CN108263275A - A kind of vehicle assistant drive method for early warning based on dual sensor detection - Google Patents
A kind of vehicle assistant drive method for early warning based on dual sensor detection Download PDFInfo
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- CN108263275A CN108263275A CN201710803590.5A CN201710803590A CN108263275A CN 108263275 A CN108263275 A CN 108263275A CN 201710803590 A CN201710803590 A CN 201710803590A CN 108263275 A CN108263275 A CN 108263275A
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- 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
- B60Q9/002—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle
- B60Q9/004—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors
- B60Q9/006—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors using a distance sensor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/022—Collision avoidance systems
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
Abstract
A kind of vehicle assistant drive method for early warning based on dual sensor detection, including first, second detection sensor of optimal design-aside, calibrated in advance, the step on detection direction be scanned, be calculated step height and vehicle to step distance, the scratch situation of vehicle is judged according to different detection cycles, and Realtime Alerts and adjustment drive manner, be capable of the prompting driver of quantification, and increase investigative range, detection blind area is avoided, effectively prevent scratching.
Description
Technical field
The present invention relates to field of vehicle safety, and in particular to a kind of vehicle assistant drive early warning based on dual sensor detection
Method.
Background technology
With the development of the social economy, vehicle becomes the preferred walking-replacing tool of family of modern society, quantity is nearly 10
Rapidly increase in year.It has been highlighted the problem of parking difficulty at present, complicated parking environment also increases increasingly.In the mistake of vehicle drive
Cheng Zhong inevitably will appear the obstacle road conditions that needs pass through, such as be frequently necessary to reach the step in roadside etc. during parking, in these feelings
Under condition, due to the difference that the structure of different brands and the vehicle of different model all designs, the especially height on chassis and ground
It is different, and driver also can be different for the judgement of roadside obstacle situation, are especially in vehicle energy in the size of barrier
When near the no critical parameters passed through, driver is difficult accurately to judge.Therefore, vehicle 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, utilizes radar detection to presence
During barrier, send out early warning and remind driver note that or the image of barrier is presented to driver by way of influence
To show early warning.However, although aforesaid way effectively can be avoided scratching and be 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 be mostly by horizontal survey or it is approximately parallel in a manner of measure the barrier on periphery, when
Barrier is in less than vehicle rear, and when at the position of vehicle, these positions belong to the blind area of detection, can not pass through
Existing mode is detected.
Invention content
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of height that can realize anticipation barrier in real time
Degree, with vehicle can used height compared, the prompting driver of quantification, and increase investigative range avoids
Detection blind area, the vehicle assistant drive method for early warning detected based on dual sensor so as to effectively prevent scratching.
The present invention provides a kind of vehicle assistant drive method for early warning based on dual sensor detection, successively including following step
Suddenly：
(1) it is respectively arranged to detection front or behind step in the center position of the headstock of vehicle and/or the tailstock
First, second detection sensor of height, wherein first, second detection sensor is co-located, and detection direction exists
It can be adjusted on vertical direction, the detection angle of adjustment is demarcated in advance；
(2) when the tailstock of vehicle or headstock do not need to reach step, then step search switch is in the state closed, when
When the tailstock or headstock of vehicle need to reach step, step search switch is opened, is entered step (3)；
(3) by the first detection sensor in vertical direction with predeterminated frequency emission detection signal, adjustment detection in real time
Angle carries out complete scan in the vertical investigative range in rear or front；
(4) after complete scan is carried out, when determining there are during step, while open first, second detection sensor, adjustment
Detection angle causes first and second detection sensor to separately detect the upper edge and lower edge of step, records first, second detection at this time
Search angle the angle value α and β that sensor detects, and record at this time first, second detection sensor respectively to the upper edge of step and
The length value L 1 and L2 of lower edge；
(5) height of step is calculatedSimultaneously be calculated vehicle to step away from
From D, wherein
(6) if D is more than the safe distance threshold value of vehicle, speed and look-in frequency is kept, otherwise reduces speed, and
Improve look-in frequency；
(7) the step height H that will be calculated in step (5), the gap width between vehicle and ground are compared, are broadcast
The difference of the gap width between step height H and vehicle and ground is reported, sends out early warning；
(8) vehicle continues to travel, and in next detection cycle, adjusts the detection of first, second detection sensor respectively
Angle value α and β so that first, second detection sensor still detects the upper edge and lower edge of step, and records spy at this time respectively
Angle measurement angle value α and β and first, second detection sensor are respectively to the length value L 1 of the upper edge of step and the lower edge to step
Length value L 2
(9) with the calculation identical with step (5) be calculated step at this time height H and vehicle to step distance
D；
(10) step (2)-(9) are repeated, according to the distance D of the height H of step and vehicle to step, real-time broadcasting is simultaneously sent out
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 for ultrasonic distance detection sensor or
Laser distance detection sensor
Further, the mode for opening step search switch is automatic or pass through driver's manually mode.
Further, it is simultaneously sent out according to the distance D of the height H of step and vehicle to step, real-time broadcasting in step (10)
Early warning, the drive manner for adjusting the drive manner of vehicle are specially：
A, if D is more than the safe distance threshold value of vehicle, and when H is more than gap width between vehicle and ground, do not drop
Low speed keeps look-in frequency constant；
B, if D is less than or equal to the safe distance threshold value of vehicle, and when H is more than gap width between vehicle and ground,
Speed is reduced, improves look-in frequency；
C, if D is more than the safe distance threshold value of vehicle, and when H is less than gap width between vehicle and ground, reduce
Speed improves look-in frequency, sends out alarm；
D, if D is less than the safe distance threshold value of vehicle, and when H is less than gap width between vehicle and ground, automatically
Control vehicle brake.
The vehicle assistant drive method for early warning based on dual sensor detection of the present invention can realize anticipation barrier in real time
Height, the height that can be crossed with vehicle compared, the prompting driver of quantification, and increases investigative range, is kept away
Exempted from detection blind area, without using when close it is energy saving, and at the same time acquisition detection vehicle and barrier can be calculated
The distance between, drive manner is adjusted in real time with reference to the elevation information of detection, so as to effectively prevent to scratch；It is and double
The set-up mode of detection sensor effectively reduces the time of scanning probe, improves efficiency.
Description of the drawings
Fig. 1 detects schematic diagram for the vehicle tailstock
Fig. 2 detects schematic diagram for vehicle headstock
Fig. 3 vehicle assistant drive early warning principle schematics
In reference numeral：1 vehicle；2 first, second detection sensors.
Specific embodiment
The following detailed description of the specific implementation of the present invention, it is necessary to it is indicated herein to be, implement to be only intended to this hair below
Bright further explanation, it is impossible to be interpreted as limiting the scope of the invention, field technology skilled person is according to above-mentioned
Some nonessential modifications and adaptations that invention content makes the present invention, still fall within protection scope of the present invention.
The present invention provides a kind of vehicle assistant drive method for early warning based on dual sensor detection, can be needed in vehicle
It is measured in advance when reaching step, the driver of quantitative prompting.As illustrated in fig. 1 and 2, the tailstock of vehicle or headstock need to sail first
Top bar, if the height of step is higher than if vehicle ground clearance, vehicle, which reaches step, can occur the tailstock or vehicle of vehicle
There is a situation where scratch with step for head.Although existing radar detection or image can equally detect the presence of step, and
Driver is reminded, but there is no the height and and vehicle ground clearance of step that quantitative prompting driver needs to reach
Difference situation, therefore even if driver has been reminded to have a step, but due to the erroneous judgement of driver, still think that vehicle can be with
It when reaching step, then can scratch, cause the loss of vehicle.
As depicted in figs. 1 and 2, detection sensor is set in the center position of the headstock of vehicle and/or the tailstock, for visiting
The height of front or behind step is surveyed, wherein the detection direction of detection sensor can be adjusted in the vertical direction, and be adjusted
Detection angle demarcated in advance, i.e., the value of its angle in detection direction direction perpendicular to the ground under all angles all
It is known, the mode demarcated can be dynamic mode, you can dynamically to be corrected using inertia device, to protect
The detection angle of card detection sensor is always the angle in detection direction direction perpendicular to the ground.
During vehicle assistant drive early warning, when the tailstock or headstock of vehicle do not need to reach step, then step
Search switch is in the state closed, and when the tailstock or headstock of vehicle need to reach step, automatically or can pass through driver
Manually mode opens step search switch, can reduce power consumption in this way, improves efficiency.After step search switch is opened, visit
Sensor is surveyed in vertical direction with predeterminated frequency emission detection signal, adjusts detection angle in real time, in the perpendicular of rear or front
It is scanned in straight investigative range, wherein the scanning for the investigative range first completed headed by the mode scanned.
It is scanned during scanning, if using a detection sensor, then during detection,
Due to only there are one detector, detect step upper edge and it is lower along when, be all same detection sensor to detect, from upper
It then needs to expend the time along the detection process to lower edge, however horse back is likely in the process for preventing vehicle from scratching, therefore
The effective saving time can reduce the probability of scratch.Therefore, detection sensor of the invention is respectively used to visit to be set as two
The upper edge and lower edge of scaffold tower rank, are carried out at the same time the detection of upper edge and lower edge, have saved the time in this way.In addition, in the detection of completion
During the scanning of range, one of detection sensor can be only used to carry out, when it is determining there are during step again simultaneously
Two detection sensors are opened, in this way can be energy saving, improve efficiency.
After so step search switch is opened, emitted first by the first detection sensor in vertical direction with predeterminated frequency
Detectable signal adjusts detection angle in real time, is scanned in the vertical investigative range in rear or front, wherein the side scanned
The scanning for the investigative range first completed headed by formula.
It determines there are during step, while opens first, second detection sensor, adjustment detection angle causes first and second spy
Upper edge and lower edge that sensor separately detects step are surveyed, records the search angle that first, second detection sensor at this time detects
Angle value α and β, and record at this time first, second detection sensor respectively to the upper edge of step and the length value L 1 and L2 of lower edge.This
When, the height of step can be calculatedSimultaneously can be calculated vehicle to step away from
From D, whereinIf D is more than the safe distance threshold value of vehicle, regardless of whether by can not
Speed is reduced, because the driving sense of driver can be lowered, and driver may just hope and connect by reducing speed in this case
Close-table rank, therefore do not reduce speed.If D is in when being less than or equal to safe distance threshold value of vehicle, it is more likely that due to anti-
It should scratch not in time, therefore in this case it is necessary to timely reduce speed, while in this case, because
Closer to step, it is therefore desirable to first, second look-in frequency is improved to detect step, so as to remind driver in real time.
The gap on vehicle and ground is generally fixed value, therefore the step height H real-time detected by detection sensor,
Gap width between vehicle and ground is compared, it is possible to show that vehicle can smoothly reach the conclusion of step, so as to real
When prompting driver, driver can judge by these numerical value, adjust drive manner.
In practical vehicle operation, in order to detect step in real time, if continuing to travel, then need after
The continuous upper edge and lower edge for detecting step, at this time since the distance of vehicle and step is also changed, will keep detecting
To the upper edge and lower edge of step, then need to adjust search angle angle value α and β, and in order to avoid false alarm, therefore vehicle is after continuing
It sails, the operating range of each detection cycle is S, then first, second detection sensor still keeps the upper edge of detection barrier
And lower edge, search angle angle value α and β at this time and first, second detection sensor are recorded respectively respectively to the upper edge of step
The length value L 2 of length value L 1 and lower edge to step can equally calculate the height of step
The distance D for obtaining vehicle at this time to step can be calculated simultaneously, whereinIf D is more than vehicle
During safe distance threshold value, and when H is more than gap width between vehicle and ground, speed is not reduced, keeps look-in frequency constant；When
When D is less than or equal to the safe distance threshold value of vehicle, and when H is more than gap width between vehicle and ground, speed is reduced, improves and visits
Measured frequency；When D is more than the safe distance threshold value of vehicle, and when H is less than gap width between vehicle and ground, speed is reduced,
Improve look-in frequency；When D is less than the safe distance threshold value of vehicle, and when H is less than gap width between vehicle and ground, automatically
Control vehicle brake.Certainly, 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
It should be rejected for field technology personnel for being unsatisfactory for the extreme case of design conditions.
Although for illustrative purposes, it has been described that exemplary embodiments of the present invention, those skilled in the art
Member it will be understood that, can be in form and details in the case of the scope and spirit for not departing from invention disclosed in appended claims
On the change that carry out various modifications, add and replace etc., and all these changes should all belong to appended claims of the present invention
Protection domain, and each step in each department of claimed product and method, can be in any combination
Form is combined.Therefore, to disclosed in this invention the description of embodiment be not intended to limit the scope of the 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 assistant drive method for early warning based on dual sensor detection, which is characterized in that include the following steps successively：
(1) the headstock of vehicle and/or the tailstock center position be respectively arranged to detection front or behind step height
First, second detection sensor, wherein first, second detection sensor is co-located, and detection direction is vertical
It can be adjusted on direction, the detection angle of adjustment is demarcated in advance；
(2) when the tailstock of vehicle or headstock do not need to reach step, then step search switch is in the state closed, and works as vehicle
The tailstock or headstock when needing to reach step, open step search switch, enter step (3)；
(3) by the first detection sensor in vertical direction with predeterminated frequency emission detection signal, adjust detection angle in real time,
Complete scan is carried out in the vertical investigative range in rear or front；
(4) after complete scan is carried out, when determining there are during step, while open first, second detection sensor, adjustment detection
Angle causes first and second detection sensor to separately detect the upper edge and lower edge of step, records first, second detection sensing at this time
Search angle the angle value α and β that device detects, and record at this time first, second detection sensor respectively to the upper edge of step and lower edge
Length value L 1 and L2；
(5) height of step is calculatedVehicle is calculated simultaneously to the distance D of step,
Wherein
(6) if D is more than the safe distance threshold value of vehicle, speed and look-in frequency is kept, otherwise reduces speed, and improve
Look-in frequency；
(7) the step height H that will be calculated in step (5), the gap width between vehicle and ground are compared, and report platform
The difference of gap width between rank height H and vehicle and ground, sends out early warning；
(8) vehicle continues to travel, and in next detection cycle, adjusts the angle of first, second detection sensor detection respectively
Value α and β so that first, second detection sensor still detects the upper edge and lower edge of step, and records search angle at this time respectively
The length of angle value α and β and first, second the detection sensor lower edge to the length value L 1 of the upper edge of step and to step respectively
Angle value L2
(9) with the calculation identical with step (5) be calculated step at this time height H and vehicle to step distance D；
(10) step (2)-(9) are repeated, according to the distance D of the height H of step and vehicle to step, real-time broadcasting simultaneously sends out early warning
Prompting adjusts the drive manner of vehicle.
2. the method as described in claim 1, it is characterised in that：First, second detection sensor is passed for ultrasonic listening
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 pass through driver's manually mode.
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 the distance D of step, real-time broadcasting simultaneously sends out early warning, and the drive manner for adjusting the drive manner of vehicle is specially：
A, if D is more than the safe distance threshold value of vehicle, and when H is more than gap width between vehicle and ground, vehicle is not reduced
Speed keeps look-in frequency constant；
B, if D is less than or equal to the safe distance threshold value of vehicle, and when H is more than gap width between vehicle and ground, reduce
Speed improves look-in frequency；
C, if D is more than the safe distance threshold value of vehicle, and when H is less than gap width between vehicle and ground, speed is reduced,
Look-in frequency is improved, sends out alarm；
D, if D is less than the safe distance threshold value of vehicle, and when H is less than gap width between vehicle and ground, automatically control
Vehicle brake.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611269478X | 2016-12-31 | ||
| CN201611269478 | 2016-12-31 |
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| CN108263275A true CN108263275A (en) | 2018-07-10 |
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| CN201710803590.5A Pending CN108263275A (en) | 2016-12-31 | 2017-09-08 | A kind of vehicle assistant drive method for early warning based on dual sensor detection |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110989591A (en) * | 2019-12-02 | 2020-04-10 | 长沙中联重科环境产业有限公司 | Sanitation robot for performing auxiliary operation control based on road edge identification |
| CN111610531A (en) * | 2020-04-21 | 2020-09-01 | 吉利汽车研究院（宁波）有限公司 | Driving early warning method and device for vehicle and storage medium |
| CN112224300A (en) * | 2020-12-15 | 2021-01-15 | 之江实验室 | Stable walking method for biped robot to descend steps |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110989591A (en) * | 2019-12-02 | 2020-04-10 | 长沙中联重科环境产业有限公司 | Sanitation robot for performing auxiliary operation control based on road edge identification |
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| CN112224300A (en) * | 2020-12-15 | 2021-01-15 | 之江实验室 | Stable walking method for biped robot to descend steps |
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Application publication date: 20180710 |