle blind zone model according to the present invention.
FIG. 3 is a schematic diagram of the calculation of the driving trajectory of the vehicle according to the present invention.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
As shown in fig. 1, the embodiment provides a blind area early warning braking system for sensing a vehicle right-turn motion characteristic based on an inertial device, and the blind area early warning braking system collects the vehicle right-turn motion characteristic based on a vehicle attitude sensor, and calculates a right-turn radius and a related blind area range of a vehicle driving attitude distinction. Meanwhile, pedestrians/vehicles near the vehicle head and on the right side of the vehicle body are monitored based on the intelligent optical + radar. And measuring the relative distance and the azimuth angle of the pedestrian/vehicle from the vehicle body in real time. The core control unit calculates and calculates the intersection point of the direction of the target and the vehicle body and the vehicle running track, and then performs early warning braking operation. Meanwhile, the attention of drivers and pedestrians on the road surface is fully collected, and the efforts are jointly made for the driving safety of road vehicles.
The system specifically comprises 6 parts including a millimeter wave and ultrasonic radar sensor, an intelligent optical sensor, a core control unit, an in-vehicle and out-vehicle sound and light and electricity early warning unit, a vehicle body posture measuring unit and an intelligent braking robot.
And the millimeter wave and ultrasonic wave radar sensor is used for detecting barrier information including the distance and the relative speed of the barrier in the forward direction of the locomotive and in the lateral dead zone of the locomotive body and outputting the related information to the core control unit.
The intelligent optical sensor is trained by a large amount of data AI, is used for detecting the attributes, relative position information and the like of obstacles in the front direction of the locomotive and in the side direction of the locomotive body and transmitting the attributes, the relative position information and the like to the core control unit; the monocular optical sensor used in the embodiment is based on a megapixel high-definition color camera and a high-performance SOC embedded platform, meets the requirement of deep learning calculation amount by reasonably utilizing resources such as multi-core isomerism and an accelerator, and realizes a high-performance visual product based on deep learning. And a plurality of high and new technologies such as image recognition, tracking, dangerous behavior assessment and the like are adopted to realize vehicle detection, pedestrian and rider recognition and distance measurement.
And a vehicle body posture measuring unit for calculating a running track of the vehicle such as a turning radius and the like by measuring the vehicle body speed, the acceleration, the course angular velocity in real time. And according to a formula r, the vehicle speed upsilon and the vehicle course angular speed omega, the turning radius r is calculated, and the vehicle body track is calculated and transmitted to the core control unit.
The core control unit identifies the barrier based on the millimeter wave and ultrasonic radar sensors and the intelligent optical composite sensor, can effectively integrate and make up the defects of false alarm and poor ranging precision caused by a single sensor, and effectively identifies the barrier and positions the relative position of the barrier. The method avoids the phenomenon that the pedestrian gives early warning when a single optical pedestrian appears, or huge psychological pressure and sound interference brought to a driver are avoided by 360-degree look around. The complex condition of the system in the vehicle running operation environment is improved better. Millimeter wave and ultrasonic radar sensors cannot distinguish attributes of a forward target, such as a small dune, large rocks, etc. on a construction site that is not feared by a muck vehicle. This situation allows such non-obstacle targets to be effectively identified and rejected by the intelligent optical sensor. The intelligent optical sensor cannot effectively output the relative distance of the target and cannot be used as a single source for blind area braking control.
And the core control unit carries out comprehensive judgment according to the vehicle body track, the relative position relation of the obstacles and the blind area range. On one hand, radar and video data are received, results of the optical and millimeter wave radars are fused and output through a multi-source data fuzzy matching algorithm, meanwhile, video characteristic value matching filtering is carried out on radar angles, and measuring errors caused by radar RCS instability are reduced. Therefore, the identification and position measurement of pedestrians near the vehicle blind area are completed; on the other hand, the difference of the inner wheels of the front wheel and the rear wheel of the vehicle is calculated through the measured value of the micro-electromechanical inertia device, the track of the vehicle body is calculated, and the track is matched with the range of the blind area of the vehicle. And determining whether the target is located in an overlapping area of the track and the blind area, and early warning the target located in the blind area. And alarming and braking the targets in the blind area and the driving track.
And early warning inside and outside the vehicle is carried out aiming at the target entering the blind area range, and dangerous pedestrians and vehicles in the blind area of the driver are prompted through the in-vehicle sound-light-electricity early warning unit. Meanwhile, the outside-vehicle sound and light and electricity early warning unit prompts pedestrians entering the blind area to keep away from the large heavy-load transport vehicle through loud warning. Keep away from the blind area scope of vehicle, avoid taking place latent accident.
Aiming at the target entering the blind area and entering the running track, the system can start emergency braking on the basis of early warning, so that collision and malignant rolling are avoided.
The intelligent braking robot acts on a brake pedal to complete forced output under the instruction of the core control unit.
The interior/exterior sound and light early warning unit of the vehicle can carry out early warning and broadcast under the control of the core control unit, and meanwhile, the exterior sound and light early warning unit can warn pedestrians or vehicles which suddenly appear in the blind area in a loud way.
The invention mainly analyzes and calculates the vehicle running track, only carries out early warning on pedestrians and drivers aiming at dangerous scenes, but not indiscriminate early warning under any scenes, and avoids unnecessary interference on the drivers and surrounding pedestrians. And simultaneously avoids the heavy monitoring pressure brought to the driver by pure 360-degree look-around.
As shown in fig. 2, the blind area of the vehicle in the present embodiment is adjusted by the rearview mirror, and the calculation of the blind area of the vehicle cannot be predicted, and is calculated according to the left and right sides of the vehicle body, 2m in front of the vehicle head, and 10m behind the vehicle. The area beyond the part is not counted as a blind area, and no early warning action is required.
As shown in fig. 3, whether it will enter the driving track is calculated according to the obstacle distance detected by the vehicle body sensor in real time. In the process of turning and driving the vehicle body, the detection distance of the sensor and the calculation process of the vehicle body track are as follows:
Ul1＝Ult-vl
the track radius of the point A on the left front side of the vehicle body is Rout, and the track radius of the point C on the right rear side of the vehicle body is Rmin. Vl and Vw are the wheelbase and the wheelbase. Ul1 is the threshold for the first sensor to avoid a collision while turning. Uwl is the distance of the first sensor from the right side of the vehicle body.
When the left 1 detects a distance L ≧ Ul1, the target will not be collided by the vehicle. When the left 1 detects the distance L < Ul1, the object is collided by the vehicle, and a braking signal is sent out.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A blind area early warning braking system based on sensing of vehicle right-turning motion characteristics of an inertial device is characterized by comprising a millimeter wave and ultrasonic radar sensor, an intelligent optical sensor, a vehicle body posture measuring unit, an in-vehicle and out-vehicle sound and light early warning unit, an intelligent braking robot and a core control unit.
2. The system as claimed in claim 1, wherein the millimeter wave and ultrasonic radar sensors are used for detecting the distance between the vehicle head and the vehicle body and the distance between obstacles appearing in the front dead zone of the vehicle head and the side dead zone of the vehicle body of the large vehicle respectively, and transmitting the distances to the core control unit.
3. The dead zone early warning braking system based on inertial device perception vehicle right turn motion characteristic of claim 1, characterized by, intelligent optical sensor, through a large amount of data AI training, detect locomotive forward and automobile body side direction dead zone barrier information, and transmit to the core control unit.
4. The system of claim 1, wherein the body attitude measuring unit is configured to measure the operating state of the body of the vehicle, calculate the blind turning zone of the body therefrom, and transmit the blind turning zone to the core control unit.
5. The dead zone early warning braking system based on sensing of vehicle right turn motion characteristics by an inertial device as claimed in claim 1, wherein the core control unit, on one hand, receives data of the millimeter wave and ultrasonic radar sensor and the intelligent optical sensor, and fuses and outputs the data of the millimeter wave and ultrasonic radar sensor and the intelligent optical sensor through a multi-source data fuzzy matching algorithm, and angle information is obtained by performing video characteristic value matching filtering on radar angles, so that measurement errors caused by RCS instability of the millimeter wave and ultrasonic radar sensor are reduced; thus, the identification and position measurement of the obstacles in the vehicle blind area are completed; on the other hand, the difference between the inner wheels of the front wheel and the rear wheel of the vehicle is calculated through the measured value of the micro-electromechanical inertia device, the vehicle body track is predicted and calculated, and the vehicle body track is matched with the vehicle blind area range; whether the barrier is located in an overlapping area of the track and the blind area is confirmed, and early warning is carried out on pedestrians or vehicles only located in the blind area; and alarming and braking the pedestrians or vehicles in the blind area and the driving track overlapping area.
6. The dead-zone pre-warning braking system based on the inertia device sensing vehicle right-turning motion characteristic as claimed in claim 1, wherein the intelligent braking robot generates the maximum braking force by acting on a brake pedal under the control of the core control unit.
7. The blind area early warning and braking system based on the inertia device sensing vehicle right-turning motion characteristic as claimed in claim 1, wherein the in-vehicle and out-vehicle acoustic-optical early warning units, under the control of the core control unit, perform early warning and broadcasting on the positions of pedestrians or vehicles by the in-vehicle acoustic-optical early warning unit, and simultaneously, the out-vehicle acoustic-optical early warning unit warns the pedestrians or vehicles suddenly appearing in the blind area in loud sound.
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| CN113997862A (en) * | 2021-11-19 | 2022-02-01 | 中国重汽集团济南动力有限公司 | Engineering truck blind area monitoring and early warning system and method based on redundant sensors |
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| CN115230684A (en) * | 2021-08-20 | 2022-10-25 | 广州汽车集团股份有限公司 | Forward anti-collision method and system |
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