阅读说明：本技术 一种智能网联汽车多传感器融合纵向控制方法及装置 (Intelligent networking automobile multi-sensor fusion longitudinal control method and device ) 是由 黄杰 肖山 纪兆华 孙奇 贾春霞 赵静 王学雷 于 2021-07-30 设计创作，主要内容包括：本发明涉及联汽车技术领域,具体为一种智能网联汽车多传感器融合纵向控制方法及装置,包括单片机,所述单片机包括有十一个信号连接口,所述单片机的十一个信号连接口分别连接有第一距离传感器A、第一距离传感器、第二距离传感器A、第二距离传感器B、第二距离传感器C、第二距离传感器D、第二距离传感器、第一距离传感器D、第一距离传感器C、旋转摄像头与第一距离传感器B；有益效果：通过第一距离传感器的作用,可测算车体外框架的车头部与障碍物之间的距离,而通过第二距离传感器的作用,可测算车体外框架的车尾部与障碍物之间的距离,防止车体与外部的障碍物发生碰撞。(The invention relates to the technical field of automobiles, in particular to a longitudinal control method and a longitudinal control device for fusion of multiple sensors of an intelligent networked automobile, which comprises a single chip microcomputer, wherein the single chip microcomputer comprises eleven signal connectors, and the eleven signal connectors of the single chip microcomputer are respectively connected with a first distance sensor A, a first distance sensor, a second distance sensor A, a second distance sensor B, a second distance sensor C, a second distance sensor D, a second distance sensor, a first distance sensor D, a first distance sensor C, a rotary camera and a first distance sensor B; has the advantages that: the distance between the head of the vehicle body outer frame and the obstacle can be measured by the action of the first distance sensor, and the distance between the tail of the vehicle body outer frame and the obstacle can be measured by the action of the second distance sensor, so that the vehicle body is prevented from colliding with the external obstacle.)

1. The utility model provides an intelligent networking car multisensor fuses vertical control method, includes singlechip (13), its characterized in that: the single-chip microcomputer (13) comprises eleven signal connectors, eleven signal connectors of the single-chip microcomputer (13) are respectively connected with a first distance sensor A (2), a first distance sensor (3), a second distance sensor A (4), a second distance sensor B (5), a second distance sensor C (6), a second distance sensor D (7), a second distance sensor (8), a first distance sensor D (9), a first distance sensor C (10), a rotary camera (11) and a first distance sensor B (12), the first distance sensor A (2), the first distance sensor D (9), the first distance sensor C (10) and the first distance sensor B (12) are located on one side signal connector of the single-chip microcomputer (13), and the second distance sensor A (4), The second distance sensor D (7), the second distance sensor C (6) and the second distance sensor B (5) are positioned at the signal connecting ports on the other side of the singlechip (13);

the control method comprises

The first step is as follows: starting all the distance sensors;

the second step is that: when the automobile is started, displaying the distances measured by the first distance sensor (3), the first distance sensor (3) and the second distance sensor A (4) on a central control screen of the automobile;

the third step: when the automobile is in reverse gear, displaying the distances measured by the second distance sensor D (7), the second distance sensor (8) and the first distance sensor D (9) on a central control screen of the automobile;

the fourth step: when the automobile is in a P gear or an N gear, displaying the distances measured by the first distance sensor C (10), the first distance sensor B (12), the second distance sensor (8) and the second distance sensor C (6) on a central control screen of the automobile;

the fifth step: the rotary camera (11) is in a normally open state and is connected with a storage in the vehicle, and a shot picture is projected onto the central control screen, so that a user can switch the picture in real time.

2. The utility model provides an intelligence networking car multisensor fuses vertical controlling means, including outer frame of automobile body (1), the fixed first distance sensor (3) that is provided with in locomotive portion middle-end of outer frame of automobile body (1), the fixed second distance sensor (8) that is provided with in afterbody middle-end of outer frame of automobile body (1).

3. The intelligent networked automobile multi-sensor fusion longitudinal control device according to claim 2, characterized in that: one side of the outer vehicle body frame (1) is fixedly provided with the first distance sensor A (2), the first distance sensor B (12), the first distance sensor C (10) and the first distance sensor D (9).

4. The intelligent networked automobile multi-sensor fusion longitudinal control device according to claim 2, characterized in that: the other side of the outer vehicle body frame (1) is provided with the second distance sensor A (4), the second distance sensor B (5), the second distance sensor C (6) and the second distance sensor D (7).

5. The intelligent networked automobile multi-sensor fusion longitudinal control device according to claim 2, characterized in that: the first distance sensor D (9) and the second distance sensor D (7) are arranged at the tail end corner of the outer vehicle body frame (1).

6. The intelligent networked automobile multi-sensor fusion longitudinal control device according to claim 2, characterized in that: the top center department of outer frame of automobile body (1) is fixed and is provided with rotatory camera (11), the fixed electronic axle that is provided with in bottom of rotatory camera (11), rotatory camera (11) are passed through electronic axle is fixed the upper surface of outer frame of automobile body (1).

7. The intelligent networked automobile multi-sensor fusion longitudinal control device according to claim 2, characterized in that: the distance sensor is embedded in the outer frame (1) of the vehicle body.

Technical Field

The invention relates to the technical field of automobiles, in particular to a longitudinal control method and device for intelligent networked automobile multi-sensor fusion.

Background

The functions of automatic driving such as automatic parking, highway cruise control and automatic emergency braking are realized to a great extent by sensors. Not only the number or type of sensors, but also their manner of use. At present, the ADAS in most vehicles running on the road surface is operated independently, which means that they hardly exchange information with each other. The key to achieving automatic driving is only to fuse information of a plurality of sensors.

The automatic parking technology needs to judge whether obstacles exist near the automobile by means of a plurality of sensors on the automobile, and therefore the judgment needs to be carried out by means of multi-sensor fusion.

Disclosure of Invention

The invention aims to provide an intelligent networking automobile multi-sensor fusion longitudinal control method and device to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme:

an intelligent networking automobile multi-sensor fusion longitudinal control method comprises a single chip microcomputer, wherein the single chip microcomputer comprises eleven signal connecting ports, eleven signal connectors of the single chip microcomputer are respectively connected with a first distance sensor A, a first distance sensor, a second distance sensor A, a second distance sensor B, a second distance sensor C, a second distance sensor D, a second distance sensor, a first distance sensor D, a first distance sensor C, a rotary camera and a first distance sensor B, the first distance sensor A, the first distance sensor D, the first distance sensor C and the first distance sensor B are positioned at a signal connecting port at one side of the singlechip, the second distance sensor A, the second distance sensor D, the second distance sensor C and the second distance sensor B are positioned at the signal connecting ports on the other side of the single chip microcomputer;

the control method comprises

The first step is as follows: starting all the distance sensors;

the second step is that: when the automobile is started, displaying the distances measured and calculated by the first distance sensor, the first distance sensor and the second distance sensor A on a central control screen of the automobile;

the third step: when the automobile is in reverse gear, displaying the distances measured by the second distance sensor D, the second distance sensor and the first distance sensor D on a central control screen of the automobile;

the fourth step: when the automobile is in a P gear or an N gear, displaying the distances measured by the first distance sensor C, the first distance sensor B, the second distance sensor and the second distance sensor C on a central control screen of the automobile;

the fifth step: the rotary camera is in a normally open state and is connected with the storage in the vehicle, the shot picture is projected to the central control screen, and the picture can be switched by a user in real time.

The utility model provides an intelligence networking car multisensor fuses vertical controlling means, includes outer frame of automobile body, the fixed first distance sensor that is provided with of car head middle-end of outer frame of automobile body, the fixed second distance sensor that is provided with of afterbody middle-end of outer frame of automobile body.

Through the technical scheme, the distance between the head part of the outer frame of the vehicle body and the obstacle can be measured through the action of the first distance sensor, the distance between the tail part of the outer frame of the vehicle body and the obstacle can be measured through the action of the second distance sensor, and the vehicle body is prevented from colliding with the external obstacle.

Preferably, the first distance sensor a, the first distance sensor B, the first distance sensor C, and the first distance sensor D are fixedly disposed on one side of the vehicle body outer frame.

Preferably, the second distance sensor a, the second distance sensor B, the second distance sensor C, and the second distance sensor D are disposed on the other side of the outer vehicle body frame.

Through above-mentioned technical scheme, through first distance sensor A and second distance sensor A, detect the distance between the front end edge of outer frame of automobile body and the barrier, when the singlechip detects the steering wheel and rotates left right, then with corresponding position distance sensor detection's distance send to well accuse screen on.

Preferably, the first distance sensor D and the second distance sensor D are disposed at a corner of a rear end of the outer frame of the vehicle body.

Through above-mentioned technical scheme, when the vehicle hung into R and kept off, when the singlechip detected the steering wheel and rotated left right, then sent the distance that corresponds position distance sensor and detect to well accuse screen on.

Preferably, the top center department of outer frame of automobile body fixedly is provided with rotatory camera, the fixed electronic axle that is provided with in bottom of rotatory camera, rotatory camera passes through electronic axle is fixed the upper surface of outer frame of automobile body.

Preferably, the distance sensor is embedded inside the outer frame of the vehicle body.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the method and the device for controlling the integration of the multiple sensors of the intelligent networked automobile in the longitudinal direction, the distance between the head of the outer frame of the automobile body and the obstacle can be measured through the action of the first distance sensor, the distance between the tail of the outer frame of the automobile body and the obstacle can be measured through the action of the second distance sensor, and the automobile body is prevented from colliding with the external obstacle.

2. According to the method and the device for controlling the integration of the multiple sensors of the intelligent networked automobile in the longitudinal direction, the distance between the front end corner of the outer frame of the automobile body and an obstacle is detected through the first distance sensor A and the second distance sensor A, and when the single chip microcomputer detects that the steering wheel rotates leftwards and rightwards, the distance detected by the distance sensor at the corresponding position is sent to the central control screen.

3. According to the method and the device for controlling the integration of the multiple sensors of the intelligent networked automobile, when the automobile is in the R gear, the single chip microcomputer detects that the steering wheel rotates leftwards and rightwards, and then the distance detected by the distance sensor at the corresponding position is sent to the central control screen.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

fig. 2 is a schematic view of the overall connection structure of the present invention.

In the figure: 1. a vehicle body outer frame; 2. a first distance sensor A; 3. a first distance sensor; 4. a second distance sensor A; 5. a second distance sensor B; 6. a second distance sensor C; 7. a second distance sensor D; 8. a second distance sensor; 9. a first distance sensor D; 10. a first distance sensor C; 11. rotating the camera; 12. a first distance sensor B; 13. and a single chip microcomputer.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-2, a technical solution provided by the present invention is:

an intelligent networking automobile multi-sensor fusion longitudinal control method comprises a single chip microcomputer 13, wherein the single chip microcomputer 13 comprises eleven signal connectors, eleven signal connecting ports of the single chip microcomputer 13 are respectively connected with a first distance sensor A2, a first distance sensor 3, a second distance sensor A4, a second distance sensor B5, a second distance sensor C6, a second distance sensor D7, a second distance sensor 8, a first distance sensor D9, a first distance sensor C10, a rotary camera 11 and a first distance sensor B12, the first distance sensor A2, the first distance sensor D9, the first distance sensor C10 and the first distance sensor B12 are positioned at a signal connecting port at one side of the singlechip 13, the second distance sensor A4, the second distance sensor D7, the second distance sensor C6 and the second distance sensor B5 are positioned at the other signal connection port of the singlechip 13;

the control method comprises

The first step is as follows: starting all the distance sensors;

the second step is that: when the automobile is started, the distances measured by the first distance sensor 3, the first distance sensor 3 and the second distance sensor A4 are displayed on a central control screen of the automobile;

the third step: when the automobile is in a reverse gear, displaying the distances measured by the second distance sensor D7, the second distance sensor 8 and the first distance sensor D9 on a central control screen of the automobile;

the fourth step: when the automobile is in a P gear or an N gear, displaying the distances measured by the first distance sensor C10, the first distance sensor B12, the second distance sensor 8 and the second distance sensor C6 on a central control screen of the automobile;

the fifth step: the rotary camera 11 is in a normally open state, is connected with an in-vehicle storage device, projects a shot picture onto the central control screen, and can be switched by a user in real time.

The utility model provides an intelligence networking car multisensor fuses vertical controlling means, including outer frame of automobile body 1, the fixed first distance sensor 3 that is provided with in locomotive portion middle-end of outer frame of automobile body 1, the fixed second distance sensor 8 that is provided with in afterbody middle-end of outer frame of automobile body 1, through the effect of first distance sensor 3, can calculate the distance between locomotive portion and the barrier of outer frame of automobile body 1, and through the effect of second distance sensor 8, can calculate the distance between the rear of a vehicle portion and the barrier of outer frame of automobile body 1, prevent that the automobile body from colliding with outside barrier.

Preferably, fixed being provided with in one side of outer frame 1 of automobile body first distance sensor A2 first distance sensor B12 first distance sensor C10 with first distance sensor D9, the opposite side of outer frame 1 of automobile body is provided with second distance sensor A4 second distance sensor B5 second distance sensor C6 with second distance sensor D7 through first distance sensor A2 and second distance sensor A4, detects the distance between the front end edge of outer frame 1 of automobile body and the barrier, when singlechip 13 detected the steering wheel and rotated left right, then sent the distance that corresponds position distance sensor and detect to well accuse screen on.

Preferably, first distance sensor D9 with second distance sensor D7 sets up 1 outer frame of automobile body tail end edge, when the vehicle hung R and kept off, when singlechip 13 detected the steering wheel and rotated right left, then sent the distance that corresponds position distance sensor and detect to well accuse screen on, the fixed rotatory camera 11 that is provided with in top center department of outer frame of automobile body 1, the fixed electronic axle that is provided with in bottom of rotatory camera 11, rotatory camera 11 passes through electronic axle is fixed outer frame of automobile body 1's upper surface, distance sensor embedded in outer frame of automobile body 1 is inside.

When the method and the device for controlling the integration of the intelligent networked automobile multi-sensor in the longitudinal direction are used, the distance between the head part of the vehicle body outer frame 1 and the obstacle can be calculated through the action of the first distance sensor 3, and the distance between the tail part of the vehicle body outer frame 1 and the obstacle can be calculated through the action of the second distance sensor 8, the vehicle body is prevented from colliding with the external obstacle, the distance between the front end corner of the outer frame 1 of the vehicle body and the obstacle is detected through the first distance sensor A2 and the second distance sensor A4, when the single chip microcomputer 13 detects that the steering wheel rotates leftwards and rightwards, the distance detected by the corresponding position distance sensor is sent to the central control screen, when the vehicle is in the R gear, when the single chip microcomputer 13 detects that the steering wheel rotates leftwards and rightwards, the distance detected by the corresponding position distance sensor is sent to the central control screen.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the preferred embodiments of the present invention are described in the above embodiments and the description, and are not intended to limit the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.