CN102338876A - Method and device for processing alarm information for anti-collision laser radar system of vehicle - Google Patents
Method and device for processing alarm information for anti-collision laser radar system of vehicle Download PDFInfo
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Abstract
The invention relates to a method and device for processing alarm information for an anti-collision laser radar system of a vehicle. The method comprises the following steps of: (1) collecting steering information of the vehicle by a steering angular velocity sensor; (2) collecting slope information by a pitch sensor; (3) collecting target distance information and target velocity information by a four-spectral scanning laser radar; (4) setting information through a man-machine interface by a driver; (5) processing the information via a danger ambiguity function and giving out a danger level; and (6) outputting an alarm signal. The device comprises the four-spectral scanning laser radar, the pitch sensor, the steering angular velocity sensor, a processor, a key device and an alarm device. Compared with the prior art, the device has the advantages of simple structure, low cost, high sensitivity, capabilities of reducing serious traffic accidents and preventing accidental operations of the driver, and the like.
Description
Technical field
The present invention relates to a kind of crashproof laser radar system and handle the method and the device of warning information, especially relate to method and device that a kind of automobile collision preventing laser radar system is handled warning information.
Background technology
The crashproof problem of vehicle during the automobile collision preventing laser radar can solve and advance in modern times under the busy day by day complex road condition of traffic, can reduce serious accident, prevent driver's accidental operation, thereby significant.
Existing patent has mostly just proposed how to realize the detection to barrier from structure, but how to utilize detection data, forms warning strategies, does not all relate to.
Patent CN200610044077.4 discloses the crashproof laser radar system of a kind of one-dimensional scanning, and the not mentioned radar parameter that how to use forms alarm data.
Patent CN200410044477.6 discloses a kind of anticollision of motor vehicles system, has mentioned the distance, the velocity information that how to form obstacle simply, does not also provide how to form alarm parameter.
These patents have just proposed to realize the method for vehicle front obstacle detection, do not propose how to define hazard level, to the driver what kind of alarm level is provided according to hazard level to complex road condition.Because under the road conditions condition of complicacy, in the face of numerous obstacles, provide simply whether obstacle is arranged is nonsensical.When only providing obstacle positions, provide the rank of warning, could let the driver make choice, otherwise only can let the people be pestered beyond endurance, be difficult to reach the effect that auxiliary security is driven.The wrong report that reduces radar in addition also is the problem that collision avoidance radar must solve emphatically.All these relate to the obstacle judgment technology of crashproof laser radar.
Because vehicle travel conditions in road is very complicated, doubling, move static divider, the sign board of line, turning, climb and fall and road both sides, also have various boisterous influences etc., make radar very complicated to the differentiation of danger.Setting up obstacle is the basis of tolerance to the dangerous ambiguity function of driving vehicle, also is to provide suitable alarm, the foundation that driver assistance person makes accurate judgment.
Summary of the invention
The object of the invention be exactly provide in order to overcome the defective that above-mentioned prior art exists a kind of simple in structure, cost is low, highly sensitive, can reduce pernicious traffic hazard, prevent that the automobile collision preventing laser radar system of driver's accidental operation from handling the method and the device of warning information.
The object of the invention can be realized through following technical scheme: a kind of automobile collision preventing laser radar system is handled the method for warning information, and this method may further comprise the steps: (1) steering angle speed pickup collection vehicle direction information; (2) pitch sensor is gathered grade information; (3) four lines are swept laser radar and are gathered target range information and target velocity information;
(4) driver carries out information setting through man-machine interface; (5) utilize dangerous ambiguity function process information and provide danger classes; (6) alarm signal output.
Described step (1) specifically is that steering angle speed is clockwise for negative, counterclockwise for just.
Described step (2) specifically is that the local horizon is above for just, is negative below the local horizon.
Information in the described step (4) comprises width of the carbody, road condition grade, subjective feeling grade, alarm level and sensitivity.
Described step (5) is specially: 1) obtain rear end collision factor of influence W
X2, gradient factor of influence W
X3, artificially factor W is set
X42) whether judge lateral distance W greater than 0, be then carry out step 3) if be judged as, otherwise carry out step 4); 3) calculate turning time and catch up with the object time,, and form normalized function if turning time is judged as danger greater than catching up with object time+surplus;
D is the air line distance of barrier and car, and a is a width of the carbody, and ω is the steering angle speed of car, and θ is the angle that forms between line section and the car working direction between barrier and the car
4) calculate and to catch up with the object time, if the time less than given threshold values, then begin to report to the police, and form normalized function);
Described normalized function will begin alarm and be defined as 0.1, be defined as 1 in the collision, be divided into 10 grades altogether, and normalized function is following:
Danger is dangerous ambiguity function, and nomalize is a normalized function.
A kind of automobile collision preventing laser radar system is handled the device of warning information; It is characterized in that; This device comprises that four lines sweep laser radar, pitch sensor, steering angle speed pickup, processor, press key equipment, panalarm, and four lines are swept laser radar, pitch sensor, steering angle speed pickup, press key equipment, panalarm and are connected with processor respectively.
Described steering angle speed pickup, pitch sensor adopt the quartz crystal angular-rate sensor.
Compared with prior art, the present invention has the following advantages:
1, apparatus structure is simple, cost is low, highly sensitive;
2, can reduce pernicious traffic hazard, prevent driver's accidental operation.
Description of drawings
Fig. 1 concerns synoptic diagram for function variable;
Fig. 2 is the cut apart synoptic diagram of laser radar scanning to obstacle;
Fig. 3 is the process flow diagram of the inventive method;
Fig. 4 is the structured flowchart of apparatus of the present invention.
Embodiment
Below in conjunction with accompanying drawing and specific embodiment the present invention is elaborated.
Embodiment
As shown in Figure 1, A is the body car, and B is an obstacle, and O is the laser radar present position of A car; Get left side that body car O orders for negative, the right side is for just; The one dimension parameter of describing obstacle is air line distance D and angle θ, and changing into vertical range is d; Lateral distance is w; This width of the carbody is a; The steering angle speed of body car is ω (clockwise for negative, counterclockwise for just), and luffing angle (gradient) be β (on the local horizon for just, the local horizon is following to be to bear); The definition hazard level is final relevant with w, and is directly proportional with relative velocity, is Δ t if laser radar is whenever swept the time of a line, and the angle of then rotating is ω * Δ t.
Four line sweep laser radar detection range scopes are 0-150m, and four lines cover 7.5 ° of vertical direction, and the range information that is obtained by target carries out difference through the time interval of line sweep, obtains velocity information.
The effect of pitch sensor is the ground of judging road, and the ground that is judged as of echo is arranged all, when when going up a slope, gets that to be higher than the sweep trace that echo is arranged all be basic judgment data.
Four lines are swept laser radar scanning vehicle front, obtain the target echo of about 120 ° of scopes, with all angles all have echo as ground, last one that gets ground echo is effective echo.Echoed signal is carried out cluster, and the target of each cluster all has a dangerous ambiguity function, and each cluster target is carried out apart from difference, obtains relative velocity and relative angle speed.
Fig. 2 has represented that laser radar scans cutting apart obstacle.
To the target of each cluster, judge lateral distance w, if w less than 0 then adopt the rear end collision factor of influence, otherwise adopts the side direction dangerous influence factor to judge.
For rear end collision, car and obstacle adopt the parameter that knocks into the back to judge in same track;
The rear end collision factor of influence:
The side direction dangerous influence factor: calculate turning time and catch up with the object time,, and form normalized function if turning time is judged as danger greater than catching up with object time+surplus;
Normalized function will begin alarm and be defined as 0.1, be defined as 1 in the collision, be divided into 10 grades altogether, and normalized function is following:
Danger is dangerous ambiguity function, and nomalize is a normalized function.
The driver can be provided with the set information of the dangerous ambiguity function of influence as required.Set information comprises width of the carbody, road condition grade, subjective feeling grade.Finally, the alarm grade when needing to report to the police is set and changes susceptibility according to driver's custom.
As shown in Figure 4; A kind of automobile collision preventing laser radar system is handled the device of warning information; This device comprises that four lines sweep laser radar 1, pitch sensor 2, steering angle speed pickup 3, processor 6, press key equipment 4, panalarm 5, four lines and sweep laser radar 1, pitch sensor 2, steering angle speed pickup 3, press key equipment 4, panalarm 5 and be connected with processor 5 respectively.
Claims (8)
1. an automobile collision preventing laser radar system is handled the method for warning information, it is characterized in that this method may further comprise the steps:
(1) steering angle speed pickup collection vehicle direction information;
(2) pitch sensor is gathered grade information;
(3) four lines are swept laser radar and are gathered target range information and target velocity information;
(4) driver carries out information setting through man-machine interface;
(5) utilize dangerous ambiguity function process information and provide danger classes;
(6) alarm signal output.
2. a kind of automobile collision preventing laser radar system according to claim 1 is handled the method for warning information, it is characterized in that, described step (1) specifically is that steering angle speed is clockwise for negative, counterclockwise for just.
3. a kind of automobile collision preventing laser radar system according to claim 1 is handled the method for warning information, it is characterized in that, described step (2) specifically is that the local horizon is above for just, is negative below the local horizon.
4. a kind of automobile collision preventing laser radar system according to claim 1 is handled the method for warning information, it is characterized in that the information in the described step (4) comprises width of the carbody, road condition grade, subjective feeling grade, alarm level and sensitivity.
5. a kind of automobile collision preventing laser radar system according to claim 1 is handled the method for warning information, it is characterized in that described step (5) is specially:
1) obtains rear end collision factor of influence W
X2, gradient factor of influence W
X3, artificially factor W is set
X4
2) whether judge lateral distance W greater than 0, be then carry out step 3) if be judged as, otherwise carry out step 4);
3) calculate turning time and catch up with the object time,, and form normalized function if turning time is judged as danger greater than catching up with object time+surplus;
D is the air line distance of barrier and car, and a is a width of the carbody, and ω is the steering angle speed of car, and θ is the angle that forms between line section and the car working direction between barrier and the car
4) calculate and to catch up with the object time, if the time less than given threshold values, then begin to report to the police, and form normalized function);
6. a kind of automobile collision preventing laser radar system according to claim 5 is handled the method for warning information; It is characterized in that described normalized function will begin alarm and be defined as 0.1, be defined as 1 in the collision; Be divided into 10 grades altogether, normalized function is following:
Danger is dangerous ambiguity function, and nomalize is a normalized function.
7. an automobile collision preventing laser radar system is handled the device of warning information; It is characterized in that; This device comprises that four lines sweep laser radar, pitch sensor, steering angle speed pickup, processor, press key equipment, panalarm, and described four lines are swept laser radar, pitch sensor, steering angle speed pickup, press key equipment, panalarm and are connected with processor respectively.
8. a kind of automobile collision preventing laser radar system according to claim 7 is handled the device of warning information, it is characterized in that, described steering angle speed pickup, pitch sensor adopt the quartz crystal angular-rate sensor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010102293314A CN102338876A (en) | 2010-07-16 | 2010-07-16 | Method and device for processing alarm information for anti-collision laser radar system of vehicle |
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| CN2010102293314A CN102338876A (en) | 2010-07-16 | 2010-07-16 | Method and device for processing alarm information for anti-collision laser radar system of vehicle |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102963300A (en) * | 2012-12-07 | 2013-03-13 | 长安大学 | Prompting device for preventing vehicle from colliding with non-motor vehicles when turning corners and prompting method thereof |
| CN104635494A (en) * | 2015-02-06 | 2015-05-20 | 西安电子科技大学 | A fuzzy control method for vehicle rear-end collision based on genetic algorithm optimization |
| CN107886772A (en) * | 2017-11-10 | 2018-04-06 | 重庆长安汽车股份有限公司 | Weak tendency traffic participant collision warning systems |
| TWI640446B (en) * | 2017-09-01 | 2018-11-11 | 元智大學 | Method, device, and system for driving assistant based on fuzzy-set-optimized framework |
| CN108859962A (en) * | 2018-06-12 | 2018-11-23 | 李良杰 | Driving safety prompt device |
| CN109387855A (en) * | 2018-10-29 | 2019-02-26 | 浙江大学 | A kind of system using vehicle-mounted pulse lidar look-ahead hill gradient and length of grade |
| CN109544991A (en) * | 2018-12-17 | 2019-03-29 | 安徽百诚慧通科技有限公司 | A kind of bus or train route collaboration bend vehicle meeting early warning system and control method |
| US12146988B2 (en) | 2021-04-20 | 2024-11-19 | Innovusion, Inc. | Dynamic compensation to polygon and motor tolerance using galvo control profile |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102963300A (en) * | 2012-12-07 | 2013-03-13 | 长安大学 | Prompting device for preventing vehicle from colliding with non-motor vehicles when turning corners and prompting method thereof |
| CN104635494A (en) * | 2015-02-06 | 2015-05-20 | 西安电子科技大学 | A fuzzy control method for vehicle rear-end collision based on genetic algorithm optimization |
| CN104635494B (en) * | 2015-02-06 | 2018-01-30 | 西安电子科技大学 | A kind of vehicle rear-end collision collision fuzzy control method based on genetic algorithm optimization |
| TWI640446B (en) * | 2017-09-01 | 2018-11-11 | 元智大學 | Method, device, and system for driving assistant based on fuzzy-set-optimized framework |
| CN107886772A (en) * | 2017-11-10 | 2018-04-06 | 重庆长安汽车股份有限公司 | Weak tendency traffic participant collision warning systems |
| CN108859962A (en) * | 2018-06-12 | 2018-11-23 | 李良杰 | Driving safety prompt device |
| CN109387855A (en) * | 2018-10-29 | 2019-02-26 | 浙江大学 | A kind of system using vehicle-mounted pulse lidar look-ahead hill gradient and length of grade |
| CN109544991A (en) * | 2018-12-17 | 2019-03-29 | 安徽百诚慧通科技有限公司 | A kind of bus or train route collaboration bend vehicle meeting early warning system and control method |
| US12146988B2 (en) | 2021-04-20 | 2024-11-19 | Innovusion, Inc. | Dynamic compensation to polygon and motor tolerance using galvo control profile |
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Application publication date: 20120201 |