CN105292087B - A lane departure correction system based on wheel braking and its correction method - Google Patents
A lane departure correction system based on wheel braking and its correction method Download PDFInfo
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- CN105292087B CN105292087B CN201510660387.8A CN201510660387A CN105292087B CN 105292087 B CN105292087 B CN 105292087B CN 201510660387 A CN201510660387 A CN 201510660387A CN 105292087 B CN105292087 B CN 105292087B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/24—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle inclination or change of direction, e.g. negotiating bends
- B60T8/246—Change of direction
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
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- Human Computer Interaction (AREA)
- Regulating Braking Force (AREA)
Abstract
The present invention provides a kind of deviation correcting system based on wheel braking, unit is corrected including deviateing, CAN communication unit and smart phone unit, two signal output ends deviateed in the ESP/VSC control module for correcting unit are connect with the signal input part of left and right rear wheel braking pressure solenoid valve respectively, the ESP/VSC control module is communicated to connect by the bus control module in CAN interface and CAN communication unit, the signal output end of bus control module passes sequentially through the bluetooth module B in on-vehicle information processing module and bluetooth module A and smart phone unit and communicates to connect, the bluetooth module B and smart phone processing module communicate to connect；The signal input part of the smart phone processing module is also connect with the signal output end of image collection module, and signal output end is connect with the signal input part of display module and alarm module respectively.Present invention installation is at low cost, structure is simple, early warning accuracy is high.
Description
Technical field
The invention belongs to automotive safeties to assist driving field, and in particular to a kind of deviation correction based on wheel braking
System and its correcting method.
Background technique
In recent years, automotive run-off-road is caused to cause major motor vehicle due to driver's over fatigue, carelessness on highway
The ratio of accident increases year by year.The statistical data of " national economy and social development statistical communique in 2014 " points out, 2014
Toll on traffic is 34292.34 people, and dead 31604.3 people than 2013 increases 2688.04 people, and growth rate is
8.5%；It is 13.46% compared to 2012 annual growths；It is 15.78% compared to 2011 annual growths.
American roads release mechanism research shows that: the motor traffic accidents there are about 50% is because automobile deviates normal row
Caused by sailing lane, the main reason for deviation is also seen as vehicle rollover accident.Some experts estimate utilization can detect vehicle
When operation the system of lateral position by can prevent about 53% Lane Departure.
Installing meter before Lane Departure Warning System belongs to mostly at present, and it is concentrated mainly on middle and high end vehicle.Although this
A little systems realize the functions such as lane departure warning substantially, but most low and middle-end vehicles for not having the configuration carry out
It installs additional, then exists and install the deficiencies such as at high cost, low to the change of former fare road, early warning accuracy additional.
Summary of the invention
In order to solve the above technical problems, the present invention provides a kind of deviation correcting system based on wheel braking, it should
A kind of deviation of the deviation correcting system based on wheel braking corrects unit and passes through CAN communication unit and smart phone unit
Communication connection.
The present invention is achieved by the following technical programs.
A kind of deviation correcting system based on wheel braking provided by the invention, including unit is corrected in deviation, CAN leads to
Believe unit and smart phone unit, the power module in the CAN communication unit from CAN interface take electricity and transformation after to
Other modules in CAN communication unit provide operating voltage, two deviateed in the ESP/VSC control module for correcting unit
Signal output end is connect with the signal input part of left and right rear wheel braking pressure solenoid valve respectively, and the ESP/VSC control module is logical
The bus control module crossed in CAN interface and CAN communication unit communicates to connect, the signal output end of bus control module according to
The secondary bluetooth module B by on-vehicle information processing module and bluetooth module A and smart phone unit is communicated to connect, the bluetooth
Module B and smart phone processing module communicate to connect；The signal input part of the smart phone processing module also with image collection
The signal output end of module connects, and signal output end is connect with the signal input part of display module and alarm module respectively.
Institute's ESP/VSC control module is STM32 controller.
The bus control module is TJA1040-CAN transceiver.
The on-vehicle information processing module is STM32 controller.
The bluetooth module A is MAX485 interface chip.
The power module is LM2596 voltage stabilizing chip.
A kind of correcting method of the deviation correcting system based on wheel braking, comprising the following steps:
Step a: image is obtained and is shown；The included image collection module of smart phone obtains the image of vehicle front in real time
Information, and performed image display by display module；
Step b: Lane detection；The image information that the processing of smart phone processing module obtains carries out lane line and deviates knowledge
Not, if lane line can identify, c is entered step, d is otherwise entered step；
Step c: automotive run-off-road identification；Smart phone processing module judges vehicle for the lane line that step b is identified
Whether lane is had deviated from, if automotive run-off-road, enters step e, otherwise return step b；
Step d: difference in wheel calculates vehicle runout information；Vehicle-mounted CAN bus interface obtains vehicle speed and all around four
The speed of a wheel, calculate vehicle whether run-off-road；If automotive run-off-road, e is entered step, otherwise return step b；
Step e: driver status identification；Vehicle-mounted CAN bus interface obtains vehicle real time and information is passed through bus
Control module is sent to on-vehicle information processing module, and the information received is passed sequentially through Bluetooth communication by on-vehicle information processing module
Modules A and bluetooth communication B are transmitted to the smart phone processing module in smart phone unit；
Step f: smart phone processing module judges offset direction, if vehicle is deviated to the left, enters step g, otherwise
Enter step h；
Step g: the alarm module in smart phone unit carries out early warning prompting to vehicle driver, and lights left steering
Lamp prevents from knocking into the back to rear car early warning；Smart phone processing module is corrected in unit by CAN interface to deviation simultaneously
ESP/VSC control module sends signal, controls right rear wheel brake pressure, brakes right rear wheel, corrects and deviates vehicle, into step
Rapid i；
Step h: the alarm module in smart phone unit carries out early warning prompting to vehicle driver, and lights right turn
Lamp prevents from knocking into the back to rear car early warning；Smart phone processing module is corrected in unit by CAN interface to deviation simultaneously
ESP/VSC control module sends signal, controls rear left wheel brake pressure, brakes rear left wheel, corrects and deviates vehicle, into step
Rapid i；
Step i: smart phone unit continues deviation identification；If vehicle still run-off-road, return step f,
Otherwise terminate this deviation correction procedure.
Vehicle real time in the step e includes turning to modulating signal and speed signal.
Turn signal in the step e in vehicle real time is in non-open state and speed and is greater than 20km/h, then into
Enter step f, otherwise return step b.
The beneficial effects of the present invention are: after automobile fill market it is acceptant, directly with vehicle-mounted CAN bus interface grafting phase
Even, former fare road is not changed, is installed additional at low cost；Structure is simple, there was only several big modules inside whole device, and level of integrated system is high,
It is small in size；Early warning accuracy is high, reads vehicle-related information by vehicle-mounted CAN bus interface and identifies driver's mode of operation, knot
It closes camera and obtains image information, accurately identify automotive run-off-road, reduce rate of false alarm；Correct driving habit, when driver not
Turn signal is opened when run-off-road, and carrying out warning reminding driver civilization drives, and improves traffic environment；Warning function diversification,
While having to this vehicle driver progress lane departure warning, early warning is carried out to rear car by opening this vehicle turn signal, is prevented
There is rear-end collision；It corrects deviation and carries out single wheel braking through the invention using the hardware facility of vehicle itself,
Realize that deviation is corrected.
Detailed description of the invention
Fig. 1 is the principle of the present invention block diagram；
Fig. 2 is system flow chart of the invention.
Specific embodiment
Be described further below technical solution of the present invention, but claimed range be not limited to it is described.
A kind of deviation correcting system based on wheel braking as shown in Fig. 1~2, including deviate and correct unit, CAN
Communication unit and smart phone unit, power module in the CAN communication unit from CAN interface take electricity and transformation after to
Other modules in CAN communication unit provide operating voltage, two deviateed in the ESP/VSC control module for correcting unit
Signal output end is connect with the signal input part of left and right rear wheel braking pressure solenoid valve respectively, and the ESP/VSC control module is logical
The bus control module crossed in CAN interface and CAN communication unit communicates to connect, the signal output end of bus control module according to
The secondary bluetooth module B by on-vehicle information processing module and bluetooth module A and smart phone unit is communicated to connect, the bluetooth
Module B and smart phone processing module communicate to connect；The signal input part of the smart phone processing module also with image collection
The signal output end of module connects, and signal output end is connect with the signal input part of display module and alarm module respectively.
Institute's ESP/VSC control module is STM32 controller.The acquisition of ESP/VSC control unit is transmitted by CAN interface
Signal controls the duty ratio of the near front wheel brake pressure solenoid valve or off hind wheel brake pressure solenoid valve, realizes to corresponding wheel system
The control of dynamic pressure.
The bus control module is TJA1040-CAN transceiver.Bus control unit obtains vehicle real time；Vehicle-mounted letter
It ceases processing module and receives vehicle real time, transmit information to bluetooth communication A after treatment.
The on-vehicle information processing module is STM32 controller.On-vehicle information processing module is by the letter of bus control module
Cease the bluetooth communication B being transmitted in smart phone by bluetooth communication A.
The bluetooth module A is MAX485 interface chip.The effect of bluetooth module A mainly will be in CAN communication unit
Information processing is communicatively coupled with bluetooth module B.
The power module is LM2596 voltage stabilizing chip.Power module is dropped by CAN mouthfuls of acquisition 12v voltages by chip
3.3v voltage is obtained after pressure, and the working power of each chip in CAN communication unit is provided.
The correcting method of the above-mentioned deviation correcting system based on wheel braking the following steps are included:
Step a: image is obtained and is shown；The included image collection module of smart phone obtains the image of vehicle front in real time
Information, and performed image display by display module；
Step b: Lane detection；The image information that the processing of smart phone processing module obtains carries out lane line and deviates knowledge
Not, if lane line can identify, c is entered step, d is otherwise entered step；
Step c: automotive run-off-road identification；Smart phone processing module judges vehicle for the lane line that step b is identified
Whether lane is had deviated from, if automotive run-off-road, enters step e, otherwise return step b；
Step d: difference in wheel calculates vehicle runout information；Vehicle-mounted CAN bus interface obtains vehicle speed and all around four
The speed of a wheel, calculate vehicle whether run-off-road；If automotive run-off-road, e is entered step, otherwise return step b；
Step e: driver status identification；Vehicle-mounted CAN bus interface obtains vehicle real time and information is passed through bus
Control module is sent to on-vehicle information processing module, and the information received is passed sequentially through Bluetooth communication by on-vehicle information processing module
Modules A and bluetooth communication B are transmitted to the smart phone processing module in smart phone unit；
Step f: smart phone processing module judges offset direction, if vehicle is deviated to the left, enters step g, otherwise
Enter step h；
Step g: the alarm module in smart phone unit carries out early warning prompting to vehicle driver, and lights left steering
Lamp prevents from knocking into the back to rear car early warning；Smart phone processing module is corrected in unit by CAN interface to deviation simultaneously
ESP/VSC control module sends signal, controls right rear wheel brake pressure, brakes right rear wheel, corrects and deviates vehicle, into step
Rapid i；
Step h: the alarm module in smart phone unit carries out early warning prompting to vehicle driver, and lights right turn
Lamp prevents from knocking into the back to rear car early warning；Smart phone processing module is corrected in unit by CAN interface to deviation simultaneously
ESP/VSC control module sends signal, controls rear left wheel brake pressure, brakes rear left wheel, corrects and deviates vehicle, into step
Rapid i；
Step i: smart phone unit continues deviation identification；If vehicle still run-off-road, return step f,
Otherwise terminate this deviation correction procedure.
Vehicle real time in the step e includes turning to modulating signal and speed signal.
Turn signal in the step e in vehicle real time is in non-open state and speed and is greater than 20km/h, then into
Enter step f, otherwise return step b.
The present invention installs additional at low cost；Structure is simple, there was only several big modules inside whole device, level of integrated system is high, volume
It is small；Early warning accuracy is high, reads vehicle-related information by vehicle-mounted CAN bus interface and identifies driver's mode of operation, in conjunction with taking the photograph
Shadow head obtains image information, accurately identifies automotive run-off-road, reduces rate of false alarm；Driving habit is corrected, is turned when driver does not open
To lamp when run-off-road, carries out warning reminding driver civilization and drive, improve traffic environment；Warning function diversification, has
While carrying out lane departure warning to this vehicle driver, early warning is carried out to rear car by opening this vehicle turn signal, is prevented
Rear-end collision；It corrects deviation and carries out single wheel braking through the invention using the hardware facility of vehicle itself, realize
Deviation is corrected.
Claims (5)
1. a kind of correcting method of the deviation correcting system based on wheel braking, the deviation correcting system includes inclined
From correcting unit, CAN communication unit and smart phone unit, the power module in the CAN communication unit is from CAN interface
It takes and provides operating voltage to other modules in CAN communication unit after electricity and transformation, it is characterised in that: the deviations correction unit
ESP/VSC control module in two signal output ends respectively with the signal input part of left and right rear wheel braking pressure solenoid valve connect
It connects, the ESP/VSC control module is communicated to connect by the bus control module in CAN interface and CAN communication unit, always
The signal output end of line traffic control module passes sequentially through the indigo plant in on-vehicle information processing module and bluetooth module A and smart phone unit
Tooth module B communication connection, the bluetooth module B and smart phone processing module communicate to connect；The CAN communication unit directly with
Vehicle-mounted CAN bus interface grafting is connected；Letter of the signal input part of the smart phone processing module also with image collection module
The connection of number output end, signal output end are connect with the signal input part of display module and alarm module respectively；Institute ESP/VSC control
Module is STM32 controller；The bus control module is TJA1040-CAN transceiver；
Steps are as follows for its correcting method:
Step a: image is obtained and is shown；The included image collection module of smart phone obtains the image letter of vehicle front in real time
Breath, and performed image display by display module；
Step b: Lane detection；The image information that the processing of smart phone processing module obtains carries out lane line and deviates identification, such as
Fruit lane line can identify, enter step c, otherwise enter step d；
Step c: automotive run-off-road identification；Smart phone processing module judges that vehicle is for the lane line that step b is identified
It is no to have deviated from lane, if automotive run-off-road, e is entered step, otherwise return step b；
Step d: difference in wheel calculates vehicle runout information；Vehicle-mounted CAN bus interface obtains vehicle speed and all around four vehicles
The speed of wheel, calculate vehicle whether run-off-road；If automotive run-off-road, e is entered step, otherwise return step b；
Step e: driving condition identification；Vehicle-mounted CAN bus interface obtains the vehicle real time for turning to modulating signal and speed signal,
And information is sent to on-vehicle information processing module, the information that on-vehicle information processing module will receive by bus control module
Pass sequentially through the smart phone processing module that bluetooth module A and bluetooth module B is transmitted in smart phone unit；
Step f: smart phone processing module judges offset direction, if vehicle is deviated to the left, enters step g, otherwise enters
Step h；
Step g: the alarm module in smart phone unit carries out early warning prompting to vehicle driver, and lights left steering lamp, right
Rear car early warning prevents from knocking into the back；Smart phone processing module corrects the ESP/VSC in unit by CAN interface to deviation simultaneously
Control module sends signal, controls right rear wheel brake pressure, brakes right rear wheel, corrects and deviates vehicle, enters step i；
Step h: the alarm module in smart phone unit carries out early warning prompting to vehicle driver, and lights right turn lamp, right
Rear car early warning prevents from knocking into the back；Smart phone processing module corrects the ESP/VSC in unit by CAN interface to deviation simultaneously
Control module sends signal, controls rear left wheel brake pressure, brakes rear left wheel, corrects and deviates vehicle, enters step i；
Step i: smart phone unit continues deviation identification；If vehicle still run-off-road, return step f, otherwise
Terminate this deviation correction procedure.
2. a kind of correcting method of the deviation correcting system based on wheel braking as described in claim 1, feature exist
In: the on-vehicle information processing module is STM32 controller.
3. a kind of correcting method of the deviation correcting system based on wheel braking as described in claim 1, feature exist
In: the bluetooth module A is MAX485 interface chip.
4. a kind of correcting method of the deviation correcting system based on wheel braking as described in claim 1, feature exist
In: the power module is LM2596 voltage stabilizing chip.
5. the correcting method of the deviation correcting system based on wheel braking as described in claim 1, it is characterised in that: institute
It states the turn signal in step e in vehicle real time and is in non-open state and speed and be greater than 20km/h, then enter step f, it is no
Then return step b.
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| CN201510660387.8A CN105292087B (en) | 2015-10-14 | 2015-10-14 | A lane departure correction system based on wheel braking and its correction method |
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| CN201510660387.8A CN105292087B (en) | 2015-10-14 | 2015-10-14 | A lane departure correction system based on wheel braking and its correction method |
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| CN105292087B true CN105292087B (en) | 2019-03-12 |
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| CN108583550A (en) * | 2018-03-02 | 2018-09-28 | 浙江鼎奕科技发展有限公司 | Vehicle automatic braking method and device |
| CN108492602A (en) * | 2018-03-28 | 2018-09-04 | 浙江鼎奕科技发展有限公司 | Vehicular automatic driving method and device |
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Application publication date: 20160203 Assignee: Guangxi jinbeiyuan Educational Equipment Co.,Ltd. Assignor: NANNING University Contract record no.: X2022450000617 Denomination of invention: A lane departure correction system based on wheel braking and its correction method Granted publication date: 20190312 License type: Common License Record date: 20221230 |
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