CN106553647A - A kind of flat car DAS (Driver Assistant System) and method - Google Patents
A kind of flat car DAS (Driver Assistant System) and method Download PDFInfo
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- CN106553647A CN106553647A CN201611102907.4A CN201611102907A CN106553647A CN 106553647 A CN106553647 A CN 106553647A CN 201611102907 A CN201611102907 A CN 201611102907A CN 106553647 A CN106553647 A CN 106553647A
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- 238000000034 method Methods 0.000 title claims abstract description 40
- 238000005259 measurement Methods 0.000 claims abstract description 28
- 238000004458 analytical method Methods 0.000 claims abstract description 27
- 230000004888 barrier function Effects 0.000 claims abstract description 20
- 230000003287 optical effect Effects 0.000 claims description 11
- 230000008569 process Effects 0.000 claims description 9
- 238000001514 detection method Methods 0.000 abstract description 2
- 238000003860 storage Methods 0.000 description 12
- 238000002604 ultrasonography Methods 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 5
- 101100494448 Caenorhabditis elegans cab-1 gene Proteins 0.000 description 4
- 230000009471 action Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 238000004422 calculation algorithm Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 230000005622 photoelectricity Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000004891 communication 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Traffic Control Systems (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a kind of flat car DAS (Driver Assistant System) and method; flat car can be moved to specified location with assist driver; flat car can also be automatically controlled and move to specified location; additionally provide the double insurance of Anti-bumping protection; the efficiency of flat car operation is improve, the accident rate of flat car is also reduced.Its technical scheme is：By ultrasonic distance-measuring sensor and ultrasonic ranging controller on flat car vehicle body, then through the analysis and selection of steering pattern, realize that assist driver drives flat car or manipulation flat car sails narrow zone into automatically.Additionally, the present invention can also pass through electro-optical distance measurement sensor and electro-optical distance measurement controller on car, whether there is barrier in detection flat car travel direction, alarm signal is issued by when there is barrier, until stopping, realize the duplicate protection of avoidance.
Description
Technical field
The present invention relates to flat car auxiliary equipment and method, more particularly to the automatic warehouse-in to flat car, auxiliary sail narrow into
The DAS (Driver Assistant System) and method in narrow region.
Background technology
Flat car in the market, two drivers' cabs of band or a drivers' cab, as flat car vehicle body is in length side
To larger with the size of width, and flat car has various steering patterns：Straight trip, diagonal, row, front-axle steering, rear axle
Steering, center steering, right wheel revolution, revolver revolution, the driver in driver room is difficult reasonably to select certain steering pattern, and grasps
In the shelf that flat car drives into workshop gate or goods.One to two commandings, conductor driver are generally needed to complete.
Include steering wheel, gas pedal, brake pedal, control panel, touch screen etc. in the driver room of common flat car.
Operation flat car first has to the position according to flat car place space, goods, selects eight kinds of steering moulds on the touchscreen by driver
One kind in formula, then driver operation steering wheel and gas pedal and brake pedal, control the traveling-position and speed of flat car.
Until flat car moves to desired position.
This mode of operation needs driver to have certain driving experience, and need to the surrounding residing for flat car and
There is one accurately to judge with the distance of barrier, it is often necessary to switch repeatedly steering pattern, vehicle is on direction all around
Move back and forth, eventually arrive at desired place.
The content of the invention
The brief overview of one or more aspects given below is providing to the basic comprehension in terms of these.This general introduction is not
The extensive overview of all aspects for contemplating, and it is also non-to be both not intended to identify the key or decisive key element of all aspects
Attempt to define the scope in terms of any or all.Its unique purpose is will to provide the one of one or more aspects in simplified form
A little concepts think the sequence of more detailed description given later.
It is an object of the invention to solve the above problems, there is provided a kind of flat car DAS (Driver Assistant System) and method, can be with
Assist driver moves flat car to specified location, it is also possible to automatically controls flat car and moves to specified location, additionally provides anticollision
The double insurance of protection, improves the efficiency of flat car operation, also reduces the accident rate of flat car.
The technical scheme is that：Present invention is disclosed a kind of flat car DAS (Driver Assistant System), it is characterised in that system
Including：
Multiple ultrasonic distance-measuring sensors around vehicle frame, for sending and receiving ultrasonic signal；
Ultrasonic ranging controller, connects multiple ultrasonic distance-measuring sensors, according to the multiple ultrasonic rangings for receiving
The ultrasonic signal that sensor sends, knows the distance and bearing of flat car and barrier, by the interior steering pattern for setting point
Analysis module draws the analysis result of flat car steering pattern.
One embodiment of flat car DAS (Driver Assistant System) of the invention, system also include：
Display screen, connects ultrasonic ranging controller, points out optimal flat car steering pattern or its combination, enters for user
Row is selected.
One embodiment of flat car DAS (Driver Assistant System) of the invention, ultrasonic ranging controller also include：
Automatic Pilot module, automatically moves flat car according to analysis result.
One embodiment of flat car DAS (Driver Assistant System) of the invention, system also include：
Electro-optical distance measurement sensor, sends and receives pulsed optical signals；
Electro-optical distance measurement controller, connects electro-optical distance measurement sensor, calculates flat car and barrier according to pulsed optical signals
Distance, when the distance for calculating be less than given threshold when control flat car stop movement.
Present invention further teaches a kind of flat car auxiliary driving method, including：
Ultrasonic signal is sent and received by the multiple ultrasonic distance-measuring sensors around flat board vehicle carriage；
The ultrasonic signal that ultrasonic ranging controller is sent according to the multiple ultrasonic distance-measuring sensors for receiving, obtains
Know the distance and bearing of flat car and barrier, draw the analysis result of flat car steering pattern.
One embodiment of flat car auxiliary driving method of the invention, method also include：
The optimal flat car steering pattern of prompting or its combination, are selected for user.
One embodiment of flat car auxiliary driving method of the invention, method also include：
Flat car is automatically moved according to the analysis result of flat car steering pattern.
One embodiment of flat car auxiliary driving method of the invention, method also include：
In flat car moving process, pulsed optical signals are sent and received by electro-optical distance measurement sensor；
The distance of flat car and barrier is calculated by electro-optical distance measurement controller according to pulsed optical signals, when what is calculated
Distance stops movement less than control flat car during given threshold.
Present invention contrast prior art has following beneficial effect：The present invention is by the ultrasound on flat car vehicle body
Ripple distance measuring sensor and ultrasonic ranging controller, then through the analysis and selection of steering pattern, realize that assist driver drives
Flat car or automatic manipulation flat car sail narrow zone into.Additionally, the present invention can also pass through car on electro-optical distance measurement sensor and
Whether electro-optical distance measurement controller, have barrier in detection flat car travel direction, alarm signal be issued by when there is barrier,
Until stopping, the duplicate protection of avoidance is realized.
Description of the drawings
Figure 1A and 1B show the total figure of an embodiment of the flat car DAS (Driver Assistant System) of the present invention.
Fig. 2 shows the control flow chart of steering pattern analysis module.
The flow chart that Fig. 3 shows the first embodiment of the flat car auxiliary driving method of the present invention.
The flow chart that Fig. 4 shows the second embodiment of the flat car auxiliary driving method of the present invention.
Specific embodiment
After the detailed description of embodiment of the disclosure is read in conjunction with the following drawings, better understood when the present invention's
Features described above and advantage.In the accompanying drawings, each component is not necessarily drawn to scale, and with similar correlation properties or feature
Component may have same or like reference.
The first embodiment of flat car DAS (Driver Assistant System)
Figure 1A and 1B show the population structure of the first embodiment of the flat car DAS (Driver Assistant System) of the present invention.Refer to
Figure 1A and 1B, the system of the present embodiment include multiple ultrasonic distance-measuring sensors 3 around vehicle frame 2, connect multiple super
The ultrasonic ranging controller 5 of sound ranging sensor 3, electro-optical distance measurement sensor 4, the photoelectricity of connection electro-optical distance measurement sensor 4
Ranging controller 6.
For all of flat car, vehicle frame 2 is the carrying platform of flat car, and side bar is I-shaped structure, by horizontal stroke
Beam links together, and bulk strength is high.Respectively there is a drivers' cab 1 before and after flat car, in drivers' cab 1, have steering wheel, travel speed
Pedal, brake pedal, display touch screen etc., show touch screen connection ultrasonic ranging controller 5.
In the present embodiment, 2 surrounding of vehicle frame is provided with 16 ultrasonic distance-measuring sensors 3 and 2 electro-optical distance measurement sensors
4.Ultrasonic distance-measuring sensor 3 sends and receives ultrasound wave, can detect the distance between flat car and barrier, and letter
Number it is sent to ultrasonic ranging controller 5.Received by ultrasonic ranging controller 5 and be distributed in this 16 of flat car surrounding and surpass
After the signal of sound ranging sensor 3, calculation process is carried out, calculate the distance between flat car and barrier and orientation and can
To be shown on display touch screen, and the carrying out point by the interior steering pattern analysis module for setting to flat car steering pattern
Analysis.Steering pattern includes：Straight trip, diagonal, row, front-axle steering, rear axle steering, center steering, right wheel revolution, revolver revolution.
Steering pattern analysis module judges that the time shared by the combination of which kind of steering pattern or which kind steering pattern is most short.Most
Eventually show touch screen on point out to wait to select several steering patterns, can be selected by driver, or pass through automatic Pilot module according to
Analysis result automatically moves flat car, completes the displacement of flat car.
The concrete process of steering pattern analysis module is as shown in Fig. 2 in the present embodiment by various steering moulds of flat car
Formula (straight trip, diagonal, row, front-axle steering, rear axle steering, center steering, left and right wheels revolution) is defined as steering pattern 1, turns to
Pattern 2 ..., steering pattern 7.After program has judged flat car location, first determine whether that steering pattern 1 whether may be used
OK, the execution steering pattern 1 if feasible；If steering pattern 1 is infeasible, judge whether steering pattern 2 is feasible, holds if feasible
Row steering pattern 2, by that analogy, then returnes to rejudge flat car location, then judges that steering pattern 1 whether may be used
OK, steering pattern 1 is performed if feasible, by that analogy, be finally completed the judgement of whole steering patterns, and provide the reasonable and time
The combination of most short steering pattern or steering pattern.
And electro-optical distance measurement sensor 4 is then for as Anti-bumping protection, once ultrasonic distance-measuring sensor 3 breaks down, light
Electric distance measuring sensor 4 is started working, and sends pulsed light and is received, while the time of recording impulse light experience, transmits signal
To electro-optical distance measurement controller 6, electro-optical distance measurement controller 6 calculates actual range, when setpoint distance is reached, sends instruction cut-out
The signal output of flat board vehicle control, so that the movement of flat car emergent stopping.This pulse ranging technology of electro-optical distance measurement
360 ° of comprehensive measurements can be reached, coverage can reach more than 30 meters.
The second embodiment of flat car DAS (Driver Assistant System)
Relative to first embodiment above, difference is to eliminate the photoelectricity for further functioning as Anti-bumping protection to the present embodiment
Distance measuring sensor 4 and electro-optical distance measurement controller 6.In the present embodiment, system only includes the multiple ultrasounds around vehicle frame 2
Ripple distance measuring sensor 3, the ultrasonic ranging controller 5 for connecting multiple ultrasonic distance-measuring sensors 3.
For all of flat car, vehicle frame 2 is the carrying platform of flat car, and side bar is I-shaped structure, by horizontal stroke
Beam links together, and bulk strength is high.Respectively there is a drivers' cab 1 before and after flat car, in drivers' cab 1, have steering wheel, travel speed
Pedal, brake pedal, display touch screen etc., show touch screen connection ultrasonic ranging controller 5.
In the present embodiment, 2 surrounding of vehicle frame is provided with 16 ultrasonic distance-measuring sensors 3 and 2 electro-optical distance measurement sensors
4.Ultrasonic distance-measuring sensor 3 sends and receives ultrasound wave, can detect the distance between flat car and barrier, and letter
Number it is sent to ultrasonic ranging controller 5.Received by ultrasonic ranging controller 5 and be distributed in this 16 of flat car surrounding and surpass
After the signal of sound ranging sensor 3, calculation process is carried out, calculate the distance between flat car and barrier and orientation and can
To be shown on display touch screen, and the analysis of flat car steering pattern is drawn by the interior steering pattern analysis module for setting
As a result.Steering pattern includes：Straight trip, diagonal, row, front-axle steering, rear axle steering, center steering, right wheel revolution, revolver are returned
Turn, the time shared by the combination of which kind of steering pattern or which kind steering pattern is most short.It is final above to carry in display touch screen
Show and wait to select several steering patterns, can be selected by driver, or automatically moved according to analysis result by automatic Pilot module flat
Wooden handcart, completes the displacement of flat car.
The concrete process of steering pattern analysis module is as shown in Fig. 2 in the present embodiment by various steering moulds of flat car
Formula (straight trip, diagonal, row, front-axle steering, rear axle steering, center steering, left and right wheels revolution) is defined as steering pattern 1, turns to
Pattern 2 ..., steering pattern 7.After program has judged flat car location, first determine whether that steering pattern 1 whether may be used
OK, the execution steering pattern 1 if feasible；If steering pattern 1 is infeasible, judge whether steering pattern 2 is feasible, holds if feasible
Row steering pattern 2, by that analogy, then returnes to rejudge flat car location, then judges that steering pattern 1 whether may be used
OK, steering pattern 1 is performed if feasible, by that analogy, be finally completed the judgement of whole steering patterns, and provide the reasonable and time
The combination of most short steering pattern or steering pattern.
The first embodiment of flat car auxiliary driving method
Fig. 3 shows the flow process of the first embodiment of the flat car auxiliary driving method of the present invention.Fig. 3 is referred to, below
It is the detailed record of the implementation steps of the flat car auxiliary driving method to the present embodiment.
Step S11：Ultrasound is sent and received by the multiple ultrasonic distance-measuring sensors around flat board vehicle carriage
Ripple signal.
Step S12：The ultrasound that ultrasonic ranging controller is sent according to the multiple ultrasonic distance-measuring sensors for receiving
Ripple signal, knows the distance and bearing of flat car and barrier, draws the analysis result of flat car steering pattern.
In the present embodiment by various steering patterns of flat car (straight trip, diagonal, row, front-axle steering, rear axle steering,
Center steering, left and right wheels revolution) be defined as steering pattern 1, steering pattern 2 ..., steering pattern 7.When program has judged flat board
After car location, first determine whether whether steering pattern 1 is feasible, steering pattern 1 is performed if feasible；If steering pattern 1 is not
It is feasible, then judge whether steering pattern 2 is feasible, steering pattern 2 is performed if feasible, by that analogy, then returnes to sentence again
Disconnected flat car location, then judge whether steering pattern 1 is feasible, steering pattern 1 is performed if feasible, by that analogy, most
Complete the judgement of whole steering patterns eventually, and be given rationally and time most short steering pattern or steering pattern combination.
Step S13：Processed according to the analysis result of flat car steering pattern.
Processing mode has two kinds, and a kind of is that optimal flat car steering pattern or its combination are pointed out on display touch screen,
Selected for user.Another kind is, without the need for user operation, to automatically move flat board according to the analysis result of flat car steering pattern
Car.
The second embodiment of flat car auxiliary driving method
Fig. 4 shows the flow process of the second embodiment of the flat car auxiliary driving method of the present invention.Fig. 4 is referred to, below
It is the detailed record of the implementation steps of the flat car auxiliary driving method to the present embodiment.
Step S21：Ultrasound is sent and received by the multiple ultrasonic distance-measuring sensors around flat board vehicle carriage
Ripple signal.
Step S22：The ultrasound that ultrasonic ranging controller is sent according to the multiple ultrasonic distance-measuring sensors for receiving
Ripple signal, knows the distance and bearing of flat car and barrier, draws the analysis result of flat car steering pattern.
In the present embodiment by various steering patterns of flat car (straight trip, diagonal, row, front-axle steering, rear axle steering,
Center steering, left and right wheels revolution) be defined as steering pattern 1, steering pattern 2 ..., steering pattern 7.When program has judged flat board
After car location, first determine whether whether steering pattern 1 is feasible, steering pattern 1 is performed if feasible；If steering pattern 1 is not
It is feasible, then judge whether steering pattern 2 is feasible, steering pattern 2 is performed if feasible, by that analogy, then returnes to sentence again
Disconnected flat car location, then judge whether steering pattern 1 is feasible, steering pattern 1 is performed if feasible, by that analogy, most
Complete the judgement of whole steering patterns eventually, and be given rationally and time most short steering pattern or steering pattern combination.
Step S23：Processed according to the analysis result of flat car steering pattern.
Processing mode has two kinds, and a kind of is that optimal flat car steering pattern or its combination are pointed out on display touch screen,
Selected for user.Another kind is, without the need for user operation, to automatically move flat board according to the analysis result of flat car steering pattern
Car.
Step S24：In flat car moving process, pulsed optical signals are sent and received by electro-optical distance measurement sensor.
This pulse ranging technology of electro-optical distance measurement can reach 360 ° of comprehensive measurements, and coverage can reach 30 meters
More than.
Step S25：The distance of flat car and barrier is calculated by electro-optical distance measurement controller according to pulsed optical signals, when
When the distance for calculating is less than given threshold, control flat car stops movement.
Although for make explanation simplify said method is illustrated and is described as a series of actions, it should be understood that and understand,
These methods are not limited by the order of action, because according to one or more embodiments, some actions can occur in different order
And/or with from it is depicted and described herein or not shown herein and describe but it will be appreciated by those skilled in the art that other
Action concomitantly occurs.
Those skilled in the art will further appreciate that, the various illustratives described with reference to the embodiments described herein
Logic plate, module, circuit and algorithm steps are capable of achieving as electronic hardware, computer software or combination of the two.For clear
Chu ground explains this interchangeability of hardware and software, various illustrative components, frame, module, circuit and step be above with
Its functional form makees vague generalization description.Such feature be implemented as hardware or software depend on concrete application and
Put on the design constraint of total system.Technical staff for every kind of application-specific can be realized with different modes it is described
Feature, but such realize that decision-making should not be interpreted to cause departing from the scope of the present invention.
Various illustrative logic plates, module and circuit with reference to presently disclosed embodiment description can use general place
Reason device, digital signal processor (DSP), special IC (ASIC), field programmable gate array (FPGA) or other can compile
Journey logical device, discrete door or transistor logic, discrete nextport hardware component NextPort or its be designed to carry out function described herein
Any combinations are realizing or perform.General processor can be microprocessor, but in alternative, the processor can be appointed
What conventional processor, controller, microcontroller or state machine.Processor is also implemented as the combination of computing device, example
The one or more microprocessors that cooperate with DSP core with the combination of microprocessor, multi-microprocessor such as DSP or it is any its
His such configuration.
The step of method described with reference to embodiment disclosed herein or algorithm, can be embodied directly in hardware, in by processor
In the software module of execution, or in combination of the two embody.Software module can reside in RAM memory, flash memory, ROM and deposit
Reservoir, eprom memory, eeprom memory, depositor, hard disk, removable disk, CD-ROM or known in the art appoint
In the storage medium of what other forms.Exemplary storage medium is coupled to processor so that the processor can be from/to the storage
Medium reads and writes information.In alternative, storage medium can be integrated into processor.Processor and storage medium can
Reside in ASIC.ASIC is can reside in user terminal.In alternative, processor and storage medium can be used as discrete sets
Part is resident in the user terminal.
In one or more exemplary embodiments, described function can be in hardware, software, firmware or its any combinations
Middle realization.If being embodied as computer program in software, each function can be instructed as one or more bars or generation
Code storage on a computer-readable medium or mat its transmitted.Computer-readable medium includes computer-readable storage medium and communication
Both media, which includes any medium for facilitating computer program to shift from one place to another.Storage medium can be can quilt
Any usable medium that computer is accessed.It is non-limiting as an example, such computer-readable medium may include RAM, ROM,
EEPROM, CD-ROM or other optical disc storages, disk storage or other magnetic storage apparatus can be used to carry or store instruction
Or the desirable program code and any other medium that can be accessed by a computer of data structure form.Any connection is also by by rights
Referred to as computer-readable medium.For example, if software is using coaxial cable, fiber optic cables, twisted-pair feeder, digital subscriber line
, or the wireless technology of such as infrared, radio and microwave etc is passed from web site, server or other remote sources (DSL)
Send, then the coaxial cable, fiber optic cables, twisted-pair feeder, DSL or such as infrared, radio and microwave etc is wireless
Among technology is just included in the definition of medium.Disk (disk) as used herein and dish (disc) are including compact disc
(CD), laser disc, laser disc, digital versatile disc (DVD), floppy disk and blu-ray disc, which disk (disk) are often reproduced in the way of magnetic
Data, and dish (disc) laser reproduce data optically.Combinations of the above should also be included in computer-readable medium
In the range of.
It is for so that any person skilled in the art can all make or use this public affairs to provide of this disclosure being previously described
Open.Various modifications of this disclosure all will be apparent for a person skilled in the art, and as defined herein general
Suitable principle can be applied to spirit or scope of other variants without departing from the disclosure.Thus, the disclosure is not intended to be limited
Due to example described herein and design, but should be awarded and principle disclosed herein and novel features phase one
The widest scope of cause.
Claims (8)
1. a kind of flat car DAS (Driver Assistant System), it is characterised in that system includes：
Multiple ultrasonic distance-measuring sensors around vehicle frame, for sending and receiving ultrasonic signal；
Ultrasonic ranging controller, connects multiple ultrasonic distance-measuring sensors, according to the multiple ultrasonic ranging sensings for receiving
The ultrasonic signal that device sends, knows the distance and bearing of flat car and barrier, analyzes mould by the interior steering pattern for setting
Block draws the analysis result of flat car steering pattern.
2. flat car DAS (Driver Assistant System) according to claim 1, it is characterised in that system also includes：
Display screen, connects ultrasonic ranging controller, points out optimal flat car steering pattern or its combination, is selected for user
Select.
3. flat car DAS (Driver Assistant System) according to claim 1, it is characterised in that ultrasonic ranging controller is also wrapped
Include：
Automatic Pilot module, automatically moves flat car according to analysis result.
4. flat car DAS (Driver Assistant System) according to claim 1, it is characterised in that system also includes：
Electro-optical distance measurement sensor, sends and receives pulsed optical signals；
Electro-optical distance measurement controller, connects electro-optical distance measurement sensor, according to pulsed optical signals calculate flat car and barrier away from
From when the distance for calculating is less than given threshold, control flat car stops movement.
5. a kind of flat car auxiliary driving method, it is characterised in that include：
Ultrasonic signal is sent and received by the multiple ultrasonic distance-measuring sensors around flat board vehicle carriage；
The ultrasonic signal that ultrasonic ranging controller is sent according to the multiple ultrasonic distance-measuring sensors for receiving, knows flat
Wooden handcart and the distance and bearing of barrier, draw the analysis result of flat car steering pattern.
6. flat car auxiliary driving method according to claim 5, it is characterised in that method also includes：
The optimal flat car steering pattern of prompting or its combination, are selected for user.
7. flat car auxiliary driving method according to claim 5, it is characterised in that method also includes：
Flat car is automatically moved according to the analysis result of flat car steering pattern.
8. the flat car auxiliary driving method according to claim 6 or 7, it is characterised in that method also includes：
In flat car moving process, pulsed optical signals are sent and received by electro-optical distance measurement sensor；
The distance of flat car and barrier is calculated by electro-optical distance measurement controller according to pulsed optical signals, when the distance for calculating
Stop movement less than flat car is controlled during given threshold.
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| CN201611102907.4A CN106553647B (en) | 2016-12-05 | 2016-12-05 | Auxiliary driving system and method for flat car |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109035866A (en) * | 2018-08-30 | 2018-12-18 | 长安大学 | A kind of road construction vehicle intellectualized management system and method |
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| CN106553647B (en) | 2020-02-18 |
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