CN203637816U - Device for improving vehicle meeting safety - Google Patents
Device for improving vehicle meeting safety Download PDFInfo
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- CN203637816U CN203637816U CN201320725083.1U CN201320725083U CN203637816U CN 203637816 U CN203637816 U CN 203637816U CN 201320725083 U CN201320725083 U CN 201320725083U CN 203637816 U CN203637816 U CN 203637816U
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Abstract
The utility model belongs to the technical field of vehicle meeting safety and discloses a device for improving the vehicle meeting safety. The device comprises a vehicle-mounted CAN (control area network) bus, a single chip, a data processing unit, a rearview mirror, a vehicle speed sensor, a steering wheel angle sensor, a brake pedal travel sensor, a laser scanning radar fixedly mounted in the center of a bumper in front of a vehicle, a camera used for acquiring a driver head image, and a rotary motor used for rotating the rearview mirror, wherein the laser scanning radar faces to the front side of the vehicle; the output end of the vehicle speed sensor is electrically connected with the vehicle-mounted CAN bus; the signal input end of the data processing unit is electrically connected with the vehicle-mounted CAN bus, the laser scanning radar, an I/O interface of the single chip, the output end of the steering wheel angle sensor and the brake pedal travel sensor respectively; the signal output end of the data processing unit is electrically connected with the control end of the rotary motor; the single chip is electrically connected with a video wire of the camera through a USB (universal serial bus) interface.
Description
Technical field
The utility model belongs to automobile meeting safety method field, particularly a kind of device that improves vehicle meeting safety.
Background technology
When running car is in the prominent subtend of meeting of limited road while sending a car, steerman conventionally can be taked braking deceleration and beat direction to the right and realize and giving way and safety meeting.Now, whether steerman conventionally can judge the position of this car and estimate road rightward space by observing right rear and forward visibility, beat suitablely, and constantly adjust in this process with this definite direction to the right.But while being mainly used in normal driving due to right rear, help steerman to observe the track situation of this car right lateral side, therefore can not realize obtaining of road boundary information to vehicle body corresponding position.And now because road is narrow and the needs of meeting, vehicle body right side is original just very little apart from the distance of road right side boundary, and steerman is again by beating direction to the right, vacate the space in road left side with this by reducing vehicle body right side apart from the space of road right side boundary, realize the safety meeting that this car and subtend are sent a car.Therefore, now often because steerman cannot obtain, judge by accident apart from the information of the distance of track right side boundary on this car vehicle body right side, maloperation, and two kinds of situations occur: the one, and vehicle by not, causes track leftward space inadequate to the right, cannot realize safety meeting; The 2nd, vehicle leans on too much to the right, causes vehicle to stride across road right side boundary, rides road right side curb, even goes out road.This just makes meeting danger and inefficiency in this kind of situation.
Utility model content
The purpose of this utility model is to propose a kind of device and method that improves vehicle meeting safety.A kind of device that improves vehicle meeting safety of the present utility model can help chaufeur to get vehicle body apart from information such as the distances of road right side boundary, and automatically adjust right rear (turning an angle) in vertical surface, realize meeting safely and efficiently.
For realizing above-mentioned technical purpose, the utility model adopts following technical scheme to be achieved.
A device that improves vehicle meeting safety, comprising: vehicle-mounted CAN bus 1, micro controller system, data processing unit, be positioned at vehicle body right side back mirror, be arranged on car speed sensor on change speed gear box, be fixedly mounted on the Centromedian scanning laser radar of vehicle front bumper/spoiler, be arranged on steering wheel angle sensor on steering wheel for vehicle, be arranged on the brake-pedal-travel sensor of brake pedal below, for gathering the camera of chaufeur head image and the rotary electric machine for back mirror is rotated; Described scanning laser radar is towards vehicle front, and described camera is arranged on vehicle performance platform;
The mouth of described car speed sensor is electrically connected described vehicle-mounted CAN bus, and the signal input part of described data processing unit is electrically connected respectively the mouth of I/O interface, steering wheel angle sensor mouth and the brake-pedal-travel sensor of mouth, the micro controller system of described vehicle-mounted CAN bus, scanning laser radar; The control end of the signal output part electrical connection rotary electric machine of described data processing unit; Described micro controller system is electrically connected the video line of camera by USB interface.
Described car speed sensor is used for the real-time speed of collection vehicle, and for the real-time speed of vehicle is sent to data processing unit by vehicle-mounted CAN bus; Described scanning laser radar is for measurement road width and the subtend state of motion of vehicle parameter of sending a car, and for road width, subtend are come to distance, the subtend of this car of spacing sent a car and this car angle and subtend is sent a car and this car between relative velocity send to data processing unit; Described camera is used for gathering chaufeur head image (comprising head rotation and sight line transform diagram picture), for in real time the chaufeur head image of collection being sent to micro controller system, described micro controller system is for carrying out pretreatment to view data, for pretreated signal is sent to data processing unit; Described square plate rotary angle transmitter is used for gathering steering wheel angle parameter, and in real time steering wheel angle parameter being sent to data processing unit; Described brake-pedal-travel sensor is used for gathering brake-pedal travel parameter, and in real time brake-pedal travel parameter being sent to data processing unit; Described data processing unit, for according to the data that receive, sends back mirror turn signal to rotary electric machine; Described rotary electric machine rotates for control back mirror under the triggering of back mirror turn signal.
The feature of the technical program and further improvement are:
Described car speed sensor is magneto-electric car speed sensor, and the sampling precision of described car speed sensor is 0.01km/h.
Described scanning laser radar is the safe laser scanner of SICK; the concrete model of the safe laser scanner of described SICK is S3000; the scanning angle of the safe laser scanner of described SICK is 190 degree; the protection zone scope of the safe laser scanner of described SICK is 7m, and 120 milliseconds of resolution of the safe laser scanner of described SICK are 30-150mm.
Described camera is culminant star YJS-01USB2.0 camera.
Described micro controller system is Freescale series monolithic, and the model of described micro controller system is S12.
Described steering wheel angle sensor is the 89245-0N020 type steering wheel angle sensor of CHHK brand.
Described brake-pedal-travel sensor is Bosch PWG series brake-pedal-travel sensor, and the concrete model of described Bosch PWG series brake-pedal-travel sensor is PWG13.
The beneficial effects of the utility model are: can help chaufeur to get vehicle body apart from information such as the distances of road right side boundary, and automatically adjust right rear (turning an angle) in vertical surface, realize meeting safely and efficiently.
Brief description of the drawings
Fig. 1 is the electrical block diagram of a kind of device that improves vehicle meeting safety of the present utility model;
Fig. 2 is the workflow schematic diagram of a kind of device that improves vehicle meeting safety of the present utility model;
The subtend detection schematic diagram of state of motion of vehicle of sending a car when Fig. 3 is a kind of device busy that improves vehicle meeting safety of the present utility model;
Fig. 4 is the back mirror rotational angle schematic diagram of a kind of device that improves vehicle meeting safety of the present utility model.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in further detail:
With reference to Fig. 1, it is the electrical block diagram of a kind of device that improves vehicle meeting safety of the present utility model.In the device of this raising vehicle meeting safety, in the front of vehicle, bumper/spoiler centre is provided with scanning laser radar, and the direction of this scanning laser radar is towards front, for measurement road width and the subtend state of motion of vehicle parameter of sending a car.This scanning laser radar is the safe laser scanner of SICK, and its concrete model is S3000, and scanning angle is 190 degree, and protection zone scope is 7m, and 120 milliseconds of resolution are 30-150mm.On the operation bench of vehicle, camera is installed, camera is used for gathering steerman head image (comprising the image that head rotation and sight line shift), and this camera adopts culminant star YJS-01USB2.0 camera.On the change speed gear box of vehicle, be provided with car speed sensor, this car speed sensor is for gathering from the car speed of a motor vehicle.This car speed sensor is magneto-electric car speed sensor, and the sampling precision of described car speed sensor is 0.01km/h.On the bearing circle of vehicle, steering wheel angle sensor is installed, this steering wheel angle sensor is used for gathering steering wheel angle parameter, and this steering wheel angle sensor adopts the 89245-0N020 type steering wheel angle sensor of CHHK brand.Brake-pedal-travel sensor is installed below vehicle brake pedal, this brake-pedal-travel sensor is used for gathering brake-pedal travel parameter, this brake-pedal-travel sensor adopts Bosch PWG series brake-pedal-travel sensor, and its concrete model is PWG13.In vehicle right rear, be also connected with rotary electric machine, this rotary electric machine is used for making back mirror to rotate.In vehicle, be also provided with vehicle-mounted CAN bus 1, micro controller system, data processing unit.Wherein, micro controller system is Freescale series monolithic, and its concrete model is S12; Data processing unit is ARM9 treater.
In the utility model embodiment, in conjunction with Fig. 1, the mouth of this car speed sensor is electrically connected described vehicle-mounted CAN bus 1, and the signal input part of this data processing unit is electrically connected respectively the mouth of described vehicle-mounted CAN bus, laser radar, I/O interface, steering wheel angle sensor mouth and the brake-pedal-travel sensor mouth of micro controller system; The control end of the signal output part electrical connection rotary electric machine of this data processing unit; This micro controller system is electrically connected the video line of camera by USB interface.
With reference to Fig. 2, it is the workflow schematic diagram of a kind of device that improves vehicle meeting safety of the present utility model.The method of this raising vehicle meeting safety comprises the following steps:
Road width detects:
In the time of Vehicle Driving Cycle, scanning laser radar is by distance (transverse distance) L of scanning Real-time Obtaining vehicle and left side road boundary
l, vehicle and right side road boundary distance (transverse distance) L
r, known vehicle width is L
v, there is road width:
L=L
l+L
r+L
v
The standard lane width of considering is 3.75m, in the time that road width is less than twice standard lane width, likely causes meeting difficulty.Therefore, in the time of L<7.5m, be judged as limited road, now judge that meeting there will be problem.Now, carry out subtend send a car state of motion of vehicle detect.
Subtend send a car state of motion of vehicle detect:
With reference to Fig. 3, the subtend detection schematic diagram of state of motion of vehicle of sending a car during for a kind of device busy that improves vehicle meeting safety of the present utility model.In the time of L<7.5m, scanning laser radar detects in real time subtend and sends a car and the relative fore-and-aft distance L of this car
z, two car front ends central authorities lines and horizontal direction angle theta, two car front ends central authorities lines refer to subtend send a car front end central authorities and the central line of this car front end.Work as L
zone timing (is set closely L when meeting of two cars
z=5m), angle θ is larger, illustrates that two car headstock intersection are more.Limited road is closely when meeting, and two cars reduce θ by beating direction to the right just, and in the time that θ is reduced to two car headstocks and does not just overlap position, the transverse distance Lh of two car vehicle centre-line is vehicle width half sum separately.In the utility model embodiment, data processing unit receives the data from scanning laser radar in real time, judges L
zwhether be less than 5m and θ and whether be less than set angle threshold value.For example, set angle threshold value is 68.2 degree.
Braking deceleration detects:
The signal input part of data processing unit is electrically connected this vehicle-mounted CAN bus.Car speed sensor is sent to data processing unit by real-time vehicle speed data by vehicle-mounted CAN bus; Brake-pedal-travel sensor by brake-pedal travel data transmission to data processing unit.Data processing unit draws vehicle acceleration data according to real-time vehicle speed data, and described vehicle acceleration data are braking deceleration a or vehicle acceleration a '.In the utility model embodiment, data processing unit can also be according to brake-pedal travel data acquisition braking deceleration a.In the utility model embodiment, braking deceleration threshold value is made as to 1m/s.Data processing unit judges whether braking deceleration a is less than braking deceleration threshold value.
Meanwhile, laser radar detects the relative velocity V that this car and subtend are sent a car, and data processing unit receives after the relative velocity of laser radar transmission, judge the whether fast reducing of relative velocity of identifying two workshops.According to test, setting relative velocity threshold value is 5km/h.In the time that data processing unit obtains relative velocity and is less than 5km/h, judgement is thought may need all take braking deceleration measure because of meeting on limited road from car.
Comprehensive, when data processing unit judgement obtains: L
zwhen being less than 5m and θ and being less than set angle threshold value, carry out chaufeur head rotation and sight line and shift and detect; In the time that braking deceleration a is less than relative velocity that braking deceleration threshold value and Ben Che and subtend send a car and is less than 5km/h, carry out chaufeur head rotation and sight line and shift and detect;
Chaufeur head rotation and sight line shift and detect:
S12 series monolithic starts, under normal circumstances, and camera continuous working.Camera is taken in real time to chaufeur head image, and chaufeur head image is sent in micro controller system.In micro controller system, the image of camera collection is carried out to pretreatment, the pretreated object of image is to remove camera to gather the interfere information in image.That is: for the reliability of assurance device work, need to camera collection to head and sight line image carry out filtering processing, to get rid of interference, therefore in image processing process, first image is carried out to filtering, specifically adopt median filtering algorithm to carry out.For the some pixels in image, calculate this some aviation value of the interior pixel gray value of 3 × 3 scopes around, the gray value with this aviation value as this point.Gather existing interfere information in image by using 3 × 3 median filtering algorithm can substantially eliminate camera.After the image of camera collection is carried out to pretreatment, send it to data processing unit, in data processing unit, according to through pretreated image, draw chaufeur head rotation angle and sight line transfer time.Judge whether chaufeur head rotation angle δ is greater than head rotation angle threshold, and judge whether sight line t transfer time is greater than sight line threshold value transfer time, for example, head rotation angle threshold is made as to 15 degree, and sight line threshold value transfer time is made as 3 seconds.If chaufeur head rotation angle δ is greater than head rotation angle threshold, and sight line t transfer time is greater than sight line threshold value transfer time, substantially can judge that now steerman obtains right lateral side road information by right rear and adjusts bearing circle and realize safety meeting, now travel direction dish operation detection.
Bearing circle operation detection:
Steering wheel angle sensor to data processing unit, in data processing unit, judges whether to the right steering wheel angle direction by steering wheel angle data transmission.Be now two cars meetings on limited road in conjunction with judging above, now, back mirror turn signal is sent to rotary electric machine by data processing unit, carries out back mirror and automatically control; If steering wheel angle direction is not to the right, continue to detect steering wheel angle direction.
Back mirror is controlled automatically:
With reference to Fig. 4, it is the back mirror rotational angle schematic diagram of a kind of device that improves vehicle meeting safety of the present utility model.Rotary electric machine receives after the back mirror turn signal of data processing unit transmission, controls the back mirror moving axis that rotates and rearward rotates (now minute surface starts towards ground).Back mirror rotational angle is for setting rotational angle.For example, in the utility model embodiment, back mirror rotational angle is made as to 8 °.After back mirror rotates, carry out back mirror and rotate recovery.
Back mirror rotates and recovers:
In data processing unit, judge whether θ (is for example less than set angle lower limit, set angle lower limit is made as to 1 ° or 0.5 °), and judge whether acceleration/accel a ' is greater than zero, if θ is less than set angle lower limit and acceleration/accel a ' is greater than zero, illustrate that Vehicle during Crossing Event finishes, steerman need to not obtain vehicle body one side road boundary information from right rear.Now, back mirror restoring signal is sent to rotary electric machine by data processing unit, and rotary electric machine control back mirror rotates backward to home position.
In the utility model embodiment, the device of this raising vehicle meeting safety has mainly completed the identification to limited road meeting situation, and automatically by the position of right rear wheel word adjusting rearview mirror in vertical plane surface, help chaufeur to obtain the information such as vehicle body right side road boundary, help chaufeur to judge better and operate vehicle and carry out meeting, the safety and efficiently while having ensured described limited road meeting.After meeting finishes, right rear automatic rotary, to normal position, does not affect the use of right rear in normal circumstances and other situations.
A kind of device that improves vehicle meeting safety of the present utility model detects road width, subtend send a car state of motion of vehicle parameter, the operation of this car braking deceleration, steerman sight line and head rotation and bearing circle operation by the sensor on vehicle, under identification, after situation, right rear turn signal is sent to rotary electric machine.When after successful meeting, according to steering wheel return just with the detection of accelerating, send back mirror restoring signal to rotary electric machine, control right rear and rotate go back to normal position.
In sum, groundwork of the present utility model is to pass through filled sensor to detect road width, subtend send a car state of kinematic motion, the operation of this car braking deceleration, steerman sight line and head rotation and bearing circle operation, comprehensive above parameter, identifies described vehicle and subtend and sends a car in the situation of limited road meeting.Right rear turn signal is sent to rotary electric machine, right rear turns an angle downwards to correct position in vertical surface according to actual conditions, help steerman by right rear can this car of Real-time Obtaining vehicle body right side apart from the distance of road right side boundary, realize the proper operation of steerman to this car, ensure meeting safely and efficiently.After meeting finishes, right rear automatic rotary, to normal position, does not affect the use of right rear in normal circumstances and other situations.
Obviously, those skilled in the art can carry out various changes and modification and not depart from spirit and scope of the present utility model the utility model.Like this, if these amendments of the present utility model and within modification belongs to the scope of the utility model claim and equivalent technologies thereof, the utility model is also intended to comprise these changes and modification interior.
Claims (7)
1. one kind is improved the device of vehicle meeting safety, it is characterized in that, comprising: vehicle-mounted CAN bus (1), micro controller system, data processing unit, be positioned at vehicle body right side back mirror, be arranged on car speed sensor on change speed gear box, be fixedly mounted on the Centromedian scanning laser radar of vehicle front bumper/spoiler, be arranged on steering wheel angle sensor on steering wheel for vehicle, be arranged on the brake-pedal-travel sensor of brake pedal below, for gathering the camera of chaufeur head image and the rotary electric machine for back mirror is rotated; Described scanning laser radar is towards vehicle front, and described camera is arranged on vehicle performance platform;
The mouth of described car speed sensor is electrically connected described vehicle-mounted CAN bus (1), and the signal input part of described data processing unit is electrically connected respectively the mouth of described vehicle-mounted CAN bus, scanning laser radar, I/O interface, steering wheel angle sensor mouth and the brake-pedal-travel sensor mouth of micro controller system; The control end of the signal output part electrical connection rotary electric machine of described data processing unit; Described micro controller system is electrically connected camera by USB interface.
2. a kind of device that improves vehicle meeting safety as claimed in claim 1, is characterized in that, described car speed sensor is magneto-electric car speed sensor, and the sampling precision of described car speed sensor is 0.01km/h.
3. a kind of device that improves vehicle meeting safety as claimed in claim 1; it is characterized in that; described scanning laser radar is the safe laser scanner of SICK; the concrete model of the safe laser scanner of described SICK is S3000; the scanning angle of the safe laser scanner of described SICK is 190 degree; the protection zone scope of the safe laser scanner of described SICK is 7m, and 120 milliseconds of resolution of the safe laser scanner of described SICK are 30-150mm.
4. a kind of device that improves vehicle meeting safety as claimed in claim 1, is characterized in that, described camera is culminant star YJS-01USB2.0 camera.
5. a kind of device that improves vehicle meeting safety as claimed in claim 1, is characterized in that, described micro controller system is Freescale series monolithic, and the model of described micro controller system is S12.
6. a kind of device that improves vehicle meeting safety as claimed in claim 1, is characterized in that, described steering wheel angle sensor is the 89245-0N020 type steering wheel angle sensor of CHHK brand.
7. a kind of device that improves vehicle meeting safety as claimed in claim 1, it is characterized in that, described brake-pedal-travel sensor is Bosch PWG series brake-pedal-travel sensor, and the concrete model of described Bosch PWG series brake-pedal-travel sensor is PWG13.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320725083.1U CN203637816U (en) | 2013-11-15 | 2013-11-15 | Device for improving vehicle meeting safety |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320725083.1U CN203637816U (en) | 2013-11-15 | 2013-11-15 | Device for improving vehicle meeting safety |
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| Publication Number | Publication Date |
|---|---|
| CN203637816U true CN203637816U (en) | 2014-06-11 |
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ID=50869084
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320725083.1U Expired - Fee Related CN203637816U (en) | 2013-11-15 | 2013-11-15 | Device for improving vehicle meeting safety |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103661365A (en) * | 2013-11-15 | 2014-03-26 | 长安大学 | Device and method for improving vehicle meeting safety performance |
-
2013
- 2013-11-15 CN CN201320725083.1U patent/CN203637816U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103661365A (en) * | 2013-11-15 | 2014-03-26 | 长安大学 | Device and method for improving vehicle meeting safety performance |
| CN103661365B (en) * | 2013-11-15 | 2016-08-24 | 长安大学 | A kind of method improving vehicle meeting security |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140611 Termination date: 20141115 |
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| EXPY | Termination of patent right or utility model |