CN106553647B - Auxiliary driving system and method for flat car - Google Patents
Auxiliary driving system and method for flat car Download PDFInfo
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- CN106553647B CN106553647B CN201611102907.4A CN201611102907A CN106553647B CN 106553647 B CN106553647 B CN 106553647B CN 201611102907 A CN201611102907 A CN 201611102907A CN 106553647 B CN106553647 B CN 106553647B
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- 101100494448 Caenorhabditis elegans cab-1 gene Proteins 0.000 description 4
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a driving assisting system and method for a flat car, which can assist a driver to move the flat car to a designated position, can also automatically control the flat car to move to the designated position, also provides double insurance of anti-collision protection, improves the operation efficiency of the flat car and also reduces the accident rate of the flat car. The technical scheme is as follows: through ultrasonic ranging sensor and the ultrasonic ranging controller of installing on the flatbed automobile body, through analysis and the selection of turning to the mode, realize assisting the driver and drive the flatbed or automatically control the flatbed and drive into narrow region. In addition, the invention can detect whether the flat car has an obstacle in the driving direction through the photoelectric distance measuring sensor and the photoelectric distance measuring controller on the car, and sends out an alarm signal when the obstacle appears until the car stops, thereby realizing the double protection of obstacle avoidance.
Description
Technical Field
The invention relates to auxiliary equipment and a method for a flat car, in particular to an auxiliary driving system and a method for automatically warehousing the flat car and assisting the flat car to enter a narrow area.
Background
Flatbed on the existing market all takes two cabs or a cab, because flatbed car body is great in length direction and width direction's size, and the flatbed has multiple mode of turning to: the flat car can be driven to move in a straight line, an inclined line, a transverse line, a front axle steering direction, a rear axle steering direction, a center turning direction, a right wheel turning direction and a left wheel turning direction. Usually one to two commanders are required to command the driver to complete.
The driver's cab of a common flat car comprises a steering wheel, an accelerator pedal, a brake pedal, a control panel, a touch screen and the like. The flat car is operated by firstly selecting one of eight steering modes on a touch screen by a driver according to the space where the flat car is located and the position of goods, and then the driver operates a steering wheel, an accelerator pedal and a brake pedal to control the running position and speed of the flat car. Until the platform lorry is moved to the desired position.
This operation requires a driver to have a certain driving experience, and an accurate determination of the surrounding environment of the flatbed and the distance from the obstacle is required, and it is often necessary to repeatedly switch the steering mode, so that the vehicle reciprocates in the front-rear and left-right directions, and finally reaches a desired place.
Disclosure of Invention
The following presents a simplified summary of one or more aspects in order to provide a basic understanding of such aspects. This summary is not an extensive overview of all contemplated aspects, and is intended to neither identify key or critical elements of all aspects nor delineate the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that is presented later.
The invention aims to solve the problems and provides a driving assisting system and a driving assisting method for a flat car, which can assist a driver to move the flat car to a specified position, can also automatically control the flat car to move to the specified position, also provides double insurance of anti-collision protection, improves the efficiency of the operation of the flat car and reduces the accident rate of the flat car.
The technical scheme of the invention is as follows: the invention discloses a driving assisting system for a flat car, which is characterized by comprising the following components:
a plurality of ultrasonic ranging sensors installed around the frame for transmitting and receiving ultrasonic signals;
the ultrasonic ranging controller is connected with the ultrasonic ranging sensors, obtains the distance and the direction between the flatbed and the obstacle according to the received ultrasonic signals sent by the ultrasonic ranging sensors, and obtains the analysis result of the steering mode of the flatbed through the built-in steering mode analysis module.
According to an embodiment of the driving assistance system for a flat car of the present invention, the system further comprises:
and the display screen is connected with the ultrasonic ranging controller and prompts the optimal steering mode or the combination of the steering modes of the flat car for the user to select.
According to an embodiment of the driving assistance system for a flat car of the present invention, the ultrasonic ranging controller further includes:
and the automatic driving module automatically moves the flat car according to the analysis result.
According to an embodiment of the driving assistance system for a flat car of the present invention, the system further comprises:
a photoelectric distance measuring sensor for transmitting and receiving a pulse optical signal;
and the photoelectric distance measurement controller is connected with the photoelectric distance measurement sensor, calculates the distance between the flat car and the obstacle according to the pulse light signals, and controls the flat car to stop moving when the calculated distance is smaller than a set threshold value.
The invention also discloses a driving assisting method for the flat car, which comprises the following steps:
transmitting and receiving ultrasonic signals through a plurality of ultrasonic ranging sensors installed around a frame of a flat car;
the ultrasonic ranging controller obtains the distance and the direction between the flatbed and the obstacle according to the received ultrasonic signals sent by the ultrasonic ranging sensors, and obtains an analysis result of the steering mode of the flatbed.
According to an embodiment of the driving assisting method for the flat car of the present invention, the method further includes:
and prompting the optimal steering mode of the flat car or the combination of the steering modes for the user to select.
According to an embodiment of the driving assisting method for the flat car of the present invention, the method further includes:
and automatically moving the flatbed according to the analysis result of the steering mode of the flatbed.
According to an embodiment of the driving assisting method for the flat car of the present invention, the method further includes:
in the moving process of the flat car, sending and receiving pulse light signals through a photoelectric distance measuring sensor;
and calculating the distance between the flat car and the obstacle according to the pulse light signals through the photoelectric distance measuring controller, and controlling the flat car to stop moving when the calculated distance is smaller than a set threshold value.
Compared with the prior art, the invention has the following beneficial effects: according to the invention, through the ultrasonic ranging sensor and the ultrasonic ranging controller which are arranged on the body of the flat car, the auxiliary driving of a driver on the flat car or the automatic control of the flat car to drive into a narrow area can be realized through the analysis and selection of a steering mode. In addition, the invention can detect whether the flat car has an obstacle in the driving direction through the photoelectric distance measuring sensor and the photoelectric distance measuring controller on the car, and sends out an alarm signal when the obstacle appears until the car stops, thereby realizing the double protection of obstacle avoidance.
Drawings
Fig. 1A and 1B show an overview of an embodiment of the driving assistance system for a flat car of the present invention.
FIG. 2 shows a control flow diagram of the steering pattern analysis module.
Fig. 3 shows a flowchart of a first embodiment of the driving assistance method for a flat car of the present invention.
Fig. 4 shows a flowchart of a second embodiment of the driving assistance method for a flat car of the present invention.
Detailed Description
The above features and advantages of the present disclosure will be better understood upon reading the detailed description of embodiments of the disclosure in conjunction with the following drawings. In the drawings, components are not necessarily drawn to scale, and components having similar relative characteristics or features may have the same or similar reference numerals.
First embodiment of driving assistance system for flat car
Fig. 1A and 1B show the general structure of a first embodiment of the flat car driving assist system of the present invention. Referring to fig. 1A and 1B, the system of the present embodiment includes a plurality of ultrasonic ranging sensors 3 installed around a vehicle frame 2, an ultrasonic ranging controller 5 connected to the plurality of ultrasonic ranging sensors 3, a photoelectric ranging sensor 4, and a photoelectric ranging controller 6 connected to the photoelectric ranging sensor 4.
For all flatbeds, the frame 2 is a bearing platform of the flatbed, the side beams are in I-shaped structures and are connected together through cross beams, and the overall strength is high. The front and the back of the flat car are respectively provided with a cab 1, a steering wheel, a running speed pedal, a brake pedal, a display touch screen and the like are arranged in the cab 1, and the display touch screen is connected with an ultrasonic ranging controller 5.
In the present embodiment, 16 ultrasonic ranging sensors 3 and 2 photoelectric ranging sensors 4 are mounted around the frame 2. The ultrasonic ranging sensor 3 emits and receives ultrasonic waves, can detect the distance between the flat car and the obstacle, and transmits a signal to the ultrasonic ranging controller 5. After the ultrasonic ranging controller 5 receives the signals of the 16 ultrasonic ranging sensors 3 distributed around the flat car, the signals are subjected to operation processing, the distance and the direction between the flat car and the obstacle are calculated and can be displayed on a display touch screen, and the steering mode of the flat car is analyzed through an internal steering mode analysis module. The steering mode includes: straight running, oblique running, transverse running, front shaft steering, rear shaft steering, center rotation, right wheel rotation and left wheel rotation. The steering mode analysis module judges which steering mode or combination of the steering modes takes the shortest time. Finally, several steering modes to be selected are prompted on a display touch screen and can be selected by a driver, or the flatbed is automatically moved through an automatic driving module according to an analysis result, so that the displacement of the flatbed is completed.
As shown in fig. 2, the specific processing of the steering pattern analysis module in the present embodiment defines a plurality of steering patterns (straight, diagonal, lateral, front axle steering, rear axle steering, center turning, left and right wheel turning) of the flatbed as a steering pattern 1, a steering pattern 2, … …, and a steering pattern 7. After the program judges the position of the flat car, firstly judging whether the steering mode 1 is feasible or not, and if yes, executing the steering mode 1; and if the steering mode 1 is not feasible, judging whether the steering mode 2 is feasible, if the steering mode 2 is feasible, executing the steering mode 2, repeating the steps, returning to the position where the flat car is judged again, judging whether the steering mode 1 is feasible, if the steering mode 1 is feasible, executing the steering mode 1, repeating the steps, finally finishing the judgment of all the steering modes, and giving a reasonable steering mode or a combination of the steering modes with the shortest time.
And the photoelectric distance measuring sensor 4 is used as anti-collision protection, once the ultrasonic distance measuring sensor 3 breaks down, the photoelectric distance measuring sensor 4 starts to work, sends out pulse light and receives the pulse light, records the time of the pulse light, transmits a signal to the photoelectric distance measuring controller 6, the photoelectric distance measuring controller 6 calculates the actual distance, and sends out an instruction to cut off the signal output of the flat car control system when the actual distance reaches the set distance, so that the flat car stops moving emergently. The pulse distance measurement technology of the photoelectric distance measurement can achieve 360-degree all-dimensional measurement, and the effective distance can reach more than 30 meters.
Second embodiment of flatbed driving assistance system
The present embodiment differs from the above first embodiment in that the photoelectric distance measuring sensor 4 and the photoelectric distance measuring controller 6, which further serve as collision avoidance, are omitted. In the present embodiment, the system includes only a plurality of ultrasonic ranging sensors 3 installed around the vehicle frame 2, and an ultrasonic ranging controller 5 connected to the plurality of ultrasonic ranging sensors 3.
For all flatbeds, the frame 2 is a bearing platform of the flatbed, the side beams are in I-shaped structures and are connected together through cross beams, and the overall strength is high. The front and the back of the flat car are respectively provided with a cab 1, a steering wheel, a running speed pedal, a brake pedal, a display touch screen and the like are arranged in the cab 1, and the display touch screen is connected with an ultrasonic ranging controller 5.
In the present embodiment, 16 ultrasonic ranging sensors 3 and 2 photoelectric ranging sensors 4 are mounted around the frame 2. The ultrasonic ranging sensor 3 emits and receives ultrasonic waves, can detect the distance between the flat car and the obstacle, and transmits a signal to the ultrasonic ranging controller 5. After the ultrasonic ranging controller 5 receives the signals of the 16 ultrasonic ranging sensors 3 distributed around the flat car, the signals are subjected to operation processing, the distance and the direction between the flat car and the obstacle are calculated and can be displayed on a display touch screen, and the analysis result of the steering mode of the flat car is obtained through an internal steering mode analysis module. The steering mode includes: the steering mechanism comprises a straight driving mode, a diagonal driving mode, a transverse driving mode, a front shaft steering mode, a rear shaft steering mode, a center turning mode, a right wheel turning mode and a left wheel turning mode, wherein the time occupied by which steering mode or combination of the steering modes is the shortest. Finally, several steering modes to be selected are prompted on a display touch screen and can be selected by a driver, or the flatbed is automatically moved through an automatic driving module according to an analysis result, so that the displacement of the flatbed is completed.
As shown in fig. 2, the specific processing of the steering pattern analysis module in the present embodiment defines a plurality of steering patterns (straight, diagonal, lateral, front axle steering, rear axle steering, center turning, left and right wheel turning) of the flatbed as a steering pattern 1, a steering pattern 2, … …, and a steering pattern 7. After the program judges the position of the flat car, firstly judging whether the steering mode 1 is feasible or not, and if yes, executing the steering mode 1; and if the steering mode 1 is not feasible, judging whether the steering mode 2 is feasible, if the steering mode 2 is feasible, executing the steering mode 2, repeating the steps, returning to the position where the flat car is judged again, judging whether the steering mode 1 is feasible, if the steering mode 1 is feasible, executing the steering mode 1, repeating the steps, finally finishing the judgment of all the steering modes, and giving a reasonable steering mode or a combination of the steering modes with the shortest time.
First embodiment of driving assistance method for flat car
Fig. 3 shows a flow of the first embodiment of the driving assistance method for the flat car of the present invention. Referring to fig. 3, the following is a detailed description of the implementation steps of the driving assistance method for a flat car according to the present embodiment.
Step S11: ultrasonic signals are transmitted and received by a plurality of ultrasonic ranging sensors mounted around the frame of the flat car.
Step S12: the ultrasonic ranging controller obtains the distance and the direction between the flatbed and the obstacle according to the received ultrasonic signals sent by the ultrasonic ranging sensors, and obtains an analysis result of the steering mode of the flatbed.
In the present embodiment, the steering modes (straight, diagonal, lateral, front axle steering, rear axle steering, center turning, right and left wheel turning) of the flatbed are defined as steering mode 1, steering mode 2, … …, and steering mode 7. After the program judges the position of the flat car, firstly judging whether the steering mode 1 is feasible or not, and if yes, executing the steering mode 1; and if the steering mode 1 is not feasible, judging whether the steering mode 2 is feasible, if the steering mode 2 is feasible, executing the steering mode 2, repeating the steps, returning to the position where the flat car is judged again, judging whether the steering mode 1 is feasible, if the steering mode 1 is feasible, executing the steering mode 1, repeating the steps, finally finishing the judgment of all the steering modes, and giving a reasonable steering mode or a combination of the steering modes with the shortest time.
Step S13: and processing according to the analysis result of the steering mode of the flat car.
There are two ways of handling, one is to prompt the best flatbed steering mode or a combination thereof on the display touch screen for the user to select. And the other method is that the flat car is automatically moved according to the analysis result of the steering mode of the flat car without the operation of a user.
Second embodiment of driving assistance method for flat car
Fig. 4 shows a flow of a second embodiment of the driving assistance method for a flat car of the present invention. Referring to fig. 4, the following is a detailed description of the implementation steps of the driving assistance method for a flat car according to the present embodiment.
Step S21: ultrasonic signals are transmitted and received by a plurality of ultrasonic ranging sensors mounted around the frame of the flat car.
Step S22: the ultrasonic ranging controller obtains the distance and the direction between the flatbed and the obstacle according to the received ultrasonic signals sent by the ultrasonic ranging sensors, and obtains an analysis result of the steering mode of the flatbed.
In the present embodiment, the steering modes (straight, diagonal, lateral, front axle steering, rear axle steering, center turning, right and left wheel turning) of the flatbed are defined as steering mode 1, steering mode 2, … …, and steering mode 7. After the program judges the position of the flat car, firstly judging whether the steering mode 1 is feasible or not, and if yes, executing the steering mode 1; and if the steering mode 1 is not feasible, judging whether the steering mode 2 is feasible, if the steering mode 2 is feasible, executing the steering mode 2, repeating the steps, returning to the position where the flat car is judged again, judging whether the steering mode 1 is feasible, if the steering mode 1 is feasible, executing the steering mode 1, repeating the steps, finally finishing the judgment of all the steering modes, and giving a reasonable steering mode or a combination of the steering modes with the shortest time.
Step S23: and processing according to the analysis result of the steering mode of the flat car.
There are two ways of handling, one is to prompt the best flatbed steering mode or a combination thereof on the display touch screen for the user to select. And the other method is that the flat car is automatically moved according to the analysis result of the steering mode of the flat car without the operation of a user.
Step S24: and during the moving process of the flat car, the pulse light signals are sent and received through the photoelectric distance measuring sensor.
The pulse distance measurement technology of the photoelectric distance measurement can achieve 360-degree all-dimensional measurement, and the effective distance can reach more than 30 meters.
Step S25: and calculating the distance between the flat car and the obstacle according to the pulse light signals through the photoelectric distance measuring controller, and controlling the flat car to stop moving when the calculated distance is smaller than a set threshold value.
While, for purposes of simplicity of explanation, the methodologies are shown and described as a series of acts, it is to be understood and appreciated that the methodologies are not limited by the order of acts, as some acts may, in accordance with one or more embodiments, occur in different orders and/or concurrently with other acts from that shown and described herein or not shown and described herein, as would be understood by one skilled in the art.
Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The various illustrative logical blocks, modules, and circuits described in connection with the embodiments disclosed herein may be implemented or performed with a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In the alternative, the processor and the storage medium may reside as discrete components in a user terminal.
In one or more exemplary embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software as a computer program product, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a computer. By way of example, and not limitation, such computer-readable media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a web site, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, Digital Subscriber Line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. Disk (disk) and disc (disc), as used herein, includes Compact Disc (CD), laser disc, optical disc, Digital Versatile Disc (DVD), floppy disk and blu-ray disc where disks (disks) usually reproduce data magnetically, while discs (discs) reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.
The previous description of the disclosure is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to the disclosure will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other variations without departing from the spirit or scope of the disclosure. Thus, the disclosure is not intended to be limited to the examples and designs described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (2)
1. A driving assistance system for a flat car, characterized in that the system comprises:
a plurality of ultrasonic ranging sensors installed around the frame for transmitting and receiving ultrasonic signals;
the ultrasonic ranging controller is connected with the ultrasonic ranging sensors, obtains the distance and the direction between the flat car and an obstacle according to received ultrasonic signals sent by the ultrasonic ranging sensors, obtains an analysis result of a steering mode of the flat car through an internally-arranged steering mode analysis module, further comprises an automatic driving module, and automatically moves the flat car according to the analysis result, wherein the steering mode analysis module respectively defines seven steering modes of the flat car, including straight running, oblique running, transverse running, front shaft steering, rear shaft steering, center turning and left and right wheel turning, into a first steering mode, a second steering mode to a seventh steering mode, firstly judges whether the first steering mode is feasible or not after judging the position of the flat car, and if the first steering mode is feasible; if the first steering mode is not feasible, judging whether the second steering mode is feasible, if so, executing the second steering mode, repeating the steps, returning to the position where the flat car is judged again, judging whether the first steering mode is feasible, if so, executing the first steering mode, repeating the steps, finally finishing the judgment of all the steering modes, and giving a reasonable steering mode with the shortest time or a combination of the steering modes;
the display screen is connected with the ultrasonic ranging controller and prompts the optimal steering mode or the combination of the steering modes of the flat car for the user to select;
a photoelectric distance measuring sensor for transmitting and receiving a pulse optical signal;
and the photoelectric distance measurement controller is connected with the photoelectric distance measurement sensor, calculates the distance between the flat car and the obstacle according to the pulse light signals, and controls the flat car to stop moving when the calculated distance is smaller than a set threshold value.
2. A driving assisting method for a flat car is characterized by comprising the following steps:
transmitting and receiving ultrasonic signals through a plurality of ultrasonic ranging sensors installed around a frame of a flat car;
the ultrasonic ranging controller obtains the distance and the direction between the flatbed and the barrier according to the received ultrasonic signals sent by the ultrasonic ranging sensors, obtains an analysis result of the steering mode of the flatbed, and prompts a plurality of steering modes to be selected on the display touch screen, the flat car can be automatically moved according to the analysis result by the selection of the user or through an automatic driving module in the ultrasonic ranging controller to complete the displacement of the flat car, wherein the analyzing of the steering modes of the flat car comprises defining seven steering modes of the flat car including straight running, inclined running, transverse running, front axle steering, rear axle steering, center turning, left and right wheel turning as a first steering mode, a second steering mode to a seventh steering mode respectively, after the position of the flat car is judged, firstly judging whether a first steering mode is feasible or not, and if yes, executing the first steering mode; if the first steering mode is not feasible, judging whether the second steering mode is feasible, if so, executing the second steering mode, repeating the steps, returning to the position where the flat car is judged again, judging whether the first steering mode is feasible, if so, executing the first steering mode, repeating the steps, finally finishing the judgment of all the steering modes, and giving a reasonable steering mode with the shortest time or a combination of the steering modes;
in the moving process of the flat car, sending and receiving pulse light signals through a photoelectric distance measuring sensor;
and calculating the distance between the flat car and the obstacle according to the pulse light signals through the photoelectric distance measuring controller, and controlling the flat car to stop moving when the calculated distance is smaller than a set threshold value.
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| CN109035866A (en) * | 2018-08-30 | 2018-12-18 | 长安大学 | A kind of road construction vehicle intellectualized management system and method |
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