CN114463989B - Civil aviation special vehicle limit for height detecting system - Google Patents
Civil aviation special vehicle limit for height detecting system Download PDFInfo
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- CN114463989B CN114463989B CN202111520673.6A CN202111520673A CN114463989B CN 114463989 B CN114463989 B CN 114463989B CN 202111520673 A CN202111520673 A CN 202111520673A CN 114463989 B CN114463989 B CN 114463989B
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- 238000001514 detection method Methods 0.000 claims abstract description 128
- 230000007704 transition Effects 0.000 claims description 31
- 238000000034 method Methods 0.000 claims description 15
- 230000001174 ascending effect Effects 0.000 claims description 10
- 238000005452 bending Methods 0.000 claims description 6
- 230000000630 rising effect Effects 0.000 claims description 6
- 239000006096 absorbing agent Substances 0.000 claims description 4
- 230000035939 shock Effects 0.000 claims description 4
- 238000013016 damping Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 6
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000010485 coping Effects 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/13—Architectural design, e.g. computer-aided architectural design [CAAD] related to design of buildings, bridges, landscapes, production plants or roads
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B7/00—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00
- G08B7/06—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Abstract
The invention discloses a height limiting detection system of a civil aviation special vehicle, which is technically characterized by comprising a display module, a camera module, a detection and identification module, a height limiting detection module and a warning module, wherein a vehicle-mounted display unit in the display module is used for displaying an early warning image, the camera module comprises a binocular camera for generating a road map, a condition acquisition unit is used for generating a data table, a condition judgment unit is used for judging whether the vehicle needs to start the height limiting detection module to carry out height limiting detection, the height limiting detection module is used for judging whether the vehicle collides with a height limiting detection position by establishing a road map model, a judgment signal is generated, and the warning unit carries out warning control and active processing according to the judgment signal so as to achieve the effects of warning a driver and active control. The invention discloses a height limit detection system of a civil aviation special vehicle, which has the effect of accurately detecting the height limit.
Description
Technical Field
The invention relates to the technical field of vehicle safety, in particular to a height limiting detection system of a civil aviation special vehicle.
Background
Along with the construction of road traffic, under many special road conditions, it is required to set up limiting measures to improve road traffic safety, the common speed limiting and height limiting measures are that when the vehicle speed is too fast, can cause the vehicle braking distance to increase, be difficult to fast brake when coping with emergency, thereby easy to appear traffic safety accident, in general traffic road travel, the vehicle height limiting measures often occasionally appear, for example, the height limiting measures appear when passing through highly limited road sections such as bridge holes, and also appear in some special cases, it is common for civil aviation special vehicles, because the wing general height of aircraft is limited, the vehicle that carries out special operation at the airport needs to limit for the height, thereby improve the vehicle and be difficult for appearing the incident when driving, for this reason, when the vehicle is to the limit of different circumstances, need to be able to detect to the height limiting fast and accurately, thereby accurately judge whether the vehicle can pass safely, it is particularly important to this kind of system that can carry out accurate detection to the limit height.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a height limit detection system for a civil aviation special vehicle, which has the effect of accurately detecting the height limit.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the utility model provides a civil aviation special type car limit for height detecting system, includes display module, camera module, detection identification module, limit for height detection module, warning module;
the display module comprises a vehicle-mounted display unit arranged on a vehicle center console, wherein the vehicle-mounted display unit comprises a display screen and an early warning image used for being displayed on the display screen;
the camera module comprises a binocular camera, wherein the binocular camera is used for shooting the running direction of the vehicle and forming a road view;
the detection and identification module comprises a condition acquisition unit and a condition judgment unit, wherein the condition acquisition unit is used for acquiring detection data, the detection data comprises vehicle speed information, road condition information, height limiting information and distance information, the vehicle speed information represents a real-time speed value of a vehicle, the road condition information represents information of a lane where the vehicle is located, the height limiting information represents whether a height limiting detection position exists or not, the distance information represents a distance value between the vehicle and the height limiting detection position, the condition acquisition unit generates a data table according to the detection data, a comparison strategy and a distance threshold value are configured in the condition judgment unit, the comparison strategy is judged according to comparison of the distance information in the data table and the distance threshold value, and when the distance information is smaller than or equal to the distance threshold value, the condition judgment unit generates a detection signal and sends the detection signal to the height limiting detection module;
the height limit detection module comprises a road modeling unit and a dangerous processing unit, wherein a model strategy is configured in the road modeling unit, the model strategy comprises the steps of calling the Lu Jingtu and the data table when the height limit detection module receives detection signals, generating a road scene model for displaying the running road conditions of the vehicle according to the data table and Lu Jingtu and the data table, and the dangerous processing unit is configured with an analysis strategy which comprises the steps of analyzing whether the vehicle is in danger of collision with a height limit detection position according to the road scene model, generating a judgment signal, representing that collision does not occur when the judgment signal is output to 0, representing that collision occurs when the judgment signal is output to 1, and sending the judgment signal to the warning module when the judgment signal is output to 1;
the warning module comprises an active unit, a graphic display unit and a broadcasting unit, wherein an active processing strategy is configured in the active unit, the graphic display unit comprises a warning icon displayed on a warning image, the broadcasting unit comprises a buzzer arranged on a vehicle center console, the active processing strategy is used for actively controlling the vehicle when the warning module receives a judgment signal, the warning icon is highlighted on the warning image, and the buzzer performs buzzing broadcasting.
As a further improvement of the present invention, a delay strategy is further configured in the condition judgment unit, the distance information includes a delay distance and a coverage distance, the coverage distance is the same as the distance threshold, the delay strategy includes that when the vehicle moves to the delay distance, the condition judgment unit generates a pre-rising signal and sends the pre-rising signal to the height limit detection module, and when the vehicle moves to the coverage distance, the condition judgment unit generates a detection signal according to a comparison strategy and sends the detection signal to the height limit detection module.
As a further improvement of the invention, the model strategy also comprises a modeling method, the road scene model comprises a straight road model, the modeling method comprises the steps of building a running surface according to a lane on which a vehicle runs, building a height limiting surface perpendicular to the running surface according to a height limiting detection position, wherein the distance from the height limiting detection position to the lane comprises a passing distance and a warning distance, when the analysis strategy is used for calling the straight road model, the analysis strategy is used for calling the vehicle height and generating a vehicle height value, and if the vehicle height value is larger than the passing distance, the judgment signal is output to be 1.
As a further improvement of the invention, the model strategy also comprises a modeling method, the road scene model comprises a curve model, the modeling method comprises the steps of establishing a road surface of a vehicle according to a lane on which the vehicle runs, the lane surface comprises a straight running surface and a curve surface, establishing a detection surface perpendicular to the curve surface according to a height-limiting detection position, and establishing a boundary perpendicular to the road surface according to the intersection of the road surface and the curve surface, wherein a corner is formed between the boundary and the detection surface;
the height limiting detection position is used for forming a height limiting distance from a curve surface, when the analysis strategy is used for calling a curve model, the analysis strategy is used for calling vehicle speed information, vehicle weight and vehicle height, and generating a vehicle height value according to the vehicle height, the analysis strategy also comprises a deflection analysis algorithm, the deflection analysis algorithm is used for generating a deflection height according to the vehicle speed information, the vehicle height, the bending angle and the height limiting distance, and if the deflection height is larger than the height limiting distance, the judgment signal is output as 1.
As a further improvement of the present invention, the offset analysis algorithm is:
X＝H+ΔX
wherein: m represents the weight of the vehicle, R represents the turning radius of the vehicle, θ represents the bending angle, K represents the damping coefficient of the shock absorber of the vehicle, H represents the height of the vehicle, deltaX represents the height difference of two sides of the vehicle when the vehicle turns, V represents the speed of the vehicle, and X represents the height of the deflection.
As a further improvement of the invention, the model strategy also comprises a modeling method, the road scene model comprises a ramp model, the modeling method comprises the steps of establishing a ramp inclined plane according to a lane on which a vehicle runs, the ramp inclined plane comprises an ascending surface and a descending surface, when the height limiting detection position is arranged at the intersection of the ascending surface and the descending surface, establishing a vertical standard interface along the height limiting detection position, and forming a transition included angle between the ascending surface and the standard interface along the intersection and perpendicular to the interface of the standard interface;
the method comprises the steps that the height limiting detection position is used for detecting the slope distance from a curve surface, when the analysis strategy is used for calling a ramp model, the analysis strategy is used for calling vehicle speed information, vehicle height, a transition included angle and vehicle weight, the analysis strategy also comprises a transition analysis algorithm, the transition analysis algorithm is used for calculating the maximum uplink transition height of the vehicle along an uplink surface according to the vehicle speed, and if the uplink transition height is larger than the height limiting distance, the judgment signal is output to be 1.
As a further improvement of the invention, the transition analysis algorithm is:
wherein: h1 represents the height difference between the front end surface and the interface after the front end surface of the vehicle transitions along the uplink, f represents the resistance when moving along the uplink, alpha represents the transition included angle, and H2 represents the transition height.
As a further improvement of the invention, the active processing strategy is specifically:
when the warning module receives the judging signal, the vehicle is actively controlled to brake and/or steer, a steering signal is also generated and sent to the vehicle-mounted display unit when the vehicle is controlled to steer, and the steering mark is displayed on the early warning image.
As a further improvement of the invention, the system further comprises a self-checking module, wherein a self-checking strategy is configured in the self-checking module, and the self-checking strategy is specifically as follows:
generating an energizing signal and sending the energizing signal to a camera module when the vehicle is started to energize, wherein the camera module starts self-checking and generates a self-checking signal;
if the self-checking of the camera module is completed, the camera module starts camera shooting and generates and acquires a self-checking scenic spot, and the self-checking signal output is 1;
if the self-checking of the camera module is not finished, the self-checking signal output is 0, the self-checking module generates an error reporting signal and sends the error reporting signal to the broadcasting unit, and the broadcasting unit performs buzzing broadcasting.
The invention has the beneficial effects that: the road modeling type unit arranged in the height limiting detection module generates a road scene model, the danger processing unit generates a judging signal according to the road scene model and judges whether the judging signal is 1 or 0, so that whether danger occurs is judged, image and voice warning can be performed under the action of the warning module, and active control of the vehicle can be realized under the action of an active processing strategy, so that the vehicle is not easy to collide, and the effect of accurately detecting the height limiting is realized.
Drawings
FIG. 1 is a flow chart of a system embodying the present invention;
fig. 2 is a schematic diagram showing an early warning image.
Reference numerals: 1. a display module; 2. a camera module; 3. a detection and identification module; 31. a condition acquisition unit; 32. a condition judgment unit; 4. a height limit detection module; 41. a road modeling unit; 42. a hazard handling unit; 5. a warning module; 51. an active unit; 52. a graphic display unit; 53. a broadcasting unit; 6. and a self-checking module.
Detailed Description
The invention will now be described in further detail with reference to the drawings and examples. Wherein like parts are designated by like reference numerals. It should be noted that the words "front", "back", "left", "right", "upper" and "lower" used in the following description refer to directions in the drawings, and the words "bottom" and "top", "inner" and "outer" refer to directions toward or away from, respectively, the geometric center of a particular component.
Referring to fig. 1 and 2, the specific implementation mode of the height limiting detection system of the civil aviation special vehicle of the invention comprises a display module 1, a camera module 2, a detection and identification module 3, a height limiting detection module 4 and a warning module 5;
the display module 1 comprises a vehicle-mounted display unit arranged on a vehicle center console, the vehicle-mounted display unit comprises a display screen and an early warning image used for being displayed on the display screen, the camera module 2 comprises a binocular camera, and the binocular camera is used for shooting the running direction of the vehicle and forming a road map.
The detection and identification module 3 includes a condition acquisition unit 31 and a condition judgment unit 32, the condition acquisition unit 31 is used for acquiring detection data, the detection data includes vehicle speed information, road condition information, height limit information and distance information, the vehicle speed information represents a real-time speed value of a vehicle, the road condition information represents information of a lane where the vehicle is located, the height limit information represents whether a height limit detection position exists or not, the distance information represents a distance value between the vehicle and the height limit detection position, the condition acquisition unit 31 generates a data table according to the detection data, a comparison strategy and a distance threshold value are configured in the condition judgment unit 32, the comparison strategy is judged according to comparison of the distance information and the distance threshold value in the data table, when the distance information is smaller than or equal to the distance threshold value, the condition judgment unit 32 generates a detection signal and sends the detection signal to the height limit detection module 4, and the height limit detection module 4 starts height limit detection when receiving the detection signal.
The height limit detection module 4 comprises a road modeling unit 41 and a danger processing unit 42, wherein a model strategy is configured in the road modeling unit 41, the model strategy comprises a road scene graph and a data table which are called when the height limit detection module 4 receives detection signals, a road scene model for displaying the road conditions of a vehicle is generated according to the data table and Lu Jingtu and the data table, an analysis strategy is configured in the danger processing unit 42, the analysis strategy comprises the steps of analyzing whether the vehicle is in danger of collision with a height limit detection bit according to the road scene model, generating a judgment signal, representing that collision does not occur when the judgment signal is output to be 0, representing that collision occurs when the judgment signal is output to be 1, and sending the judgment signal to the warning module 5 when the judgment signal is output to be 1.
The warning module 5 comprises an active unit 51, a graphic display unit 52 and a broadcasting unit 53, wherein an active processing strategy is configured in the active unit 51, the graphic display unit 52 comprises a warning icon displayed on a warning image, the broadcasting unit 53 comprises a buzzer arranged on a vehicle center console, when the warning module 5 receives a judgment signal, the active processing strategy is used for actively controlling the vehicle so that the vehicle is not easy to collide with a height limit detection position, the warning icon is highlighted on the warning image, the risk of collision between the vehicle and the height limit detection position is warned to a driver, and the buzzer buzzes to broadcast the warning driver.
The condition judgment unit 32 is further configured with a delay strategy, the distance information comprises a delay distance and a coverage distance, the coverage distance is the same as the distance threshold, the delay strategy comprises that when the vehicle moves to the delay distance, the condition judgment unit 32 generates a pre-rising signal and sends the pre-rising signal to the height limit detection module 4, so that the height limit detection module 4 is in a standby state, and when the vehicle moves to the coverage distance, the condition judgment unit 32 generates a detection signal according to a specific strategy and sends the detection signal to the height limit detection module 4, so that the height limit detection can be carried out by starting the height limit detection module 4 more quickly.
The modeling method comprises the steps of establishing a driving surface according to a lane where the vehicle is driving, establishing a height limiting surface perpendicular to the driving surface according to height limiting detection positions, wherein the distance from the height limiting detection positions to the lane comprises a passing distance and a warning distance, when the model strategy is analyzed, the height of the vehicle is also called and a vehicle height value is generated, if the vehicle height value is larger than the passing distance, the risk that the vehicle collides at the position where the height limiting detection positions are represented at the moment, judging that a signal is output to be 1 at the moment, and controlling a warning unit to perform warning display, so that the vehicle avoids the risk of collision.
The modeling method comprises the steps of establishing a road surface of a vehicle according to a lane where the vehicle runs, establishing a detection surface perpendicular to the road surface according to a height-limiting detection position, establishing a boundary perpendicular to the road surface according to the intersection of the road surface and the road surface, and forming a bent angle between the boundary and the detection surface;
the height limiting detection position is used for forming a height limiting distance from a curve surface, when the analysis strategy is used for calling a curve model, the analysis strategy is used for calling vehicle speed information, vehicle weight and vehicle height, a vehicle height value is generated according to the vehicle height, the analysis strategy also comprises a deflection analysis algorithm, the deflection analysis algorithm is used for generating deflection height according to the vehicle speed information, the vehicle height, the bending angle and the height limiting distance, and if the deflection height is larger than the height limiting distance, the judgment signal is output as 1. When the vehicle turns, the shock absorbers on two sides of the vehicle work to prevent the vehicle from turning over when the vehicle turns to overcome the centrifugal phenomenon, but meanwhile, the two sides of the vehicle form a height difference when the vehicle turns, so that whether the vehicle turns and collides with the height limit detection position or not is judged.
The offset analysis algorithm is as follows:
X＝H+ΔX
wherein: m represents vehicle weight, R represents vehicle turning radius, θ represents bending angle, K represents damping coefficient of vehicle shock absorber, H represents vehicle height, deltaX represents height difference of two sides when the vehicle turns, V represents vehicle speed, X represents deflection height, deflection height of the vehicle when the vehicle turns can be calculated through deflection analysis algorithm, deflection height is compared with limit height distance, collision can occur when deflection height is larger than limit height distance, and accordingly judgment signal output is 1.
The modeling method comprises the steps that a slope is built according to a lane where a vehicle runs, the slope comprises an ascending surface and a descending surface, when a height limit detection position is arranged at the intersection of the ascending surface and the descending surface, a vertical mark surface is built along the height limit detection position, a transition included angle is formed between the ascending surface and the mark surface along the intersection and perpendicular to the mark surface;
the method comprises the steps that when a slope surface is formed from a limit height detection position to a curve surface and an analysis strategy is used for calling a ramp model, the analysis strategy is used for calling vehicle speed information, vehicle height, a transition included angle and vehicle weight, the analysis strategy also comprises a transition analysis algorithm, the transition analysis algorithm is used for calculating the maximum uplink transition height of the vehicle according to the vehicle speed and the vehicle along the uplink surface, and if the uplink transition height is larger than the limit height distance, a judged signal is output to be 1.
The transition analysis algorithm is:
wherein: h1 represents the height difference between the front end surface and the interface after the front end surface of the vehicle transitions along the uplink, f represents the resistance when moving along the uplink, alpha represents the transition included angle, and H2 represents the transition height.
When the vehicle passes through the ramp, the transition included angle exists, and the distance difference exists between the front end side of the vehicle and the front wheel, so that the vehicle can transition along the ascending surface, when the transition analysis algorithm can calculate that the front end face of the vehicle transitions to the highest position, whether the vehicle collides with the limit detection position or not can be calculated, and when the transition height is larger than the limit height, the representation can collide, so that the warning unit is controlled to warn.
The active processing strategy specifically comprises the following steps:
when the warning module 5 receives the judgment signal, the vehicle is actively controlled to brake and/or steer, the steering signal is also generated and sent to the vehicle-mounted display unit when the vehicle is controlled to steer, the steering mark is displayed on the early warning image, the vehicle is enabled to stably run at a low speed in a mode of reducing the vehicle speed, and the vehicle can keep the lowest height in the height direction when the no-road scene model is a straight road model, a curve model or a ramp model, so that the vehicle is reduced to collide with the height limit detection position, and the vehicle is controlled to steer when the vehicle cannot avoid the collision of the height limit detection position even if the vehicle speed is reduced, so that the vehicle does not pass through the height limit detection position, and the vehicle is prevented from colliding with the height limit detection position.
The self-checking system further comprises a self-checking module 6, wherein a self-checking strategy is configured in the self-checking module 6, and the self-checking strategy is specifically as follows:
when the vehicle is started to be electrified, an electrifying signal is generated and sent to the camera module 2, and the camera module 2 starts self-checking and generates a self-checking signal;
if the self-checking of the camera module 2 is completed, the camera module 2 starts camera shooting and generates a self-checking scenic spot, and the self-checking signal is output as 1;
if the self-checking of the camera module 2 is not finished, the self-checking signal output is 0, the self-checking module 6 generates an error reporting signal and sends the error reporting signal to the broadcasting unit 53, the broadcasting unit 53 performs buzzing broadcasting to remind a driver that the camera module 2 is not started, and the normal work of the camera module 2 needs to be checked and restored.
Working principle and effect:
the road map which can be used for reflecting road conditions in the running direction of the vehicle is formed by shooting the running direction of the vehicle through the binocular camera in the shooting module 2, the condition acquisition unit 31 in the detection and identification module 3 acquires detection data, a data table is generated according to the detection data, the comparison strategy in the condition judgment unit 32 is used for comparing according to the data table to generate detection signals so as to judge whether the height limit detection module 4 is pneumatically operated, the road modeling unit 41 arranged in the height limit detection module 4 generates a road map model, the danger processing unit 42 is used for generating judgment signals according to the road map model and judging whether the judgment signals are 1 or 0 so as to judge whether the danger occurs, the image and voice warning can be carried out under the action of the warning module 5, the active control of the vehicle can be realized under the action of the active processing strategy, the vehicle is not easy to collide, and the effect of accurately detecting the height limit is realized.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the present invention may occur to one skilled in the art without departing from the principles of the present invention and are intended to be within the scope of the present invention.
Claims (7)
1. A civil aviation special type car limit for height detecting system, its characterized in that: the device comprises a display module (1), a camera module (2), a detection and identification module (3), a height limiting detection module (4) and a warning module (5);
the display module (1) comprises a vehicle-mounted display unit arranged on a vehicle center console, wherein the vehicle-mounted display unit comprises a display screen and an early warning image used for being displayed on the display screen;
the camera module (2) comprises a binocular camera, wherein the binocular camera is used for shooting the running direction of the vehicle and forming a road map;
the detection recognition module (3) comprises a condition acquisition unit (31) and a condition judgment unit (32), wherein the condition acquisition unit (31) is used for acquiring detection data, the detection data comprises vehicle speed information, road condition information, height limiting information and distance information, the vehicle speed information represents real-time speed values of vehicles, the road condition information represents information of lanes where the vehicles are located, the height limiting information represents whether height limiting detection positions exist or not, the distance information represents distance values between the vehicles and the height limiting detection positions, the condition acquisition unit (31) generates a data table according to the detection data, the condition judgment unit (32) is internally provided with a comparison strategy and a distance threshold value, the comparison strategy is used for comparing and judging the distance information in the data table with the distance threshold value, when the distance information is smaller than or equal to the distance threshold value, the condition judgment unit (32) generates detection signals and sends the detection signals to the height limiting detection module (4), and the height limiting detection module (4) starts when receiving the detection signals;
the height limit detection module (4) comprises a road modeling unit (41) and a danger processing unit (42), wherein a model strategy is configured in the road modeling unit (41), the model strategy comprises that when the height limit detection module (4) receives a detection signal, the Lu Jingtu and the data table are called, a road scene model for displaying the running road condition of a vehicle is generated according to the data table and Lu Jingtu and the data table, an analysis strategy is configured in the danger processing unit (42), the analysis strategy comprises that whether the vehicle is in danger of collision with a height limit detection position or not is analyzed according to the road scene model, a judgment signal is generated, if the judgment signal is output as 0, no collision appears, if the judgment signal is output as 1, the collision appears, and when the judgment signal is 1, the judgment signal is sent to the warning module (5);
the warning module (5) comprises an active unit (51), a graphic display unit (52) and a broadcasting unit (53), wherein an active processing strategy is configured in the active unit (51), the graphic display unit (52) comprises a warning icon displayed on a warning image, the broadcasting unit (53) comprises a buzzer arranged on a vehicle center console, when the warning module (5) receives a judging signal, the active processing strategy is used for actively controlling the vehicle, the warning icon is highlighted on the warning image, and the buzzer is used for buzzing and broadcasting;
the modeling method comprises the steps of establishing a road surface according to a lane where a vehicle runs, wherein the lane surface comprises a straight running surface and a curved surface, establishing a detection surface perpendicular to the curved surface according to a height limiting detection position, and establishing a boundary perpendicular to the road surface according to the intersection of the road surface and the curved surface, wherein an angle is formed between the boundary and the detection surface;
the height limiting detection position is used for forming a height limiting distance from a curve surface, when the analysis strategy is used for calling a curve model, the analysis strategy is used for calling vehicle speed information, vehicle weight and vehicle height, and generating a vehicle height value according to the vehicle height, the analysis strategy also comprises a deflection analysis algorithm, the deflection analysis algorithm is used for generating a deflection height according to the vehicle speed information, the vehicle height, the bending angle and the height limiting distance, and if the deflection height is larger than the height limiting distance, the judgment signal is output as 1.
2. The civil aviation special vehicle height limit detection system of claim 1, wherein: the condition judgment unit (32) is internally provided with a delay strategy, the distance information comprises a delay distance and a coverage distance, the coverage distance is the same as a distance threshold, the delay strategy comprises that when a vehicle moves to the delay distance, the condition judgment unit (32) generates a pre-rising signal and sends the pre-rising signal to the height limit detection module (4), and when the vehicle moves to the coverage distance, the condition judgment unit (32) generates a detection signal according to the comparison strategy and sends the detection signal to the height limit detection module (4).
3. The civil aviation special vehicle height limit detection system of claim 1, wherein: the modeling method comprises the steps of establishing a driving surface according to a lane where a vehicle runs, establishing a height limiting surface perpendicular to the driving surface according to a height limiting detection position, wherein the distance from the height limiting detection position to the lane comprises a passing distance and a warning distance, and when the analysis strategy is used for calling the straight-path model, the analysis strategy is used for calling the vehicle height and generating a vehicle height value, and if the vehicle height value is larger than the passing distance, the judgment signal is output as 1.
4. The civil aviation special vehicle height limit detection system of claim 1, wherein: the offset analysis algorithm is as follows:
X＝H+ΔX
wherein: m represents the weight of the vehicle, R represents the turning radius of the vehicle, θ represents the bending angle, K represents the damping coefficient of the shock absorber of the vehicle, H represents the height of the vehicle, deltaX represents the height difference of two sides of the vehicle when the vehicle turns, V represents the speed of the vehicle, and X represents the height of the deflection.
5. The civil aviation special vehicle height limit detection system of claim 1, wherein: the modeling method comprises the steps that a ramp slope is built according to a lane where a vehicle runs, the ramp slope comprises an ascending surface and a descending surface, when the height limiting detection position is arranged at the intersection of the ascending surface and the descending surface, a vertical standard interface is built along the height limiting detection position, and a transition included angle is formed between the ascending surface and the interface along the intersection and perpendicular to the interface of the standard interface;
the method comprises the steps that the height limiting detection position is used for detecting the slope distance from a curve surface, when the analysis strategy is used for calling a ramp model, the analysis strategy is used for calling vehicle speed information, vehicle height, a transition included angle and vehicle weight, the analysis strategy also comprises a transition analysis algorithm, the transition analysis algorithm is used for calculating the maximum uplink transition height of the vehicle along an uplink surface according to the vehicle speed, and if the uplink transition height is larger than the height limiting distance, the judgment signal is output to be 1.
6. The civil aviation special vehicle height limit detection system of claim 1, wherein: the active processing strategy specifically comprises the following steps:
when the warning module (5) receives the judging signal, the vehicle is actively controlled to brake and/or steer, a steering signal is also generated and sent to the vehicle-mounted display unit when the vehicle is controlled to steer, and a steering mark is displayed on the warning image.
7. The civil aviation special vehicle height limit detection system according to any one of claims 1 to 6, wherein: the self-checking system further comprises a self-checking module (6), wherein a self-checking strategy is configured in the self-checking module (6), and the self-checking strategy is specifically as follows:
generating an energizing signal and sending the energizing signal to the camera module (2) when the vehicle is started to energize, wherein the camera module (2) starts self-checking and generates a self-checking signal;
if the self-checking of the camera module (2) is completed, the camera module (2) starts camera shooting and generates a self-checking road scenic map, and the self-checking signal output is 1;
if the self-checking of the camera module (2) is not finished, the self-checking signal output is 0, the self-checking module (6) generates an error reporting signal and sends the error reporting signal to the broadcasting unit (53), and the broadcasting unit (53) performs buzzing broadcasting.
Priority Applications (1)
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