CN212353798U - Commercial vehicle blind area monitoring system based on gyroscope fusion ultrasonic module - Google Patents
Commercial vehicle blind area monitoring system based on gyroscope fusion ultrasonic module Download PDFInfo
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Abstract
The utility model discloses a commercial car blind area monitoring system based on gyroscope fuses ultrasonic wave module, the system includes first main control chip, second main control chip, ultrasonic wave module, GPS module, gyroscope module, bee calling organ and power module, and first main control chip and second main control chip are connected, and power module provides the power for first main control chip and second main control chip, GPS module, gyroscope module and bee calling organ all are connected with first control chip, and steering column, brake line and power cord on the commercial car constitute turn signal module, and turn signal module is connected with first main control chip through the pencil, the ultrasonic wave module is connected with second main control chip. The utility model discloses can acquire the running state of vehicle and judge whether the vehicle is in safe driving to reach the control cloud platform with driving state and real-time speed of a motor vehicle, supply the control personnel to look up, through the audible alarm of bee calling organ, standardize bad driving habit.
Description
Technical Field
The utility model relates to an automobile radar technical field, concretely relates to commercial car blind area monitoring system based on gyroscope fuses ultrasonic wave module.
Background
The commercial vehicles comprise a slag car, a school bus, a passenger car and the like, the slag car is taken as an example, the slag car is an indispensable important vehicle for city construction, but traffic accidents caused by operation of the slag car are also feared by the public, the importance of safe operation of the slag car is more and more emphasized by supervision departments, different supervision departments in different cities have various strict specifications on safe operation of the slag car, and the traffic accidents caused by frequent occurrence of the slag car accidents are rare. In the running process of the muck truck, the cab is positioned at the left front, the rearview mirror at the right front of the muck truck has a vision blind area in response to the condition of a right road, and most accidents of the muck truck are that dangerous objects cannot be seen in the vision blind area, the vehicle turns over due to too high speed during turning, and traffic accidents are caused due to the fact that the inner wheel difference during turning is caused. In the monitoring of the slag car, although the monitoring department implements various required regulations to avoid accidents, various accidents of the slag car still occur because the various regulations cannot monitor the real-time running state of each car in real time.
Therefore, a set of intelligent monitoring system for the dead zone of the slag car is designed to carry out background real-time monitoring and local real-time early warning on the slag car, and meanwhile, the monitoring center can monitor the running state of each car, so that the driving behavior and the danger early warning of a driver of the slag car are effectively standardized, and the intelligent monitoring system is very significant.
Disclosure of Invention
The utility model aims at solving the above-mentioned problem that prior art exists to a commercial car blind area monitoring system based on gyroscope fuses ultrasonic wave module is provided, aim at carrying out backstage real time monitoring to the dregs car, local real-time early warning just can monitor the running state of every vehicle at the surveillance center like this. Thereby achieving the effective standard of the driving behavior and the danger early warning of the driver of the slag car.
The utility model discloses a solution does: the utility model provides a commercial car blind area monitoring system based on ultrasonic wave module is fused to gyroscope, includes first main control chip, second main control chip, ultrasonic wave module, GPS module, gyroscope module, bee calling organ and power module, and first main control chip and second main control chip are connected, power module is connected with first main control chip and second main control chip, provides the power for first main control chip and second main control chip, GPS module, gyroscope module and bee calling organ all are connected with first control chip, and steering line, brake line and the power cord on the commercial car constitute turn signal module, and turn signal module is connected with first main control chip through the pencil, ultrasonic wave module is connected with second main control chip.
Further, above-mentioned commercial car blind area monitoring system based on gyroscope fuses ultrasonic wave module, wherein: the ultrasonic module comprises an ultrasonic radar and an ultrasonic radar receiver, the ultrasonic radar is installed on the right side of the vehicle and close to the position of the right side rearview mirror, the ultrasonic radar is connected with the ultrasonic radar receiver through a wire harness, and the ultrasonic radar receiver is connected with the second main control chip through the wire harness.
Furthermore, above-mentioned commercial car blind area monitoring system based on gyroscope fuses ultrasonic wave module, wherein: the ultrasonic radar is provided with two
Furthermore, above-mentioned commercial car blind area monitoring system based on gyroscope fuses ultrasonic wave module, wherein: the first main control chip adopts STM32F103XC, the second main control chip adopts STC12C5A60S2, the GPS module adopts an MC20 wireless communication module, and the gyroscope module adopts MPU-6050.
The utility model also discloses a commercial car blind area monitoring method based on gyroscope fuses ultrasonic sensor, including following step: (1) initializing a first main control chip, a second main control chip and a related module; (2) the first main control chip processes gyroscope data, the first main control chip controls the GPS module to acquire the vehicle speed, and meanwhile, the second main control chip controls the ultrasonic module to measure the distance and transmits distance measurement information to the first main control chip; (3) the first main control chip processes all data, judges the running state of the vehicle, and controls the buzzer module to give an alarm if the vehicle is judged to be in a sudden acceleration/deceleration alarm state, a collision alarm state or a turning alarm state; (4) and uploading the running state of the vehicle to a monitoring cloud platform.
Furthermore, the above commercial vehicle blind area monitoring method based on the fusion of the gyroscope and the ultrasonic sensor includes: in the step (2), the step of obtaining the actual acceleration of the vehicle is as follows: actual acceleration a-a 1 × 2g/216Wherein a1 is the acceleration value output by the gyroscope module, and g is the gravity acceleration.
Furthermore, the commercial vehicle blind area monitoring method based on the gyroscope and the ultrasonic sensor is characterized in that: the ultrasonic module distance measurement adopts the following steps: (1) sending 12 40KHz pulses through the PCA function of a second master control chip timer, simultaneously generating a transmission interruption by the single chip microcomputer, starting timing inside the single chip microcomputer from the generation of the transmission interruption until the single chip microcomputer generates a reception interruption, and assuming that the difference between the two times is t; (2) by the formula, the distance is 340 t 0.054/2000/2; (3) repeating the steps (1) and (2) for N times to obtain N groups of Distance data, which are respectively expressed as Distance1, Distance2 and … … Distance N, removing the maximum value Distance1 and the minimum value Distance N in the N groups of data, and taking the average value of the remaining data as the final Distance data Distance of the measurement (Distance2+ Distance3+ … … + Distance (N-1))/(N-2).
Still further, in the above commercial vehicle blind area monitoring method based on the gyroscope and the ultrasonic sensor, the determination method of the sudden acceleration/deceleration alarm strategy in the step (3) is as follows: setting the normal acceleration of the vehicle as a0, if the actual acceleration a > a0, the vehicle is in an acceleration state, and a > a0, the vehicle is judged to be rapidly accelerated; if the actual acceleration a <0, the vehicle is in a deceleration or collision state, and if a < a0, the vehicle is determined to be suddenly decelerated; if the actual acceleration a <0 and a < -3a0, the vehicle speed is 0 after t1 seconds, then a collision is determined, and t1 is a set time value.
Still further, according to the method for monitoring the blind area of the commercial vehicle based on the gyroscope and the ultrasonic sensor, in the step (3), the turning alarm strategy judgment method is as follows, namely, firstly, acceleration in three axial directions of the gyroscope module is read respectively and defined as ax，ay，azSecondly, calculating the included angle between the X axis of the acceleration sensor and the axis of the natural coordinate system as the radian X of the turning of the vehicle,
and thirdly, if the angle of the X-axis direction is measured by the vehicle in an actual measurement mode and is larger than 40 degrees for a period of time, and the vehicle is considered to turn when the speed is lower than 50KM/H, and meanwhile, an alarm is given when the Distance data measured by the ultrasonic module is smaller than or equal to 2.5 m.
Still further, according to the method for monitoring the blind area of the commercial vehicle based on the gyroscope and the ultrasonic sensor, in the step (4), the driving state of the vehicle comprises real-time vehicle speed, vehicle position and turning information, the real-time vehicle speed and the vehicle position can be acquired through a GPS module, and the turning information is acquired by adopting the following method: the actual turning angle ═ x × 1800/pi.
The utility model discloses outstanding substantive characteristics and the technological effect who is showing are embodied in: the utility model discloses a gyroscope module acquires the running state such as the running state of vehicle and sharply accelerates, sharply slows down, collision, left turn, right turn and judges whether the vehicle is in safe driving, acquires speed of a motor vehicle and position through the GPS module to with driving state and real-time speed of a motor vehicle upload area control cloud platform, supply the control personnel to look up, through the audible alarm of bee calling organ, the driver is reminded locally in real time and avoids dangerous occurence of failure, standardizes bad driving habit.
Drawings
FIG. 1 is a schematic block diagram of a commercial vehicle blind area monitoring system based on a gyroscope and an ultrasonic module;
FIG. 2 is a schematic view of the installation of a commercial vehicle blind area monitoring system based on a gyroscope fusion ultrasonic module;
FIG. 3 is a flow chart of the present system program;
FIG. 4 is a power module circuit diagram;
FIG. 5 is a pin connection diagram of a first master control chip;
FIG. 6 is a pin connection diagram of a second master control chip;
FIG. 7 is a circuit diagram of a GPS module;
FIG. 8 is a gyroscope module circuit diagram;
FIG. 9 is a circuit diagram of an automotive turn signal module;
fig. 10 is a circuit diagram of an ultrasonic module.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings.
As shown in fig. 1 and fig. 2, the utility model relates to a commercial car blind area monitoring system based on ultrasonic wave module is fused to gyroscope includes first main control chip, second main control chip, ultrasonic wave module, GPS module, gyroscope module, bee calling organ and power module, and first main control chip and second main control chip are connected, power module is connected with first main control chip and second main control chip, provides the power for first main control chip and second main control chip, and GPS module, gyroscope module and bee calling organ all are connected with first control chip, and steering line, brake cable and power cord on the commercial car constitute turn signal module, and turn signal module is connected with first main control chip through the pencil, and ultrasonic wave module is connected with second main control chip.
Place the main control box in first main control chip and the second main control chip in, ultrasonic module includes ultrasonic radar and ultrasonic radar receiver, and ultrasonic radar installs in the vehicle right side and is close to right side rear-view mirror position, and ultrasonic radar is connected through the pencil with the ultrasonic radar receiver, and the ultrasonic radar receiver is connected with the second main control chip through the pencil. Preferably, the number of the ultrasonic radars is two.
As shown in fig. 4, fig. 4 is a schematic diagram of a power module, and circuit diagrams among the power module, a first main control chip and a second main control chip can be seen in fig. 4-6, the first main control chip adopts STM32F103XC, the second main control chip adopts STC12C5a60S2, and pin connections between the first main control chip and the second main control chip and each module can be seen in fig. 5 and 6. As shown in fig. 7, the GPS module adopts an MC20 wireless communication module, the MC20 integrates GPS and GPRS functions, and can realize vehicle positioning and real-time speed measurement, and referring to fig. 5 and 7, the GPS module can be connected to the first main control chip. The gyroscope module shown in fig. 8 employs MPU-6050, which is the first integrated 6-axis motion tracking device in the world. The three-axis MEMS gyroscope and the 3-axis MEMS accelerometer are integrated, the MPU-6050 uses three 16-bit ADCs for the gyroscope and the accelerometer respectively, analog quantities measured by the three-axis MEMS gyroscope and the accelerometer are converted into digital quantities which can be output, and the gyroscope module can be connected with a first main control chip by referring to fig. 5 and fig. 8. As shown in fig. 9 and 5, the left-turn signal line, the right-turn signal line and the brake line on the vehicle are connected to the corresponding IO ports on the first main control chip. As shown in fig. 10 and fig. 6, the circuit connection between the ultrasonic radar and the second main control chip can be completed by the ultrasonic radar and the second main control chip.
The operation flow of the system is shown in fig. 3, (1) relevant modules such as a first main control chip, a second main control chip, a GPS module and the like are initialized; (2) the first main control chip processes gyroscope data, the first main control chip controls the GPS module to acquire the vehicle speed, and meanwhile, the second main control chip controls the ultrasonic module to measure the distance and transmits distance measurement information to the first main control chip; (3) the first main control chip processes all data, the running state of the vehicle is judged, and if the vehicle is judged to be in a sudden acceleration/deceleration alarm state, a collision alarm state or a turning alarm state, the first controller controls the buzzer module to give an alarm; (4) and uploading the real-time speed, the vehicle position and/or the turning information to the monitoring cloud platform.
In the step (2), the specific step of obtaining the acceleration is as follows: a-a 1 x 2g/216Wherein a1 is the acceleration value output by the gyroscope module, and g is the gravity acceleration value of 9.8m/s2。
In the step (2), the specific distance measuring method of the ultrasonic module adopts the following steps: (1) sending 12 40KHz pulses through the PCA function of a second master control chip timer, simultaneously generating a transmission interruption by the single chip microcomputer, starting timing inside the single chip microcomputer from the generation of the transmission interruption until the single chip microcomputer generates a reception interruption, and assuming that the difference between the two times is t; (2) by means of the formula, the distance is 340 t 0.054/2000/2, where 340 is the propagation speed of the sound wave in the air. t is converted into seconds by 0.054/2000, the distance of sound wave propagation in the measuring process is one time, so the distance of the obstacle needs to be divided by 2; (3) six sets of distance data were obtained by repeating the measurement 6 times, respectively denoted as distance1, distance2, distance3, distance4, distance5, distance6, with the maximum value distance1 and the minimum value distance4 removed from the 6 sets of data. Taking the average value of the remaining 4 groups of data as the final Distance data Distance (Distance2+ Distance3+ Distance5+ Distance6)/4 of the measurement. It should be noted here that 6 measurements are only one preferred solution, and the number of ranging measurements can be increased or decreased appropriately, but the number of measurements is ensured to be greater than or equal to 4.
The judgment method of the sudden acceleration/deceleration alarm strategy in the step (3) is as follows: the acceleration time of the general vehicle is about 10S at 0-100KM/H, and the normal acceleration of the general vehicle is calculated to be a 0-100/3.6/10-2.78 m/S2 according to the acceleration formula a- Δ v/Δ t.
If the actual acceleration a is positive, the vehicle is in an acceleration state, and if a > a0, the vehicle is determined to be in a rapid acceleration state;
if the actual acceleration a is negative, the vehicle is in a deceleration or collision state, and if a < -a0, the vehicle is determined to be in a rapid deceleration state;
if the actual acceleration a is negative, a < -3a0, and the vehicle speed is 0 after 10 seconds, then a collision is determined.
Turning alarm strategy judgment method in step (3)The method is as follows, firstly, the acceleration of the gyroscope module in three axial directions is respectively read and defined as ax，ay，azSecondly, calculating the included angle between the X axis of the acceleration sensor and the axis of the natural coordinate system as the radian X of the turning of the vehicle,
and thirdly, if the angle of the X-axis direction is measured by the vehicle in an actual measurement mode and is larger than 40 degrees for a period of time, and the vehicle is considered to turn when the speed is lower than 50KM/H, and meanwhile, an alarm is given when the Distance data measured by the ultrasonic module is smaller than or equal to 2.5 m.
Preferably, when turning on, the ultrasonic wave carries out distance detection to the hazardous articles in the detection range and receives the conversion through ultrasonic receiver and transmits to the main control box and reports to the police and handles and report to the police through the bee calling organ. The more rapid the buzzer sound is, the closer the buzzer sound is, the longer the buzzer sound is, the distance from the dangerous object is within 0.3 m. The vehicle speed and the vehicle position can be directly calculated and measured through a GPS module, and the actual turning angle is obtained by adopting the following method according to the following formula: the actual turning angle ═ x × 1800/pi.
Can see through the above description, the utility model discloses a running state that the gyroscope module obtained the vehicle is fast with higher speed, fast speed reduction, collision, left turn, car running state such as right turn and judge whether the vehicle is in safe driving, acquires speed of a motor vehicle and position through the GPS module to upload drive status and real-time speed of a motor vehicle and take control cloud platform, supply the control personnel to look up, through the audible alarm of bee calling organ, real-time local warning driver avoids dangerous occurence of failure, standardizes bad driving habit.
Of course, the above is only a typical example of the present invention, and besides, the present invention can also have other various specific embodiments, and all technical solutions adopting equivalent replacement or equivalent transformation are all within the scope of the present invention as claimed.
Claims (4)
1. The utility model provides a commercial car blind area monitoring system based on gyroscope fuses ultrasonic wave module which characterized in that: including first main control chip, second main control chip, ultrasonic module, GPS module, gyroscope module, bee calling organ and power module, first main control chip is connected with second main control chip, power module is connected with first main control chip and second main control chip, provides the power for first main control chip and second main control chip, GPS module, gyroscope module and bee calling organ all are connected with first control chip, and steering line, brake line and power cord on the commercial car constitute turn signal module, and turn signal module is connected with first main control chip through the pencil, the ultrasonic module is connected with second main control chip.
2. The commercial vehicle blind area monitoring system based on the gyroscope fusion ultrasonic module according to claim 1, characterized in that: the ultrasonic module comprises an ultrasonic radar and an ultrasonic radar receiver, the ultrasonic radar is installed on the right side of the vehicle and close to the position of the right side rearview mirror, the ultrasonic radar is connected with the ultrasonic radar receiver through a wire harness, and the ultrasonic radar receiver is connected with the second main control chip through the wire harness.
3. The commercial vehicle blind area monitoring system based on the gyroscope fusion ultrasonic module according to claim 2, characterized in that: the ultrasonic radar is provided with two.
4. The commercial vehicle blind area monitoring system based on the gyroscope fusion ultrasonic module according to claim 1, characterized in that: the first main control chip adopts STM32F103XC, the second main control chip adopts STC12C5A60S2, the GPS module adopts an MC20 wireless communication module, and the gyroscope module adopts MPU-6050.
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Effective date of registration: 20240813 Address after: 321300 Longyu Tiancheng 16-1-301, Yongkang City, Jinhua City, Zhejiang Province Patentee after: Xu Taotao Country or region after: China Address before: 2195, 2nd floor, building 1, 64 Jiuhuan Road, Jianggan District, Hangzhou City, Zhejiang Province, 310019 Patentee before: ZHEJIANG DC INTELLIGENT TECHNOLOGY CO.,LTD. Country or region before: China |
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