CN206416995U - A kind of lane-change servicing unit - Google Patents
A kind of lane-change servicing unit Download PDFInfo
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- CN206416995U CN206416995U CN201621448897.5U CN201621448897U CN206416995U CN 206416995 U CN206416995 U CN 206416995U CN 201621448897 U CN201621448897 U CN 201621448897U CN 206416995 U CN206416995 U CN 206416995U
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- vehicle
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- processing element
- scanning laser
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Abstract
The utility model discloses a kind of lane-change servicing unit, scanning laser radar including being fixed on front part of vehicle and rear portion, and the camera of front part of vehicle is fixed on, scanning laser radar connection central processing element, camera connects central processing element by picture processing chip, central processing element is connected with velocity sensor, central processing element is also associated with display device and steering indicating light, and the present apparatus is simple in construction, and energy consumption is low, the simple intelligence comprehensively of design, the degree of reliability is high；The method of work intelligence degree is high, reliable operation, has good effect to safe lane-change and reduction driver's operation.
Description
Technical field
The utility model belongs to intelligent driving field, and in particular to a kind of lane-change servicing unit.
Background technology
During vehicle lane-changing, driver will not only pay close attention to front road conditions the moment, after also wanting the moment by reflective sem observation vehicle
Fang Lukuang.This adds increased the difficulty of vehicle operating, driver is difficult to give front vehicle enough notices simultaneously.And
Mainly by the moving situation of reflective sem observation front vehicle during driver's lane-change, this is just difficult to the motion state to front vehicle
There is an accurately judgement.
Can be to being intended to accurately judge for traffic safety and intelligent driving ten from Chinese herbaceous peony rear vehicle driver operation
Divide important.If can be by some way for being collected from the motion state of car surrounding vehicles, and by judging whether
On the premise of ensureing safe driving, to carrying out lane-change prompting from car driver, if possessing lane-change condition, automobile can be made more smooth
Pass through road.In addition, if can be by some way to judging from the lane-changing intention of car driver, and pass through circuit
Control the opening and closing to steering indicating light to be controlled, then can reduce the operation of driver, make car steering more intelligent.
Utility model content
The purpose of this utility model is to overcome above-mentioned not enough there is provided a kind of lane-change servicing unit, to safe lane-change and subtracts
Few driver's operation has good effect.
In order to achieve the above object, the utility model includes being fixed on front part of vehicle and the scanning laser radar at rear portion, with
And the camera of front part of vehicle is fixed on, scanning laser radar connection central processing element, camera passes through picture processing chip
Connect central processing element, central processing element is connected with velocity sensor, central processing element be also associated with display device and
Steering indicating light；
The scanning laser radar is used to recognize the barrier of vehicle's surroundings and the relative velocity of vehicle；
The image that the camera is used in front of real-time collection vehicle；
The image that described image process chip is used to gather camera is handled, and recognizes lane line；
The velocity sensor is used to gather Current vehicle speed；
The central processing element be used for according to transmitted by scanning laser radar, picture processing chip and velocity sensor come
Information, the sign curve of output vehicle front and back road shape sent into display device, and according to picture processing chip
The information sent calculates lane line angle, estimates vehicle according to lane line angle and car speed and gets over the line time, and controls to turn
To the opening and closing of lamp.
The display device is fixed on meter panel of motor vehicle, and switch is fixed with meter panel of motor vehicle.
The central processing element is connected by I/O interfaces with velocity sensor.
The central processing element is connected by SPI interface with display device.
The central processing element is connected by electromagnetic switch with steering indicating light.
The scanning laser radar uses LUX scanning laser radars, and scanning laser radar is using CAN interface and center
Process chip is connected.
Compared with prior art, the utility model opens scanning laser radar, and sweep when vehicle traveling is on road
The driving vehicle on vehicle traveling lane, neighbouring left-lane and neighbouring right lane is retouched, when finding there is driving vehicle on corresponding track
When, the result that scanning is obtained is sent into central processing element, the speed of service of velocity sensor collection vehicle, center processing
Chip is analyzed the radar data collected, and the geometric form of road is analyzed according to trackside stationary obstruction feature recognition
Shape, determines that road shape characterizes curve, while according to relative from the movement velocity of car, between car and other vehicles of front and back
Speed, relative distance, identification are obtained after other vehicles of front and back, according to the relative distance from car and other vehicles, relatively
Angle, estimates vehicle and gets over the line time, obtains after these data, these presentation of information then are being attached thereto into display device
On, meanwhile, judge whether the neighbouring track in left and right has lane-change condition, and show that the present apparatus is simple in construction, energy on the display apparatus
Consumption is low, and the simple intelligence comprehensively of design, the degree of reliability is high；The method of work intelligence degree is high, reliable operation, to safe lane-change and
Reducing driver's operation has good effect.
Brief description of the drawings
Fig. 1 is theory diagram of the present utility model；
Wherein, 1, scanning laser radar；2nd, camera；3rd, picture processing chip；4th, central processing element；5th, velocity pick-up
Device；6th, display device；7th, steering indicating light.
Embodiment
The utility model is described further below in conjunction with the accompanying drawings.
Referring to Fig. 1, the utility model includes being fixed on front part of vehicle and the scanning laser radar at rear portion, and is fixed on car
Anterior camera, scanning laser radar connection central processing element, camera connects centre by picture processing chip
Chip is managed, central processing element is connected with velocity sensor, and central processing element is also associated with display device and steering indicating light；Display
Device is fixed on meter panel of motor vehicle, and switch is fixed with meter panel of motor vehicle, and central processing element is passed by I/O interfaces and speed
Sensor is connected, and central processing element is connected by SPI interface with display device, and central processing element is by electromagnetic switch with turning to
Lamp is connected, and scanning laser radar uses LUX scanning laser radars, and scanning laser radar is handled using CAN interface with center
Chip is connected；
Scanning laser radar is used to recognize the barrier of vehicle's surroundings and the relative velocity of vehicle；Camera is used to adopt in real time
Collect the image of vehicle front；The image that picture processing chip is used to gather camera is handled, and recognizes lane line；Speed
Sensor is used to gather Current vehicle speed；
Central processing element be used for according to transmitted by scanning laser radar, picture processing chip and velocity sensor come letter
Breath, the sign curve of output vehicle front and back road shape is sent into display device, and is sent out according to picture processing chip
The information come calculates lane line angle, estimates vehicle according to lane line angle and car speed and gets over the line time, and controls steering indicating light
Opening and closing.
Method of work of the present utility model includes：
First, identification judges front and back road shape, other vehicles of front and back：
Guardrail, greenbelt or the step of trackside, this type objects is in trackside remains stationary, while the shape of this kind of object composition
Shape is consistent with road alignment.For the stationary object of trackside, relative velocity and vehicle that lidar measurement is obtained
Travel speed size it is essentially identical.Therefore, if some measures the relative velocity of reentry point and between car travel speed
When the absolute value of difference is less than 5km/h, it is possible to determine that the data point belongs to trackside stationary object.By being carried out to all measurement points
Analysis, recognizes all trackside rest points and will be represented with two curves a little, so as to obtain representing front and back road shape
Curve.Lidar measurement return data in addition to the stationary object of both sides of the road also include road on travel other
Vehicle.According to the movement relation of vehicle and other vehicles of front and back, if the relative velocity of certain measurement point and the row from car
The absolute value for sailing difference between speed is more than 5km/h, then the measurement point can be defined as the vehicle of other travelings of front and back.To swashing
All data points of optical radar are analyzed, and determine the vehicle in the presence of the region of front and back.
2nd, position and the travel speed of other vehicles of front and back are calculated：
Before relative angle that the position of other vehicles of front and back is obtained as measured by laser radar, relative distance data are determined
The position of other vehicles of rear, when other vehicles of front and back are shown in LCD liquid crystal displays, according to relative angle and it is relative away from
Position of the front and back vehicle in screen is determined from data；Obtained according to measured by from car travel speed and laser radar from car
With the relative velocity of other vehicles of front and back, the travel speed of other vehicles of front and back is calculated, computational methods are to travel speed from car
Degree adds relative velocity, and it is negative to set relative velocity when being higher than other vehicles of front and back from vehicle speed, from before being less than vehicle speed
The operation speed that relative velocity determines other vehicles of front and back just, to be calculated by above method is set during other car speeds of rear
Degree.
3rd, road shape is shown, and reminds lane-change：
Central processing element is by the way that to being analyzed from car speed, laser radar gathered data, calculating obtains vehicle
The sign curve of front and back road shape.When setting speed more than 40km/h, if from the distance of car and other vehicles of front and back
During less than 50 meters, corresponding track in display is marked microprocessor control LCD with red color, otherwise corresponding track is marked
It is designated as green and points out driver to carry out lane-change.
4th, steering indicating light is controlled：
The vehicle-mounted real-time collection vehicle forward image of front camera, and send the image of collection to picture processing chip.
Picture processing chip is handled image, and effective coverage is chosen in the picture, and central processing element is passed from picture processing chip
Recognize lane line in the image sent, obtain vehicle and lane line on vehicle axis system x-axis direction apart from S, lane line and car
Carry the angle theta and vehicle and the nearest lateral separation D_R of lane line, the x-axis of vehicle axis system of front camera imaging axis
It is directing forwardly parallel to ground along vehicle axis, optical axis direction and the vehicle axis system x-axis direction weight of vehicle-mounted front camera
Close；Car speed v is extracted from the CAN of speed instrument board, and vehicle is set in the speed vx in vehicle axis system x-axis direction
=v；Determine that vehicle crosses the time of lane lineWhen t is less than set threshold limit value, steering indicating light electromagnetism is opened
Switch, opens corresponding steering indicating light.
5th, steering indicating light intelligent control：
Due to there is a situation where that driver can abandon during lane-change halfway, so the control for steering indicating light is real
When.I.e. system automatically turn on steering indicating light after, when monitor vehicle cross lane line time t be more than set Threshold extent
During value, steering indicating light electromagnetic switch is closed, corresponding steering indicating light is closed.
The characteristics of above-mentioned technical proposal, is：By the scanning laser radar installed in vehicle front and back to road and from car
Relative velocity, relative distance between other vehicles of front and back are scanned, and by central processing element to these data
Handled.Then whether whether the neighbouring track in left and right has lane-change condition to comprehensive descision, and to possessing in LCD display device
The track of lane-change condition is designated as green prompting lane-change, and red is designated as to the track for not possessing lane-change condition it is not recommended that lane-change.In addition,
By the real-time collection vehicle forward image of vehicle-mounted camera installed in vehicle front bumper center, at picture processing chip
Reason identification track, then calculates the time t that vehicle crosses lane line by central processing element, if less than Threshold extent
Value, then open corresponding steering indicating light by electromagnetic switch.Due to there are the feelings that driver can abandon during lane-change halfway
Condition, so the calculating that the time of lane line is crossed for vehicle is real-time, if certain a moment vehicle after steering indicating light is opened is got over
The time for crossing lane line is more than threshold limit value, then it is assumed that driver abandons lane-change, and closes corresponding steering indicating light.
Claims (6)
1. a kind of lane-change servicing unit, it is characterised in that the scanning laser radar (1) including being fixed on front part of vehicle and rear portion,
And the camera (2) of front part of vehicle is fixed on, scanning laser radar (1) connection central processing element (4), camera (2) leads to
Picture processing chip (3) connection central processing element (4) is crossed, central processing element (4) is connected with velocity sensor (5), center
Process chip (4) is also associated with display device (6) and steering indicating light (7)；
The scanning laser radar (1) is used to recognize the barrier of vehicle's surroundings and the relative velocity of vehicle；
The image that the camera (2) is used in front of real-time collection vehicle；
The image that described image process chip (3) is used to gather camera is handled, and recognizes lane line；
The velocity sensor (5) is used to gather Current vehicle speed；
The central processing element (4) is used for according to scanning laser radar (1), picture processing chip (3) and velocity sensor (5)
Transmitted next information, the sign curve of output vehicle front and back road shape is sent into display device (6), and according to figure
The information sent as process chip (3) calculates lane line angle, and vehicle more line is estimated according to lane line angle and car speed
Time, and control the opening and closing of steering indicating light.
2. a kind of lane-change servicing unit according to claim 1, it is characterised in that the display device (6) is fixed on car
On instrument board, switch is fixed with meter panel of motor vehicle.
3. a kind of lane-change servicing unit according to claim 1, it is characterised in that the central processing element (4) passes through
I/O interfaces are connected with velocity sensor.
4. a kind of lane-change servicing unit according to claim 1, it is characterised in that the central processing element (4) passes through
SPI interface is connected with display device (6).
5. a kind of lane-change servicing unit according to claim 1, it is characterised in that the central processing element (4) passes through
Electromagnetic switch (8) is connected with steering indicating light (7).
6. a kind of lane-change servicing unit according to claim 1, it is characterised in that the scanning laser radar (1) uses
LUX scanning laser radars, scanning laser radar (1) is connected using CAN interface with central processing element (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621448897.5U CN206416995U (en) | 2016-12-27 | 2016-12-27 | A kind of lane-change servicing unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621448897.5U CN206416995U (en) | 2016-12-27 | 2016-12-27 | A kind of lane-change servicing unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206416995U true CN206416995U (en) | 2017-08-18 |
Family
ID=59576837
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621448897.5U Expired - Fee Related CN206416995U (en) | 2016-12-27 | 2016-12-27 | A kind of lane-change servicing unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206416995U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109017991A (en) * | 2018-06-20 | 2018-12-18 | 苏州工业园区职业技术学院 | A kind of automobile assist steering system |
| CN109649261A (en) * | 2018-12-13 | 2019-04-19 | 北汽福田汽车股份有限公司 | The control method and device of vehicle turn signal, processor |
-
2016
- 2016-12-27 CN CN201621448897.5U patent/CN206416995U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109017991A (en) * | 2018-06-20 | 2018-12-18 | 苏州工业园区职业技术学院 | A kind of automobile assist steering system |
| CN109649261A (en) * | 2018-12-13 | 2019-04-19 | 北汽福田汽车股份有限公司 | The control method and device of vehicle turn signal, processor |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170818 Termination date: 20171227 |
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| CF01 | Termination of patent right due to non-payment of annual fee |