WO2016150088A1 - 一种基于可见光通信的汽车追尾预警系统及方法 - Google Patents
一种基于可见光通信的汽车追尾预警系统及方法 Download PDFInfo
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- H—ELECTRICITY
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- H04B10/114—Indoor or close-range type systems
- H04B10/116—Visible light communication
Definitions
- the invention belongs to automobile electronic control technology, and particularly relates to a vehicle rear-end warning system and method based on visible light communication.
- the rear-end collision is the most representative form of accident in car accidents.
- the rate of rear-end accidents accounts for about one-third of the total traffic accident rate, causing huge casualties and economic losses.
- the rear-end warning system is more and more widely applied to the automobile.
- the vehicle is provided with a rear-end warning, so that the driver can take acceleration, steering and other measures in time. To avoid rear-end collisions or reduce injuries.
- the existing rear-end warning system is generally based on the radar-based early warning system, that is, the radar is installed at the rear of the vehicle, and the radar is actively detected to approach the vehicle in the rear of the lane. As shown in Fig. 4, during the driving process, the system continuously detects The distance between the vehicle and the vehicle is directly behind, to determine whether there is a danger of rear-end collision. When the collision time (TTC) of the approaching vehicle close to the rear of the lane is less than the time threshold, an early warning is issued, that is, the seat belt is tightened, and the warning indicator lights up. Wait for the warning.
- TTC collision time
- the radar-based rear-end warning system has the following shortcomings:
- the approaching vehicle may be a passenger car, a truck, etc.
- the dynamic characteristics of the longitudinal acceleration, braking characteristics, and steering characteristics of the approaching vehicles of different models are different, and the TTC conditions that should be calibrated should be different.
- the radar-based rear-end warning system adopts the active detection method, which can only detect the distance and speed information of the vehicle approaching the rear, and can not obtain more information of the vehicle approaching the rear, so it is impossible to set the TTC more reasonably according to the rear model. Threshold and alarm time points.
- the radar-based rear-end warning system can only detect the vehicle directly behind the vehicle. Referring to Figure 4, in the case of a curve, the adjacent lane vehicle 12 is detected by the radar wave 13 of the vehicle 10, which is easy to generate adjacent lanes. The vehicle's false alarm; while the rear vehicle 11 in the same lane as the vehicle 10 cannot be detected by the radar wave 13 of the vehicle 10, there is a potential for rear-end danger being missed.
- the object of the present invention is to provide an automobile rear-end warning system and method based on visible light communication, wherein the rear approaching vehicle adopts an active manner to transmit information to the preceding vehicle, so that the preceding vehicle can obtain more state information of the rear approaching vehicle to ensure the front vehicle rear-end collision.
- the accuracy of the warning; in addition, the rear-end warning of the preceding vehicle can select the appropriate TTC threshold according to the vehicle model that approaches the vehicle at the rear, so that the judgment is more accurate.
- the vehicle rear-end warning system based on visible light communication comprises a positioning module, an MCU, an optical communication modulation module, an LED lamp, a photosensitive receiver and an HMI system;
- the positioning module is configured to acquire location information, heading information, and driving posture information of the vehicle, and send the information to the MCU, where the positioning module is connected to the MCU;
- the MCU is configured to acquire a vehicle running state, a load state, and vehicle type information from a bus of the host vehicle, and calculate a historical trajectory based on the position information of the host vehicle, and simultaneously the historical trajectory, the vehicle running state, the load state, and The vehicle type information is sent to the optical communication modulation module, and the optical communication modulation module is connected to the MCU;
- the optical communication modulation module modulates the historical trajectory, the vehicle running state, the load state, and the vehicle type information, and drives the LED light to blink, and the LED light is connected to the optical communication modulation module;
- the LED lamp is mounted on a head of the automobile for generating an optical signal including a historical trajectory of the host vehicle, a driving state of the vehicle, a load state, and vehicle type information, and is sent out;
- the photosensitive receiver is installed at a tail portion of the automobile, and is configured to receive an optical signal including a historical trajectory of the rear approaching vehicle, a running state of the vehicle, a load state, and a vehicle type information, which are emitted by the LED lamp approaching the vehicle, and receive the optical signal.
- the photosensitive receiver After conditioning and demodulation, sending to the MCU, the photosensitive receiver is connected to the MCU;
- the MCU calculates a predicted path of the host vehicle according to the position information, the heading information, and the traveling posture information of the host vehicle, and determines the host vehicle based on the position information and the predicted path of the host vehicle, and the position information and the historical trajectory information of the rear approaching vehicle. Whether the vehicle is in the same lane as the rear approach; if it is in the same lane, the TTC (ie, the collision time) of the vehicle and the approaching vehicle is calculated based on the distance and relative speed of the two vehicles, and the vehicle type and load are approached according to the rear.
- TTC ie, the collision time
- the information calculates the maximum deceleration value that can be selected from the rear of the vehicle and selects the TTC threshold accordingly; when the TTC ⁇ TTC threshold and the held time is greater than the preset time threshold, the HMI system is output to the vehicle (ie, the human-machine interface) System), the driver is alerted, and the HMI system is connected to the MCU.
- vehicle ie, the human-machine interface
- the LED lamp is an LED daytime running light or an LED headlight.
- the vehicle rear-end warning method based on visible light communication has an automobile rear-end warning system based on visible light communication installed on the front vehicle and the rear approaching vehicle, and includes the following steps: Step 1: During the driving process, the rear approaching the vehicle The positioning module acquires the position information of the vehicle, and the MCU that approaches the vehicle in the rear calculates the historical trajectory of the vehicle based on the position information of the vehicle; the MCU that approaches the vehicle from the vehicle obtains the driving state and the load state of the vehicle from the vehicle bus; The position information, the historical trajectory, the driving state, the load state, and the vehicle type information of the vehicle are transmitted to the optical communication modulation module of the host vehicle, and the optical communication modulation module encodes the information and drives the LED daytime running light of the vehicle or The LED headlights flash, generating an optical signal containing the position information, historical trajectory, driving state, load status, and vehicle type information of the vehicle, and transmitting it;
- Step 2 The photosensitive receiver of the current vehicle receives the optical signal sent from the rear approaching vehicle, and the received light signal is conditioned and demodulated by the photosensitive receiver of the preceding vehicle, and the MCU of the preceding vehicle according to the position information of the vehicle.
- the heading information and the driving posture information are calculated to obtain a predicted path of the host vehicle, and based on the position information and the predicted path of the host vehicle, and the position information and the historical trajectory information of the rear approaching vehicle, whether the front vehicle and the rear approaching vehicle are in the same lane are determined.
- the front vehicle and the rear approaching vehicle TTC are calculated based on the distance and relative speed of the two vehicles; and the maximum deceleration value selectable from the rear approaching vehicle is calculated according to the vehicle type and load information of the approaching vehicle at the rear.
- the TTC threshold is selected; when the TTC ⁇ TTC threshold and the held time is greater than the preset time threshold, the HMI system of the preceding vehicle is output to alert the driver of the preceding vehicle.
- the rear approaching vehicle adopts an adaptive headlamp system, that is, the LED headlights can adaptively adjust the direction according to the curve.
- the rear approaching vehicle adopts an active way to send information to the preceding vehicle, so that the preceding vehicle can obtain more state information of the approaching vehicle in the rear, and ensure the accuracy of the front vehicle rear-end warning;
- the present invention determines whether the rear approaching vehicle and the preceding vehicle are in the same lane by comparing the historical trajectory of the approaching vehicle to the predicted path of the preceding vehicle, when the vehicle is traveling in a curve, The method is equally applicable, so there will be no false alarms caused by the vehicle passing through the curve;
- the system is combined with the AFS (adaptive headlamp) system. Since the LED headlights can be adaptively adjusted according to the curve, the information of the approaching vehicle at the corner can also be transmitted to the preceding vehicle, reducing the number of vehicles. The situation of the risk of missing the cornering of the curve;
- the system is combined with the vehicle's own lighting system (LED daytime running lights/LED headlights), which does not affect the normal operation of the lighting system, and reduces the cost of installing the radar in the traditional rear-end warning system.
- LED daytime running lights/LED headlights LED daytime running lights/LED headlights
- Figure 1 is a block diagram showing the structure of the present invention
- FIG. 2 is a block diagram of the use of the present invention.
- Figure 3 is a view showing the state of use of the present invention.
- FIG. 5 is a structural block diagram of an optical communication modulation module according to the present invention.
- Figure 6 is a diagram showing the pin structure of the CPU processor of Figure 5;
- Figure 7 is a connection circuit of the CPU processor and the car LIN bus of Figure 5;
- Figure 8 is a specific structural diagram of the voltage conversion circuit of Figure 5;
- FIG. 9 is a specific structural diagram of the forward voltage test circuit of FIG. 5;
- FIG. 10 is a specific structural diagram of the constant current voltage control circuit of FIG. 5.
- Figure 11 is a block diagram showing the structure of a photosensitive receiver in the present invention.
- Figure 12 is a schematic diagram of the photoelectric conversion circuit of Figure 11;
- Figure 13 is a specific schematic diagram of the redundant averaging circuit of Figure 11;
- FIG. 14 is a specific schematic diagram of the low pass filter circuit of FIG. 11;
- arrows in Fig. 2, Fig. 3 and Fig. 4 indicate the direction in which the vehicle travels.
- a vehicle rear-end warning system based on visible light communication includes a positioning module 4, an MCU 3 (ie, a micro control unit), an optical communication modulation module 2, an LED lamp 1, and a photosensitive receiver 5.
- HMI system 6 eg instrument display, instrument buzzer, seat belt, etc.
- the LED lamp 1 uses an LED daytime running light.
- the positioning module 4 is composed of a satellite positioning system and a gyroscope, and is used for acquiring position information, heading information and driving posture information of the vehicle, and transmitting position information, heading information and driving posture information of the vehicle to the MCU 3, and the positioning module 4 Connect to MCU3.
- MCU3 is used to obtain vehicle driving status (such as: vehicle speed, braking status), load status and vehicle type information (such as big card, light truck, big passenger, middle passenger, passenger car, etc.), vehicle type information storage from the bus of the vehicle. Calculating a historical trajectory based on the position information of the host vehicle, and transmitting the historical trajectory, the vehicle running state, the load state, and the vehicle type information to the optical communication modulation module 2, The optical communication modulation module 2 is connected to the MCU 3.
- vehicle driving status such as: vehicle speed, braking status
- load status and vehicle type information such as big card, light truck, big passenger, middle passenger, passenger car, etc.
- the optical communication modulation module 2 modulates the historical trajectory, the vehicle running state, the load state, and the vehicle type information, and drives the LED daytime running light to generate a light signal 9 by the high frequency blinking.
- the LED daytime running lights are mounted on the head of the car for generating an optical signal 9 containing the historical trajectory of the host vehicle, the vehicle running state, the load state, and the vehicle type information, and transmitted.
- the photosensitive receiver 5 is mounted at the rear of the vehicle for receiving an optical signal 9 including a historical trajectory of the rear approaching vehicle 8, a vehicle traveling state, a load state, and vehicle type information, which is transmitted by the LED daytime running light approaching the vehicle 8 in the rear.
- the received optical signal 9 is conditioned and demodulated and sent to the MCU 3, and the photosensitive receiver 5 is connected to the MCU 3.
- the MCU 3 calculates a predicted path of the host vehicle based on the position information, the heading information, and the traveling posture information of the host vehicle, and determines the host vehicle based on the position information and the predicted path of the host vehicle, and the position information and the historical trajectory information of the rear approaching vehicle 8. Whether the rear approaching vehicle 8 is in the same lane; if it is in the same lane, calculating the TTC (ie, collision time) of the host vehicle and the rear approaching vehicle 8 based on the distance and the relative speed of the two vehicles, and approaching the vehicle 8 according to the rear.
- TTC ie, collision time
- the load information calculates a maximum deceleration value selectable from the rear approaching vehicle 8 and selects a TTC threshold according to the selection; when the TTC ⁇ TTC threshold value and the held time is greater than a preset time threshold, the HMI system 6 is output to the host vehicle. The driver is alerted and the HMI system 6 is connected to the MCU 3.
- the LED lamp 1 can also adopt LED headlights.
- the visible light communication based automobile rear-end warning system of the present invention is installed on the front vehicle 7 and the rear approaching vehicle 8, and at least the rear approaching vehicle 8 adopts an AFS (ie, adaptive headlight) system; the method includes The following steps:
- Step 1 During the running, the positioning module 4 of the rear approaching vehicle 8 acquires the position information of the host vehicle, and the MCU 3 of the rear approaching vehicle 8 calculates the historical trajectory of the host vehicle based on the position information of the host vehicle; the MCU3 of the rear approaching the vehicle 8 is Obtaining the running state and the load state of the host vehicle on the vehicle bus; and transmitting the position information, the historical trajectory, the running state, the load state, and the vehicle type information of the host vehicle to the optical communication modulation module 2 of the host vehicle, by the optical communication modulation module 2 encoding the information and driving the LED daytime running lights or LED headlights of the vehicle to flash, generating an optical signal 9 containing the position information, historical trajectory, driving state, load status and vehicle type information of the vehicle, and transmitting .
- Step 2 The photosensitive receiver 5 of the current vehicle 7 receives the optical signal 9 sent from the rear approaching vehicle 8, and the received light signal 9 is modulated and demodulated by the photosensitive receiver 5 of the preceding vehicle 7, and the front vehicle 7
- the MCU 3 calculates the predicted path of the host vehicle based on the position information, the heading information, and the traveling posture information of the host vehicle, and determines the preceding vehicle based on the position information and the predicted path of the host vehicle, and the position information and the historical trajectory information of the rear approaching vehicle 8.
- the TTC of the front vehicle 7 and the rear approaching vehicle 8 is calculated based on the distance and relative speed of the two vehicles; and the vehicle type and load information of the vehicle 8 are approached according to the rear. Calculating the maximum deceleration value selectable from the rear approaching vehicle 8 and selecting the TTC threshold accordingly; when the TTC ⁇ TTC threshold and the hold time is greater than the preset time threshold, the HMI system 6 is output to the preceding vehicle 7, the HMI system 6
- the instrument driving the vehicle 7 in front drives an image alarm, the buzzer gives an audible indication, and the seat belt vibrates to drive the driver of the preceding vehicle 7 Warning.
- the present invention determines whether the rear approaching vehicle and the preceding vehicle are in the same lane by comparing the historical trajectory of the rear approaching vehicle 8 with the predicted path of the preceding vehicle 7. This method is also applicable when the vehicle is traveling in a curve, There will be no false alarms caused by vehicles passing through corners.
- the rear approaching vehicle 8 adopts an adaptive headlight system, that is, the LED headlights can be adaptively adjusted according to the curve, and at the curve, the rear approaching vehicle 8 information can be transmitted to the preceding vehicle 7, thereby reducing the curve.
- the situation of rear-end danger is missing.
- the optical communication modulation module 2 of the present invention adopts the prior art, for example, a transmitting device for driving LED car light communication disclosed in the application number: 2014205836509, which includes the control function and data processing, as shown in FIG.
- the CPU processor 21 (the optical communication modulation module 2 may not use the CPU processor alone, may perform control and data processing through the MCU 3 in the automobile rear-end warning system), and communicates with the automobile LIN/CAN bus 22 through the interface circuit 23 to obtain light.
- the information content of the communication The voltage conversion circuit 25 modulates the communication data transmitted from the CPU processor 21 to the illumination current in the form of high and low levels, and the high frequency semiconductor switch 26 driven by the voltage conversion circuit 25 is a modulation device of the current waveform.
- the LED lamp 1 is provided with a forward voltage test circuit 24 for measuring a forward voltage drop, the output of the forward voltage test circuit 24 is connected to the CPU processor 21, and the CPU processor 21 is based on the forward voltage drop and temperature.
- the coefficient calculates the junction temperature value of the LED lamp 1, and outputs a digital reference level from the level output terminal in conjunction with the communication data.
- the level output terminal of the CPU processor 21 is sequentially connected with a D/A conversion circuit 28, a second low-pass filter circuit 29, and a constant current voltage control circuit 27 for analog-to-digital conversion of the reference level.
- the output end of the constant current voltage control circuit 27 is connected to the reference voltage terminal of the voltage conversion circuit 25 for line-to-line, and the output current value of the voltage conversion circuit 25 is determined by the magnitude of the reference voltage, that is, the current waveform of the communication data is high.
- the low level value is determined by the reference voltage after the CPU processor 21 performs the fuzzy classification decision on the junction temperature and the communication data.
- the CPU processor 21 is a Freescale 16-bit single-chip MC9S12XS128, and the terminal numbers corresponding to the pins of the single-chip microcomputer are as shown in FIG. 6, and the pins 50-52 of the single-chip microcomputer (that is, the terminal LIN- RXD, LIN-TXD, LIN-EN) is connected to the car LIN bus through the LIN bus driver of model MC33661.
- the pin 45 of the MCU that is, the terminal PAD06
- the remaining tubes See Figure 6 for the setting of the foot.
- the voltage conversion circuit 25 includes an LED driver controller of the type LM3421, and the pin setting of the LM3421 is as shown in FIG. 8.
- the pin 8 of the LM3421 ie, the terminal nDIM
- pin 63 of the single chip microcomputer ie, Terminal PWM7
- pin 7 of LM3421 ie terminal OVP
- pin 12 of LM3421 ie terminal VCC
- pin 9 of LM3421 ie Is the terminal DDRV
- the collector of the transistor Q4 is respectively associated with an NPN type three
- the pole tube Q2 is connected to the base of a PNP type transistor Q3, the collector of the transistor Q2 is connected to the base resistor, the emitter of the transistor Q2 is connected to the emitter of the transistor Q3, the collector of the transistor Q3 is connected to a collector of a PNP type transistor Q6.
- the base is connected, the collector of the transistor Q3 is also connected to the power supply voltage and connected to the base through a diode, the emitter of the transistor Q6 is connected to the collector resistance of the transistor Q2, the collector of the transistor Q6 is connected to the pin 7 of the LM3421 (ie It is the terminal OVP) connected and grounded through the resistor.
- the high frequency semiconductor switch 26 for variable square wave modulation uses a GaN-based high electron mobility transistor.
- Q1 its switching frequency is less than one tenth of the operating frequency of the switching power supply, and in order to avoid visual performance distortion, the operating frequency of Q1 is better than 200Hz.
- the G pole of Q1 is connected to the emitter of Q2, the D pole of Q1 and the pin 1 (operating voltage end) of LM3421 are connected to a GaN-based diode D5, and the S pole of Q1 is connected with a first resistor RSNS1, said One end of the resistor RSNS1 and the S pole of the Q1 is electrically connected to the pin 15 of the LM3421 (ie, the terminal HSP), and the other end of the first resistor RSNS1 is electrically connected and connected to the pin 16 of the LM3421 (ie, the terminal HSN).
- the power supply voltage, the cathode of the diode D5 is connected to the collector of Q2, and the ILED1 representing the LED lamp 1 is connected between the cathode of the diode D5 and the D pole of Q1.
- the forward voltage test circuit 24 is used to test the forward voltage drop of the LED lamp 1, and the CPU processor 21 calculates the junction temperature based on the forward voltage drop and the temperature coefficient.
- the circuit structure is as shown in FIG. In the constant current voltage control circuit 27, as shown in FIG. 10, the reference voltage Vref of the voltage conversion circuit 25 is linearly connected by the operational amplifier LM358 and the field effect transistor.
- the remaining D/A conversion circuit 28 and the second low-pass filter circuit 29 can be used as existing modules, and will not be described again.
- the method for driving LED vehicle light communication of the present invention the CPU processor 21 transmits the communication data to the voltage conversion circuit 25 in the format of the data frame for modulation, and the voltage conversion circuit 25 modulates the communication data in the form of high and low levels on the LED.
- the illumination of the lamp 1 is on the DC current wave;
- the CPU processor 21 provides a reference voltage and voltage conversion to the voltage conversion circuit 25 according to the junction temperature value of the LED lamp 1 in combination with the driving parameters and communication data of the car LIN/CAN bus 22 in real time.
- the circuit 25 adjusts the high and low values of the current waveform corresponding to the communication data according to the reference voltage.
- the factors affecting the communication effect should consider the factors such as the distance between the two vehicles and the ambient light interference, and the illumination effect of the LED lamp 1 is affected by factors such as junction temperature and driving current.
- the communication data is modulated on the illumination current.
- the communication data is expressed in the form of high and low levels, and the introduction of its high level will reduce the light effect of the LED lamp 1. Therefore, when the two vehicles are in a vehicle with good communication receiving effect, the current waveform is reduced by The difference in low level makes it tend to illuminate direct current, which can increase the light efficiency.
- the junction temperature of the LED lamp 1 directly affects its life and reliability. Under the condition of ensuring the working illumination brightness specified by the LED lamp 1, the average current value through the LED lamp 1 is lowered to lower the junction temperature.
- the junction temperature of the LED lamp 1 is calculated from the forward voltage drop and the temperature coefficient.
- the above junction temperature value is used as a real-time feedback value to form a reference level dynamic adjustment loop to realize controllable adjustment of the current value for driving the LED lamp 1 to operate, and the dynamic adjustment of the junction temperature in the presence or absence of communication can ensure the LED lamp 1 life.
- the junction temperature value of the LED lamp 1 is calculated and measured by the forward voltage test circuit 24 described above.
- the CPU processor 21 adjusts the frequency of the communication data corresponding to the current waveform in conjunction with the driving parameters and communication data of the car LIN/CAN bus 22 to increase the transmission rate of the communication data and shorten the response time of the vehicle communication.
- each frequency fi is greater than 1 kHz and less than one tenth of the power switching frequency of the voltage conversion circuit 25, considering the complex propagation of light to the receiver terminal frequency demodulation error
- any relative frequency difference in the square wave signal is greater than 1% and the relative frequency difference between adjacent frequencies is not less than 5%.
- the relative frequency difference is defined as: (f i -f j ) / (f i -f j ) ⁇ 100%, and f i , f j represent two different square wave frequencies in the encoded current.
- the high and low values of the communication data corresponding to the current waveform are weighted according to the fuzzy classification index, and the so-called fuzzy classification index weighting adjustment is as follows:
- the level value of the current waveform I(k) at the current t k time is exponentially weighted to obtain the level value I of the current waveform at the next moment (k) +1), Under this first condition, there are three more distances:
- the initial illumination level of the LED headlights 5 when there is no communication data I 2 I avg , the initial height in the corresponding current waveform of the communication data
- the level I 3 is 2I avg
- the initial low level I 1 is 0, the frequency of I 2 is 200 Hz, the frequency of occurrence of I 1 is 20 kHz, and the frequency of occurrence of I 3 is 21 kHz.
- the initial high level I 3 is 1.5I avg
- the initial low level I 1 is 0.5I avg
- the frequency of I 2 is 1000 Hz
- the frequency of I 1 is 500 kHz
- the frequency of I 3 is 510 kHz.
- the initial high level I 3 in the communication code drive current waveform is 1.5I avg
- the initial low level I 1 is 0.5I avg
- the frequency of I 2 is 0 Hz
- the frequency of I 1 is 2000 kHz
- the frequency of I 3 is 210 kHz.
- more level values can be set more subdivided.
- the high level of the current waveform it should be guaranteed that it is less than 5 times the rated illumination current is I avg , so as not to damage the LED lamp 5 due to excessive current.
- the adjustment range of the junction temperature of the LED lamp 5 is generally not more than 10%, and the adjustment of the amplitude is too large, so that the current of driving the LED lamp 5 is excessively reduced, and the illumination brightness is not met.
- the invention ensures the service life of the LED lamp through the junction temperature adjustment, and ensures the reliable communication between different vehicle distances by adjusting the high and low level difference of the current waveform in the data communication; on the other hand, the illumination effect is improved under the specified illumination. To the greatest extent avoid the "droop" effect, protect the circuit device; on the other hand, through frequency adjustment, improve the communication rate and ensure the timeliness of communication.
- the photosensitive receiver 5 of the present invention can adopt the prior art, for example, Patent No.: 2014205712760, an adaptive receiving device for LED car light communication, including a photoelectric conversion module and a microcomputer
- the processor 17 and the micro-electromechanical mechanism 16, the photodiode array 14 in the photoelectric conversion module is mounted on the micro-electromechanical mechanism 16 as a device for receiving and converting optical signals, in the form of an array comprising a plurality of diodes, the photodiode array 14 being capable of The optical signal is received in a large angle range, and the number of corresponding diodes outputs a multi-channel electrical signal, which is then amplified by the multi-channel amplifying circuit 15 to the standard signal input microcomputer processor 17.
- the microcomputer processor 17 Since the positions of the photodiodes are different with respect to the optical signal emitting source, the received signal strengths are also different, and the microcomputer processor 17 identifies and filters the respective signals. Generally, the device is moving relative to the optical signal emitting source, and the microcomputer processor 17 controls the movement of the micro-electromechanical mechanism 16 according to the reception condition of the signal, thereby adjusting the photodiode array. The receiving angle of 14 is to maintain real-time tracking reception and obtain a superior signal.
- the microcomputer processor 17 outputs a redundant averaging circuit 18 to process a plurality of signals into one signal, the path signal having a small similarity.
- the output of the redundant averaging circuit 18 is connected with a first low-pass filter circuit 19, and the output of the first low-pass filter circuit 19 is connected with a shaping circuit 20, and the signal is further denoised and regularized to facilitate demodulation of the signal.
- the microcomputer processor 17 selects a single-chip microcomputer whose processing capability is not lower than the model MC9S12XS128. Taking the single-chip microcomputer of the model as an example, the MEMS system of the control output terminal can be selected by the MEMS system of the model NM-XY-100X, and the three PWMs of the single chip microcomputer. The waveform output port is coupled to the input of the MEMS 16.
- the photodiode array 14 includes a plurality of GaN-based photodiodes. In operation, six D1 to D6 uniformly distributed in each part may be selected. As shown in FIG. 12, the positive pole of each photodiode is connected to an operating voltage source. Vcc, the negative electrodes of the photodiodes D1 to D6 are grounded correspondingly to the resistors R1 to R6 having the same resistance value, and the cathodes of the six photodiodes are connected to the six PAD terminals of the single chip through the six-channel amplifying circuit, D1 to D6 The voltage value at the negative electrode corresponds to the optical signal received by itself, that is, the electrical signal after photoelectric conversion.
- the redundant averaging circuit 18 is a summing averaging circuit, as shown in FIG. 13, which includes a comparator of the type LM324C.
- the comparator has a negative input terminal grounded, a positive input terminal and an output terminal connected via a resistor Rf, and six signals. After the bias signal is filtered by the single-chip microcomputer, four signals are reserved.
- the PA0 ⁇ PA3 terminals of the single-chip microcomputer and the positive input terminal of the comparator are connected through the resistors R, Ra, Rb, and Rc, and the output terminal V0 of the comparator and the first low-pass filter circuit are connected.
- the input of 19 is connected to another PAD terminal of the microcontroller.
- the first low pass filter circuit 19 and the shaping circuit 20 may be of the prior art, such as a second order first low pass filter circuit as shown in FIG.
- the adaptive receiving method of the photosensitive receiver 5 of the present invention receiving the optical signal emitted by the LED vehicle lamp by the photodiode array 14 and performing photoelectric conversion, and mounting the diode array on the actuator of the MEMS, the photodiode
- the array 14 receives and converts optical signals in parallel using a plurality of photodiodes, and outputs an electrical signal having a number of groups corresponding to the number of photodiodes.
- the microcomputer processor 17 processes the plurality of sets of electrical signals outputted by the photodiode array 14, and the microcomputer processor 17 calculates the similarity or the correlation number of each group of signals, and removes the biased electrical signal group to retain the effective electrical signal group, such as a photodiode.
- Array 14 outputs six sets of electrical signals to screen out two electrical signals After the four sets of electrical signals are retained, the four sets of electrical signals are stored; at the same time, the four sets of electrical signals enter the processing link and the demodulation link in real time.
- the actuator drives the diode array to move slightly in a three-dimensional space at intervals, the micro-movement amount is set as a disturbance input amount, and the microcomputer processor 17 calculates the similarity of the electrical signal groups from the photodiode array 14 before and after the disturbance according to the disturbance observation method. Before comparing the disturbance, the similarity of the electrical signal group after the disturbance is higher.
- the spatial angle of the diode array corresponding to the electrical signal group with higher similarity is set as the optimal receiving angle temporarily stored in the microcomputer processor 17, and the microcomputer processor 17 sends the optimal receiving angle information to the MEMS system, and the actuator
- the diode array is tuned to the optimum receive angle and the optimal receive angle is updated with each disturbance input.
- the above processing steps include redundant averaging processing of the effective electrical signal group to obtain a maximum similarity signal, and the channel similarity maximum signal is subjected to low-pass filtering and shaping to obtain a perfect signal, and enters the demodulation link. Since the calculation of the similarity between the plurality of sets of electrical signals and the plurality of sets of electrical signals is large, in order to simplify the calculation and improve the implementability, the above-mentioned one-way similarity maximum signal represents the electrical signal group of the same, and is used for calculating and comparing the similarity values. . Therefore, the path similarity maximum signal is fed back to the microcomputer processor 17 as a reference electric signal for calculating the similarity.
- Step a setting the coordinate variable of the optimal receiving angle to be (X opt , Y opt , Z opt );
- Step b setting the coordinates of the receiving angle before the kth disturbance input is (X 0 , Y 0 , Z 0 ), and the waveform group corresponding to the electrical signal obtains the effective electrical signal group according to the waveform similarity calculation or the cross correlation operation (V01, . . . , V0n), the effective electrical signal group (V01, . . . , V0n) is redundantly averaged to obtain a maximum similarity signal V k , which is the maximum similarity signal V k Comparing with the similarity maximum signal V k-1 before the k-1th disturbance input, the similarity value is obtained as f k-1 .
- Step c the kth disturbance input, the disturbance amount is ( ⁇ X 0 , ⁇ Y 0 , ⁇ Z 0 ), and the coordinates of the reception angle after the disturbance are (X 0 + ⁇ X 0 , Y 0 + ⁇ Y 0 , Z 0 + ⁇ Z 0 )
- the waveform group corresponding to the electrical signal is obtained according to the waveform similarity calculation or the cross-correlation operation to obtain an effective electrical signal group (V11, . . . , V1m), and the effective electrical signal group (V11, ...
- V1m obtains a similar maximum signal V k+1 after the redundancy average, and the similarity maximum signal V k+1 is compared with the similarity maximum signal V k before the kth disturbance input, and the similarity value is obtained.
- Step d compare the values of f k-1 and f k ,
- the coordinate variables (X opt , Y opt , Z opt ) of the optimal receiving angle are determined by the previous disturbance.
- the current receiving angle of the diode array can be initially assigned, and the correction is continuously corrected in the subsequent multiple disturbances.
- the similarity magnitude matrix at time k is: among them, Representing a convolution operator, the signal group V k-1 (V 1 , . . . , V i , . . . , V j , . . . V n ) at the previous moment at time k as the current k-time detection signal group
- V k-1 V 1 , . . . , V i , . . . , V j , . . . V n
- step ( ⁇ ) represents the unit step function and S th is the defined threshold.
- S th is often taken as 0.8 in the specific implementation, and the number of signal channels of the diode array is usually 6 to 10.
- the calculation process is more complicated, and there are dedicated convolution and similarity calculation functions in the prior art, which can be directly called when the program is written.
- the number of adjustments and the number of calculations required to adjust to the optimal receiving angle will increase greatly, and the speed at which the optimal receiving angle is found will change. Slow, and the vehicle is moving, so that it is not only easy to cause the actuator to constantly adjust but can not stay in a relatively stable state, affecting the receiving effect of the signal, and the operation speed of the microcomputer processor 17 and the response speed of the MEMS system. Very high requirements were put forward. Therefore, the utility model is more practical and easy to implement, and the disturbance amount ( ⁇ X 0 , ⁇ Y 0 , ⁇ Z 0 ) takes a three-dimensional synthesis direction, and the actuator moves by 0.01 mm to satisfy the adaptive tracking effect.
- the invention utilizes a GaN diode array to realize photoelectric conversion, expands the receiving angle, suppresses interference of external ambient light, and adopts a redundant averaging technique for multiple signals, and encapsulates the GaN diode array on the microelectromechanical structure, on the basis of Combined with the disturbance observation method, the microcomputer processor realizes the calculation and control of the optimal receiving space angle (X opt , Y opt , Z opt ), and enhances the tracking ability of the optical signal.
- the GaN-based LED in the present scheme has the advantages of low cost and narrow spectral band. In short, the scheme has high sensitivity to optical signals, large receiving angle, strong dynamic tracking ability, and solves the time-varying problem of positional relationship between sending and receiving of vehicles and vehicles, especially for optical communication between vehicles and vehicles. .
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Abstract
Description
Claims (4)
- 一种基于可见光通信的汽车追尾预警系统,其特征在于:包括定位模块(4)、MCU(3)、光通信调制模块(2)、LED灯(1)、光敏接收器(5)和HMI系统(6);所述定位模块(4)用于获取本车辆的位置信息、航向信息及行驶姿态信息并发送给MCU(3),该定位模块(4)与MCU(3)连接;所述MCU(3)用于从本车辆的总线上获取车辆行驶状态、载荷状态和车型信息,并基于本车辆的位置信息计算出历史轨迹,同时将所述历史轨迹、车辆行驶状态、载荷状态以及车型信息发送给光通信调制模块(2),该光通信调制模块(2)与MCU(3)连接;所述光通信调制模块(2)对所述历史轨迹、车辆行驶状态、载荷状态以及车型信息进行调制并驱动LED灯(1)闪烁,该LED灯(1)与光通信调制模块(2)连接;所述LED灯(1)安装在汽车的头部,用于产生包含本车辆的历史轨迹、车辆行驶状态、载荷状态以及车型信息的光信号(9),并发送出去;所述光敏接收器(5)安装在汽车的尾部,用于接收后方接近车辆(8)的LED灯(1)发射的包含有后方接近车辆(8)的历史轨迹、车辆行驶状态、载荷状态以及车型信息的光信号(9),并将接收的光信号(9)进行调理与解调后发送给MCU(3),该光敏接收器(5)与MCU(3)连接;所述MCU(3)根据本车辆的位置信息、航向信息、行驶姿态信息计算得到本车辆的预测路径,并基于本车辆的位置信息和预测路径,以及后方接近车辆(8)的位置信息和历史轨迹信息判断出本车辆与后方接近车辆(8)是否在同一车道上;若在同一车道上,则基于两车辆的距离以及相对速度计算出本车辆与后方接近车辆(8)的TTC,并根据后方接近车辆(8)的车型、载荷信息计算出后方接近车辆(8)可选择的最大减速度值并依此选择TTC阈值;当TTC<TTC阈值,且保持的时间大于预设的时间阈值,则输出给本车辆的HMI系统(6),对驾驶员进行预警,该HMI系统(6)与MCU(3)连接。
- 根据权利要求1所述的基于可见光通信的汽车追尾预警系统,其特征在于:所述LED灯(1)为LED日间行车灯或LED大灯。
- 一种基于可见光通信的汽车追尾预警方法,其特征在于:在前方车辆(7)和后方接近车辆(8)上均安装有如权利要求2所述的基于可见光通信的汽车追尾预警系统,包括以下步骤:步骤一、在行驶过程中,后方接近车辆(8)的定位模块(4)获取本车辆的位置信息,后方接近车辆(8)的MCU(3)基于本车辆的位置信息计算出本车辆的历史轨迹;后方接近车辆(8)的MCU(3)从车辆总线上获得本车辆的行驶状态、载荷状态;再将本车辆的位置信息、历史轨迹、行驶状态、载荷状态以及车型信息传递给本车辆的光通信调制模块(2),由所述光通信调制模块(2)对信息进行编码,并驱动本车辆的LED日间行车灯或LED大灯闪烁,产生包含本车辆的位置信息、历史轨迹、行驶状态、载荷状态以及车型信息的光信号(9),并发送出去;步骤二、当前方车辆(7)的光敏接收器(5)接收到后方接近车辆(8)发送出来的光信号(9),由前方车辆(7)的光敏接收器(5)对接收到的光信号(9)进行调理与解调,前方车辆(7)的MCU(3)根据本车辆的位置信息、航向信息、行驶姿态信息计算得到本车辆的预测路径,并基于本车辆的位置信息和预测路径,以及后方接近车辆(8)的位置信息和历史轨迹信息判断出前方车辆(7)与后方接近车辆(8)是否在同一车道上,若在同一车道,则基于两车辆的距离以及相对速度计算出前方车辆(7)与后方接近车辆(8)的TTC;再根据后方接近车辆(8)的车型、载荷信息计算出后方接近车辆(8)可选择的最大减速度值并依此选择TTC阈值;当TTC<TTC阈值,且保持的时间大于预设的时间阈值,则输出给前方车辆(7)的HMI系统(6),对前方车辆(7)的驾驶员进行预警。
- 根据权利要求3所述的基于可见光通信的汽车追尾预警方法,其特征在于:所述后方接近车辆(8)采用自适应前照灯系统。
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CN111994071B (zh) * | 2020-08-28 | 2022-05-10 | 大陆泰密克汽车系统(上海)有限公司 | 后向追尾主动避让方法、系统、存储介质 |
CN114038213A (zh) * | 2021-10-18 | 2022-02-11 | 中国联合网络通信集团有限公司 | 一种交通管控方法、装置和存储介质 |
CN116246491A (zh) * | 2023-03-14 | 2023-06-09 | 西安科技大学 | 基于轨迹特征挖掘的追尾风险路段动态识别与管控方法 |
CN116246491B (zh) * | 2023-03-14 | 2024-01-09 | 西安科技大学 | 基于轨迹特征挖掘的追尾风险路段动态识别与管控方法 |
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CN106157690A (zh) | 2016-11-23 |
CN106157690B (zh) | 2018-10-19 |
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