CN106627573A - Vehicle wide-range assistant driving early-warning method - Google Patents
Vehicle wide-range assistant driving early-warning method Download PDFInfo
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- CN106627573A CN106627573A CN201611269486.4A CN201611269486A CN106627573A CN 106627573 A CN106627573 A CN 106627573A CN 201611269486 A CN201611269486 A CN 201611269486A CN 106627573 A CN106627573 A CN 106627573A
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000001514 detection method Methods 0.000 claims description 84
- 238000006748 scratching Methods 0.000 abstract description 4
- 230000002393 scratching effect Effects 0.000 abstract description 4
- 230000004888 barrier function Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000011002 quantification Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000010009 beating Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Human Computer Interaction (AREA)
- Emergency Alarm Devices (AREA)
Abstract
A vehicle wide-range assistant driving early-warning method comprises the steps that a first detecting sensor and a second detecting sensor are set optimally, calibration is conducted in advance, steps in the detecting direction are scanned, and the heights of the steps and the distances between a vehicle and the steps are obtained through calculation; and the scratching situation of the vehicle is judged according to different detecting periods, alarms are given out in real time, and the driving mode is adjusted in real time. A driver can be reminded quantitatively; and the detecting range is widened, detecting dead zones are avoided, and scratching is effectively prevented.
Description
Technical field
The present invention relates to field of vehicle safety, and in particular to a kind of vehicle wide scope aids in driving warning method.
Background technology
With the development of social economy, vehicle becomes the first-selected walking-replacing tool of family of modern society, and its quantity is nearly 10
Rapidly increase in year.At present the problem of parking difficulty has been highlighted, and complicated parking environment also increases increasingly.In the mistake of vehicle drive
Cheng Zhong, occurs unavoidably the obstacle road conditions that needs are passed through, such as be frequently necessary to reach the step in roadside etc. when stopping, in these feelings
Under condition, due to the difference that the structure of different brands and the vehicle of different model is all designed, especially chassis and the height on ground
It is different, and driver also can be different for the judgement of roadside obstacle situation, and especially the size in barrier is in vehicle energy
When near the no critical parameters for passing through, driver is difficult accurately judgement.Therefore, vehicle Jing often scratches, especially
Scratch to chassis and bumper, causes economic loss.
At present, existing vehicle barrier detection is all suitable for greatly the mode of radar and image, using radar detection to presence
During barrier, send early warning and remind driver to note, or the image of barrier is presented into driver by way of affecting
To show early warning.However, although aforesaid way effectively can be avoided scratching and collided, prompting of the aforesaid way without standard measure
Driver, in the case of being alerted so as to driver, can also drive vehicle and scratch, especially in the feelings for needing to reach step
Condition.Further, since existing detection method is mostly the barrier for measuring periphery with horizontal survey or approximately parallel mode, when
In when being less than at vehicle rear, and the position of close vehicle, these positions belong to the blind area of detection to barrier, it is impossible to pass through
Existing mode is detected.
The content of the invention
It is an object of the invention to overcome the deficiencies in the prior art, there is provided a kind of height that can realize real-time anticipation barrier
Degree, the height that can be crossed with vehicle is contrasted, the prompting driver of quantification, and increases investigative range, it is to avoid
Detection blind area, so as to effectively prevent the vehicle wide scope auxiliary driving warning method for scratching.
The invention provides a kind of vehicle wide scope aids in driving warning method, comprise the following steps successively：
(1) it is respectively arranged to detect the height of rear step at the distance of M in the center of the tailstock of vehicle
First, second detection sensor, the both sides of close vehicle body wherein the set location of first, second sensor is tried one's best respectively, the
First, the detection direction in the vertical direction of the second detection sensor can be adjusted, and the detection angle for adjusting is carried out in advance
Demarcate；
(2) when the tailstock of vehicle need not reach step, then step search switch is in the state closed, when vehicle
When the tailstock needs to reach step, step search switch is opened, into step (3)；
In vertical direction with predeterminated frequency emission detection signal, adjustment in real time is detected (3) first, second detection sensors
Angle, in the vertical investigative range at rear complete scan is carried out；
(4) after complete scan is carried out, when detection determination has step, adjustment detection angle causes first, second spy
The upper edge that sensor separately detects step is surveyed, search angle angle value α of now first, second detection sensor is recorded respectively1And α2,
And the length value L 11, L12 on the now upper edge of first, second detection sensor to step is recorded respectively, detection angle is adjusted afterwards
So that first, second detection sensor detects the lower edge of step, the search angle of now first, second detection sensor is recorded respectively
Angle value β1And β2, and the length value L 21 and L22 of the now lower edge of first, second detection sensor to step are recorded respectively；
(5) height of step is calculated respectively：WithH=max (H1, H2), i.e. H takes the maximum of H1 and H2, while calculating
To vehicle to step apart from D, wherein
(6) if D is more than the safe distance threshold value of vehicle, speed and look-in frequency are kept, otherwise reduces speed, and
Improve look-in frequency；
(7) by calculated shoulder height H in step (5), the gap width between vehicle and ground is contrasted, broadcast
The difference of report shoulder height H and the gap width between vehicle and ground, sends early warning；
(8) vehicle continues to travel, and in next detection cycle, search angle angle value α is adjusted respectively1, α2, β1And β2So that
First, second detection sensor still keeps respectively upper edge and the lower edge of detection step, and records detection angle now respectively
Value α1, α2, β1And β2, and first, second detection sensor respectively to step upper edge length value L 11 and L12 and to step
Lower edge length value L 21, L22；
(9) with the distance that the height H and vehicle of now step to step is calculated with step (5) identical calculation
D；
(10) repeat step (2)-(9), according to the height H and vehicle of step to step apart from D, real-time broadcasting simultaneously sends
Early warning, adjusts the drive manner of vehicle.
Further, first, second detection sensor is ultrasonic listening sensor or laser acquisition sensor.
Further, the ultrasonic listening sensor or laser acquisition sensor be ultrasonic distance detection sensor or
Laser distance detection sensor
Further, the mode for opening step search switch is automatic or by the manual mode of driver.
Further, in step (10) according to the height H and vehicle of step to step apart from D, real-time broadcasting simultaneously sends
Early warning, the drive manner for adjusting the drive manner of vehicle is specially：
If A, D more than vehicle safe distance threshold value, and H more than gap width between vehicle and ground when, do not drop
Low speed, keeps look-in frequency constant；
If B, D less than or equal to vehicle safe distance threshold value, and H more than gap width between vehicle and ground when,
Speed is reduced, look-in frequency is improved；
If C, D more than vehicle safe distance threshold value, and H less than gap width between vehicle and ground when, reduce
Speed, improves look-in frequency, sends alarm；
If D, D less than vehicle safe distance threshold value, and H less than gap width between vehicle and ground when, automatically
Control vehicle brake.
The vehicle wide scope auxiliary driving warning method of the present invention, it is possible to achieve the height of the barrier of anticipation in real time, with car
The height that can be crossed is contrasted, the prompting driver of quantification, and increase investigative range, it is to avoid detection is blind
Area, carries out closing energy-conservation when not using, and obtains the distance between detection vehicle and barrier while can calculate,
Carry out real-time adjustment drive manner with reference to the elevation information of detection, so as to effectively prevent to scratch；Also, first, second visits
Surveying the setting of sensor can detect respectively the step of wide scope, so as to avoid during single position sensing, due to the shape of step
Shape changes greatly, the inaccurate situation of detection occurs.
Description of the drawings
Fig. 1 is that the vehicle tailstock detects schematic diagram
Fig. 2 is setting schematic diagram of first, second detection sensor in the tailstock
Fig. 3 vehicles wide scope auxiliary drives early warning principle schematic
In reference：1 vehicle；2 first, second detection sensors.
Specific embodiment
The following detailed description of being embodied as the present invention, it is necessary to it is pointed out here that, below implement to be only intended to this
Bright further illustrates, it is impossible to be interpreted as limiting the scope of the invention, and art skilled person is according to above-mentioned
Some nonessential modifications and adaptations that the content of the invention is made to the present invention, still fall within protection scope of the present invention.
The invention provides a kind of vehicle wide scope aids in driving warning method, can carry when vehicle needs to reach step
Pre-test, the driver of quantitative prompting.As shown in figure 1, the tailstock of vehicle needs to reach step, if the height of step is higher than
If vehicle ground clearance, then vehicle reaches step can occur the situation that the tailstock of vehicle scratches with step generation.Although, it is existing
Radar detection or image can equally detect the presence of step, and remind driver, but not quantitative prompting
Driver needs the height of step for reaching, and the difference situation with vehicle ground clearance, even if therefore having reminded driver
There is step, but due to the erroneous judgement of driver, when still thinking that vehicle can reach step, then can scratch, cause car
Loss.
In the driving procedure of vehicle, the anterior situation driver of car can intuitively see, and the situation of the tailstock is received
It is limited to the impact at visual angle, it is difficult to see the barrier at the tailstock rear of car clearly, therefore when the afterbody of vehicle needs to reach step, should
When detection sensor as much as possible is arranged, so as to avoid the occurrence of blind area, the scratch of vehicle is caused.
Therefore, as shown in Fig. 2 being respectively provided with first, second spy at the distance of M in the center of the tailstock of vehicle
Sensor is surveyed, for detecting the height of rear step, wherein the set location of first, second sensor tries one's best the two of close vehicle body
Side, the detection direction in the vertical direction of first, second detection sensor can be adjusted, and the detection angle for adjusting is pre- advanced
Demarcation is gone, i.e., it is all known under all angles in the value of the angle in detection direction direction perpendicular to the ground, enters rower
Fixed mode can be dynamic mode, you can dynamically to be corrected using inertia device, to ensure detection sensor
Detection angle is always the angle in detection direction direction perpendicular to the ground.
During vehicle assistant drive early warning, when the tailstock of vehicle need not reach step, then step detection is opened
The state in closing is closed, when the tailstock of vehicle needs to reach step, can be beating automatically or by the manual mode of driver
Begin a theatrical performance rank search switch, can so reduce power consumption, improve efficiency.After step search switch is opened, first, second detection is passed
Sensor, with predeterminated frequency emission detection signal, adjusts in real time detection angle in vertical direction, in the vertical investigative range at rear
Inside it is scanned, wherein the scanning of the investigative range first completed headed by the mode for scanning, it is determined that when there is step, adjustment is visited
Measuring angle causes first, second detection sensor to separately detect the upper edge of step, and now first, second detection sensing is recorded respectively
Search angle angle value α of device1And α2, and the length value L 11 on the now upper edge of first, second detection sensor to step is recorded respectively,
L12, adjusts afterwards detection angle and causes first, second detection sensor to detect the lower edge of step, record respectively now first, the
Search angle angle value β of two detection sensors1And β2, and the now lower edge of first, second detection sensor to step is recorded respectively
Length value L 21 and L22.
At this point it is possible to calculate the height of step respectivelyWithH=max (H1, H2), i.e. H take the maximum of H1 and H2, while can calculate
Vehicle is obtained to step apart from D, whereinIf D is more than the safe distance threshold value of vehicle
When, regardless of whether by the way that speed can not be reduced, because reducing speed in this case can lower the driving sense of driver,
And driver may just hope close step, therefore not reduce speed.If D is in vehicle less than or equal to safe distance
During threshold value, it is more likely that because reaction is scratched not in time, therefore in this case it is necessary to timely reduce speed,
In this case, because closer to step, it is therefore desirable to improve look-in frequency to detect step, so as to remind in real time simultaneously
Driver.
The gap on vehicle and ground is generally fixed value, therefore real-time detected by first, second detection sensor
Gap width between shoulder height H, with vehicle and ground is contrasted, it is possible to show that vehicle can smoothly reach the knot of step
By, so as to remind driver, driver just can judge by these numerical value in real time, adjustment drive manner.
In actual vehicle operation, in order to detection step in real time, if continuing to travel, then need after
Continuous upper edge and the lower edge for detecting step, now because the distance of vehicle and step also there occurs change, therefore first, second visits
Surveying sensor will keep detecting upper edge and the lower edge of step respectively, then need to adjust search angle angle value α1, α2, β1And β2, and
In order to avoid false alarm, therefore vehicle continues to travel, and the operating range of each detection cycle is S, then first, second detection is passed
Sensor still keeps respectively upper edge and the lower edge of detection step, then record the detection of now first, second detection sensor respectively
Angle value α1, α2, β1And β2, and first, second detection sensor respectively to step upper edge length value L 11 and L12 and extremely
The length value L 21, L22 of the lower edge of step, can equally calculate the height of stepWithH=max (H1, H2), i.e. H take the maximum of H1 and H2, while can calculate
To vehicle to step apart from D, whereinIf D is more than the safe distance threshold value of vehicle,
And H more than gap width between vehicle and ground when, do not reduce speed, keep look-in frequency constant；When D is less than or equal to vehicle
During safe distance threshold value, and H more than gap width between vehicle and ground when, reduce speed, improve look-in frequency；When D is more than
During the safe distance threshold value of vehicle, and H less than gap width between vehicle and ground when, reduce speed, improve look-in frequency；When
D less than vehicle safe distance threshold value when, and H less than gap width between vehicle and ground when, automatically control vehicle brake.When
So, in each detection process, all result of detection is shown, Realtime Alerts remind driver.
It should be noted that the extreme case for not meeting the present invention is likely to occur during calculating, but for this
For the extreme case for being unsatisfactory for design conditions should be rejected for art personnel.
Although for illustrative purposes, it has been described that the illustrative embodiments of the present invention, those skilled in the art
Member will be understood that, in the case of the scope and spirit without departing from the invention disclosed in claims, can be in form and details
On carry out various modifications, addition and replace etc. change, and it is all these change should all belong to claims of the present invention
Protection domain, and each department of claimed product and each step in method, can be in any combination
Form is combined.Pair therefore, disclosed in this invention the description of embodiment be not intended to limit the scope of the present invention,
But for describing the present invention.Correspondingly, the scope of the present invention is not limited by embodiment of above, but by claim or
Its equivalent is defined.
Claims (5)
1. a kind of vehicle wide scope aids in driving warning method, it is characterised in that comprise the following steps successively：
(1) it is respectively arranged to detect the of the height of rear step at the distance of M in the center of the tailstock of vehicle
First, the second detection sensor, the both sides of close vehicle body wherein the set location of first, second sensor is tried one's best respectively, first, the
The detection direction in the vertical direction of two detection sensors can be adjusted, and the detection angle for adjusting is demarcated in advance；
(2) when the tailstock of vehicle need not reach step, then step search switch is in the state closed, when the tailstock of vehicle
When needing to reach step, step search switch is opened, into step (3)；
(3) first, second detection sensors, with predeterminated frequency emission detection signal, adjust in real time search angle in vertical direction
Degree, in the vertical investigative range at rear complete scan is carried out；
(4) after complete scan is carried out, when detection determination has step, adjustment detection angle causes first, second detection to pass
Sensor separately detects the upper edge of step, and search angle angle value α of now first, second detection sensor is recorded respectively1And α2, and point
The length value L 11, L12 on the now upper edge of first, second detection sensor to step is not recorded, detection angle is adjusted afterwards and is caused
First, second detection sensor detects the lower edge of step, and the search angle angle value of now first, second detection sensor is recorded respectively
β1And β2, and the length value L 21 and L22 of the now lower edge of first, second detection sensor to step are recorded respectively；
(5) height of step is calculated respectively：WithH=max (H1, H2), i.e. H take the maximum of H1 and H2, while calculating
Vehicle is obtained to step apart from D, wherein
(6) if D is more than the safe distance threshold value of vehicle, speed and look-in frequency are kept, otherwise reduces speed, and improved
Look-in frequency；
(7) by calculated shoulder height H in step (5), the gap width between vehicle and ground is contrasted, and reports platform
The difference of the gap width between rank height H and vehicle and ground, sends early warning；
(8) vehicle continues to travel, and in next detection cycle, search angle angle value α is adjusted respectively1, α2, β1And β2So that first,
Second detection sensor still keeps respectively upper edge and the lower edge of detection step, and records search angle angle value α now respectively1,
α2, β1And β2, and first, second detection sensor respectively to step upper edge length value L 11 and L12 and to step
The length value L 21, L22 on edge；
(9) with the height H and vehicle of now step are calculated with step (5) identical calculation to step apart from D；
(10) repeat step (2)-(9), according to the height H and vehicle of step to step apart from D, real-time broadcasting simultaneously sends early warning
Prompting, adjusts the drive manner of vehicle.
2. the method for claim 1, it is characterised in that：First, second detection sensor is ultrasonic listening biography
Sensor or laser acquisition sensor.
3. method as claimed in claim 2, it is characterised in that：The ultrasonic listening sensor or laser acquisition sensor are
Ultrasonic distance detection sensor or laser distance detection sensor.
4. the method as described in one of claim 1-3, it is characterised in that：The mode for opening step search switch is automatic
Or by the manual mode of driver.
5. the method as described in one of claim 1-4, it is characterised in that：According to the height H and vehicle of step in step (10)
To step apart from D, real-time broadcasting simultaneously sends early warning, and the drive manner for adjusting the drive manner of vehicle is specially：
If A, D more than vehicle safe distance threshold value, and H more than gap width between vehicle and ground when, do not reduce car
Speed, keeps look-in frequency constant；
If B, D less than or equal to vehicle safe distance threshold value, and H more than gap width between vehicle and ground when, reduce
Speed, improves look-in frequency；
If C, D more than vehicle safe distance threshold value, and H less than gap width between vehicle and ground when, reduce speed,
Look-in frequency is improved, alarm is sent；
If D, D less than vehicle safe distance threshold value, and H less than gap width between vehicle and ground when, automatically control
Vehicle brake.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611269486.4A CN106627573A (en) | 2016-12-31 | 2016-12-31 | Vehicle wide-range assistant driving early-warning method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611269486.4A CN106627573A (en) | 2016-12-31 | 2016-12-31 | Vehicle wide-range assistant driving early-warning method |
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| CN106627573A true CN106627573A (en) | 2017-05-10 |
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| CN201611269486.4A Pending CN106627573A (en) | 2016-12-31 | 2016-12-31 | Vehicle wide-range assistant driving early-warning method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114489075A (en) * | 2022-01-26 | 2022-05-13 | 苏州挚途科技有限公司 | Method and device for controlling unmanned clearance vehicle and electronic equipment |
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Application publication date: 20170510 |