CN115394056A - Vehicle passing height detection early warning system and early warning method thereof - Google Patents
Vehicle passing height detection early warning system and early warning method thereof Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/182—Level alarms, e.g. alarms responsive to variables exceeding a threshold
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/24—Reminder alarms, e.g. anti-loss alarms
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B3/00—Audible signalling systems; Audible personal calling systems
- G08B3/10—Audible signalling systems; Audible personal calling systems using electric transmission; using electromagnetic transmission
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Abstract
The invention discloses a vehicle passing height detection early warning system and an early warning method thereof.A laser radar measures the distance and the angle between a vehicle and a bridge opening or a height limiting railing in real time and transmits the measurement result to a vehicle-mounted ECU module; the vehicle-mounted ECU processing module receives monitoring transmission data from the laser radar, calculates the distance between the top of the vehicle and the lowermost end of the bridge opening, and transmits the distance to the distance monitoring module, and the distance monitoring module compares the calculated threshold distance of the calculation result and sends early warning information to the early warning prompting module when the distance is judged to be ultrahigh; the early warning prompting module sends a braking signal to the brake module according to the early warning information; the brake module responds to the brake signal to implement vehicle braking; all modules are mutually communicated and connected through a CAN bus. Before the vehicle passes through the building height limit such as a bridge opening with height limit, early warning judgment is provided in advance, a driver is timely warned to make correct driving judgment processing, emergency braking is executed in the critical time, and the safe passing of the height limit road section is realized.
Description
Technical Field
The invention relates to a vehicle passing height detection technology, in particular to a vehicle passing height detection early warning system and an early warning method thereof used in vehicle passing height detection.
Background
Along with the continuous development of social economy and road and bridge construction, more and more transportation vehicles are provided, more and more height-limited related construction scenes such as bridge culverts and the like are provided, one problem faced by the height-limited sites such as the bridge culverts and the like is that the height of the transportation vehicles is limited, even the height of buses is limited, if safety precaution points are provided, height-limited fences can be additionally arranged, drivers can hit the height-limited fences with great intention, and the damage phenomenon is possibly slightly lighter; and some do not install the limit for height fence additional, only adopt the form of limit for height notice board to carry out in advance limit for height tablet characters and report an emergency and ask for help or increased vigilance the potential safety hazard problem that the tablet suggestion is neglected to the driver's will bring more easily, then the problem that probably causes is that direct collision takes place with buildings such as bridge opening, and the superelevation damage phenomenon that this moment causes is more serious.
No matter what factors cause, large trucks and buses which are easy to cause an ultra-high phenomenon may cause more or less safe traffic loss when passing through the buildings such as the above-mentioned height-limited bridge opening, and especially, at present, traffic changes develop rapidly, many drivers are not familiar with the traffic road, and rely more on navigation indication guidance, and the navigation indication guidance does not have a height limit identification prompting function, so that heavy traffic accidents such as collision, even top cutting and the like are easy to cause when passing through some bridge openings or height limit fences. There is therefore a great need for a systematic way to avoid such accidents occurring again. The prior art only performs the early warning prompting function through detection, but the invention well connects the whole early warning system with the vehicle, not only can play the role of detection and early warning, but also can perform emergency braking at the critical moment, thereby avoiding the occurrence of accidents.
Disclosure of Invention
The invention provides a vehicle passing height detection early warning system and an early warning method thereof, which can better provide early warning judgment for a driver before the driver limits the height of buildings such as a bridge opening with height limitation required to be driven, and can timely warn the driver to make correct driving judgment processing, execute emergency braking when critical, and realize a safe passing height-limited road section.
The invention adopts the following specific technical scheme for solving the technical problems: the utility model provides a vehicle height detection early warning system that passes through which characterized in that: the system comprises a vehicle-mounted ECU processing module, a distance monitoring module, an early warning prompt module, a brake module and a laser radar installed on a vehicle, wherein the laser radar is used for measuring the distance and the angle between the vehicle and a bridge opening or a height limiting railing in real time and transmitting the measurement result to the vehicle-mounted ECU module; the vehicle-mounted ECU processing module is used for receiving monitoring transmission data from the laser radar, calculating to obtain the distance between the top of the vehicle and the lowermost end of the bridge opening, transmitting the distance to the distance monitoring module, comparing the calculated calculation result threshold distance, and sending early warning information to the early warning prompting module when the calculated calculation result threshold distance is judged to be ultrahigh; the early warning prompting module is used for receiving and responding to the early warning signal and sending a braking signal to the brake module according to the early warning information; the brake module is used for responding to the brake signal and implementing vehicle braking; the vehicle-mounted ECU processing module, the distance monitoring module, the early warning prompting module and the brake module are in communication connection with each other through a CAN bus. Through on-vehicle ECU processing module, distance monitoring module, early warning prompt module, stopper module and laser radar carry out real-time monitoring to the bridge opening that needs to go through and judge early warning processing, and whether consider through the stopper module and carry out the emergency braking to the vehicle, can be better for the driver provide to need go through building limit for height such as bridge opening that have height restriction before, provide early warning in advance and judge and in time report an emergency and ask for help or increased vigilance the driver and make correct driving judgement processing, carry out emergency braking during the key, realize passing through the limit for height highway section safely.
Preferably, the laser radar is arranged at the front end of the vehicle, the distance and the angle between the front end of the vehicle and the lowest edge of the bridge opening are measured by a triangulation ranging method, and the distance monitoring module is used for monitoring the distance and the angle according to a monitoring formula: h = sin θ × L-H 1 Carrying out real-time monitoring, wherein H in a monitoring formula is the distance from the top of the vehicle to the lowest edge of the bridge opening in the vertical direction; theta is an angle between the position of the laser radar at the front end of the vehicle and the lowest edge of the bridge opening when the road surface is taken as a horizontal line; l is the linear distance between the position of the laser radar at the front end of the vehicle and the lowest edge of the bridge opening; h is a total of 1 Is the distance from the top of the vehicle at the lidar location. The triangulation method can more comprehensively and effectively obtain the passing data of the safety measurement, and provides better monitoring guarantee for the safe driving of the vehicle.
Preferably, the laser radar calculates the horizontal distance from the front end of the vehicle to the bridge opening when the road surface is taken as a horizontal line in the data measuring process. The monitoring safety reliability and the emergency braking safety reliability are improved, and the active early warning intervention safety reliability during vehicle running is improved.
Preferably, the distance monitoring module obtains the horizontal distance from the front end of the vehicle to the bridge opening by taking the road surface as a horizontal line according to the laser radar monitoring, compares the horizontal distance with an emergency braking safety distance threshold value which is set and stored in the distance monitoring module, and when the horizontal distance h is up 2 And when the braking distance is smaller than the emergency braking safe distance threshold value DH, the brake module forcibly brakes the vehicle to continue running until the vehicle stops. Improve monitoring safety and reliability and emergency brakingThe safety and reliability are improved, and the safety and reliability of active early warning intervention during vehicle running are improved.
Preferably, the distance H obtained by monitoring of the distance monitoring module is greater than a passing height safety distance threshold DV between the top of the vehicle and the lowest edge of the bridge opening and stored in the distance monitoring module, and the vehicle normally passes through the distance monitoring module; when the distance H is smaller than the passing height safety distance threshold DV, the early warning module sends out a warning prompt tone to prompt a driver. The reliability and effectiveness of monitoring and early warning processing are improved.
Another object of the present invention is to provide a vehicle passing height detection and early warning method, which is characterized in that: the method comprises the following detection and early warning steps;
s1, when a vehicle runs on a road and the distance from a front bridge opening reaches the range which can be measured by a laser radar, starting an early warning by using the vehicle passing height detection early warning system in one of the technical schemes, and measuring the linear distance L and the angle theta from the front end of the vehicle to the lower edge of the bridge opening by the laser radar;
s2, the vehicle-mounted ECU processing module adopts a triangular ranging method, the distance monitoring module calculates according to the measured data to obtain the distance H from the top of the vehicle to the lowest edge of the bridge opening in the vertical direction, updates according to the data measured by the laser radar in real time, and issues control commands to other modules;
s3, comparing the distance H obtained by the vehicle-mounted ECU processing module with a preset traffic height safety distance threshold DV by the distance monitoring module, and if the distance H is larger than the traffic height safety distance threshold, normally passing, and not starting the early warning module; otherwise, the early warning prompting module is started to remind the driver of danger;
s4, the distance monitoring module monitors the horizontal distance h from the front end of the vehicle to the bridge opening through the monitored horizontal distance h 2 Comparing the real-time safety distance with an emergency braking safety distance threshold value DH stored and set in a distance monitoring module;
s5, the distance monitoring module measures the horizontal distance h according to the laser radar 2 Comparing the horizontal distance with an emergency braking safe distance threshold value DH stored in a distance monitoring module, and when the horizontal distance is smaller than the emergency braking safe distance obtained by monitoring and comparingThreshold DH, the braking module initiates emergency braking until the vehicle stops.
The safety and reliability effectiveness of monitoring and early warning of vehicle running height limitation is improved, and the horizontal distance obtained by monitoring and comparing is smaller than the safety distance threshold value DH of emergency braking, so that the braking module starts emergency braking until the vehicle stops, and the safety and reliability effectiveness of active intervention of vehicle height limitation running is realized.
The beneficial effects of the invention are: through on-vehicle ECU processing module, distance monitoring module, early warning prompt module, stopper module and laser radar carry out real-time monitoring to the bridge opening that needs to go through and judge early warning processing, and whether consider through the stopper module and carry out the emergency braking to the vehicle, can be better for the driver provide to need go through building limit for height such as bridge opening that have height restriction before, provide early warning in advance and judge and in time report an emergency and ask for help or increased vigilance the driver and make correct driving judgement processing, carry out emergency braking during the key, realize passing through the limit for height highway section safely.
Description of the drawings:
the invention is described in further detail below with reference to the following figures and detailed description.
Fig. 1 is a schematic diagram of the early warning detection principle structure of the vehicle passing height detection early warning system of the invention.
FIG. 2 is a schematic flow chart of an early warning method of the vehicle passing height detection early warning method.
Detailed Description
Example 1:
in the embodiment shown in fig. 1, a vehicle passing height detection and early warning system is characterized in that: the system comprises a vehicle-mounted ECU processing module, a distance monitoring module, an early warning prompt module, a brake module and a laser radar installed on a vehicle, wherein the laser radar is used for measuring the distance and the angle between the vehicle and a bridge opening or a height limiting railing in real time and transmitting the measurement result to the vehicle-mounted ECU module; the vehicle-mounted ECU processing module is used for receiving monitoring transmission data from the laser radar, calculating to obtain the distance between the top of the vehicle and the lowermost end of the bridge opening, transmitting the distance to the distance monitoring module, comparing the calculated calculation result threshold distance, and sending early warning information to the early warning prompting module when the calculated calculation result threshold distance is judged to be ultrahigh; the early warning prompting module is used for receiving and responding to the early warning signal and sending a braking signal to the brake module according to the early warning information; the brake module is used for responding to the brake signal and implementing vehicle braking; the vehicle-mounted ECU processing module, the distance monitoring module, the early warning prompting module and the brake module are in communication connection with each other through a CAN bus.
The laser radar is arranged at the front end of the vehicle, the distance and the angle between the front end of the vehicle and the lowermost edge of the bridge opening are measured by a triangulation ranging method, the distance monitoring module receives the distance data information measured by the triangulation ranging method from the top of the vehicle to the lowermost edge of the bridge opening, and the distance monitoring module is used for monitoring the distance data information according to a monitoring formula: h = sin θ × L-H 1 Carrying out real-time monitoring, wherein H in a monitoring formula is the distance from the top of the vehicle to the lowest edge of the bridge opening in the vertical direction; theta is an angle between the position of the laser radar at the front end of the vehicle and the lowest edge of the bridge opening when the road surface is taken as a horizontal line; l is the linear distance between the position of the laser radar at the front end of the vehicle and the lowest edge of the bridge opening; h is a total of 1 Is the distance from the top of the vehicle at the lidar location. And the laser radar calculates the horizontal distance from the front end of the vehicle to the bridge opening when the road surface is taken as a horizontal line in the data measuring process. The distance monitoring module obtains the horizontal distance from the front end of the vehicle to the bridge opening when the road surface is taken as a horizontal line according to the monitoring of the laser radar, compares the horizontal distance with an emergency braking safety distance threshold value which is set and stored in the distance monitoring module, and when the horizontal distance h is up 2 And when the braking distance is smaller than the emergency braking safe distance threshold value DH, the brake module forcibly brakes the vehicle to continue running until the vehicle stops. The distance H obtained by monitoring of the distance monitoring module is larger than a traffic height safety distance threshold DV which is stored in the distance monitoring module and is arranged at the top of the vehicle and is far away from the lowest edge of the bridge opening, and the vehicle normally passes through the distance monitoring module; when the distance H is smaller than the traffic height safety distance threshold DV, the early warning module sends out a warning prompt tone to prompt a driver. To improve understanding and recognition, h is adopted 2 The symbols DH and DV correspond to the data information respectively.
Example 2:
in the embodiment shown in fig. 2, a vehicle passing height detection and early warning method includes the following steps:
s1, when a vehicle runs on a road and the distance from a front bridge opening reaches the range which can be measured by a laser radar, starting early warning work by the vehicle passing height detection early warning system in the embodiment 1, and measuring the linear distance L and the angle theta from the front end of the vehicle to the lower edge of the bridge opening by the laser radar;
s2, the vehicle-mounted ECU processing module adopts a triangulation ranging method, the distance monitoring module calculates the distance H from the top of the vehicle to the lowest edge of the bridge opening in the vertical direction according to the measured data, updates the distance H in real time according to the data measured by the laser radar, and sends control commands to other modules;
s3, comparing the distance H obtained by the vehicle-mounted ECU processing module with a preset traffic height safety distance threshold DV by the distance monitoring module, and if the distance H is larger than the traffic height safety distance threshold DV, normally passing, and not starting the early warning module; otherwise, the early warning prompting module is started to remind the driver of danger;
s4, the distance monitoring module monitors the horizontal distance h between the front end of the vehicle and the bridge opening 2 Comparing the real-time safety distance with an emergency braking safety distance threshold value DH stored and set in the distance monitoring module;
s5, the distance monitoring module measures the horizontal distance h according to the laser radar 2 And comparing the horizontal distance with an emergency braking safety distance threshold value DH stored in the distance monitoring module, and starting emergency braking by the braking module until the vehicle stops when the horizontal distance obtained by monitoring comparison is smaller than the emergency braking safety distance threshold value DH.
The foregoing summary and structure are provided to explain the principles, general features, and advantages of the product and to enable others skilled in the art to understand the invention. The foregoing examples and description have been provided merely to illustrate the principles of the invention and various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. The utility model provides a vehicle height detection early warning system that passes through which characterized in that: the system comprises a vehicle-mounted ECU processing module, a distance monitoring module, an early warning prompt module, a brake module and a laser radar installed on a vehicle, wherein the laser radar is used for measuring the distance and the angle between the vehicle and a bridge opening or a height limiting railing in real time and transmitting the measurement result to the vehicle-mounted ECU module; the vehicle-mounted ECU processing module is used for receiving monitoring transmission data from the laser radar, calculating to obtain the distance between the top of the vehicle and the lowermost end of the bridge opening, transmitting the distance to the distance monitoring module, comparing the calculated calculation result threshold distance, and sending early warning information to the early warning prompting module when the calculated calculation result threshold distance is judged to be ultrahigh; the early warning prompting module is used for receiving and responding to the early warning signal and sending a braking signal to the brake module according to the early warning information; the brake module is used for responding to the brake signal and implementing vehicle braking; the vehicle-mounted ECU processing module, the distance monitoring module, the early warning prompting module and the brake module are in communication connection with each other through a CAN bus.
2. The vehicle transit height detection and warning system of claim 1, wherein: the laser radar is arranged at the front end of the vehicle, the distance and the angle between the front end of the vehicle and the lowest edge of the bridge opening are measured by a triangulation ranging method, and the distance monitoring module is used for monitoring the distance and the angle according to a monitoring formula: h = sin θ × L-H 1 Carrying out real-time monitoring, wherein H in a monitoring formula is the distance from the top of the vehicle to the lowest edge of the bridge opening in the vertical direction; theta is an angle between the position of the laser radar at the front end of the vehicle and the lowest edge of the bridge opening when the road surface is taken as a horizontal line; l is the linear distance between the position of the laser radar at the front end of the vehicle and the lowest edge of the bridge opening; h is a total of 1 Is the distance from the top of the vehicle at the lidar location.
3. The vehicle transit height detection and warning system of claim 1, wherein: and the laser radar calculates the horizontal distance from the front end of the vehicle to the bridge opening when the road surface is taken as a horizontal line in the data measuring process.
4. The vehicle transit height detection and warning system of claim 1, wherein: the distance monitoring module obtains the horizontal distance from the front end of the vehicle to the bridge opening when the road surface is taken as a horizontal line according to laser radar monitoring, compares the horizontal distance with an emergency braking safety distance threshold value which is stored in the distance monitoring module in a built-in setting mode, and when the horizontal distance is smaller than the emergency braking safety distance threshold value, the brake module forces the vehicle to continue to run until the vehicle stops.
5. The vehicle transit height detection and warning system of claim 2, wherein: the distance obtained by monitoring of the distance monitoring module is greater than a traffic height safety distance threshold value which is stored in the distance monitoring module and is between the top of the vehicle and the lowest edge of the bridge opening, and the vehicle normally passes through the distance monitoring module; when the distance is smaller than the passing height safety distance threshold value, the early warning module sends out a warning prompt tone to prompt a driver.
6. A vehicle passing height detection and early warning method is characterized by comprising the following detection and early warning steps:
s1, when a vehicle runs on a road and the distance between the vehicle and a front bridge opening reaches a range which can be measured by a laser radar, starting early warning work by the vehicle passing height detection early warning system according to one of claims 1 to 5, wherein the laser radar measures the linear distance and the angle between the front end of the vehicle and the lower edge of the bridge opening;
s2, the vehicle-mounted ECU processing module adopts a triangulation ranging method, the distance monitoring module calculates the distance from the top of the vehicle to the lowest edge of the bridge opening in the vertical direction according to the measured data, updates the distance according to the data measured by the laser radar in real time, and sends control commands to other modules;
s3, comparing the distance obtained by the vehicle-mounted ECU processing module with a preset passing height safety distance threshold value by the distance monitoring module, and if the distance is greater than the passing height safety distance threshold value, normally passing, and not starting the early warning module; otherwise, the early warning prompting module is started to remind the driver of danger;
s4, comparing the monitored horizontal distance from the front end of the vehicle to the bridge opening with an emergency braking safety distance threshold value stored and set in the distance monitoring module in real time by the distance monitoring module;
and S5, comparing the horizontal distance with an emergency braking safety distance threshold value stored in the distance monitoring module by the distance monitoring module according to the horizontal distance measured by the laser radar, and starting emergency braking by the braking module until the vehicle stops when the horizontal distance obtained by monitoring comparison is smaller than the emergency braking safety distance threshold value.
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Application publication date: 20221125 |