CN107845291A - The anti-collision early warning system of vehicle and the vehicle for including it - Google Patents
The anti-collision early warning system of vehicle and the vehicle for including it Download PDFInfo
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- CN107845291A CN107845291A CN201711015591.XA CN201711015591A CN107845291A CN 107845291 A CN107845291 A CN 107845291A CN 201711015591 A CN201711015591 A CN 201711015591A CN 107845291 A CN107845291 A CN 107845291A
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- vehicle
- spacing
- early warning
- communication module
- limit
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
-
- 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
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of anti-collision early warning system of vehicle and the vehicle for including it.The anti-collision early warning system of the vehicle of the present invention, including early warning main frame, laser radar apparatus, ultrasonic radar device, warning device.Early warning main frame includes positioner, database communication device and the first communication module, database communication device is used to obtain the limit for height barrier location information in database, positioner is used for the location information for obtaining vehicle in real time, and the spacing of the nearest limit for height barrier of determination vehicle front and vehicle is compared, instructed when spacing is too small and send one-level pre-warning signal.Laser radar apparatus is used for the spacing for detecting limit for height barrier, is instructed when spacing is too small and sends two level pre-warning signal.Ultrasonic radar device is used for the spacing for detecting limit for height barrier, is instructed when spacing is too small and sends three-level pre-warning signal.The present invention can effectively early warning find transport routes in barrier, the security reliability of full-scope safeguards cargo transport.
Description
Technical field
The present invention relates to Internet of Things and intelligent monitoring technology field, more particularly to a kind of anti-collision early warning system of vehicle and
Include its vehicle.
Background technology
With the continuous development of economic construction of China, the heavy construction item such as increasing electric power, the energy, metallurgy, chemical industry
Mesh is implemented in succession.In these mega projects, some are complex-shaped, size super large, and piece weight is overweight and expensive sets
It is standby to need from production and supply to transport safely within the limited time to project scene, thus it is very high to require that transportation has
Safety and reliability.
At present, during large cargo and Spillover Goods Transport, the situation of collision obstacle happens occasionally, and causes tight
The direct losses and immeasurable indirect loss of weight.Therefore, for the generation of effective collision free accident, it is necessary to rely in
Effectively giving warning in advance and timely report supervision for barrier, this is related to the real-time monitoring of the driving behavior for driver,
The reliable accurately measurement of the spacing at each position and barrier for goods.
Current obstacle distance monitoring scheme relies primarily on artificial judgment, in the short link of cargo transport and crucial wind
Dangerous section needs a large amount of manpowers to be checked that take time and effort, efficiency is low repeatedly to goods, and reliability can be by the serious shadow of personnel
Ring, such as, can by the personnel checked experience, judge whether that the factor such as accurate is influenceed.
Therefore, traditional monitoring scheme can not match with efficient quickly transportation demand, can not realize precise and stable prison
Control, it is impossible to meet the transportation demand of the needs of practical application scene, such as expensive big part product, equipment.
The content of the invention
The technical problem to be solved in the present invention is to overcome prior art timely and effectively early warning can not find haul road
Barrier in road and the defects of monitor the driving behavior of driver, proposes a kind of anti-collision early warning system of vehicle and including the anticollision
The vehicle of early warning system.
The present invention is that solve above-mentioned technical problem by following technical proposals：
The invention provides a kind of anti-collision early warning system of vehicle, its feature is that it includes early warning main frame, laser radar
Device, ultrasonic radar device, warning device；
The early warning main frame includes positioner, database communication device and the first communication module, the database communication
Device is used to obtain the limit for height barrier stored in the limit for height barrier database determine with limit for height barrier database communication
Position information, the positioner is used for the location information for obtaining vehicle in real time, and the location information of acquisition and the limit for height are hindered
Hinder thing location information to be compared to determine the spacing of the nearest limit for height barrier of vehicle front and vehicle, when it is determined that spacing fall
The first communication module instructs the warning device to send default one-level pre-warning signal when entering in default first spacing range；
The laser radar apparatus includes laser field scan module and the second communication module, and the laser field scan module is set
Be set to towards vehicle front for the limit for height barrier in front of detecting vehicle and determine its spacing with vehicle, when it is determined that between
The warning device is instructed to send default two level early warning letter away from the second communication module when falling into default second spacing range
Number；
The ultrasonic radar device includes ultrasonic radar range finder module and the 3rd communication module, the ultrasonic radar ranging mould
Block is arranged to towards vehicle front for the limit for height barrier in front of detecting vehicle and determines its spacing with vehicle, when it is determined that
Spacing to send default three-level pre- for warning device described in the 3rd communication module instruction when falling into default 3rd spacing range
Alert signal；
Wherein, the first spacing range, the second spacing range, the upper limit of the 3rd spacing range are successively decreased successively.
It is preferred that in the laser radar apparatus, when spacing determined by the laser field scan module reaches default
The first spacing threshold when, the second communication module sends open command to open the ultrasonic radar device.
It is preferred that anti-collision early warning system also includes collision detecting device, the collision detecting device fills including stress mornitoring
Put and the 4th communication module, the stress detection device are used to be arranged as reaching essentially identical with the peak of the contained goods of vehicle
Height and before the contained goods of vehicle, also, the 4th communication module when the stress detection device detects stress
The warning device is instructed to send default level Four pre-warning signal.
It is preferred that the laser field scan module uses planar array scanning radar, the ultrasonic radar range finder module is using super
Acoustic radar paste block equipment.
It is preferred that the anti-collision early warning system also includes acceleration transducer, the acceleration transducer is used to detect car
Current acceleration, the warning device are additionally operable to prompt vehicle current acceleration while pre-warning signal is sent.
It is preferred that the second communication module instructs the report when saltus step occurs for the spacing that the laser field scan module determines
Alarm device sends default special pre-warning signal, or, when saltus step occurs for the spacing that the ultrasonic radar range finder module determines
Warning device described in 3rd communication module instruction sends default special pre-warning signal.
It is preferred that the warning device has display screen and buzzer.
It is preferred that the early warning main frame also includes data acquisition device, for gathering the laser radar apparatus in real time
And the ultrasonic radar device detects obtained data.
It is preferred that the database communication device has cellular mobile communication module, the communication module is led to using radio frequency
Believe module.
Present invention also offers a kind of vehicle, its feature is that it includes anti-collision early warning system as described above.
It on the basis of common sense in the field is met, above-mentioned each optimum condition, can be combined, it is each preferably real to produce the present invention
Example.
The positive effect of the present invention is：
The present invention vehicle anti-collision early warning system and include its vehicle, can effectively early warning find transport routes
In barrier, in real time monitor driver driving behavior, reliably and accurately measure goods each position relative to barrier away from
From the system reliability is high, improves the monitoring capacity of the road transport to large cargo, can more fully ensure that goods is transported
It is defeated.
Brief description of the drawings
Fig. 1 is the schematic diagram of the anti-collision early warning system of the vehicle of a preferred embodiment of the present invention.
Embodiment
With reference to Figure of description, further the preferred embodiments of the present invention are described in detail, following description
To be exemplary, not limitation of the present invention, other any are still fallen among protection scope of the present invention similar to situation.
In following specific descriptions, the term of directionality, such as "left", "right", " on ", " under ", "front", "rear", etc.,
Direction described in refer to the attached drawing uses.The part of embodiments of the invention can be placed in a variety of different directions, directionality
Term is for illustrative purposes and nonrestrictive.
It is main according to the anti-collision early warning system of the vehicle of a preferred embodiment of the present invention, its hardware components with reference to shown in figure 1
Including early warning main frame, laser radar apparatus, ultrasonic radar device, warning device.Wherein, laser radar apparatus, ultrasonic radar dress
Put (can communicate) with early warning main-machine communication for example with the communication module of 433MHz radio-frequency communication module, or other frequency ranges,
The information detected or data are sent to early warning main frame.Early warning main frame then can instruct warning device alarm.Early warning main frame can
The limit for height barrier location information stored with limit for height barrier database communication with obtaining in limit for height barrier database.Early warning master
Communication between machine and limit for height barrier database can for example be communicated using 3G.
According to some preferred embodiments of the present invention, with reference to shown in figure 1, can surveying APP via road, (data acquisition is surveyed on road
APP), inquire about APP and access limit for height barrier database using network (such as public network).For example, client can pass through
APP mobile terminals or corresponding web page access are pre- to anticollision using the data message in database to limit for height barrier database
Alert system is configured or operated.Survey APP using road, staff can gather the limit for height barrier relevant information of road and by its
Typing is into limit for height barrier database.
In anti-collision early warning system, the early warning main frame includes positioner, database communication device and the first communication mould
Block, the database communication device are used to deposit to obtain in the limit for height barrier database with limit for height barrier database communication
The limit for height barrier location information of storage, the positioner are used for the location information for obtaining vehicle in real time, and by the positioning of acquisition
Information is compared with the limit for height barrier location information to determine between vehicle front nearest limit for height barrier and vehicle
Away from, when it is determined that spacing fall into default first spacing range when the first communication module to instruct the warning device to send default
One-level pre-warning signal.
The laser radar apparatus includes laser field scan module and the second communication module, and the laser field scan module is set
Be set to towards vehicle front for the limit for height barrier in front of detecting vehicle and determine its spacing with vehicle, when it is determined that between
The warning device is instructed to send default two level early warning letter away from the second communication module when falling into default second spacing range
Number.
The ultrasonic radar device includes ultrasonic radar range finder module and the 3rd communication module, the ultrasonic radar ranging mould
Block is arranged to towards vehicle front for the limit for height barrier in front of detecting vehicle and determines its spacing with vehicle, when it is determined that
Spacing to send default three-level pre- for warning device described in the 3rd communication module instruction when falling into default 3rd spacing range
Alert signal.
Wherein, the first spacing range, the second spacing range, the upper limit of the 3rd spacing range are successively decreased successively.That is, between first
The upper limit away from scope relatively far away from, so as to based on the limit for height obstacle stored in vehicle location information and limit for height barrier database
Thing location information remotely, is prompting driver suitably to slow down apart from limit for height barrier with one-level pre-warning signal.One-level early warning is believed
After number sending, if vehicle continues approaching limit for height barrier, the spacing of limit for height barrier and vehicle is detected by laser radar apparatus, if
Spacing is closely to when falling into the second spacing range, with two level pre-warning signal prompting driver closer to barrier,
Thus need further to slow down.After two level pre-warning signal is sent, if vehicle continues approaching limit for height barrier, by ultrasonic radar device
Detect the spacing of limit for height barrier and vehicle, if spacing closely to when falling into the 3rd spacing range, with three-level pre-warning signal
Prompt driver extremely close to barrier, thus need further to slow down and even stop, to avoid goods and limit for height on car
Barrier, which collides, causes loss of goods.
In the typical embodiment of the present invention, the first spacing range, the second spacing range, the 3rd spacing range point
Not Wei the scope of 300-500 rice, the scope of 50-100 rice and 5-15 rice scope.
It should be appreciated that limit for height barrier said here refers to, seen according to the height of the goods of vehicle transport, having can
The barrier that goods collision occurs can be caused.For example, the cargo height of vehicle transport is 2.5 meters, then limit for height barrier refers to limit
Height is approximately equal to 2.5 meters or the barrier less than 2.5 meters, can specifically be set according to being actually needed.That is, can be according to the goods of vehicle transport
The elevation information of thing screens to the limit for height barrier location information stored in limit for height barrier database, has filtered out collision
The limit for height barrier location information of risk.
According to a preferred embodiment of the invention, in the laser radar apparatus, when the laser field scan module
When identified spacing reaches default first spacing threshold, the second communication module sends open command to open the ultrasonic thunder
Up to device.In this embodiment, ultrasonic radar device usually may be configured as closed mode, only in two level early warning mechanism
When the spacing for the limit for height barrier that laser field scan module determines is smaller, ultrasonic radar device is just opened.
According to further preferred embodiment, the laser field scan module uses planar array scanning radar, the ultrasound
Radar range finding module uses ultrasonic radar paste block equipment.Planar array scanning radar can in front of detecting vehicle 100 meters of regions plane it is each
The range information of point, the range information is sent to the microprocessor of early warning main frame.Preferably, the anti-collision early warning system also wraps
Acceleration transducer is included, the acceleration transducer is used to detect the current acceleration of vehicle, and the warning device is additionally operable to
Prompt vehicle current acceleration while sending pre-warning signal.Acceleration transducer detects the acceleration of obtained vehicle, with
And the positioner speed that detects to obtain can all be further used as the condition of the auxiliary judgment of the early warning mechanism of the present invention, contribute to
Effectively evade the barrier misrecognition caused by the different postures of vehicle.
According to a preferred embodiment of the invention, anti-collision early warning system also includes collision detecting device, the collision inspection
Surveying device includes stress detection device and the 4th communication module, and the stress detection device is used to be arranged as reaching contained with vehicle
The peak substantially the same height of goods simultaneously detects before the contained goods of vehicle, also, in the stress detection device
Default level Four pre-warning signal is sent to warning device described in the 4th communication module instruction during stress.Once stress is detected, this
The anti-collision early warning system of invention sends level Four pre-warning signal the most urgent, and warning driver brakes immediately, avoids causing bigger
Damage.
According to a preferred embodiment of the invention, when saltus step occurs for the spacing that the laser field scan module determines the
Warning device described in two communication module instructions sends default special pre-warning signal, or, when the ultrasonic radar range finder module
Warning device described in the 3rd communication module instruction sends default special pre-warning signal when saltus step occurs for the spacing of determination.
When the spacing generation saltus step that the laser field scan module determines, reflect that now vehicle may be due to road bump
Less stable transport condition is in etc. reason, and this has bigger risk to occur to hinder with limit for height compared to normally travel state
Hinder the collision between thing, thus the special pre-warning signal different from general level Four early warning mechanism is sent by warning device, to carry
Awake driver pays attention to.
According to the preferred embodiment of the present invention, the warning device has display screen and buzzer.
According to the preferred embodiment of the present invention, the early warning main frame also includes data acquisition device, for adopting in real time
Collect the laser radar apparatus and the ultrasonic radar device detects obtained data.If the accident of goods collision loss occurs,
Whether the reason for data survey accident that can be stored in called data harvester occurs and driver have manipulation improper.It is this
Scheme helps to supervise and corrects the driving behavior of driver.
According to the preferred embodiment of the present invention, the database communication device has cellular mobile communication module, described
Communication module uses radio-frequency communication module, such as 433MHz communication modules.
According to the preferred embodiment of the present invention, microprocessor that early warning main frame etc. uses for high performance-price ratio STM32 systems
Row microprocessor, based on ARM kernels, the cyclic program of real time operating system can be run, its function of mainly undertaking is including passing
Data acquisition reading, data fusion and the coding of sensor, data storage management, human-computer interaction interface management, and it is Wireless/wired
Communication data transfer etc..
Although the foregoing describing the embodiment of the present invention, it will be appreciated by those of skill in the art that these
It is merely illustrative of, protection scope of the present invention is defined by the appended claims.Those skilled in the art is not carrying on the back
On the premise of principle and essence from the present invention, various changes or modifications can be made to these embodiments, but these are changed
Protection scope of the present invention is each fallen within modification.
Claims (10)
1. a kind of anti-collision early warning system of vehicle, it is characterised in that it includes early warning main frame, laser radar apparatus, ultrasonic radar
Device, warning device；
The early warning main frame includes positioner, database communication device and the first communication module, the database communication device
Letter is positioned for obtaining the limit for height barrier stored in the limit for height barrier database with limit for height barrier database communication
Breath, the positioner are used for the location information for obtaining vehicle in real time, and by the location information of acquisition and the limit for height barrier
Location information is compared to determine the spacing of the nearest limit for height barrier of vehicle front and vehicle, when it is determined that spacing fall into it is pre-
If the first spacing range in when the first communication module instruct the warning device to send default one-level pre-warning signal；
The laser radar apparatus includes laser field scan module and the second communication module, and the laser field scan module is arranged to
For the limit for height barrier in front of detecting vehicle and determine its spacing with vehicle towards vehicle front, when it is determined that spacing fall
The second communication module instructs the warning device to send default two level pre-warning signal when entering in default second spacing range；
The ultrasonic radar device includes ultrasonic radar range finder module and the 3rd communication module, and the ultrasonic radar range finder module is set
Be set to towards vehicle front for the limit for height barrier in front of detecting vehicle and determine its spacing with vehicle, when it is determined that between
Default three-level early warning letter is sent away from warning device described in the 3rd communication module instruction when falling into default 3rd spacing range
Number；
Wherein, the first spacing range, the second spacing range, the upper limit of the 3rd spacing range are successively decreased successively.
2. the anti-collision early warning system of vehicle as claimed in claim 1, it is characterised in that in the laser radar apparatus, when
When spacing determined by the laser field scan module reaches default first spacing threshold, the second communication module sends unlatching and referred to
Make to open the ultrasonic radar device.
3. the anti-collision early warning system of vehicle as claimed in claim 1, it is characterised in that anti-collision early warning system also includes collision inspection
Device is surveyed, the collision detecting device includes stress detection device and the 4th communication module, and the stress detection device is used for cloth
It is set to and reaches with the peak substantially the same height of the contained goods of vehicle and before the contained goods of vehicle, also, in institute
State warning device described in the 4th communication module instruction when stress detection device detects stress and send default level Four pre-warning signal.
4. the anti-collision early warning system of vehicle as claimed in claim 1, it is characterised in that the laser field scan module uses face
Battle array scanning radar, the ultrasonic radar range finder module use ultrasonic radar paste block equipment.
5. the anti-collision early warning system of vehicle as claimed in claim 1, it is characterised in that the anti-collision early warning system also includes adding
Velocity sensor, the acceleration transducer are used to detect the current acceleration of vehicle, and the warning device is additionally operable to sending
Prompt vehicle current acceleration while pre-warning signal.
6. the anti-collision early warning system of vehicle as claimed in claim 1, it is characterised in that when the laser field scan module determines
Spacing when saltus step occurs the second communication module instruct the warning device to send default special pre-warning signal, or, work as institute
Warning device described in the 3rd communication module instruction is sent default when stating the spacing generation saltus step of ultrasonic radar range finder module determination
Special pre-warning signal.
7. the anti-collision early warning system of vehicle as claimed in claim 1, it is characterised in that the warning device have display screen and
Buzzer.
8. the anti-collision early warning system of vehicle as claimed in claim 1, it is characterised in that the early warning main frame also includes data
Harvester, for gathering the laser radar apparatus in real time and the ultrasonic radar device detects obtained data.
9. the anti-collision early warning system of vehicle as claimed in claim 1, it is characterised in that the database communication device has honeybee
Cellular mobile communication module, the communication module use radio-frequency communication module.
10. a kind of vehicle, it is characterised in that it includes the anti-collision early warning system as described in any one in claim 1-9.
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|---|---|---|---|
| CN201711015591.XA CN107845291A (en) | 2017-10-26 | 2017-10-26 | The anti-collision early warning system of vehicle and the vehicle for including it |
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|---|---|---|---|
| CN201711015591.XA CN107845291A (en) | 2017-10-26 | 2017-10-26 | The anti-collision early warning system of vehicle and the vehicle for including it |
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Cited By (13)
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| CN108665702A (en) * | 2018-04-18 | 2018-10-16 | 北京交通大学 | Construction road multistage early warning system and method based on bus or train route collaboration |
| CN109584634A (en) * | 2018-12-28 | 2019-04-05 | 中铁局集团新运工程有限公司 | A kind of electronic protection device, traffic obstacle early warning system and method |
| CN109677377A (en) * | 2018-12-27 | 2019-04-26 | 张庭宇 | A kind of road vehicle limit for height finds out system and the anti-collision protection device that actively brakes |
| CN109693610A (en) * | 2018-12-29 | 2019-04-30 | 河南护航实业股份有限公司 | A kind of application method of laser radar in automobile front anti-collision |
| CN109870690A (en) * | 2019-03-14 | 2019-06-11 | 上海豫兴电子科技有限公司 | A kind of Radar for vehicle method for early warning, device and vehicle |
| CN110562137A (en) * | 2019-09-12 | 2019-12-13 | 东软睿驰汽车技术（沈阳）有限公司 | vehicle anti-collision method and device and vehicle |
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| CN111845730A (en) * | 2019-04-28 | 2020-10-30 | 郑州宇通客车股份有限公司 | Vehicle control system and vehicle based on barrier height |
| CN112216150A (en) * | 2020-09-25 | 2021-01-12 | 浙江大华技术股份有限公司 | Vehicle early warning system, method and device, electronic equipment and storage medium |
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| CN113370979A (en) * | 2021-07-09 | 2021-09-10 | 北京福田戴姆勒汽车有限公司 | Driving safety early warning method and system, vehicle, electronic equipment and storage medium |
| CN113947936A (en) * | 2021-10-18 | 2022-01-18 | 中国电信股份有限公司 | Vehicle height-limiting anti-collision early warning method, system, equipment and storage medium |
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