CN108995584A - To anti-collision system after a kind of vehicle based on infrared laser auxiliary - Google Patents
To anti-collision system after a kind of vehicle based on infrared laser auxiliary Download PDFInfo
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- CN108995584A CN108995584A CN201810847354.8A CN201810847354A CN108995584A CN 108995584 A CN108995584 A CN 108995584A CN 201810847354 A CN201810847354 A CN 201810847354A CN 108995584 A CN108995584 A CN 108995584A
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- 230000004888 barrier function Effects 0.000 claims abstract description 10
- 238000004891 communication Methods 0.000 claims abstract description 4
- 230000000704 physical effect Effects 0.000 claims description 8
- 230000008901 benefit Effects 0.000 claims description 4
- 210000003813 thumb Anatomy 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 206010039203 Road traffic accident Diseases 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses after a kind of vehicle based on infrared laser auxiliary to anti-collision system, including preceding infrared laser module, preceding camera, infrared laser module afterwards, rear camera, processor module and Vehicle Controller module, the Vehicle Controller module is connected with alarm module by CAN communication bus, accelerate actuator module, left steering actuator module and right turn actuator module, it is electrically connected between the processor module and Vehicle Controller module, the light beam image that the infrared beam of specific shape encounters barrier reflection is acquired by camera, processor module is for handling preceding camera and the collected light beam image of rear camera, when the signal received is urgency signal, start alarm module, control accelerates actuator module according to the actual situation, left steering actuator module or right turn are held A job in row mechanism module, successfully realizes collision avoidance function.
Description
Technical field
The present invention relates to after vehicle to anti-collision system technical field, after specially a kind of vehicle based on infrared laser auxiliary
To anti-collision system.
Background technique
In recent years, road traffic construction in China's generally realizes lasting, quick and orderly development, but incident each
Class traffic accident but becomes the public safety problem got worse, wherein 40% or so of rear-end impact occupied road traffic accident,
Death toll accounting nearly 50%, be most take place frequently in all kinds of traffic accidents, lose it is most heavy, therefore, to anti-collision system before vehicle
Research receive the great attention in China or even countries in the world traffic management department.Forward direction anti-collision system refers to is by sensing
System moment monitoring front vehicles, judge this vehicle in the distance between front truck, orientation and relative velocity, when there are potential risks of collision
When driver is alerted, and in case of emergency control vehicle deceleration or stopping, the system and can effectively press down from the root
Rear-end impact accident processed occurs.Preferable scheme used by front truck anti-collision system mainly utilizes millimetre-wave radar sensor at present
Or machine vision technique, millimetre-wave radar scheme find target to the reflection of millimeter wave using target and measure its position,
Such as Honda " HondaSensing " system, machine vision scheme is that the image shot by intelligent camera and vision algorithm are completed
Identification and detection function, such as the monocular cam technology of Mobileye.
Although above scheme realizes the preceding function to collision avoidance to a certain extent, there is also apparent defects, such as
Millimetre-wave radar hardly has the function and at high cost of objects in front identification, although machine vision technique can identify front
Object, but range accuracy is not high.Due to road environment complexity, vehicle class multiplicity, the prior art can not also fully meet reality
To the requirement of system real time, robustness and accuracy in the use process of border.
For this purpose, application No. is CN201510726044.7 to disclose before a kind of vehicle based on infrared laser auxiliary to collision avoidance
System, including infrared laser, camera, DSP data processor, controller, precaution device and deceleration executing agency；It is described infrared
Laser and camera are connected respectively to DSP data processor, and DSP data processor is connected to controller, and the precaution device subtracts
Speed actuating mechanism is connected respectively to controller.To anti-collision system before the vehicle that is assisted based on infrared laser of kind that the invention proposes,
The function that target vehicle detection and two vehicle real-time ranges calculate can be realized by camera and laser cooperation, in unsafe condition
Under, by actuating mechanism controls vehicle deceleration, to collision avoidance before achieving the purpose that, solve at present using more based on millimeter wave
It the problems such as missing of vehicle detection identification function existing for radar or simple camera technology or two vehicles not high apart from detection accuracy, mentions
Real-time, robustness and accuracy of the system under real road environment are risen.
But above scheme still has certain limitation, can not carry out collision avoidance to the vehicle at rear, how to invent one
It is solved these problems after the vehicle that kind is assisted based on infrared laser to anti-collision system, becomes those skilled in the art and urgently solve
Certainly the problem of.
Summary of the invention
The purpose of the present invention is to provide it is a kind of based on infrared laser auxiliary vehicle after to anti-collision system, it is above-mentioned to solve
The problem of being proposed in background technique.
To achieve the above object, the invention provides the following technical scheme: a kind of vehicle based on infrared laser auxiliary is backward
Anti-collision system, including preceding infrared laser module, preceding camera, rear infrared laser module, rear camera, processor module and
Vehicle Controller module, the Vehicle Controller module are connected with alarm module by CAN communication bus, accelerate executing agency's mould
Block, left steering actuator module and right turn actuator module, the preceding infrared laser module, preceding camera and rear red
Outer laser module passes through serial ports and is connected to processor module, between the processor module and Vehicle Controller module electrically
Connection；
The preceding infrared laser module and preceding camera are arranged in the front end of automobile, and the preceding infrared laser module is to automobile
Front projects the infrared beam of specific shape, and using the physical property of infrared ray, the infrared beam of specific shape encounters obstacle
The light beam image of object reflection is acquired by preceding camera；
Infrared laser module and rear camera are arranged in the rear end of automobile after described, it is described after infrared laser module to automobile
Rear projects the infrared beam of specific shape, and using the physical property of infrared ray, the infrared beam of specific shape encounters obstacle
The light beam image of object reflection is acquired by rear camera；
Processor module is used to handle preceding camera and the collected light beam image of rear camera, is according to light beam image
No deformation, judges whether front and back has barrier, and size when calculating time headway and time of driver's reaction,
It finally makes a policy, output signal is transmitted to Vehicle Controller module；
Vehicle Controller module receives the signal of processor module output, when the signal received is urgency signal, starting alarm
Module, control accelerates actuator module, left steering actuator module or right turn actuator module according to the actual situation
In one work, when the signal received is not urgency signal, do not need starting alarm module, accelerate actuator module,
Left steering actuator module and right turn actuator module；
Accelerate actuator module by accelerating executing agency that accelerator pedal is driven to accelerate, left steering actuator module passes through a left side
It turns to executing agency and drives automobile left steering, right turn actuator module drives automobile to turn right by right turn executing agency
To；
Alarm module reminds driver safety to drive in time for alerting.
As advanced optimizing for the technical program, to collision avoidance system after a kind of vehicle based on infrared laser auxiliary of the present invention
System, the alarm module include alarm lamp and buzzer, and buzzer SP model is selected as LZQ-2715B220V, the choosing of alarm lamp model
For LTE5071J.
As advanced optimizing for the technical program, to collision avoidance system after a kind of vehicle based on infrared laser auxiliary of the present invention
System, the infrared laser of preceding infrared laser module and rear infrared laser module circular, preceding infrared laser module and
The round light beam that infrared laser module generates afterwards projects the front and back of automobile respectively.
As advanced optimizing for the technical program, to collision avoidance system after a kind of vehicle based on infrared laser auxiliary of the present invention
, there is volume in the advantages of system, 32 embedded RISC processors of one kind of the preferred ARM company exploitation of processor module, arm processor
Small, low-power consumption, low cost, high-performance；It supports the bis- instruction set of Thumb/ARM, 8/16 devices can be compatible with well；Largely make
With register, instruction execution speed is faster；Most of data manipulations are all completed in a register；Addressing system is flexibly simple, holds
Line efficiency is high；Command length is fixed.
As advanced optimizing for the technical program, to collision avoidance system after a kind of vehicle based on infrared laser auxiliary of the present invention
System, the preceding camera and rear camera model 08MZD, the preferred AT89C2051-24PU control of Vehicle Controller module
Device.
Compared with prior art, the beneficial effects of the present invention are: after a kind of vehicle based on infrared laser auxiliary of the present invention
To anti-collision system, preceding infrared laser module and preceding camera are arranged in the front end of automobile, and preceding infrared laser module is to automobile
Front projects the infrared beam of specific shape, and the light beam image that the infrared beam of specific shape encounters barrier reflection is proactive
As head acquires, rear infrared laser module and rear camera are arranged in the rear end of automobile, and rear infrared laser module is to after automobile
Side projects the infrared beam of specific shape, and using the physical property of infrared ray, the infrared beam of specific shape encounters barrier
The light beam image of reflection is acquired by rear camera, and processor module is used for preceding camera and the collected beam pattern of rear camera
As being handled, whether is deformed according to light beam image, judge whether front and back has barrier, and calculate time headway
Size with when time of driver's reaction, finally makes a policy, and output signal is transmitted to Vehicle Controller module, vehicle-mounted control
Device module receives the signal of processor module output, when the signal received is urgency signal, starts alarm module, according to reality
Situation control accelerates a job in actuator module, left steering actuator module or right turn actuator module,
When the signal received is not urgency signal, does not need starting alarm module, accelerates actuator module, left steering executing agency
Module and right turn actuator module accelerate actuator module by accelerating executing agency that accelerator pedal is driven to accelerate, left
It turns to actuator module and automobile left steering is driven by left steering executing agency, right turn actuator module passes through right turn
Executing agency drives automobile right turn, and alarm module reminds driver safety to drive in time for alerting, and successfully realizes collision avoidance function
Can, there is very high practicability, greatly improve use to anti-collision system after a kind of vehicle based on infrared laser auxiliary
Functionality guarantees its using effect and utilization benefit, is suitble to be widely popularized.
Detailed description of the invention
Fig. 1 be the present invention it is a kind of based on infrared laser auxiliary vehicle after to anti-collision system structural schematic diagram.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, the present invention provides a kind of technical solution: to collision avoidance system after a kind of vehicle based on infrared laser auxiliary
System, including preceding infrared laser module, preceding camera, rear infrared laser module, rear camera, processor module and vehicle-mounted control
Device module processed, the Vehicle Controller module are connected with alarm module by CAN communication bus, accelerate actuator module, a left side
It turns to actuator module and right turn actuator module, the preceding infrared laser module, preceding camera and rear infrared swashs
Light device module passes through serial ports and is connected to processor module, electrically connects between the processor module and Vehicle Controller module
It connects；
The preceding infrared laser module and preceding camera are arranged in the front end of automobile, and the preceding infrared laser module is to automobile
Front projects the infrared beam of specific shape, and using the physical property of infrared ray, the infrared beam of specific shape encounters obstacle
The light beam image of object reflection is acquired by preceding camera；
Infrared laser module and rear camera are arranged in the rear end of automobile after described, it is described after infrared laser module to automobile
Rear projects the infrared beam of specific shape, and using the physical property of infrared ray, the infrared beam of specific shape encounters obstacle
The light beam image of object reflection is acquired by rear camera；
Processor module is used to handle preceding camera and the collected light beam image of rear camera, is according to light beam image
No deformation, judges whether front and back has barrier, and size when calculating time headway and time of driver's reaction,
It finally makes a policy, output signal is transmitted to Vehicle Controller module；
Vehicle Controller module receives the signal of processor module output, when the signal received is urgency signal, starting alarm
Module, control accelerates actuator module, left steering actuator module or right turn actuator module according to the actual situation
In one work, when the signal received is not urgency signal, do not need starting alarm module, accelerate actuator module,
Left steering actuator module and right turn actuator module；
Accelerate actuator module by accelerating executing agency that accelerator pedal is driven to accelerate, left steering actuator module passes through a left side
It turns to executing agency and drives automobile left steering, right turn actuator module drives automobile to turn right by right turn executing agency
To；
Alarm module reminds driver safety to drive in time for alerting.
Specifically, the alarm module includes alarm lamp and buzzer, buzzer SP model is selected as LZQ-2715B220V,
Alarm lamp model is selected as LTE5071J.
Specifically, the infrared laser of preceding infrared laser module and rear infrared laser module circular, preceding infrared
The round light beam that laser module and rear infrared laser module generate projects the front and back of automobile respectively.
Specifically, 32 embedded RISC processors of one kind of the preferred ARM company exploitation of processor module, arm processor
The advantages of have small in size, low-power consumption, low cost, high-performance；It supports the bis- instruction set of Thumb/ARM, 8/16 can be compatible with well
Position device；Register is largely used, instruction execution speed is faster；Most of data manipulations are all completed in a register；Addressing side
Formula is flexibly simple, and execution efficiency is high；Command length is fixed.
Specifically, the preceding camera and rear camera model 08MZD, the Vehicle Controller module are preferred
AT89C2051-24PU controller.
Working principle: to anti-collision system after a kind of vehicle based on infrared laser auxiliary of the present invention, in the base of the prior art
It is improved on plinth, in use, the front end of automobile, preceding infrared laser mould is arranged in preceding infrared laser module and preceding camera
Block projects the infrared beam of specific shape to vehicle front, and the infrared beam of specific shape encounters the beam pattern of barrier reflection
As being acquired by preceding camera, the rear end of automobile, rear infrared laser module is arranged in rear infrared laser module and rear camera
The infrared beam that specific shape is projected to automobile rear, using the physical property of infrared ray, the infrared beam of specific shape is met
The light beam image reflected to barrier is acquired by rear camera, and processor module is for collecting preceding camera and rear camera
Light beam image handled, whether deformed according to light beam image, judge whether front and back has barrier, and calculated
Size when time headway and time of driver's reaction, finally makes a policy, and output signal is transmitted to Vehicle Controller module,
Vehicle Controller module receives the signal of processor module output, when the signal received is urgency signal, starts alarm module,
Control accelerates one in actuator module, left steering actuator module or right turn actuator module according to the actual situation
Item work does not need starting alarm module, accelerates actuator module, left steering when the signal received is not urgency signal
Actuator module and right turn actuator module accelerate actuator module by accelerating executing agency to drive accelerator pedal
Accelerate, left steering actuator module drives automobile left steering by left steering executing agency, and right turn actuator module is logical
Right turn executing agency driving automobile right turn is crossed, alarm module reminds driver safety to drive in time for alerting, and success is real
Existing collision avoidance function.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (5)
1. to anti-collision system after a kind of vehicle based on infrared laser auxiliary, including preceding infrared laser module, preceding camera, after
Infrared laser module, rear camera, processor module and Vehicle Controller module, it is characterised in that: the Vehicle Controller
Module is connected with alarm module by CAN communication bus, accelerates actuator module, left steering actuator module and right turn
Actuator module, the preceding infrared laser module, preceding camera and rear infrared laser module are connected to by serial ports
Processor module is electrically connected between the processor module and Vehicle Controller module；
The preceding infrared laser module and preceding camera are arranged in the front end of automobile, and the preceding infrared laser module is to automobile
Front projects the infrared beam of specific shape, and using the physical property of infrared ray, the infrared beam of specific shape encounters obstacle
The light beam image of object reflection is acquired by preceding camera；
Infrared laser module and rear camera are arranged in the rear end of automobile after described, it is described after infrared laser module to automobile
Rear projects the infrared beam of specific shape, and using the physical property of infrared ray, the infrared beam of specific shape encounters obstacle
The light beam image of object reflection is acquired by rear camera；
Processor module is used to handle preceding camera and the collected light beam image of rear camera, is according to light beam image
No deformation, judges whether front and back has barrier, and size when calculating time headway and time of driver's reaction,
It finally makes a policy, output signal is transmitted to Vehicle Controller module；
Vehicle Controller module receives the signal of processor module output, when the signal received is urgency signal, starting alarm
Module, control accelerates actuator module, left steering actuator module or right turn actuator module according to the actual situation
In one work, when the signal received is not urgency signal, do not need starting alarm module, accelerate actuator module,
Left steering actuator module and right turn actuator module；
Accelerate actuator module by accelerating executing agency that accelerator pedal is driven to accelerate, left steering actuator module passes through a left side
It turns to executing agency and drives automobile left steering, right turn actuator module drives automobile to turn right by right turn executing agency
To；
Alarm module reminds driver safety to drive in time for alerting.
2. to anti-collision system after a kind of vehicle based on infrared laser auxiliary according to claim 1, it is characterised in that: institute
Stating alarm module includes alarm lamp and buzzer, and buzzer SP model is selected as LZQ-2715B220V, and alarm lamp model is selected as
LTE5071J。
3. to anti-collision system after a kind of vehicle based on infrared laser auxiliary according to claim 1, it is characterised in that: preceding
The infrared laser of infrared laser module and rear infrared laser module circular, preceding infrared laser module and rear infrared
The round light beam that laser module generates projects the front and back of automobile respectively.
4. to anti-collision system after a kind of vehicle based on infrared laser auxiliary according to claim 1, it is characterised in that: place
The advantages of 32 embedded RISC processors of one kind of the preferred ARM company exploitation of reason device module, arm processor, has small in size, low
Power consumption, low cost, high-performance；It supports the bis- instruction set of Thumb/ARM, 8/16 devices can be compatible with well；A large amount of uses are posted
Storage, instruction execution speed is faster；Most of data manipulations are all completed in a register；Addressing system is flexibly simple, executes effect
Rate is high；Command length is fixed.
5. to anti-collision system after a kind of vehicle based on infrared laser auxiliary according to claim 1, it is characterised in that: institute
State preceding camera and rear camera model 08MZD, the preferred AT89C2051-24PU controller of Vehicle Controller module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810847354.8A CN108995584A (en) | 2018-07-27 | 2018-07-27 | To anti-collision system after a kind of vehicle based on infrared laser auxiliary |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810847354.8A CN108995584A (en) | 2018-07-27 | 2018-07-27 | To anti-collision system after a kind of vehicle based on infrared laser auxiliary |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112977393A (en) * | 2021-04-22 | 2021-06-18 | 周宇 | Automatic driving anti-collision avoiding device and method thereof |
| EP3848724A1 (en) | 2020-01-09 | 2021-07-14 | Veoneer Sweden AB | System and method for rear crash avoidance of vehicles |
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Application publication date: 20181214 |