CN116353753A - Automatic anti-collision auxiliary method and system for electric bicycle - Google Patents
Automatic anti-collision auxiliary method and system for electric bicycle Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J27/00—Safety equipment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/40—Sensor arrangements; Mounting thereof
- B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/40—Sensor arrangements; Mounting thereof
- B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
- B62J45/412—Speed sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62L—BRAKES SPECIALLY ADAPTED FOR CYCLES
- B62L3/00—Brake-actuating mechanisms; Arrangements thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
- B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
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Abstract
The invention provides an automatic anti-collision auxiliary method and a system thereof for an electric bicycle, wherein the method comprises the following steps: after the speed of the electric bicycle exceeds a preset value, continuously shooting image data of the head of the electric bicycle in a forward range by using a pinhole camera according to a preset time interval; analyzing whether an obstacle exists in the image data; selecting image data at two moments, and calculating the ratio of the distances between the electric bicycle and the obstacle at the two moments based on the image height; substituting the ratio of the distances into a preset contact time relation to calculate the contact time between the electric bicycle and the obstacle; when the electric bicycle is in an emergency state, the electric bicycle is forcedly decelerated by starting the back electromotive force decelerating device. The invention predicts the contact time between the electric bicycle and the front obstacle based on the imaging principle of the pinhole camera, and suppresses the speed of the electric bicycle through the back electromotive force speed reducer, thereby reducing accidents caused by collision.
Description
Technical Field
The invention relates to the field of electric bicycle anti-collision, in particular to an automatic anti-collision auxiliary method and system for an electric bicycle.
Background
Along with continuous global sustainable development of the call, environmental protection and energy conservation become the subject of the era. The low-carbon and low-consumption travel tool becomes a pet for people worldwide in new era. When the electric vehicle is in response, the development of the electric vehicle is rapid, and the electric vehicle is very popular. The electric bicycle is a traffic tool which uses a storage battery as an auxiliary energy source and is provided with a motor, a controller, a storage battery, a handle bar, and other operating components and a display instrument system on the basis of a common bicycle, and has the advantages of energy conservation, carbon reduction, strong maneuverability, convenience in parking and the like. According to the data of the China bicycle Association, the China electric bicycle has a growing trend since 2010. Until 2022, the social conservation quantity of the electric bicycle in China breaks through 3.5 hundred million people.
The general speed of electric bicycles is low, and riders often neglect their safety. But according to the traffic accident death statistics of the electric bicycle related nationally in 2019, the casualties of the electric bicycle account for nearly 70% of the casualties of the non-motor vehicle. The casualties of electric bicycles have increased by more than 1 time in the past decade. As electric bicycles become increasingly popular, the problem of safety thereof becomes more important. According to the technical Specification for safety of electric bicycles issued in 2019, the new national standard prescribes that the highest speed of the electric bicycle is 25km/h, the mass of the whole bicycle (including a battery) is 55kg, the power of a motor is 400W, and the pedal riding function is required. The strict requirements on the speed are made, so that the safety performance of the electric bicycle is comprehensively improved. However, due to the negligence of the rider, unnecessary accidents occur, so that the auxiliary anti-collision system of the electric bicycle becomes a critical research project.
In recent years, electric bicycles have been studied for various anti-collision warning, such as a warning system for reducing rear-end collision of electric bicycles, a speed limiting and warning system for bad riding of electric bicycles, and an electric bicycle collision warning device. The prior art only alerts the rider of possible problems in a warning manner, but fails to prevent or avoid possible collisions in advance, thereby reducing injuries and deaths caused by collisions.
Disclosure of Invention
Based on the problems existing in the prior art, the invention provides an automatic anti-collision auxiliary method and system for an electric bicycle. The specific scheme is as follows:
the first part, the invention provides an automatic anti-collision auxiliary method of an electric bicycle, which comprises the following steps:
after the speed of the electric bicycle exceeds a preset value, starting an automatic anti-collision process:
continuously shooting image data of the electric bicycle head in a preset advancing range according to a preset time interval through a preset pinhole camera;
analyzing whether an obstacle exists in the image data, and when the obstacle exists, two-dimensionally defining the obstacle as a rectangle with a corresponding size according to the outline of the obstacle so as to position the obstacle;
selecting image data of two moments, and calculating the ratio of the distances between the electric bicycle and the obstacle at the two moments based on the image height of the same obstacle at the same focal length of the pinhole camera at each moment;
substituting the ratio of the distances into a preset contact time relation to calculate the contact time between the electric bicycle and the obstacle, and if the contact time is greater than 0 and lower than a set value, gradually approaching the obstacle by the electric bicycle and being in an emergency state at present;
when the electric bicycle is in an emergency state, the back electromotive force speed reducer is started to forcedly reduce the speed, and meanwhile, a rider senses the change of the speed of the bicycle due to inertia force, so that follow-up measures are taken.
In one embodiment, if the relative speed between the electric bicycle and the obstacle is maintained, the expression of the contact time relationship is:
wherein TTC represents contact time, t represents time difference between two moments, h 1 Representing the image height, h, of the obstacle displayed at a later time 0 The image height of the obstacle displayed at the previous time is indicated.
In a specific embodiment, the image height is a height of the nearest position of the obstacle from the electric bicycle under a preset focal length based on a small hole imaging principle;
the distance between the electric bicycle and the obstacle is the distance between the pinhole camera and the nearest position of the obstacle to the electric bicycle.
In one embodiment, if the contact time is equal to infinity, the distance between the electric bicycle and the obstacle remains unchanged at two moments;
if the contact time is less than 0, the electric bicycle is far away from the obstacle in two moments.
In a specific embodiment, after the back electromotive force speed reduction device is started to forcedly reduce the speed, if the contact time is still lower than a set value for a plurality of moments or the rider does not take effective measures for reducing the vehicle speed, the speed reduction force is enhanced until the contact time is higher than the set value or braking is forcedly performed after the vehicle speed is lower than a preset safety speed.
In one embodiment, two pinhole cameras are placed in front of the electric bicycle to detect a 135 ° range, respectively, and together with detecting an obstacle in the 270 ° range of the direction of the electric bicycle head.
In one specific embodiment, the back electromotive force speed reduction device controls braking force of the electric bicycle during braking through a preset torque limit so as to prevent the tire from being instantaneously locked due to excessive braking force during braking;
the counter electromotive force decelerating device converts kinetic energy of the vehicle into electric energy at the time of deceleration to charge the battery.
In a specific embodiment, the method further comprises:
detecting the road surface condition of the electric bicycle in the running direction by a radar device;
the infrared illumination device is used for illuminating the pinhole camera under the condition of insufficient brightness so as to reduce the influence caused by environmental factors.
The invention provides an automatic anti-collision auxiliary system of an electric bicycle, which is used for realizing the automatic anti-collision auxiliary method of any one of the first parts, and comprises the following steps:
the vehicle speed detection device is used for detecting the speed of the electric bicycle and starting an automatic anti-collision process after the speed exceeds a preset value;
the obstacle detection device is provided with a pinhole camera and is used for continuously shooting image data of the electric bicycle in a preset forward range according to a preset time interval through the preset pinhole camera;
the image analysis device is used for analyzing whether an obstacle exists in the image data, and defining the obstacle as a rectangle with a corresponding size according to the outline of the obstacle when the obstacle exists so as to position the obstacle; selecting image data of two moments, and calculating the ratio of the distances between the electric bicycle and the obstacle at the two moments based on the image height of the same obstacle at the same focal length of the pinhole camera at each moment; substituting the ratio of the distances into a preset contact time relation to calculate the contact time between the electric bicycle and the obstacle, and if the contact time is greater than 0 and lower than a set value, gradually approaching the obstacle by the electric bicycle and being in an emergency state at present;
and the back electromotive force speed reducing device is used for forcedly reducing the speed of the electric bicycle when the electric bicycle is in an emergency state, and enabling a rider to sense the change of the speed of the vehicle due to inertia force so as to take follow-up measures.
In a specific embodiment, the method further comprises:
and the forced deceleration unit is used for enhancing the deceleration force until the contact time is higher than the set value or braking is forced after the vehicle speed is lower than the preset safety speed if the contact time is still lower than the set value for a plurality of moments or the rider does not take effective measures for reducing the vehicle speed after starting the forced deceleration of the back electromotive force deceleration device.
The beneficial effects are that:
the invention provides an automatic anti-collision auxiliary method and a system thereof for an electric bicycle, which are used for predicting the contact time between the electric bicycle and a front obstacle based on the imaging principle of a pinhole camera, and inhibiting the speed of the electric bicycle through a back electromotive force speed reducer, so that the method not only alerts a rider of possible problems, but also prevents or avoids possible collision in advance, thereby reducing accidents caused by collision.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of an automatic crash assist method of an embodiment of the invention;
FIG. 2 is a schematic diagram of the pinhole camera imaging principle of an embodiment of the present invention;
FIG. 3 is a diagram illustrating the detection range of a pinhole camera according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the contact time calculation principle of an embodiment of the present invention;
FIG. 5 is a schematic diagram of a complete flow of an automatic crash-assist method in accordance with an embodiment of the present invention;
FIG. 6 is a block diagram of an automatic crash assist system in accordance with an embodiment of the invention.
Reference numerals: 1-a vehicle speed detection device; 2-obstacle detection means; 3-an image analysis device; 4-back emf speed reduction means.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
The embodiment provides an automatic anti-collision auxiliary method for an electric bicycle, which predicts the contact time between the electric bicycle and an obstacle based on the imaging principle of a pinhole camera and inhibits the speed of the electric bicycle through a back electromotive force speed reducer. The flow of the automatic anti-collision auxiliary method is shown in the attached figure 1 of the specification. The specific scheme is as follows:
an automatic anti-collision auxiliary method for an electric bicycle comprises the following steps:
101. after the speed of the electric bicycle exceeds a preset value, starting an automatic anti-collision process:
102. continuously shooting image data of the electric bicycle head in a preset advancing range according to a preset time interval through a preset pinhole camera;
103. analyzing whether an obstacle exists in the image data, and when the obstacle exists, two-dimensionally defining the obstacle as a rectangle with a corresponding size according to the outline of the obstacle so as to position the obstacle;
104. selecting image data of two moments, and calculating the ratio of the distances between the electric bicycle and the obstacle at the two moments based on the image height of the same obstacle at the same focal length of the pinhole camera at each moment;
105. substituting the ratio of the distances into a preset contact time relation to calculate the contact time between the electric bicycle and the obstacle, and if the contact time is greater than 0 and lower than a set value, gradually approaching the obstacle by the electric bicycle and being in an emergency state at present;
106. when the electric bicycle is in an emergency state, the back electromotive force speed reducer is started to forcedly reduce the speed, and meanwhile, a rider senses the change of the speed of the bicycle due to inertia force, so that follow-up measures are taken.
The automatic anti-collision auxiliary method of the embodiment can be realized by means of a specific automatic anti-collision auxiliary system, and the automatic anti-collision auxiliary system at least comprises a vehicle speed detection device, an obstacle detection device, an image analysis device and a back electromotive force speed reduction device.
Specifically, the vehicle speed detection device is integrated with a device capable of detecting the vehicle speed, such as a speed sensor, and the like, so that the vehicle speed of the electric bicycle can be monitored in real time. After the electric bicycle power supply is started, the speed detection device is started to monitor the speed of the electric bicycle in real time, and if the speed exceeds a set value, for example, the speed per hour is more than 10km/h, the processor starts a subsequent automatic anti-collision process. The electric bicycle has strong flexibility, and the purpose of setting the lower speed per hour limit is to avoid unnecessary deceleration and even parking caused by the safe slow running of the electric bicycle. If the road condition is complex, the electric bicycle usually runs at a lower speed to ensure safety. The set value is not limited to speed of time >10km/h, for example.
Specifically, a pinhole camera is integrated into the obstacle detection device. Pinhole cameras, also called photographic camera bellows, are prototypes of cameras, the basic part comprising a sealed camera bellows, followed by a focusing screen; in front of the seal box is a small Kong Huohui focus lens on which a clear image can be seen. The principle is as follows: light rays emitted by the object pass through the small holes or the lenses and then generate inverted real images on the focusing screen of the sealing box. The very small holes allow the light at each point of the object to reach the respective image point without overlapping, thereby obtaining a clear image. The smaller the pinhole, the less light passes through the pinhole and the lower the brightness of the image. The principle of aperture imaging is applied so that light propagates straight.
And continuously shooting image data of the electric bicycle head in a preset advancing range according to a preset time interval through a preset pinhole camera. The forward range of the vehicle head can be set according to practical situations, and generally, the driving range at least includes a range in which an obstacle may be encountered during forward driving of the vehicle head. The forward range is mainly a range of transverse radiation with the vehicle head as a starting point.
Specific images of the front obstacle at different shooting moments are recorded in the image data, and the image height needs to be analyzed and extracted from the specific images. The image data of two moments can be selected, two adjacent shooting moments can be selected, a time interval can be set in advance, and the image data before and after the interval can be selected. The image height is the height of the nearest position of the obstacle from the electric bicycle under the preset focal length based on the principle of small hole imaging. In fig. 2, the obstacle in front of the electric bicycle is processed by the pinhole camera, and the obstacle is displayed in a scaled-down mode, and the obstacles with different distances have different image heights under the processing of the pinhole camera. The automatic anti-collision auxiliary method of the embodiment calculates the contact time between the vehicle and the front obstacle by means of the height proportion of the height of the pinhole camera to the image of the object at different moments. It should be noted that, the scheme of this embodiment does not need to actually calculate the specific distance between the electric bicycle and the obstacle, only needs to calculate the ratio of the distances at different moments, so that no special distance measuring device such as radar is needed, the cost is low, and the installation is convenient. The distance between the electric bicycle and the obstacle is the distance between the pinhole camera and the nearest position of the obstacle to the electric bicycle.
The image analysis device defines the obstacle as a rectangular obstacle with a corresponding size according to the outline of the obstacle, and is used for positioning and calculating the distance and the contact time between the electric bicycle and the obstacle. The rectangular obstacle must completely encompass the overall shape of the obstacle, with the longest points in the horizontal and vertical directions of the obstacle being long and tall. For example, an obstacle is a bicycle, which is defined as a plane rectangle, the length of the rectangle is the maximum degree of the bicycle body, and the height of the rectangle is the maximum degree of the bicycle body. As shown in fig. 4, the pinhole camera captures images at the same focal length f at a time interval t, respectively at time t0 and time t1, at a height h 0 H 1 To calculate the distance d between the electric bicycle and the obstacle at time t0 and time t1 0 D 1 The derivation procedure is as follows:
at time t0, the speed per hour of the electric bicycle is v 1 Acceleration a 1 The speed of the obstacle per hour is v 2 Acceleration a 2 The distance between the two is d 0 Relative velocity v r Relative acceleration a r The method comprises the following steps:
v r ＝v 1 -v 2
a r ＝a 1 -a 2
after the shooting time interval t of the pinhole camera, the distance between the electric bicycle and the obstacle is d 1 ：
If the relative acceleration between the electric bicycle and the obstacle is 0, that is, the relative speed of the electric bicycle and the obstacle is maintained at v r Distance d between electric bicycle and obstacle is unchanged 1 The method comprises the following steps:
d 1 ＝d 0 -vrt
the expression of the contact time relationship is:
wherein TTC represents contact time, t represents time difference between two moments, h 1 Representing the image height, h, of the obstacle displayed at the latter time (i.e., time t 1) 0 The image height of the obstacle displayed at the previous time (i.e., time t 0) is shown.
Therefore, whether the electric bicycle approaches an obstacle or not and the contact time can be judged according to the TTC. The electric bicycle is approaching an obstacle, i.e. v r >0，
TTC>0. Specifically, if the contact time is equal to infinity, the distance between the electric bicycle and the obstacle remains unchanged at two moments; if the contact time is less than 0, the electric bicycle is far away from the obstacle in two moments.
Preferably, two pinhole cameras are placed in front of the electric bicycle to respectively detect the range of 135 degrees and jointly detect the obstacle in the range of 270 degrees in the direction of the front of the electric bicycle, and the two pinhole cameras are particularly shown in fig. 3. 270 degrees is the forward range, basically covers the front obstacle which may influence the electric bicycle, and the scheme of the embodiment can be solved no matter what angle the front obstacle affects.
In a practical environment, a sudden obstacle is often critical to the occurrence of accidents. When an emergency exists, excessive warning can lead to misoperation caused by distraction of a rider. Therefore, when the system calculates that the TTC is positive and lower than the set value, the back electromotive force speed reducer is automatically started to reduce the speed of the electric bicycle. In addition to decelerating the electric bicycle, the rider can feel the deceleration due to inertia force so as to improve the alertness and take further action. The complete flow is shown in fig. 5.
In a preferred embodiment, after the back emf reduction device is activated to forcibly reduce the speed, if the contact time continues for several moments still below the set point or the rider does not take effective measures to reduce the vehicle speed, the reduction force is increased until the contact time is above the set point or braking is forced after the vehicle speed is below a preset safe speed. The contact time is continuously lower than the set value, which indicates that the obstacle still affects the electric bicycle, and forced intervention is needed to release the effect. No effective measures are taken to reduce the speed of the vehicle, and the situation that the driver forgets to brake due to distraction, brake failure or no-measure state is considered. The back electromotive force speed reducer increases the speed-restraining force to force braking, so that the front obstacle is prevented from being bumped.
Further preferably, the back electromotive force decelerating device controls braking force of the electric bicycle during braking through a preset torque limit, so as to prevent instant locking of tires caused by excessive braking force during braking, and prevent slipping and even rollover. The back electromotive force speed reducer converts kinetic energy of the vehicle into electric energy during speed reduction so as to charge a battery, realize cyclic utilization of energy and expand the functionality of the back electromotive force speed reducer.
Preferably, the radar device is used for detecting the pavement depression in the running direction of the electric bicycle; the radar device can be used all-weather without being influenced by weather, and can detect road condition information such as pavement pits besides detecting obstacles.
Preferably, the pinhole camera is illuminated by an infrared illumination device in the case of insufficient brightness to reduce the influence of environmental factors. The pinhole camera is relatively simple in the detection or operation system which is required to be matched correspondingly, the operation time is short, and the relative cost performance is high. However, the use condition may be affected by an external severe environment, for example, in case of severe weather such as insufficient luminosity or heavy rain, a pinhole camera may not recognize or misjudge an obstacle, and an infrared illumination or other illumination system is required to reduce the influence of environmental factors.
In one embodiment, a pinhole camera is provided at the tail of the electric bicycle to detect the vehicle behind the electric bicycle, and the process is similar to a pinhole camera at the head of the electric bicycle. Specifically, a pinhole camera is arranged at the tail of the electric bicycle, so that the pinhole camera continuously shoots image data of the tail of the electric bicycle in a preset rear range according to a preset time interval; analyzing whether a trailing vehicle exists in the image data, and when the trailing vehicle exists, two-dimensionally defining the trailing vehicle as a rectangle with a corresponding size according to the contour of the trailing vehicle so as to position the trailing vehicle; selecting image data of two moments, and calculating the ratio of the distances between the electric bicycle and the trailing vehicle at the two moments based on the image height of the same obstacle at the same focal length of the pinhole camera at each moment; substituting the ratio of the distances into a preset contact time relation to calculate the contact time between the electric bicycle and the obstacle, if the contact time is greater than 0 and lower than a set value, gradually approaching the electric bicycle by the trailing vehicle, and reminding the user of paying attention to the rear vehicle.
The embodiment provides an automatic anti-collision auxiliary method for an electric bicycle, which predicts the contact time between the electric bicycle and a front obstacle based on the imaging principle of a pinhole camera, and inhibits the speed of the electric bicycle through a back electromotive force speed reducer, so that the method can remind a rider of possible problems in a warning mode, and can prevent or avoid possible collision in advance, thereby reducing accidents caused by collision.
Example 2
The embodiment provides an automatic anti-collision auxiliary system of an electric bicycle, which is used for realizing the automatic anti-collision auxiliary method of the electric bicycle in the embodiment 1. The schematic block diagram of the automatic anti-collision auxiliary system is shown in fig. 6, and the specific scheme is as follows:
an automatic anti-collision auxiliary system of an electric bicycle, comprising:
the vehicle speed detection device 1 is used for detecting the speed of the electric bicycle and starting an automatic anti-collision process after the speed exceeds a preset value. After the electric bicycle power supply is started, the automatic anti-collision auxiliary system monitors the speed of the electric bicycle in real time, and if the speed exceeds a set value, for example, the speed per hour is more than 10km/h, the processor starts the obstacle detection device. The lower limit of the speed per hour is set to avoid unnecessary deceleration or even stopping of the electric bicycle caused by complex road conditions when the electric bicycle runs safely and slowly, and the set value is not limited to the speed per hour of more than 10km/h.
The obstacle detecting device 2 is provided with a pinhole camera for continuously shooting image data of the electric bicycle in a preset forward range according to a preset time interval through the preset pinhole camera. Preferably, two image detectors are placed in front of the electric bicycle to detect 135 ranges respectively and to detect 270 obstacles altogether.
An image analysis device 3 for analyzing whether an obstacle exists in the image data, and defining the obstacle as a rectangle of a corresponding size according to the outline of the obstacle when the obstacle exists, so as to position the obstacle; selecting image data of two moments, and calculating the ratio of the distances between the electric bicycle and the obstacle at the two moments based on the image height of the same obstacle at the same focal length of the pinhole camera at each moment; substituting the ratio of the distances into a preset contact time relation to calculate the contact time between the electric bicycle and the obstacle, and if the contact time is greater than 0 and lower than a set value, gradually approaching the obstacle by the electric bicycle and being in an emergency state at present. By comparing the images at different times, it is further determined whether the contact time (TTC) is lower than the set value. If the contact time (TTC) is lower than the set value, for example, the contact time is less than 2.5 seconds, the automatic anti-collision auxiliary system automatically starts the counter electromotive force speed reducer to reduce the speed of the electric bicycle. The set point is not limited to <2.5 seconds, considering the response time of the system and the response time of human beings.
The back electromotive force decelerating device 4 is used for forcedly decelerating the electric bicycle when the electric bicycle is in an emergency state, and simultaneously enabling a rider to sense the change of the vehicle speed due to inertia force so as to take follow-up measures. The back electromotive force speed reducer 4 can control the braking force of the braking system through the preset torque limit, can effectively prevent the situation that the tire is locked, slipped or even overturned due to the fact that the braking force is too strong by pressing dead braking during emergency, and can convert kinetic energy into electric energy during speed reduction to charge a battery. In addition to decelerating the electric bicycle, the back electromotive force decelerating device 4 can also sense deceleration due to inertial force, thereby improving the alertness and taking corresponding measures.
In a specific embodiment, the automatic crash assist system further comprises:
and the forced deceleration unit is used for enhancing the deceleration force until the contact time is higher than the set value or braking is forced after the vehicle speed is lower than the preset safety speed if the contact time is still lower than the set value for a plurality of moments or the rider does not take effective measures for reducing the vehicle speed after starting the forced deceleration of the back electromotive force deceleration device.
The embodiment provides an automatic anti-collision auxiliary system of an electric bicycle, which is used for realizing the automatic anti-collision auxiliary method of the electric bicycle in embodiment 1, so that the automatic anti-collision auxiliary system has more practicability.
The invention provides an automatic anti-collision auxiliary method and a system thereof for an electric bicycle, which are used for predicting the contact time between the electric bicycle and a front obstacle based on the imaging principle of a pinhole camera, and inhibiting the speed of the electric bicycle through a back electromotive force speed reducer, so that the method not only alerts a rider of possible problems, but also prevents or avoids possible collision in advance, thereby reducing accidents caused by collision.
It will be appreciated by those of ordinary skill in the art that the modules or steps of the invention described above may be implemented in a general purpose computing device, they may be centralized on a single computing device, or distributed over a network of computing devices, or they may alternatively be implemented in program code executable by a computer device, such that they are stored in a memory device and executed by the computing device, or they may be separately fabricated as individual integrated circuit modules, or multiple modules or steps within them may be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
The foregoing disclosure is merely illustrative of some embodiments of the invention, and the invention is not limited thereto, as modifications may be made by those skilled in the art without departing from the scope of the invention.
Claims (10)
1. An automatic anti-collision auxiliary method for an electric bicycle is characterized by comprising the following steps:
after the speed of the electric bicycle exceeds a preset value, starting an automatic anti-collision process:
continuously shooting image data of the electric bicycle head in a preset advancing range according to a preset time interval through a preset pinhole camera;
analyzing whether an obstacle exists in the image data, and when the obstacle exists, two-dimensionally defining the obstacle as a rectangle with a corresponding size according to the outline of the obstacle so as to position the obstacle;
selecting image data of two moments, and calculating the ratio of the distances between the electric bicycle and the obstacle at the two moments based on the image height of the same obstacle at the same focal length of the pinhole camera at each moment;
substituting the ratio of the distances into a preset contact time relation to calculate the contact time between the electric bicycle and the obstacle, and if the contact time is greater than 0 and lower than a set value, gradually approaching the obstacle by the electric bicycle and being in an emergency state at present;
when the electric bicycle is in an emergency state, the back electromotive force speed reducer is started to forcedly reduce the speed, and meanwhile, a rider senses the change of the speed of the bicycle due to inertia force, so that follow-up measures are taken.
2. The automatic crash-assist method according to claim 1, wherein if the relative speed between the electric bicycle and the obstacle is maintained unchanged, the expression of the contact time relationship is:
wherein TTC represents contact time, t represents time difference between two moments, h 1 Representing the image height, h, of the obstacle displayed at a later time 0 The image height of the obstacle displayed at the previous time is indicated.
3. The automatic anti-collision assistance method according to claim 1, wherein the image height is a height of an obstacle at a nearest position of the electric bicycle under a preset focal length based on a pinhole imaging principle;
the distance between the electric bicycle and the obstacle is the distance between the pinhole camera and the nearest position of the obstacle to the electric bicycle.
4. The automatic collision avoidance assistance method of claim 1 wherein if the contact time is equal to infinity, the distance between the electric bicycle and the obstacle remains unchanged at two times;
if the contact time is less than 0, the electric bicycle is far away from the obstacle in two moments.
5. The automatic crash-proof auxiliary method according to claim 1, wherein after the back electromotive force decelerating means is started to forcedly decelerate, if the contact time is still lower than a set value for several moments or the rider does not take effective measures to reduce the vehicle speed, the deceleration force is enhanced until the contact time is higher than the set value or braking is forcedly performed after the vehicle speed is lower than a preset safety speed.
6. The automatic crash-proof auxiliary method according to claim 1, wherein two pinhole cameras are placed in front of the electric bicycle, respectively detecting 135 ° range, and jointly detecting obstacles in the 270 ° range of the electric bicycle head direction.
7. The automatic crash-proof assisting method according to claim 1, wherein the back electromotive force decelerating means controls a braking force at the time of braking of the electric bicycle through a preset torque limit to prevent an excessive braking force at the time of braking from causing instant locking of the tire;
the counter electromotive force decelerating device converts kinetic energy of the vehicle into electric energy at the time of deceleration to charge the battery.
8. The automatic crash-assist method as set forth in claim 1, further comprising:
detecting the road surface condition of the electric bicycle in the running direction by a radar device;
the infrared illumination device is used for illuminating the pinhole camera under the condition of insufficient brightness so as to reduce the influence caused by environmental factors.
9. An automatic anti-collision auxiliary system for an electric bicycle, characterized in that it is used for implementing an automatic anti-collision auxiliary method for an electric bicycle according to any one of claims 1-8, the system comprising:
the vehicle speed detection device is used for detecting the speed of the electric bicycle and starting an automatic anti-collision process after the speed exceeds a preset value;
the obstacle detection device is provided with a pinhole camera and is used for continuously shooting image data of the electric bicycle in a preset forward range according to a preset time interval through the preset pinhole camera;
the image analysis device is used for analyzing whether an obstacle exists in the image data, and defining the obstacle as a rectangle with a corresponding size according to the outline of the obstacle when the obstacle exists so as to position the obstacle; selecting image data of two moments, and calculating the ratio of the distances between the electric bicycle and the obstacle at the two moments based on the image height of the same obstacle at the same focal length of the pinhole camera at each moment; substituting the ratio of the distances into a preset contact time relation to calculate the contact time between the electric bicycle and the obstacle, and if the contact time is greater than 0 and lower than a set value, gradually approaching the obstacle by the electric bicycle and being in an emergency state at present;
and the back electromotive force speed reducing device is used for forcedly reducing the speed of the electric bicycle when the electric bicycle is in an emergency state, and enabling a rider to sense the change of the speed of the vehicle due to inertia force so as to take follow-up measures.
10. The automatic crash assist system of claim 9, further comprising:
and the forced deceleration unit is used for enhancing the deceleration force until the contact time is higher than the set value or braking is forced after the vehicle speed is lower than the preset safety speed if the contact time is still lower than the set value for a plurality of moments or the rider does not take effective measures for reducing the vehicle speed after starting the forced deceleration of the back electromotive force deceleration device.
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