技术领域technical field
本发明涉及汽车防撞与救援领域，特别涉及一种汽车预防撞与自主救援系统。The invention relates to the field of automobile collision avoidance and rescue, in particular to an automobile collision avoidance and autonomous rescue system.
背景技术Background technique
现代社会随着车辆的增多，车辆事故屡见不鲜，在汽车行驶过程中一般是通过驾驶员的观察，不能有效预先主动探知外界条件以及时反应防止碰撞。在驾驶员不能及时反应避障的情况下，车辆不能自主采取有效措施进行避障。另外，在发生一定程度的撞击后，一般情况下伤者只能等到救援人员到后才能被采取救援措施，而伤员的生命体征并不能及时发送给就近医院，医护人员也无法进一步判断伤者受伤的严重程度从而实施救援以减少或者避免伤亡，在伤员休克情况下车辆不能进行自主救援。已有相应的发明，例如CN200410044477.6中所述的一种机动车防撞系统，包括对障碍物进行扫描，发射信号，对电路进行处理，运用配套的预碰撞计算以及自动刹车装置，该发明采用双旋转激光发射和接受扫描器，对路面或是四周360°的障碍物进行全方位的扫描，接受的信号经处理后给出障碍物距离,方位等参数从而预测碰撞并且自动刹车。但是该专利技术无法解决上面的在驾驶员不能及时反应的情况下主动避障以及自主救援问题。With the increase of vehicles in modern society, vehicle accidents are not uncommon. In the process of driving, it is generally through the driver's observation, which cannot effectively detect the external conditions in advance and respond in time to prevent collisions. In the case that the driver cannot react in time to avoid obstacles, the vehicle cannot autonomously take effective measures to avoid obstacles. In addition, after a certain degree of impact, under normal circumstances, the injured can only be rescued after the arrival of rescuers, and the vital signs of the injured cannot be sent to the nearest hospital in time, and the medical staff cannot further judge whether the injured is injured. In order to reduce or avoid casualties, the vehicle cannot carry out autonomous rescue in the case of shock of the wounded. Corresponding inventions have been made, such as a motor vehicle collision avoidance system described in CN200410044477.6, which includes scanning obstacles, transmitting signals, processing circuits, and using supporting pre-collision calculations and automatic braking devices. Using dual-rotating laser emitting and receiving scanners, it scans the road surface or obstacles around 360° in all directions, and the received signals are processed to give parameters such as obstacle distance and azimuth to predict collisions and automatically brake. However, this patented technology cannot solve the above problems of active obstacle avoidance and autonomous rescue when the driver cannot respond in time.
专利CN204567492U中所述的一种汽车防撞系统，摄像头设在车本体的摆动安装结构上，与摄像头连接的有数据处理模块，数据处理模块上分别连接警报模块和汽车制动模块，并且通过摄像头固定在摆动杆的一端，而摆动杆的另一端设有相对应的转动座从而实现同步摆动，当车辆转向时摄像头能同步转动，使得摄像头能进行图像采集。但是该专利技术无法解决上面的有效探知外界条件从而进行避障、汽车智能主动避障、自主救援的问题。A kind of automobile anti-collision system described in the patent CN204567492U, the camera is arranged on the swing installation structure of the car body, there is a data processing module connected with the camera, the alarm module and the automobile brake module are respectively connected on the data processing module, and through the camera It is fixed on one end of the swing rod, and the other end of the swing rod is provided with a corresponding rotating seat to realize synchronous swing. When the vehicle turns, the camera can rotate synchronously, so that the camera can collect images. However, this patented technology cannot solve the above problems of effective detection of external conditions to avoid obstacles, intelligent active obstacle avoidance of automobiles, and autonomous rescue.
专利CN103101533A中所述的汽车防撞包括用于扫描汽车周围物体的扫描传感器单元，用于监测速度，加速度，角速度，转向角的驾驶信息的传感器单元，碰撞之前可以保护乘客的安全设备，以及控制单元，控制单元用于将传感器单元所获得驾驶信息计算物体的相对速度来与预测碰撞时间，在时间内启动安全设备。但是该专利技术无法解决上面的在驾驶员已经不能及时反应避障，确定会发生撞击的情况下，将汽车的主动权交于车载计算机，主动避障和自主救援的问题。The car anti-collision described in the patent CN103101533A includes a scanning sensor unit for scanning objects around the car, a sensor unit for monitoring driving information of speed, acceleration, angular velocity, steering angle, safety equipment that can protect passengers before a collision, and control The control unit is used to calculate the relative speed of the object from the driving information obtained by the sensor unit and predict the collision time, and start the safety device within the time. However, this patented technology cannot solve the above problem of handing over the initiative of the car to the on-board computer, active obstacle avoidance and autonomous rescue when the driver can no longer respond in time to avoid obstacles and determine that a collision will occur.
专利CN205810085U中所述的汽车事故救援系统是一种手动请求救援系统，包括定位单元，手动报警单元，通讯单元以及电话语音通话单元，而信息处理器单元与这些单元分别相连，其中通讯单元和电话语音通话单元与远程接收端分别通信，当发生事故时可第一时间发出请求，并通过定位单元准确反应地理信息，保证最快时间得到救助。但是该专利技术无法解决上面的预碰撞和在伤员休克情况下进行自主救援问题。The automobile accident rescue system described in the patent CN205810085U is a manual request rescue system, including a positioning unit, a manual alarm unit, a communication unit and a telephone voice call unit, and the information processor unit is connected to these units respectively, wherein the communication unit and the telephone The voice communication unit communicates with the remote receiving end separately. When an accident occurs, a request can be sent immediately, and the geographic information can be accurately reflected through the positioning unit to ensure the fastest rescue. But this patented technology can't solve the above pre-collision and self-rescue problems under the shock situation of the wounded.
专利CN206249574U中，网络平台保证各个部分之间的相互通信，包括通信模块等的车载智能处理模块和网络平台相连，通信模块负责采集车辆状况信息，定位模块采集车辆的位置信息，通信模块和定位模块由处理器控制并将采集的信息通过网络平台发送到呼叫中心，呼叫中心再根据这些信息发出救援信号，从而保证能第一时间对受伤人员和车辆进行救助，缩短救援时间。但是该专利技术无法解决上面的预碰撞和自主救援问题。In the patent CN206249574U, the network platform ensures the mutual communication between various parts, and the vehicle-mounted intelligent processing module including the communication module is connected to the network platform. The communication module is responsible for collecting vehicle status information, and the positioning module collects the position information of the vehicle. The communication module and the positioning module It is controlled by the processor and sends the collected information to the call center through the network platform, and the call center sends a rescue signal based on the information, so as to ensure that the injured people and vehicles can be rescued at the first time, and the rescue time is shortened. But this patented technology cannot solve the above pre-collision and autonomous rescue problems.
发明内容Contents of the invention
针对上述问题，本发明目的是提供一种安全性高的汽车预防撞与自主救援系统。In view of the above-mentioned problems, the object of the present invention is to provide a high-safety automobile collision prevention and autonomous rescue system.
为实现上述发明目的，本发明所采用的技术方案是：一种汽车预防撞与自主救援系统，所述系统包括设置在汽车上相应位置的物体运动信息采集组、物体图像体积信息采集组、碰撞信息采集组、安全防护组、报警装置以及体征检测组；In order to achieve the purpose of the above invention, the technical solution adopted by the present invention is: a car collision prevention and autonomous rescue system, the system includes an object movement information collection group, an object image volume information collection group, a collision Information collection group, safety protection group, alarm device and sign detection group;
所述物体运动信息采集组分别安装在车身的前部、后部、左侧、右侧；物体运动信息采集组包括一个第一红外线传感器和一个超声波传感器；物体运动信息采集组和ECU通信连接；The object motion information collection group is respectively installed on the front, rear, left and right sides of the vehicle body; the object motion information collection group includes a first infrared sensor and an ultrasonic sensor; the object motion information collection group is connected to the ECU through communication;
所述物体图像体积信息采集组分别安装在车身的前部、后部、左侧、右侧；图像体积信息采集组包括三个第一摄像头，其中两个第一摄像头水平放置在车身前保险杠所在的水平面内，另一个摄像头放置在车顶相应位置；物体图像体积信息采集组和ECU通信连接；所述的第一摄像头为双目式摄像机；The object image volume information collection group is respectively installed on the front, rear, left and right sides of the vehicle body; the image volume information collection group includes three first cameras, two of which are placed horizontally on the front bumper of the vehicle body In the horizontal plane where it is located, another camera is placed at the corresponding position on the roof; the object image volume information collection group is connected to the ECU in communication; the first camera is a binocular camera;
所述碰撞信息采集组分别安装在车身的前部、后部、左侧、右侧，碰撞信息采集组包括一个碰撞传感器和一个加速度传感器，碰撞信息采集组还包括一个安装在汽车上的速度传感器；碰撞信息采集组和ECU通信连接；The collision information collection group is respectively installed on the front, rear, left and right sides of the vehicle body, the collision information collection group includes a collision sensor and an acceleration sensor, and the collision information collection group also includes a speed sensor installed on the vehicle ;Collision information collection group and ECU communication connection;
所述安全防护组包括分别安装在汽车的前部、后部、左侧、右侧的车外安全气囊，车外安全气囊的控制线与ECU通信连接；The safety protection group includes external airbags installed on the front, rear, left and right sides of the car respectively, and the control line of the external airbag is connected to the ECU by communication;
所述报警装置包括安装在车身上的声光报警器、无线信号发射器；报警装置与ECU通信连接；The alarm device includes an audible and visual alarm installed on the vehicle body and a wireless signal transmitter; the alarm device communicates with the ECU;
所述体征检测组包括安装在驾驶员座椅上的体征监测垫，以及安装在驾驶员眼部前方的虹膜扫描仪；The sign detection group includes a sign monitoring pad installed on the driver's seat, and an iris scanner installed in front of the driver's eyes;
ECU还与汽车上设置的GPS定位装置通信连接。The ECU is also communicated with the GPS positioning device set on the car.
根据上述的汽车预防撞与自主救援系统的控制方法，所述的控制方法包括顺序进行的以下步骤：According to the control method of the above-mentioned automobile collision prevention and autonomous rescue system, the control method includes the following steps in sequence:
步骤a.汽车启动后，ECU将车身行驶方向的前方定义为1位，将行驶方向的后方定义为4位，将行驶方向的两侧分别定义为2位、3位；Step a. After the car starts, the ECU defines the front of the driving direction as 1 bit, defines the rear of the driving direction as 4 bits, and defines the two sides of the driving direction as 2 bits and 3 bits respectively;
ECU采集物体运动信息采集组的第一红外线传感器和超声波传感器发送的信号得到车身1位—4位方向上各自的最近障碍物与车身的距离，并将上述4个距离依次标记为S1—S4，ECU采集碰撞信息采集组信号得到车身自身的速度V0、车身自身的加速度a0，然后进入步骤b；The ECU collects the signals sent by the first infrared sensor and the ultrasonic sensor of the object movement information collection group to obtain the distances between the nearest obstacles and the vehicle body in the direction of the 1st to 4th positions of the vehicle body, and mark the above 4 distances as S1-S4 in turn, The ECU collects the signal of the collision information collection group to obtain the speed V0 of the vehicle body itself and the acceleration a0 of the vehicle body itself, and then enters step b;
步骤b.ECU根据S1随时间的变化情况得到前方物体的速度V1、加速度a1；再根据本车身速度V0、加速度a0，以及存储在ECU中的不同车速下车身的最大制动减速度a2，计算最小制动距离Smin；将Smin与S1的大小进行比较，如果Smin+安全距离L＜S1，且S2—S4均大于安全距离L，则返回步骤a；否则进入步骤c；Step b. ECU obtains the velocity V1 and acceleration a1 of the object in front according to the change of S1 over time; then calculates according to the velocity V0 and acceleration a0 of the vehicle body and the maximum braking deceleration a2 of the vehicle body at different speeds stored in the ECU The minimum braking distance Smin; compare Smin with the size of S1, if Smin+safety distance L<S1, and S2-S4 are all greater than the safety distance L, return to step a; otherwise, enter step c;
步骤c.ECU进行判断，如果Smin≤S1，且S2—S4均大于安全距离L，则返回步骤a；Step c. ECU judges, if Smin≤S1, and S2-S4 are all greater than the safety distance L, return to step a;
如果Smin≤S1，且S2—S4中任意一个小于安全距离L，则将S2-S4中小于L所对应的2位或3位或4位标记为危险位，然后进入步骤d；If Smin≤S1, and any one of S2-S4 is smaller than the safety distance L, mark the 2, 3 or 4 bits corresponding to S2-S4 smaller than L as dangerous bits, and then enter step d;
如果Smin＞S1，ECU向制动装置发送紧急制动信号，同时将S1对应的1位标记为危险位，然后进入步骤d；If Smin>S1, the ECU sends an emergency braking signal to the braking device, and at the same time marks the bit corresponding to S1 as a dangerous bit, and then enters step d;
步骤d.ECU根据物体图像体积信息采集组中、位于危险位的双目式摄像机发送的信号得到最近障碍物的体积T0，所述T0的计算方法为：位于三角形底边的两个互成90°的双目式摄像机对物体进行拍照，拍照得到的照片传送到ECU进行预处理，所述预处理包括图像对比的增强、随机噪声的去除、滤波和图像的增强和伪彩色处理，并对物体的点位特征和线位特征进行提取，所述点位特征为图像灰度值发生剧烈变化的点或者在图像边缘上曲率发生较大变化的点，线位特征即物体的整体轮廓；ECU对预处理后的照片与数据存储器自带的图像特征信息库中的图像进行对比，然后选择对比最接近的特征信息库中的图像所代表的物体，提取该物体的体积参数T0，如果T0是图像信息库中人体的特征，则进入步骤e，否则进入步骤f；Step d. The ECU obtains the volume T0 of the nearest obstacle according to the signal sent by the binocular camera located in the dangerous position in the object image volume information collection group. The calculation method of the T0 is: two mutually forming 90 ° The binocular camera takes pictures of objects, and the photos obtained by taking pictures are sent to the ECU for preprocessing. The preprocessing includes image contrast enhancement, random noise removal, filtering, image enhancement and false color processing, and the object The point feature and line feature are extracted, the point feature is the point where the gray value of the image changes sharply or the point where the curvature changes greatly on the edge of the image, the line feature is the overall outline of the object; ECU The preprocessed photos are compared with the images in the image feature information library that comes with the data storage, and then the object represented by the image in the closest feature information library is selected for comparison, and the volume parameter T0 of the object is extracted. If T0 is an image The characteristics of the human body in the information base, then go to step e, otherwise go to step f;
步骤e.弹出危险位一侧的车外安全气囊，汽车减速停车，同时ECU通过存储在数据存储器中对应的人体平均密度ρ，结合T0计算人体质量m3，利用V0、a0、本车身总质量m0，以及m3，在ECU中计算出撞击行为发生时车外行人受到的碰撞力F0，将F0与数据存储器中的人体受损撞击力阈值F1进行比较，如果F0≥F1，则进入步骤m，否则进入步骤n；Step e. Pop up the outside airbag on the side of the dangerous position, decelerate and stop the car, and at the same time, the ECU calculates the human body mass m3 based on the corresponding human body average density ρ stored in the data memory, and uses V0, a0, and the total mass of the body m0 , and m3, calculate the impact force F0 of the pedestrian outside the vehicle when the impact occurs in the ECU, compare F0 with the human body damage impact force threshold F1 in the data memory, if F0≥F1, go to step m, otherwise Go to step n;
步骤f.ECU通过存储在数据存储器中对应的物体平均密度ρ0，结合T0计算物体质量m2，利用V0、a0、本车身总质量m0，以及V1、a1、m2，在ECU中计算出撞击行为发生时本车身受到的碰撞力F2，将F2与数据存储器中的车身受损撞击力阈值F3进行比较，如果F2≥F3，进入步骤h；否则进入步骤g；Step f. The ECU calculates the mass m2 of the object by combining the average density ρ0 of the corresponding object stored in the data memory with T0, and uses V0, a0, the total mass of the body m0, and V1, a1, m2 to calculate the occurrence of the impact behavior in the ECU. When the collision force F2 received by the vehicle body is compared, F2 is compared with the body damage impact force threshold F3 in the data memory, if F2≥F3, enter step h; otherwise, enter step g;
步骤g.汽车降速至一个安全速度运行，然后进入步骤n；Step g. The car slows down to a safe speed, and then enters step n;
步骤h.ECU启动报警装置，声光报警器发出声光信号，无线信号发射器向云服务器或附近的智能设备发送报警信号，然后进入步骤i；Step h. The ECU activates the alarm device, the sound and light alarm sends out sound and light signals, and the wireless signal transmitter sends an alarm signal to the cloud server or a nearby smart device, and then enters step i;
步骤i.虹膜扫描仪发送驾驶员的眨眼频率信号P、瞳孔开度Q、暗点个数T，并在ECU中将P、Q、T的个数与预先储存在数据存储器中的虹膜表征P0、Q0、T0正常值进行比较，如果P、Q、T中的任意一项与正常值偏差较大，则进入步骤j,否则进入步骤n；Step i. The iris scanner sends the driver's blink frequency signal P, pupil opening Q, dark spot number T, and in the ECU, the number of P, Q, T and the iris representation P stored in the data memory in advance , Q0, T0 normal values for comparison, if any one of P, Q, T deviates greatly from the normal value, go to step j, otherwise go to step n;
步骤j.主驾驶座椅上的体征监测垫采集驾驶员血压B、心跳N、体温W体征信号，然后ECU将上述体征信号与数据存储器中预先储存的血压B0、心跳N0、体温W0正常值进行比较，如果B、N、W中的任意一项与正常值偏差较大，则进入步骤k，否则进入步骤n；Step j. The sign monitoring pad on the main driver's seat collects the driver's blood pressure B, heartbeat N, and body temperature W sign signals, and then the ECU compares the above sign signals with the normal values of blood pressure B0, heartbeat N0, and body temperature W0 stored in the data memory. Compare, if any one of B, N, W deviates greatly from the normal value, then enter step k, otherwise enter step n;
步骤k.声光报警器开始工作，播放预设语音提示，询问驾驶员身体情况是否需要寻求救援及报警，播报过程持续30s,若30s内驾驶员手动关闭声光报警器，则进入步骤l，否则进入步骤n；Step k. The audible and visual alarm starts to work, and the preset voice prompt is played to ask the driver whether he needs to seek rescue and call the police. The broadcasting process lasts for 30s. If the driver manually turns off the audible and visual alarm within 30s, then enter step 1. Otherwise go to step n;
步骤l.ECU将P、Q、T、B、N、W参数写入驾驶员生命体征报告；并将GPS定位装置发送的汽车的位置信息写入驾驶员生命体征报告，然后进入步骤m；Step 1. ECU writes P, Q, T, B, N, W parameters into the driver's vital signs report; and writes the position information of the car sent by the GPS positioning device into the driver's vital signs report, and then enters step m;
步骤m.ECU利用无线信号发射器向附近医院中设置的无线信号接收设备发送求救信号和驾驶员生命体征报告，同时向最近的交管部门发送求救信号；同时ECU控制汽车的警示灯开启双闪，然后进入步骤n；Step m. ECU uses the wireless signal transmitter to send the distress signal and the driver's vital signs report to the wireless signal receiving equipment set in the nearby hospital, and at the same time sends the distress signal to the nearest traffic control department; at the same time, the ECU controls the warning lights of the car to turn on double flashing, Then go to step n;
步骤n.流程结束。Step n. The flow ends.
本发明具有以下有益效果：ECU对距车最近物体与自身的相对运动，位置关系进行了预判，并具有碰撞危险的情况强制对车辆进行制动措施以规避或减小撞击伤害。碰撞事故发生后，系统还可以对车辆驾驶员状态异常(眨眼频率P高于某阈值区间或瞳孔开度Q高于某阈值区间或暗点个数T高于某阈值区间)或驾驶员认为具有救援需求时，及时地自主通知附近医院进行救援，大大提高了行车安全。The invention has the following beneficial effects: the ECU predicts the relative movement and positional relationship between the closest object to the vehicle and itself, and compulsively brakes the vehicle in the event of a collision risk to avoid or reduce collision damage. After a collision accident, the system can also detect abnormal state of the driver (the blinking frequency P is higher than a certain threshold range or the pupil opening Q is higher than a certain threshold range or the number of dark spots T is higher than a certain threshold range) or the driver thinks there is a When there is a need for rescue, it will promptly notify nearby hospitals for rescue, which greatly improves driving safety.
附图说明Description of drawings
图1系统控制电路原理图；Fig. 1 schematic diagram of system control circuit;
图2为控制步骤a-步骤f示意图；Fig. 2 is a schematic diagram of control step a-step f;
图3为控制步骤g-步骤n示意图。Fig. 3 is a schematic diagram of control step g-step n.
具体实施方式Detailed ways
如图1-图3所示的一种汽车预防撞与自主救援系统，所述系统包括设置在汽车上相应位置的物体运动信息采集组、物体图像体积信息采集组、碰撞信息采集组、安全防护组、报警装置以及体征检测组；A car collision prevention and autonomous rescue system as shown in Figures 1-3, the system includes an object movement information collection group, an object image volume information collection group, a collision information collection group, a safety protection group, alarm device and sign detection group;
所述物体运动信息采集组分别安装在车身的前部、后部、左侧、右侧，物体运动信息采集组包括一个第一红外线传感器1-1和一个超声波传感器1-2；利用第一红外线传感器1-1和第一红外线传感器1-1综合使用，更精确的判断障碍物与车身之间的距离，物体运动信息采集组和ECU通信连接；The object motion information collection group is respectively installed on the front, rear, left and right sides of the vehicle body. The object motion information collection group includes a first infrared sensor 1-1 and an ultrasonic sensor 1-2; The sensor 1-1 and the first infrared sensor 1-1 are used comprehensively to judge the distance between the obstacle and the vehicle body more accurately, and the object movement information collection group communicates with the ECU;
所述物体图像体积信息采集组分别安装在车身的前部、后部、左侧、右侧，图像体积信息采集组包括三个第一摄像头2-1，其中两个第一摄像头水平放置在车身前保险杠所在的水平面内，另一个摄像头放置在车顶相应位置，物体图像体积信息采集组和ECU通信连接；为了精确的获取障碍物的体积，所述的第一摄像头为双目式摄像机；The object image volume information collection group is respectively installed on the front, rear, left and right sides of the vehicle body, and the image volume information collection group includes three first cameras 2-1, wherein two first cameras are placed horizontally on the vehicle body In the horizontal plane where the front bumper is located, another camera is placed at a corresponding position on the roof, and the object image volume information collection group communicates with the ECU; in order to accurately obtain the volume of obstacles, the first camera is a binocular camera;
所述碰撞信息采集组分别安装在车身的前部、后部、左侧、右侧，碰撞信息采集组包括一个碰撞传感器3-1和一个加速度传感器3-2，碰撞传感器3-1可以是压电式碰撞传感器或应变片式碰撞传感器或机械式碰撞传感器；碰撞信息采集组还包括一个安装在汽车上的速度传感器3-3；碰撞信息采集组和ECU通信连接；The collision information collection group is respectively installed on the front, rear, left and right sides of the vehicle body. The collision information collection group includes a collision sensor 3-1 and an acceleration sensor 3-2. The collision sensor 3-1 can be a pressure sensor 3-1. An electric collision sensor or a strain gauge type collision sensor or a mechanical collision sensor; the collision information collection group also includes a speed sensor 3-3 installed on the vehicle; the collision information collection group communicates with the ECU;
所述安全防护组包括分别安装在汽车的前部、后部、左侧、右侧的车外安全气囊4-1，车外安全气囊4-1的控制线与ECU通信连接；ECU还同时控制车内相应位置设置的车内安全气囊，例如方向盘上设置的车内安全气囊，或车窗附近设置的侧气帘；Described safety protection group comprises the front portion, the rear portion, the left side, the outside safety air bag 4-1 that is installed on the right side of automobile respectively, and the control wire of outside safety air bag 4-1 is connected with ECU communication; ECU also controls simultaneously In-vehicle airbags installed at corresponding positions in the vehicle, such as the in-vehicle airbags installed on the steering wheel, or the side air curtains installed near the windows;
所述报警装置包括安装在车身上的声光报警器5-1、无线信号发射器5-2，无线信号发射器5-2可以是WIFI路由器式信号发射器，或带有发送4G信号功能的手机式信号发射器；报警装置与ECU通信连接；Described warning device comprises the sound and light alarm device 5-1 that is installed on the vehicle body, wireless signal transmitter 5-2, and wireless signal transmitter 5-2 can be WIFI router type signal transmitter, or has the function of sending 4G signal Mobile phone signal transmitter; alarm device communicates with ECU;
所述体征检测组包括安装在驾驶员座椅上的体征监测垫6-1，以及安装在驾驶员眼部前方的虹膜扫描仪6-2；体征监测垫6-1包括血压传感器、心跳传感器、体温传感器；ECU还与汽车上设置的GPS定位装置7-1通信连接。The sign detection group includes a sign monitoring pad 6-1 installed on the driver's seat, and an iris scanner 6-2 installed in front of the driver's eyes; the sign monitoring pad 6-1 includes a blood pressure sensor, a heartbeat sensor, Body temperature sensor; ECU is also connected with the GPS positioning device 7-1 that is set on the car.
根据上述的汽车预防撞与自主救援系统的控制方法，所述的控制方法包括顺序进行的以下步骤：According to the control method of the above-mentioned automobile collision prevention and autonomous rescue system, the control method includes the following steps in sequence:
步骤a.汽车启动后，ECU将车身行驶方向的前方定义为1位，将行驶方向的后方定义为4位，将行驶方向的两侧分别定义为2位、3位；Step a. After the car starts, the ECU defines the front of the driving direction as 1 bit, defines the rear of the driving direction as 4 bits, and defines the two sides of the driving direction as 2 bits and 3 bits respectively;
ECU采集物体运动信息采集组的第一红外线传感器和超声波传感器发送的信号得到车身1位—4位方向上各自的最近障碍物与车身的距离，并将上述4个距离依次标记为S1—S4，ECU采集碰撞信息采集组信号得到车身自身的速度V0、车身自身的加速度a0，然后进入步骤b；The ECU collects the signals sent by the first infrared sensor and the ultrasonic sensor of the object movement information collection group to obtain the distances between the nearest obstacles and the vehicle body in the direction of the 1st to 4th positions of the vehicle body, and mark the above 4 distances as S1-S4 in turn, The ECU collects the signal of the collision information collection group to obtain the speed V0 of the vehicle body itself and the acceleration a0 of the vehicle body itself, and then enters step b;
步骤b.ECU根据S1随时间的变化情况得到前方物体的速度V1、加速度a1；再根据本车身速度V0、加速度a0，以及存储在ECU中的不同车速下车身的最大制动减速度a2，计算最小制动距离Smin；将Smin与S1的大小进行比较，如果Smin+安全距离L＜S1，且S2—S4均大于安全距离L，则返回步骤a；否则进入步骤c；Step b. ECU obtains the velocity V1 and acceleration a1 of the object in front according to the change of S1 over time; then calculates according to the velocity V0 and acceleration a0 of the vehicle body and the maximum braking deceleration a2 of the vehicle body at different speeds stored in the ECU The minimum braking distance Smin; compare Smin with the size of S1, if Smin+safety distance L<S1, and S2-S4 are all greater than the safety distance L, return to step a; otherwise, enter step c;
步骤c.ECU进行判断，如果Smin≤S1，且S2—S4均大于安全距离L，则返回步骤a；Step c. ECU judges, if Smin≤S1, and S2-S4 are all greater than the safety distance L, return to step a;
如果Smin≤S1，且S2—S4中任意一个小于安全距离L，则将S2-S4中小于L所对应的2位或3位或4位标记为危险位，然后进入步骤d；If Smin≤S1, and any one of S2-S4 is smaller than the safety distance L, mark the 2, 3 or 4 bits corresponding to S2-S4 smaller than L as dangerous bits, and then enter step d;
如果Smin＞S1，ECU向汽车制动装置发送紧急制动信号，同时将S1对应的1位标记为危险位，然后进入步骤d；可以是ECU向ABS或EBD或ESP等电子制动控制系统发送相应的制动信号，使汽车的制动系统工作并实现制动；If Smin>S1, the ECU sends an emergency braking signal to the brake device of the car, and at the same time marks the 1 bit corresponding to S1 as a dangerous bit, and then enters step d; it can be sent by the ECU to an electronic brake control system such as ABS, EBD or ESP Corresponding braking signal, make the braking system of the car work and realize braking;
步骤d.ECU根据物体图像体积信息采集组中、位于危险位的双目式摄像机发送的信号得到危险位方向的障碍物的体积T0，所述T0的计算方法为：位于三角形底边的两个互成90°的双目式摄像机对物体进行拍照，拍照得到的照片传送到ECU进行预处理，所述预处理包括图像对比的增强、随机噪声的去除、滤波和图像的增强和伪彩色处理，并对物体的点位特征和线位特征进行提取，所述点位特征为图像灰度值发生剧烈变化的点或者在图像边缘上曲率发生较大变化的点，线位特征即物体的整体轮廓；ECU对预处理后的照片与数据存储器自带的图像特征信息库中的图像进行对比，然后选择对比最接近的特征信息库中的图像所代表的物体，提取该物体的体积参数T0，如果T0是图像信息库中人体的特征，则进入步骤e，否则进入步骤f；Step d. The ECU obtains the volume T0 of the obstacle in the direction of the dangerous position according to the signal sent by the binocular camera located in the dangerous position in the object image volume information collection group. The calculation method of the T0 is: two The binocular cameras at 90° each other take photos of objects, and the photos obtained by taking photos are sent to the ECU for preprocessing. The preprocessing includes image contrast enhancement, random noise removal, filtering, image enhancement and false color processing. And extract the point feature and line feature of the object, the point feature is the point where the gray value of the image changes sharply or the point where the curvature changes greatly on the edge of the image, the line feature is the overall outline of the object ; The ECU compares the preprocessed photos with the images in the image feature information library that comes with the data storage, and then selects the object represented by the image in the closest feature information library to extract the volume parameter T0 of the object, if T0 is the feature of the human body in the image information database, then enter step e, otherwise enter step f;
步骤e.弹出危险位一侧的车外安全气囊，汽车减速停车，同时ECU通过存储在数据存储器中对应的人体平均密度ρ，结合T0计算人体质量m3，利用V0、a0、本车身总质量m0，以及m3，在ECU中计算出撞击行为发生时车外行人受到的碰撞力F0，将F0与数据存储器中的人体受损撞击力阈值F1进行比较，如果F0≥F1，则进入步骤m，否则进入步骤n；Step e. Pop up the outside airbag on the side of the dangerous position, decelerate and stop the car, and at the same time, the ECU calculates the human body mass m3 based on the corresponding human body average density ρ stored in the data memory, and uses V0, a0, and the total mass of the body m0 , and m3, calculate the impact force F0 of the pedestrian outside the vehicle when the impact occurs in the ECU, compare F0 with the human body damage impact force threshold F1 in the data memory, if F0≥F1, go to step m, otherwise Go to step n;
步骤f.ECU通过存储在数据存储器中对应的物体平均密度ρ0，结合T0计算物体质量m2，利用V0、a0、本车身总质量m0，以及V1、a1、m2，在ECU中计算出撞击行为发生时本车身受到的碰撞力F2，将F2与数据存储器中的车身受损撞击力阈值F3进行比较，如果F2≥F3，进入步骤h；否则进入步骤g；Step f. The ECU calculates the mass m2 of the object by combining the average density ρ0 of the corresponding object stored in the data memory with T0, and uses V0, a0, the total mass of the body m0, and V1, a1, m2 to calculate the occurrence of the impact behavior in the ECU. When the collision force F2 received by the vehicle body is compared, F2 is compared with the body damage impact force threshold F3 in the data memory, if F2≥F3, enter step h; otherwise, enter step g;
步骤g.汽车降速至一个安全速度运行，然后进入步骤n；Step g. The car slows down to a safe speed, and then enters step n;
步骤h.ECU启动报警装置，声光报警器发出声光信号，无线信号发射器向云服务器或附近的智能设备发送报警信号，然后进入步骤i；Step h. The ECU activates the alarm device, the sound and light alarm sends out sound and light signals, and the wireless signal transmitter sends an alarm signal to the cloud server or a nearby smart device, and then enters step i;
步骤i.虹膜扫描仪发送驾驶员的眨眼频率信号P、瞳孔开度Q、暗点个数T，并在ECU中将P、Q、T的个数与预先储存在数据存储器中的虹膜表征P0、Q0、T0正常值进行比较，如果P、Q、T中的任意一项与正常值偏差较大，则进入步骤j,否则进入步骤n；Step i. The iris scanner sends the driver's blink frequency signal P, pupil opening Q, dark spot number T, and in the ECU, the number of P, Q, T and the iris representation P stored in the data memory in advance , Q0, T0 normal values for comparison, if any one of P, Q, T deviates greatly from the normal value, go to step j, otherwise go to step n;
步骤j.主驾驶座椅上的体征监测垫采集驾驶员血压B、心跳N、体温W体征信号，然后ECU将上述体征信号与数据存储器中预先储存的血压B0、心跳N0、体温W0正常值进行比较，如果B、N、W中的任意一项与正常值偏差较大，则进入步骤k，否则进入步骤n；Step j. The sign monitoring pad on the main driver's seat collects the driver's blood pressure B, heartbeat N, and body temperature W sign signals, and then the ECU compares the above sign signals with the normal values of blood pressure B0, heartbeat N0, and body temperature W0 stored in the data memory. Compare, if any one of B, N, W deviates greatly from the normal value, then enter step k, otherwise enter step n;
步骤k.声光报警器开始工作，播放预设语音提示，询问驾驶员身体情况是否需要寻求救援及报警，播报过程持续30s,若30s内驾驶员手动关闭声光报警器，则进入步骤l，否则进入步骤n；Step k. The audible and visual alarm starts to work, and the preset voice prompt is played to ask the driver whether he needs to seek rescue and call the police. The broadcasting process lasts for 30s. If the driver manually turns off the audible and visual alarm within 30s, then enter step 1. Otherwise go to step n;
步骤l.ECU将P、Q、T、B、N、W参数写入驾驶员生命体征报告；并将GPS定位装置发送的汽车的位置信息写入驾驶员生命体征报告，然后进入步骤m；Step 1. ECU writes P, Q, T, B, N, W parameters into the driver's vital signs report; and writes the position information of the car sent by the GPS positioning device into the driver's vital signs report, and then enters step m;
步骤m.ECU利用无线信号发射器向附近医院中设置的无线信号接收设备发送求救信号和驾驶员生命体征报告，同时向最近的交管部门发送求救信号；同时ECU控制汽车的警示灯开启双闪，然后进入步骤n；Step m. ECU uses the wireless signal transmitter to send the distress signal and the driver's vital signs report to the wireless signal receiving equipment set in the nearby hospital, and at the same time sends the distress signal to the nearest traffic control department; at the same time, the ECU controls the warning lights of the car to turn on double flashing, Then go to step n;
步骤n.流程结束。Step n. The flow ends.
本申请所述的系统可以在汽车行进过程中对前方、后方及两侧的碰撞进行提前预判，并在预判后作出相应的主动防护措施，尤其是当与本车相碰撞的是行人时，还会弹出车外安全气囊，有效保护行人，同时在发生碰撞事故后，进一步对车与行人碰撞的碰撞力大小进行判断，如果碰撞力过大，则采取相应的报警措施，提高了救援效率，同时还对车与其他物体碰撞的碰撞力大小进行判断，如果碰撞力过大，则利用体征检测组对驾驶员进行安全监测，如驾驶员失去意识或无法自主救援，本系统还可以及时向附近医院发送驾驶员体征状况，极大的提高了医疗救助的效果，提高了驾驶员的安全保护。The system described in this application can predict the front, rear and both sides collisions in advance during the driving process of the car, and take corresponding active protection measures after the prediction, especially when the person colliding with the car is a pedestrian , it will pop up the airbag outside the car to effectively protect pedestrians. At the same time, after a collision accident, the collision force between the car and the pedestrian will be further judged. If the collision force is too large, corresponding alarm measures will be taken to improve the rescue efficiency. At the same time, it also judges the collision force of the car colliding with other objects. If the collision force is too large, use the sign detection team to monitor the driver's safety. If the driver loses consciousness or cannot rescue independently, the system can also report to the The nearby hospital sends the driver's physical condition, which greatly improves the effect of medical assistance and improves the safety protection of the driver.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810315420.7ACN108454620B (en) | 2018-04-10 | 2018-04-10 | Automobile pre-collision-prevention and autonomous rescue system |
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|---|---|---|---|
| CN201810315420.7ACN108454620B (en) | 2018-04-10 | 2018-04-10 | Automobile pre-collision-prevention and autonomous rescue system |
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| CN108454620Atrue CN108454620A (en) | 2018-08-28 |
| CN108454620B CN108454620B (en) | 2023-06-30 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810315420.7AActiveCN108454620B (en) | 2018-04-10 | 2018-04-10 | Automobile pre-collision-prevention and autonomous rescue system |
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