CN113561907A - Vehicle-mounted infrared auxiliary driving method and system with steering follow-up function - Google Patents
Vehicle-mounted infrared auxiliary driving method and system with steering follow-up function Download PDFInfo
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- CN113561907A CN113561907A CN202110742100.1A CN202110742100A CN113561907A CN 113561907 A CN113561907 A CN 113561907A CN 202110742100 A CN202110742100 A CN 202110742100A CN 113561907 A CN113561907 A CN 113561907A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
- B60R2011/004—Arrangements for holding or mounting articles, not otherwise provided for characterised by position outside the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
- B60R2011/008—Adjustable or movable supports
- B60R2011/0092—Adjustable or movable supports with motorization
Abstract
The invention discloses a vehicle-mounted infrared auxiliary driving method with a steering follow-up function and a system thereof, wherein the method comprises the following steps: the cloud deck controller acquires a vehicle speed signal and a front wheel steering angle signal; calculating the safe braking distance of the automobile in real time through the speed signal; deducing a standard calculation formula of the steering angle of the holder according to the vehicle speed signal, the front wheel steering angle signal and the automobile safety braking distance; and carrying out the control of the steering angle of the holder and realizing the steering follow-up function of the steering wheel through the standard calculation formula of the steering angle of the holder. The cradle head of the vehicle-mounted infrared auxiliary driving system with the steering follow-up function can rotate left and right when a vehicle turns, keeps real-time linkage with a steering wheel of the vehicle, increases the effective visual field range of a driver at a curve and reduces the turning visual field blind area of the vehicle.
Description
Technical Field
The invention belongs to the technical field of auxiliary driving, and particularly relates to a vehicle-mounted infrared auxiliary driving method and system with a steering follow-up function.
Background
According to the research of the authorities, the occurrence ratio of the traffic accidents at day and night is about 6: 4, wherein 20% of fatal traffic accidents at night occur in the time of six-point insufficient light from midnight to morning. The occurrence rate of traffic accidents at night is high, and is generally caused by poor sight of drivers. The driver's sight line is more important than the night lighting facilities on the roadside, namely, the lighting device of the automobile itself. Vehicle headlights are the main lighting devices for automobiles, and when automobiles are driven in poor light or no light road conditions at night and in severe environments such as rainy and foggy weather, the form is extremely poor in safety in such a case because the range and distance of the light are limited. In order to solve the problems, a vehicle-mounted infrared driving auxiliary system is developed and used by people, and can solve the driving problem under severe conditions of no light at night, rain and fog weather and the like.
Actual road use conditions, environments, climate conditions and the like are quite complex, such as country roads, curve road conditions, crossroads, unattended traffic instructions and the like; the speed and turning angle of the vehicle also affect the visual range of the driver. At present, although vehicles equipped with infrared auxiliary driving systems on the market can run under severe conditions of no light, rain fog, sand dust and the like at night, the vehicles have problems and defects compared with the safety requirements of all road conditions, particularly under the conditions of crossroads and curved road.
The vehicle traveles on the relatively poor road surface of night lighting condition, and light irradiation distance is far away not enough again, if the vehicle goes into at a high speed and bends this moment, because infrared driver assistance system's visual field angle is fixed unchangeable, can realize the observation and the detection function of the long-distance vehicle place ahead scenery of at least 200 meters, nevertheless can't compromise the visual field blind area when the vehicle turns, cause the driver can't obtain the instantaneous visual field in the turn in-process place ahead, driving safety nature is not high.
Disclosure of Invention
In view of the above, the invention provides a vehicle-mounted infrared auxiliary driving method and system with a steering follow-up function, which are used for solving the problem that the existing vehicle-mounted infrared auxiliary driving cannot take into account the view blind area when a vehicle turns.
The invention discloses a vehicle-mounted infrared auxiliary driving method with a steering follow-up function, which comprises the following steps:
the cloud deck controller acquires a vehicle speed signal and a front wheel steering angle signal;
calculating the safe braking distance of the automobile in real time through the speed signal;
deducing a standard calculation formula of the steering angle of the holder according to the vehicle speed signal, the front wheel steering angle signal and the automobile safety braking distance;
and carrying out the control of the steering angle of the holder and realizing the steering follow-up function of the steering wheel through the standard calculation formula of the steering angle of the holder.
Preferably, the safe braking distance of the automobile is divided into a reaction distance and a braking distance;
the relationship between the braking distance S1 and the vehicle speed v is:
S1＝v2/(2gμ)
mu is the ground friction coefficient;
reaction distance S2 and average vehicle speed
The relationship between them is:
t0is the sum of the brake reaction time and the driver reaction time.
Preferably, a functional relation model between the vehicle speed with continuous variation and the safe braking distance is fitted through Matlab, and a calculation formula of the safe braking distance is obtained by adopting a data result of second-order fitting:
S＝0.0049v2+0.165v+0.011
s is the safe braking distance, and v is the braking speed.
Preferably, the calculating of the corresponding relationship between the vehicle speed signal, the front wheel steering angle signal, the automobile safety braking distance and the pan-tilt steering angle specifically comprises:
calculating the front wheel turning radius R according to the Ackerman steering geometry principle;
determining a minimum area to be detected by the vehicle-mounted infrared camera during turning according to the turning radius and the safe braking distance of the inner side wheel by taking the inner side wheel line as a reference standard;
and determining a standard calculation formula of the steering angle of the holder according to the minimum area required to be detected by the vehicle-mounted infrared camera.
Preferably, the determining the minimum area to be detected by the vehicle-mounted infrared camera during turning according to the current vehicle speed and the turning radius specifically includes:
determining the size of a safe braking distance according to the current vehicle speed;
determining the end point of the safe braking distance running in the advancing direction of the inner side wheel according to the turning radius of the inner side wheel and the size of the safe braking distance by taking the inner side front wheel as the starting point of the safe braking distance and taking the inner side wheel line as a reference standard;
and taking an included angle area formed by connecting lines between the inner wheel line and the starting point and the end point of the safety braking distance as a minimum area required to be detected by the vehicle-mounted infrared camera.
Preferably, the step of determining the pan/tilt steering angle according to the minimum area to be detected by the vehicle-mounted infrared camera specifically comprises:
calculating an included angle formed by connecting lines between an inner wheel line and a starting point and an end point of a safe braking distance according to a minimum area required to be detected by the vehicle-mounted infrared camera, and taking the included angle as a theoretical value of a steering angle of the holder;
the theoretical calculation formula of the pan-tilt steering angle is as follows:
phi is a theoretical value of a tripod head steering angle, theta is an inner front wheel corner, S is a safe braking distance, v is an automobile speed, R is an inner front wheel turning radius, R is L/sin theta, and L is an automobile wheelbase;
carrying out cradle head steering angle simulation corresponding to different vehicle speeds and turning radii according to a theoretical calculation formula of the cradle head steering angle, drawing a simulation curve, and determining the maximum value of the cradle head steering angle;
correcting a theoretical calculation formula of the steering angle of the cradle head according to the maximum value of the steering angle of the cradle head, and obtaining a standard calculation formula of the steering angle of the cradle head as follows:
ωIthe standard value of the steering angle of the pan-tilt is obtained.
Preferably, the performing of the pan/tilt steering angle control and the steering wheel steering follow-up function through the standard calculation formula of the pan/tilt steering angle specifically includes:
determining the corresponding front wheel turning angle when the cradle head turning angle is started under different vehicle speeds according to a standard calculation formula of the cradle head turning angle, determining the starting condition of the turning follow-up function according to the front wheel turning angle corresponding to the different vehicle speeds and the limitation requirement of the turning vehicle speed, and generating a turning follow-up control strategy according to the starting condition of the turning follow-up function.
The invention discloses a vehicle-mounted infrared auxiliary driving system with a steering follow-up function, which comprises a cradle head steering follow-up device loaded at the front end of an automobile, wherein a cradle head controller in the cradle head steering follow-up device executes the following functional modules:
a vehicle signal acquisition module: acquiring a vehicle speed signal and a front wheel steering angle signal;
the braking distance calculation module: calculating the safe braking distance of the automobile in real time through the speed signal;
a steering angle calculation module: deducing a standard calculation formula of the steering angle of the holder according to the vehicle speed signal, the front wheel steering angle signal and the automobile safety braking distance;
the steering follow-up control module: and carrying out the control of the steering angle of the holder and realizing the steering follow-up function of the steering wheel through the standard calculation formula of the steering angle of the holder.
In a third aspect of the present invention, an electronic device is disclosed, comprising: at least one processor, at least one memory, a communication interface, and a bus;
the processor, the memory and the communication interface complete mutual communication through the bus;
the memory stores program instructions executable by the processor, which program instructions are invoked by the processor to implement the method according to the first aspect of the invention.
In a fourth aspect of the invention, a computer-readable storage medium is disclosed, which stores computer instructions for causing a computer to implement the method of the first aspect of the invention.
Compared with the prior art, the invention has the following beneficial effects:
1) according to the invention, a steering cloud deck is added on the basis of a traditional vehicle-mounted infrared auxiliary driving device, on the basis of considering the safe braking distance, the steering angle of a steering wheel, the steering angle of a front wheel, the turning radius of an automobile and the speed of the automobile are mutually combined and comprehensively researched through the geometric principle of automobile steering and data simulation analysis, the minimum area required to be detected by a vehicle-mounted infrared camera during turning is determined according to the current speed and the turning radius, the speed of the automobile and the mathematical relation between the turning angle of the steering wheel and the steering angle of the cloud deck are quantitatively evaluated, the calculation method of the turning angle of the steering follow-up cloud deck is accurately deduced, the blind area of the visual field can be effectively reduced, a control strategy flow is generated by reasonably setting the starting condition of the steering follow-up function, and the automatic control of the steering follow-up function is realized;
2) the holder of the vehicle-mounted infrared auxiliary driving system with the steering follow-up function can rotate left and right when a vehicle turns, is linked with a steering wheel of the vehicle in real time, increases the effective visual field range of a driver at a curve, can easily see turning blind areas or can detect and identify scenery targets in front of the vehicle when the vehicle turns in advance, and particularly increases the driving safety, reduces the turning visual blind areas of the vehicle and optimizes the blind area detection and identification effect under severe weather conditions of poor light visibility at night, rain, snow, sand, haze and the like, thereby reducing the front collision accidents caused by the fact that the front road conditions cannot be seen when the vehicle turns.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of a conventional vehicle-mounted infrared assisted driving system during turning;
FIG. 2 is a schematic view of the vehicular infrared auxiliary driving system with steering follow-up function during turning;
FIG. 3 is a block diagram of a system configuration of a steering follow-up section;
FIG. 4 is a schematic view of the Ackerman steering geometry
FIG. 5 is a schematic view of the calculation of the pan/tilt head steering angle according to the present invention;
FIG. 6 is a cloud deck steering angle simulation curve corresponding to different vehicle speeds and turning radii under the theoretical calculation formula of the cloud deck steering angle of the present invention;
FIG. 7 is a cloud deck steering angle simulation curve corresponding to different vehicle speeds and turning radii under a standard calculation formula of the cloud deck steering angle of the present invention;
FIG. 8 is a cloud deck steering angle simulation curve corresponding to different vehicle speeds and front wheel steering angles in the present invention;
FIG. 9 is a diagram showing the corresponding relationship between the pan tilt steering angle and the corresponding pan tilt steering angle of the front wheel at different speeds when the pan tilt steering angle is limited to the range of 0-30 degrees;
FIG. 10 is a schematic control flow diagram of the vehicular infrared auxiliary driving system with steering follow-up function according to the present invention;
fig. 11 is a front-rear map of an in-vehicle infrared-assisted driving system using the steering follow-up function of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The traditional vehicle-mounted infrared auxiliary driving system is fixedly arranged in a vehicle head area, the view field angle is fixed, the view field angle range of a curve in the advancing direction of an automobile cannot be sufficiently provided, the effective view field of a driver is reduced, and the curve driving becomes a high-incidence area of a safety accident under the environmental condition of night or extremely poor light condition as shown in fig. 1.
According to the novel vehicle-mounted infrared auxiliary driving system with the steering follow-up function, the novel vehicle-mounted infrared auxiliary driving system can rotate left and right when a vehicle turns, is linked with a steering wheel of the vehicle in real time, increases the effective visual field range of a driver at a curve, optimizes the blind area detection and recognition effect, and accordingly reduces the occurrence of collision accidents, and fig. 2 is a schematic diagram of the vehicle-mounted infrared auxiliary driving system with the steering follow-up function when the vehicle turns.
Compared with the traditional vehicle-mounted infrared auxiliary driving system, the vehicle-mounted infrared auxiliary driving system with the steering follow-up function is provided with the holder device which rotates left and right on the basis of the original vehicle-mounted infrared camera, so that the vehicle-mounted infrared camera CAN rotate left and right, the effective visual field range of a driver CAN be changed along with the rotation of a steering wheel, the system structure block diagram of the steering follow-up part is shown in figure 3, a vehicle speed sensor, a steering wheel corner sensor, a holder controller, an electric power steering system and a transmission system are connected through a CAN bus, and the holder controller provides horizontal driving for the vehicle-mounted infrared camera. The invention analyzes the vehicle speed signal and the front wheel steering angle signal in the automobile CAN bus by addressing through the pan-tilt controller, obtains the pan-tilt steering angle through internal processing and realizes the steering follow-up function of the steering wheel.
The invention provides a vehicle-mounted infrared auxiliary driving method with a steering follow-up function, which comprises the following steps:
s1, the pan-tilt controller acquires a vehicle speed signal and a front wheel steering angle signal;
specifically, a vehicle speed signal is acquired according to a vehicle speed sensor, and a front wheel steering angle signal is acquired through a steering wheel angle sensor.
S2, calculating the safe braking distance of the automobile in real time through the speed signal;
when the automobile normally runs on a road, a driver finds that an obstacle exists in the front of the automobile and adopts normal braking operation, so that the automobile stops completely without touching the obstacle by the minimum distance, and the concept is called safe braking distance. Therefore, the safe braking distance of the vehicle is divided into a reaction distance and a braking distance by definition. In the invention, the safe braking distance is an important technical index for evaluating the effective detection of the vehicle-mounted infrared auxiliary driving system, and when the vehicle-mounted infrared camera can effectively detect and identify the safe braking distance of the automobile, the driver has enough vision and braking time to perform safe braking measures without causing safe traffic accidents such as collision of the automobile and the like.
The braking distance of the automobile is related to a plurality of factors, such as typical road environment, automobile speed, automobile weight, braking force and the like, in order to simplify the model, the technical scheme is comprehensively considered, the driving speed and the ground friction force of the automobile are mainly considered, and the relation between the braking distance and the automobile speed can be deduced through mathematical calculation:
S＝v2/(2gμ)
the braking distance S corresponding to different vehicle speeds can be calculated by taking the friction coefficient μ as 0.8 and the gravitational acceleration g as 9.8, as shown in table 1.
TABLE 1 braking speed and braking distance
| Vehicle speed (km/h) | Braking distance (m) |
| 20 | 2.0 |
| 30 | 4.4 |
| 40 | 7.9 |
| 50 | 12.3 |
| 60 | 17.7 |
| 70 | 24.1 |
| 80 | 31.5 |
| 90 | 39.9 |
| 100 | 49.2 |
The reaction distance of the automobile mainly depends on the reaction time of a driver and the braking performance time of the automobile, and the whole process cannot be directly quantified. Therefore, the invention simplifies the maintenance of the constant speed of the automobile
Sum of travel, brake reaction time and driver reaction time t0About 0.6 seconds, the reaction distance S2 and the average vehicle speed
The relationship between can be expressed as:
the safe braking distance S is S1+ S2, and the braking vehicle speed and the safe braking distance are shown in table 2.
TABLE 2 braking speed and safe braking distance
| Vehicle speed (km/h) | Braking distance (m) |
| 20 | 5.3 |
| 30 | 9.4 |
| 40 | 14.5 |
| 50 | 20.6 |
| 60 | 27.7 |
| 70 | 35.8 |
| 80 | 44.8 |
| 90 | 54.9 |
| 100 | 65.9 |
Through the corresponding relation of the brake vehicle speed and the safe brake distance in the table 2, a functional relation model with continuous variable quantity between the vehicle speed and the brake distance is obtained through Matlab fitting, residual square sum RSS of first-order, second-order and third-order fitting functions can be respectively 75.1807, 0.0031 and 0.0025 through data calculation, the second-order function fitting function and the third-order function fitting function are ideally close to an original coordinate point, and the first-order function fitting function is greatly different from actual original data. In this embodiment, a calculation formula of the safe braking distance S is obtained by using a data result of second-order fitting:
S＝0.0049v2+0.165v+0.011
s3, deriving a standard calculation formula of the pan-tilt steering angle according to the vehicle speed signal, the front wheel steering angle signal and the automobile safe braking distance;
the steering angle of the holder is mainly related to the turning radius and the speed of the automobile. The speed of a vehicle can be directly obtained from a sensor on a wheel, the steering angle of a steering wheel can be obtained from an angle sensor on a steering shaft of the steering wheel, the numerical value of the steering angle of the inner side and the outer side of a front wheel is calculated according to an automobile steering mechanism, and finally the turning radius is calculated according to the Ackerman geometric principle.
FIG. 4 is a schematic diagram of the Ackerman steering geometry, where point O is the center of the steering of the vehicle and points OA and OB are the turning radii of the outboard and inboard front wheels, respectively. From the representation it is clear that the steering angle of the inboard front wheel (theta in) is significantly greater than the steering angle of the outboard front wheel (theta out), and therefore its coverage area is more demanding and must be met first. The invention uses the turning radius of the inner front wheel as a parameter to carry out mathematical calculation and simulation, and the mathematical formula for deducing the turning radius of the inner front wheel from the Ackerman steering geometry principle schematic diagram is as follows:
R＝OB＝BC/sin θ＝L/sin θ
wherein R is the turning radius of the inner front wheel, L is the vehicle wheelbase, and theta is the turning angle of the inner front wheel of the vehicle.
When the automobile runs on the road surface at night, in the environment with poor rain, snow, fog and light conditions, the vehicle-mounted infrared camera is expected to detect a proper acting distance in front of the curve in advance during turning, so that enough time can be provided for taking braking measures without collision or even safety traffic accidents when the automobile meets an obstacle.
Determining a minimum area to be detected by the vehicle-mounted infrared camera during turning according to the turning radius and the safe braking distance of the inner side wheel by taking the inner side wheel line as a reference standard; and determining a calculation formula of the steering angle of the holder according to the minimum area required to be detected by the vehicle-mounted infrared camera.
Specifically, the size of the safe braking distance is determined according to the current vehicle speed; determining the end point of the safe braking distance running in the advancing direction of the inner side wheel according to the turning radius of the inner side wheel and the size of the safe braking distance by taking the inner side front wheel as the starting point of the safe braking distance and taking the inner side wheel line as a reference standard; and taking an included angle area formed by connecting lines between the inner wheel line and the starting point and the end point of the safety braking distance as a minimum area required to be detected by the vehicle-mounted infrared camera.
Referring to fig. 5, a schematic diagram of the pan-tilt steering angle calculation is shown, in which point G is the end point of the safe braking distance traveled in the forward direction of the inner wheel, so that the coverage area of the shaded portion in the schematic diagram can be approximately regarded as the minimum area to be detected by the vehicle-mounted infrared camera, and the length of BG can be approximately regarded as the safe braking distance S of the vehicle. Calculating an included angle formed by connecting lines between an inner wheel line and a starting point and an end point of a safety braking distance according to a minimum area required to be detected by the vehicle-mounted infrared camera, and taking the included angle as a theoretical value of the steering angle of the holder, wherein the theoretical calculation formula of the steering angle of the holder can be deduced from the geometrical relationship of the schematic diagram of fig. 5 as follows:
wherein phi is the steering angle of the holder, v is the automobile speed (km/h), and R is the turning radius of the front wheel on the inner side.
And performing the simulation of the pan/tilt steering angles corresponding to different vehicle speeds and turning radii according to the theoretical calculation formula of the pan/tilt steering angles, wherein the axle distance L of the medium-sized passenger vehicle is 2800mm in the embodiment, and performing the simulation by using Matlab to obtain the simulation relationship of the pan/tilt steering angles corresponding to different vehicle speeds and turning radii under the theoretical calculation formula of the pan/tilt steering angles shown in fig. 6. According to simulation data, the smaller the turning radius is, the larger the tripod head steering angle is under the condition of a certain speed, and the more obvious the performance is when the turning radius is less than 40 m; under the condition of a certain turning radius, the larger the vehicle speed is, the larger the turning radius is.
According to the Ackerman steering geometry principle, the steering angles of the inner side and the outer side of the front wheel are inconsistent when steering, the turning angle of the inner side wheel is always larger than that of the outer side wheel, and the vehicle-mounted infrared auxiliary driving system camera with the steering follow-up function cannot BE installed at the position of the inner side wheel, so that if the steering angle calculated by taking the inner side wheel as a reference is taken as the steering angle of the infrared camera holder device, the position of the G point is completely covered and detected by taking the inner side wheel line BE as a reference standard, and the safe driving requirement is necessarily met.
From the simulation result of fig. 6, it can be known that when the turning radius is less than or equal to 10m, the steering angles of the pan-tilt are all over 20 ° at different vehicle speeds, that is, the minimum value of the pan-tilt steering angle is 20 ° at the time, even some of the pan-tilt steering angles are over 45 °, which has a problem that the pan-tilt is too large, the load is too heavy, the design difficulty is increased for the structure, and the actual engineering requirements are not met. The horizontal field angle of the vehicle-mounted infrared camera which is mainstream in the market is generally between 25 and 30 degrees.
In view of the above two analyses, in order to fully satisfy the actual engineering requirements, it is necessary to subtract 20 ° from the pan/tilt steering angle, and limit the maximum value of the pan/tilt steering angle to 30 °, so that the theoretical calculation formula of the pan/tilt steering angle is corrected according to the minimum value and the limited maximum value of the pan/tilt steering angle, and the standard calculation formula of the pan/tilt steering angle is obtained as follows:
fig. 7 shows a simulation relationship diagram under the standard calculation formula of the pan/tilt steering angle, and fig. 7 shows a pan/tilt steering angle simulation curve corresponding to different vehicle speeds and turning radii under the standard calculation formula of the pan/tilt steering angle.
Replacing the turning radius with the front wheel steering angle to obtain a new calculation formula of the pan-tilt steering angle:
fig. 8 is a cloud deck steering angle simulation curve corresponding to different vehicle speeds and front wheel steering angles, and the part of the cloud deck steering angle smaller than 0 degree represents that the cloud deck does not need to rotate left and right at this time, and the view field angle of the cloud deck can cover the position of the safety brake. Because the effective rotation of the pan-tilt is set to 0-30 degrees, after the simulation curve is optimized, the new simulation curve is shown in fig. 9, and fig. 9 is a corresponding relation diagram of pan-tilt steering angles corresponding to different vehicle speeds and front wheel steering angles.
And S4, controlling the steering angle of the holder through the standard calculation formula of the steering angle of the holder, and realizing the steering follow-up function of the steering wheel.
In order to reduce the burden of the vehicle-mounted system, a proper starting condition of the steering follow-up vehicle-mounted infrared auxiliary driving system is required to be selected and is not started in real time. The method determines the corresponding front wheel turning angle when the cradle head turning angle is started under different vehicle speeds according to the standard calculation formula of the cradle head turning angle, determines the starting condition of the turning follow-up function according to the front wheel turning angle corresponding to the different vehicle speeds and the limitation requirement of the turning vehicle speed, and generates the turning follow-up control strategy according to the starting condition of the turning follow-up function.
Specifically, according to the simulation results of fig. 9, each vehicle speed has a corresponding front wheel steering angle value at which the pan/tilt head steering follower is activated, and as the vehicle speed increases, the front wheel steering angle of the steering follower decreases rapidly, as shown in table 3.
TABLE 3 speed and front wheel steering angle corresponding to the beginning of the operation of the steering following pan-tilt system
| Vehicle speed (km/h) | 10 | 20 | 30 | 40 | 50 |
| Front wheel angle (°) | 13.5 | 9.8 | 7.1 | 5.2 | 4.0 |
The current road traffic law stipulates that the general speed of the vehicle when the vehicle turns is not higher than 40km/h, and the embodiment comprehensively considers that when the steering angle of the front wheel is selected to be larger than or equal to 8 degrees or the speed of the vehicle is selected to be larger than or equal to 20km/h, the steering follow-up function is started. Thus, a control flow of the vehicle-mounted infrared auxiliary driving system with the steering follow-up function is obtained, as shown in fig. 10.
The invention mainly researches how a steering follow-up cradle head swings left and right along with the steering of an automobile, so that the steering angle of a steering wheel, the steering angle of a front wheel, the turning radius of the automobile and the speed of the automobile are combined with each other through the automobile steering geometric principle, the data simulation analysis, the comprehensive research, the calculation method for accurately deducing the turning angle of the steering follow-up cradle head and the control strategy flow accurately deduct the calculation method and the control strategy flow of the turning angle of the steering follow-up cradle head. The invention can effectively reduce the blind area of the visual field by quantitatively evaluating the mathematical relationship between the vehicle speed and the steering angle of the steering wheel and the steering angle of the holder, and realizes the automatic control of the steering follow-up function by reasonably setting the starting condition of the steering follow-up function to generate the control strategy flow.
Fig. 11 is a front-rear comparison diagram of an on-vehicle infrared auxiliary driving system using a steering follow-up function of an automobile, the left diagram is a schematic diagram of a result using a conventional on-vehicle infrared auxiliary driving system, and the right diagram is a schematic diagram of a result using an on-vehicle infrared auxiliary driving system with a steering follow-up function. According to the comparison graph, when the vehicle-mounted infrared auxiliary driving system with the steering follow-up function is used for turning, people in turning blind areas can be easily seen clearly or scenery targets in front of the vehicle can be detected and identified in the turning process, particularly under severe weather conditions such as poor light visibility at night, rain, snow, sand and haze, the driving safety is improved, the turning visual field blind areas of the vehicle are reduced, and the front collision accident caused by the fact that the front road conditions cannot be seen clearly in the turning process is avoided.
Corresponding to the embodiment of the method, the invention also provides a vehicle-mounted infrared auxiliary driving system with a steering follow-up function, which is characterized in that the system comprises a holder steering follow-up device which is additionally provided with the front end of the vehicle, and a holder controller in the steering holder steering follow-up device executes the following modules:
a vehicle signal acquisition module: acquiring a vehicle speed signal and a front wheel steering angle signal;
the braking distance calculation module: calculating the safe braking distance of the automobile in real time through the speed signal;
a steering angle calculation module: deducing a standard calculation formula of the steering angle of the holder according to the vehicle speed signal, the front wheel steering angle signal and the automobile safety braking distance;
the steering follow-up control module: and carrying out the control of the steering angle of the holder and realizing the steering follow-up function of the steering wheel through the standard calculation formula of the steering angle of the holder.
The above method embodiment and system embodiment are corresponding, and for brief description of the system embodiment, please refer to the method embodiment.
The present invention also discloses an electronic device, comprising: at least one processor, at least one memory, a communication interface, and a bus; the processor, the memory and the communication interface complete mutual communication through the bus; the memory stores program instructions executable by the processor, which invokes the program instructions to implement the methods of the invention described above.
The invention also discloses a computer readable storage medium which stores computer instructions for causing the computer to implement all or part of the steps of the method of the embodiment of the invention. The storage medium includes: u disk, removable hard disk, ROM, RAM, magnetic disk or optical disk, etc.
The above-described system embodiments are merely illustrative, wherein the units described as separate parts may or may not be physically separate, and the parts shown as units may or may not be physical units, i.e. may be distributed over a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A vehicle-mounted infrared auxiliary driving method with a steering follow-up function is characterized by comprising the following steps:
the cloud deck controller acquires a vehicle speed signal and a front wheel steering angle signal;
calculating the safe braking distance of the automobile in real time through the speed signal;
deducing a standard calculation formula of the steering angle of the holder according to the vehicle speed signal, the front wheel steering angle signal and the automobile safety braking distance;
and carrying out the control of the steering angle of the holder and realizing the steering follow-up function of the steering wheel through the standard calculation formula of the steering angle of the holder.
2. The vehicle-mounted infrared auxiliary driving method with the steering follow-up function according to claim 1, wherein the automobile safe braking distance is divided into a reaction distance and a braking distance;
the relationship between the braking distance S1 and the vehicle speed v is:
S1＝v2/(2gμ)
mu is the ground friction coefficient, g is the acceleration of gravity;
reaction distance S2 and average vehicle speed
The relationship between them is:
t0sum of brake reaction time and driver reaction time.
3. The vehicle-mounted infrared auxiliary driving method with the steering follow-up function according to claim 2, characterized in that a functional relation model between the vehicle speed with continuous variation and the safe braking distance is fitted, and a calculation formula of the safe braking distance is obtained by adopting a data result of second-order fitting:
S＝0.0049v2+0.165v+0.011
s is the safe braking distance, and v is the braking speed.
4. The vehicle-mounted infrared auxiliary driving method with the steering follow-up function according to claim 1, wherein the standard calculation formula for deriving the pan-tilt steering angle according to the vehicle speed signal, the front wheel steering angle signal and the automobile safety braking distance specifically comprises:
calculating the front wheel turning radius R according to the Ackerman steering geometry principle;
determining a minimum area to be detected by the vehicle-mounted infrared camera during turning according to the turning radius and the safe braking distance of the inner side wheel by taking the inner side wheel line as a reference standard;
and determining a standard calculation formula of the steering angle of the holder according to the minimum area required to be detected by the vehicle-mounted infrared camera.
5. The vehicle-mounted infrared auxiliary driving method with the steering follow-up function according to claim 4, wherein the step of determining the minimum area to be detected by the vehicle-mounted infrared camera during the turning according to the current vehicle speed and the turning radius specifically comprises the following steps:
determining the size of a safe braking distance according to the current vehicle speed;
determining the end point of the safe braking distance running in the advancing direction of the inner side wheel according to the turning radius of the inner side wheel and the size of the safe braking distance by taking the inner side front wheel as the starting point of the safe braking distance and taking the inner side wheel line as a reference standard;
and taking an included angle area formed by connecting lines between the inner wheel line and the starting point and the end point of the safety braking distance as a minimum area required to be detected by the vehicle-mounted infrared camera.
6. The vehicle-mounted infrared auxiliary driving method with the steering follow-up function according to claim 5, wherein the standard calculation formula for determining the pan/tilt angle according to the minimum area to be detected by the vehicle-mounted infrared camera is specifically as follows:
calculating an included angle formed by connecting lines between an inner wheel line and a starting point and an end point of a safe braking distance according to a minimum area required to be detected by the vehicle-mounted infrared camera, and taking the included angle as a theoretical value of a steering angle of the holder;
the theoretical calculation formula of the pan-tilt steering angle is as follows:
phi is a theoretical value of a tripod head steering angle, theta is an inner front wheel corner, S is a safe braking distance, v is an automobile speed, R is an inner front wheel turning radius, R is L/sin theta, and L is an automobile wheelbase;
carrying out the cloud deck steering angle simulation corresponding to different vehicle speeds and turning radii according to a theoretical calculation formula of the cloud deck steering angle, drawing a simulation curve, and limiting the maximum value of the cloud deck steering angle;
correcting a theoretical calculation formula of the steering angle of the cradle head according to the maximum value of the steering angle of the cradle head, and obtaining a standard calculation formula of the steering angle of the cradle head as follows:
ωIthe standard value of the steering angle of the pan-tilt is obtained.
7. The vehicle-mounted infrared auxiliary driving method with the steering follow-up function according to claim 1, wherein the performing of the pan-tilt steering angle control and the achieving of the steering wheel steering follow-up function through the standard calculation formula of the pan-tilt steering angle specifically comprises:
determining the corresponding front wheel turning angle when the cradle head turning angle is started under different vehicle speeds according to a standard calculation formula of the cradle head turning angle, determining the starting condition of the turning follow-up function according to the front wheel turning angle corresponding to the different vehicle speeds and the limitation requirement of the turning vehicle speed, and generating a turning follow-up control strategy according to the starting condition of the turning follow-up function.
8. The utility model provides an area turns to on-vehicle infrared driver assistance system of follow-up function, a serial communication port, the system turns to the follow-up device including the cloud platform of loading car front end additional, turn to cloud platform and turn to the cloud platform controller among the follow-up device and carry out following module:
a vehicle signal acquisition module: acquiring a vehicle speed signal and a front wheel steering angle signal;
the braking distance calculation module: calculating the safe braking distance of the automobile in real time through the speed signal;
a steering angle calculation module: deducing a standard calculation formula of the steering angle of the holder according to the vehicle speed signal, the front wheel steering angle signal and the automobile safety braking distance;
the steering follow-up control module: and carrying out the control of the steering angle of the holder and realizing the steering follow-up function of the steering wheel through the standard calculation formula of the steering angle of the holder.
9. An electronic device, comprising: at least one processor, at least one memory, a communication interface, and a bus;
the processor, the memory and the communication interface complete mutual communication through the bus;
the memory stores program instructions executable by the processor, the processor invoking the program instructions to implement the method of any one of claims 1-7.
10. A computer readable storage medium storing computer instructions for causing a computer to implement the method of any one of claims 1 to 7.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116279673A (en) * | 2023-04-19 | 2023-06-23 | 西北铁道电子股份有限公司 | Train running line and driving state on-line monitoring system and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116279673A (en) * | 2023-04-19 | 2023-06-23 | 西北铁道电子股份有限公司 | Train running line and driving state on-line monitoring system and device |
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