CN113911138B - Intelligent guiding auxiliary driving system of initiative vehicle based on wireless positioning - Google Patents
Intelligent guiding auxiliary driving system of initiative vehicle based on wireless positioning Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/007—Emergency override
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- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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Abstract
The invention provides an intelligent guiding auxiliary driving system of an active vehicle based on wireless positioning, which comprises a driving auxiliary system, wherein the output end of the driving auxiliary system is electrically connected with a vehicle-to-machine intervention, the output end of the vehicle-to-machine intervention is electrically connected with a hardware end, and the output end of the hardware end is electrically connected with driver state monitoring and autonomous vehicle dynamic monitoring.
Description
Technical Field
The invention relates to the technical field of auxiliary driving, in particular to an intelligent guiding auxiliary driving system of an active vehicle based on wireless positioning.
Background
Automobiles are very representative as important vehicles, mainly for: carrying personnel and cargo; vehicles that carry personnel and cargo are towed.
The automobile industry develops rapidly, the space of the vehicle navigation market is huge, and the passenger car market keeps the potential of rapid development, so that a wide space is provided for the vehicle electronic map market
The number of motor vehicles is continuously and rapidly increased, compared with the situation that traffic safety is relatively lagged, traffic accidents and casualties are continuously and upwardly increased, the causes of the traffic accidents are many, and many times, the reasons are not only that the driving technology of a driver is not feasible, but also that the reasons are more external factors.
Therefore, it is necessary to provide an active intelligent guiding auxiliary driving system for vehicles based on wireless positioning to solve the above technical problems.
Disclosure of Invention
The invention provides an active intelligent guiding auxiliary driving system for a vehicle based on wireless positioning, which solves the problem that the existing accident and casualties are continuously increased.
In order to solve the technical problems, the intelligent guiding auxiliary driving system for the active vehicle based on wireless positioning provided by the invention comprises the following components: the system comprises a driving assistance system, wherein an output end of the driving assistance system is electrically connected with a vehicle intervention, an output end of the vehicle intervention is electrically connected with a hardware end, the output end of the hardware end is electrically connected with a driver state monitoring device, an autonomous vehicle dynamic monitoring device and an in-environment vehicle dynamic monitoring device, the driver state monitoring device, the autonomous vehicle dynamic monitoring device, the in-environment vehicle dynamic monitoring device and the in-environment vehicle dynamic monitoring device are electrically connected with Beidou non-limited vehicle positions and services, comprehensive risk state sensing devices and vehicle gesture collection devices and global multisensory interactions, the Beidou non-limited vehicle positions and services, the comprehensive risk state sensing devices and the vehicle gesture collection devices and the global multisensory interactions are electrically connected with an active vehicle driving intervention device, the output end of the active vehicle clamping intervention device is electrically connected with a forced driving state correcting device, an L4-level automatic auxiliary driving device and an in-vehicle user flexible protection device, the output end of the L4-level automatic auxiliary driving device is electrically connected with a forced safe driving device, in-range high-performance emergency response devices and risk pre-warning devices, the risk pre-warning devices are electrically connected with accurate vehicle positions and services, the output ends of the vehicle navigation device are electrically connected with a global multisensory interactions device, and the vehicle navigation device is electrically connected with a global multisensory interaction device, and the vehicle navigation device is electrically connected with a global navigation device, and the vehicle navigation device is electrically connected with an optimal vehicle navigation device, and has an optimal navigation service environment-assisting device, and has an optimal navigation service environment and an optimal aid software, and a navigation device is electrically connected with a real-friendly service, and is electrically connected with a service.
Preferably, the output end of the wind direction pre-reminding is electrically connected with the input end of the accurate response, the output end of the forced driving state correction is mutually connected with the input end of the L4-level automatic auxiliary driving, and the output end of the L4-level automatic auxiliary driving is mutually connected with the input end of the in-vehicle user flexible protection.
Preferably, the output end of the forced safe driving assistance is connected with the input end of the in-range high-risk behavior emergency response, and the output end of the in-range high-risk behavior emergency response is communicated with the input end of the risk pre-avoidance.
Preferably, the forced driving state correction and the forced safe driving assistance comprise a forced intervention system, the forced intervention system comprises a multi-sensor acquisition and multi-dimensional data sensing and full-segment fusion analysis result output, the multi-sensor acquisition and multi-dimensional data sensing output end is electrically connected with a preliminary sensing, the multi-sensor acquisition and multi-dimensional data sensing output end is electrically connected with a database multi-level comparison, the database multi-level comparison output end is electrically connected with a comprehensive analysis, the database multi-level comparison and the comprehensive analysis output end is electrically connected with a fusion comparison, the comprehensive analysis output end is electrically connected with a final determination risk state, the final determination risk state output end is electrically connected with an independent processing forced intervention for monitoring related results, and the like.
Preferably, the software end further comprises multi-sensor acquisition and optical camera acquisition, the output end of the multi-sensor acquisition is electrically connected with multi-sensor interaction, the output end of the multi-sensor interaction is electrically connected with a comprehensive feedback terminal data system, the output end of the comprehensive feedback terminal data system is electrically connected with an integrated processing, and the output end of the integrated processing is electrically connected with a feedback terminal to the software end.
Preferably, the vehicle positioning system for correcting the forced driving state is further included, and the vehicle positioning system includes S1: acquiring a vehicle state after primary correction;
s2: detecting the motion state of the vehicle in real time;
s3: when the vehicle is detected to be in a running state, carrying out secondary correction on the vehicle state after the primary correction based on virtual constraint correction, and when the vehicle is detected to be in a static state, carrying out secondary correction on the vehicle state after the primary correction based on zero-speed correction;
s4: and positioning the vehicle based on the secondarily corrected vehicle state.
Preferably, the system further comprises a driving safety service system for the forced driving state correction and L4 level automatic auxiliary driving, wherein the driving safety service system comprises a vehicle and a central server, the vehicle comprises operation plan production, driving control, peripheral information acquisition, operation plan production, driving control and environment information collection, and the central server comprises operation instruction generation, peripheral information collection, tour guideline decision and operation instruction generation.
Preferably, the Beidou navigation system further comprises a lower computer and an upper computer of the Beidou navigation system embedded main control system, wherein the lower computer and the upper computer are used for all positions of the Beidou navigation system embedded main control system, the upper computer comprises user driving data acquisition and analysis, a data terminal processing server is connected with the user driving data acquisition and analysis in a bidirectional manner, a behavior gesture analysis system is connected with the data terminal processing server in a bidirectional manner, real-time environment feedback of user vehicle gesture position data is connected with the data terminal processing server in a bidirectional manner, the lower computer comprises a man-machine interaction interface, an output end of the man-machine interaction interface is electrically connected with an intention processing terminal, an embedded main control system is connected with the intention processing terminal in a bidirectional manner, an input end of the embedded main control system is electrically connected with driving gesture and range risk data acquisition, an output end of the intention processing terminal is electrically connected with a safe driving application end, and the upper computer is connected with the lower computer in a bidirectional manner.
Preferably, the vehicle gesture collection and global multi-sense interaction further comprises a gesture collector, wherein the gesture collector comprises a binding band hole 1, an indicator light, a power module, a data transmission button, a switch module, an inertia measurement unit, a singlechip and an SD card storage module.
Preferably, the gesture collector comprises a fixed module, a detection device, a power supply module and an indicator light module which are connected, wherein the inertia measurement unit is connected with the singlechip, and the singlechip controls the collected data of the human motion gesture to be stored on the SD card storage module.
Compared with the related art, the wireless positioning-based intelligent guiding auxiliary driving system for the active vehicle has the following beneficial effects:
the invention provides an intelligent guiding auxiliary driving system of an active vehicle based on wireless positioning, which is characterized in that other vehicle states are acquired through regional vehicle attitude acquisition technology, the possible driving routes of other vehicles are analyzed through positioning and various sensors, then the risk of the possibility is integrally analyzed for all feedback data, once a possible risk hardware system intervenes in a driving computer, forced driving is carried out, L4-level automatic driving and risk avoidance are carried out according to a related risk processing scheme of the system, and the safety of a user is ensured.
Drawings
FIG. 1 is a system block diagram of a preferred embodiment of an intelligent guidance assistance driving system for an active vehicle based on wireless location according to the present invention;
FIG. 2 is a system block diagram of a mandatory intervention system provided by the present invention;
FIG. 3 is a system block diagram of a software end provided by the present invention;
FIG. 4 is a system block diagram of the traffic safety service system provided by the invention;
FIG. 5 is a schematic diagram of a lower computer and an upper computer according to the present invention;
fig. 6 is a schematic diagram of an attitude collector provided by the present invention.
Detailed Description
The invention will be further described with reference to the drawings and embodiments.
Referring to fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, and fig. 6 in combination, fig. 1 is a system block diagram of a preferred embodiment of an active vehicle intelligent guiding assistance driving system based on wireless positioning according to the present invention; FIG. 2 is a system block diagram of a mandatory intervention system provided by the present invention; FIG. 3 is a system block diagram of a software end provided by the present invention; FIG. 4 is a system block diagram of the traffic safety service system provided by the invention; FIG. 5 is a schematic diagram of a lower computer and an upper computer according to the present invention; fig. 6 is a schematic diagram of an attitude collector provided by the present invention. An active vehicle intelligent guiding auxiliary driving system based on wireless positioning comprises: the system comprises a driving assistance system, wherein an output end of the driving assistance system is electrically connected with a vehicle intervention, an output end of the vehicle intervention is electrically connected with a hardware end, the output end of the hardware end is electrically connected with a driver state monitoring device, an autonomous vehicle dynamic monitoring device and an in-environment vehicle dynamic monitoring device, the driver state monitoring device, the autonomous vehicle dynamic monitoring device, the in-environment vehicle dynamic monitoring device and the in-environment vehicle dynamic monitoring device are electrically connected with Beidou non-limited vehicle positions and services, comprehensive risk state sensing devices and vehicle gesture collection devices and global multisensory interactions, the Beidou non-limited vehicle positions and services, the comprehensive risk state sensing devices and the vehicle gesture collection devices and the global multisensory interactions are electrically connected with an active vehicle driving intervention device, the output end of the active vehicle clamping intervention device is electrically connected with a forced driving state correcting device, an L4-level automatic auxiliary driving device and an in-vehicle user flexible protection device, the output end of the L4-level automatic auxiliary driving device is electrically connected with a forced safe driving device, in-range high-performance emergency response devices and risk pre-warning devices, the risk pre-warning devices are electrically connected with accurate vehicle positions and services, the output ends of the vehicle navigation device are electrically connected with a global multisensory interactions device, and the vehicle navigation device is electrically connected with a global multisensory interaction device, and the vehicle navigation device is electrically connected with a global navigation device, and the vehicle navigation device is electrically connected with an optimal vehicle navigation device, and has an optimal navigation service environment-assisting device, and has an optimal navigation service environment and an optimal aid software, and a navigation device is electrically connected with a real-friendly service, and is electrically connected with a service.
In order to ensure that the overall service of the system is accurate, a brand-new product concept is built in the system, a brand-new volunteer helping mode is added, the volunteer is cooperated with schools, social volunteer institutions and traffic management institutions in the early stage of projects, the related institutions provide volunteers, the volunteers monitor the states of the drivers in all served vehicles in a single period in the background, when all drivers use the system in a trip, the volunteer service system can always perform service calibration, autonomously senses whether the overall service has problems, performs integrated supervision on the overall operation, synthesis and all services of the system, performs rewarding by the volunteers once error conditions occur, helps users to finish risk avoidance operation and the like, meanwhile, the volunteers provided by the campuses can also perform practice proof, volunteer score distribution and the like for the volunteers, in the projects, the main service is mainly performed by manual auxiliary man-machine interaction built in the vehicles in the system, can not particularly perform integrated supervision on the overall operation, synthesis and all services are not completely analyzed in advance, and the corresponding running conditions can not be completely analyzed for the corresponding running conditions, and the running conditions can be completely acquired by the related user, and the running conditions can be completely and completely run through the related real-time conditions, and the running conditions are completely and the user can be acquired.
The system mainly realizes the functions of directional control, forced intervention braking, L4 level active driving, active positioning feedback, multi-vehicle active interconnection and the like for vehicles at a hardware end, provides two service thinking for users when facing to single vehicles, one is L4 level automatic driving which is active for the users, provides services such as constant speed cruising, intelligent lane changing, intelligent braking, risk avoidance and the like for the users by the system, and the other is emergency forced intervention service which faces to the users, provides real-time dynamic environment monitoring for each user on the basis of L4 level automatic driving, monitors the real-time vehicle states of all vehicles in the environment at the same time, controls the overall driving risk through analysis of other vehicle states, simultaneously selects direct active response when the possible risk state exists, changes the previous accident response thinking, and reduces the related loss to the minimum by the surrounding environment as far as possible on the premise of impossible avoiding accidents, and ensures the corresponding priority driving and the safety personal safety of passengers as far as possible.
At a software end, the project adopts a brand-new simulated three-layer MVC data processing architecture, after the whole service cost and the hardware system cost are considered, in order to ensure that the system can normally operate and reduce the service threshold as much as possible, a brand-new data application architecture is created, dynamic change analysis, surrounding environment analysis, position processing and gesture acquisition analysis of all related user vehicles and demand data of users are returned to a terminal data processing platform after the software end and the hardware end acquire, the platform uniformly carries out autonomous data analysis, the result is finally fed back to each terminal, each user can really feel a private customized ' manager-level driving safety service system ' through low cost, all services can carry out staged data storage, the data can be tracked and finally arranged into own database, the client requirements are met in a full-scale manner, the whole-disc customized complete service ' perception fusion ' multidimensional fusion service dimension ' is carried out, the history is integrated with the driving intervention service system, the bottleneck of the first domestic safety service system is broken, and the first full-scale is based on the forced interaction technology of the Beidou 5G and the forced interaction system is based on the multiple-type driving system.
The research content of the project is development and application of a private customized portable manager-level driving safety service hardware system based on Beidou+5G multi-sense interaction, camera environment recognition and vehicle gesture acquisition technology, the crowd suitable for the system is all driver users and riding users in life, the initial stage uses driving travel guaranteeing users to truly secure and designs regional driving safety service with sufficient perfection as a main thought, and the initial stage research main content comprises the following parts:
(1) The method comprises the steps of designing a hardware adaptation interaction module and a software back-end algorithm of a 360-degree environment vehicle acquisition, identification and analysis system and a vehicle gesture acquisition system based on cameras;
(2) Environmental perception positioning application algorithm design, data transmission and server construction of Beidou sub-meter level fusion communication technology;
(3) Regional vehicle acquisition, positioning and autonomous recognition thinking development;
(4) Vehicle attitude acquisition and autonomous database comparison analysis algorithm design;
(5) Constructing an autonomous database and designing an active environment analysis algorithm;
(6) Simulating the design of a bionic three-layer MVC data architecture;
(7) An APP is arranged in the vehicle, the hardware in the vehicle is designed, and a language man-machine interface is designed;
(8) The interactive algorithm design among each sensor, the main controller and the terminal;
(9) Hardware sensing data scanning and receiver module and data flow module design;
(8) The volunteer monitoring/active processing module and the cooperative application of the multi-vehicle mobile communication technology;
(9) Designing an integral comprehensive linkage system;
the system is suitable for application of various driver user groups, a novel voice interaction service mode assisted by volunteers is added, novel voice interaction thinking is innovated for each level of driver users, at a vehicle machine end, the user only needs to directly speak own requirements and actual states, the system can perform autonomous language intention processing, then service is performed, relevant service and product interaction are finally performed, the volunteers monitor the whole service, high-accuracy application is realized, and the system ensures that the collection and analysis and final sounding aiming at the user requirements in the whole interaction flow are sufficiently accurate through the bidirectional fusion mode of artificial intelligence assisted by the manual. Each driver user can easily and skillfully use the system, multiple complicated operation barriers of the historical driving safety interaction service app and hardware service are broken through, the overall interaction service thinking and operation system are perfected, and the system is extremely simplified and is complete.
Ultra-low product application threshold:
by adopting a brand new data service architecture, under the condition that the raw materials of the product are optimized, only a camera and a vehicle data acquisition, positioning and voice interaction module are mounted in hardware, so that the product cost is reduced to the minimum as far as possible, the comprehensive product application threshold of the artificial intelligent driving safety hardware service is lowered, all driver users are oriented, the users at any level can enjoy the extremely polarized driving safety service of the system, and the complete driving safety system with the completely low threshold is truly realized.
Private customization channels:
the method comprises the steps of developing a customized channel, achieving basic cooperation with original user groups in various areas such as government, schools, traffic safety institutions and the like during system service, wherein core technologies comprise customized construction/multi-dimensional customized service scheme customization and emergency thinking customization based on real-time acquisition, identification analysis, AI travel route feasibility analysis, private vehicle gesture database customization, various private use customization, practical travel safety service scheme customization and the like of travel environments of users of drivers, and the customized mode enables brand new travel safety services aiming at the users of the drivers to go deeper into the mind.
A brand new multidimensional range acquisition fusion analysis technology:
the system is based on the vehicles of users, the autonomous vehicle state analysis is firstly carried out to determine the preliminary risk trend, then the actual driving states of all surrounding vehicles are collected through the vehicle attitude collection technology, the actual dynamic speeds of other vehicles are analyzed through the long-distance radar autonomous ranging, whether all the vehicle trends are matched with the actual safe parking range or not is judged, the important investigation is carried out on the vehicles with wrong data, the positions of the vehicles are monitored in real time, the risk situations of the possibility are analyzed, the system carries out autonomous feedback of different levels according to different risk states, if the vehicles of the users are not threatened, the system can carry out autonomous analysis and pay attention to the vehicle states in real time, if accidents are possible, the system carries out rescue feedback in advance, all the services are predicted, each risk service has a certain amount of advance, the corresponding preparation is carried out for the possible driving risks of each driver, the accident amount is reduced as far as possible, and the personal safety of the driver is guaranteed.
Considering that the data signals of a plurality of places are poor due to regional reasons and the limitation on products is great, the original product thinking is changed, a brand new channel scheme is introduced, and an independent channel with no limitation on 0 time delay is built by taking 5G as a main and auxiliary product thinking, so that the comprehensive product service is completely separated from the influence of the channel signals, and the system can completely provide service for users wherever possible. In the initial stage of the project, the technology paste and the technology compensation are carried out by adopting the high-resolution satellite positioning and inertial navigation technology, the problems of poor signal transmission performance and large navigation error of the original automatic driving navigation system are solved, the L4-level automatic driving vehicle positioning navigation system comprises a group of satellite positioning navigation units and a group of vehicle navigation units, the satellite positioning data is used for dividing data areas, an effective detection area is set between every two adjacent positioning areas and navigation units to overlap, further, the product can be sufficiently consistent and complete, all navigation units and service ports can carry out communication interaction, and all user requirements are met by the most complete data service system.
And in the connection section of the software and the hardware, the MCU main control module and the built-in regional local area network WIFI module are adopted as main transmission modes, and finally, the GUI program is adopted for receiving and processing.
At the hardware end part, license plate recognition, dynamic element recognition sensors, inertial sensors, distance sensors, collision sensors and the like are mainly mounted at the initial stage of self-adaptive hardware of a vehicle, primary data acquisition is mainly performed based on vehicle-mounted perception sensors, and an initial structure mainly comprises an inertial navigation system, a 360-ring image camera, a 32-line laser radar and the like.
The user can selectively select whether to acquire and input the inertial gesture of the vehicle or not at the beginning of use, if the user selects to input data, the driving gesture data of the user are completely recorded, a customized user comparison library for the user terminal is generated, and all subsequent travel services selectively refer to the initial gesture input data of the user to perform relevant analysis and complete the service.
The vehicle posture information is obtained through an inertial navigation system, and the inertial navigation system mainly calculates the angular velocity through the combination of the fiber-optic gyroscopes so as to obtain the vehicle posture information, and the principle of the fiber-optic gyroscopes is briefly introduced below.
By adopting a brand new environment fusion thinking, under the 'sub-meter level' fusion application background of a Beidou positioning and GPS positioning system and a 5G data channel system, a user only needs to install hardware and a car APP, through a Beidou module, a 5G module and a camera module, the system can perform data acquisition aiming at the surrounding environment of a user vehicle, the system can perform accurate positioning and data acquisition analysis aiming at the driving state and the actual driving environment of the user and the travel destination of single service at the application initial stage, the environment fusion thinking is adopted, repeated comparison is performed for the driving state of the user for a plurality of times, the driving of each time is ensured to be safe and error-free, the environment and the management thinking are completely fused, enterprises can cooperate with different levels of products of hospitals and related institutions in each region at the project initial stage, and the first time reflects information to related rescue institutions, the ginseng safety of each car user is ensured as much as possible under the condition of being incapable of avoiding the car accidents, a certain advance is predicted according to the environment state, the driving safety service is ensured for each time and really, the driving service is ensured to be really in advance, the full safety service is ensured through the most real service, and the full service is customized to the original safety service of the Internet, and the safety service is ensured to be the most practical, and the safety service is completely and the service is ensured to be the most limited to be the user.
For the environmental voice acquisition part of a user, the whole technology simulation and the bionic operation are carried out through MATLAB, a voice signal is an analog signal, the analog signal is firstly converted into a digital signal through sampling, the continuous signal is essentially changed into a pulse or a digital sequence, and in MATLAB, the signal can be subjected to fast Fourier transformation by utilizing a function fft, so that the frequency spectrum characteristic of the signal is obtained.
The vehicle model identification based on the image is generally divided into two processes, namely, feature extraction and analysis of the extracted features by using a related identification algorithm to give an identification result, wherein the two processes are very important in mode identification, in an acquisition scheme, the length, the height of each point, the side center distance, the four-wheel position and the like of a vehicle are acquired by using various indexes and algorithms, and the PCA features and SURF features of the vehicle are selected to be utilized for basic sampling and reconstruction of the vehicle
The wind direction pre-reminding output end is electrically connected with the input end of the accurate response, the forced driving state correcting output end is mutually connected with the L4 level automatic auxiliary driving input end, and the L4 level automatic auxiliary driving output end is mutually connected with the in-vehicle user flexible protection input end.
The output end of the forced safe driving assistance is connected with the input end of the in-range high-risk behavior emergency response, and the output end of the in-range high-risk behavior emergency response is communicated with the input end of the risk pre-avoidance.
The forced driving state correction and forced safe driving assistance comprises a forced intervention system, the forced intervention system comprises a multi-sensor acquisition and multi-dimensional data sensing and full-segment fusion analysis result output, the multi-sensor acquisition and multi-dimensional data sensing output end is electrically connected with a preliminary sensing, the multi-sensor acquisition and multi-dimensional data sensing output end is electrically connected with a database multi-level comparison, the database multi-level comparison output end is electrically connected with a comprehensive analysis, the database multi-level comparison and the comprehensive analysis output end are electrically connected with a fusion comparison, the comprehensive analysis output end is electrically connected with a final determination risk state, the final determination risk state output end is electrically connected with an autonomous processing forced intervention and the like, and the monitoring of relevant results is finally completed.
The software end further comprises multi-sensor acquisition and optical camera acquisition, the output end of the multi-sensor acquisition is electrically connected with multi-sensor interaction, the output end of the multi-sensor interaction is electrically connected with a comprehensive feedback terminal data system, the output end of the comprehensive feedback terminal data system is electrically connected with an integrated processing, and the output end of the integrated processing is electrically connected with a feedback terminal of the software.
The vehicle positioning system for correcting the forced driving state is further included, and the vehicle positioning system includes S1: acquiring a vehicle state after primary correction;
s2: detecting the motion state of the vehicle in real time;
s3: when the vehicle is detected to be in a running state, carrying out secondary correction on the vehicle state after the primary correction based on virtual constraint correction, and when the vehicle is detected to be in a static state, carrying out secondary correction on the vehicle state after the primary correction based on zero-speed correction;
s4: and positioning the vehicle based on the secondarily corrected vehicle state.
The system comprises a vehicle and a central server, wherein the vehicle comprises operation plan production, running control, peripheral information acquisition, operation plan production, running control and environment information collection, and the central server comprises operation instruction generation, peripheral information collection, inspection policy decision and operation instruction generation.
The system is primarily defined as an active driving safety service system, so that the system is completely mandatory towards a user side, and the system can directly and forcedly intervene in a user's automobile once the risk of possibility occurs under the permission of a user aiming at all vehicles provided with hardware systems, the system completely replaces a driver to operate the automobile by L4-level automatic driving, the whole accident response time is saved, the whole risk avoidance action is completed in the shortest time, and the personal safety of the user is further better ensured.
The system also comprises a lower computer and an upper computer of the main control system which are used for embedding each position and service of the Beidou unlimited vehicle, wherein the upper computer comprises user driving data acquisition and analysis, a data terminal processing server is connected with the user driving data acquisition and analysis in a bidirectional manner, a behavior gesture analysis system is connected with the data terminal processing server in a bidirectional manner, real-time environment feedback of gesture position data of the user vehicle is connected with the data terminal processing server in a bidirectional manner, the lower machine position comprises a man-machine interaction interface, an output end of the man-machine interaction interface is electrically connected with an intention processing terminal, an embedded main control system is connected to the intention processing terminal in a bidirectional manner, an input end of the embedded main control system is electrically connected with a driving gesture and range risk data acquisition, an output end of the intention processing terminal is electrically connected with a safe driving application end, and the upper machine position is connected with the lower machine position in a bidirectional manner.
The vehicle gesture collection and global multi-sense interaction further comprises a gesture collector, wherein the gesture collector comprises a binding band hole 1, an indicator light, a power module, a data transmission button, a switch module, an inertia measurement unit, a singlechip and an SD card storage module.
The gesture collector comprises a fixed module, a detection device, a power supply module and an indicator light module which are connected, wherein the inertia measurement unit is connected with the singlechip, and the singlechip controls the collected data of the human motion gesture to be stored on the SD card storage module.
The working principle of the intelligent guiding auxiliary driving system of the active vehicle based on wireless positioning provided by the invention is as follows:
the method comprises the steps of automatically building a unique vehicle attitude language library through big data collection, acquiring the attitude behaviors and actual driving state states of a user vehicle and the attitude languages of other vehicles in the surrounding environment in real time through hardware sensors installed in each vehicle, carrying out comparative decoding analysis on the three-way states of a host vehicle driver, the host vehicle and a front vehicle in a combined mode, analyzing preliminary risk trends, analyzing the real-time vehicle attitude of the user and the attitude languages of other vehicles in the surrounding environment, accurately obtaining the final risk intervention degree of the user vehicle through vehicle attitude comparison of an autonomous database and real-time dynamic risk analysis, finally realizing risk prediction and risk prompt of driving safety of the user and final forced driving intervention, simultaneously carrying out related operation prompt and risk prompt on an APP end, namely a vehicle machine end of the user, further enabling the user to prepare for the risk oriented behaviors, guaranteeing the personal safety of all the driving users, realizing multi-level fusion of a plurality of dimension services, and finally realizing complete synthetic service interaction.
Compared with the related art, the wireless positioning-based intelligent guiding auxiliary driving system for the active vehicle has the following beneficial effects:
other vehicle states are acquired through regional vehicle attitude acquisition technology, the possible driving routes of other vehicles are analyzed through positioning and various sensors, then risks of the possibility are integrally analyzed according to all feedback data, once a possible risk hardware system intervenes in a driving computer to perform forced driving, L4-level automatic driving and risk avoidance are performed according to a related risk processing scheme of the system, and other additional functions are used for guaranteeing user safety.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present invention.
Claims (4)
1. An initiative vehicle intelligent direction auxiliary driving system based on wireless location, which is characterized by comprising:
the system comprises a driving assistance system, wherein an output end of the driving assistance system is electrically connected with a vehicle intervention, the output end of the vehicle intervention is electrically connected with a hardware end, the output end of the hardware end is electrically connected with a driver state monitoring, an autonomous vehicle dynamic monitoring and an in-environment vehicle dynamic monitoring, the driver state monitoring, the autonomous vehicle dynamic monitoring and the in-environment vehicle dynamic monitoring are electrically connected with Beidou wireless vehicle positioning and service, comprehensive risk state sensing, vehicle gesture acquisition and global multisensory interaction, the Beidou wireless vehicle positioning and service, the comprehensive risk state sensing, the vehicle gesture acquisition and global multisensory interaction output end is electrically connected with an active vehicle driving intervention, the output end of the active vehicle driving intervention is electrically connected with a forced driving state correction, an L4 level automatic assistance driving, an in-vehicle user flexible protection, the L4 level automatic assistance driving output end is electrically connected with a forced safe driving assistance, an in-range high risk behavior emergency response and a pre-avoidance, the pre-warning system is electrically connected with a precise response, the output end of the pre-warning system is electrically connected with a global multisensory interactive vehicle state, the global navigation system is electrically connected with a global optimum basic vehicle navigation assistance hardware, the global navigation assistance hardware is electrically connected with a digital navigation assistance system is electrically connected with a global navigation assistance hardware, the global assistance hardware is electrically connected with a warning device, the global assistance hardware is electrically connected with a global assistance device is electrically connected with a warning device, and a warning device is electrically connected with a warning device, the output end of the risk pre-reminding is electrically connected with the input end of the accurate response, the output end of the forced driving state correction is mutually connected with the input end of the L4-level automatic auxiliary driving, the output end of the L4-level automatic auxiliary driving is mutually connected with the input end of the in-vehicle user flexible protection, the output end of the forced safe driving assistance is mutually connected with the input end of the in-range high risk behavior emergency response, and the output end of the in-range high risk behavior emergency response is mutually communicated with the input end of the risk pre-avoidance;
the forced driving state correction and forced safe driving assistance comprises a forced intervention system, the forced intervention system comprises a multi-sensor acquisition and multi-dimensional data sensing and full-segment fusion analysis result output, the multi-sensor acquisition and multi-dimensional data sensing output end is electrically connected with a preliminary sensing, the multi-sensor acquisition and multi-dimensional data sensing output end is electrically connected with a database multi-level comparison, the database multi-level comparison output end is electrically connected with a comprehensive analysis, the database multi-level comparison and the comprehensive analysis output end are electrically connected with a fusion comparison, the comprehensive analysis output end is electrically connected with a final determination risk state, and the final determination risk state output end is electrically connected with an autonomous processing forced intervention for monitoring relevant results;
the software end further comprises multi-sensor acquisition and optical camera acquisition, wherein the output end of the multi-sensor acquisition is electrically connected with multi-sense interaction, the output end of the multi-sense interaction is electrically connected with a comprehensive feedback terminal data system, the output end of the comprehensive feedback terminal data system is electrically connected with an integrated processing, and the output end of the integrated processing is electrically connected with a feedback terminal of the software;
the vehicle positioning system for correcting the forced driving state can realize the following steps:
s1: acquiring a vehicle state after primary correction;
s2: detecting the motion state of the vehicle in real time;
s3: when the vehicle is detected to be in a running state, carrying out secondary correction on the vehicle state after the primary correction based on virtual constraint correction, and when the vehicle is detected to be in a static state, carrying out secondary correction on the vehicle state after the primary correction based on zero-speed correction;
s4: and positioning the vehicle based on the secondarily corrected vehicle state.
2. The wireless positioning-based active vehicle intelligent guiding auxiliary driving system according to claim 1, further comprising a lower computer and an upper computer of the Beidou wireless vehicle positioning and service embedded main control system, wherein the upper computer comprises a user driving data acquisition and analysis, a data terminal processing server is connected in a bidirectional manner on the user driving data acquisition and analysis, a behavior gesture analysis system is connected in a bidirectional manner on the data terminal processing server, a user vehicle gesture position data real-time environment feedback is connected in a bidirectional manner on the data terminal processing server, the lower computer comprises a human-computer interaction interface, an intention processing terminal is electrically connected to an output end of the human-computer interaction interface, an embedded main control system is connected in a bidirectional manner on the intention processing terminal, a driving gesture and range risk data acquisition is electrically connected to an input end of the embedded main control system, a safety application end is electrically connected to an output end of the intention processing terminal, and the upper computer is connected in a bidirectional manner with the lower computer.
3. The wireless positioning-based intelligent guiding auxiliary driving system for an active vehicle according to claim 1, wherein the vehicle gesture collection and global multi-sensing interaction further comprises a gesture collector, and the gesture collector comprises a binding band hole 1, an indicator light, a power module, a data transmission button, a switch module, an inertial measurement unit, a singlechip and an SD card storage module.
4. The intelligent guiding and driving assisting system for the active vehicle based on wireless positioning according to claim 3, wherein the gesture collector comprises a fixed module, a detection device, a power supply module and an indicator light module which are connected, the inertial measurement unit is connected with the single chip microcomputer, and the single chip microcomputer controls the collected data of the human body movement gesture to be stored on the SD card storage module.
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