CN103661365B - A kind of method improving vehicle meeting security - Google Patents
A kind of method improving vehicle meeting security Download PDFInfo
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- CN103661365B CN103661365B CN201310577956.3A CN201310577956A CN103661365B CN 103661365 B CN103661365 B CN 103661365B CN 201310577956 A CN201310577956 A CN 201310577956A CN 103661365 B CN103661365 B CN 103661365B
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- 238000012545 processing Methods 0.000 claims abstract description 61
- 238000012546 transfer Methods 0.000 claims description 17
- 230000001133 acceleration Effects 0.000 claims description 15
- 238000001914 filtration Methods 0.000 claims description 4
- 230000003287 optical effect Effects 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 6
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- 238000000926 separation method Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 238000010009 beating Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/107—Longitudinal acceleration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/20—Direction indicator values
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
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Abstract
The invention belongs to automobile meeting security technology area, disclose a kind of device and method improving vehicle meeting security.The device of this raising vehicle meeting security includes: vehicle-mounted CAN bus, single-chip microcomputer, data processing unit, rearview mirror, vehicle speed sensor, steering wheel angle sensor, brake-pedal-travel sensor, be fixedly mounted on the Centromedian scanning laser radar of vehicle front bumper, for gathering the camera of driver head's image and for the rotary electric machine making rearview mirror rotate；Scanning laser radar is towards vehicle front；The output electrical connection vehicle-mounted CAN bus of vehicle speed sensor, the signal input part of data processing unit is electrically connected vehicle-mounted CAN bus, scanning laser radar, the I/O interface of single-chip microcomputer, steering wheel angle sensor output and brake-pedal-travel sensor；The control end of the signal output part electrical connection rotary electric machine of data processing unit；Single-chip microcomputer is by the video line of USB interface electrical connection camera.
Description
Technical field
The invention belongs to automobile meeting security technology area, improve vehicle meeting security particularly to one
Device and method.
Background technology
When running car is met in time sending a car limited road is prominent, driver would generally take braking deceleration and
Beat to the right direction to realize giving way and safety meeting.Now, driver would generally be by backsight on the right side of observing
Mirror and field of front vision judge the position of this car and estimate road rightward space, determine to the right with this
Direction is beaten the most suitable, and the most constantly adjusts.But owing to right rear is mainly used in
Help driver to observe the track situation of this car right lateral side during normal driving, therefore can not realize vehicle body
The acquisition of the road boundary information of corresponding position.And now because road is narrow and the needs of meeting, vehicle body is right
The distance of lateral extent road right side boundary is the least, and driver is again by beating direction to the right, with
This vacates the space on the left of road by reducing the space of distance road right side boundary on the right side of vehicle body, it is achieved
This car with to the safety meeting sent a car.Therefore, now often as driver cannot obtain this car vehicle body
The information of the distance of right side distance track right side boundary and judge by accident, maloperation, there are two kinds of situations: one is
Vehicle is to the right by not, causing track leftward space inadequate, it is impossible to realize safety meeting；Two be vehicle to
Right side is leaned on too much, causes vehicle to stride across road right side boundary, rides curb on the right side of road, even go out
Road.This allows for the meeting danger in the case of this kind and inefficiency.
Summary of the invention
It is an object of the invention to propose a kind of device and method improving vehicle meeting security.The present invention
A kind of device improving vehicle meeting security can be to help driver get vehicle body distance road right
The information such as the distance of lateral boundaries, and automatically adjust right rear (turning an angle in vertical plane),
Realize meeting safely and efficiently.
For realizing above-mentioned technical purpose, the present invention adopts the following technical scheme that and is achieved.
Technical scheme one:
A kind of device improving vehicle meeting security, including: vehicle-mounted CAN bus 1, single-chip microcomputer, number
According to processing unit, it is positioned at the rearview mirror on the right side of vehicle body, the vehicle speed sensor being arranged on gearbox, fixing
The direction be arranged on the Centromedian scanning laser radar of vehicle front bumper, being arranged on steering wheel for vehicle
Dish rotary angle transmitter, it is arranged on the brake-pedal-travel sensor below brake pedal, for gathering driving
The camera of member's head image and for making the rotary electric machine that rearview mirror rotates；Described laser scanning thunder
Reaching towards vehicle front, described camera is arranged on vehicle performance platform；
The output of described vehicle speed sensor electrically connects described vehicle-mounted CAN bus, described data processing unit
Signal input part be electrically connected described vehicle-mounted CAN bus, the output of scanning laser radar, monolithic
The I/O interface of machine, steering wheel angle sensor output and the output of brake-pedal-travel sensor；Institute
State the control end of the signal output part electrical connection rotary electric machine of data processing unit；Described single-chip microcomputer passes through
The video line of USB interface electrical connection camera.
Described vehicle speed sensor is for the real-time speed of collection vehicle, and is used for leading to the real-time speed of vehicle
Cross vehicle-mounted CAN bus to send to data processing unit；Described scanning laser radar is used for measurement road width
With to state of motion of vehicle parameter of sending a car, and for by road width, to always this car of spacing away from
From, to sending a car and this car angle and to sending a car and between this car, relative velocity is sent to away from data
Reason unit；Described camera is used for gathering driver head's image and (includes head rotation and sight line transfer figure
Picture), in real time driver head's image of collection being sent to single-chip microcomputer, described single-chip microcomputer is for figure
As data pre-process, for pretreated signal is sent to data processing unit；Described square plate
Rotary angle transmitter is used for gathering steering wheel angle parameter, and in real time steering wheel angle parameter being sent to
Data processing unit；Described brake-pedal-travel sensor is used for gathering brake-pedal travel parameter, and uses
In in real time, brake-pedal travel parameter is sent to data processing unit；Described data processing unit is used for root
According to the data received, send rearview mirror turn signal to rotary electric machine；Described rotary electric machine is at backsight
Control rearview mirror under the triggering of mirror turn signal to rotate.
The feature of the technical program and further improvement is that:
Described vehicle speed sensor is magneto-electric vehicle speed sensor, and the sampling precision of described vehicle speed sensor is
0.01km/h。
Described scanning laser radar is the safe laser scanner of SICK, the safe laser scanner of described SICK
Concrete model be S3000, the scanning angle of the safe laser scanner of described SICK is 190 degree, described
The protection zone scope of the safe laser scanner of SICK is 7m, the safe laser scanner of described SICK
120 milliseconds of resolution ratio are 30-150mm.
Described camera is culminant star YJS-01USB2.0 camera.
Described single-chip microcomputer is Freescale series monolithic, and the model of described single-chip microcomputer is S12.
Described steering wheel angle sensor is the 89245-0N020 type steering wheel angle sensing of CHHK brand
Device.
Described brake-pedal-travel sensor is Bosch PWG series brake-pedal-travel sensor, described rich
The concrete model of generation PWG series brake-pedal-travel sensor is PWG13.
Technical scheme two:
A kind of method improving vehicle meeting security, device based on above-mentioned raising vehicle meeting security,
It is characterized in that, comprise the following steps:
S1: when the vehicle is running, scanning laser radar obtains vehicle and left-side course roadside in real time by scanning
The distance of boundary, vehicle and right side road boundary, then by vehicle and the distance of left side road boundary, vehicle
Sending to data processing unit with the distance of right side road boundary, data processing unit is according to vehicle and left side
The distance of the distance of road boundary, vehicle and right side road boundary and the width of vehicle self, draw
Road width, when road width is less than when setting road width threshold value, performs step S2；
S2: scanning laser radar detects in real time to the relative velocity sent a car with this car, to sending a car and this
The relative fore-and-aft distance of car, two car front center lines and the angle of horizontal direction, in described two car front ends
Centre line refers to front center and this car front center line of sending a car；And by to the phase sent a car with this car
To speed, to the relative fore-and-aft distance sent a car with this car, two car front center lines and horizontal direction
Angle sends in real time to data processing unit；
Meanwhile, vehicle speed sensor detects speed in real time, and by real-time vehicle speed data by vehicle-mounted CAN bus
Send to data processing unit；Data processing unit draws vehicle acceleration data according to real-time vehicle speed data,
Described vehicle acceleration data is braking deceleration or vehicle acceleration；
When being less than relative fore-and-aft distance threshold value, and two car front ends to the relative fore-and-aft distance sent a car with this car
When the angle of central authorities' line and horizontal direction is less than set angle threshold value, perform step S3；Work as braking deceleration
Degree less than braking deceleration threshold value and to the relative velocity sent a car with this car less than relative velocity threshold value time,
Perform step S3；
S3: data processing unit sends camera to single-chip microcomputer and starts and trigger signal, and single-chip microcomputer is taken the photograph receiving
After starting triggering signal as head, control camera and open；The head of camera captured in real-time driver, will
The head image of driver sends to single-chip microcomputer, after driver head's image is filtered processing by single-chip microcomputer,
Filtered driver head's image is sent to data processing unit；
In data processing unit, according to the driver head's image processed after filtering, draw driver
Head rotation angle and sight line transfer time；When driver head's rotational angle is more than head rotation angle threshold
Value, and pilot's line of vision transfer time more than sight line threshold value transfer time time, perform step S4；
Steering wheel angle data are transferred to data processing unit by S4: steering wheel angle sensor, at data
Reason unit is according to steering wheel angle data, it is judged that steering wheel angle direction is the most to the right；Work as steering wheel angle
Direction be to the right time, perform step S5；
S5: data processing unit is according to the rearview mirror rotation direction set and sets rotational angle, to rotation
Motor sends corresponding rearview mirror turn signal, and rotary electric machine is receiving the rearview mirror turn signal control of correspondence
Rearview mirror processed rotates to rear view of vehicle, and the rotational angle of rearview mirror is for setting rotational angle.
The feature of the technical program and further improvement is that:
After step s 5, data processing unit judges the angle of two car front center lines and horizontal direction
Instantaneous value whether less than set angle lower limit, and judge that whether real-time vehicle acceleration is more than zero；When
The instantaneous value of the angle of two car front center lines and horizontal direction is less than set angle lower limit, and in real time
When vehicle acceleration is more than zero, sending corresponding rearview mirror to rotary electric machine and recover signal, rotary electric machine exists
The rearview mirror turn signal receiving correspondence controls rearview mirror recovery to home position.
The invention have the benefit that and can get vehicle body distance road right side boundary helping driver
The information such as distance, and automatically adjust right rear (turning an angle in vertical plane), it is achieved peace
Full meeting efficiently.
Accompanying drawing explanation
Fig. 1 is the electrical block diagram of a kind of device improving vehicle meeting security of the present invention；
Fig. 2 is a kind of method flow schematic diagram improving vehicle meeting security of the present invention；
Fig. 3 be the present invention a kind of improve vehicle meeting security device busy time to vehicle of sending a car
The detection schematic diagram of motion state；
Fig. 4 is the rearview mirror rotational angle signal of a kind of device improving vehicle meeting security of the present invention
Figure.
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings:
With reference to Fig. 1, for the circuit structure signal of a kind of device improving vehicle meeting security of the present invention
Figure.In the device of this raising vehicle meeting security, the front bumper centre at vehicle is provided with
Scanning laser radar, the direction of this scanning laser radar is towards front, for measurement road width and right
To state of motion of vehicle parameter of sending a car.This scanning laser radar is the safe laser scanner of SICK, and it is concrete
Model is S3000, and scanning angle is 190 degree, and protection zone scope is 7m, and 120 milliseconds of resolution ratio are
30-150mm.Being provided with camera on the operation bench of vehicle, camera is used for gathering driver's head figure
As (including head rotation and the image of sight line transfer), this camera uses culminant star YJS-01USB2.0 to take the photograph
As head.Being provided with vehicle speed sensor on the gearbox of vehicle, this vehicle speed sensor is for gathering from car car
Speed.This vehicle speed sensor is magneto-electric vehicle speed sensor, and the sampling precision of described vehicle speed sensor is
0.01km/h.The steering wheel of vehicle is provided with steering wheel angle sensor, direction dish rotary angle transmitter
For gathering steering wheel angle parameter, direction dish rotary angle transmitter uses CHHK brand
89245-0N020 type steering wheel angle sensor.Brake-pedal travel is installed below vehicle brake pedal
Sensor, this brake-pedal-travel sensor is used for gathering brake-pedal travel parameter, this brake pedal row
Journey sensor uses Bosch PWG series brake-pedal-travel sensor, and its concrete model is PWG13.
Being also associated with rotary electric machine on vehicle right side rearview mirror, this rotary electric machine is used for making rearview mirror rotate.?
Vehicle-mounted CAN bus 1, single-chip microcomputer, data processing unit it is additionally provided with in vehicle.Wherein, single-chip microcomputer is
Freescale series monolithic, its concrete model is S12；Data processing unit is ARM9 processor.
In the embodiment of the present invention, in conjunction with Fig. 1, the output of this vehicle speed sensor electrically connects described vehicle-mounted CAN
Bus 1, the signal input part of this data processing unit is electrically connected described vehicle-mounted CAN bus, laser
The output of radar, the I/O interface of single-chip microcomputer, steering wheel angle sensor output and brake-pedal travel
Sensor output；The control end of the signal output part electrical connection rotary electric machine of this data processing unit；Should
Single-chip microcomputer is by the video line of USB interface electrical connection camera.
With reference to Fig. 2, for a kind of method flow schematic diagram improving vehicle meeting security of the present invention.This carries
The method of high vehicle meeting security comprises the following steps:
Road width detects:
When vehicle travels, scanning laser radar obtains vehicle and left side road boundary in real time by scanning
Distance (lateral separation) Ll, distance (lateral separation) L of vehicle and right side road boundaryr, it is known that vehicle
Width is Lv, then there is a road width:
L=Ll+Lr+Lv
It is 3.75m in view of standard lane width, when road width is less than twice standard lane width, i.e.
It is likely to result in meeting difficulty.Therefore, when L is < during 7.5m, it is judged that for limited road, now judge meeting
There will be problem.Now, carry out to state of motion of vehicle detection of sending a car.
To state of motion of vehicle detection of sending a car:
With reference to Fig. 3, to sending a car during the device busy improving vehicle meeting security for the present invention a kind of
The detection schematic diagram of state of motion of vehicle.As L, < during 7.5m, scanning laser radar detects in real time to sending a car
Fore-and-aft distance L relative with this carz, the angle theta of two car front center lines and horizontal direction, two car front ends
Central authorities' line refers to front center and this car front center line of sending a car.Work as LzOne timing (sets two cars
Closely L during meetingz=5m), angle, θ is the biggest, then illustrate that two car headstock intersection are the most.Narrow road
During the closely meeting of road, two cars are exactly based on beats to the right direction to reduce θ, and when θ is reduced to two car headstocks
When just there is no overlapping positions, lateral separation L of two car vehicle centre-linehIt is respective vehicle width half
Sum.In the embodiment of the present invention, data processing unit real-time reception from the data of scanning laser radar,
Judge LzWhether whether it is less than set angle threshold value less than 5m and θ.Such as, set angle threshold value is 68.2
Degree.
Braking deceleration detects:
The signal input part of data processing unit electrically connects this vehicle-mounted CAN bus.Vehicle speed sensor will be in real time
Vehicle speed data is sent to data processing unit by vehicle-mounted CAN bus；Brake-pedal-travel sensor will system
Dynamic pedal travel data are transferred to data processing unit.Data processing unit draws according to real-time vehicle speed data
Vehicle acceleration data, described vehicle acceleration data is braking deceleration a or vehicle acceleration a '.This
In inventive embodiments, data processing unit can also obtain braking deceleration according to brake-pedal travel data
a.In embodiments of the present invention, braking deceleration threshold value is set to 1m/s.Data processing unit judges braking
Whether deceleration a is less than braking deceleration threshold value.
Meanwhile, laser radar detects this car and to the relative velocity V sent a car, data processing unit receives
After the relative velocity of laser radar transmission, it is judged that identify that the relative velocity in two workshops the most quickly reduces.Root
According to test, set relative velocity threshold value as 5km/h.When data processing unit obtains relative velocity less than 5km/h
Time, it is judged that think from car may because of on limited road meeting need and all take braking deceleration measure.
For Zong He, when data processing unit judges to obtain: LzLess than 5m and θ less than set angle threshold value
Time, carry out driver head and rotate and sight line transfer detection；When braking deceleration a is less than braking deceleration
Threshold value and Ben Che with to the relative velocity sent a car less than 5km/h time, carry out driver head rotate and
Sight line transfer detection；
Driver head rotates and sight line transfer detection:
S12 series monolithic starts, and under normal circumstances, camera works continuously.Camera is to driver
Head image carries out captured in real-time, and is sent to single-chip microcomputer by driver head's image.In single-chip microcomputer,
Pre-processing the image of camera collection, the purpose of Image semantic classification is to remove the gathered figure of camera
Interference information in Xiang.That is: in order to ensure the reliability that device works, the head that camera collection need to be arrived
Portion and sight line image are filtered processing, with exclusive PCR, therefore first to figure in image processing process
As being filtered, concrete employing median filtering algorithm is carried out.For some pixel in image, meter
Calculate around this some the mean value of pixel gray value in the range of 3 × 3, with this mean value as the gray scale of this point
Value.In the presence of using the median filtering algorithm of 3 × 3 can substantially eliminate the gathered image of camera
Interference information.After the image of camera collection is pre-processed, send it to data processing unit,
In data processing unit, according to the image through pretreatment, draw driver head's rotational angle and regard
Line transfer time.Judge that whether driver head rotational angle δ is more than head rotation angle threshold, and judge
Whether sight line t transfer time, more than sight line threshold value transfer time, such as, is set to head rotation angle threshold
15 degree, sight line threshold value transfer time is set to 3 seconds.If driver head rotational angle δ turns more than head
Dynamic angle threshold, and sight line t transfer time is more than sight line threshold value transfer time, the most substantially may determine that now
Driver obtains right lateral side road information by right rear and carrys out the realization safety meeting of adjustment direction dish
Car, now travel direction dish operation detection.
Steering wheel operation detects:
Steering wheel angle data are transferred to data processing unit by steering wheel angle sensor, process in data
In unit, it is judged that steering wheel angle direction is the most to the right.It is now that two cars are narrow in conjunction with judging above
Meeting on arrow path road, now, rearview mirror turn signal is sent to rotary electric machine by data processing unit, enters
Row rearview mirror automatically controls；If steering wheel angle direction is the most to the right, then continue detection steering wheel angle side
To.
Rearview mirror automatically controls:
With reference to Fig. 4, for the rearview mirror rotational angle of a kind of device improving vehicle meeting security of the present invention
Schematic diagram.After rotary electric machine receives the rearview mirror turn signal of data processing unit transmission, control backsight
Mirror rearward rotates (now minute surface is initially towards ground) around rotary shaft.Rearview mirror rotational angle turns for setting
Dynamic angle.Such as, in embodiments of the present invention, rearview mirror rotational angle is set to 8 °.Rearview mirror rotates
Afterwards, carry out rearview mirror and rotate recovery.
Rearview mirror rotates and recovers:
In data processing unit, it is judged that whether θ is less than set angle lower limit (such as, by set angle
Lower limit is set to 1 ° or 0.5 °), and judge whether acceleration a ' is more than zero, if θ is less than set angle
Lower limit and acceleration a ' are more than zero, then explanation Vehicle during Crossing Event terminates, and driver need not from right side backsight
Mirror obtains vehicle body side road boundary information.Now, rearview mirror is recovered signal transmission by data processing unit
To rotary electric machine, rotary electric machine controls rearview mirror and rotates backward to origin-location.
In the embodiment of the present invention, the device of this raising vehicle meeting security mainly completes limited road
The identification of meeting situation, and automatically by right rear tumbler adjusting rearview mirror in vertical plane
Position, help driver to obtain on the right side of vehicle body the information such as road boundary, help driver preferably to judge
Meeting is carried out, it is ensured that safety during described limited road meeting is with efficient with operation vehicle.Meeting terminates
After, right rear automatic rotary to normal position, do not affect right rear normal condition and other
In the case of use.
A kind of device of vehicle meeting security that improves of the present invention is by the sensor detection road on vehicle
Width, to state of motion of vehicle parameter of sending a car, the operation of this car braking deceleration, driver's sight line and head
Rotate and steering wheel operation, after identifying affiliated situation, right rear turn signal is sent to rotary electric machine.
When success meeting after, according to steering wheel return just with accelerate detection, to rotary electric machine send rearview mirror extensive
Complex signal, controls right rear and rotates back to normal position.
In sum, the general principle of the present invention is to pass through filled sensor detection road width, to always
The operation of car motion state, this car braking deceleration, driver's sight line and head rotation and steering wheel operation, combine
Close above parameter, identify described vehicle and to situation about sending a car at limited road meeting.By right side backsight
Mirror turn signal is sent to rotary electric machine, and right rear rotates down in vertical plane according to actual conditions
Certain angle, to correct position, helps driver can obtain this car vehicle body in real time by right rear right
The distance of lateral extent road right side boundary, it is achieved the driver's correct operation to this car, it is ensured that safe and efficient
Meeting.After meeting terminates, right rear automatic rotary, to normal position, does not affect right rear
Use in the case of normal condition and other.
Obviously, those skilled in the art can carry out various change and modification without deviating from this to the present invention
The spirit and scope of invention.So, if these amendments of the present invention and modification belong to right of the present invention and want
Ask and within the scope of equivalent technologies, then the present invention is also intended to comprise these change and modification.
Claims (2)
1. the method improving vehicle meeting security, based on a kind of dress improving vehicle meeting security
Putting, this device includes: vehicle-mounted CAN bus (1), single-chip microcomputer, data processing unit, to be positioned at vehicle body right
The rearview mirror of side, the vehicle speed sensor being arranged on gearbox, just it is being fixedly mounted on vehicle front bumper
Central authorities scanning laser radar, the steering wheel angle sensor being arranged on steering wheel for vehicle, be arranged on system
Brake-pedal-travel sensor below dynamic pedal, for gather driver head's image camera, with
And for the rotary electric machine making rearview mirror rotate；Described scanning laser radar towards vehicle front, described in take the photograph
As head is arranged on vehicle performance platform；It is total that the output of described vehicle speed sensor electrically connects described vehicle-mounted CAN
Line (1), the signal input part of described data processing unit is electrically connected described vehicle-mounted CAN bus, swashs
The output of optical scanning radar, the I/O interface of single-chip microcomputer, steering wheel angle sensor output and braking are stepped on
Plate stroke sensor output；The control of the signal output part electrical connection rotary electric machine of described data processing unit
End processed；Described single-chip microcomputer electrically connects camera by USB interface；It is characterized in that, comprise the following steps:
S1: when the vehicle is running, scanning laser radar obtains vehicle and left-side course roadside in real time by scanning
The distance of boundary, vehicle and right side road boundary, then by vehicle and the distance of left side road boundary, vehicle
Sending to data processing unit with the distance of right side road boundary, data processing unit is according to vehicle and left side
The distance of the distance of road boundary, vehicle and right side road boundary and the width of vehicle self, draw
Road width, when road width is less than when setting road width threshold value, performs step S2；
S2: scanning laser radar detects in real time to the relative velocity sent a car with this car, to sending a car and this
The relative fore-and-aft distance of car, two car front center lines and the angle of horizontal direction, in described two car front ends
Centre line refers to front center and this car front center line of sending a car；And by to the phase sent a car with this car
To speed, to the relative fore-and-aft distance sent a car with this car, two car front center lines and horizontal direction
Angle sends in real time to data processing unit；
Meanwhile, vehicle speed sensor detects speed in real time, and by real-time vehicle speed data by vehicle-mounted CAN bus
Send to data processing unit；Data processing unit draws vehicle acceleration data according to real-time vehicle speed data,
Described vehicle acceleration data is braking deceleration or vehicle acceleration；
When being less than relative fore-and-aft distance threshold value, and two car front ends to the relative fore-and-aft distance sent a car with this car
When the angle of central authorities' line and horizontal direction is less than set angle threshold value, perform step S3；Work as braking deceleration
Degree less than braking deceleration threshold value and to the relative velocity sent a car with this car less than relative velocity threshold value time,
Perform step S3；
S3: data processing unit sends camera to single-chip microcomputer and starts and trigger signal, and single-chip microcomputer is taken the photograph receiving
After starting triggering signal as head, control camera and open；The head of camera captured in real-time driver, will
The head image of driver sends to single-chip microcomputer, after driver head's image is filtered processing by single-chip microcomputer,
Filtered driver head's image is sent to data processing unit；
In data processing unit, according to the driver head's image processed after filtering, draw driver
Head rotation angle and sight line transfer time；When driver head's rotational angle is more than head rotation angle threshold
Value, and pilot's line of vision transfer time more than sight line threshold value transfer time time, perform step S4；
Steering wheel angle data are transferred to data processing unit by S4: steering wheel angle sensor, at data
Reason unit is according to steering wheel angle data, it is judged that steering wheel angle direction is the most to the right；Work as steering wheel angle
Direction be to the right time, perform step S5；
S5: data processing unit is according to the rearview mirror rotation direction set and sets rotational angle, to rotation
Motor sends corresponding rearview mirror turn signal, and rotary electric machine is receiving the rearview mirror turn signal control of correspondence
Rearview mirror processed rotates to rear view of vehicle, and the rotational angle of rearview mirror is for setting rotational angle.
A kind of method improving vehicle meeting security the most as claimed in claim 1, it is characterised in that
After step s 5, data processing unit judges the reality of two car front center lines and the angle of horizontal direction
Whether duration is less than set angle lower limit, and judges that whether real-time vehicle acceleration is more than zero；When two cars
Front center line is less than set angle lower limit, and real-time vehicle with the instantaneous value of the angle of horizontal direction
When acceleration is more than zero, sending corresponding rearview mirror to rotary electric machine and recover signal, rotary electric machine is receiving
Corresponding rearview mirror turn signal controls rearview mirror and recovers to home position.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104626989A (en) * | 2015-01-29 | 2015-05-20 | 柳州市二和汽车零部件有限公司 | Vehicle safety auxiliary control system with voice control and real-time communication functions |
| CN106740834B (en) * | 2015-11-24 | 2020-07-28 | ***通信集团公司 | Method and device for assisting vehicle meeting |
| CN106828326B (en) * | 2016-12-30 | 2019-04-30 | 重庆市永川区中川科技发展有限责任公司 | A kind of Intelligent rearview mirror system |
| CN107054375B (en) * | 2017-04-28 | 2023-02-28 | 深圳市车元素实业有限公司 | Management and evaluation device and method for driving behavior safety of motorcade drivers |
| CN110641464B (en) * | 2018-06-27 | 2023-06-06 | 德尔福技术有限公司 | Camera adjusting system |
| CN109584726A (en) * | 2019-01-21 | 2019-04-05 | 南京达斯琪数字科技有限公司 | A kind of rotational display system |
| CN110310515B (en) * | 2019-04-23 | 2020-11-03 | 绍兴越元科技有限公司 | On-site information identification feedback system |
| CN111260960B (en) * | 2020-02-23 | 2021-08-10 | 长安大学 | Early warning method for vehicle on-road driving in tunnel road section |
| CN113625234A (en) * | 2020-05-06 | 2021-11-09 | 上海海拉电子有限公司 | Installation angle correction method of vehicle radar and vehicle radar |
| CN113071516A (en) * | 2021-04-12 | 2021-07-06 | 同致电子科技（厦门）有限公司 | Narrow space vehicle autonomous advancing method, device and system |
| CN113706914B (en) * | 2021-07-08 | 2023-01-20 | 云度新能源汽车有限公司 | Narrow road section dispatching and passing method and system based on V2X |
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