CN202944253U - Motorway automobile anti-collision system high in reliability and low in false alarm rate - Google Patents

Motorway automobile anti-collision system high in reliability and low in false alarm rate Download PDF

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Publication number
CN202944253U
CN202944253U CN 201220570259 CN201220570259U CN202944253U CN 202944253 U CN202944253 U CN 202944253U CN 201220570259 CN201220570259 CN 201220570259 CN 201220570259 U CN201220570259 U CN 201220570259U CN 202944253 U CN202944253 U CN 202944253U
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sensor
false alarm
alarm rate
radar
motorway
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CN 201220570259
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樊红娟
李牧
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Nanjing Jingyi Security System Technology Co Ltd
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Abstract

The utility model relates to a motorway automobile anti-collision system high in reliability and low in false alarm rate. The motorway automobile anti-collision system comprises a central processing unit, a radar, a steering-wheel angle sensor, a vehicle speed sensor, a steering lamp transducer, a camera, a positioning speed measuring sensor and an output unit, wherein the radar, the steering-wheel angle sensor, the vehicle speed sensor, the steering lamp transducer, the camera, the positioning speed measuring sensor and the output unit are communicated with the central processing unit. The motorway automobile anti-collision system resolves the technical problem that an existing radar automobile intelligent anti-collision system is high in false alarm rate. The motorway automobile anti-collision system utilizes the multi-sensor fusion technology, makes full use of the advantages of each sensor, provides comprehensive information of people, vehicles, roads and the like, reduces the false alarm rate caused by traffic signs, adjacent-road vehicles, road-side buildings, curves, overtaking, overline bridges, and the like, removes unreal obstacles, and reduces the false alarm rate in a complex environment.

Description

A kind of highway automobile collision avoidance system of highly reliable low false alarm rate
Technical field
The utility model belongs to the safety traffic field, is specifically related to a kind of highway automobile collision avoidance system of highly reliable low false alarm rate.
Background technology
Traffic accident has become peacetime " the first in the world killer ".The data demonstration that the World Health Organigation announces, annual 1200000 people in the whole world die from road traffic accident, have simultaneously 5,000 ten thousand people injured, a dead people of average per half a minute;
China is one of country that Traffic Casualties is maximum in the world, over past ten years China every year because of traffic accident injury, die total number average more than 500,000 people.Average every five minutes because of traffic death one people.
Based on above-mentioned situation, automobile collision preventing becomes popular research point, can be divided into passive crashproof and active crashproof two large classes with regard to present automobile collision preventing technology.
Consequence after the passive crashproof safety strap that refers to adopt, the methods such as safety air bag, bumper/spoiler cut down traffic accidents and occur.Advantage is that cheap, shortcoming is to reduce causality loss after occuring in accident, can't accomplish to prevent trouble before it happens.For imminent accident, can only see helplessly that traffic accident occurs.In fact, those cause on the accident vehicle of heavy casualties all be furnished with bumper/spoiler and safety strap, much also are furnished with safety air bag.This shows the limitation of passive anti-collision technique.
The crashproof obstacle that refers to utilize the sensor such as radar and intelligent control technology automatic detection motor vehicle environment to affect traffic safety initiatively, but through after calculating confirming danger and alarm to remind the driver, not react or collision avoidance system automatic retarding or brake when having little time to react as the driver, to avoid imminent accident.The unique advantage that have obviate, avoid accident, people and car is protected simultaneously.
Crashproof being divided into initiatively: radar intelligent anti-collision system, video intelligent collision avoidance system and laser obstacle avoidance sensor etc.
Although high for laser obstacle avoidance sensor resolution, cost is lower, detectability descends under the bad weather conditions such as dense fog, heavy snow, heavy rain, lens can lose detectability after being polluted, easily can not receive echo and lose objects when no matter front truck or this car significantly jolt;
Video intelligent collision avoidance system resolution is high, details abundant, but is subjected to ambient light larger according to condition restriction; Can't work under the bad weather conditions such as dense fog, heavy snow, heavy rain, detectability descends greatly.
That the millimeter wave radar Intelligent collision prevention system of automobile has is round-the-clock, round-the-clock, detection range are far away, can be in the characteristics of reliable operation under bad weather condition, but radar intelligent anti-collision system false alarm rate under complicated traffic environment is too high at present, has caused unnecessary trouble to the user.
The utility model content
In order to solve the high technical matters of existing radar Intelligent collision prevention system of automobile false alarm rate, the utility model provides the highway automobile collision avoidance system of highly reliable low false alarm rate.
Technical solution of the present utility model:
A kind of highway automobile collision avoidance system and method for highly reliable low false alarm rate, its special character is: comprise central process unit and the radar of communicating by letter with central process unit, steering wheel angle sensor, car speed sensor, steering indicating light sensor, camera, positioning-speed-measuring sensor and output unit.
Above-mentioned positioning-speed-measuring sensor is GPS sensor, Big Dipper alignment sensor or GPS/ Big Dipper dual mode transducer.
Above-mentioned output unit is combined aural and visual alarm and/or telltale.
Above-mentioned central process unit also comprises the critical data logging modle.
Also be provided with sensor spare interface and signal output spare interface on above-mentioned central process unit.
The utility model has advantages of:
1, utilize multi-sensor fusion technology, give full play to each sensor advantage, the integrated information on people, car, road etc. is provided, reduction because of traffic sign, face vehicle, roadside building, bend, overtake other vehicles, flase alarm that overline bridge etc. causes, get rid of non-real obstruction, reduced the false alarm rate under the complex environment.
2, the utility model system reliability is high.The utility model adopts multiple sensors, and the parameter that realizes between sensor overlaps, and each critical technical parameter all can be obtained by two or more sensors, has advantages of Safety Redundancy.
3, the utility model is when vehicle enters bend, and beam position and rotating of steering wheel angle by the central controller controls radar are complementary, and have rejected the flase alarm that vehicle causes when negotiation of bends.
4, realize that when increasing the collision prevention function reliability lane shift detects, in the situation that do not increase volume and cost has reduced the accident that causes because of lane shift, further improved the collision avoidance system safety performance.
5, when increasing the vehicle speed measuring reliability, but the location information of Obtaining Accurate vehicle, and by communication unit, car owner or monitoring and control centre can be checked this truck position information at any time, have strengthened vehicle safety.
Description of drawings
Fig. 1 is the structural representation of the utility model collision avoidance system;
Fig. 2 is the schematic flow sheet of avoiding collision of the present utility model.
The specific embodiment
as shown in Figure 1, radar is for detection of the speed of relative this car of distance, angle and obstacle of this car of obstacle distance of this front side, steering wheel angle sensor is for the rotational angle that gathers bearing circle, car speed sensor is for the real time running speed of measuring this car, the steering indicating light sensor is for the switching information that gathers steering indicating light, camera is the pavement image information for this front side of Real-time Collection, the positioning-speed-measuring sensor is the speed of locating and measuring in real time this car for to this car, described central process unit is the information that sends for receiving radar and judges the hazard level that the place ahead obstacle causes to this car, judge the travel direction of this car according to the signal of steering wheel angle sensor transmission, the signal that sends according to rotation direction sensor judges that this car belongs to lane change or overtakes other vehicles, the picture signal that sends according to camera judges whether this car is offset lane mark under this car, measure the distance of this car interior the place ahead obstacle of affiliated lane mark and this car, judge whether the obstacle that radar is judged to is real obstruction, the actual speed of the calculated signals the place ahead obstacle that sends according to car speed sensor.Communication module after receiving the short-message instruction of mobile phone or monitoring and control centre, is transferred to the central process unit decoding after processing through communication module in central process unit, after identity verification, the location information of this vehicle is exported through communication unit.
Radar and camera all can be measured the distance between obstacle and this car, reach the Safety Redundancy of distance; Positioning-speed-measuring sensor and car speed sensor all can be measured this car real-time speed, reach the Safety Redundancy of real-time speed; When the positioning-speed-measuring sensor is GPS and Big Dipper dual mode transducer, GPS and the Big Dipper all can be located, and reach the redundancy of vehicle location information.
As shown in Figure 2, the highway automobile avoiding collision based on multisensor comprises the following steps:
1] whether System self-test is normal, and as normally, radar, steering wheel angle sensor, car speed sensor, steering indicating light sensor, camera, positioning-speed-measuring sensor and output unit are started working, execution in step 2], as mal, show failure message;
1.1] the System self-test method: central process unit inside loads respectively two kinds of data, and is normal, need to report to the police, and observes output interface and show result, as normally entering next step.Otherwise, send and repair;
1.2] central process unit goes sensor to send self-checking command to radar and other, each sensor self check is normal, returns to normal information, otherwise, report to the police;
1.3] provide the real-time judge result according to the current state system, normally enter next step as all, as normally entering next step.Otherwise, send and repair
2] the pavement image information that sends according to camera of central process unit judges whether line ball of this car:
The pavement image information of this front side of camera Real-time Collection, and be sent to central process unit, central process unit judges whether line ball of this car according to pavement image information:
There is no line ball as this car, this car in lane mark, execution in step 3];
As this car line ball, the pavement image information that sends according to camera of central process unit judges the state of this car institute line ball:
Be solid line as this car institute line ball, central process unit output alarm information, output unit is carried out and is reported to the police;
Be dotted line as this car institute line ball, judge the switch of steering indicating light:
Receive that as central process unit steering indicating light opens signal, ignore this line ball, come back to whether line ball judgement;
Receive that as central process unit steering indicating light closes signal, central process unit is exported information, and output unit is carried out prompting;
3] central process unit judges the running state of this car according to the pavement image information of camera transmission:
Be straight line as lane mark, the running state of this car is: straight way operation, execution in step 5];
Be curve as lane mark, the running state of this car is: bend operation, execution in step 4];
4] central process unit is according to the rotational angle of this car bearing circle of steering wheel angle sensor transmission, and the velocity of wave of control radar points to and the rotational angle of bearing circle is complementary, rear execution in step 5];
The antenna rotation mechanism of central process unit control radar rotates when radar is mechanical scanning radar, and the beam position of radar and the rotational angle of bearing circle are complementary;
Or when radar was electronically scanned radar, the signal processor of central process unit control radar was complementary the beam position of radar and the rotational angle of bearing circle.
5] whether this front side of judgement operation exists obstacle:
5.1] distance, angle and the obstacle of this car of obstacle distance of this front side of the detections of radar speed of this car relatively, and send to central process unit;
5.2] central process unit is according to the information that radar sends, and judges whether operation the place ahead of this car exists obstacle:
If there is obstacle, whether judge the distance of this this car of obstacle distance less than early warning critical range, concrete steps are as follows:
According to the early warning critical range of following formula dyscalculia object distance from this car:
d w = 1 2 ( v 1 2 a - ( v 1 - v rel ) 2 a ) + v 1 · τ + d 0
Wherein: d wBe critical range, v 1Be this vehicle speed, v relBe the relative velocity of obstacle and this car, α is this equal car and the maximum deceleration of obstacle for hypothesis, and τ is the delay time of system and chaufeur, d 0Be space headway,
When Vrel>0,
As R<Kd wThe time, central process unit output alarm signal, output unit are carried out and are reported to the police; Wherein, K is the road conditions coefficient, fine day K=1, overcast and rainy K=1.5, heavy snow sky K=2; R is the actual distance of this car of obstacle distance of radar output;
When Vrel<0, ignore obstacle;
If there is no obstacle, get back to step 2].
The concrete grammar that the beam position of control radar and the rotational angle of bearing circle are complementary is: the signal processor of central process unit control radar rotates antenna rotation mechanism when radar is mechanical scanning radar, and the beam position of radar and the rotational angle of bearing circle are complementary; Or when radar was electronically scanned radar, the signal processor of central process unit control radar was complementary the beam position of radar and the rotational angle of bearing circle.

Claims (5)

1. the highway automobile collision avoidance system of a highly reliable low false alarm rate, is characterized in that: comprise central process unit and the radar of communicating by letter with central process unit, steering wheel angle sensor, car speed sensor, steering indicating light sensor, camera, positioning-speed-measuring sensor and output unit.
2. the highway automobile collision avoidance system of highly reliable low false alarm rate according to claim 1, it is characterized in that: described positioning-speed-measuring sensor is GPS sensor, Big Dipper alignment sensor or GPS/ Big Dipper dual mode transducer.
3. the highway automobile collision avoidance system of highly reliable low false alarm rate according to claim 1 and 2, it is characterized in that: described output unit is combined aural and visual alarm and/or telltale.
4. the highway automobile collision avoidance system of highly reliable low false alarm rate according to claim 3, it is characterized in that: described central process unit also comprises the critical data logging modle.
5. the highway automobile collision avoidance system of highly reliable low false alarm rate according to claim 4, is characterized in that: also be provided with sensor spare interface and signal output spare interface on described central process unit.
CN 201220570259 2012-10-31 2012-10-31 Motorway automobile anti-collision system high in reliability and low in false alarm rate Expired - Fee Related CN202944253U (en)

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103287434A (en) * 2012-02-22 2013-09-11 厦门金龙联合汽车工业有限公司 Engine self-adaptive system based on vehicle operation conditions
CN103723073A (en) * 2013-11-21 2014-04-16 中国科学院合肥物质科学研究院 Dangerous overtaking early warning device based on multi-sensor data fusion and early warning method thereof
CN103847636A (en) * 2014-03-25 2014-06-11 天津云视科技发展有限公司 Automobile steering or road merging back vision scanning warning device
CN105109491A (en) * 2015-08-05 2015-12-02 江苏大学 Vehicle running-direction predicting device and predicting method based on longitudinal curvature of bend
CN105957400A (en) * 2016-06-01 2016-09-21 杨星 Vehicle information acquisition method for integrated perception of collision warning
CN107972648A (en) * 2017-11-24 2018-05-01 多伦科技股份有限公司 A kind of intelligent robot brake DAS (Driver Assistant System) and its method
CN109506665A (en) * 2018-12-14 2019-03-22 北京梧桐车联科技有限责任公司 A kind of method, apparatus and storage medium identifying vehicle in navigation map

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103287434A (en) * 2012-02-22 2013-09-11 厦门金龙联合汽车工业有限公司 Engine self-adaptive system based on vehicle operation conditions
CN103287434B (en) * 2012-02-22 2015-12-02 厦门金龙联合汽车工业有限公司 A kind of running conditions of vehicle engine self-adaptive system
CN103723073A (en) * 2013-11-21 2014-04-16 中国科学院合肥物质科学研究院 Dangerous overtaking early warning device based on multi-sensor data fusion and early warning method thereof
CN103723073B (en) * 2013-11-21 2015-09-30 中国科学院合肥物质科学研究院 A kind of danger of Fusion is overtaken other vehicles prior-warning device and method for early warning thereof
CN103847636A (en) * 2014-03-25 2014-06-11 天津云视科技发展有限公司 Automobile steering or road merging back vision scanning warning device
CN105109491A (en) * 2015-08-05 2015-12-02 江苏大学 Vehicle running-direction predicting device and predicting method based on longitudinal curvature of bend
CN105109491B (en) * 2015-08-05 2017-08-04 江苏大学 A kind of vehicle traveling course prediction device and Forecasting Methodology based on bend longitudinal curvature
CN105957400A (en) * 2016-06-01 2016-09-21 杨星 Vehicle information acquisition method for integrated perception of collision warning
CN105957400B (en) * 2016-06-01 2018-04-10 杨星 A kind of collecting vehicle information method for being used to integrate sensing collision early warning
CN107972648A (en) * 2017-11-24 2018-05-01 多伦科技股份有限公司 A kind of intelligent robot brake DAS (Driver Assistant System) and its method
CN109506665A (en) * 2018-12-14 2019-03-22 北京梧桐车联科技有限责任公司 A kind of method, apparatus and storage medium identifying vehicle in navigation map

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ASS Succession or assignment of patent right

Owner name: NANJING JINGYI SECURITY SYSTEM TECHNOLOGY CO., LTD

Free format text: FORMER OWNER: FAN HONGJUAN

Effective date: 20140424

C41 Transfer of patent application or patent right or utility model
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Free format text: CORRECT: ADDRESS; FROM: 710075 XI'AN, SHAANXI PROVINCE TO: 210000 NANJING, JIANGSU PROVINCE

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Effective date of registration: 20140424

Address after: 210000 Jiangsu city of Nanjing province science and Technology Innovation Park kylin (eco technology city) Qi East Road No. 666

Patentee after: Nanjing Jingyi Security System Technology Co., Ltd.

Address before: 710075 building, 2, five, hi tech Road, Xi'an hi tech Zone, Shaanxi, China

Patentee before: Fan Hongjuan

CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20130522

Termination date: 20201031