CN112896293A - Vehicle steering control system based on signal processing - Google Patents
Vehicle steering control system based on signal processing Download PDFInfo
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- CN112896293A CN112896293A CN202110089278.0A CN202110089278A CN112896293A CN 112896293 A CN112896293 A CN 112896293A CN 202110089278 A CN202110089278 A CN 202110089278A CN 112896293 A CN112896293 A CN 112896293A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/20—Links, e.g. track rods
Abstract
The invention relates to a vehicle steering control system based on signal processing, which comprises: the steering mechanism main body comprises intelligent power-assisted equipment, a steering column, a left drag link, a steering wheel, a steering gear, a left trapezoidal arm, a left steering pull rod, a right drag link, a right trapezoidal arm and a right steering pull rod; the intelligent power-assisted device is used for adjusting the steering resistance of the corresponding side face of the steering gear based on the received single-side real-time distance; and the parameter analysis mechanism is used for calculating the corresponding right real-time distance based on the real-time depth of field value of the object with the shallowest depth of field in the received right processed image, and calculating the corresponding left real-time distance based on the real-time depth of field value of the object with the shallowest depth of field in the received left processed image. The vehicle steering control system based on signal processing is intelligent, stable and safe in control. The steering resistance on the corresponding side of the steering wheel can be adaptively adjusted based on the approach degree of the single-side object, so that the false action probability of the vehicle steering system is reduced.
Description
Technical Field
The invention relates to the field of vehicle steering control, in particular to a vehicle steering control system based on signal processing.
Background
Vehicle steering systems are a series of devices used to change or maintain the direction of travel or reverse of a vehicle. The function of the steering system of the automobile is to control the driving direction of the automobile according to the intention of the driver. The steering system of an automobile is important to the driving safety of the automobile, so parts of the steering system of the automobile are called safety parts. The automobile steering system and the automobile braking system are two systems which must be considered as important for automobile safety.
During the driving process of the automobile, the driving direction of the automobile needs to be changed frequently according to the intention of a driver, namely the automobile steering. In the case of wheeled vehicles, steering is achieved by a driver by means of a set of dedicated mechanisms that deflect the wheels (steering wheels) of a steering axle (typically the front axle) of the vehicle at an angle relative to the longitudinal axis of the vehicle. When the automobile runs in a straight line, the steering wheel is always subjected to the action of lateral interference force on the road surface and automatically deflects to change the running direction. In this case, the driver can also turn the steered wheels in the opposite direction by using the mechanism, so that the vehicle can return to the original driving direction. The special mechanism for changing or recovering the driving direction of the automobile is called an automobile steering system (commonly called an automobile steering system).
At present, the intelligent design of the steering system of the vehicle mainly focuses on the power-assisted control aspect of the steering wheel, for example, the power-assisted size of the steering wheel is increased for women or small drivers, so that the steering of the steering wheel is more flexible. However, the flexible steering wheel makes a safety control of steering hidden danger, especially when the driver makes a steering misjudgment, for example, the unilateral object is too close but the driver still makes a wrong decision to steer to the unilateral object, and of course, if the driver is simply stuck with the wrong steering direction, the driving will be obviously violated, for example, in case of an emergency avoidance driving scene, the stuck steering direction also reduces the safety performance of the vehicle steering control.
Disclosure of Invention
The invention at least needs to have the following two important points:
(1) a steering mechanism main body comprising intelligent power-assisted equipment, a steering column, a left drag link, a steering wheel, a steering gear, a left trapezoidal arm, a left steering drag link, a right trapezoidal arm and a right steering drag link is introduced, so that a reliable hardware platform is provided for the intelligent steering control of the vehicle;
(2) when the object on one side of the vehicle is detected to be closer, the lifting amplitude of the steering resistance on the corresponding side of the steering gear is larger, so that the steering freedom is ensured, and the steering accident caused by the misjudgment of a driver is avoided.
According to an aspect of the present invention, there is provided a signal processing-based vehicle steering control system, the system comprising:
the steering mechanism main part sets up in the driver's cabin of vehicle, including intelligent helping hand equipment, steering column, left side drag link, steering wheel, steering gear, the trapezoidal arm in left side, left side steering linkage, right side drag link, the trapezoidal arm in right side and right side steering linkage.
More specifically, in the signal processing-based vehicle steering control system:
in the steering mechanism main body, one side of the steering column is connected to the steering wheel, and the other side is connected to the steering gear.
More specifically, in the signal processing-based vehicle steering control system:
in the steering mechanism main body, the left trapezoidal arm, the left steering pull rod, the left drag link, the steering gear, the right trapezoidal arm, the right steering pull rod and the right drag link are sequentially arranged in the horizontal direction from left to right.
More specifically, in the signal processing-based vehicle steering control system, further comprising:
the intelligent power-assisted device is connected with the steering gear and used for adjusting steering resistance to the corresponding side face of the steering gear based on the received single-side real-time distance;
a side capture mechanism including a left side capture device and a right side capture device, the mechanisms of which are the same, disposed below a left headlight and a right headlight of the vehicle, respectively, for performing capture of a left-side travel image and a right-side travel image of the vehicle, respectively;
the instant filtering mechanism is connected with the side capturing mechanism and used for carrying out adaptive filtering processing on the received left driving image to obtain a left filtering image and also used for carrying out adaptive filtering processing on the received right driving image to obtain a right filtering image;
the targeted processing mechanism is connected with the instant filtering mechanism and is used for sequentially performing contrast lifting operation and image enhancement operation on the left filtered image to obtain a left processed image and also used for sequentially performing contrast lifting operation and image enhancement operation on the right filtered image to obtain a right processed image;
the parameter analysis mechanism is connected with the targeted processing mechanism and used for calculating a corresponding right real-time distance based on the real-time depth of field value of the object with the shallowest depth of field in the right processed image and calculating a corresponding left real-time distance based on the real-time depth of field value of the object with the shallowest depth of field in the left processed image;
the parameter analysis mechanism is also connected with the intelligent power-assisted equipment and is used for sending the left real-time distance or the right real-time distance to the intelligent power-assisted equipment as a single-side real-time distance;
wherein calculating the corresponding right real-time distance based on the real-time depth value of the object with the shallowest depth of field in the right processed image comprises: the deeper the real-time depth value of the object with the shallowest depth of field in the right processed image is, the farther the right real-time distance obtained by calculation is;
adjusting a steering resistance to a corresponding side of the diverter based on the received one-sided real-time distance includes: adjusting a steering resistance to a right direction of the steering based on the received right real-time distance.
The vehicle steering control system based on signal processing is intelligent, stable and safe in control. The steering resistance on the corresponding side of the steering wheel can be adaptively adjusted based on the approach degree of the single-side object, so that the false action probability of the vehicle steering system is reduced.
Detailed Description
Embodiments of the signal processing based vehicle steering control system of the present invention will be described in detail below.
Signal processing is the fundamental theory and technique of telecommunications. Its mathematical theory includes equation theory, function theory, number theory, random process theory, least square method and optimization theory, etc. its technology support is circuit analysis, synthesis and electronic computer technology. Signal processing has a close relationship with modern pattern recognition, artificial intelligence, neural network calculation, multimedia information processing and the like, and the signal processing closely links basic theory and engineering application. Therefore, the signal processing is a subject which not only has a complex mathematical analysis background, but also has a wide practical engineering prospect.
Signal processing has been developed with digital signal processing as the center. This is because the signal can be generally represented in a digitized form, and the digitized signal can be calculated or processed on an electronic computer through software, so that no matter how complex the operation is, the calculation can be simulated on the electronic computer as long as the mathematical analysis can be performed and an optimal solution can be obtained. If the calculation speed is proper and fast, the calculation can be completed in real time by using an ultra-large special digital signal processing chip. Therefore, digital signal processing technology is one of the most active disciplines in the development of information technology.
At present, the intelligent design of the steering system of the vehicle mainly focuses on the power-assisted control aspect of the steering wheel, for example, the power-assisted size of the steering wheel is increased for women or small drivers, so that the steering of the steering wheel is more flexible. However, the flexible steering wheel makes a safety control of steering hidden danger, especially when the driver makes a steering misjudgment, for example, the unilateral object is too close but the driver still makes a wrong decision to steer to the unilateral object, and of course, if the driver is simply stuck with the wrong steering direction, the driving will be obviously violated, for example, in case of an emergency avoidance driving scene, the stuck steering direction also reduces the safety performance of the vehicle steering control.
In order to overcome the defects, the invention builds a vehicle steering control system based on signal processing, and can effectively solve the corresponding technical problem.
The vehicle steering control system based on signal processing according to the embodiment of the present invention includes:
the steering mechanism main part sets up in the driver's cabin of vehicle, including intelligent helping hand equipment, steering column, left side drag link, steering wheel, steering gear, the trapezoidal arm in left side, left side steering linkage, right side drag link, the trapezoidal arm in right side and right side steering linkage.
Next, a detailed description of the signal processing-based vehicle steering control system according to the present invention will be further described.
In the signal processing-based vehicle steering control system:
in the steering mechanism main body, one side of the steering column is connected to the steering wheel, and the other side is connected to the steering gear.
In the signal processing-based vehicle steering control system:
in the steering mechanism main body, the left trapezoidal arm, the left steering pull rod, the left drag link, the steering gear, the right trapezoidal arm, the right steering pull rod and the right drag link are sequentially arranged in the horizontal direction from left to right.
In the signal processing-based vehicle steering control system, the system further includes:
the intelligent power-assisted device is connected with the steering gear and used for adjusting steering resistance to the corresponding side face of the steering gear based on the received single-side real-time distance;
a side capture mechanism including a left side capture device and a right side capture device, the mechanisms of which are the same, disposed below a left headlight and a right headlight of the vehicle, respectively, for performing capture of a left-side travel image and a right-side travel image of the vehicle, respectively;
the instant filtering mechanism is connected with the side capturing mechanism and used for carrying out adaptive filtering processing on the received left driving image to obtain a left filtering image and also used for carrying out adaptive filtering processing on the received right driving image to obtain a right filtering image;
the targeted processing mechanism is connected with the instant filtering mechanism and is used for sequentially performing contrast lifting operation and image enhancement operation on the left filtered image to obtain a left processed image and also used for sequentially performing contrast lifting operation and image enhancement operation on the right filtered image to obtain a right processed image;
the parameter analysis mechanism is connected with the targeted processing mechanism and used for calculating a corresponding right real-time distance based on the real-time depth of field value of the object with the shallowest depth of field in the right processed image and calculating a corresponding left real-time distance based on the real-time depth of field value of the object with the shallowest depth of field in the left processed image;
the parameter analysis mechanism is also connected with the intelligent power-assisted equipment and is used for sending the left real-time distance or the right real-time distance to the intelligent power-assisted equipment as a single-side real-time distance;
wherein calculating the corresponding right real-time distance based on the real-time depth value of the object with the shallowest depth of field in the right processed image comprises: the deeper the real-time depth value of the object with the shallowest depth of field in the right processed image is, the farther the right real-time distance obtained by calculation is;
adjusting a steering resistance to a corresponding side of the diverter based on the received one-sided real-time distance includes: adjusting a steering resistance to a right direction of the steering based on the received right real-time distance.
In the signal processing-based vehicle steering control system:
calculating a corresponding left real-time distance based on the real-time depth value of the object with the shallowest depth of field in the left processed image comprises: the deeper the real-time depth value of the object with the shallowest depth of field in the left-side processed image is, the farther the left-side real-time distance obtained by calculation is.
In the signal processing-based vehicle steering control system:
adjusting a steering resistance to a corresponding side of the diverter based on the received one-sided real-time distance includes: adjusting a steering resistance to a left direction of the steering gear based on the received left real-time distance.
In the signal processing-based vehicle steering control system:
adjusting a steering resistance to a left direction of the steering based on the received left real-time distance comprises: the closer the received real-time distance of the left side is, the greater the adjusted steering resistance to the left side direction of the steering gear.
In the signal processing-based vehicle steering control system:
adjusting a steering resistance to a left direction of the steering based on the received left real-time distance comprises: the closer the received real-time distance to the right, the greater the adjusted steering resistance to the right direction of the steering gear.
In the signal processing-based vehicle steering control system:
the instant filtering mechanism comprises a first filtering device and a second filtering device, wherein the first filtering device is used for carrying out self-adaptive filtering processing on the received left driving image so as to obtain a left filtering image, and the second filtering device is used for carrying out self-adaptive filtering processing on the received right driving image so as to obtain a right filtering image.
Wherein the targeted processing mechanism comprises a first processing device and a second processing device for performing a contrast boost operation and an image enhancement operation on the received image, respectively.
In addition, in the signal processing-based vehicle steering control system, adaptive filtering is an optimal filtering method that has been developed in recent years. The method is an optimal filtering method developed on the basis of linear filtering such as wiener filtering, Kalman filtering and the like. Because it has stronger adaptability and better filtering performance. Therefore, the method is widely applied to engineering practice, particularly information processing technology. Adaptive filtering exists in many different fields such as signal processing, control, image processing, etc., and is an intelligent and more targeted filtering method, which is generally used for denoising.
The subject of adaptive filtering is a system or information process with uncertainty. "uncertainty" here means that the mathematical model of the process under study and its environment is not completely deterministic. Including some unknown factors and random factors. Any one actual information process has varying degrees of uncertainty, which sometimes manifests itself inside the process and sometimes outside the process. From the process interior, the structure and parameters of the mathematical model describing the study object, i.e. the dynamic process of the information, are not necessarily known exactly beforehand by the designer. As the influence of the external environment on the information process, it can be equivalently expressed in terms of disturbances. These perturbations are usually not measurable, and they may be deterministic or random. In addition, some measurement noise also affects the information process in different ways. The statistical properties of these disturbances and noise are often unknown. In the face of various kinds of uncertainty existing objectively, how to comprehensively process the information process and enable some specified performance indexes to reach the optimal or approximate optimal is the problem to be solved by the adaptive filtering.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only for the 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 shall fall within the protection scope of the present invention.
Claims (9)
1. A vehicle steering control system based on signal processing, comprising:
the steering mechanism main part sets up in the driver's cabin of vehicle, including intelligent helping hand equipment, steering column, left side drag link, steering wheel, steering gear, the trapezoidal arm in left side, left side steering linkage, right side drag link, the trapezoidal arm in right side and right side steering linkage.
2. The signal processing-based vehicle steering control system according to claim 1, characterized in that:
in the steering mechanism main body, one side of the steering column is connected to the steering wheel, and the other side is connected to the steering gear.
3. The signal processing-based vehicle steering control system according to claim 2, characterized in that:
in the steering mechanism main body, the left trapezoidal arm, the left steering pull rod, the left drag link, the steering gear, the right trapezoidal arm, the right steering pull rod and the right drag link are sequentially arranged in the horizontal direction from left to right.
4. The signal processing-based vehicle steering control system of claim 3, wherein the system further comprises:
the intelligent power-assisted device is connected with the steering gear and used for adjusting steering resistance to the corresponding side face of the steering gear based on the received single-side real-time distance;
a side capture mechanism including a left side capture device and a right side capture device, the mechanisms of which are the same, disposed below a left headlight and a right headlight of the vehicle, respectively, for performing capture of a left-side travel image and a right-side travel image of the vehicle, respectively;
the instant filtering mechanism is connected with the side capturing mechanism and used for carrying out adaptive filtering processing on the received left driving image to obtain a left filtering image and also used for carrying out adaptive filtering processing on the received right driving image to obtain a right filtering image;
the targeted processing mechanism is connected with the instant filtering mechanism and is used for sequentially performing contrast lifting operation and image enhancement operation on the left filtered image to obtain a left processed image and also used for sequentially performing contrast lifting operation and image enhancement operation on the right filtered image to obtain a right processed image;
the parameter analysis mechanism is connected with the targeted processing mechanism and used for calculating a corresponding right real-time distance based on the real-time depth of field value of the object with the shallowest depth of field in the right processed image and calculating a corresponding left real-time distance based on the real-time depth of field value of the object with the shallowest depth of field in the left processed image;
the parameter analysis mechanism is also connected with the intelligent power-assisted equipment and is used for sending the left real-time distance or the right real-time distance to the intelligent power-assisted equipment as a single-side real-time distance;
wherein calculating the corresponding right real-time distance based on the real-time depth value of the object with the shallowest depth of field in the right processed image comprises: the deeper the real-time depth value of the object with the shallowest depth of field in the right processed image is, the farther the right real-time distance obtained by calculation is;
adjusting a steering resistance to a corresponding side of the diverter based on the received one-sided real-time distance includes: adjusting a steering resistance to a right direction of the steering based on the received right real-time distance.
5. The signal processing-based vehicle steering control system according to claim 4, wherein:
calculating a corresponding left real-time distance based on the real-time depth value of the object with the shallowest depth of field in the left processed image comprises: the deeper the real-time depth value of the object with the shallowest depth of field in the left-side processed image is, the farther the left-side real-time distance obtained by calculation is.
6. The signal processing-based vehicle steering control system according to claim 5, wherein:
adjusting a steering resistance to a corresponding side of the diverter based on the received one-sided real-time distance includes: adjusting a steering resistance to a left direction of the steering gear based on the received left real-time distance.
7. The signal processing-based vehicle steering control system of claim 6, wherein:
adjusting a steering resistance to a left direction of the steering based on the received left real-time distance comprises: the closer the received real-time distance of the left side is, the greater the adjusted steering resistance to the left side direction of the steering gear.
8. The signal processing-based vehicle steering control system according to claim 7, wherein:
adjusting a steering resistance to a left direction of the steering based on the received left real-time distance comprises: the closer the received real-time distance to the right, the greater the adjusted steering resistance to the right direction of the steering gear.
9. The signal processing-based vehicle steering control system of claim 8, wherein:
the instant filtering mechanism comprises a first filtering device and a second filtering device, wherein the first filtering device is used for carrying out self-adaptive filtering processing on the received left driving image so as to obtain a left filtering image, and the second filtering device is used for carrying out self-adaptive filtering processing on the received right driving image so as to obtain a right filtering image.
Wherein the targeted processing mechanism comprises a first processing device and a second processing device for performing a contrast boost operation and an image enhancement operation on the received image, respectively.
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| CN202110089278.0A CN112896293A (en) | 2021-01-22 | 2021-01-22 | Vehicle steering control system based on signal processing |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110089278.0A CN112896293A (en) | 2021-01-22 | 2021-01-22 | Vehicle steering control system based on signal processing |
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Citations (7)
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| CN2244007Y (en) * | 1996-05-23 | 1997-01-01 | 刘先 | Electronic anti-collision device for automobile |
| CN101778753A (en) * | 2007-08-15 | 2010-07-14 | 沃尔沃技术公司 | Operating method and system for supporting lane keeping of a vehicle |
| CN101817364A (en) * | 2009-02-27 | 2010-09-01 | 日产自动车株式会社 | Vehicle driving operation support apparatus and method and power actuated vehicle |
| CN102673637A (en) * | 2012-05-10 | 2012-09-19 | 清华大学 | Electric power-assisted steering system for commercial vehicle |
| KR101509967B1 (en) * | 2013-11-11 | 2015-04-07 | 현대자동차주식회사 | Apparatus for controlling parkin out |
| CN107161213A (en) * | 2017-05-22 | 2017-09-15 | 武汉理工大学 | A kind of orderly driving system of automotive safety based on car networking |
| CN110260839A (en) * | 2019-04-27 | 2019-09-20 | 绿桥(泰州)生态修复有限公司 | Target spacing measuring system |
-
2021
- 2021-01-22 CN CN202110089278.0A patent/CN112896293A/en not_active Withdrawn
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2244007Y (en) * | 1996-05-23 | 1997-01-01 | 刘先 | Electronic anti-collision device for automobile |
| CN101778753A (en) * | 2007-08-15 | 2010-07-14 | 沃尔沃技术公司 | Operating method and system for supporting lane keeping of a vehicle |
| CN101817364A (en) * | 2009-02-27 | 2010-09-01 | 日产自动车株式会社 | Vehicle driving operation support apparatus and method and power actuated vehicle |
| CN102673637A (en) * | 2012-05-10 | 2012-09-19 | 清华大学 | Electric power-assisted steering system for commercial vehicle |
| KR101509967B1 (en) * | 2013-11-11 | 2015-04-07 | 현대자동차주식회사 | Apparatus for controlling parkin out |
| CN107161213A (en) * | 2017-05-22 | 2017-09-15 | 武汉理工大学 | A kind of orderly driving system of automotive safety based on car networking |
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Application publication date: 20210604 |