CN205524449U - Power -assisted steering early warning system based on machine vision - Google Patents
Power -assisted steering early warning system based on machine vision Download PDFInfo
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- CN205524449U CN205524449U CN201620061647.XU CN201620061647U CN205524449U CN 205524449 U CN205524449 U CN 205524449U CN 201620061647 U CN201620061647 U CN 201620061647U CN 205524449 U CN205524449 U CN 205524449U
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Abstract
The utility model discloses a power -assisted steering early warning system based on machine vision. The utility model discloses the system includes machine vision collection module, signal collection module, digital signal processor, control module, executable module. Machine vision collection module gathers road information in real time, and digital signal processor is given in the transmission, and the information after digital signal processor will handle is transmitted for control module again, steering wheel corner, the speed of a motor vehicle and the yaw velocity of vehicle are gathered to the signal acquisition module to control module is given in the transmission, control module according to the information of receiving judge steering wheel corner, the speed of a motor vehicle whether in security range, the vehicle has or not the trend of sideslipping. When the dish error of driver's steering, the trend that the speed of a motor vehicle is too high or the wheel sideslips, control module passes through the power -assisted steering motor help wheel steering in the executable module, provides supplementary through the warning loudspeaker to the driver and warns. This system is with low costs, simple structure, and the good reliability, sensitivity is high, can improve the security of driving.
Description
Technical field
This utility model relates to steering assist system field, is specifically related to a kind of power steering early warning based on machine vision
System.
Background technology
Along with electronic technology and the development of sensor technology, steering assist system is also the most perfect, and machine regards
Feel and refer to that computer is combined with video camera to realize the simulation to human eye functions, obtain the image of true environment.By machine vision
Apply in steering assist system, can obtain road surface and surrounding vehicles information in real time, and calculate accurately steering wheel angle and
Speed, improves driving safety.
Although the application of steering assist system is more and more universal, but still there is a lot of problem.Application comparison is wide at present
General electric boosting steering system utilizes various sensor that signal is passed to ECU, ECU to control power-assisted steering the most in real time, but turns to
Time complicated road and vehicle condition, it is likely that the generation of accident can be caused.Assisted diversion is carried out the most aobvious hence with machine vision
Obtain particularly important.And the steering assist system utilizing vehicle-mounted camera of routine can only expand the visual field of driver, by reporting to the police
Device is warned, but warning message is single, is not enough to allow driver accurately understand the situation when front steering, in order to make effective tune
Whole.
Utility model content
For the problems referred to above, the utility model proposes a kind of power steering early warning system based on machine vision, it is achieved
When detection is in steering state in real time, the steering wheel angle of vehicle, speed and sideslip phenomenon, enter automobile turning wheel corner, speed
Row controls, to improve the quality and intellectuality turned to.
A kind of power steering early warning system based on machine vision of the present utility model, including machine vision acquisition module,
Signal acquisition module, digital signal processor, control module, perform module；
Described machine vision acquisition module, is made up of the photographic head above car plate before being arranged on vehicle and image pick-up card,
Described photographic head is used for Real-time Collection information of road surface, and is transferred to image pick-up card；Photographic head is shot by described image pick-up card
Analog image information be converted into digital image information, be transmitted further to described digital signal processor；
The digital image information that machine vision acquisition module is obtained by described digital signal processor processes, and at general
Reason result is transferred to control module；
Described signal acquisition module is made up of steering wheel angle sensor, vehicle speed sensor, yaw-rate sensor；Institute
State steering wheel angle sensor to be arranged in the steering column below steering wheel, for measuring the corner of steering wheel；Described speed passes
Sensor is arranged on the output shaft of change speed gear box, is used for measuring vehicle speed；Described yaw-rate sensor is arranged on armrest box
Parcel tray in, for measuring the yaw velocity of vehicle；Described steering wheel angle sensor, vehicle speed sensor, yaw angle speed
The information of collection is transferred to control module by degree sensor；
Described control module is for receiving and process digital signal processor and data that signal acquisition module transmits and letter
Breath, it is judged that whether steering wheel angle, speed be in safety range, and judges that vehicle is with or without sideslip trend by yaw velocity；
Described execution module is made up of steering assist motor and alarming horn, and described steering assist motor is arranged on gear
On rack-type steering gear；When steering wheel angle is not in safety range, and described control module is to described steering assist motor and report
Alert loudspeaker send instruction；Described steering assist motor directly acts on steering linkage, promotes steering linkage to help wheel steering, with
Shi Suoshu alarming horn provides auxiliary to warn；When speed is not in safety range and when vehicle has sideslip trend, described control mould
Block sends instruction to described alarming horn；Described alarming horn provides auxiliary to warn.
Further, described control module is made up of electronic control unit.
The beneficial effects of the utility model: this utility model passes through framework based on machine vision and vehicle-state sensing module
Aware platform, utilize vehicle-state perception and forecast model and vehicle dynamics characteristics etc., it is achieved motor turning process
Line monitoring and condition evaluation prediction.Whether this utility model can realize detecting in real time in steering procedure steering wheel angle, speed
In safety range, and judge that vehicle is with or without several functions such as sideslip trend, it is intended to allow driver accurately understand and work as front steering
Situation, in order to make effective adjustment, thus reduce the error of pilot control steering wheel, speed is too high or wheel has sideslip to become
The danger that gesture is brought.This system only starts when steering wheel angle is more than 30 °, handles car normally without interference with driver
, it is ensured that good steering feeling.The additionally actuator of system, not only by alarming horn and alarm, real-time reminding is driven
The person of sailing, improves the safety of driving, also utilizes steering assist motor to provide power steering for driver.This system cost is low, knot
Structure is simple, and good reliability is highly sensitive, can improve the safety of driving.
Accompanying drawing explanation
Fig. 1 is the structural representation of this utility model power steering early warning system；
Fig. 2 is the flow chart of this utility model power steering early warning system method of work.
Detailed description of the invention
Below in conjunction with the accompanying drawings utility model patent specific implementation process is described further.
As it is shown in figure 1, a kind of power steering early warning system based on machine vision, including machine vision acquisition module, letter
Number acquisition module, digital signal processor, control module, perform module；
Described machine vision acquisition module, is made up of the photographic head above car plate before being arranged on vehicle and image pick-up card,
Described photographic head is used for Real-time Collection information of road surface, and is transferred to image pick-up card；Photographic head is shot by described image pick-up card
Analog image information be converted into digital image information, be transmitted further to described digital signal processor；
The digital image information that machine vision acquisition module is obtained by described digital signal processor processes, and at general
Reason result is transferred to control module；
Described signal acquisition module is made up of steering wheel angle sensor, vehicle speed sensor, yaw-rate sensor；Institute
State steering wheel angle sensor to be arranged in the steering column below steering wheel, for measuring the corner of steering wheel；Described speed passes
Sensor is arranged on the output shaft of change speed gear box, is used for measuring vehicle speed；Described yaw-rate sensor is arranged on armrest box
Parcel tray in, for measuring the yaw velocity of vehicle；Described steering wheel angle sensor, vehicle speed sensor, yaw angle speed
The information of collection is transferred to control module by degree sensor；
Described control module is made up of electronic control unit, is used for receiving and process digital signal processor and signals collecting
Data that module transmits and information, it is judged that whether steering wheel angle, speed be in safety range, and is judged by yaw velocity
Vehicle is with or without sideslip trend；
Described execution module is made up of steering assist motor and alarming horn, and described steering assist motor is arranged on gear
On rack-type steering gear；When steering wheel angle is not in safety range, and described control module is to described steering assist motor and report
Alert loudspeaker send instruction；Described steering assist motor directly acts on steering linkage, promotes steering linkage to help wheel steering, with
Shi Suoshu alarming horn provides auxiliary to warn；When speed is not in safety range and when vehicle has sideslip trend, described control mould
Block sends instruction to described alarming horn；Described alarming horn provides auxiliary to warn.
As in figure 2 it is shown, the method for work of a kind of power steering early warning system based on machine vision,
Step 1, the steering wheel angle sensor in signal acquisition module measures the steering wheel angle of vehicle.
Step 2, control module judges that whether steering wheel angle is more than 30。If, more than 30。, illustrate that now driver turns to
Intention, perform next step；If less than or equal to 30。, then program is terminated.
Step 3, the photographic head of machine vision acquisition module automatically opens up, and carries out real time image collection, it is thus achieved that road ahead
Information of road surface, and be transferred to image pick-up card；The analog image information that photographic head is shot by image pick-up card is converted into numeral
Image information, is transferred to digital signal processor.
Step 4, the digital image information that machine vision acquisition module is obtained by digital signal processor processes, it is thus achieved that
Road curvatureAgain by Personification Control algorithm, calculate the theoretical vehicle velocity V of vehicleReasonWith theory orientation dish rotational angle thetaReason, and be transferred to
Control module；
Vehicle theory vehicle velocity VReasonComputing formula:WhereinFor road curvatureSpeed, V0
For vehicle cruise speed,Transfer function for artificial neuron；
Vehicle theory orientation dish rotational angle thetaReasonComputational methods be: by theory vehicle velocity VReasonBring formula into
Calculate theoretical steering wheel corner δReason, wherein δ (v) is the steering wheel angle of speed v, w0For maximum turning velocity, fvV () is people
The transfer function of work neuron；Steering wheel angle according to vehicle and the fixed proportion relation of steering wheel angle, calculate theory
Steering wheel angle θReason。
Step 5, signal acquisition module is adopted by steering wheel angle sensor, vehicle speed sensor, yaw-rate sensor
Collection steering wheel angle, speed, the information of yaw velocity, and transmit information to control module.
Step 6, control module analyzing and processing machine vision acquisition module and the data of signal acquisition module transmission and information；
(1) theory orientation dish rotational angle theta is comparedReasonThe actual steering wheel rotational angle theta recorded with steering wheel angle sensorReal；When |
θReason-θReal| when≤15 °, control module does not send instruction；When | θReason-θReal| during ＞ 15 °, according to θReasonWith θRealDifference, calculate theory
Torque, determines theoretical current and the rotation direction of steering assist motor further according to the assist characteristic of theoretical torque and system, and to
Alarming horn sends instruction；If θReason-θRealDuring ＞ 15 °, alarming horn reminds corner less than normal, and steering assist motor is according to control simultaneously
The instruction of module provides the auxiliary torque making corner change big for steering mechanism；If θReal-θReasonDuring ＞ 15 °, alarming horn reminds corner
Bigger than normal, steering assist motor provides the auxiliary torque making corner diminish as requested simultaneously, stops oversteering；
(2) theoretical vehicle velocity V is comparedReasonActual vehicle speed V recorded with vehicle speed sensorReal；Work as VReal-VReasonDuring≤8km/h, control mould
Block does not send instruction；Work as VReal-VReasonDuring ＞ 8km/h, sending instruction to alarming horn, alarming horn prompting driver need to slow down；
(3) relatively theoretical yaw velocity ωReasonThe actual yaw velocity ω recorded with yaw-rate sensorReal；
In the case of time interval is the shortest, turn inside diameter is approximately considered and does uniform circular motion, and automobile is simplified to
Linear binary model, the computing formula of theoretical yaw velocity is:Wherein δ is theoretical turning
To wheel corner, v is theoretical speed, and L is wheelbase；The computing formula of K is:Wherein m is the quality of vehicle,
L is wheelbase, k1、k2Being respectively the cornering stiffness of front and back wheel, a is the barycenter distance to front axle, and b is the barycenter distance to rear axle；
Work as ωReal-ωReasonDuring≤0.1rad/s, illustrating that wheel does not break away trend, control module does not send instruction；Work as ωReal-
ωReason＞ 0.1rad/s, illustrates that wheel has sideslip trend, alarming horn prompting driver to have sideslip trend.
Step 7, performing the instruction that module decides whether according to the judged result of control module to there is a need to perform, needing if had
Instruction to be performed, performs step 8；The instruction performed without needs, then skip step 8, performs step 9.
Step 8, is performed module and is controlled vehicle by steering assist motor and alarming horn.
Step 9, returns to the judgement of steering wheel angle, until steering wheel angle is less than or equal to 30。Time, EP (end of program).
Described embodiment be of the present utility model preferred embodiment, but this utility model is not limited to above-mentioned embodiment party
Formula, in the case of without departing substantially from flesh and blood of the present utility model, those skilled in the art can make any obviously
Improvement, replacement or modification belong to protection domain of the present utility model.
Claims (2)
1. a power steering early warning system based on machine vision, it is characterised in that include machine vision acquisition module, signal
Acquisition module, digital signal processor, control module, perform module；
Described machine vision acquisition module, is made up of the photographic head above car plate before being arranged on vehicle and image pick-up card, described
Photographic head is used for Real-time Collection information of road surface, and is transferred to image pick-up card；The mould that photographic head is shot by described image pick-up card
Intend image information and be converted into digital image information, be transmitted further to described digital signal processor；
The digital image information that machine vision acquisition module is obtained by described digital signal processor processes, and process is tied
Fruit is transferred to control module；
Described signal acquisition module is made up of steering wheel angle sensor, vehicle speed sensor, yaw-rate sensor；Described side
In the steering column that dish angular transducer is arranged on below steering wheel, for measuring the corner of steering wheel；Described vehicle speed sensor
It is arranged on the output shaft of change speed gear box, is used for measuring vehicle speed；Described yaw-rate sensor is arranged on the storage of armrest box
In thing box, for measuring the yaw velocity of vehicle；Described steering wheel angle sensor, vehicle speed sensor, yaw velocity pass
The information of collection is transferred to control module by sensor；
Described control module, for receiving and process digital signal processor and data that signal acquisition module transmits and information, is sentenced
Whether disconnected steering wheel angle, speed be in safety range, and judges that vehicle is with or without sideslip trend by yaw velocity；
Described execution module is made up of steering assist motor and alarming horn, and described steering assist motor is arranged on rack-and-pinion
In formula steering gear；When steering wheel angle is not in safety range, and described control module is to described steering assist motor and warning loudspeaker
Send instruction；Described steering assist motor directly acts on steering linkage, promotes steering linkage to help wheel steering, simultaneously institute
Stating alarming horn provides auxiliary to warn；When speed is not in safety range and when vehicle has sideslip trend, described control module to
Described alarming horn sends instruction；Described alarming horn provides auxiliary to warn.
A kind of power steering early warning system based on machine vision, it is characterised in that described control
Module is made up of electronic control unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620061647.XU CN205524449U (en) | 2016-01-21 | 2016-01-21 | Power -assisted steering early warning system based on machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620061647.XU CN205524449U (en) | 2016-01-21 | 2016-01-21 | Power -assisted steering early warning system based on machine vision |
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| Publication Number | Publication Date |
|---|---|
| CN205524449U true CN205524449U (en) | 2016-08-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620061647.XU Withdrawn - After Issue CN205524449U (en) | 2016-01-21 | 2016-01-21 | Power -assisted steering early warning system based on machine vision |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105564502A (en) * | 2016-01-21 | 2016-05-11 | 江苏大学 | Steering assisting pre-warning system based on machine vision and work method thereof |
| CN109850009A (en) * | 2019-02-25 | 2019-06-07 | 南京航空航天大学 | A kind of automobile steer-by-wire system and its control method merging Visual identification technology |
-
2016
- 2016-01-21 CN CN201620061647.XU patent/CN205524449U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105564502A (en) * | 2016-01-21 | 2016-05-11 | 江苏大学 | Steering assisting pre-warning system based on machine vision and work method thereof |
| CN109850009A (en) * | 2019-02-25 | 2019-06-07 | 南京航空航天大学 | A kind of automobile steer-by-wire system and its control method merging Visual identification technology |
| CN109850009B (en) * | 2019-02-25 | 2021-09-17 | 南京航空航天大学 | Automobile steer-by-wire system integrating visual identification technology and control method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160831 Effective date of abandoning: 20181009 |
|
| AV01 | Patent right actively abandoned |