CN114882711A - Engineering truck driving condition monitoring system - Google Patents
Engineering truck driving condition monitoring system Download PDFInfo
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- CN114882711A CN114882711A CN202210464285.9A CN202210464285A CN114882711A CN 114882711 A CN114882711 A CN 114882711A CN 202210464285 A CN202210464285 A CN 202210464285A CN 114882711 A CN114882711 A CN 114882711A
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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
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/16—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger operated by remote control, i.e. initiating means not mounted on vehicle
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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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
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
Abstract
The application discloses engineering truck driving condition monitoring system includes: a cloud platform; the color-adjustable ceiling lamp is arranged on the engineering truck; the vehicle-mounted intelligent gateway is used for collecting vehicle state information and performing information interaction with the cloud platform; the vehicle-mounted control unit is used for assisting braking and adjusting color change of the dome lamp; the cloud platform judges whether the current vehicle has overspeed driving or right turning overspeed according to the vehicle state information, if so, an auxiliary brake signal and a dome lamp color adjusting signal are sent to the intelligent gateway and are transmitted to the control unit through the intelligent gateway, and the control unit adjusts the color of the dome lamp and executes an auxiliary brake command. When the engineering vehicle runs at an overspeed or turns right and exceeds the speed, the color of the top lamp is changed, so that traffic police or pedestrians can conveniently and visually judge the running state of the engineering vehicle through the color of the top lamp of the engineering vehicle running on the road surface; and meanwhile, an auxiliary braking command is executed to realize auxiliary braking, so that traffic risks caused by overspeed are avoided, and traffic accidents are reduced.
Description
Technical Field
The application relates to the field of traffic control, in particular to a monitoring system for driving conditions of an engineering truck.
Background
With the rapid development of the science and technology of the internet of things, the intelligent science and technology gradually spreads into the field of various life generations. In the traffic field, it is very important to effectively reduce traffic accidents and casualty accidents caused by bad driving habits of engineering vehicles, but engineering vehicles of various brands do not have an effective safety system, so that traffic polices are difficult to apply and manage.
The engineering vehicle such as the slag car has large volume and high cab, so that a driver has a blind field of vision when driving on a road, particularly when turning right, or traffic accidents are caused when the vehicle is braked untimely due to too fast speed. In order to improve the safety consciousness of a driver of the engineering truck and reduce the conditions of casualties and property loss caused by over-fast speed of the engineering truck or over-speed of right turning, a traffic police carries out safety prevention by adopting modes of multi-point deployment, squat point investigation and the like. Although the mode has certain effect, the labor intensity of the traffic police is greatly increased, and a large amount of police resources are consumed.
Disclosure of Invention
The invention provides a system for monitoring the driving condition of an engineering vehicle in time, which can effectively improve the intelligent management of a traffic police department on the engineering vehicle, reduce the labor intensity of a traffic police, save police resources, fill the defect that bad driving habits such as overspeed driving of the engineering vehicle, right turning overspeed and the like are difficult to effectively monitor, and also can lead drivers who violate regulations to be deterred mentally by the system and teach the drivers to abide by traffic rules, thereby reducing the violation occurrence rate and maintaining the traffic safety.
The method is realized by the following technical measures: a monitoring system for driving conditions of a construction vehicle comprises: a cloud platform; the color-adjustable ceiling lamp is arranged on the engineering truck; the vehicle-mounted intelligent gateway is used for collecting vehicle state information and performing information interaction with the cloud platform; the vehicle-mounted control unit is used for assisting braking and adjusting color change of the dome lamp; the cloud platform judges whether the current vehicle has overspeed driving or right turning overspeed according to the vehicle state information, if so, an auxiliary brake signal and a dome lamp color adjusting signal are sent to the intelligent gateway and are transmitted to the control unit through the intelligent gateway, and the control unit adjusts the color of the dome lamp and executes an auxiliary brake command.
Preferably, the obd module of the engineering truck is connected with a can interface of the vehicle-mounted intelligent gateway through a can bus.
Preferably, a gps positioning module is installed at a position corresponding to the vehicle-mounted intelligent gateway, and the gps positioning module is connected with the vehicle-mounted intelligent gateway through a 485 serial port.
Preferably, the vehicle state information includes gps location information, a current vehicle speed, and a vehicle heading angle.
Preferably, the vehicle-mounted intelligent network comprises a gyroscope for calculating the angular velocity of the vehicle and a magnetometer for measuring the magnetic field intensity inside the vehicle-mounted intelligent network.
Preferably, the method for acquiring the vehicle heading angle comprises the following steps: and combining the angular speed and the magnetic field intensity into an azimuth measurement value relative to the earth through an attitude heading reference system to be used as a reference heading angle, and carrying out gyroscope deviation correction and strong magnetic deviation correction on the reference heading angle to obtain a vehicle heading angle.
Preferably, the intelligent gateway reads the obd vehicle speed of the engineering vehicle obd system and the gps positioning information and the gps speed of the gps positioning module; judging whether the gps is successfully positioned, and if the gps is failed, taking the obd vehicle speed as the current vehicle speed; if the vehicle speed is successful, judging whether the acquired gps vehicle speed is in a set range, if so, acquiring the obd vehicle speed as the current vehicle speed, and otherwise, acquiring the gps vehicle speed as the current vehicle speed.
Preferably, whether the vehicle is currently located in the straight line section is judged according to the gps positioning information of the vehicle, if yes, a first speed limit threshold and the current vehicle speed of the straight line section are obtained, whether the current vehicle speed is greater than the first speed limit threshold is judged, and if yes, it is determined that the current vehicle runs at an overspeed.
Preferably, the vehicle-mounted intelligent gateway transmits the vehicle course angle and the current vehicle speed to the cloud platform; the cloud platform takes the vehicle course angle starting change as a turning starting node, the vehicle course angle stopping change as a turning ending node, the vehicle course angle of the turning ending node minus the vehicle course angle of the turning starting node is taken as a turning angle, and when the turning angle is larger than a turning angle trigger value, the vehicle is judged to execute a right turn;
and acquiring a second speed limit threshold of the right turning road section and the turning speed of the vehicle in the right turning process, judging whether the turning speed is greater than the second speed limit threshold, and if so, determining that the right turning over excess speed exists in the current vehicle.
Preferably, the vehicle-mounted intelligent gateway and the vehicle-mounted control unit are connected with a vehicle-mounted power supply of the engineering vehicle, and the vehicle-mounted power supply supplies power to the vehicle-mounted intelligent gateway and the vehicle-mounted control unit; the vehicle-mounted control unit comprises a power supply conversion module used for converting the vehicle-mounted power supply into an applicable voltage value.
Preferably, the vehicle-mounted control unit comprises a control signal module and an auxiliary brake module, and the auxiliary brake module is linked with a brake pedal of the engineering truck; the auxiliary braking command means that when the vehicle-mounted control unit receives an auxiliary braking signal, the control signal module detects whether a brake pedal of the engineering vehicle is stepped on, and if not, the control signal module controls the auxiliary braking module to act to drive the brake pedal to be stepped on.
The beneficial effect of this application: when the engineering vehicle runs at an overspeed or turns right and exceeds the speed, the color of the top lamp is changed, so that traffic police or pedestrians can conveniently and visually judge the running state of the vehicle through the color of the top lamp of the engineering vehicle running on the road surface, and an avoidance measure is taken; and meanwhile, an auxiliary braking command is executed to realize auxiliary braking, so that traffic risks caused by overspeed are avoided, and traffic accidents are reduced.
Drawings
The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiment(s) of the application and together with the description serve to explain the application and not limit the application. In the drawings:
FIG. 1 is a diagram of a monitoring system architecture;
FIG. 2 is a flowchart of device installation debugging and detection;
FIG. 3 is an angular coordinate system reference;
FIG. 4 is a schematic diagram of magnetometer calibration.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
A monitoring system for driving condition of engineering truck, as shown in fig. 1, comprising: the cloud platform 1 is arranged on a ceiling lamp 4 with an adjustable color of the engineering truck; the vehicle-mounted intelligent gateway 2 is used for collecting vehicle state information and performing information interaction with the cloud platform; the vehicle-mounted control unit 3 is used for assisting braking and adjusting color change of the dome lamp; the cloud platform judges whether the current vehicle has overspeed driving or right turning overspeed according to the vehicle state information, if so, an auxiliary brake signal and a dome lamp color adjusting signal are sent to the intelligent gateway and are transmitted to the control unit through the intelligent gateway, and the control unit controls the top color change and executes an auxiliary brake command. The vehicle-mounted control unit comprises a control signal module 32 and an auxiliary brake module 33, wherein the auxiliary brake command means that when the vehicle-mounted control unit receives an auxiliary brake signal, the control signal module detects whether a brake pedal of the engineering vehicle is stepped on, and if not, the control signal module controls the auxiliary brake module to act to drive the brake pedal to be stepped on.
The installation and debugging steps of the specific equipment comprise:
firstly, the vehicle-mounted intelligent gateway and the vehicle-mounted control unit are connected with a vehicle-mounted power supply of the engineering vehicle, and the vehicle-mounted power supply supplies power to the vehicle-mounted intelligent gateway and the vehicle-mounted control unit. The vehicle control unit comprises a power conversion module 31 for converting the vehicle power supply into a suitable voltage value. And a gps positioning module is installed at the corresponding position of the vehicle-mounted intelligent gateway, and the OBD module 22 of the engineering truck is connected with a can interface of the vehicle-mounted intelligent gateway through a can bus.
Secondly, the Bluetooth module for debugging is accessed to a Bluetooth interface of the intelligent gateway, then the intelligent gateway is connected by a small program of a mobile phone, and the system is subjected to equipment self-inspection, including correcting the deviation of an angle calculation module 24 in the intelligent gateway, checking whether the dialing of a communication module 23 is normal, whether a gps module 21 signal is normal, controlling a control signal module 32 of a notification unit whether the control signal module 32 is normal, and controlling an auxiliary brake module 33 to normally step on the brake.
And thirdly, the platform end inputs the unique equipment number of the intelligent gateway into the cloud platform 1.
And the debugging can be completed by observing the reported data.
As shown in fig. 2, the specific detection process includes:
and the intelligent gateway reports the gps positioning information and the current speed of the vehicle in real time at the frequency of once every 10 seconds in the driving process of the engineering truck. And if the vehicle is detected to finish a right turn, triggering and reporting the turn angle, the gps positioning and the current vehicle speed.
The platform judges whether overspeed driving or right-turning over speed exists or not according to the reported data, if yes, an auxiliary brake signal is sent out to perform auxiliary braking on the engineering vehicle, corresponding deduction (100 is full points) is performed, for example, 10 points are deducted when the condition of right overspeed driving or right-turning over speed is detected each time, different values correspond to different top lamp colors, corresponding top lamp colors are obtained according to the current values, the auxiliary brake signal and a top lamp color adjusting signal are sent out to the intelligent gateway at regular time within 1 minute, the gateway converts the received signals into control messages according to a control protocol and sends the control messages to the control unit through a serial port, the control unit analyzes the serial port data to obtain the rgb value and the auxiliary brake instruction of the lamp, and the color of the top lamp of the engineering vehicle is controlled according to the rgb value and the auxiliary brake instruction is executed.
The specific violation detection mode is as follows:
speeding: in this embodiment, the current speed of the vehicle is acquired through the intelligent gateway, and the specific detection mode of the speed is as follows: for example, when a traffic police sets a first speed limit threshold of the engineering vehicle to 55 yards, the engineering vehicle runs in a tunnel at a speed of 60 yards in a straight line section, an intelligent gateway on the engineering vehicle reads the vehicle speed of an engineering vehicle obd system in real time through a can bus in the vehicle, the positioning and speed information of a gps module is read through a 485 serial port of the intelligent gateway, whether the positioning of a flag bit of gps positioning information is successful or not is judged, and if the positioning is failed, the obd vehicle speed is taken as the current vehicle speed; if the vehicle succeeds, but the acquired gps vehicle speed is greater than 30 yards and the acquired obd vehicle speed is less than 5 yards, the obd vehicle speed is taken as the current vehicle speed, and the situation that the acquired gps speed is too large and misjudged due to signal interference is prevented, otherwise, the gps vehicle speed is taken as the current vehicle speed, so that the effectiveness and reliability of the current vehicle speed are ensured; and the longitude and latitude coordinates of the gps module are reported to the cloud platform in real time, the cloud platform judges whether overspeed conditions exist according to linear section overspeed thresholds (namely first speed limit thresholds) preset by a user through the reported speed and the gps coordinates, if overspeed conditions exist, red marks are marked on action tracks, a deduction event is generated when 55 codes are exceeded, the vehicle is deducted until the deduction event is finished when the vehicle speed is lower than 55 codes, the current top lamp state of the vehicle is updated, the platform stores data in a warehouse, then judges whether the state changes, if so, a top lamp control command of a corresponding color is issued, an auxiliary brake command is issued, and auxiliary braking is performed on the engineering vehicle.
Second, right turn over speed: in the embodiment, the course angle is calculated by fusing the gyroscope chip (MPU 6050) and the magnetometer chip (HMC 5883L) 9 shafts inside the intelligent gateway, for example, when traffic police sets that the turning overspeed of the engineering vehicle is 15 yards, the engineering vehicle turns right at the speed of 20 yards, when the course angle inside the intelligent gateway changes, the turning start is judged, the current angle is recorded, the vehicle speed during the turning right is recorded according to the method of the first step, then when the course angle does not change, the turning end is judged, the current course angle is recorded, and when the course angle is reduced and the course angle is larger than 45 degrees (namely, the turning angle trigger value), whether one turning right is finished or not is judged. And if the right turn is generated, reporting the turning angle and the vehicle speed to the platform in a triggering mode. The specific method for calculating the vehicle course angle through the angle calculation module is 1, calculating an initial course angle through an attitude course reference system (AHRS); 2. and carrying out gyroscope deviation correction and strong magnetic deviation correction on the reference course angle to obtain a vehicle course angle.
1) AHRS sensor fusion algorithm: the AHRS sensor fusion algorithm combines gyroscope and magnetometer measurements into one azimuth measurement relative to the earth (NWU convention), the algorithm behavior is gain controlled, and low gain will reduce the effect of accelerometers and magnetometers, so the algorithm can better suppress disturbances caused by translational motion and temporary magnetic distortions. The specific realization principle is as follows: as shown in fig. 3, rotating the angle theta (ROLL) around the Y-axis, the angle Phi (PITCH) around the X-axis, and the angle phi (YAW) around the Z-axis, the algorithm provides directional measurements in the form of quaternions, since the typical magnitude of the earth's magnetic field is between 20 uT and 70 uT. When the magnetic field measured by the magnetometer x, y and z axes exceeds this range, the algorithm will refer to the rotation angle ψ angle measured by the gyroscope at the plane x y; for another example, when the gyroscope exceeds a change of n degrees per second (n is set according to different vehicles), the reference heading angle is obtained according to the angle constraint measured by the magnetometer.
2) And (3) correcting the deviation of the gyroscope: the gyroscope bias correction algorithm realizes the runtime calibration of the gyroscope bias. And detecting when the gyroscope is in a static state within a set time period, then starting to sample the measured value of the gyroscope to calculate the average deviation, and taking the average deviation as the value of the gyroscope and the gravity acceleration measured by removing the background noise.
3) Magnetometer deviation correction: namely, the device rotates around the z axis for a circle, because the course angle is only measured during turning, and the situation of an inclination angle is not considered, only an ad value sampling curve of the magnetometer on the xy plane is recorded, then the circle center and the module length of the coordinate system are calculated according to the sampling curve of the magnetometer on the x y axis, and during actual operation, the circle center coordinate and the module length are subtracted from the magnetic field strength of the xy axis obtained by the magnetometer to fit into a sphere (namely, the hard magnetic interference of the surrounding environment is removed), as shown in fig. 4.
The cloud platform judges whether the right-turn over-speed condition exists or not according to the turning speed reported by triggering and the preset 15-code (second speed limit threshold) of the traffic police, judges whether the vehicle is classified, updates the current ceiling lamp state of the vehicle, puts data into a warehouse, then issues a ceiling lamp control command and an auxiliary brake command with corresponding colors, and performs auxiliary brake on the engineering vehicle.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (10)
1. A system for monitoring the driving condition of a construction vehicle is characterized by comprising: a cloud platform;
the ceiling lamp is arranged on the engineering truck and has adjustable color;
the vehicle-mounted intelligent gateway is used for collecting vehicle state information and performing information interaction with the cloud platform;
the vehicle-mounted control unit is used for assisting braking and adjusting color change of the dome lamp;
the cloud platform judges whether the current vehicle has overspeed driving or right turning overspeed according to the vehicle state information, if so, an auxiliary brake signal and a dome lamp color adjusting signal are sent to the intelligent gateway and are transmitted to the control unit through the intelligent gateway, and the control unit executes an auxiliary brake command and adjusts the color of the dome lamp.
2. The system for monitoring the driving condition of the engineering truck according to claim 1, wherein the obd module of the engineering truck is connected with a can interface of the vehicle-mounted intelligent gateway through a can bus.
3. The system for monitoring the driving condition of the engineering truck according to claim 1, wherein a gps positioning module is installed at a position corresponding to the vehicle-mounted intelligent gateway, and the gps positioning module is connected with the vehicle-mounted intelligent gateway through a 485 serial port.
4. The system as claimed in claim 1, wherein the vehicle status information comprises gps positioning information, current vehicle speed and vehicle heading angle.
5. The system for monitoring the driving condition of the engineering truck as claimed in claim 4, wherein the intelligent network on board comprises a gyroscope for calculating the angular velocity of the vehicle and a magnetometer for measuring the magnetic field intensity.
6. The system for monitoring the driving condition of the engineering truck as claimed in claim 5, wherein the method for obtaining the heading angle of the engineering truck comprises: and combining the angular speed and the magnetic field intensity into an azimuth measurement value relative to the earth through an attitude heading reference system to be used as a reference heading angle, and carrying out gyroscope deviation correction and strong magnetic deviation correction on the reference heading angle to obtain a vehicle heading angle.
7. The system for monitoring the driving condition of the engineering truck as claimed in claim 4, wherein the intelligent gateway reads the obd vehicle speed of the obd system of the engineering truck and the gps positioning information and the gps speed of the gps positioning module; judging whether the gps is successfully positioned, and if the gps is failed, taking the obd vehicle speed as the current vehicle speed; if the vehicle speed is successful, judging whether the acquired gps vehicle speed is in a set range, if so, taking the obd vehicle speed as the current vehicle speed, and otherwise, taking the gps vehicle speed as the current vehicle speed.
8. The system for monitoring the driving condition of the engineering truck according to claim 7, wherein whether the vehicle is currently located in a straight line section is judged according to the gps positioning information of the vehicle, if so, a first speed limit threshold and a current vehicle speed of the straight line section are obtained, whether the current vehicle speed is greater than the first speed limit threshold is judged, and if so, it is determined that the current vehicle runs at an overspeed.
9. The system for monitoring the driving condition of the engineering truck according to claim 4, wherein the vehicle-mounted intelligent gateway transmits a vehicle course angle and a current vehicle speed to the cloud platform; the cloud platform takes the vehicle course angle starting change as a turning starting node, the vehicle course angle stopping change as a turning ending node, the vehicle course angle of the turning ending node minus the vehicle course angle of the turning starting node is taken as a turning angle, and when the turning angle is larger than a turning angle trigger value, the vehicle is judged to execute a right turn;
and acquiring a second speed limit threshold of the right turning road section and the turning speed of the vehicle in the right turning process, judging whether the turning speed is greater than the second speed limit threshold, and if so, determining that the right turning over excess speed exists in the current vehicle.
10. The engineering vehicle driving condition monitoring system according to claim 1, wherein the vehicle-mounted control unit comprises a control signal module and an auxiliary brake module, and the auxiliary brake module is linked with a brake pedal of the engineering vehicle; the auxiliary braking command means that when the vehicle-mounted control unit receives an auxiliary braking signal, the control signal module detects whether a brake pedal of the engineering vehicle is stepped on, and if not, the control signal module controls the auxiliary braking module to act to drive the brake pedal to be stepped on.
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| CN202210464285.9A CN114882711A (en) | 2022-04-29 | 2022-04-29 | Engineering truck driving condition monitoring system |
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| CN202210464285.9A CN114882711A (en) | 2022-04-29 | 2022-04-29 | Engineering truck driving condition monitoring system |
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| US20160090089A1 (en) * | 2014-09-29 | 2016-03-31 | Hitachi Construction Machinery Co., Ltd. | Traveling stop control device for transport vehicle and transport vehicle with the same |
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