CN108162860A - A kind of vehicle guiding aided management system and vehicle guidance method - Google Patents
A kind of vehicle guiding aided management system and vehicle guidance method Download PDFInfo
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- CN108162860A CN108162860A CN201810045884.0A CN201810045884A CN108162860A CN 108162860 A CN108162860 A CN 108162860A CN 201810045884 A CN201810045884 A CN 201810045884A CN 108162860 A CN108162860 A CN 108162860A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views
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Abstract
The present invention provides a kind of vehicle guiding aided management system and vehicle guidance method, vehicle guidance method are specially：Vehicle guide auxiliary apparatus is mounted on headstock middle position, to obtain L1 and L2；The vehicle guide auxiliary apparatus is based on L1, L2 and flatcar width to realize vehicle straight trip guiding.Vehicle guide auxiliary apparatus is mounted on tailstock middle position, to obtain L3 and L4；The vehicle guide auxiliary apparatus is based on L3, L4, H, L and flatcar width to realize that vehicle lateral parking guides.Vehicle guidance method provided by the invention according to vehicle and the real time data information of flatcar floor relative position, prompts the control of driver's operating and controlling vehicle direction, engine and brake, final vehicle indulges center line at it and flatcar indulges the parking of center line overlapping position.
Description
Technical Field
The invention relates to the technical field of vehicle guidance, in particular to a vehicle guidance auxiliary management system and a vehicle guidance method.
Background
When loading, a driver drives the vehicle to drive to the floor of the flat car from the tail part of the train through the cab apron and to drive to a specified position to stop, or to stop at a specified position of a platform to the floor of the flat car in a side direction. In order to ensure that the train is not loaded in an unbalanced manner, the center of gravity of the vehicle should be located as close to the longitudinal center line of the flat car as possible, so that the requirement on the parking position of the vehicle is high, and particularly the deviation of the transverse position of the vehicle is as small as possible. When the vehicle is loaded, the sight of a driver is limited and blind areas exist due to the influence of adverse conditions of large width and height of the vehicle, and the loading operation cannot be completed independently. At present, a formed vehicle guide system does not exist in China to assist a driver to load, manual assistance is generally adopted to assist loading, loading time is long, efficiency is low, and even the situation that a vehicle directly drops in the loading process exists, so that certain potential safety hazards exist.
In the invention patent with publication number CN204323334U, the surrounding environment is modeled by an infrared depth vision sensor, an ultrasonic distance measurement sensor, a camera and a GPS positioning device, although the above method can assist the vehicle to guide straight, the precision of the distance measurement method is low, the intention of accurate guidance is lost, and a side direction parking guidance method is not included.
Disclosure of Invention
In order to at least partially overcome the above problems in the prior art, the present invention provides a vehicle guidance assistance management system and a vehicle guidance method.
According to an aspect of the present invention, there is provided a vehicle guidance assistance management system including: the system comprises a vehicle guide auxiliary device and a background management terminal; the vehicle guiding auxiliary device comprises a vehicle distance detection unit, an image acquisition unit, a wireless transmission module, a position data processing module, an image data processing module and a position information display module; wherein,
the vehicle distance detection unit is connected with the input end of the wireless transmission module, and the output end of the wireless transmission module is connected with the position data processing module;
the image acquisition unit is connected with the image data processing module;
the position data processing module and the image data processing module are both connected with the position information display module;
the vehicle distance detection unit, the image acquisition unit and the wireless transmission module are all connected with a solar power supply;
the image data processing module is connected with the background management terminal;
the vehicle distance detection unit and the image acquisition unit are both arranged at the center of the front end of the vehicle or the center of the rear end of the vehicle.
The vehicle distance detection unit is a laser radar ranging sensor.
Wherein, the image acquisition unit is a video monitor.
The device also comprises an alarm module; the position data processing module and the image data processing module are both connected with the alarm module.
The background management terminal is one of a mobile phone, a tablet personal computer or a computer.
According to another aspect of the present invention, there is provided a vehicle guidance method including:
mounting the vehicle guidance assistance device at a vehicle head middle position to obtain L1 and L2; wherein,
the extension line of the head of the flat car is intersected with the left and right boundaries of the flat car to obtain a first intersection point and a second intersection point, the distance from the midpoint of the head of the flat car to the first intersection point is L1, and the distance from the midpoint of the head of the flat car to the second intersection point is L2;
the vehicle guiding auxiliary device is based on L1, L2 and the width of the flat car to realize the straight-ahead guiding of the vehicle.
The method specifically comprises the following steps: when the sum of L1 and L2 is equal to the width of the flat car and L1 is smaller than L2, the vehicle guiding auxiliary device reminds the driver to turn right to go ahead;
when the sum of L1 and L2 is equal to the width of the flat car, and L1 is greater than L2, the vehicle guiding auxiliary device reminds the driver to turn left to go ahead;
when the sum of L1 and L2 is greater than the width of the flat car and L1 is smaller than L2, the vehicle guiding auxiliary device reminds the driver to turn right to go ahead;
when the sum of L1 and L2 is greater than the width of the flat car, and L1 is greater than L2, the vehicle guiding auxiliary device reminds the driver to turn left to go ahead;
when L1 or L2 is less than half the vehicle width, the vehicle guidance aid alerts the driver to prevent dropping.
Wherein, still include: mounting the vehicle guidance assistance device at a vehicle rear middle position to obtain L3 and L4; wherein,
the extension line of the tail of the vehicle intersects with the left and right boundaries of the flat car to obtain a third intersection point and a fourth intersection point, the distance from the midpoint of the tail of the vehicle to the third intersection point is L3, and the distance from the midpoint of the tail of the vehicle to the fourth intersection point is L4;
the vehicle guiding auxiliary device realizes vehicle side parking guiding based on L3, L4, H, L and the width of the flat car; wherein,
h is the distance from the rear wheel of the vehicle to the tail of the vehicle, and L is the distance between the rear wheels on the two sides of the vehicle.
wherein the method specifically comprises the steps of obtaining α and L6 according to L3, L4, H, L and the width of the flat car, and the vehicle guiding auxiliary device realizes the parking guidance of the side position of the vehicle based on the α and the L6,
alpha is the included angle between the longitudinal center line of the vehicle and the longitudinal center line of the flat car, and L6 is the shortest distance between the rear wheel of the vehicle and the edge of the flat car.
In summary, the present invention provides a vehicle guidance auxiliary management system and a vehicle guidance method, wherein the vehicle guidance method specifically includes: mounting the vehicle guidance assistance device at a vehicle head middle position to obtain L1 and L2; the vehicle guiding auxiliary device is based on L1, L2 and the width of the flat car to realize the straight-ahead guiding of the vehicle. Mounting the vehicle guidance assistance device at a vehicle rear middle position to obtain L3 and L4; the vehicle guidance assistance device realizes vehicle side parking guidance based on L3, L4, H, L and a flat car width. The vehicle guiding method provided by the invention prompts a driver to control the vehicle direction, the engine and the brake according to the real-time data information of the relative positions of the vehicle and the flat car floor, and finally the vehicle stops at the position where the longitudinal center line of the vehicle is superposed with the longitudinal center line of the flat car.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a block diagram of a vehicle guidance assistance management system according to an embodiment of the present invention;
fig. 2 is a block diagram of a vehicle guidance assistance device in a vehicle guidance assistance management system according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of a vehicle guidance method according to an embodiment of the invention;
fig. 4 is a schematic flow chart of a vehicle guidance method according to yet another embodiment of the invention;
fig. 5 is a schematic view illustrating straight guidance parking in a vehicle guidance method according to an embodiment of the present invention;
fig. 6 is a schematic diagram of side position guided parking in a vehicle guiding method according to an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a block diagram of a vehicle guidance assistance management system according to an embodiment of the present invention, as shown in fig. 1, including: a vehicle guidance assistance device 10 and a back-office management terminal 20; as shown in fig. 2, the vehicle guidance assistance device 10 includes: the system comprises a vehicle distance detection unit 101, an image acquisition unit 102, a wireless transmission module 103, a position data processing module 105, an image data processing module 104 and a position information display module 106; wherein,
the vehicle distance detection unit 101 is connected with the input end of the wireless transmission module 103, and the output end of the wireless transmission module 103 is connected with the position data processing module 105;
the image acquisition unit 102 is connected with the image data processing module 104;
the position data processing module 105 and the image data processing module 104 are both connected with the position information display module 106;
the vehicle distance detection unit 101, the image acquisition unit 102 and the wireless transmission module 103 are all connected with a solar power supply;
the image data processing module 104 is connected with the background management terminal 20;
the inter-vehicle distance detecting unit 101 and the image capturing unit 102 are both installed at the center of the front end of the vehicle or the center of the rear end of the vehicle.
Preferably, the vehicle distance detection unit 101 is a laser radar ranging sensor.
Preferably, the image capturing unit 102 is a video monitor.
Specifically, the laser radar ranging sensor is used for measuring the distance between a vehicle and a flat car boundary; the wireless transmission module 103 is used for transmitting the data collected by the laser radar ranging sensor to the position data processing module 105; the position data processing module 105 carries out filtering processing on data collected by the laser radar ranging sensor, identifies measuring points on two boundaries of the flat car through an algorithm, selects the minimum distance in the measuring data of the laser radar ranging sensor, namely the shortest distance between the laser radar ranging sensor and the two boundaries of the flat car, and can be regarded as the height difference between the laser radar ranging sensor and the flat car, calculate the horizontal distance between the laser radar ranging sensor and the two boundaries of the flat car through the pythagorean theorem, calculate the distance from the center of the car to the two sides of the flat car in real time and transmit the calculation result to the position information display module 106; the image data processing module 104 compresses, enhances, restores, matches, describes and identifies the video image transmitted by the video monitor, so as to save the image processing time, remove the noise, improve the image definition and output the clear video image; the position information display module 106 displays the output results of the position data processing module 105 and the image data processing module 104 in real time, including video images and real-time detection results of the distance from the center of the vehicle to both sides of the flatcar.
Preferably, the solar power supply is used for supplying power to the laser radar ranging sensor, the video monitor and the wireless transmission module, and the solar power supply can be charged when not in work.
Specifically, the laser radar sensor, the video monitor, the wireless transmission transmitting end and the power supply are all installed in an electrical box, the electrical box is fixed at the center of the front end of the vehicle or the center of the rear end of the vehicle, the rotating plane of the electrical box is perpendicularly intersected with the floor of the flat car, the position data processing module, the image data processing module and the position information display module are packaged into a system to be installed on a tablet personal computer, and the tablet personal computer is arranged in the car and used for a driver to observe the relative position between the vehicle and the flat car in real time.
In the embodiment of the invention, through the information acquired by the vehicle distance detection unit and the image acquisition unit in the vehicle guide auxiliary device, the intuitive vehicle position image, the accurate distance and the included angle between the vehicle and the flat car can be provided for a driver through data processing and display, and the positioning precision and the positioning efficiency of the vehicle are improved; the vehicle state after being loaded can be checked at any time and any place through the background management terminal so as to realize remote supervision and guidance.
On the basis of the above embodiment, the device also comprises an alarm module; wherein,
the position data processing module 105 and the image data processing module 104 are both connected to the alarm module.
Specifically, the alarm module receives data sent by the position data processing module and the image data processing module, and gives an alarm to prompt a driver when the position deviation of the vehicle exceeds a preset threshold value.
On the basis of the above embodiment, the background management terminal is one of a mobile phone, a tablet computer, or a computer.
Preferably, in this embodiment, the background management terminal is a mobile phone.
Specifically, in order to inspect the loaded state of the vehicle at any time and any place, a picture of the loaded and reinforced vehicle state is sent to a mobile phone of an administrator through a network, so that remote supervision and guidance are realized.
Fig. 3 is a schematic flow chart of a vehicle guidance method according to an embodiment of the present invention, as shown in fig. 3, including:
s1, mounting the vehicle guiding auxiliary device at the middle position of the vehicle head to obtain L1 and L2; wherein,
the extension line of the head of the flat car is intersected with the left and right boundaries of the flat car to obtain a first intersection point and a second intersection point, the distance from the midpoint of the head of the flat car to the first intersection point is L1, and the distance from the midpoint of the head of the flat car to the second intersection point is L2;
specifically, L1 and L2 were measured by lidar ranging sensors.
And S2, the vehicle guiding auxiliary device realizes the straight-ahead guiding of the vehicle based on the L1, the L2 and the width of the flat car.
Specifically, the vehicle guidance assistance device realizes the vehicle straight guidance based on the relationship between L1, L2, and the flat car width.
In the embodiment of the invention, a driver is prompted to control the direction, the engine and the brake of the vehicle according to the real-time data information of the relative positions of the vehicle and the floor of the flat car, and finally the vehicle stops at the position where the longitudinal center line of the vehicle and the longitudinal center line of the flat car coincide.
On the basis of the above embodiment, the method specifically includes: when the sum of L1 and L2 is equal to the width of the flat car and L1 is smaller than L2, the vehicle guiding auxiliary device reminds the driver to turn right to go ahead;
when the sum of L1 and L2 is equal to the width of the flat car, and L1 is greater than L2, the vehicle guiding auxiliary device reminds the driver to turn left to go ahead;
when the sum of L1 and L2 is greater than the width of the flat car and L1 is smaller than L2, the vehicle guiding auxiliary device reminds the driver to turn right to go ahead;
when the sum of L1 and L2 is greater than the width of the flat car, and L1 is greater than L2, the vehicle guiding auxiliary device reminds the driver to turn left to go ahead;
when L1 or L2 is less than half the vehicle width, the vehicle guidance aid alerts the driver to prevent dropping.
wherein alpha is an included angle between a longitudinal centerline of the vehicle and a longitudinal centerline of the flat car.
specifically, as shown in fig. 5, when the sum of L1 and L2 is equal to the flatcar width and L1 is less than L2, α ═ 0, the vehicle is parallel to the longitudinal centerline of the flatcar, the entire vehicle deviates to the left, and the driver is reminded to turn right and go forward, when the sum of L1 and L2 is equal to the flatcar width and L1 is greater than L2, α ═ 0, the vehicle is parallel to the longitudinal centerline of the flatcar, the entire vehicle deviates to the right, and the driver is reminded to turn left and go forward, when the sum of L1 and L2 is greater than the flatcar width and L1 is less than L2, α ≠ 0, the vehicle is not parallel to the longitudinal centerline of the flatcar, the vehicle deviates to the left, and the driver is reminded to turn right and go forward, when the sum of L1 and L2 is greater than the flatcar width and L1 is greater than L2, α ≠ 0, the vehicle is reminded to turn left and the driver of the vehicle is reminded to fall off the vehicle.
Fig. 4 is a schematic flow chart of a vehicle guidance method according to another embodiment of the present invention, as shown in fig. 4, further including:
s30, mounting the vehicle guiding auxiliary device at the middle position of the tail of the vehicle to obtain L3 and L4; wherein,
the extension line of the tail of the vehicle intersects with the left and right boundaries of the flat car to obtain a third intersection point and a fourth intersection point, the distance from the midpoint of the tail of the vehicle to the third intersection point is L3, and the distance from the midpoint of the tail of the vehicle to the fourth intersection point is L4;
specifically, L3 and L4 were measured by lidar ranging sensors.
S40, the vehicle guiding auxiliary device realizes the vehicle side parking guidance based on L3, L4, H, L and the width of the flat car; wherein,
h is the distance from the rear wheel of the vehicle to the tail of the vehicle, and L is the distance between the rear wheels on the two sides of the vehicle.
Specifically, the vehicle side parking guidance comprises left-turn forward, right-turn forward, left-turn reverse, right-turn reverse and brake control.
In the embodiment of the invention, a driver is prompted to control the direction, the engine and the brake of the vehicle according to the real-time data information of the relative positions of the vehicle and the floor of the flat car, and finally the vehicle stops at the position where the longitudinal center line of the vehicle and the longitudinal center line of the flat car coincide.
On the basis of the above embodiment, the method specifically includes:
according to L3, L4, H, L and the width of the flat car, alpha and L6 are obtained, and the vehicle guiding auxiliary device realizes the parking guidance of the side position of the vehicle based on the alpha and the L6, wherein,
alpha is the included angle between the longitudinal center line of the vehicle and the longitudinal center line of the flat car, and L6 is the shortest distance between the rear wheel of the vehicle and the edge of the flat car.
Wherein the width of the flat wagon is LFlat car width。
the specific acquisition mode of α and L6 is as follows:
γ＝arctan(H/(L2-L/2))
β＝arcsin(Lflat car width/(L3+L4))
L5＝H/sinγ
α＝90°-β
L6＝L5·sin(180°-β-γ)
specifically, the vehicle side direction guiding parking process is as shown in (i) and (ii) in fig. 6, when L6 approaches 0, the vehicle has a risk of falling off the flat car, and the driver is prompted to control the vehicle direction, specifically including control of left-turn forward, right-turn forward, left-turn reverse, right-turn reverse and braking.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
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| CN111091742A (en) * | 2019-11-26 | 2020-05-01 | 西安华众电子科技股份有限公司 | Method, device and equipment for judging side parking test and storage medium |
| WO2020134095A1 (en) * | 2018-12-26 | 2020-07-02 | 合肥泰禾光电科技股份有限公司 | Vehicle parking positioning apparatus and vehicle parking guide method |
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Application publication date: 20180615 |