CN109878413A - A kind of electric vehicle underpinning early warning system and device - Google Patents
A kind of electric vehicle underpinning early warning system and device Download PDFInfo
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- CN109878413A CN109878413A CN201910012191.6A CN201910012191A CN109878413A CN 109878413 A CN109878413 A CN 109878413A CN 201910012191 A CN201910012191 A CN 201910012191A CN 109878413 A CN109878413 A CN 109878413A
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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
- 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
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- 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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
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- 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
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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- 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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93277—Sensor installation details in the lights
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention provides a kind of electric vehicle backing early warning system and device, comprising: a laser radar is installed on headstock headlight；One high-definition camera shoots measured target before being installed on rearview mirror, and computer extracts characteristics of image, obtains spatial position of the road surface object with respect to ground；Gyroscope judges body gesture；Data processing module, the information for obtaining road surface object to body gesture are integrated；The signal that laser radar and high-definition camera detect is fed back to data processing module according to the difference of vehicle approach angle, departure angle and ramp breakover angle by early warning feedback module, judges whether vehicle can pass through, and feeds back warning information；Obstacle is more than any minimum height corresponding to Ramp Angles or departure angle, then cannot pass through；If obstacle can pass through lower than any minimum height corresponding to Ramp Angles and departure angle；Wherein, pass through: one, automobile is passed through with current pose stabilization；Two, automobile changes the relative angle between object, and driver is crossed by turning to safety.
Description
Technical field
The present invention relates to automotive accessory technical field more particularly to a kind of vehicle chassis collision warning systems and device
And method.
Background technique
Automobile is the indispensable component part of the modern life as the main vehicles of the mankind.And electric vehicle conduct
New-energy automobile is had been a concern due to the protectiveness problem of its battery.Under steam, be frequently encountered road surface has automobile
Raised object, such as brick, stone etc..Therefore, the system and device may estimate that object height, if it is determined that protrusion will not touch
Vehicle chassis is touched, then is passed through at a slow speed.In the implementation of the present invention, discovery current techniques at least exist asks inventor as follows
Topic: since the conditions such as driver experience, running environment are limited, driver is difficult to judge protrusion height, if it is determined that mistake is then
Vehicle chassis collision can occur, damage vehicle, therefore invented a kind of electric vehicle backing early warning system and device after comprehensively considering.
Summary of the invention
The present invention provides a kind of electric vehicle backing early warning system and device, to reduce electric vehicle chassis backing, improves driving
Safety.
In order to achieve the above objectives, the present invention provides a kind of electric vehicle backing early warning and devices, comprising:
Monitoring modular a, laser radar, is installed at headstock headlight, so that laser radar is in front vision wide-angle direction
On acquisition range can cover on front side of vehicle bottom；One high-definition camera makes before being installed on the rearview mirror of vehicle windshield
It obtains video camera acquisition imaging and passes through computer rapidly extracting target image using the image of camera shooting captured in real-time measured target
Characteristic signal obtains road surface object relative to the height and width on ground and relative to front-wheel axis institute after analytical calculation
In the length characteristic value of plane；One gyroscope, for judging body gesture；
The fore-and-aft distance of data processing module, the road surface object got from the laser radar to vehicle body is formed apart from sequence
Column, the road surface object got from the high-definition camera is relative to the height and width on ground and relative to where front-wheel axis
The Data Integrations such as the length characteristic value of plane and the body gesture obtained from the gyroscope, different automobile types approach angle, departure angle
And the difference of ramp breakover angle, then the passable maximum height of different automobile types is definite value, is reached and is got according to the laser thunder 6
Road surface object to vehicle body the fore-and-aft distance distance sequence and Chinese herbaceous peony wheel axis that form where plane length characteristic value between
Geometry teaching relationship, using cosine formula cosb=adjacent side/bevel edge, conversion can obtain b=arccos adjacent side/bevel edge (b=object
With front truck wheel axis angle, adjacent side is formed by side in wheel axis projection for object, and bevel edge is object actual length)；
Maximum value and minimum are obtained into the fore-and-aft distance of vehicle body composition distance sequence from road surface object acquired in the laser radar
Value, thus the spatial position of disturbance in judgement object, and then while judging that automobile is leftward or rightward by positional relationship, is easier to pass through；We
Automobile equivalent axis is defined away from putting down for vehicle wheel base perpendicular to ground and by barrier plane proximally and distally is perpendicular
Projected length on face calculates equivalent axis away from the folder between wheelbase by collecting object height and equivalent axis away from series data
Angle, formula are a=arccos equivalent axis away from/wheelbase (a=vehicle body wheelbase needs the security standpoint range turned to)；
Early warning feedback module, according to the difference of different automobile types approach angle, departure angle and ramp breakover angle, then different automobile types can
By maximum height be definite value.Therefore, it is detected from the laser radar and the high-definition camera and the gyroscope
Characteristic signal feeds back to data processing module, with this judge vehicle whether can safety, and feed back warning information；If obstacle
Object height is more than any minimum height corresponding to Ramp Angles or departure angle, then cannot pass through；If obstacle height is lower than
Any minimum height, then can pass through corresponding to Ramp Angles and departure angle；Wherein, the case where capable of passing through, is divided into two kinds: one,
Automobile is directly driven through with current pose with stabilizing speed；Two, automobile is driven by changing the relative angle between object
Member is crossed by turning to change body gesture with stabilizing speed；By the processing result of data processing module, driver can pass through
The security interval of data processing feedback carries out drift angle steering, to make the steady safety of vehicle.
Control module is used for the monitoring modular, opens the laser radar and high-definition camera, or according to real-time road
Condition closes the laser radar and high-definition camera；
Directive generation module, the fore-and-aft distance of the road surface object got according to the laser radar to vehicle body form away from
From the geometry teaching relationship where sequence and Chinese herbaceous peony wheel axis between the length characteristic value of plane, acquired in the laser radar
Road surface object obtain maximum value and minimum value into the fore-and-aft distance composition distance sequence of vehicle body, thus the sky of disturbance in judgement object
Between position, and then while judging that automobile is leftward or rightward by positional relationship, is easier to pass through, for working as the height, width, length
When equal series datas are less than preset threshold, the detection open command is generated, then when series such as the height, width, length
When data are greater than or equal to the preset threshold, the detection out code is generated.
Detailed description of the invention
Fig. 1 be the distance sequence that forms of the fore-and-aft distance of the road surface object to the vehicle body that are got according to the laser radar with
Geometry teaching relationship where Chinese herbaceous peony wheel axis between the length characteristic value of plane, using cosine formula cosb=adjacent side/bevel edge,
Conversion can obtain b=arccos adjacent side/bevel edge, and (b=object and front truck wheel axis angle, adjacent side are object in wheel axial direction
Projection is formed by side, and bevel edge is object actual length)；
Fig. 2 is equivalent axis away from schematic diagram.We define automobile equivalent axis away from being vehicle wheel base perpendicular to ground and process
Projected length in the perpendicular plane of the plane of barrier proximally and distally, by collecting object height and equivalent axis away from series
Data calculate equivalent axis away from the angle between wheelbase, and formula is a=arccos equivalent axis away from/wheelbase (a=vehicle body wheelbase need
The security standpoint range to be turned to).
Fig. 3 is the system and device frame of a kind of electric vehicle backing early warning system and device one embodiment provided by the invention
Figure；
Fig. 4 is the system and device of another embodiment of a kind of electric vehicle backing early warning system provided by the invention and device
Block diagram；
Fig. 5 is the method flow diagram of a kind of electric vehicle backing early warning system and device one embodiment provided by the invention；
Fig. 6 is the method flow of another embodiment of a kind of electric vehicle backing early warning system provided by the invention and device
Figure.
Description of symbols: [1] monitoring modular, [2] data processing module, [3] early warning feedback module, [4] control module,
[5] directive generation module
The embodiment of the present invention and method are described in detail with reference to the accompanying drawing.
Embodiment one
Fig. 1 is the system and device frame of a kind of electric vehicle backing early warning system and device one embodiment provided by the invention
Figure.As shown in Figure 1
The electric vehicle backing early warning system and device include, [1] monitoring modular { 1. laser radar, 2. high-definition camera, 3.
Gyroscope }, [2] data processing module, [3] early warning feedback module, [4] control module, [5] directive generation module
Wherein, 1. laser radar, is installed at headstock headlight, so that laser radar adopting in the vision wide-angle direction of front
Collection range can cover on front side of vehicle bottom；High-definition camera 2., before being installed on the rearview mirror of vehicle windshield, so that video camera
Acquisition imaging, using the image of camera shooting captured in real-time measured target, by the characteristic signal of computer rapidly extracting target image,
After analytical calculation, obtain road surface object relative to the height and width on ground and relative to the length of plane where front-wheel axis
Spend characteristic value；Gyroscope 3., for judging body gesture；
Data processing module [2], the road surface object got from the laser radar to vehicle body fore-and-aft distance composition away from
From sequence, the road surface object got from the high-definition camera is relative to the height and width on ground and relative to front-wheel axis
The length characteristic value of place plane and the Data Integrations such as body gesture obtained from the gyroscope, different automobile types approach angle, from
The difference of beveling and ramp breakover angle, then the passable maximum height of different automobile types is definite value, is obtained according to the laser radar
The length characteristic value of plane where distance sequence and Chinese herbaceous peony wheel axis that the fore-and-aft distance of the road surface object arrived to vehicle body forms it
Between geometry teaching relationship, from road surface object acquired in the laser radar to the fore-and-aft distance of vehicle body composition distance sequence in
Obtain maximum value and minimum value, thus the spatial position of disturbance in judgement object, and then by positional relationship judge automobile to the left or to
It is easier to pass through when right；By collecting object height and equivalent axis away from series data, equivalent axis is calculated away from the angle between wheelbase；
Control module [4] is used for the monitoring modular, opens the laser radar and high-definition camera, or according to real-time
Road conditions close the laser radar and high-definition camera；
The fore-and-aft distance of directive generation module [5], the road surface object got according to the laser radar to vehicle body forms
Distance sequence and Chinese herbaceous peony wheel axis where plane length characteristic value between geometry teaching relationship, from the laser radar institute
The road surface object of acquisition obtains maximum value and minimum value into the fore-and-aft distance composition distance sequence of vehicle body, thus disturbance in judgement object
Spatial position, and then while judging that automobile is leftward or rightward by positional relationship, is easier to pass through, for when the height, width,
When the series datas such as length are less than preset threshold, the detection open command is generated, then when the height, width, length etc.
When series data is greater than or equal to the preset threshold, the detection out code is generated.
Early warning feedback module [3], according to the difference of different automobile types approach angle, departure angle and ramp breakover angle, then different vehicles
The passable maximum height of type is definite value.Therefore, it is detected from the laser radar and the high-definition camera and the gyroscope
To characteristic signal feed back to data processing module, with this judge vehicle whether can safety, and feed back warning information；If
Obstacle height is more than any minimum height corresponding to Ramp Angles or departure angle, then cannot pass through；
Its specific implementation step is,
1. 1-1 laser radar obtains barrier to automobile distance, 2. high-definition camera obtains road surface object relative to ground
Height and width and the length characteristic value relative to plane where front-wheel axis, gyroscope 3., for judging body gesture；
The distance sequence and Chinese herbaceous peony wheel that the fore-and-aft distance of the road surface object that laser radar described in 1-2 is got to vehicle body forms
Geometry teaching relationship where axis between the length characteristic value of plane, from road surface object acquired in the laser radar to vehicle
Maximum value and minimum value are obtained in the fore-and-aft distance composition distance sequence of body, thus the spatial position of disturbance in judgement object, Jin Ertong
Positional relationship is crossed to judge to be easier to pass through when automobile is leftward or rightward；By collecting object height and equivalent axis away from series data, meter
Equivalent axis is calculated away from the angle between wheelbase；
1-3 is used for the monitoring modular, opens the laser radar and high-definition camera, or according to real-time road, close
The laser radar and high-definition camera；When the series datas such as the height, width, length are less than preset threshold, institute is generated
Detection open command is stated, it is raw then when the series datas such as the height, width, length are greater than or equal to the preset threshold
At the detection out code；
If 1-4 obstacle height is more than any minimum height corresponding to Ramp Angles or departure angle, cannot pass through.
Embodiment two
Wherein, 1. laser radar, is installed at headstock headlight, so that laser radar adopting in the vision wide-angle direction of front
Collection range can cover on front side of vehicle bottom；High-definition camera 2., before being installed on the rearview mirror of vehicle windshield, so that video camera
Acquisition imaging, using the image of camera shooting captured in real-time measured target, by the characteristic signal of computer rapidly extracting target image,
After analytical calculation, obtain road surface object relative to the height and width on ground and relative to the length of plane where front-wheel axis
Spend characteristic value；Gyroscope 3., for judging body gesture；
Data processing module [2], the road surface object got from the laser radar to vehicle body fore-and-aft distance composition away from
From sequence, the road surface object got from the high-definition camera is relative to the height and width on ground and relative to front-wheel axis
The length characteristic value of place plane and the Data Integrations such as body gesture obtained from the gyroscope, different automobile types approach angle, from
The difference of beveling and ramp breakover angle, then the passable maximum height of different automobile types is definite value, is obtained according to the laser radar
The length characteristic value of plane where distance sequence and Chinese herbaceous peony wheel axis that the fore-and-aft distance of the road surface object arrived to vehicle body forms it
Between geometry teaching relationship, from road surface object acquired in the laser radar to the fore-and-aft distance of vehicle body composition distance sequence in
Obtain maximum value and minimum value, thus the spatial position of disturbance in judgement object, and then by positional relationship judge automobile to the left or to
It is easier to pass through when right；By collecting object height and equivalent axis away from series data, equivalent axis is calculated away from the angle between wheelbase；
Control module [4] is used for the monitoring modular, opens the laser radar and high-definition camera, or according to real-time
Road conditions close the laser radar and high-definition camera；
The fore-and-aft distance of directive generation module [5], the road surface object got according to the laser radar to vehicle body forms
Distance sequence and Chinese herbaceous peony wheel axis where plane length characteristic value between geometry teaching relationship, from the laser radar institute
The road surface object of acquisition obtains maximum value and minimum value into the fore-and-aft distance composition distance sequence of vehicle body, thus disturbance in judgement object
Spatial position, and then while judging that automobile is leftward or rightward by positional relationship, is easier to pass through, for when the height, width,
When the series datas such as length are less than preset threshold, the detection open command is generated, then when the height, width, length etc.
When series data is greater than or equal to the preset threshold, the detection out code is generated.
Early warning feedback module [3], according to the difference of different automobile types approach angle, departure angle and ramp breakover angle, then different vehicles
The passable maximum height of type is definite value.Therefore, it is detected from the laser radar and the high-definition camera and the gyroscope
To characteristic signal feed back to data processing module, with this judge vehicle whether can safety, and feed back warning information；If
Obstacle height can then pass through lower than any minimum height corresponding to Ramp Angles and departure angle；Wherein, the feelings that can pass through
Condition is divided into two kinds: one, automobile is directly driven through with current pose with stabilizing speed；Two, automobile is by changing between object
Relative angle, driver changed body gesture and crossed with stabilizing speed by turning to；Pass through the processing knot of data processing module
Fruit, the security interval that driver can be fed back by data processing carries out drift angle steering, to make the steady safety of vehicle.
Specifically, it is damaged when equipment machine device may result in vehicle backing there are roadblock in front of traveling on the way discovery
When, monitoring modular [1] can be actively opened further, when driver is when the bad weathers such as dense fog, heavy rain are gone on a journey, it will usually nothing
Method finds front roadblock in time, and therefore, a kind of electric vehicle backing early warning system provided in an embodiment of the present invention and device can be with
It include: command generation module [5].The command generation module [5] can be used for when height series wave in data management module [2]
When moving more apparent, monitoring open command is generated；
Further, monitoring modular [1] can be also used for obtaining monitoring out code；Control module [4] is also used to root
According to the detection out code, close monitoring modular [1].Command generation module [5] can be also used for when data series smooth fluctuations
When, generate monitoring out code.
The specific steps are that
1. 2-1 laser radar obtains barrier to automobile distance, 2. high-definition camera obtains road surface object relative to ground
Height and width and the length characteristic value relative to plane where front-wheel axis, gyroscope 3., for judging body gesture；
The distance sequence and Chinese herbaceous peony wheel that the fore-and-aft distance of the road surface object that laser radar described in 2-2 is got to vehicle body forms
Geometry teaching relationship where axis between the length characteristic value of plane, from road surface object acquired in the laser radar to vehicle
Maximum value and minimum value are obtained in the fore-and-aft distance composition distance sequence of body, thus the spatial position of disturbance in judgement object, Jin Ertong
Positional relationship is crossed to judge to be easier to pass through when automobile is leftward or rightward；By collecting object height and equivalent axis away from series data, meter
Equivalent axis is calculated away from the angle between wheelbase；
2-3 is used for the monitoring modular, opens the laser radar and high-definition camera, or according to real-time road, close
The laser radar and high-definition camera；When the series datas such as the height, width, length are less than preset threshold, institute is generated
Detection open command is stated, it is raw then when the series datas such as the height, width, length are greater than or equal to the preset threshold
At the detection out code；
2-4 automobile is directly driven through with current pose with stabilizing speed
2-5 automobile changes body gesture by turning to by changing the relative angle between object, driver with stabilization
Speed crosses；By the processing result of data processing module, the security interval that driver can be fed back by data processing carries out inclined
Angle turns to, to make the steady safety of vehicle.
A kind of electric vehicle backing early warning system provided in an embodiment of the present invention and device are installed by manual or automatic unlatching
Laser radar at headlight for vehicles and be installed on and survey the video camera before rearview mirror in windshield, directly obtain road surface with
The relative positional relationship and space relationship of front roadblock, with this come judge vehicle whether can safety section, to carry out
Early warning, reducing vehicle backing leads to the danger of battery damage, improves traffic safety.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above-mentioned each method embodiment can lead to
The relevant hardware of program instruction is crossed to complete.Program above-mentioned can be stored in a computer readable storage medium.The journey
When being executed, execution includes the steps that above-mentioned each method embodiment to sequence；And storage medium above-mentioned include: ROM, RAM, magnetic disk or
The various media that can store program code such as person's CD.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (5)
1. a kind of electric vehicle backing early warning system and device characterized by comprising
Monitoring modular a, laser radar, is installed at headstock headlight, so that laser radar is in the vision wide-angle direction of front
Acquisition range can cover on front side of vehicle bottom；One high-definition camera, before being installed on the rearview mirror of vehicle windshield, so that taking the photograph
Camera acquisition imaging passes through the feature of computer rapidly extracting target image using the image of camera shooting captured in real-time measured target
Signal obtains road surface object relative to the height and width on ground and relative to flat where front-wheel axis after analytical calculation
The length characteristic value in face；One gyroscope, for judging body gesture；
The fore-and-aft distance of data processing module, the road surface object got from the laser radar to vehicle body forms distance sequence,
It is obtained from the high-definition camera, the road surface object got is relative to the height and width on ground and relative to flat where front-wheel axis
The length characteristic value in face and the Data Integrations such as body gesture obtained from the gyroscope, different automobile types approach angle, departure angle and
The difference of ramp breakover angle, then the passable maximum height of different automobile types is definite value, the road got according to the laser radar
It is several between the length characteristic value of plane where face object to the fore-and-aft distance distance sequence formed and Chinese herbaceous peony wheel axis of vehicle body
What mathematical relationship；It is obtained most from road surface object acquired in the laser radar into the fore-and-aft distance of vehicle body composition distance sequence
Big value and minimum value, thus the spatial position of disturbance in judgement object, and then when judging that automobile is leftward or rightward by positional relationship more
Easily pass through；We define automobile equivalent axis away from being vehicle wheel base perpendicular to ground and by barrier plane proximally and distally
Projected length in perpendicular plane, by collecting object height and equivalent axis away from series data, calculate equivalent axis away from axis
Angle away between；
Early warning feedback module, according to the difference of different automobile types approach angle, departure angle and ramp breakover angle, then different automobile types can pass through
Maximum height be definite value；Therefore, the feature detected from the laser radar and the high-definition camera and the gyroscope
Signal feeds back to data processing module, with this judge vehicle whether can safety, and feed back warning information；If barrier is high
Degree is more than any minimum height corresponding to Ramp Angles or departure angle, then cannot pass through；If obstacle height is lower than automobile
Any minimum height, then can pass through corresponding to approach angle and departure angle；Wherein, the case where capable of passing through, is divided into two kinds: one, automobile
It is directly driven through with current pose with stabilizing speed；Two, for automobile by changing the relative angle between object, driver is logical
Steering change body gesture is crossed to cross with stabilizing speed；By the processing result of data processing module, driver can pass through data
The security interval of processing feedback carries out drift angle steering, to make the steady safety of vehicle；
Control module is used for the monitoring modular, opens the laser radar and high-definition camera, or according to real-time road, close
Close the laser radar and high-definition camera；
Directive generation module, the road surface object got according to the laser radar to vehicle body fore-and-aft distance composition apart from sequence
The geometry teaching relationship between the length characteristic value of plane where Chinese herbaceous peony wheel axis is arranged, the road acquired in the laser radar
Face object obtains maximum value and minimum value into the fore-and-aft distance composition distance sequence of vehicle body, thus the space bit of disturbance in judgement object
It is easier to pass through when setting, and then judging that automobile is leftward or rightward by positional relationship, for being when the height, width, length etc.
When column data is less than preset threshold, the detection open command is generated, then when series datas such as the height, width, length
When more than or equal to the preset threshold, the detection out code is generated.
2. a kind of electric vehicle backing early warning system according to claim 1 and device, it is characterised in that the monitoring modular
Include:
The laser radar is on front side of the acquisition range covering vehicle bottom in the vision wide-angle direction of front；The high-definition camera obtains
Height and width of the road surface object relative to ground and the length characteristic value relative to plane where front-wheel axis；The gyroscope
Judge body gesture.
3. a kind of electric vehicle backing early warning system according to claim 1 and device, which is characterized in that the system packet
It includes:
The fore-and-aft distance of data processing module, the road surface object got from the laser radar to vehicle body forms distance sequence,
The road surface object got from the high-definition camera is relative to the height and width on ground and relative to flat where front-wheel axis
The length characteristic value in face and the Data Integrations such as body gesture obtained from the gyroscope, different automobile types approach angle, departure angle and
The difference of ramp breakover angle, then the passable maximum height of different automobile types is definite value, the road got according to the laser radar
It is several between the length characteristic value of plane where face object to the fore-and-aft distance distance sequence formed and Chinese herbaceous peony wheel axis of vehicle body
What mathematical relationship, using cosine formula cosb=adjacent side/bevel edge, conversion can obtain b=arccos adjacent side/bevel edge, and (b=object is with before
Wheel axis angle, adjacent side are formed by side in wheel axis projection for object, and bevel edge is object actual length)；
From road surface object acquired in the laser radar to the fore-and-aft distance of vehicle body composition distance sequence in obtain maximum value and
Minimum value, thus the spatial position of disturbance in judgement object, and then while judging that automobile is leftward or rightward by positional relationship, is easier to pass through；
We define automobile equivalent axis away from being vehicle wheel base perpendicular perpendicular to ground and by barrier plane proximally and distally
Plane on projected length calculate equivalent axis away between wheelbase by collecting object height and equivalent axis away from series data
Angle, formula is a=arccos equivalent axis away from/wheelbase (a=vehicle body wheelbase needs the security standpoint range turned to)；
4. a kind of electric vehicle backing early warning system and device, which is characterized in that the control module and directive generation module include:
Detect the relative tertiary location of barrier and automobile；
When at least one of data sequences such as the height, width, length are less than preset threshold, detection open command is generated；
According to the detection open command, laser radar and high-definition camera are opened；
It is installed on fore-and-aft distance and composition fore-and-aft distance sequence that the laser radar that headstock headlight goes out obtains road surface object, is installed on
High-definition camera in vehicle windscreen before the rearview mirror disturbance in judgement object state in front of visual angle, is installed on vehicle front windshield
The gyroscope of glass volume two judges body gesture；
The fore-and-aft distance of the road surface object that the laser radar is got to vehicle body forms distance sequence,
The road surface object that the high-definition camera is got is relative to the height and width on ground and relative to front-wheel axis institute
In the length characteristic value of plane
The Data Integrations such as the body gesture that the gyroscope is obtained described at least one of described distance sequence longitudinally away from
When from being less than pre-determined distance threshold value, early warning information is generated, and timely feedback；
The monitoring modular opens the laser radar and high-definition camera, or according to real-time road, closes the laser radar
And high-definition camera.
5. a kind of electric vehicle backing early warning system according to claim 4 and device, which is characterized in that the early warning feedback
System includes:
According to the difference of different automobile types approach angle, departure angle and ramp breakover angle, then the passable maximum height of different automobile types is
Definite value；Therefore, number is fed back to from the characteristic signal that the laser radar and the high-definition camera and the gyroscope detect
According to processing module, with this judge vehicle whether can safety, and feed back warning information；If obstacle height connects more than automobile
Any minimum height corresponding to nearly angle or departure angle, then cannot pass through；If obstacle height is lower than Ramp Angles and leaves away
Any minimum height, then can pass through corresponding to angle；Wherein, the case where capable of passing through is divided into two kinds: one, automobile is straight with current pose
It connects and is driven through with stabilizing speed；Two, automobile changes vehicle by turning to by changing the relative angle between object, driver
Figure state is crossed with stabilizing speed；By the processing result of data processing module, driver can pass through the peace of data processing feedback
Drift angle steering is carried out between the whole district, to make the steady safety of vehicle.
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| CN201910012191.6A CN109878413A (en) | 2019-01-07 | 2019-01-07 | A kind of electric vehicle underpinning early warning system and device |
| LU101560A LU101560B1 (en) | 2019-01-07 | 2019-12-19 | Electric vehicle chassis collision warning system and apparatus |
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| CN201910012191.6A CN109878413A (en) | 2019-01-07 | 2019-01-07 | A kind of electric vehicle underpinning early warning system and device |
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| DE102022103644A1 (en) | 2022-02-16 | 2023-08-17 | Audi Aktiengesellschaft | Method and computing device for predicting damage to a vehicle component of a vehicle from a collision event |
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| LU101560B1 (en) | 2020-05-20 |
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