CN108944925A - A kind of novel intelligent vehicle-mounted monitoring system and control method - Google Patents
A kind of novel intelligent vehicle-mounted monitoring system and control method Download PDFInfo
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- CN108944925A CN108944925A CN201810920631.3A CN201810920631A CN108944925A CN 108944925 A CN108944925 A CN 108944925A CN 201810920631 A CN201810920631 A CN 201810920631A CN 108944925 A CN108944925 A CN 108944925A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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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
- G08G1/164—Centralised systems, e.g. external to vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
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Abstract
The present invention relates to vehicle-mounted monitoring technical field, a kind of novel intelligent vehicle-mounted monitoring system and control method, including data acquisition module, data processing module, judgment module, control module and execution module are specifically disclosed.Data acquisition module is installed on vehicle body, for acquiring vehicle body perimeter data；Data processing module is connect with data acquisition module, for being analyzed and processed to the collected data of data acquisition module, exports warning information；Judgment module judges whether driver executes avoiding action；Control module is connect with judgment module, for when driver is not carried out avoiding action, control signal to be evaded in sending；Execution module is connect with control module, for executing avoiding action according to the control signal of evading of control module.The monitoring system can execute automatically avoiding action when driver executes avoiding action not in time as a result, provide maximum guarantee for the personal safety of vehicle and driver, the risk factor in vehicle driving process is preferably minimized.
Description
Technical field
The present invention relates to vehicle-mounted monitoring technical fields, and in particular to a kind of novel intelligent vehicle-mounted monitoring system and controlling party
Method.
Background technique
Vehicle-mounted prewarning monitoring system is all the key project of automobile industry research all the time.Such research achievement is plentiful and substantial,
Such as infrared detection technique, microwave sounding technology, ultrasonic listening technology and Laser Detection Technique etc..These technologies at
It is ripe, but influenced by variety classes factor itself, all lie in less than it is contemplated that effect.Especially obtained in driver
After the warning information issued to vehicle-mounted prewarning monitoring system, when taking avoiding action in time, vehicle and driver's
Personal safety still faces great risk.
Summary of the invention
For this purpose, the technical problem to be solved by the present invention is to there are security risks in vehicle travel process.
In order to solve the above technical problems, The technical solution adopted by the invention is as follows:
The embodiment of the invention provides a kind of novel intelligent vehicle-mounted monitoring systems, comprising:
Data acquisition module is installed on vehicle body, for acquiring the vehicle body perimeter data；
Data processing module is connect with the data acquisition module, for the collected data of data acquisition module into
Row analysis processing, exports warning information；
Judgment module, judges whether driver executes avoiding action；
Control module is connect with the judgment module, for when driver is not carried out avoiding action, control to be evaded in sending
Signal；
Execution module is connect with the control module, for executing rule according to the control signal of evading of the control module
Keep away movement.
Optionally, the data acquisition module is FMCW millimetre-wave radar.
It optionally, further include extension assembly, one end of the extension assembly is connect with the vehicle body, the other end and the number
It is connected according to acquisition module.
Optionally, the extension assembly can extend 10cm-20cm towards detection direction.
It optionally, further include rotary components, the rotary components are set to the extension assembly and the data acquisition module
Between block.
Optionally, the avoiding action includes any one in braking, slow down, turning left, turning right, moving backward.
The embodiment of the invention also provides a kind of control methods of novel intelligent vehicle-mounted monitoring system, comprising the following steps:
Acquire vehicle body perimeter data；
Collected vehicle body perimeter data is analyzed and processed, warning information is exported；
Judge whether driver executes avoiding action；
When driver is not carried out avoiding action, control signal is evaded in sending；
Avoiding action is executed according to the control signal of evading.
Optionally, the vehicle body perimeter data includes the relative velocity and relative distance between vehicle-to-target barrier.
Optionally, described that collected vehicle body perimeter data is analyzed and processed, export warning information the step of include:
Judge whether the relative distance between the vehicle and the target obstacle is less than safe distance；
When the relative distance between the vehicle and the target obstacle is less than safe distance, then the vehicle is based on
Relative velocity and the relative distance between the target obstacle export warning information.
Optionally, the relative velocity and relative distance based between vehicle-to-target barrier exports warning information
Step includes:
Based on the relative velocity and the relative distance acquisition vehicle and the mesh between the vehicle-to-target barrier
Mark the collision time between barrier；
Judge whether the collision time is less than preset value；
When the collision time is less than the preset value, then the warning information is exported.
Technical solution of the present invention has the advantages that
Novel intelligent vehicle-mounted monitoring system provided in an embodiment of the present invention, data acquisition module is for acquiring vehicle body periphery number
According to；Data processing module exports warning information for being analyzed and processed to the collected data of data acquisition module；Judgement
Module is for judging whether driver executes avoiding action；Control module is used to issue rule when driver is not carried out avoiding action
Keep away control signal；Execution module executes avoiding action according to the control signal of evading of control module.The embodiment of the present invention mentions as a result,
The novel intelligent vehicle-mounted monitoring system of confession can execute automatically avoiding action when driver executes avoiding action not in time, be vehicle
And the personal safety of driver provide maximum guarantee, the risk factor in vehicle driving process is preferably minimized.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of novel intelligent vehicle-mounted monitoring system provided in an embodiment of the present invention；
Fig. 2 is the flow chart of the control method of novel intelligent vehicle-mounted monitoring system provided in an embodiment of the present invention.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " on ", "lower", "vertical", "horizontal", "inner", "outside" etc.
The orientation or positional relationship of instruction is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention and letter
Change description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific orientation construct and
Operation, therefore be not considered as limiting the invention.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also indirectly connected through an intermediary, it can be with
It is the connection inside two elements, can be wireless connection, be also possible to wired connection.For those of ordinary skill in the art
For, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
As long as in addition, the non-structure each other of technical characteristic involved in invention described below different embodiments
It can be combined with each other at conflict.
The embodiment of the invention provides a kind of novel intelligent vehicle-mounted monitoring systems, as shown in Figure 1, including data acquisition module
1, data processing module 2, judgment module 3, control module 4 and execution module 5.
Wherein, data acquisition module 1 is installed on vehicle body, for acquiring vehicle body perimeter data；Data processing module 2 and number
It is connected according to acquisition module 1, for being analyzed and processed to the collected data of data acquisition module 1, exports warning information；Judgement
Module 3 is for judging whether driver executes avoiding action；Control module 4 is connect with judgment module 3, for not holding as driver
When row avoiding action, control signal is evaded in sending；Execution module 5 is connect with control module 4, for the rule according to control module 4
It keeps away control signal and executes avoiding action.
As a result, novel intelligent vehicle-mounted monitoring system provided in an embodiment of the present invention can driver execute not in time evade it is dynamic
When making, avoiding action is executed automatically, provides maximum guarantee for the personal safety of vehicle and driver, vehicle was exercised
Risk factor in journey is preferably minimized.
As a kind of optional embodiment, in the present embodiment, data acquisition module 1 is FMCW millimetre-wave radar.
FMCW millimetre-wave radar refers to the continuous wave radar that tranmitting frequency is modulated by signal specific.FMCW millimetre-wave radar is logical
Cross the frequency for comparing any time echo-signal frequency and this moment transmitting signal the method for difference to obtain range-to-go
Information, distance are proportional to the difference on the frequency of the two.The radial velocity and distance of target obtain after being handled by the two difference on the frequency measured
It arrives.Compared with other ranging and range rate radars, the structure of FMCW millimetre-wave radar is simpler.And required transmission power peak compared with
Low, easy modulation, at low cost, signal processing is simple, thus is common radar system in car radar.The embodiment of the present invention is adopted
It uses FMCW millimetre-wave radar as data acquisition module 1, is conducive to improve modulation rate, and simplify data acquisition module 1
Structure.
The working principle of FMCW millimetre-wave radar is described hereinafter.
It further include extension group in the novel intelligent vehicle-mounted monitoring system in the present embodiment as a kind of optional embodiment
One end of part, extension assembly is connect with vehicle body, and the other end is connect with data acquisition module 1.
Wherein, extension assembly may include the cylinder and telescopic rod interconnected, and telescopic rod and data acquisition module 1 connect
It connects.When work, by the driving effect of cylinder, drive telescopic rod flexible, and then realize the flexible of data acquisition module 1
Detection range is lengthened or shortened according to actual use demand.For example, can be driven and be stretched by cylinder when object is closer apart from vehicle
Contracting bar retract, when object apart from vehicle farther out when, can by cylinder drive telescopic rod stretch out, to extend data acquisition module 1
Can acquisition range, realize at a distance detection.
As alternative embodiments, extension assembly can select other that can realize that the component of Telescopic is realized,
It achieves the object of the present invention, belongs to the scope of protection of the present invention.
As a kind of optional embodiment, in the present embodiment, extension assembly can extend 10cm-20cm towards detection direction.
According to actual needs, it is also extend to longer distance.
As a kind of optional embodiment, in the present embodiment, which further includes rotary components,
Rotary components are set between extension assembly and data acquisition module 1.By the setting of rotary components, it can be achieved that data acquisition module
The adjusting of 1 detection angle of block, i.e. realization multi-angle detect automatically.Preferably, rotary components can drive data acquisition module 1 to rotate
360 degree, realization is comprehensive, without dead angle detects, and improves the service performance of the vehicle-mounted monitoring system.
Preferably, in the present embodiment, rotary components may include motor and rotary shaft, wherein the output end connection of rotary shaft
Data acquisition module 1, the rotation of motor control rotary shaft, and then drive and rotated with the data acquisition module 1 of rotation axis connection, the knot
Structure is relatively simple, easily implements, convenient for being widely used to promote.
Preferably, which includes several data acquisition modules 1, and several data acquisition modules 1 are installed respectively
At the different location of vehicle body, it thus can realize multi-angle while be acquired data, enhance detection efficient.
In the present embodiment, evade control signal include brake, slow down, turn left, turn right, reversing etc. in any one or it is more
Kind.Execution module 5 evades control letter according to any one or more in brake, deceleration, left-hand rotation, right-hand rotation, reversing received etc.
Number, execute any one or more avoiding action in brake, deceleration, left-hand rotation, right-hand rotation, reversing etc..For example, can be controlled separately vehicle
Brake, slow down, turn left, turn right etc., vehicle deceleration and left-hand rotation can also be controlled simultaneously, perhaps slow down and turn right or slow down
With reversing etc..
It further include regarding in real time in the novel intelligent vehicle-mounted monitoring system in the present embodiment as a kind of optional embodiment
Frequency filming apparatus, real-time video capture device is used to shoot vehicle body surrounding enviroment under high vehicle speeds state, and is transmitted to
On Vehicular display device, facilitates driver and find potential danger existing for vehicle-surroundings in time.
The embodiment of the invention also provides a kind of control methods of novel intelligent vehicle-mounted monitoring system, as shown in Fig. 2, including
Following steps:
Step S11, vehicle body perimeter data is acquired.Generally, collected vehicle body perimeter data mainly includes vehicle and mesh
Mark relative velocity and the relative distance etc. between barrier.
Step S12, collected vehicle body perimeter data is analyzed and processed, exports warning information.By collected
The information such as relative velocity and relative distance between vehicle-to-target barrier judge whether current vehicle is in risk status, if
In risk status, then warning information is exported, driver is prompted to take corresponding avoiding action.
Step S13, judge whether driver executes avoiding action.Specifically, whether have by the driving status to vehicle
Corresponding variation, to judge whether driver has executed avoiding action.
Step S14, when driver is not carried out avoiding action, control signal is evaded in sending.
When driver is not carried out avoiding action, vehicle then issues still under risk status and evades control signal at this time.Its
In, evading control signal includes any one or more in brake, deceleration, left-hand rotation, right-hand rotation, reversing etc..For example, evading control
Signal can be only brake, can be only to slow down, can only turn left etc..It is also possible to slow down plus turns left, can be deceleration and add
Turn right etc..It should be noted that evading, control signal is associated with warning information, and different warning information is corresponding to evade control
Signal is not identical.
It when driver has been carried out avoiding action, does not then issue and evades control signal, continue to execute step S12.
Step S15, basis evades control signal execution avoiding action.That is, according to the brake, deceleration, left-hand rotation, the right side that receive
Turn, reversing etc. in any one or more evade control signal, executes in brake, deceleration, left-hand rotation, right-hand rotation, reversing etc. times
It anticipates one or more avoiding actions.For example, can be controlled separately vehicle brake, deceleration, left-hand rotation, right-hand rotation etc., can also control simultaneously
Vehicle deceleration and left-hand rotation, perhaps slow down and turn right or slow down and move backward etc..
The control method of novel intelligent vehicle-mounted monitoring system provided in an embodiment of the present invention can execute not in time in driver
When avoiding action, avoiding action is executed automatically, maximum guarantee is provided for the personal safety of vehicle and driver, by vehicle
Risk factor in driving process is preferably minimized.
The working principle of FMCW millimetre-wave radar is introduced below:
Using FMCW millimetre-wave radar, in conjunction with more Pood's frequency shifting techniques, it is made to measure relative velocity and relative distance.
If its Doppler frequency shift are as follows: dp, frequency of sound wave are as follows: bp, frequency of source are as follows: yp can be obtained,
Dp=bp-yp
The frequency of its transmitted wave and time are in cyclically-varying.
If the time difference of transmitted wave and echo is Δ t, can obtain,
Δ t=2d/v
If frequency is ff in its transmitted wave, Δ f is that mixing is poor, and k is transmitted wave and the identical slope of echo, can be obtained,
Ff=Δ f-dp=k* Δ t-dp
If frequency is hf in its echo, Δ f is difference on the frequency, and k is transmitted wave and the identical slope of echo, can be obtained,
Hf=Δ f+dp=k* Δ t+dp
Since FMCW millimetre-wave radar will measure the relative velocity with barrier, if it is vx, relative velocity and transmitted wave
Frequency and frequency in echo are closely related.It can obtain,
vx=c* (hf-ff)/4fz
Due to only existing the difference of time difference between transmitted wave and echo, so, according to above-mentioned formula, can find out
Relative distance between FMCW millimetre-wave radar and barrier.By changing with the frequency of transmitted wave in periodic triangular, according to this
One characteristic,
If mixing difference Δ f is
Δ f=hf-ff
If its relative distance dx, above-mentioned formula can be borrowed here, Δ F signal bandwidth can obtain,
dx=c*T* Δ f/4* Δ F
=[c*T (hf-ff)]/(4* Δ F)
Thus relative velocity and relative distance are got.
When practical application, judge whether the relative distance between vehicle and barrier that FMCW millimetre-wave radar detects is small
In safe distance, when whether relative distance is less than safe distance, in conjunction with the relative velocity between vehicle and barrier, issue pre-
Alert information.Specifically, the collision time for obtaining vehicle-to-target object can be calculated by the following formula:
If the collision time of the two is pt, the collision distance Δ d of the two, front speed vq, our speed vb, can obtain
pt=Δ d/ Δ v=Δ d/ (vb-vq)
The collision time being calculated is compared with preset value, if collision time is less than preset value, exports warning information,
If driver does not take corresponding avoiding action, which executes avoiding action automatically.
The safe distance between vehicle and barrier is described below:
Due to the smallest safe distance be codetermined by the motion state of front vehicles and our vehicle, so set with
Under several variables:
If the reaction time of driver is t1；
Braking time is t2；
Duration is t under deceleration regime3；
At the uniform velocity state lower time t4；
Speed before the braking of this vehicle is vb；
Speed before the braking of front vehicle is vq；
The maximum deceleration of two vehicles is am。
Motion state based on vehicle can be divided into three kinds of states:
1. stationary state: preceding vehicle speed is 0, i.e., static.That is, spacing:
D1=vh(t1+t2+t3/2)+Δs
2. at the uniform velocity or acceleration mode:
Ruo Benche speed is less than the vehicle in front, and it is not in the risk of collision moment that two vehicles distance, which increases,；
Ruo Benche speed is greater than the vehicle in front, and two vehicles distance reduces, when two vehicle speeds are identical, it may appear that risk of collision
Moment.
That is, spacing:
3. slowing down or braking stopping:
When front truck be in slow down either ramp to stop state, i.e.,.Regardless of two vehicles be simultaneously stopped still wherein one first stop
Under, when this vehicle speed is 0, in Maximum risk moment.
That is, spacing:
Vehicle-mounted monitoring system provided by the embodiment of the present invention is using (SuSE) Linux OS as control system, vehicle-mounted system
System is more matched with Embedded (SuSE) Linux OS.It, can be under the catalogues such as dev, opt based on external device file
Carry out file modification, extracting parameter etc..By the calling of these parameters, to realize internal Linux program software to external equipment
Command operation and external equipment execution.
Be broadly divided into three modules to the original data processing of millimetre-wave radar in the application: (1) CAN-USB initializes journey
Sequence；(2) millimetre-wave radar driver；(3) millimetre-wave radar data calculation procedure.
The hardware mainly used is DSP28335 data processing chip, TMS320F28335 digitial controller and 32
The high-performance processor of floating point processing unit.
(1) CAN-USB initialization program
DSP is mainly responsible for the initial data for receiving millimeter wave detection barrier as core processor.It is right before reception
CAN-USB equipment is initialized.
(2) millimetre-wave radar driver
It is analyzed and processed according to Denso millimetre-wave radar characteristic, the mode that millimetre-wave radar transmits data is to provide
Time in millimetre-wave radar CAN address write-in activation instruction, can normally work and send back to target information
Initial data.
1. for the specific formula for calculation of the address CANID110 check sum:
Msg [7]=0x08+0x01+0x10+msg [1]+msg [2]+msg [3]+msg [4]+msg [5]+msg [6]
2. for the specific formula for calculation of the address CANID110 check sum:
Msg1 [7]=0x08+0x01+0x11+msg1 [1]+msg1 [2]+msg1 [3]+msg1 [4]+msg1 [5]+msg1
[6]
(3) millimetre-wave radar data calculation procedure
Denso millimetre-wave radar can scan up to 6 barriers simultaneously in one cycle, and obtain its former number
According to being stored on the address millimetre-wave radar CAN with 8 data modes.
Built-in Linux operating system used by the application is described below:
(1) operating system for making embedded Linux, can be realized the acquisitions of the data of information, the processing of data analysis,
It sends pre-warning signal and shows the function of early warning video.
1. SD card
2. universal Boot Loader (uboot image)；
3. ubuntukylin-16.04-desktop-amd64 (linux operating system)；
4. tools such as serial ports, USB etc..
(2) SD card is made, can independently be driven
SD card is loaded into SD card reader, then is linked on pc machine by USB interface, after SD card to be identified, is walked accordingly
Rapid operation.
(3) independent NandFlash flash memory is developed
According to the demand of system, the memory of development board is carried out emptying processing.
End to be processed connects the com interface of development board with microcomputer interface, after startup power supply, carries out resetting DNW
Terminal software.DNW terminal is selected, is that its functionality is relatively stable.
(4) Linux system is finished writing and is put into exploitation version NandFlash
1. after being first formatted SD card, starting SD card, and serial port data line is connected to the com interface and pc of development board
Machine serial ports；
2. carrying out a series of relevant operation
3. disconnecting the power supply of development board and setting the starting of nandflash register for shift plate switch；
Following table is that SD card starts toggle switch table:
| Pin number | P8 | P7 | P6 | P5 | P4 | P3 | P2 | P1 |
| Pin definition | SELNAND | OM4 | OM3 | OM2 | OM1 | GPN15 | GPN14 | GPN13 |
| SD card starting | 1 | 1 | 1 | 1 | 1 | 0 | 0 | 0 |
Following table is that NandFlash starts toggle switch table:
(5) all steps after treatment to be confirmed, restarts power supply, and Linux operation is just written to development board
In NandFlash, Linux can normally start on platform.
Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And it is extended from this it is obvious variation or
It changes still within the protection scope of the invention.
Claims (10)
1. a kind of novel intelligent vehicle-mounted monitoring system characterized by comprising
Data acquisition module is installed on vehicle body, for acquiring the vehicle body perimeter data；
Data processing module is connect with the data acquisition module, for dividing the collected data of data acquisition module
Analysis processing, exports warning information；
Judgment module, for judging whether driver executes avoiding action；
Control module is connect with the judgment module, for when driver is not carried out avoiding action, control letter to be evaded in sending
Number；
Execution module is connect with the control module, for according to the control module evade control signal execution evade it is dynamic
Make.
2. novel intelligent vehicle-mounted monitoring system according to claim 1, which is characterized in that the data acquisition module is
FMCW millimetre-wave radar.
3. novel intelligent vehicle-mounted monitoring system according to claim 1, which is characterized in that it further include extension assembly, it is described
One end of extension assembly is connect with the vehicle body, and the other end is connect with the data acquisition module.
4. novel intelligent vehicle-mounted monitoring system according to claim 3, which is characterized in that the extension assembly can be towards spy
It surveys direction and extends 10cm-20cm.
5. novel intelligent vehicle-mounted monitoring system according to claim 3, which is characterized in that it further include rotary components, it is described
Rotary components are set between the extension assembly and the data acquisition module.
6. novel intelligent vehicle-mounted monitoring system according to claim 1, which is characterized in that the avoiding action includes stopping
Vehicle, deceleration, left-hand rotation, right-hand rotation, any one in reversing.
7. a kind of control method of novel intelligent vehicle-mounted monitoring system, which comprises the following steps:
Acquire vehicle body perimeter data；
Collected vehicle body perimeter data is analyzed and processed, warning information is exported；
Judge whether driver executes avoiding action；
When driver is not carried out avoiding action, control signal is evaded in sending；
Avoiding action is executed according to the control signal of evading.
8. the control method of novel intelligent vehicle-mounted monitoring system according to claim 7, which is characterized in that the vehicle body week
Number of edges is according to including the relative velocity and relative distance between vehicle-to-target barrier.
9. the control method of novel intelligent vehicle-mounted monitoring system according to claim 8, which is characterized in that described pair of acquisition
To vehicle body perimeter data be analyzed and processed, export warning information the step of include:
Judge whether the relative distance between the vehicle and the target obstacle is less than safe distance；
When the relative distance between the vehicle and the target obstacle is less than safe distance, then the vehicle and institute are based on
State the relative velocity and relative distance output warning information between target obstacle.
10. the control method of novel intelligent vehicle-mounted monitoring system according to claim 9, which is characterized in that described to be based on
The step of relative velocity between vehicle-to-target barrier and relative distance output warning information includes:
Based on the relative velocity and the relative distance acquisition vehicle and target barrier between the vehicle-to-target barrier
Hinder the collision time between object；
Judge whether the collision time is less than preset value；
When the collision time is less than the preset value, then the warning information is exported.
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| CN113829994A (en) * | 2020-06-08 | 2021-12-24 | 广州汽车集团股份有限公司 | Early warning method and device based on vehicle exterior whistle, automobile and medium |
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Application publication date: 20181207 |