阅读说明：本技术 一种大型车辆防撞系统 (Large-scale vehicle collision avoidance system ) 是由 李雪霞 李思凡 王斌 赵烨晨 于 2021-09-23 设计创作，主要内容包括：本发明公开了一种大型车辆防撞系统,包括探测模块、控制模块和警报模块,所述探测模块和警报模块均与所述控制模块信号连接；其中,所述探测模块用于在车辆启动、行驶和转向的过程中探测车辆周围的障碍物、障碍物的运动速度及障碍物与车辆的距离；所述控制模块用于根据所述障碍物的运动速度和障碍物与车辆的距离生成报警信号；所述警报模块执行所述报警信号进行报警。司机根据警报模块的报警信号进行驾驶操作,减少因视觉盲区和判断失误对车辆驾驶操作造成的安全影响,有助于提升车辆行驶安全,减少交通事故的发生。(The invention discloses a large vehicle collision avoidance system, which comprises a detection module, a control module and an alarm module, wherein the detection module and the alarm module are in signal connection with the control module; the detection module is used for detecting obstacles around the vehicle, the movement speed of the obstacles and the distance between the obstacles and the vehicle in the processes of starting, running and steering of the vehicle; the control module is used for generating an alarm signal according to the movement speed of the obstacle and the distance between the obstacle and the vehicle; and the alarm module executes the alarm signal to alarm. The driver drives the operation according to alarm module's alarm signal, reduces because of the vision blind area with judge the safe influence that the error caused to vehicle driving operation, help promoting vehicle safety of traveling, reduce the emergence of traffic accident.)

1. A large vehicle collision avoidance system characterized by: the device comprises a detection module, a control module and an alarm module, wherein the detection module and the alarm module are in signal connection with the control module; wherein the content of the first and second substances,

the detection module is used for detecting obstacles around the vehicle, the movement speed of the obstacles and the distance between the obstacles and the vehicle in the processes of starting, running and steering of the vehicle;

the control module is used for generating an alarm signal according to the movement speed of the obstacle and the distance between the obstacle and the vehicle;

and the alarm module executes the alarm signal to alarm.

2. A large-sized vehicle collision avoidance system according to claim 1, wherein: the detection module comprises two first radar sensors, the first radar sensors are arranged below rearview mirrors on two sides of a vehicle through a first steering device, and the first steering device drives the first radar sensors to rotate in a reciprocating mode in the horizontal direction within a set angle range;

the first radar sensor and the first steering device are in signal connection with the control module.

3. A large-sized vehicle collision avoidance system according to claim 2, wherein: the first steering device is a steering engine.

4. A large-sized vehicle collision avoidance system according to claim 1, wherein: the control module is provided with a steering trigger interface and a reversing trigger interface, the steering trigger interface is connected with a steering lamp of the vehicle in parallel through a lead, and the reversing trigger interface is connected with a reversing lamp of the vehicle in parallel through a lead.

5. A large-sized vehicle collision avoidance system according to claim 1, wherein: the alarm module comprises a flash lamp and a buzzer, and the flash lamp and the buzzer are both arranged in a vehicle cab;

the flash lamp includes a green lamp, a yellow lamp, and a red lamp.

6. A large-sized vehicle collision avoidance system according to claim 5, wherein: the control module calculates an alarm parameter w according to the movement speed of the obstacle and the distance between the obstacle and the vehicle according to the following formula, and generates different alarm signals according to the alarm parameter w;

wherein d is the distance between the obstacle and the vehicle, d_wFor warning distance, d_brIs the braking distance;

wherein the content of the first and second substances,

wherein v is the moving speed of the obstacle, v_relThe relative speed of the obstacle and the vehicle is shown as a, the maximum acceleration of the obstacle relative to the vehicle is shown as a, the time delay of the system and the driver is shown as tau, and the time delay of the system and the driver is shown as tau.

7. A large-sized vehicle collision avoidance system according to claim 6, wherein: the generating different alarm signals according to the alarm parameter w includes:

if w is more than 1, generating a first alarm signal;

if x is less than or equal to w and less than or equal to 1, generating a second alarm signal, wherein x is an alarm coefficient, and x is more than 0 and less than 1;

and if w is less than x, generating a third alarm signal.

8. A large-sized vehicle collision avoidance system according to claim 7, wherein: if the alarm signal is a first alarm signal, a green light of the flash lamp is on, and the buzzer is silent;

if the alarm signal is a second alarm signal, a yellow lamp of the flash lamp is on, and the buzzer buzzes according to a first frequency;

and if the alarm signal is a third alarm signal, the red light of the flash lamp is on, the buzzer buzzes according to a second frequency, and the second frequency is higher than the first frequency.

9. A large-sized vehicle collision avoidance system according to claim 8, wherein: the magnitude of the first frequency is in a negative correlation relation with the magnitude of the alarm parameter w.

10. A large-sized vehicle collision avoidance system according to claim 2, wherein: the detection module further comprises a second radar sensor which is mounted below a front windshield of the vehicle through a second steering device;

the second steering device comprises a driving steering engine and a driven steering engine which are connected end to end, the second radar sensor is installed on the driven steering engine, and the driving steering engine is installed on the vehicle;

and the second radar sensor, the driving steering engine and the driven steering engine are in signal connection with the control module.

Technical Field

The invention relates to the technical field of vehicle safety, in particular to a large vehicle collision avoidance system.

Background

When a vehicle needs to change lanes or turn, a driver often determines the driving state and position of a vehicle coming behind by observing a rearview mirror so as to determine whether lane changing or turning behavior can be implemented. However, the existing rearview mirrors are made of curved glass, due to the curvature limitation of the rearview mirror glass, when the position of a vehicle coming behind is only half of the length of the vehicle body different from that of a vehicle ahead, the image of the rear vehicle just falls into the visual blind area of the rearview mirror, as shown in fig. 1, a driver cannot see the rear vehicle, and at the moment, if the vehicle changes lanes or turns, a side collision accident is very easy to happen.

In addition, due to the fact that the body of the large vehicle is larger than that of other motor vehicles, a driver cannot sufficiently know the surrounding conditions of the vehicle body through the direct view and the indirect view, and therefore traffic accidents are caused. In recent years, in the case of road traffic accidents, the proportion of the traffic accidents caused by the vision dead zones of large vehicles is high.

Traffic accidents caused by the dead zone of the wheel difference in the large-scale vehicle are frequent, and the death probability of people is high. Accident investigation finds that the traffic accidents have high similarity, namely that the places of the accidents are similar: the large-scale truck is usually arranged at a turning position of a road junction, a large-scale truck turns to the right, pedestrians or non-motor vehicles run straight, and the pedestrians or non-motor vehicle drivers are knocked down by the large-scale truck when the large-scale truck turns, and are crushed by wheels to die. Secondly, hit-and-run vehicles are similar: generally speaking, heavy dump trucks, buses, heavy concrete mixer trucks and tank trucks with loads of 15 tons or more have large tires and high cabs, and the bodies of the trucks generally have three or more axles, so that when an accident occurs, the collision positions of most victims and large trucks are mainly between the front wheels and the middle wheels or between the middle wheels and the rear wheels of the truck. Thirdly, the driver behavior of the large vehicle is similar: when the driver turns right or left at a green light, the driver cannot see pedestrians and non-motor vehicles on the non-motor vehicle lane in the rearview mirror due to the existence of the blind area, the driver thinks that the vehicle can safely turn, and when the driver bumps over the pedestrians or the non-motor vehicles, the driver does not have a speed reduction braking measure and directly rolls the victim under the wheels and rolls the wheels, which is a main cause of accidents.

At present, research and development and application of auxiliary safety technologies for improving the turning blind area of a large truck are few, mainly aiming at the cause analysis of the dead area safety accident of the large truck and the research of related improvement measures, real-time monitoring and early warning are mainly carried out on a warning area in the technical field, but the improvement measures have certain defects.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides a large vehicle collision avoidance system which is used for solving the technical problems in the background technology.

The large vehicle collision avoidance system comprises a detection module, a control module and an alarm module, wherein the detection module and the alarm module are in signal connection with the control module; wherein the content of the first and second substances,

the detection module is used for detecting obstacles around the vehicle, the movement speed of the obstacles and the distance between the obstacles and the vehicle in the processes of starting, running and steering of the vehicle;

the control module is used for generating an alarm signal according to the movement speed of the obstacle and the distance between the obstacle and the vehicle;

and the alarm module executes the alarm signal to alarm.

Further, the detection module comprises two first radar sensors, the first radar sensors are mounted below rearview mirrors on two sides of the vehicle through first steering devices, and the first steering devices drive the first radar sensors to rotate in a reciprocating mode in the horizontal direction within a set angle range;

the first radar sensor and the first steering device are in signal connection with the control module.

Further, the first steering device is a steering engine.

Furthermore, a steering trigger interface and a reversing trigger interface are arranged on the control module, the steering trigger interface is connected with a steering lamp of the vehicle in parallel through a lead, and the reversing trigger interface is connected with a reversing lamp of the vehicle in parallel through a lead.

Further, the alarm module comprises a flash lamp and a buzzer, and the flash lamp and the buzzer are both arranged in the cab of the vehicle;

the flash lamp includes a green lamp, a yellow lamp, and a red lamp.

Further, the control module calculates an alarm parameter w according to the movement speed of the obstacle and the distance between the obstacle and the vehicle according to the following formula, and generates different alarm signals according to the alarm parameter w;

where d is the distance between the obstacle and the vehicle, dw is the warning distance, d_brFor braking distance, i.e. the distance of the vehicle in the direction perpendicular to the obstacle reaches d_brWhen the brake is active, d_brIs a set value.

Wherein the content of the first and second substances,

wherein v is the moving speed of the obstacle, v_relThe relative speed of the obstacle and the vehicle is shown as a, the maximum acceleration of the obstacle relative to the vehicle is shown as a, the time delay of the system and the driver is shown as tau, and the time delay of the system and the driver is shown as tau.

Further, the generating different alarm signals according to the alarm parameter w includes:

if w is more than 1, generating a first alarm signal;

if x is less than or equal to w and less than or equal to 1, generating a second alarm signal, wherein x is an alarm coefficient, and x is more than 0 and less than 1;

and if w is less than x, generating a third alarm signal.

Further, if the alarm signal is a first alarm signal, a green light of the flash lamp is on, and the buzzer is silent;

if the alarm signal is a second alarm signal, a yellow lamp of the flash lamp is on, and the buzzer buzzes according to a first frequency;

and if the alarm signal is a third alarm signal, the red light of the flash lamp is on, the buzzer buzzes according to a second frequency, and the second frequency is higher than the first frequency.

Further, the magnitude of the first frequency is in a negative correlation relation with the magnitude of the alarm parameter w.

Further, the detection module further comprises a second radar sensor which is installed below a front windshield of the vehicle through a second steering device;

the second steering device comprises a driving steering engine and a driven steering engine which are connected end to end, the second radar sensor is installed on the driven steering engine, and the driving steering engine is installed on the vehicle;

and the second radar sensor, the driving steering engine and the driven steering engine are in signal connection with the control module.

The invention has the beneficial effects that:

the vehicle collision avoidance system detects obstacles around the vehicle, the movement speed of the obstacles and the distance between the obstacles and the vehicle through the detection module in the processes of starting, driving and steering of the vehicle; the control module generates an alarm signal according to the movement speed of the obstacle and the distance between the obstacle and the vehicle; the alarm module executes the alarm signal to give an alarm, and the driver carries out driving operation according to the alarm signal of the alarm module, so that the safety influence of the driver on the driving operation of the vehicle due to the vision blind area and judgment error is reduced, the driving safety of the vehicle is promoted, and the occurrence of traffic accidents is reduced.

Drawings

In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, similar devices or portions are generally identified by similar reference numerals. In the drawings, the various devices or parts are not necessarily drawn to scale.

FIG. 1 is a schematic illustration of a vehicle blind spot provided herein;

FIG. 2 is a schematic diagram of a large vehicle collision avoidance system provided in an embodiment of the present application;

fig. 3 is a hardware architecture diagram of a large vehicle collision avoidance system according to an embodiment of the present application.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.

It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains.

As shown in fig. 2 and 3, the collision avoidance system for large vehicles provided by the present application includes a detection module, a control module, and an alarm module, wherein the detection module and the alarm module are in signal connection with the control module. The detection module is used for detecting obstacles around the vehicle, the movement speed of the obstacles and the distance between the obstacles and the vehicle in the processes of starting, running and steering of the vehicle. The control module is used for generating an alarm signal according to the movement speed of the obstacle and the distance between the obstacle and the vehicle. And the alarm module executes the alarm signal to alarm. In this embodiment, when the vehicle is started, the obstacles around the vehicle may be objects, children, small animals, or the like; after the vehicle normally runs, the obstacle around the vehicle generally refers to a following vehicle behind or a vehicle in an adjacent lane and a height-limiting obstacle above the vehicle.

Further, the detection module comprises two first radar sensors, the first radar sensors are installed below rearview mirrors on two sides of the vehicle through a first steering device, and the first steering device drives the first radar sensors to rotate in a reciprocating mode in the horizontal direction within a set angle range. The first radar sensor and the first steering device are in signal connection with the control module.

In this embodiment, the first steering device is a steering engine, and the steering engine drives the first radar sensor to rotate 180 degrees in the horizontal direction, so as to acquire the information of the obstacles in the whole rear view area and the blind area.

Furthermore, a steering trigger interface and a reversing trigger interface are arranged on the control module, the steering trigger interface is connected with a steering lamp of the vehicle in parallel through a lead, and the reversing trigger interface is connected with a reversing lamp of the vehicle in parallel through a lead. After a user drives a vehicle to normally drive, a steering lamp is turned when the vehicle changes lanes or turns, for example, when the driver wants to change lanes left or turn left, the driver turns the left steering lamp, the steering trigger interface is at a high potential, and the trigger control module controls the steering engine and the first radar sensor to start working. Similarly, when a driver is in a reverse gear to prepare for reversing, the reversing trigger interface is at a high potential, and the trigger control module controls the steering engine and the first radar sensor to start working.

Further, the alarm module comprises a flash lamp and a buzzer, and the flash lamp and the buzzer are both arranged in the cab of the vehicle; the flash lamp includes a green lamp, a yellow lamp, and a red lamp.

Further, in this application the control module is the singlechip to the digital signal processor product STM320F28X that TI company produced is central signal processing unit, handles the signal including steering engine control, obstacle discernment, vehicle range finding etc. when emergency takes place and reaches certain dangerous level, by DSP through inside integrated CAN bus module drive emergency braking module, makes corresponding solution mechanism. The control module calculates an alarm parameter w according to the movement speed of the obstacle and the distance between the obstacle and the vehicle according to the following formula, and generates different alarm signals according to the alarm parameter w;

wherein d is the distance between the obstacle and the vehicle, d_wFor warning distance, d_brFor braking distance, d_brThe value is a set value and can be obtained by measurement after multiple tests;

wherein the content of the first and second substances,

wherein v is the moving speed of the obstacle, v_relIs the relative speed of the obstacle and the vehicle, a is the maximum acceleration of the obstacle relative to the vehicle, tau is the delay of the system and the driver, tau is a set value and can be determined according to the normal human conditionThe reaction time was set.

Specifically, the generating different alarm signals according to the alarm parameter w includes: if w is more than 1, generating a first alarm signal; if x is less than or equal to w and less than or equal to 1, generating a second alarm signal, wherein x is an alarm coefficient, x is more than 0 and less than 1, and the value of a can be obtained by calculation after multiple tests and set; and if w is less than x, generating a third alarm signal.

In this embodiment, if the alarm signal is the first alarm signal, the green light of the flash lamp is on, and the buzzer is silent, indicating that the vehicle is at a safe distance at present, and steering, lane changing or reversing operations can be performed. If the alarm signal is a second alarm signal, the yellow lamp of the flash lamp is on, and the buzzer buzzes according to the first frequency, so that the risk of steering, lane changing or reversing operation at present is indicated, and careful operation is needed. And if the alarm signal is a third alarm signal, the red light of the flash lamp is on, the buzzer buzzes according to a second frequency, the buzzer buzzes for a long time, and the second frequency is higher than the first frequency, so that a driver is reminded of needing to emergently stop related driving operation.

Further, the magnitude of the first frequency and the magnitude of the warning parameter w are in a negative correlation relationship, that is, as w is reduced, the buzzer buzzing frequency is accelerated, which indicates that the emergency degree is upgraded.

Further, the detection module further comprises a second radar sensor which is installed below a front windshield of the vehicle through a second steering device; the second steering device comprises a driving steering engine and a driven steering engine which are connected end to end, the second radar sensor is installed on the driven steering engine, the driving steering engine is installed on the vehicle, and the second radar sensor, the driving steering engine and the driven steering engine are all in signal connection with the control module.

The mode that initiative steering wheel and driven steering wheel are established ties each other solves the radar sensor and can only realize the limitation of straight line point-to-point transmission, and leads to the problem single to vehicle surrounding environment monitoring direction, has solved simultaneously and wants to realize the all-round perception of vehicle surrounding environment, furthest improves vehicle operation security and takes the MCU signal processing that all-round part equipment radar sensor brought to block up the problem and the cost rises doubly.

1. The driving steering engine and the driven steering engine are connected through a tiller in the vertical direction, the driving steering engine is fixed at a designated position of a vehicle body, the tiller drives the driven steering engine to rotate 180 degrees in the vertical direction of the vehicle body, the driven steering engine drives the radar sensor to rotate 180 degrees in the vertical direction, and meanwhile, the radar sensor is connected with the tiller of the driven steering engine to rotate 180 degrees in the horizontal direction. So, when initiative steering wheel tiller reachd the vertical direction high point, the sensor is under driven steering wheel drive, upwards scans 180 degrees, surveys vehicle top limit for height bridge or bill-board height to according to preset warning height comparison in advance, according to dangerous degree, send light sound early warning information, prevent the top collision.

2. When the rudder stock of the driving steering engine reaches the middle point in the vertical direction, the sensor scans 180 degrees towards the right front under the driving of the driven steering engine, detects the front vehicle according to the distance and the relative speed of the vehicle, and sends out light sound early warning information according to the early warning method of the first radar sensor to prevent rear-end collision.

3. When the rudder stock of the driving steering engine reaches a low point in the vertical direction, the sensor scans 180 degrees towards the ground under the driving of the driven steering engine to detect whether pedestrians cross or small children are detained in a blind area below the front windshield of the vehicle. Meanwhile, the road surface protrusion or depression information can be judged according to an algorithm, and the light sound early warning information is sent out according to the comparison of preset alarm information and the danger degree.

In summary, the vehicle collision avoidance system of the present application detects obstacles around the vehicle, the movement speed of the obstacles, and the distance between the obstacles and the vehicle through the detection module in the processes of starting, driving, and steering of the vehicle; the control module generates an alarm signal according to the movement speed of the obstacle and the distance between the obstacle and the vehicle; the alarm module executes the alarm signal to give an alarm, and the driver carries out driving operation according to the alarm signal of the alarm module, so that the safety influence of the driver on the driving operation of the vehicle due to the vision blind area and judgment error is reduced, the driving safety of the vehicle is promoted, and the occurrence of traffic accidents is reduced.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.