CN107085393B - The multifunctional electric of self-navigation - Google Patents
The multifunctional electric of self-navigation Download PDFInfo
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- CN107085393B CN107085393B CN201710047858.7A CN201710047858A CN107085393B CN 107085393 B CN107085393 B CN 107085393B CN 201710047858 A CN201710047858 A CN 201710047858A CN 107085393 B CN107085393 B CN 107085393B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2637—Vehicle, car, auto, wheelchair
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- Automation & Control Theory (AREA)
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Abstract
The present invention relates to the multifunctional electrics of self-navigation, it include: self-navigation device, electric vehicle headlight automatic controller, the electric vehicle headlight automatic controller includes main control module and the photo resistance that is connect by power supply line with main control module, the main control module connects direct current 12V power supply by power supply line, power switch is provided on the power supply line, sensitivity potentiometer is provided on the main control module, divider resistance and voltage comparator are connected separately in the photo resistance, also it is connected with headlight power connection on the main control module in turn, big light fitting and headlight stacked switch connector.
Description
Technical field
The present invention relates to electric automobiles more particularly to a kind of multifunctional electrics of self-navigation.
Background technique
Current electric vehicle in the market is many kinds of, but the headlight control of electric vehicle is opened by traditional mechanical combination
It closes to control.This mechanical combination switch, generally existing following drawback:
1. regular needs carry out on and off manually, and switch is easily damaged, and uses the longevity due to being mechanical switch
Life is not grown；
2. this stacked switch due to be installed in handlebar on hand on, and the mechanical contact of the inside is also not sealing, Tianrong of raining
Easily water inlet, causes switch contact to aoxidize, unfavorable switch service life；
3. needing manually due to opening headlight, toggle switch, non intelligent automatic opening, cyclist drives to be easy to forget at night
Big light opening be easy to cause major traffic accidents, etc..
The electric vehicle headlight automatic controller is applied in electric vehicle by the present inventor's research.
Summary of the invention
To solve the above-mentioned problems, the present invention provides the multifunctional electrics of self-navigation, comprising: self-navigation device,
Electric vehicle headlight automatic controller, the electric vehicle headlight automatic controller include main control module and by power supply line and master control
The photo resistance of module connection, the main control module connect direct current 12V power supply by power supply line, are arranged on the power supply line
There is power switch, sensitivity potentiometer is provided on the main control module, partial pressure is connected separately in the photo resistance
Resistance and voltage comparator are also connected with headlight power connection, big light fitting and headlight combination on the main control module in turn
Switch contacts.
Preferably, the main control module uses single-chip microcontroller.
Preferably, the power switch is manual switch.
The present invention is using photo resistance as photosensitive sensor, to acquire ambient strong and weak signals, by comparator
Signal comparison is carried out, signal is finally transmitted to single-chip microcontroller, single-chip microcontroller based on the received come by calculating by signal strength or weakness length of time
Comprehensive descision, if open and close electric vehicle headlight, have the advantages that easy to use, high reliablity.
Specific embodiment
Based on this, the present invention provides a kind of multifunctional electric of self-navigation, comprising: self-navigation device, electric vehicle are big
Lamp automatic controller, the electric vehicle headlight automatic controller include main control module and are connect by power supply line with main control module
Photo resistance, the main control module connects direct current 12V power supply by power supply line, and being provided with power supply on the power supply line opens
It closes, is provided with sensitivity potentiometer on the main control module, is connected separately with divider resistance and electricity in the photo resistance
Comparator is pressed, is also connected with headlight power connection, big light fitting and headlight stacked switch connector in turn on the main control module.
Preferably, the main control module uses single-chip microcontroller.
Preferably, the power switch is manual switch.
Preferably, the multifunctional electric of the self-navigation includes that a kind of multifunctional electric running data acquisition is flat
Platform, the multifunctional electric running data acquisition platform include distance survey equipment, anti-collision equipment, blind area data acquisition set
Standby and blind area shows equipment, and anti-collision equipment is connect with distance survey equipment, for the testing result based on distance survey equipment
Determine the anticollision measurement of vehicle, blind area shows that equipment is connect with blind area data acquisition equipment, is used for real-time display blind area data
Acquire the collection result of equipment.
It is considered as desirable by the inventor to install multifunctional electric running data acquisition platform, equipment is built by introducing three-dimensional environment
It carries out virtualization to electric vehicle ambient enviroment to build, emphasis joined the detection and judgement to neighbouring pedestrian's distance, and by aobvious
Show that equipment is that electric vehicle driver shows or plays back, also by introducing emergency reaction equipment with pedestrian's fast approaching nearby
Shi Jinhang urgent danger prevention, the generation to avoid traffic accident.
Preferably, distance survey equipment, anti-collision equipment, blind area data acquisition equipment and blind area show that equipment is collected respectively
At in different asic chips.
Preferably, distance survey equipment based on infrared detection or ultrasound examination to neighbouring pedestrian target to vehicle away from
From real-time measurement is carried out, to export pedestrian target distance.
Preferably, the multifunctional electric running data acquisition platform includes:
Left side A column picture pick-up device is arranged in the front of the left side A column of electric vehicle and is in the outside of electric vehicle body, uses
In carrying out real time image data acquisition to scene in front of the A column of left side to obtain and export left side A column image；
Right side A column picture pick-up device is arranged in the front of the right side A column of electric vehicle and is in the outside of electric vehicle body, uses
In carrying out real time image data acquisition to scene in front of the A column of right side to obtain and export right side A column image；
Left side A column shows equipment, and the rear of the left side A column of electric vehicle is arranged in and is in the inside of electric vehicle body, with
Left side A column picture pick-up device connection, for carrying out horizontal direction interception to left side A column image based on left side A column width, to obtain a left side
Side interception image, and left side interception image is shown to electric vehicle driver in real time；
Right side A column shows equipment, and the rear of the right side A column of electric vehicle is arranged in and is in the inside of electric vehicle body, with
Right side A column picture pick-up device connection, for carrying out horizontal direction interception to right side A column image based on right side A column width, to obtain the right side
Side interception image, and right side interception image is shown to electric vehicle driver in real time；
Multiple picture pick-up devices are separately positioned on the different location of electric vehicle body, each picture pick-up device includes CCD sensing
Equipment, gamma correction processing equipment, Gaussian smoothing equipment, median filtering equipment, image enhancement processing, distortion type detection are set
Standby, distortion processing equipment, reference point selection equipment, distortion coordinate mapped device, distortion grey scale mapping equipment, target identification equipment
With coordinates of targets extract equipment；
Camera calibration marking device is connect with each picture pick-up device, for obtain each picture pick-up device intrinsic parameter and
The outer parameter of each picture pick-up device, the intrinsic parameter of each picture pick-up device include the focal length of picture pick-up device, CCD sensing equipment ruler
Very little, the pick-up lens distortion factor, the outer parameter of each picture pick-up device include the specific location that picture pick-up device is in electric vehicle body
And the shooting direction of picture pick-up device；
Coordinate mapped device is connect with camera calibration marking device, for receiving the intrinsic parameter of each picture pick-up device and every
The outer parameter of one picture pick-up device, and determined based on the outer parameter of the intrinsic parameter of each picture pick-up device and each picture pick-up device
Mapping relations in the image space of each picture pick-up device between pixel coordinate and three-dimensional world coordinate；
Three-dimensional coordinate is fitted equipment, connect for the coordinates of targets extract equipment respectively with multiple picture pick-up devices, for connecing
Multiple plane coordinates parameters are received, are also connect with camera calibration marking device, picture in the image space for receiving multiple picture pick-up devices
The mapping relations between three-dimensional world coordinate, three-dimensional coordinate are fitted equipment and are based on above-mentioned multiple plane coordinates vegetarian refreshments coordinate respectively
Parameter and the corresponding mapping relations of above-mentioned multiple picture pick-up devices fit neighbouring pedestrian target in three-dimensional world coordinate system
Three-dimensional coordinate is simultaneously exported as objective coordinate；
Environment rebuilt equipment is connect with each picture pick-up device, for receiving respectively from the multiple of multiple picture pick-up devices
Geometric calibration image, based on multiple geometric calibration images to environment rebuilt is carried out around electric vehicle body, to obtain and export electricity
Virtual scene around motor-car vehicle body；
Scene fusion device is connect with environment rebuilt equipment and three-dimensional coordinate fitting equipment respectively, for based on three-dimensional mesh
The movement position of neighbouring pedestrian target is fused in virtual scene to obtain and export blending image frame by mark coordinate；
Display equipment is reviewed, is connect with scene fusion device to receive and play back blending image frame, display equipment packet is reviewed
Include liquid crystal display, display driver and display caching；
Wherein, in each picture pick-up device, gamma correction processing equipment is connect with CCD sensing equipment, for receiving CCD
The high-definition image of sensing equipment acquisition, and gamma correction processing is carried out with output calibration image to high-definition image；CCD sensing equipment
For acquiring progress high-definition data around electric vehicle body to export high-definition image；Gaussian smoothing equipment and gamma correction are handled
Equipment connection carries out Gaussian smoothing for receiving correction image, and to correction image to obtain smoothed image；Median filtering
Equipment is connect with Gaussian smoothing equipment, for smoothed image carry out 5 pixels × 5 block of pixels sizes median filter process with
Obtain filtering image；Image enhancement processing is connect with median filtering equipment, for filtering image carry out image enhancement processing with
Obtain enhancing image.
It is highly preferred that distortion type detection device is connect with image enhancement processing, for connecing in each picture pick-up device
Enhancing image is received, determines the outer dimension of enhancing image, the shape of outer dimension and reference image based on enhancing image
Size determines that the distortion type of enhancing image, distortion type include that hermitian transformation distorts, distortion distorts, radial distortion is abnormal
Become, affine transformation distorts, the distortion of class affine transformation and projective transformation distortion, reference image are to be responsible for region to picture pick-up device
Carry out the distortionless high-definition image that preparatory high-definition data acquisition is exported；
Wherein, in each picture pick-up device, distortion processing equipment is connect with distortion type detection device, when what is received
Distortion type is hermitian transformation distortion, distortion distortion, radial distortion distortion, affine transformation distortion or the distortion of class affine transformation
When, different predetermined geometric transformation is carried out to enhancing image based on different distortion types and is handled, to export geometric calibration image；
Reference point selection equipment connect with distortion type detection device, for the distortion type received for projective transformation distortion when,
Select 6 positions around electric vehicle body as calibration reference point；Distortion coordinate mapped device is set with reference point selection respectively
It is standby to be connected with distortion type detection device, for determining the coordinate of 6 positions in enhancing image, determine 6 in reference image
The coordinate of a position is determined several based on the coordinate for enhancing 6 positions in the coordinate and reference image of 6 positions in image
What transformation matrix of coordinates, and based on all pixels point of the geometric coordinate transformation matrix to enhancing image carry out geometric coordinate transformation with
Corresponding multiple new pixels are obtained, the horizontal coordinate and vertical coordinate for enhancing all pixels point of image are all integer, and new
Horizontal coordinate or the vertical coordinate not necessarily integer of pixel；The grey scale mapping equipment that distorts and distortion coordinate mapped device connect
It connects, for receiving multiple new pixels, when the horizontal coordinate of new pixel and vertical coordinate are all integer, the ash of new pixel
Angle value is the gray value for enhancing the pixel of same coordinate position in image, when the horizontal coordinate or vertical coordinate of new pixel are
When non-integer, the gray value based on multiple pixels around same coordinate position in enhancing image calculates the gray scale of new pixel
Value, the gray value based on multiple new pixels export geometric calibration image；
Wherein, in each picture pick-up device, target identification equipment respectively with distortion processing equipment and distort grey scale mapping
Equipment connection for receiving geometric calibration image, and is identified in geometric calibration image based on preset reference pedestrian contour attached
Nearly pedestrian target；Coordinates of targets extract equipment is connect with target identification equipment, for being existed based on pedestrian target near identifying
Relative position in entire geometric calibration image, determines the plane coordinates parameter of pedestrian target nearby；
Driving direction controls equipment, is arranged in the instrument board of electric vehicle, connect with the steering wheel of electric vehicle control equipment,
Real-time control is carried out for the driving direction to electric vehicle；
Urgent equipment of dodging, is arranged in the instrument board of electric vehicle, controls equipment and spacing monitoring with driving direction respectively
Equipment connection, for when target range is less than or equal to default spacing, control driving direction control equipment to be to realize to electric vehicle
Driving direction real-time control, guarantee that electric vehicle is dodged to far from the direction of neighbouring pedestrian target；
Spacing monitoring equipment, is arranged in the instrument board of electric vehicle, connect with scene fusion device, for receiving fusion figure
As frame, in blending image frame, electric vehicle position is true in movement position and virtual scene based on neighbouring pedestrian target
Fixed real-time range of the pedestrian target apart from electric vehicle nearby as target range to export；
Mode control device is arranged in the instrument board of electric vehicle, connect with equipment of promptly dodging, for driving in electric vehicle
Enabled equipment of promptly dodging is determined whether under the operation for the person of sailing.
More preferably, wherein equipment of promptly dodging control driving direction control equipment is to realize the traveling side to electric vehicle
To real-time control, guarantee that electric vehicle dodge specifically including to far from the direction of neighbouring pedestrian target: target range is smaller,
Amplitude of dodging is bigger；
Wherein, display driver is also connect with equipment of promptly dodging, in equipment control driving direction control of promptly dodging
Control equipment to realize the real-time control to the driving direction of electric vehicle, guarantee electric vehicle to the direction far from neighbouring pedestrian target into
When row is dodged, target range is pushed in display caching in order to which liquid crystal display is accordingly shown；
Wherein, A column in left side shows that equipment includes the short panel type display of left-side images interceptor and left side, left-side images interceptor
It is connect with the short panel type display in left side, right side A column shows that equipment includes the short panel type display of image right interceptor and right side, right part of flg
As interceptor is connect with the short panel type display in right side.
It is highly preferred that multifunctional electric running data acquisition platform further include: apparatus for video communication is merged with scene and set
Standby connection, for transmitting wirelessly blending image frame.
It is highly preferred that apparatus for video communication includes compressed encoding device, for carrying out MPEG-4 standard to blending image frame
Compression is to obtain compression image.
It is highly preferred that apparatus for video communication includes multi objective code devices, it is connect with compressed encoding device, for compression
Image carries out multi objective coding to obtain channel-encoded data.
It is highly preferred that apparatus for video communication includes frequency duplex communications interface, it is connect with multi objective code devices, is used for nothing
Line launch channel coded data.
It is highly preferred that apparatus for video communication includes time division duplex communication interface, it is connect with multi objective code devices, is used for nothing
Line launch channel coded data.
The above-described embodiments merely illustrate the principles and effects of the present invention, and the embodiment that part uses, for
For those skilled in the art, without departing from the concept of the premise of the invention, can also make it is several deformation and
It improves, these are all within the scope of protection of the present invention.
Claims (8)
1. the multifunctional electric of self-navigation characterized by comprising self-navigation device, electric vehicle headlight automatic controller,
It is characterized in that, the electric vehicle headlight automatic controller includes main control module and is connect by power supply line with main control module
Photo resistance, the main control module connect direct current 12V power supply by power supply line, are provided with power supply on the power supply line and open
It closes, is provided with sensitivity potentiometer on the main control module, is connected separately with divider resistance and electricity in the photo resistance
Comparator is pressed, is also connected with headlight power connection, big light fitting and headlight stacked switch connector in turn on the main control module；
The main control module uses single-chip microcontroller；
The power switch is manual switch；
The multifunctional electric of the self-navigation includes a kind of multifunctional electric running data acquisition platform, more function
Energy electric vehicle running data acquisition platform includes that distance survey equipment, anti-collision equipment, blind area data acquisition equipment and blind area are aobvious
Show that equipment, anti-collision equipment are connect with distance survey equipment, for determining vehicle based on the testing result of distance survey equipment
Anticollision measurement, blind area show that equipment is connect with blind area data acquisition equipment, for real-time display blind area data acquisition equipment
Collection result；
It is different that distance survey equipment, anti-collision equipment, blind area data acquisition equipment and blind area show that equipment is integrated in respectively
In asic chip；
Distance survey equipment carries out the distance of neighbouring pedestrian target to vehicle based on infrared detection or ultrasound examination real-time
Measurement, to export pedestrian target distance；
The multifunctional electric running data acquisition platform includes:
Left side A column picture pick-up device, be arranged in the front of the left side A column of electric vehicle and be in electric vehicle body outside, for pair
Scene carries out real time image data acquisition to obtain and export left side A column image in front of the A column of left side；
Right side A column picture pick-up device, be arranged in the front of the right side A column of electric vehicle and be in electric vehicle body outside, for pair
Scene carries out real time image data acquisition to obtain and export right side A column image in front of the A column of right side；
Left side A column shows equipment, and the rear of the left side A column of electric vehicle is arranged in and is in the inside of electric vehicle body, with left side A
The connection of column picture pick-up device is cut for carrying out horizontal direction interception to left side A column image based on left side A column width with obtaining left side
Image is taken, and shows left side interception image to electric vehicle driver in real time；
Right side A column shows equipment, and the rear of the right side A column of electric vehicle is arranged in and is in the inside of electric vehicle body, with right side A
The connection of column picture pick-up device is cut for carrying out horizontal direction interception to right side A column image based on right side A column width with obtaining right side
Image is taken, and shows right side interception image to electric vehicle driver in real time；
Multiple picture pick-up devices are separately positioned on the different location of electric vehicle body, each picture pick-up device includes that CCD sensing is set
Standby, gamma correction processing equipment, Gaussian smoothing equipment, median filtering equipment, image enhancement processing, distortion type detection device,
Distort processing equipment, reference point selection equipment, distortion coordinate mapped device, distortion grey scale mapping equipment, target identification equipment and
Coordinates of targets extract equipment；
Camera calibration marking device is connect with each picture pick-up device, for obtaining the intrinsic parameter of each picture pick-up device and each
The outer parameter of a picture pick-up device, the intrinsic parameter of each picture pick-up device include the focal length of picture pick-up device, CCD sensing equipment size,
The pick-up lens distortion factor, the outer parameter of each picture pick-up device include picture pick-up device be in electric vehicle body specific location and
The shooting direction of picture pick-up device；
Coordinate mapped device is connect with camera calibration marking device, for receive each picture pick-up device intrinsic parameter and each
The outer parameter of picture pick-up device, and determined based on the outer parameter of the intrinsic parameter of each picture pick-up device He each picture pick-up device each
Mapping relations in the image space of a picture pick-up device between pixel coordinate and three-dimensional world coordinate；
Three-dimensional coordinate is fitted equipment, connect for the coordinates of targets extract equipment respectively with multiple picture pick-up devices, more for receiving
A plane coordinates parameter, also connect with camera calibration marking device, pixel in the image space for receiving multiple picture pick-up devices
The mapping relations between three-dimensional world coordinate, three-dimensional coordinate are fitted equipment and are based on above-mentioned multiple plane coordinates parameters coordinate respectively
And the corresponding mapping relations of above-mentioned multiple picture pick-up devices fit three-dimensional of the neighbouring pedestrian target in three-dimensional world coordinate system
Coordinate is simultaneously exported as objective coordinate；
Environment rebuilt equipment is connect with each picture pick-up device, for receiving multiple geometry respectively from multiple picture pick-up devices
Image is calibrated, based on multiple geometric calibration images to environment rebuilt is carried out around electric vehicle body, to obtain and export electric vehicle
Virtual scene around vehicle body；
Scene fusion device is connect with environment rebuilt equipment and three-dimensional coordinate fitting equipment respectively, for being sat based on objective
The movement position of neighbouring pedestrian target is fused in virtual scene to obtain and export blending image frame by mark；
Display equipment is reviewed, is connect with scene fusion device to receive and play back blending image frame, reviewing display equipment includes liquid
Crystal display, display driver and display caching；
Wherein, in each picture pick-up device, gamma correction processing equipment is connect with CCD sensing equipment, for receiving CCD sensing
The high-definition image of equipment acquisition, and gamma correction processing is carried out with output calibration image to high-definition image；CCD sensing equipment is used for
It acquires to high-definition data is carried out around electric vehicle body to export high-definition image；Gaussian smoothing equipment and gamma correction processing equipment
Connection carries out Gaussian smoothing for receiving correction image, and to correction image to obtain smoothed image；Median filtering equipment
It is connect with Gaussian smoothing equipment, for carrying out 5 pixels × 5 block of pixels sizes median filter process to smoothed image to obtain
Filtering image；Image enhancement processing is connect with median filtering equipment, for carrying out image enhancement processing to filtering image to obtain
Enhance image.
2. the multifunctional electric of self-navigation according to claim 1, which is characterized in that
In each picture pick-up device, distortion type detection device is connect with image enhancement processing, for receiving enhancing image, really
Surely the outer dimension of the outer dimension for enhancing image, outer dimension and reference image based on enhancing image determines enhancing figure
The distortion type of picture, distortion type include hermitian transformation distortion, distortion distortion, radial distortion distortion, affine transformation distortion,
The distortion of class affine transformation and projective transformation distortion, reference image are to be responsible for picture pick-up device region to carry out preparatory high-definition data
Acquire the distortionless high-definition image exported；
Wherein, in each picture pick-up device, distortion processing equipment is connect with distortion type detection device, when the distortion received
When type is that hermitian transformation distortion, distortion distortion, radial distortion distortion, affine transformation distortion or class affine transformation distort,
It carries out different predetermined geometric transformation to enhancing image based on different distortion types to handle, to export geometric calibration image；Ginseng
Test sites choice equipment is connect with distortion type detection device, for selecting when the distortion type received is that projective transformation distorts
6 positions around electric vehicle body are selected as calibration reference point；The coordinate mapped device that distorts selects equipment with reference point respectively
It is connected with distortion type detection device, for determining the coordinate of 6 positions in enhancing image, determines in reference image 6
The coordinate of position determines geometry based on the coordinate of 6 positions in the coordinate and reference image of 6 positions in enhancing image
Transformation matrix of coordinates, and geometric coordinate is carried out based on all pixels point of the geometric coordinate transformation matrix to enhancing image and is converted to obtain
Corresponding multiple new pixels are obtained, the horizontal coordinate and vertical coordinate for enhancing all pixels point of image are all integer, and new picture
Horizontal coordinate or the vertical coordinate not necessarily integer of vegetarian refreshments；Distortion grey scale mapping equipment is connect with distortion coordinate mapped device,
For receiving multiple new pixels, when the horizontal coordinate of new pixel and vertical coordinate are all integer, the gray scale of new pixel
Value is the gray value of the pixel of same coordinate position in enhancing image, when the horizontal coordinate or vertical coordinate of new pixel are non-
When integer, the gray value based on multiple pixels around same coordinate position in enhancing image calculates the gray scale of new pixel
Value, the gray value based on multiple new pixels export geometric calibration image；
Wherein, in each picture pick-up device, target identification equipment respectively with distortion processing equipment and distort grey scale mapping equipment
Connection identifies row nearby for receiving geometric calibration image, and based on preset reference pedestrian contour in geometric calibration image
People's target；Coordinates of targets extract equipment is connect with target identification equipment, for based on pedestrian target near identifying entire
Relative position in geometric calibration image determines the plane coordinates parameter of pedestrian target nearby；
Driving direction controls equipment, is arranged in the instrument board of electric vehicle, connect, is used for the steering wheel of electric vehicle control equipment
Real-time control is carried out to the driving direction of electric vehicle；
Urgent equipment of dodging, is arranged in the instrument board of electric vehicle, controls equipment and spacing monitoring equipment with driving direction respectively
Connection, for when target range is less than or equal to default spacing, control driving direction control equipment to be to realize the row to electric vehicle
The real-time control in direction is sailed, guarantees that electric vehicle is dodged to the direction far from neighbouring pedestrian target；
Spacing monitoring equipment, is arranged in the instrument board of electric vehicle, connect with scene fusion device, for receiving blending image
Frame is determined in blending image frame based on electric vehicle position in the movement position and virtual scene of neighbouring pedestrian target
Neighbouring real-time range of the pedestrian target apart from electric vehicle as target range to export；
Mode control device is arranged in the instrument board of electric vehicle, connect with equipment of promptly dodging, in electric vehicle driver
Operation under determine whether enabled equipment of promptly dodging.
3. the multifunctional electric of self-navigation according to claim 2, which is characterized in that
Equipment of promptly dodging control driving direction control equipment guarantees electricity to realize the real-time control to the driving direction of electric vehicle
Motor-car dodge specifically including to the direction far from neighbouring pedestrian target: target range is smaller, and amplitude of dodging is bigger；
Wherein, display driver is also connect with equipment of promptly dodging, for setting in equipment control driving direction control of promptly dodging
For to realize the real-time control to the driving direction of electric vehicle, guarantee that electric vehicle is hided to the direction far from neighbouring pedestrian target
When sudden strain of a muscle, target range is pushed in display caching in order to which liquid crystal display is accordingly shown；
Wherein, A column in left side shows that equipment includes the short panel type display of left-side images interceptor and left side, left-side images interceptor and a left side
The short panel type display connection in side, right side A column show that equipment includes the short panel type display of image right interceptor and right side, and image right is cut
Device is taken to connect with the short panel type display in right side.
4. the multifunctional electric of self-navigation according to claim 3, which is characterized in that multifunctional electric travels number
According to acquisition platform further include: apparatus for video communication is connect with scene fusion device, for transmitting wirelessly blending image frame.
5. the multifunctional electric of self-navigation according to claim 4, which is characterized in that apparatus for video communication includes pressure
Contracting code devices, for carrying out MPEG-4 standard compression to blending image frame to obtain compression image.
6. the multifunctional electric of self-navigation according to claim 5, which is characterized in that apparatus for video communication includes more
Index code devices are connect with compressed encoding device, for carrying out multi objective coding to compression image to obtain channel coding number
According to.
7. the multifunctional electric of self-navigation according to claim 6, which is characterized in that apparatus for video communication includes frequency
Division duplex communication interface is connect with multi objective code devices, is used for wireless transmission channel-encoded data.
8. the multifunctional electric of self-navigation according to claim 7, which is characterized in that when apparatus for video communication includes
Division duplex communication interface is connect with multi objective code devices, is used for wireless transmission channel-encoded data.
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| CN107085393A (en) | 2017-08-22 |
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