CN102826044B - Slope safety driving system of vehicle - Google Patents
Slope safety driving system of vehicle Download PDFInfo
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- CN102826044B CN102826044B CN201210331165.8A CN201210331165A CN102826044B CN 102826044 B CN102826044 B CN 102826044B CN 201210331165 A CN201210331165 A CN 201210331165A CN 102826044 B CN102826044 B CN 102826044B
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Abstract
The invention provides a slope safety driving system of a vehicle, which is used for the conditions that the vehicle is about to climb to a horizontal road, the vehicle is about to descend from the horizontal road and the vehicle drives on a pit road surface, and comprises a first distance measuring device, a shooting device, a display device and a processor; the first distance measuring device is arranged at the front part of the vehicle and used for measuring the distance L between the installation position of the first distance measuring device and the ground in real time and sending the measurement result to the processor; the shooting device is arranged at the front part of the vehicle and is used for shooting road conditions in front of the vehicle; the display device is arranged in the vehicle and used for displaying the road condition shot by the shooting device; the processor is connected with the first distance measuring device and the display device in a wired or wireless mode; and when the sudden change of the distance L in the time T is larger than a preset threshold value a, the processor controls the display device to display the road condition shot by the shooting device in real time.
Description
Technical field
The present invention relates to a kind of ramp safe driving system of vehicle.
Background technology
Then vehicle enters on the road of another level and when being entered the track of certain angle by horizontal road descending in the existing track climbing of certain angle, particularly on steep hills road and cheat while travelling on recessed road surface, chaufeur can form the blind angle of vision, if now have other vehicle also descending or upward slope, this vision dead zone is easy to cause traffic accident.
In order to eliminate this blind area, people have adopted multiple technologies means.For example, U.S. Patent application US 2006/0176210 A1 discloses a kind of Vehicular display device, when Vehicle Driving Cycle is on level road, the FOE of standard (focus of expansion) is set to the core that horizon is positioned at viewing area.When vehicle is prepared to go up a slope, mobile this viewing area is to mate the ordinate between current FOE and standard FOE.When vehicle is prepared descending, mobile this viewing area is to mate the ordinate between current FOE and standard FOE.Inactive area on read-out when this technical scheme can be removed vehicle preparation upward slope or descending, but the blind area in the time of cannot effectively making up upward slope or descending.
Chinese patent 200810200313.6 discloses a kind of automobile headlight control device and the method for automatic adjusting night driving bend and the gradient.This device comprises camera, microprocessor, controller, LED light source array.Its method is: microprocessor reads the vedio data of camera frame by frame; On the image reading, cut apart to obtain four regions, be respectively two regions, left and right of the same level direction on image and two regions up and down of same vertical direction; Microprocessor carries out image to two continuous two field pictures and processes this four area pixel light intensity variation speed information that obtain; Microprocessor changes speed information extraction according to these four area pixel light intensity and goes out environment and driving states characteristic information and be transferred to controller; The illumination mode that the environment that controller basis is obtained and driving states characteristic information are controlled LED light source array automatically.This technical scheme is controlled the illumination mode of LED light source array by controller, can illuminate originally dark region, but cannot effectively make up blind area.
Chinese patent application 90105074.1 discloses a kind of multifunctional automobile headlight of multi-functional car headlamp, particularly a kind of fluid optical system.It is comprised of lamp group and controller two large divisions.Can realize that front irradiation bundle is upper and lower, the turning to of left and right, reduce automobile and turn and uphill/downhill blind area in left and right.This technical scheme is the same with a upper scheme, by the region that turns to up and down to illuminate script dark of front irradiation bundle, but cannot make up blind area.
Thereby technique scheme still can not effectively solve the vision dead zone problem occurring when vehicle climbing finishes be about to enter level road and be about to from level road descending.
Therefore, how to provide a kind of can eliminate vehicle driving up and descending time the safe driving system of blind area become the problem that industry need to solve.
Summary of the invention
Shortcoming for prior art, the object of this invention is to provide a kind of safe driving system, it can make up the vision dead zone of vehicle when then the existing track climbing of certain angle enters on the road of another level and entered the track of certain angle by horizontal road descending.
To achieve these goals, the invention provides a kind of ramp safe driving system of vehicle, for vehicle, be about to the situation that climbing is about to descending and is travelled by horizontal road to horizontal road, vehicle on recessed road surface, hole, it comprises:
The first distance measuring equipment (DME), it is installed on the front portion of vehicle, for measuring in real time the distance L between its installation site and ground, and this result of a measurement is sent to treater;
Filming apparatus, it is installed on front part of vehicle, for taking the road conditions of vehicle front;
Read out instrument, it is installed in car, for the road conditions that show that filming apparatus is captured;
Treater, it is connected by wired or wireless with the first distance measuring equipment (DME), read out instrument; When the sudden change of distance L in time T is greater than predefined threshold value a, treater is controlled read out instrument and is shown in real time the road conditions that filming apparatus is captured.
In the present invention, the first distance measuring equipment (DME) setting height(from bottom) is higher, and the distance of its anticipation is larger.For example the overall height of car is generally 1.4 meters-1.6 meters, and the preferred setting height(from bottom) of the first distance measuring equipment (DME) is 0.6 meter-1.6 meters (roof).
In the present invention, distance measuring equipment (DME) is infrared range-measurement system, ultrasonic range finder or laser rangefinder or other distance measuring equipment (DME).
In the present invention, distance L is the distance between the first distance measuring equipment (DME) and measurement point, and in the form process of vehicle, measurement point constantly changes, and it can be positioned at vehicle front road surface or road surface, vehicle front below.When vehicle driving up closes to an end while preparing to enter level road or when vehicle is about to descending or when vehicle travels on the larger road surface of hole concavity, the Sudden Changing Rate of L value within very short time can be larger.Key of the present invention is to take that the Sudden Changing Rate of L reaches certain threshold value as condition, starts read out instrument and shows the captured road conditions of filming apparatus, and now navigating mate checks that read out instrument can grasp the road conditions of vehicle front.And read out instrument does not show that in the whole process of Vehicle Driving Cycle the reason of road conditions is that consumption of current is large, and sometimes read out instrument need to show other content.
In the present invention, read out instrument can be various Vehicular display devices, and for example various CRT monitors, LCD display, light-emitting diode display, before it is preferably and is arranged at steering position, be beneficial to driver and check.In the present invention, filming apparatus can be various cameras.
The present invention is by being installed on the first distance measuring equipment (DME) measuring distance L of vehicle front, when the sudden change of this distance L within very short time surpasses certain limit, treater is just controlled read out instrument and is started the blind area road conditions that show that in real time filming apparatus is captured, to eliminate, be about to climb to horizontal road, by horizontal road, be about to descending and the existing blind area of travelling on recessed road surface, hole, and then avoid traffic accident.With utilize gradient measuring device for example level indicator carry out measurement of angle and compare, system of the present invention adopts the distance of measuring between the first distance measuring equipment (DME) and the measurement point on vehicle front or road surface, vehicle front below, when vehicle front is about to arrive gradient inclined-plane, system can detect the existence of the gradient at once; And only have, touch gradient inclined-plane when wheel, level indicator just can detect the gradient.Thereby, when wheel when also not contacting gradient inclined-plane appears upward slope or descending and in vehicle front, level indicator does not also detect the gradient, and the first distance measuring equipment (DME) can to detect be in advance the variation of the gradient, thereby adopt the present invention to carry out range observation can more early to detect the gradient than adopting level indicator and carrying out measurement of angle, and then more early open read out instrument and utilize the auxiliary road conditions that show of filming apparatus, to avoid the unexpected variation of not tackling in time road conditions of navigating mate, have an accident.
Another specific embodiment according to the present invention, T≤1 second, a≤10 meter; More preferably T is 0.1 second on this basis, and a is 1 meter, and the distance L recording when the first distance measuring equipment (DME) was suddenlyd change and surpassed 1 meter in 0.1 second, and treater control read out instrument shows the road conditions that filming apparatus is captured in real time.
Another specific embodiment according to the present invention, the emission angle of the first distance measuring equipment (DME) is for becoming the front lower place at α angle, wherein 5 °≤α≤90 ° with the straight-line travelling direction of vehicle.In theory, angle is greater than the slope of α, can detect.In fact, because operating vehicle has speed, the slope that angle is slightly less than α, also can detect.For example, through contriver's practical proof, suppose that α is 7.4 °, when the speed of a motor vehicle is very little while approaching 0, can detect angle and be the gradient of 7.4 °, when the speed of a motor vehicle is 10km/h, it can detection angle be the gradient of 5.8 °.
Another specific embodiment according to the present invention, treater is connected by wired or wireless with filming apparatus.
Another specific embodiment according to the present invention, it further comprises the second distance measuring equipment (DME), this second distance measuring equipment (DME) is installed on the front end of vehicle, for measuring in real time the vertical distance H between its installation site and ground, and this result of a measurement is sent to treater; Filming apparatus has angle regulator, and treater is according to the vehicle speed signal of the variation of H and average speed indicator, and control angle control apparatus regulates the shooting angle of filming apparatus.The coverage of the vertical direction of filming apparatus is probably 90 °, and when vehicle level is travelled, the shooting angle of filming apparatus above horizon is 25 °, and the shooting angle of horizon below is 65 °.In addition, the corresponding ramp angles of 10% the gradient is β 1=5.71 °; 30% the corresponding ramp angles of the gradient is β 2=16.67 °.When vehicle is about to descending grade, be 10% ramp, during the ramp of β 1=5.71 °, filming apparatus offsets downward β 1=5.71 °.When vehicle is about to descending descending slope, be 30% ramp, during the ramp of β 2=16.67 °, filming apparatus offsets downward β 2=16.67 °.When the gradient in ramp is when 10%～30% changes, the angle beta of filming apparatus can change accordingly between 5.71～16.67.Vehicle is when the ramp driving lower than 10%, and the angle of filming apparatus does not change, and the shooting angle while travelling with vehicle level road is consistent.When vehicle travels in the ramp higher than 30%, shooting angle can maintain β 2=16.67 °.
Wherein, the acquisition methods of ramp angles γ is: the treater of system will be connected with vehicle ECU, distance measuring equipment (DME), to obtain the signal x m/s that vehicle speed signal is Vm/s and the second change of distance that distance measuring equipment (DME) is surveyed.By tan γ=x*t/V*t=x/V, draw α=arctan (x/V).The treater of system is collected signal always, upgrades the information of γ always, and shooting angle is regulated because of the ground of different gradient.Make can make before read out instrument starts to show the captured road conditions of filming apparatus in system judgement, shooting angle has regulated complete.For example, when within vehicle velocity V=3.6km/ hour, being 1m/s, x=0.2m/s, γ=arctan (x/V)=arctan (0.2/1)=11.31 °, the corresponding downward adjusting of filming apparatus β=11.31 °.When within vehicle velocity V=7.2km/ hour, being 2m/s, x=0.54m/s, γ=arctan (x/V)=arctan (0.3/1.5)=15.11 °, the corresponding downward adjusting of filming apparatus β=15.11 °.
Another specific embodiment according to the present invention, treater is connected by wired or wireless with filming apparatus, and when the sudden change of distance L in time T is greater than predefined threshold value a, treater is controlled filming apparatus and is started.This scheme is only just opened filming apparatus when needs read out instrument shows road conditions, thereby has greatly saved energy consumption.
Another specific embodiment according to the present invention, filming apparatus in the whole process of running car all in open mode; Safe driving system also comprises memory storage (for example hard disk), for storing the captured road conditions of filming apparatus.
Another specific embodiment according to the present invention, read out instrument time delay shows that filming apparatus captured several seconds of road conditions, (for example 3-10 second) afterwards, stopped showing road conditions.In this scheme, the image that filming apparatus records is all stored in memory storage, uses can work as at ordinary times drive recorder, and the confirmation of responsibility while can be used for traffic accident occurs, greatly reduces the error rate of confirmation of responsibility.
Another specific embodiment according to the present invention, the first distance measuring equipment (DME) is installed in the front bottom end, A post of vehicle bumper or roof.
Another specific embodiment according to the present invention, filming apparatus is positioned at by the Logo of air-inlet grille of vehicle.Another specific embodiment according to the present invention, the number of filming apparatus be one, two or more.
Compared with prior art, the present invention possesses following beneficial effect:
The present invention is by being installed on the first distance measuring equipment (DME) measuring distance L of vehicle front, when the sudden change of this distance L within very short time surpasses certain limit, treater is just controlled read out instrument and is started the blind area road conditions that show that in real time filming apparatus is captured, to eliminate, be about to climb to horizontal road, by horizontal road, be about to descending and the existing blind area of travelling on recessed road surface, hole, and then avoid traffic accident.With utilize gradient measuring device for example level indicator carry out measurement of angle and compare, system of the present invention adopts the distance of measuring between the first distance measuring equipment (DME) and the measurement point on vehicle front or road surface, vehicle front below, when vehicle front is about to arrive gradient inclined-plane, system can detect the existence of the gradient at once; And only have, touch gradient inclined-plane when wheel, level indicator just can detect the gradient.Thereby, when wheel when also not contacting gradient inclined-plane appears upward slope or descending and in vehicle front, level indicator does not also detect the gradient, and the first distance measuring equipment (DME) can to detect be in advance the variation of the gradient, thereby adopt the present invention to carry out range observation can more early to detect the gradient than adopting level indicator and carrying out measurement of angle, and then more early open read out instrument and utilize the auxiliary road conditions that show of filming apparatus, to avoid the unexpected variation of not tackling in time road conditions of navigating mate, have an accident.
Accompanying drawing explanation
Fig. 1 is in embodiment 1, the schematic diagram of the distance L that vehicle when climbing records during without sudden change;
Fig. 2 is in embodiment 1, the schematic diagram when distance L recording during vehicle climbing has sudden change;
Fig. 3 is in embodiment 1, and the distance L that vehicle level records while travelling is without the schematic diagram in when sudden change;
Fig. 4 is in embodiment 1, the schematic diagram when distance L that vehicle level records while travelling has sudden change.
The specific embodiment
Embodiment 1
The ramp safe driving system of the present embodiment comprises the first distance measuring equipment (DME) (for example the first infrared range-measurement system 1), filming apparatus (for example camera), read out instrument (for example LCDs), memory storage (for example hard disk), treater.
Wherein, the first infrared range-measurement system 1 is installed on the front bottom end of vehicle bumper, its setting height(from bottom) is 0.6 meter, its emission angle is for becoming the front lower place at 7.4 ° of angles with the straight-line travelling direction of vehicle, for measuring in real time the distance L between its installation site and ground, and this result of a measurement is sent to treater.
The number of camera is one, be installed on by the Logo of air-inlet grille of front part of vehicle, in the whole process of running car all in open mode, for taking the road conditions of vehicle front;
Before LCDs is installed on the interior steering position of car, for the road conditions that show that camera is captured.
Hard disk is for storing the captured road conditions of filming apparatus, and the image that camera records is all stored in hard disk, can work as drive recorder use at ordinary times.
Treater is connected with the first infrared range-measurement system, read out instrument; When the sudden change of distance L in 0.1 second is greater than 1 meter of predefined threshold value, (vehicle climbing is about to enter level road as Figure 1-Figure 2, and shown in Fig. 3-Fig. 4, vehicle is about to descending by level road), treater is controlled read out instrument and is shown in real time the road conditions that filming apparatus is captured.
LCDs time delay shows that the captured road conditions of camera, after several seconds, stop showing road conditions.
In the present embodiment, anticipation distance is 0.6/tan7.4=4.6 rice.Be the system of the present embodiment can detection range vehicle front slope change outside 4.6 meters.
Embodiment 2
The difference of the present embodiment and embodiment 1 is:
(1) treater is connected with camera, and when the sudden change of distance L in 0.1 second is greater than 1 meter of predefined threshold value, treater is controlled camera and started.
(2) also comprise the second distance measuring equipment (DME) (for example the second infrared range-measurement system), this second infrared range-measurement system is installed on the front end of vehicle, for measuring in real time the vertical distance H between its installation site and ground, and this result of a measurement is sent to treater; Camera has angle regulator, and treater is according to the vehicle speed signal of the variation of H and average speed indicator, and control angle control apparatus regulates the shooting angle of camera.
(3) number of camera is two.
(4) first infrared range-measurement systems are installed on vehicle roof, and its setting height(from bottom) is 1.4 meters, and apart from 2 meters of vehicle fronts, its emission angle is for becoming the front lower place at 7.4 ° of angles with vehicle heading.
In the present embodiment, anticipation distance is 1.4/tan7.4-2=8.78 rice.Be the system of the present embodiment can detection range vehicle front slope change outside 8.78 meters.
The present invention discloses as above with preferred embodiment, but not in order to limit scope of the invention process.Any those of ordinary skill in the art, within not departing from invention scope of the present invention, when doing a little improvement, every equal improvement of doing according to the present invention, should be scope of the present invention and contains.
Claims (9)
1. a ramp safe driving system for vehicle, is about to for vehicle the situation that climbing is about to descending and is travelled on recessed road surface, hole by horizontal road to horizontal road, vehicle, and it comprises:
The first distance measuring equipment (DME), it is installed on the front portion of vehicle, for measuring in real time the distance L between its installation site and ground, and this result of a measurement is sent to treater;
Filming apparatus, it is installed on front part of vehicle, for taking the road conditions of vehicle front;
Read out instrument, it is installed in car, for the road conditions that show that described filming apparatus is captured;
Treater, it is connected by wired or wireless with described the first distance measuring equipment (DME), read out instrument; When the sudden change of described distance L in time T is greater than predefined threshold value a, described treater is controlled read out instrument and is shown in real time the captured road conditions of described filming apparatus;
Described ramp safe driving system further comprises the second distance measuring equipment (DME), and described the second distance measuring equipment (DME) is installed on the front end of vehicle, for measuring in real time the vertical distance H between its installation site and ground, and this result of a measurement is sent to treater; Described filming apparatus has angle regulator, and described treater, according to the vehicle speed signal of the variation of H and average speed indicator, is controlled the shooting angle that described angle regulator regulates described filming apparatus.
2. safe driving system as claimed in claim 1, wherein, T≤1 second, a≤10 meter.
3. safe driving system as claimed in claim 1, wherein, the emission angle of described the first distance measuring equipment (DME) is for becoming the front lower place at α angle, wherein 5 °≤α≤90 ° with the straight-line travelling direction of vehicle.
4. safe driving system as claimed in claim 1, wherein, described treater is connected by wired or wireless with described filming apparatus.
5. safe driving system as claimed in claim 1, wherein, described treater is connected by wired or wireless with described filming apparatus, and when the sudden change of described distance L in time T is greater than predefined threshold value a, described treater is controlled described filming apparatus and started.
6. safe driving system as claimed in claim 1, wherein, described filming apparatus in the whole process of running car all in open mode; Described safe driving system also comprises memory storage, for storing the captured road conditions of filming apparatus.
7. safe driving system as claimed in claim 1, wherein, described read out instrument time delay shows that the captured road conditions of described filming apparatus, after several seconds, stop showing road conditions.
8. safe driving system as claimed in claim 1, wherein, described the first distance measuring equipment (DME) is installed in the front bottom end, A post of vehicle bumper or roof.
9. safe driving system as claimed in claim 1, wherein, described filming apparatus is positioned at by the Logo of air-inlet grille of vehicle.
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| CN201210331165.8A CN102826044B (en) | 2012-09-07 | 2012-09-07 | Slope safety driving system of vehicle |
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| CN201210331165.8A CN102826044B (en) | 2012-09-07 | 2012-09-07 | Slope safety driving system of vehicle |
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| CN102826044B true CN102826044B (en) | 2014-10-08 |
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Families Citing this family (9)
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| TW201438940A (en) * | 2013-04-11 | 2014-10-16 | Compal Electronics Inc | Image display method and image display system |
| CN103318088A (en) * | 2013-07-03 | 2013-09-25 | 无锡商业职业技术学院 | Blind zone warning system and blind zone warning method for automobile |
| CN105882522A (en) * | 2015-11-13 | 2016-08-24 | 乐卡汽车智能科技（北京）有限公司 | Vehicle uphill assisting device and method and vehicle |
| WO2017128154A1 (en) * | 2016-01-27 | 2017-08-03 | 赵政荣 | Data collection method for drive recorder adjustment technology and drive recorder |
| CN108569193A (en) * | 2017-11-16 | 2018-09-25 | 常州星宇车灯股份有限公司 | A kind of self-adaptive headlamp system and its control method based on road conditions |
| CN108532402B (en) * | 2018-03-01 | 2020-06-05 | 徐州澳特润建材有限公司 | Roller type intelligent up-down slope auxiliary device for automobile |
| CN111204284A (en) * | 2020-01-20 | 2020-05-29 | 创驱（上海）新能源科技有限公司 | System and method for eliminating blind area before downhill of automobile |
| CN117048515A (en) * | 2023-10-12 | 2023-11-14 | 浙江极氪汽车研究开发有限公司 | Control method for shooting angle of vehicle-mounted camera and vehicle |
| CN117719418B (en) * | 2024-02-04 | 2024-04-16 | 深圳市欧冶半导体有限公司 | Car light control method, device, computer equipment and storage medium |
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