LU101560B1 - Electric vehicle chassis collision warning system and apparatus - Google Patents
Electric vehicle chassis collision warning system and apparatus Download PDFInfo
- Publication number
- LU101560B1 LU101560B1 LU101560A LU101560A LU101560B1 LU 101560 B1 LU101560 B1 LU 101560B1 LU 101560 A LU101560 A LU 101560A LU 101560 A LU101560 A LU 101560A LU 101560 B1 LU101560 B1 LU 101560B1
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- laser radar
- height
- road
- pass
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93277—Sensor installation details in the lights
Abstract
The present invention provides an electric vehicle chassis collision warning system and apparatus, including: a laser radar mounted on a headlamp; a high definition camera mounted in front of a rearview mirror, configured to capture a to-be-monitored target, extract an image feature by using a computer, and obtain a spatial location of an object on a road relative to a ground; a gyroscope, configured to determine a posture of a vehicle body; a data processing module, configured to obtain information about integrating the object on the road with the posture of the vehicle body; and a warning feedback module, configured to: feed back, based on different approach angles, departure angles, and ramp angles of different models of vehicles, signals detected by the laser radar and the high definition camera to the data processing module, to determine whether the vehicle can pass through, and feed back warning information, wherein if an obstacle exceeds any minimal height corresponding to an approach angle or a departure angle of the vehicle, the vehicle cannot pass through, or if the obstacle is lower than any minimal height corresponding to the approach angle or the departure angle of the vehicle, the vehicle can pass through. In case 1, the vehicle passes through steadily in a current posture. In case 2, by changing an angle of the vehicle relative to the object, a driver drives the vehicle safely through steering.
Description
NR. P100377LU00
BACKGROUND Technical Field The present invention relates to the technical field of vehicle auxiliary devices, and in particular, to a vehicle chassis collision warning system and apparatus, and a method. Related Art As a major means of transportation for human beings, vehicles are an indispensable part of modern life. As new energy vehicles, electric vehicles have attracted much attention due to battery protection. During running, a vehicle often encounters a bump on the road, such as a brick or a stone. Therefore, the system and apparatus estimate a height of the bump, and if it is determined that the bump cannot touch a chassis of the vehicle, the vehicle passes through slowly. In a process of implementing the present invention, the inventor finds that the prior art has at least the following problems: due to limitations of driver's experience and driving environment, it is difficult for the driver to determine the height of the bump, and if the determined height is incorrect, a chassis collision occurs and the vehicle is damaged. Therefore, after comprehensive consideration, an electric vehicle chassis collision warning system and apparatus are provided.
SUMMARY The present invention provides an electric vehicle chassis collision warning system and apparatus, to reduce electric vehicle chassis collision and improve driving safety. To achieve the foregoing objective, the present invention provides an electric vehicle chassis collision warning system and apparatus, including: a monitoring module, including: a laser radar, mounted on a headlamp so as to have a collection range in a forward visual wide-angle direction covering a front side of a vehicle bottom; a high definition camera, mounted in front of an inside rearview mirror of a windshield of a vehicle so as to perform acquisition imaging, capture a to-be-monitored target image in real time through shooting, extract a feature signal of the target image rapidly by using a computer, and obtain, through analysis and calculation, a height and a width of an object on a road relative to a ground and a lengthfeature value of a plane on which a front wheel axis is located; and a gyroscope,
configured to determine a posture of a vehicle body;
a data processing module, configured to: form a distance sequence using alongitudinal distance that is from the object on the road to the vehicle body and that isobtained by the laser radar; integrate data obtained by the high definition camera such asthe height and the width of the object on the road relative to the ground and the lengthfeature value of the plane on which the front wheel axis is located with data obtained bythe gyroscope such as the posture of the vehicle body, where a maximum height thatdifferent models of vehicles can pass is used as a constant value based on differentapproach angles, departure angles, and ramp angles of the different models of vehicles;
calculate b=arc cos adjacent edge/hypotenuse (b=included angle between the object andthe front wheel axis, the adjacent edge is an edge formed by projection of the object on awheel axis, and the hypotenuse is a true length of the object) though conversion by usinga cosine formula cos b=adjacent edge/hypotenuse based on a geometric andmathematical relationship between the distance sequence formed by the longitudinaldistance that is from the object on the road to the vehicle body and that is obtained bythe laser radar and the length feature value of the plane on which the front wheel axis islocated; obtain a maximum value and a minimum value from the distance sequenceformed by the longitudinal distance that is from the object on the road to the vehiclebody and that is obtained by the laser radar, to determine a spatial location of an obstacle,
and further determine, based on a location relationship, that it is easier for the vehicle topass when the vehicle runs leftward or rightward; define an equivalent vehiclewheelbase as a length of projection of a vehicle wheelbase on a plane perpendicular tothe ground and perpendicular to a plane passing through a near end and a far end of theobstacle; and calculate an included angle between the equivalent wheelbase and thewheelbase by collecting a series of data such as the object height and the equivalentwheelbase, where a formula is a=arc cos equivalent wheelbase/wheelbase (a=safe angle range of the vehicle wheelbase in a case of steering);
a warning feedback module, configured to: because the maximum height that thedifferent models of vehicles can pass is used as the constant value based on the differentapproach angles, departure angles, and ramp angles of the different models of vehicles,
feed back feature signals detected by the laser radar, the high definition camera, and thegyroscope to the data processing module, to determine whether the vehicle can passsafely, and feed back warning information, where if a height of the obstacle exceeds any ER minimal height corresponding to an approach angle or a departure angle of the vehicle, the vehicle cannot pass through, or if the height of the obstacle is lower than any minimal height corresponding to the approach angle and the departure angle of the vehicle, the vehicle can pass through, where there are two cases in which the vehicle can pass through: 1) the vehicle directly passes through at a steady speed in a current posture; and 2) by changing an angle of the vehicle relative to the object, a driver changes the body posture through steering such that the vehicle passes through at a steady speed, and based on a processing result of the data processing module, the driver may perform deflection steering within a safety interval fed back through data processing, so that the vehicle passes through smoothly and safely; a control module, configured to cause the monitoring module to enable the laser radar and the high definition camera or disable the laser radar and the high definition camera based on a real-time road condition; and an instruction generation module, configured to: obtain, based on the geometric and mathematical relationship between the distance sequence formed by the longitudinal distance that is from the object on the road to the vehicle body and that is obtained by the laser radar and the length feature value of the plane on which the front wheel axis is located, the maximum value and the minimum value from the distance sequence formed by the longitudinal distance that is from the object on the road to the vehicle body and that is obtained by the laser radar, to determine the spatial location of the obstacle, and further determine, based on the location relationship, that it is easier for the vehicle to pass when the vehicle runs leftward or rightward; and generate a detection enablement instruction when the series of data such as the height, the width, and the length is less than a preset threshold, or generate a detection disablement instruction when the series of data such as the height, the width, and the length is greater than or equal to the preset threshold.
BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a system and apparatus block diagram of an embodiment of an electric vehicle chassis collision warning system and apparatus according to the present invention. FIG. 2 is a system and apparatus block diagram of another embodiment of anelectric vehicle chassis collision warning system and apparatus according to the present 0008 invention.
FIG. 3 is a method flowchart of an embodiment of an electric vehicle chassis collision warning system and apparatus according to the present invention.
FIG. 4 is a method flowchart of another embodiment of an electric vehicle chassis collision warning system and apparatus according to the present invention.
Reference numerals: [1] Monitoring module; [2] Data processing module: [3] Warning feedback module; [4] Control module; [5] Instruction generation module.
The following describes the embodiments and methods in the present invention in detail with reference to accompanying drawings.
DETAILED DESCRIPTION Embodiment 1 FIG. 1 is a system and apparatus block diagram of an embodiment of an electric vehicle chassis collision warning system and apparatus according to the present invention. As shown in FIG. 1, the electric vehicle chassis collision warning system and apparatus include: [1] a monitoring module {(1) a laser radar, (2) a high definition camera, and (3) a gyroscope},
[2] a data processing module, [3] a warning feedback module, [4] a control module, and
[5] an instruction generation module.
The laser radar (1) is mounted on a headlamp so as to have a collection range in a forward visual wide-angle direction covering a front side of a vehicle bottom. The high definition camera (2) is mounted in front of an inside rearview mirror of a windshield of a vehicle so as to perform acquisition imaging, capture a to-be-monitored target image in real time through shooting, extract a feature signal of the target image rapidly by using a computer, and obtain, through analysis and calculation, a height and a width of an object on a road relative to a ground and a length feature value of a plane on which a front wheel axis is located. The gyroscope (3) is configured to determine a posture of a vehicle body.
The data processing module [2] is configured to: form a distance sequence using a longitudinal distance that is from the object on the road to the vehicle body and that is obtained by the laser radar; integrate data obtained by the high definition camera such as the height and the width of the object on the road relative to the ground and the length
| feature value of the plane on which the front wheel axis is located with data obtained by Somes the gyroscope such as the posture of the vehicle body, where a maximum height that different models of vehicles can pass is used as a constant value based on different approach angles, departure angles, and ramp angles of the different models of vehicles; obtain, based on a geometric and mathematical relationship between the distance sequence formed by the longitudinal distance that is from the object on the road to the vehicle body and that is obtained by the laser radar and the length feature value of the plane on which the front wheel axis is located, a maximum value and a minimum value from the distance sequence formed by the longitudinal distance that is from the object on the road to the vehicle body and that is obtained by the laser radar, to determine a spatial location of an obstacle, and further determine, based on a location relationship, that it is easier for the vehicle to pass when the vehicle runs leftward or rightward; and calculate an included angle between an equivalent wheelbase and a wheelbase by collecting a series of data such as the object height and the equivalent wheelbase.
The control module [4] is configured to cause the monitoring module to enable the laser radar and the high definition camera or disable the laser radar and the high definition camera based on a real-time road condition.
The instruction generation module [5] is configured to: obtain, based on the geometric and mathematical relationship between the distance sequence formed by the longitudinal distance that is from the object on the road to the vehicle body and that is obtained by the laser radar and the length feature value of the plane on which the front wheel axis is located, the maximum value and the minimum value from the distance sequence formed by the longitudinal distance that is from the object on the road to the vehicle body and that is obtained by the laser radar, to determine the spatial location of the obstacle, and further determine, based on the location relationship, that it is easier for the vehicle to pass when the vehicle runs leftward or rightward; and generate a detection enablement instruction when the series of data such as the height, the width, and the length is less than a preset threshold, or generate a detection disablement instruction when the series of data such as the height, the width, and the length is greater than or equal to the preset threshold.
The warning feedback module [3] is configured to: because the maximum height that the different models of vehicles can pass is used as the constant value based on the different approach angles, departure angles, and ramp angles of the different models ofvehicles, feed back feature signals detected by the laser radar, the high definition camera, 006 and the gyroscope to the data processing module, to determine whether the vehicle can pass safely, and feed back warning information, where if a height of the obstacle exceeds any minimal height corresponding to an approach angle or a departure angle of the vehicle, the vehicle cannot pass through.
Specific implementation steps are as follows: In step 1-1, the laser radar (1) obtains a distance from the obstacle and the vehicle, the high definition camera (2) obtains the height and the width of the object on the road relative to the ground and the length feature value of the plane on which the front wheel axis is located, and the gyroscope (3) is configured to determine the posture of the vehicle body.
In step 1-2, the maximum value and the minimum value are obtained, based on the geometric and mathematical relationship between the distance sequence formed by the longitudinal distance that is from the object on the road to the vehicle body and that is obtained by the laser radar and the length feature value of the plane on which the front wheel axis is located, from the distance sequence formed by the longitudinal distance that is from the object on the road to the vehicle body and that is obtained by the laser radar, to determine the spatial location of the obstacle, and further determine, based on the location relationship, that it is easier for the vehicle to pass when the vehicle runs leftward or rightward; and the included angle between the equivalent wheelbase and the wheelbase is calculated by collecting a series of data such as the object height and the equivalent wheelbase.
In step 1-3, the monitoring module is caused to enable the laser radar and the high definition camera or disable the laser radar and the high definition camera based on a real-time road condition; and the detection enablement instruction is generated when the series of data such as the height, the width, and the length is less than the preset threshold, or the detection disablement instruction is generated when the series of data such as the height, the width, and the length is greater than or equal to the preset threshold.
In step 1-4, if the height of the obstacle exceeds any minimal height corresponding to the approach angle or the departure angle of the vehicle, the vehicle cannot pass through.
Embodiment 2
A laser radar (1) is mounted on a headlamp so as to have a collection range in a Se forward visual wide-angle direction covering a front side of a vehicle bottom. A high definition camera (2) is mounted in front of an inside rearview mirror of a windshield of a vehicle so as to perform acquisition imaging, capture a to-be-monitored target image in real time through shooting, extract a feature signal of the target image rapidly by using a computer, and obtain, through analysis and calculation, a height and a width of an object on the road relative to the ground and a length feature value of a plane on which a front wheel axis is located. A gyroscope (3) is configured to determine a posture of a vehicle body.
A data processing module [2] is configured to: form a distance sequence using a longitudinal distance that is from the object on the road to the vehicle body and that is obtained by the laser radar; integrate data obtained by the high definition camera such as the height and the width of the object on the road relative to the ground and the length feature value of the plane on which the front wheel axis is located with data obtained by the gyroscope such as the posture of the vehicle body, where a maximum height that different models of vehicles can pass is used as a constant value based on different approach angles, departure angles, and ramp angles of the different models of vehicles; obtain, based on a geometric and mathematical relationship between the distance sequence formed by the longitudinal distance that is from the object on the road to the vehicle body and that is obtained by the laser radar and the length feature value of the plane on which the front wheel axis is located, a maximum value and a minimum value from the distance sequence formed by the longitudinal distance that is from the object on the road to the vehicle body and that is obtained by the laser radar, to determine a spatial location of an obstacle, and further determine, based on a location relationship, that it is easier for the vehicle to pass when the vehicle runs leftward or rightward; and calculate an included angle between an equivalent wheelbase and a wheelbase by collecting a series of data such as the object height and the equivalent wheelbase.
A control module [4] is configured to cause the monitoring module to enable the laser radar and the high definition camera or disable the laser radar and the high definition camera based on a real-time road condition.
An instruction generation module [S] is configured to: obtain, based on the geometric and mathematical relationship between the distance sequence formed by the longitudinal distance that is from the object on the road to the vehicle body and that isobtained by the laser radar and the length feature value of the plane on which the front 10101608 wheel axis is located, the maximum value and the minimum value from the distance sequence formed by the longitudinal distance that is from the object on the road to the vehicle body and that is obtained by the laser radar, to determine the spatial location of the obstacle, and further determine, based on the location relationship, that it is easier for the vehicle to pass when the vehicle runs leftward or rightward; and generate a detection enablement instruction when the series of data such as the height, the width, and the length is less than a preset threshold, or generate a detection disablement instruction when the series of data such as the height, the width, and the length is greater than or equal to the preset threshold.
A warning feedback module [3] is configured to: because the maximum height that the different models of vehicles can pass is used as the constant value based on the different approach angles, departure angles, and ramp angles of the different models of vehicles, feed back feature signals detected by the laser radar, the high definition camera, and the gyroscope to the data processing module, to determine whether the vehicle can pass safely, and feed back warning information, where if a height of the obstacle is lower than any minimal height corresponding to an approach angle and a departure angle of the vehicle, the vehicle can pass through, where there are two cases in which the vehicle can pass through: 1) the vehicle directly passes through at a steady speed in a current posture; and 2) by changing an angle of the vehicle relative to the object, a driver changes the body posture through steering such that the vehicle passes through at a steady speed, and based on a processing result of the data processing module, the driver may perform deflection steering within a safety interval fed back through data processing, so that the vehicle passes through smoothly and safely.
Specifically, when an apparatus finds that a roadblock in front of the vehicle may cause damage to a vehicle chassis during driving, the monitoring module [1] may be actively enabled. Further, when the driver travels in bad weather such as heavy fog or heavy rain, the roadblock in front of the vehicle usually cannot be found in time. Therefore, an electric vehicle chassis collision warning system and apparatus provided in this embodiment of the present invention may further include: the instruction generation module [5]. The instruction generation module [5] may be configured to generate the detection enablement instruction when the height series in the data management module
[2] fluctuates obviously.
Still further, the monitoring module of may be further configured to obtain the HU101560 detection disablement instruction. The control module [4] is further configured to disable the monitoring module [1] according to the detection disablement instruction. The instruction generation module [5] may be further configured to generate the detection disablement instruction when the data series fluctuates smoothly.
Specific steps are as follows: In step 2-1, the laser radar (1) obtains a distance from the obstacle to the vehicle, the high definition camera (2) obtains the height and the width of the object on the road relative to the ground and the length feature value of the plane on which the front wheel axis is located, and the gyroscope (3) is configured to determine the posture of the vehicle body.
In step 2-2, the maximum value and the minimum value are obtained, based on the geometric and mathematical relationship between the distance sequence formed by the longitudinal distance that is from the object on the road to the vehicle body and that is obtained by the laser radar and the length feature value of the plane on which the front wheel axis is located, from the distance sequence formed by the longitudinal distance that is from the object on the road to the vehicle body and that is obtained by the laser radar, to determine the spatial location of the obstacle, and further determine, based on the location relationship, that it is easier for the vehicle to pass when the vehicle runs leftward or rightward; and the included angle between the equivalent wheelbase and the wheelbase is calculated by collecting a series of data such as the object height and the equivalent wheelbase.
In step 2-3, the monitoring module is caused to enable the laser radar and the high definition camera or disable the laser radar and the high definition camera based on a real-time road condition; and the detection enablement instruction is generated when the series of data such as the height, the width, and the length is less than the preset threshold, or the detection disablement instruction is generated when the series of data such as the height, the width, and the length is greater than or equal to the preset threshold.
In step 2-4, the vehicle directly passes through at the steady speed in the current posture.
In step 2-5, by changing the angle of the vehicle relative to the object, the driver changes the body posture through steering such that the vehicle passes through at thesteady speed, and based on the processing result of the data processing module, the 10101560 driver may perform deflection steering within the safety interval fed back through data processing, so that the vehicle passes through smoothly and safely.
According to the electric vehicle chassis collision warning system and apparatus provided in this embodiment of the present invention, a relative location relationship and a spatial relationship between the road and a front roadblock are directly obtained by manually or automatically enabling the laser radar mounted on the headlamp and the camera mounted on the inside rearview mirror of the windshield of the vehicle, to determine whether the vehicle can pass through a road section safely, thereby performing warning, reducing a danger of battery damage caused by chassis collision of the vehicle, and improving driving safety.
A person of ordinary skill in the art may understand that all or some of the steps of the foregoing method embodiments may be implemented by a program instructing relevant hardware. The aforementioned program may be stored in a computer-readable storage medium. During execution of the program, the steps of the foregoing method embodiments are performed; and the aforementioned storage medium includes various media that can store program code, such as a ROM, a RAM, a magnetic disk, or an optical disc.
Finally, it should be noted that the foregoing embodiments are merely used for describing the technical solutions of the invention, but are not intended to limit the invention. Although the invention is described in detail with reference to the foregoing embodiments, a person of ordinary skill in the art should understand that, modifications may still be made to the technical solutions in the foregoing embodiments, or equivalent replacements may be made to part or all of the technical features; and these modifications or replacements will not cause the essence of corresponding technical solutions to depart from the scope of the technical solutions in the embodiments of the invention.
Claims (5)
1. An electric vehicle chassis collision warning system and apparatus, comprising: a monitoring module, comprising: a laser radar, mounted on a headlamp so as to have a collection range in a forward visual wide-angle direction covering a front side of a vehicle bottom; a high definition camera, mounted in front of an inside rearview mirror of a windshield of a vehicle so as to perform acquisition imaging, capture a to-be-monitored target image in real time through shooting, extract a feature signal of the target image rapidly by using a computer, and obtain, through analysis and calculation, a height and a width of an object on a road relative to a ground and a length feature value of a plane on which a front wheel axis is located; and a gyroscope, configured to determine a posture of a vehicle body; a data processing module, configured to: form a distance sequence using a longitudinal distance that is from the object on the road to the vehicle body and that is obtained by the laser radar; integrate data obtained by the high definition camera such as the height and the width of the object on the road relative to the ground and the length feature value of the plane on which the front wheel axis is located with data obtained by the gyroscope such as the posture of the vehicle body, wherein a maximum height that different models of vehicles can pass is used as a constant value based on different approach angles, departure angles, and ramp angles of the different models of vehicles; obtain, based on a geometric and mathematical relationship between the distance sequence formed by the longitudinal distance that is from the object on the road to the vehicle body and that is obtained by the laser radar and the length feature value of the plane on which the front wheel axis is located, a maximum value and a minimum value from the distance sequence formed by the longitudinal distance that is from the object on the road to the vehicle body and that is obtained by the laser radar, to determine a spatial location of an obstacle, and further determine, based on a location relationship, that it is easier for the vehicle to pass when the vehicle runs leftward or rightward; define an equivalent vehicle wheelbase as a length of projection of a vehicle wheelbase on a plane perpendicular to the ground and perpendicular to a plane passing through a near end and a far end of the obstacle; and calculate an included angle between the equivalent wheelbase and the wheelbase by collecting a series of data such as the object height and the equivalent wheelbase; a warning feedback module, configured to: because the maximum height that thedifferent models of vehicles can pass is used as the constant value based on the different LUT01560 approach angles, departure angles, and ramp angles of the different models of vehicles, feedback feature signals detected by the laser radar, the high definition camera, and the gyroscope to the data processing module, to determine whether the vehicle can pass safely, and feedback warning information, wherein if a height of the obstacle exceeds any minimal height corresponding to an approach angle or a departure angle of the vehicle, the vehicle cannot pass through, or if the height of the obstacle is lower than any minimal height corresponding to the approach angle and the departure angle of the vehicle, the vehicle can pass through, wherein there are two cases in which the vehicle can pass through: 1) the vehicle directly passes through at a steady speed in a current posture; and 2) by changing an angle of the vehicle relative to the object, a driver changes the body posture through steering such that the vehicle passes through at a steady speed, and based on a processing result of the data processing module, the driver performs deflection steering within a safety interval fed back through data processing, so that the vehicle passes through smoothly and safely; a control module, configured to cause the monitoring module to enable the laser radar and the high definition camera or disable the laser radar and the high definition camera based on a real-time road condition; and an instruction generation module, configured to: obtain, based on the geometric and mathematical relationship between the distance sequence formed by the longitudinal distance that is from the object on the road to the vehicle body and that is obtained by the laser radar and the length feature value of the plane on which the front wheel axis is located, the maximum value and the minimum value from the distance sequence formed by the longitudinal distance that is from the object on the road to the vehicle body and that is obtained by the laser radar, to determine the spatial location of the obstacle, and further determine, based on the location relationship, that it is easier for the vehicle to pass when the vehicle runs leftward or rightward; and generate a detection enablement instruction when the series of data such as the height, the width, and the length is less than a preset threshold, or generate a detection disablement instruction when the series of data such as the height, the width, and the length is greater than or equal to the preset threshold.
2. The electric vehicle chassis collision warning system and apparatus according to claim 1, wherein the monitoring module comprises:
the laser radar, having the collection range in the forward visual wide-angle direction covering the front side of the vehicle bottom; the high definition camera, obtaining the height and the width of the object on the road relative to the ground and the length feature value of the plane on which the front wheel axis is located; and the gyroscope, determining the posture of the vehicle body.
3. The electric vehicle chassis collision warning system and apparatus according to claim 1, wherein the system comprises: the data processing module, configured to: form the distance sequence using the longitudinal distance that is from the object on the road to the vehicle body and that is obtained by the laser radar; integrate the data obtained by the high definition camera such as the height and the width of the object on the road relative to the ground and the length feature value of the plane on which the front wheel axis is located with the data obtained by the gyroscope such as the posture of the vehicle body, wherein the maximum height that the different models of vehicles can pass is used as the constant value based on the different approach angles, departure angles, and ramp angles of the different models of vehicles; calculate b=arccos of adjacent edge/hypotenuse (b=included angle between the object and the front wheel axis, the adjacent edge is an edge formed by projection of the object on a wheel axis, and the hypotenuse is a true length of the object) though conversion by using a cosine formula cos b=adjacent edge/hypotenuse based on the geometric and mathematical relationship between the distance sequence formed by the longitudinal distance that is from the object on the road to the vehicle body and that is obtained by the laser radar and the length feature value of the plane on which the front wheel axis is located; and obtain the maximum value and the minimum value from the distance sequence formed by the longitudinal distance that is from the object on the road to the vehicle body and that is obtained by the laser radar, to determine the spatial location of the obstacle, and then determine, based on the location relationship, that it is easier for the vehicle to pass when the vehicle runs leftward or rightward; define the equivalent vehicle wheelbase as the length of projection of the vehicle wheelbase on the plane perpendicular to the ground and perpendicular to the plane passing through the near end and the far end of the obstacle; and calculate the included angle between the equivalent wheelbase and the wheelbase by collecting the series of data such as the object height and the equivalent wheelbase, wherein a formula is a=arccos of equivalentwheelbase/wheelbase (a=safe angle range of the vehicle wheelbase in a case of steering). 07560
4. An electric vehicle chassis collision warning system and apparatus, wherein a control module and an instruction generation module comprise: detecting a relative spatial location between an obstacle and a vehicle; generating a detection enablement instruction when at least one of a data sequence such as a height, a width, or a length is less than a preset threshold; enabling a laser radar and a high definition camera according to the detection enablement instruction, wherein the laser radar mounted on a headlamp obtains a longitudinal distance of an object on a road and forms a longitudinal distance sequence, the high definition camera mounted on an inside rearview mirror of a windshield of the vehicle determines an obstacle status in a forward visual direction, and a gyroscope mounted under a front windshield of the vehicle determines a posture of a vehicle body; forming the distance sequence using the longitudinal distance that is from the object on the road to the vehicle body and that is obtained by the laser radar; and integrating data obtained by the high definition camera such as the height and the width of the object on the road relative to the ground and a length feature value of a plane on which a front wheel axis is located with data obtained by the gyroscope such as the posture of the vehicle body, and generating warning prompt information and performing feedback in time when at least one longitudinal distance in the distance sequence is less than a preset distance threshold, wherein a monitoring module enables the laser radar and the high definition camera or disables the laser radar and the high definition camera based on a real-time road condition.
5. The electric vehicle chassis collision warning system and apparatus according to claim 4, wherein a warning feedback module comprises: because a maximum height that different models of vehicles can pass is used as a constant value based on different approach angles, departure angles, and ramp angles of the different models of vehicles, feeding back feature signals detected by the laser radar, the high definition camera, and the gyroscope to a data processing module, to determine whether the vehicle can pass safely, and feeding back warning information, wherein if a height of the obstacle exceeds any minimal height corresponding to an approach angle or a departure angle of the vehicle, the vehicle cannot pass through, or if the height of theobstacle is lower than any minimal height corresponding to the approach angle and me 07569 departure angle of the vehicle, the vehicle can pass through, wherein there are two cases in which the vehicle can pass through: 1) the vehicle directly passes through at a steady speed in a current posture; and 2) by changing an angle of the vehicle relative to the object, a driver changes the body posture through steering such that the vehicle passes through at a steady speed, and based on a processing result of the data processing module, the driver performs deflection steering within a safety interval fed back through data processing, so that the vehicle passes through smoothly and safely.
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| DE102022103644A1 (en) | 2022-02-16 | 2023-08-17 | Audi Aktiengesellschaft | Method and computing device for predicting damage to a vehicle component of a vehicle from a collision event |
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| DE102011115353A1 (en) * | 2011-08-24 | 2012-04-19 | Daimler Ag | Ground clearance assisting device for e.g. commercial vehicle, has evaluation unit generating control signal based on determined obstacle width and height, and supplying generated signal to steering unit for changing yaw angle of vehicle |
| US9233688B2 (en) * | 2014-01-30 | 2016-01-12 | Mobileye Vision Technologies Ltd. | Systems and methods for lane end recognition |
| CN105844963B (en) * | 2016-03-30 | 2018-09-07 | 睿驰智能汽车（广州）有限公司 | Vehicle chassis collision warning systems and method |
| CN106080610B (en) * | 2016-08-03 | 2019-12-17 | 北京新能源汽车股份有限公司 | Vehicle with a steering wheel |
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