CN202847557U - Reverse auxiliary device capable of automatic tracking - Google Patents
Reverse auxiliary device capable of automatic tracking Download PDFInfo
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- CN202847557U CN202847557U CN 201220461412 CN201220461412U CN202847557U CN 202847557 U CN202847557 U CN 202847557U CN 201220461412 CN201220461412 CN 201220461412 CN 201220461412 U CN201220461412 U CN 201220461412U CN 202847557 U CN202847557 U CN 202847557U
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Abstract
The utility model discloses a reverse auxiliary device capable of automatic tracking which comprises a steering angle senor of a steering wheel, a distance measuring sensor set, a vehicle-mounted camera set, an electronic control unit (ECU), a starting switch and a power supply module. An output end of the power module is connected with the steering angle sensor of the steering wheel, the distance measuring sensor set, the vehicle-mounted camera set and the ECU through the starting switch. Output ends of the steering angle sensor of the steering wheel, the distance measuring sensor set, the vehicle-mounted camera set are respectively connected with the ECU. An output end of the ECU is connected with a display screen. The reverse auxiliary device capable of automatic tracking can monitor the panorama of a passenger car without dead angles when the passenger car is reversed and promote a distance and sensible dodging of surrounding circumstances and obstacles so that a driver can reasonably control a steering angle of the steering wheel and multifunctional auxiliary reversing and parking can be achieved.
Description
Technical field
The utility model relates to a kind of reverse aid of autonomous tracking, and this device is moveed backward and parked based on shooting and sensing technology driver assistance, can be widely used in manned vehicle.
Background technology
Along with the vehicle popularity rate is more and more higher, the space of parking, town and country is nervous all the more, also progressively increases for the backing parking pressure of chaufeur, and especially to new hand's chaufeur a great problem especially, the collision and the casualty accident that occur in the backing parking process take place frequently.This mainly is because rear portion, compartment blind area, chaufeur is adjusted the distance and is judged inaccurate and the control of steering wheel angle displacement inaccuracy causes, and existing reversing aid system is because visual field limitation, the blind area fails all to eliminate and do not have more intuitive and reliable guiding to drive function, fails to solve fully an above-mentioned difficult problem.
Summary of the invention
For existing backing system function imperfection and implement the not comprehensive of means, the purpose of this utility model is, a kind of novel autonomous tracking reverse aid is provided, this device can be realized the panorama of vehicle is monitored without the dead angle when manned vehicle reverses gear operation, the reasonably avoiding of surrounding environment and obstacle and distance prompt, thereby the angle control of the most rational bearing circle direction is provided for chaufeur, realizes that multi-functional assisting car backing parks.
In order to realize above-mentioned task, the utility model takes following technical scheme to be achieved:
A kind of reverse aid of autonomous tracking, comprise steering wheel angle sensor, distance measuring sensor group, vehicle-mounted camera group, ECU, starting switch and power module, wherein, the mouth of described power module connects respectively steering wheel angle sensor, distance measuring sensor group, vehicle-mounted camera group and ECU by starting switch, the mouth of described steering wheel angle sensor, distance measuring sensor group, vehicle-mounted camera group is connected with ECU respectively, and the mouth of ECU is connected with read-out.
The utility model also comprises following other technologies feature:
Described ECU adopts Freescale 9S12DG128 micro controller system.
The LWS 3 anisotropic magnetic resistance steering wheel angle sensors that described steering wheel angle sensor adopts BOSCH company to produce.
Described distance measuring sensor group comprises four distance measuring sensors.
Described distance measuring sensor adopts hawk lattice-SNC200 Series Ultrasonic distance measuring sensor.
Described vehicle-mounted camera group comprises four vehicle-mounted cameras.
Described vehicle-mounted camera adopts the vehicle-mounted ultra wide-angle imaging head of cassette high definition.
Described power module utilizes Vehicular accumulator cell.
Described read-out adopts the TFT-LCD telltale.
Autonomous tracking auxiliary reversing device of the present utility model has the following advantages:
1) panorama of environment of living in monitoring in the time of can realizing that vehicle backing is parked shows that with the 3rd visual angle more being conducive to chaufeur judges and maneuver vehicle;
2) categories of sensors and comprehensive to Environment Obstacles thing of living in perception, accurate sensitive, can accomplish that obstacle is evaded effectively and range finding is accurate;
3) can realize that the automobile turning wheel corner shows the contrast of the impact of vehicle real-time status and desirable backing parking route, is conducive to chaufeur and in time corrects vehicle attitude;
4) device adopts micro controller system as the ECU(Electronic Control Center), but the further expansion of practical function, technology maturation is reliable, working stability, and volume is little, and is easy for installation;
5) each components and parts all extensively derives from market and popularizes product in the device, and degree of utilization is high, and is cheap, is conducive to large-scale promotion and has obvious economic benefit;
6) device working environment scope is wide, can be suitable for the severe weather conditions such as sleet, dust, high low temperature, has reduced well work limit and has been conducive to round-the-clock full-time effect work.
Description of drawings
Fig. 1 is structured flowchart of the present utility model.
The utility model is described in further detail below in conjunction with drawings and Examples.
The specific embodiment
Mentality of designing of the present utility model is based on the steering wheel angle sensor to the monitoring of driver's operation, make path prediction by vehicle attitude, by distance measuring sensor group and vehicle-mounted camera group to vehicle environment of living in carry out the panorama monitoring, obstacle is found out and range observation.Export available signal to the control center take micro controller system as ECU by the sensor group, realize the A/D conversion and carry out plug-in, thereby realize the merging to panorama, obstacle distance is measured, in real time route and ideal way contrast, be connected with read-out at last, shown for chaufeur picked-up information and realization anticipation assistant car backing by read-out.
Referring to Fig. 1, the auxiliary reversing device of autonomous tracking of the present utility model comprises steering wheel angle sensor, distance measuring sensor group, vehicle-mounted camera group, ECU, starting switch and power module.Wherein, the mouth of described power module connects respectively steering wheel angle sensor, distance measuring sensor group, vehicle-mounted camera group and ECU by starting switch, the mouth of described steering wheel angle sensor, distance measuring sensor group, vehicle-mounted camera group respectively with the ECU(micro controller system) be connected, the mouth of ECU is connected with read-out.
Steering wheel angle signal, the obstacle that steering wheel angle sensor, distance measuring sensor group and vehicle-mounted camera group measure respectively found out signal, obstacle distance signal, vehicle environment picture signal of living in becomes available signal after by signal processing, analog-to-digital conversion and gain modulation, available signal exports the ECU(micro controller system to), carry out plug-in by ECU and make a strategic decision and show by read-out.Read-out shows the vehicle environment picture of living in that chaufeur need absorb, and implementation route and ideal way contrast realize the assistant car backing of envisioning.
Steering wheel angle sensor: be used for measuring steering wheel angle.Adopt anisotropic magnetoresistive steering wheel angle sensor in the present embodiment, LWS 3 series that BOSCH company produces are used for taking measurement of an angle and the noncontacting proximity sensor of rotating speed.The steering wheel angle installation of sensors is on the steering column of car steering wheel, the amount of spin reflection steering handwheel amount of spin of steering column, sensor records analog signal to be had by A/D and is converted to the micro controller system available signal, operation draws steering wheel angle and the real-time attitude of vehicle according to program, and draws out actual vehicle reversing route.
The distance measuring sensor group: the distance measuring sensor group comprises 4 distance measuring sensors, be installed in respectively the both sides at center body pillar position, both sides and rear portion, compartment, to vehicle's surroundings environment of living in carry out obstacle detection and with the range observation of vehicle, can draw the available signal of backing parking ideal way and respective distance scale according to ultrasonic reflections and Doppler effect, and export micro controller system to.
Distance measuring sensor adopts hawk lattice-SNC200 Series Ultrasonic distance measuring sensor in the present embodiment.Super sonic is the mechanical wave that a kind of oscillation frequency is higher than sound wave, generation of vibration occurs under the excitation of voltage by the transducing wafer, super sonic is run into impurity or dividing range and can be produced significantly to reflect to form and be reflected into echo, run into the Live Animals physical efficiency and produce Doppler effect, be widely used in industry and medical domain, be particularly useful for the crashproof barrier of keeping away of smart motion machine.This series sensor main working performance parameter is as follows: maximum range: 15m blind area:＜0.5m; Frequency of operation: 20KHz～43.0KHz; Output signal: 4～20mA, RS-485/232; Maximum load impedance: 300 Ω; Minimum display resolution: 1mm; Precision: ± 0.3% * range; Operating temperature :-10 ℃～60 ℃; Operation pressure: normal pressure; Show: four eight sections: 0.5 inch LED; Oad: Φ 83 * M64 * 122; The charactron keyboard: three are touched the A.B.C key; Inlet wire cable: 1.5m; Operating voltage: DC12-24V; Power consumption:＜1.5W; Mounting means: screw thread M64 * 1.5.This ultrasonic distance-measuring sensor adopts technique for temperature compensation, has a range large, and error is little, the characteristics that operating range is wide.
Vehicle-mounted camera group: comprise four vehicle-mounted cameras, be installed in respectively the left and right sides, compartment A post, headlight place, the left and right sides, rear portion, compartment.Be used for the panoramic shooting monitoring is carried out in vehicle position all around of living in, be connected with micro controller system by four camera output picture signals, obtain four pictures after by micro controller system picture signal being processed and merge into one 360 degree non-blind area picture, and be presented on the read-out for the chaufeur obtaining information with the 3rd visual angle.
The present embodiment adopts the vehicle-mounted ultra wide-angle imaging head of cassette high definition, and the main working performance parameter is as follows: 1. sensitive chip: CMOS 1/4OV1030 or 1/3OV1030; 2. video formats: NTSC PAL; 3. valid pixel: NTSC:656 (H) * 492 (V); 4. photosensitive area: 4.08mmx3.12mm; 5. visibility 420TVlines; 6. minimal illumination 0.01Lux; 7. trapezoidal electron scale function; 8. video output: 1.0vp-p, 75Ohm; 9. consumption of power: 5W; 10. white balance: automatically; 11. signal to noise ratio: greater than 48dB; 12. electronic shutter (N) 1/60-1/100000 (P) 1/50-1/100000; 13. operating voltage: DC12V; 14: operating temperature :-40 to+80 RH95%Max; 15. visible angle: 170 °.Major advantage has: 1) synchrolock resemble, super wide angle, high sensitivity, high definition; 2) high-quality, automobile-used standard, stable performance, material is particular about, and is durable in use; 3) can connect Vehicular display device, vehicle-carrying DVD, realize the vehicle backing backsight function; 4) product waterproof, protection against the tide, antifog, shockproof, anti-voltage impact, high temperature resistant adapt to all weather operation; 5) adopt high sensitive chip, have the lll night vision function, the light that can utilize New Type of Reversing Lamp to send carries out night vision, and night, reversing was safer; 6) export connection lead with electric power connection line, the video of standard.Install simple, easy to use.
The ECU(Electronic Control Center): be used for receiving the transducing signal of each sensor group input, operation plug-in, practical function: 1) to the processing of steering wheel angle signal, obtain in real time vehicle corner and attitude, prediction vehicle operating route; 2) the overall view monitoring picture that is obtained by the vehicle-mounted camera group is merged into panorama, and is output as the 3rd visual angle picture signal in the demonstration screen display; 3) to the processing of distance measuring sensor group signal, obtain vehicle backing park around the space the distribution of obstacles situation and find out measurement with vehicle distances, draw range scale, draw desirable backing parking route by plug-in, and jointly be presented on the read-out in the real-time route of vehicle and compare, correct at any time chaufeur error operation, accomplish the smooth backing parking of ideal way that chaufeur can draw according to the autonomous tracking of controller and computing, avoid collision case.
ECU adopts Freescale 9S12DG128 micro controller system in the present embodiment, and this Freescale 9S12DG128 micro controller system adopts the 5V power supply, has the bus speed of 25MHZ, is mainly used in industrial control field, is particularly suitable for being used in the vehicle electronics automation control area.Be characterized in the I/O pin that enriches and the communication module of Industry Control special use.The Flash capacity is 128KB, and communication module has SCI, SPI, IIC, CAN, J1850 etc.Its 112 pin package 91 I/O pins are arranged, can fully satisfy the signal transmission between each sensor group and the micro controller system; 16 tunnel 10 A/D switched pins, output command and the picture signal between read-out that can fully satisfy micro controller system transmit.
Read-out: be used for to show camera group overall view monitoring picture, the distance measuring sensor group records desirable backing parking route and range scale, and the real-time attitude route of vehicle that obtains of steering wheel angle transducing signal.
Read-out adopts the TFT-LCD telltale in the present embodiment, as the demonstration of automobile pillow and instrument carrier panel and family expenses monitoring display connect laser disc/DVD/MP5/ camera/camera/video tape recorder/etc. vision signal output.The automatic switchover band Speech input of Specifeca tion speeification: video input: v1/v2; Video formats: PAL/NTSC standard; Resolution: 480 * 272WQVGA 16:9; Screen size: 154mm(is wide) x87mm(is high) aspect ratio: 4:3/16:9(can select to switch); Contrast ratio: 350:1; Power supply: direct current 12V; Actual measurement complete machine electric current: 0.25A; Consumed power: 3W power consumption; Size: 172mm(is long) 112mm(is wide) x20mm(is high); OSD language: Chinese/English.
Starting switch: consider for hommization and electric energy saving, adopt the pattern that manually boots in the present embodiment, whether start device of the present utility model by the autonomous decision of chaufeur and carry out assisting car backing and park.
Power module: power module adopts the Vehicular accumulator cell power supply in the present embodiment, reduces the subsidiary element of device, accomplishes easy lightweight, and adopts stabilivolt to provide stable operating voltage for all need electrical component.
Claims (9)
1. the reverse aid of an autonomous tracking, it is characterized in that, comprise steering wheel angle sensor, distance measuring sensor group, vehicle-mounted camera group, ECU, starting switch and power module, wherein, the mouth of described power module connects respectively steering wheel angle sensor, distance measuring sensor group, vehicle-mounted camera group and ECU by starting switch, the mouth of described steering wheel angle sensor, distance measuring sensor group, vehicle-mounted camera group is connected with ECU respectively, and the mouth of ECU is connected with read-out.
2. the reverse aid of autonomous tracking as claimed in claim 1 is characterized in that, described ECU adopts Freescale 9S12DG128 micro controller system.
3. autonomous tracking reverse aid as claimed in claim 1 is characterized in that, the LWS 3 anisotropic magnetic resistance steering wheel angle sensors that described steering wheel angle sensor adopts BOSCH company to produce.
4. autonomous tracking reverse aid as claimed in claim 1 is characterized in that, described distance measuring sensor group comprises four distance measuring sensors.
5. autonomous tracking reverse aid as claimed in claim 4 is characterized in that, described distance measuring sensor adopts hawk lattice-SNC200 Series Ultrasonic distance measuring sensor.
6. autonomous tracking reverse aid as claimed in claim 1 is characterized in that, described vehicle-mounted camera group comprises four vehicle-mounted cameras.
7. autonomous tracking reverse aid as claimed in claim 6 is characterized in that, described vehicle-mounted camera adopts the vehicle-mounted ultra wide-angle imaging head of cassette high definition.
8. autonomous tracking reverse aid as claimed in claim 1 is characterized in that, described power module utilizes Vehicular accumulator cell.
9. autonomous tracking reverse aid as claimed in claim 1 is characterized in that, described read-out adopts the TFT-LCD telltale.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220461412 CN202847557U (en) | 2012-09-11 | 2012-09-11 | Reverse auxiliary device capable of automatic tracking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220461412 CN202847557U (en) | 2012-09-11 | 2012-09-11 | Reverse auxiliary device capable of automatic tracking |
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| CN202847557U true CN202847557U (en) | 2013-04-03 |
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| CN 201220461412 Expired - Fee Related CN202847557U (en) | 2012-09-11 | 2012-09-11 | Reverse auxiliary device capable of automatic tracking |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105043404A (en) * | 2015-08-20 | 2015-11-11 | 小米科技有限责任公司 | Navigation method and navigation device |
| CN106985142A (en) * | 2017-04-28 | 2017-07-28 | 东南大学 | A kind of double vision for omni-directional mobile robots feels tracking device and method |
| CN107972583A (en) * | 2016-10-25 | 2018-05-01 | 丰田自动车株式会社 | Vehicle imaging display device and recording medium |
| CN109959364A (en) * | 2017-12-25 | 2019-07-02 | 比亚迪股份有限公司 | Vehicle carries out the method and apparatus for automatically correcting range error based on lane line |
| CN113619679A (en) * | 2021-08-27 | 2021-11-09 | 中汽创智科技有限公司 | Electric vehicle backing tracking method and device, storage medium and terminal |
-
2012
- 2012-09-11 CN CN 201220461412 patent/CN202847557U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105043404A (en) * | 2015-08-20 | 2015-11-11 | 小米科技有限责任公司 | Navigation method and navigation device |
| CN107972583A (en) * | 2016-10-25 | 2018-05-01 | 丰田自动车株式会社 | Vehicle imaging display device and recording medium |
| CN106985142A (en) * | 2017-04-28 | 2017-07-28 | 东南大学 | A kind of double vision for omni-directional mobile robots feels tracking device and method |
| CN109959364A (en) * | 2017-12-25 | 2019-07-02 | 比亚迪股份有限公司 | Vehicle carries out the method and apparatus for automatically correcting range error based on lane line |
| CN109959364B (en) * | 2017-12-25 | 2021-09-03 | 比亚迪股份有限公司 | Vehicle, method and device for automatically correcting distance measurement error based on lane line |
| CN113619679A (en) * | 2021-08-27 | 2021-11-09 | 中汽创智科技有限公司 | Electric vehicle backing tracking method and device, storage medium and terminal |
| CN113619679B (en) * | 2021-08-27 | 2023-06-20 | 中汽创智科技有限公司 | Reversing tracking method and device for electric automobile, storage medium and terminal |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130403 Termination date: 20130911 |