A vehicle status monitoring system based on threshold and limit

Abstract

The present invention provides a vehicle state monitoring system based on thresholds and limits, including: a first state monitoring module, for obtaining a vehicle offset value for each sensor and obtaining a state monitoring result according to the vehicle offset value; a second state monitoring module, for obtaining underlying control data for each sensor and obtaining a state monitoring result according to the underlying control data; a third state monitoring module, for obtaining non-underlying feedback data and a vehicle speed control value for each sensor and obtaining a state monitoring result; a fourth state monitoring module, for obtaining a device connection state for each sensor and obtaining a state monitoring result according to the device connection state; a fifth state monitoring module, for obtaining a data feedback value for each sensor and obtaining a state monitoring result according to the data feedback value; and an alarm prompt module, for receiving each state monitoring result. The beneficial effect is that the present invention can realize state monitoring of vehicles traveling in multiple venues.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle status monitoring, and in particular to a vehicle status monitoring system based on thresholds and limits. Background Art

[0002] In the dock scene, there are many different types of venues, including main road venues, barrier road venues, dock surface venues, loading and unloading lock channel venues and approach bridge venues. There is an endless stream of vehicles in these venues. Once a vehicle has an abnormal state and an accident occurs, it is likely to cause other vehicles to be affected, greatly reducing the work efficiency of the dock. Therefore, it is very important to monitor the safety status of vehicles in these venues.

[0003] However, in the current dock scenarios, vehicles on the main roads, railroads, dock surfaces, loading and unloading lock channels and approach bridges are generally monitored manually or with simple cameras. The monitoring capabilities are limited and can often only be discovered after an abnormal state of the vehicle has occurred, by which time it is already too late. At the same time, due to the large number of sites, the degree of manual monitoring is also very limited. Limited manpower, poor monitoring effects and poor monitoring timeliness have become difficult problems to solve in dock scenarios. Summary of the invention

[0004] The problem to be solved by the present invention is to provide a vehicle state monitoring system based on thresholds and limits which is automated, has good monitoring effects and good monitoring timeliness.

[0005] To solve the above problems, the present invention provides a vehicle state monitoring system based on thresholds and limits, wherein a plurality of sensors are respectively configured in a plurality of venues and each of the sensors is respectively associated with a moving vehicle, and the vehicle state monitoring system comprises:

[0006] a first state monitoring module, connected to each of the sensors, for obtaining, for each of the sensors in each of the sites, a vehicle offset value between the moving vehicle and the center line of the lane detected by the sensor, and obtaining a corresponding state monitoring result according to the vehicle offset value and a preset first threshold range corresponding to the sensor;

[0007] a second state monitoring module, connected to each of the sensors, for obtaining, for each of the sensors, a bottom-level control data of the moving vehicle detected by the sensor, and obtaining the corresponding state monitoring result according to the bottom-level control data, a preset expected value and a second threshold range;

[0008] a third state monitoring module, connected to each of the sensors, for obtaining, for each of the sensors, a bottom-free feedback data and a vehicle speed control value of the moving vehicle detected by the sensor, and obtaining the corresponding state monitoring result according to the bottom-free feedback data, the vehicle speed control value, a preset first limit value and a preset second limit value;

[0009] a fourth status monitoring module, connected to each of the sensors, for obtaining a device connection status of each of the sensors, and obtaining the corresponding status monitoring result according to the device connection status;

[0010] a fifth state monitoring module, connected to each of the sensors, for obtaining a data feedback value of the sensor for each of the sensors, and obtaining the corresponding state monitoring result according to the data feedback value and a preset third limit value;

[0011] An alarm prompt module is respectively connected to the first state monitoring module, the second state monitoring module, the third state monitoring module, the fourth state monitoring module, the fifth state monitoring module and each of the moving vehicles, and is used to receive each of the state monitoring results and when at least one of the state monitoring results represents an abnormal state, issue an alarm prompt to the moving vehicle corresponding to the state monitoring result representing the abnormal state.

[0012] Preferably, the first status monitoring module includes:

[0013] a first data acquisition unit, configured to acquire the vehicle offset value between the moving vehicle and the lane centerline detected by each sensor in each of the sites;

[0014] a first monitoring and analysis unit, connected to the first data acquisition unit, for comparing, for each sensor, the vehicle offset value detected by the sensor with the first threshold range corresponding to the sensor, and outputting the state monitoring result indicating an abnormal state when the vehicle offset value is not within the first threshold range; or

[0015] When the vehicle offset value is within the first threshold range, the state monitoring result indicating a normal state is output.

[0016] Preferably, the second status monitoring module includes:

[0017] a second data acquisition unit, configured to acquire, for each of the sensors, a bottom-level steering angle control value, a bottom-level braking control value, and a bottom-level throttle control value of the moving vehicle detected by the sensor and include the values ​​in the bottom-level control data;

[0018] a data processing unit, connected to the second data acquisition unit, and configured to compare the bottom-level steering angle control value, the bottom-level braking control value, and the bottom-level throttle control value with the expected value to obtain a corresponding error value;

[0019] a second monitoring and analysis unit, connected to the data processing unit, for comparing each of the error values ​​with the second threshold range and outputting the state monitoring result indicating an abnormal state when at least one of the error values ​​is not within the second threshold range; or

[0020] When all of the error values ​​are within the second threshold range, the status monitoring result indicating that the status is normal is output.

[0021] Preferably, the third status monitoring module includes:

[0022] a third data acquisition unit, configured to acquire, for each of the sensors, a bottom-free steering angle feedback value, a bottom-free braking feedback value, and a bottom-free throttle feedback value of the traveling vehicle detected by the sensor and include them in the bottom-free feedback data, and acquire the vehicle speed control value of the traveling vehicle detected by the sensor;

[0023] a third monitoring and analysis unit, connected to the third data acquisition unit, for comparing the bottom-free steering angle feedback value, the bottom-free braking feedback value and the bottom-free throttle feedback value with the first limit value respectively, and outputting the state monitoring result indicating a state abnormality when at least one of the bottom-free steering angle feedback value, the bottom-free braking feedback value and the bottom-free throttle feedback value is greater than the first limit value; or

[0024] When the bottom-free steering angle feedback value, the bottom-free braking feedback value, and the bottom-free throttle feedback value are all not greater than the first limit value, outputting the state monitoring result indicating that the state is normal;

[0025] a fourth monitoring and analyzing unit, connected to the third data acquisition unit, for comparing the vehicle speed control value with the second limit value and outputting the state monitoring result indicating an abnormal state when the vehicle speed control value is greater than the second limit value; or

[0026] When the vehicle speed control value is not greater than the second limit value, the state monitoring result indicating that the state is normal is output.

[0027] Preferably, the fourth status monitoring module includes:

[0028] a fourth data acquisition unit, configured to acquire, for each of the sensors, the device connection status of the sensor;

[0029] a fifth monitoring and analysis unit, connected to the fourth data acquisition unit, configured to output the status monitoring result indicating that the status is abnormal when the device connection status indicates that the connection cannot be established; or

[0030] When the device connection status indicates that the connection is established normally, the status monitoring result indicating that the status is normal is output.

[0031] Preferably, the device connection status includes a laser radar status, a laser radar single-frame point count status, a camera usage status, a millimeter-wave radar usage status, a wheel speed meter status, a steering angle sensor status, a GNSS data status, and a GNSS signal status. Then, when at least one of the laser radar status, the laser radar single-frame point count status, the camera usage status, the millimeter-wave radar usage status, the wheel speed meter status, the steering angle sensor status, the GNSS data status, and the GNSS signal status indicates that a connection cannot be established, the fifth monitoring and analysis unit outputs the status monitoring result indicating that the status is abnormal; or

[0032] When all of the states indicate that the connection is established normally, the state monitoring result indicating that the state is normal is output.

[0033] Preferably, the fifth status monitoring module includes:

[0034] a fifth data acquisition unit, configured to acquire the data feedback value of each sensor;

[0035] a sixth monitoring and analysis unit, connected to the fifth data acquisition unit, configured to compare the data feedback value with the third limit value and output the state monitoring result indicating an abnormal state when the data feedback value is greater than the third limit value; or

[0036] When the data feedback value is not greater than the third limit value, the state monitoring result indicating that the state is normal is output.

[0037] Preferably, the data feedback value includes laser radar data feedback time, camera data feedback time, wheel speed meter data feedback time, millimeter wave radar data feedback time, camera screen data points, camera picture state feedback time, millimeter wave radar obstacle detection feedback time, millimeter wave radar obstacle collision time value, wheel speed meter standard deviation feedback time, GNSS data feedback time and fusion positioning error feedback time, then the sixth monitoring and analysis unit outputs the state monitoring result characterizing state abnormality when at least one of the feedback values ​​among the laser radar data feedback time, the camera data feedback time, the wheel speed meter data feedback time, the millimeter wave radar data feedback time, the camera screen data points, the camera picture state feedback time, the millimeter wave radar obstacle detection feedback time, the millimeter wave radar obstacle collision time value, the wheel speed meter standard deviation feedback time, the GNSS data feedback time and the fusion positioning error feedback time is greater than the third limit value; or

[0038] When all the feedback values ​​are not greater than the third limit value, the state monitoring result indicating that the state is normal is output.

[0039] Preferably, the site includes a main road site, a fence site, a dock surface site, a loading and unloading lock channel site and an approach bridge site.

[0040] The beneficial effects of the present invention are as follows: for multiple sites in the terminal scene, multiple sensors are respectively configured in each site, and the vehicle status monitoring system is associated with the moving vehicles in each site using the sensor as the intermediate baseband, so that the vehicle status monitoring system can directly monitor the status of each moving vehicle in real time and promptly warn the moving vehicle when there are signs of abnormal status of the moving vehicle, with good monitoring effect and real-time monitoring, and the vehicle status monitoring system can automatically obtain the data output by the sensor for analysis without manual intervention, which can effectively save labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a structural principle diagram of the present invention;

[0042] Figure 2 A schematic diagram of a coordinate system of a moving vehicle and a lane centerline of the present invention;

[0043] Explanation of the accompanying drawings: 1. sensor; 2. first state monitoring module; 21. first data acquisition unit; 22. first monitoring and analysis unit; 3. third state monitoring module; 31. second data acquisition unit; 32. data processing unit; 33. second monitoring and analysis unit; 4. third state monitoring module; 41. third data acquisition unit; 42. third monitoring and analysis unit; 43. fourth monitoring and analysis unit; 5. fourth state monitoring module; 51. fourth data acquisition unit; 52. fifth monitoring and analysis unit; 6. fifth state monitoring module; 61. fifth data acquisition unit; 62. sixth monitoring and analysis unit; 7. alarm prompt module. DETAILED DESCRIPTION

[0044] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific examples of the present invention are described in detail below with reference to the accompanying drawings.

[0045] In a preferred example of the present invention, based on the above problems existing in the prior art, a vehicle state monitoring system based on thresholds and limits is provided. A plurality of sensors are pre-configured in a plurality of venues and each sensor 1 is associated with a moving vehicle. The vehicle state monitoring system comprises:

[0046] a first state monitoring module 2, connected to each sensor 1, for obtaining a vehicle offset value between a moving vehicle and a lane centerline detected by the sensor 1 for each sensor 1 in each site, and obtaining a corresponding state monitoring result according to the vehicle offset value and a preset first threshold range corresponding to the sensor 1;

[0047] a second state monitoring module 3, connected to each sensor 1, for obtaining, for each sensor 1, a bottom-level control data of the moving vehicle detected by the sensor 1, and obtaining a corresponding state monitoring result according to the bottom-level control data, a preset expected value and a second threshold range;

[0048] a third state monitoring module 4, connected to each sensor 1, for obtaining, for each sensor 1, a bottom-free feedback data and a vehicle speed control value of the moving vehicle detected by the sensor 1, and obtaining a corresponding state monitoring result according to the bottom-free feedback data, the vehicle speed control value, a preset first limit value and a preset second limit value;

[0049] a fourth state monitoring module 5, connected to each sensor 1, for obtaining a device connection state of the sensor 1 for each sensor 1, and obtaining a corresponding state monitoring result according to the device connection state;

[0050] a fifth state monitoring module 6, connected to each sensor 1, for obtaining a data feedback value of the sensor 1 for each sensor 1, and obtaining a corresponding state monitoring result according to the data feedback value and a preset third limit value;

[0051] An alarm prompt module 7 is respectively connected to the first state monitoring module 2, the second state monitoring module 3, the third state monitoring module 4, the fourth state monitoring module 5, the fifth state monitoring module 6 and each moving vehicle, and is used to receive each state monitoring result and when at least one state monitoring result represents an abnormal state, issue an alarm prompt to the moving vehicle corresponding to the state monitoring result representing the abnormal state.

[0052] Specifically, in this embodiment, the deviation of the moving vehicle is monitored in real time by the first state monitoring module 2, the underlying control capability of the moving vehicle is monitored in real time by the second state monitoring module 3, the non-underlying control capability of the moving vehicle is monitored in real time by the third state monitoring module 4, the device connection status of the sensor associated with the moving vehicle is monitored in real time by the fourth state monitoring module 5, and the data feedback status of the sensor associated with the moving vehicle is monitored in real time by the fifth state monitoring module 6. This can cover the causes of abnormal states that may be encountered by moving vehicles in various venues in the terminal scenario, so that the alarm prompts made by this system based on the state monitoring results have high rationality, and by associating each moving vehicle with the alarm prompt module 7, the moving vehicle corresponding to the state monitoring result representing the abnormal state can be promptly warned, so that the moving vehicle immediately takes emergency measures, with good monitoring effect and monitoring timeliness, and can effectively prevent various venues in the terminal scenario from being affected by the abnormal state of the moving vehicle.

[0053] Specifically, in this embodiment, real-time monitoring can also be performed on whether the moving vehicle enters the intervention mode. When the sensor 1 receives a signal that the moving vehicle has not entered the intervention mode, the alarm prompt module 7 does not issue an alarm prompt to the moving vehicle. When the sensor 1 receives a signal that the moving vehicle has entered the intervention mode, the alarm prompt module 7 promptly issues an alarm prompt to the moving vehicle.

[0054] Specifically, in this embodiment, considering that an electronic fence may be set up in the venue, real-time monitoring can also be performed on whether a moving vehicle enters the electronic fence warning range. When the sensor 1 receives a signal that the moving vehicle has not entered the electronic fence warning range, the alarm prompt module 7 does not issue an alarm prompt to the moving vehicle. When the sensor 1 receives a signal that the moving vehicle has entered the electronic fence warning range, the alarm prompt module 7 promptly issues an alarm prompt to the moving vehicle.

[0055] In a preferred example of the present invention, the first status monitoring module 2 includes:

[0056] a first data acquisition unit 21, for acquiring a vehicle offset value between a moving vehicle and a lane centerline detected by each sensor 1 in each site;

[0057] a first monitoring and analysis unit 22, connected to the first data acquisition unit 21, for comparing, for each sensor 1, the vehicle offset value detected by the sensor 1 with the first threshold range corresponding to the sensor 1, and outputting a state monitoring result indicating an abnormal state when the vehicle offset value is not within the first threshold range; or

[0058] When the vehicle offset value is within the first threshold range, a state monitoring result indicating that the state is normal is output.

[0059] In a preferred example of the present invention, the second status monitoring module 3 includes:

[0060] a second data acquisition unit 31, for acquiring, for each sensor 1, a bottom-level steering angle control value, a bottom-level braking control value and a bottom-level throttle control value of the moving vehicle detected by the sensor 1 and including them in the bottom-level control data;

[0061] a data processing unit 32, connected to the second data acquisition unit 31, for comparing the bottom-level steering angle control value, the bottom-level braking control value and the bottom-level throttle control value with the expected values ​​to obtain a corresponding error value;

[0062] a second monitoring and analysis unit 33, connected to the data processing unit 32, for comparing each error value with a second threshold range and outputting a state monitoring result indicating an abnormal state when at least one error value is not within the second threshold range; or

[0063] When all the error values ​​are within the second threshold range, a state monitoring result indicating that the state is normal is output.

[0064] Specifically, in this embodiment, for each vehicle in each field, the underlying steering angle control value β1 and the expected value m of the actual steering control of the vehicle are obtained. i The error value, the underlying braking control value β2 of the actual braking control and the expected value m i The error value, the underlying throttle control value β3 of the actual acceleration control and the expected value m i When at least one of the error values ​​is not within the second threshold range, a state monitoring result representing an abnormal state is output; when all the error values ​​are within the second threshold range, a state monitoring result representing a normal state is output.

[0065] In a preferred example of the present invention, the third state monitoring module 4 includes:

[0066] a third data acquisition unit 41, for acquiring, for each sensor 1, a bottom-free steering angle feedback value, a bottom-free braking feedback value, and a bottom-free throttle feedback value of the moving vehicle detected by the sensor 1 and including them in the bottom-free feedback data, and acquiring a vehicle speed control value of the moving vehicle detected by the sensor 1;

[0067] a third monitoring and analysis unit 42, connected to the third data acquisition unit 41, for comparing the bottom-free steering angle feedback value, the bottom-free braking feedback value and the bottom-free throttle feedback value with the first limit value respectively, and outputting a state monitoring result indicating that the state is abnormal when at least one of the bottom-free steering angle feedback value, the bottom-free braking feedback value and the bottom-free throttle feedback value is greater than the first limit value; or

[0068] When the bottom-free steering angle feedback value, the bottom-free brake feedback value, and the bottom-free throttle feedback value are all not greater than the first limit value, outputting a state monitoring result indicating that the state is normal;

[0069] a fourth monitoring and analyzing unit 43, connected to the third data acquiring unit 41, for comparing the vehicle speed control value with the second limit value and outputting a state monitoring result indicating an abnormal state when the vehicle speed control value is greater than the second limit value; or

[0070] When the vehicle speed control value is not greater than the second limit value, a state monitoring result indicating that the state is normal is output.

[0071] Specifically, in this embodiment, when the bottom-free steering angle feedback value t1 identified by the sensor 1 is greater than the first limit value C1, an alarm is issued; when the bottom-free brake feedback value t2 identified by the sensor 1 is greater than the first limit value C1, an alarm is issued; when the bottom-free throttle feedback value t3 identified by the sensor 1 is greater than the first limit value C1, an alarm is issued.

[0072] Preferably, the feedback value is expressed as feedback information time.

[0073] In a preferred example of the present invention, the fourth state monitoring module 5 includes:

[0074] a fourth data acquisition unit 51, configured to acquire, for each sensor 1, a device connection status of the sensor 1;

[0075] a fifth monitoring and analysis unit 52, connected to the fourth data acquisition unit 51, for outputting a status monitoring result indicating abnormal status when the device connection status indicates that the connection cannot be established; or

[0076] When the device connection status indicates that the connection is established normally, a status monitoring result indicating that the status is normal is output.

[0077] In a preferred example of the present invention, the device connection status includes the laser radar status, the laser radar single frame point count status, the camera usage status, the millimeter wave radar usage status, the wheel speed meter status, the angle sensor 1 status, the GNSS data status and the GNSS signal status. The fifth monitoring and analysis unit 52 outputs a status monitoring result indicating that the status is abnormal when at least one of the laser radar status, the laser radar single frame point count status, the camera usage status, the millimeter wave radar usage status, the wheel speed meter status, the angle sensor 1 status, the GNSS data status and the GNSS signal status indicates that a connection cannot be established; or

[0078] When all states indicate that the connection is established normally, a state monitoring result indicating that the state is normal is output.

[0079] In a preferred example of the present invention, the fifth state monitoring module 6 includes:

[0080] a fifth data acquisition unit 61, configured to acquire, for each sensor 1, a data feedback value of the sensor 1;

[0081] a sixth monitoring and analysis unit 62, connected to the fifth data acquisition unit 61, configured to compare the data feedback value with the third limit value and output a state monitoring result indicating an abnormal state when the data feedback value is greater than the third limit value; or

[0082] When the data feedback value is not greater than the third limit value, a status monitoring result indicating a normal status is output.

[0083] In a preferred example of the present invention, the data feedback value includes the laser radar data feedback time, the camera data feedback time, the wheel speed meter data feedback time, the millimeter wave radar data feedback time, the camera screen data points, the camera picture state feedback time, the millimeter wave radar obstacle detection feedback time, the millimeter wave radar obstacle collision time value, the wheel speed meter standard deviation feedback time, the GNSS data feedback time and the fusion positioning error feedback time. Then, when at least one of the feedback values ​​among the laser radar data feedback time, the camera data feedback time, the wheel speed meter data feedback time, the millimeter wave radar data feedback time, the camera screen data points, the camera picture state feedback time, the millimeter wave radar obstacle detection feedback time, the millimeter wave radar obstacle collision time value, the wheel speed meter standard deviation feedback time, the GNSS data feedback time and the fusion positioning error feedback time is greater than the third limit value, the sixth monitoring and analysis unit 62 outputs a state monitoring result characterizing an abnormal state; or

[0084] When all feedback values ​​are not greater than the third limit value, a status monitoring result indicating a normal status is output.

[0085] In a preferred example of the present invention, the site includes a main road site, a fence site, a dock surface site, a loading and unloading lock channel site and an approach bridge site.

[0086] Specifically, in this embodiment, the site is divided into a main road site, a fence site, a dock site, a loading and unloading lock channel site, and an approach bridge site, and a corresponding first threshold range [a i ,b i ], where i is 1, 2, 3, 4 and 5, corresponding to the main road site, the fence site, the dock surface site, the loading and unloading lock channel site and the approach bridge site, respectively. Based on the camera positioning combined with the laser radar fusion positioning technology as a sensor, the offset θ between the moving vehicle and the lane centerline is identified. i , where θ1 is the vehicle offset value between the vehicle driving in the main road site and the lane centerline, where θ2 is the vehicle offset value between the vehicle driving in the fence site and the lane centerline, where θ3 is the vehicle offset value between the vehicle driving in the dock surface site and the lane centerline, where θ4 is the vehicle offset value between the vehicle driving in the loading and unloading lock channel site and the lane centerline, where θ5 is the vehicle offset value between the vehicle driving in the approach bridge site and the lane centerline. When the vehicle offset value θ i >b i or θ i i When the vehicle offset value of the controlled object, i.e. the moving vehicle, is adjusted within the first threshold range that has been set respectively, an alarm is given and an actuator is enabled at the same time.

[0087] Preferably, the starting condition of the actuator is: when the vehicle offset value recognized by the sensor 1 just reaches a preset value a i or b i When the actuator is started to adjust the vehicle offset value, the value is adjusted to [a i ,b i ] and remove the alarm prompt.

[0088] Preferably, the speed control value is divided into a main road speed control value S1, a guardrail road speed control value S2, a dock surface speed control value S3, a loading and unloading lock channel speed control value S4, and an approach bridge speed control value S5. The main road speed control value S1, the guardrail road speed control value S2, the dock surface speed control value S3, the loading and unloading lock channel speed control value S4, and the approach bridge speed control value S5 are respectively compared with the corresponding second limit value C2 to obtain the corresponding status monitoring result.

[0089] ​Specifically, in the present embodiment, for the straight-driving field angle sensor interval range value, a feedback alarm is issued when the received straight-driving field angle sensor interval range value exceeds a preset value; for the stationary lane-changing field angle sensor interval range value, a feedback alarm is issued when the received stationary lane-changing field angle sensor interval range value exceeds a preset value; for the moving lane-changing field angle sensor interval range value, a feedback alarm is issued when the moving lane-changing field angle sensor interval range value exceeds a preset value; for the loading and unloading lock straightening field angle sensor interval range value, a feedback alarm is issued when the received loading and unloading lock straightening field angle sensor interval range value exceeds a preset value; for the bending field angle sensor interval range value, a feedback alarm is issued when the received bending field angle sensor interval range value exceeds a preset value.

[0090] Specifically, in this embodiment, the sensor 1 is based on the fusion positioning of camera positioning, laser radar, etc. to identify the lane offset value between the moving vehicle and the lane center line, such as Figure 2 As shown, the coordinate system z1oy is established and rotated to the left by θ degrees to form the coordinate system zoy. The car is at point P (x, y, z). The center line of the lane is assumed to be the z1 direction. From then on, the car moves forward in the z1 direction and deviates to the left by θ degrees. The camera coordinates at this time are calculated as follows:

[0091] Y c =y·cosθ+z·sinθ

[0092] Z c =-y·sinθ+z·cosθ

[0093] Written in matrix form:

[0094]

[0095] Right now:

[0096]

[0097] Where R x for is offset by θ, the offset coordinates are Obviously, we can find that the coordinates after the offset and the coordinates before the offset can be regarded as a linear function, and the offset obtained is also determined by the change of the offset angle θ. The offset in the y-axis direction is: c -y; the offset in the z-axis direction is: Z c -z;

[0098] Right now:

[0099] Δy=Y c -y=y·cosθ+z·sinθ-y=y(-1+cosθ)+z·sinθ

[0100] Δz=Z c -z=-y·sinθ+z·cosθ-z=z·(-1+cosθ)-y·sinθ

[0101] That is, the offsets in y and z are all linear offset values, and the range obtained at any time is:

[0102] When θ=0 to θ=θ t , the offset range of the y-axis direction is: [0, y(-1+cosθ t )+z·sinθ t ], the offset range of the z-axis is: [0,z·(-1+cosθ t )-y·sinθ t ].

[0103] Although the disclosure is disclosed as above, the protection scope of the disclosure is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A vehicle status monitoring system based on thresholds and limits, characterized in that: A plurality of sensors are respectively arranged in advance in a plurality of sites and each of the sensors (1) is respectively associated with a moving vehicle. The vehicle status monitoring system comprises: a first state monitoring module (2), connected to each of the sensors (1), for obtaining, for each of the sensors (1) in each of the sites, a vehicle offset value between the moving vehicle and the lane centerline detected by the sensor (1), and obtaining a corresponding state monitoring result according to the vehicle offset value and a preset first threshold range corresponding to the sensor (1); a second state monitoring module (3), connected to each of the sensors (1), for acquiring, for each of the sensors (1), a bottom-level control data of the moving vehicle detected by the sensor (1), and obtaining the corresponding state monitoring result according to the bottom-level control data, a preset expected value and a second threshold range; a third state monitoring module (4), connected to each of the sensors (1), and used for obtaining, for each of the sensors (1), a bottom-free feedback data and a vehicle speed control value of the moving vehicle detected by the sensor (1), and obtaining the corresponding state monitoring result according to the bottom-free feedback data, the vehicle speed control value, a preset first limit value, and a preset second limit value; a fourth state monitoring module (5), connected to each of the sensors (1), for acquiring a device connection state of the sensor (1) for each of the sensors (1), and obtaining the corresponding state monitoring result according to the device connection state; a fifth state monitoring module (6), connected to each of the sensors (1), and used for obtaining a data feedback value of the sensor (1) for each of the sensors (1), and obtaining the corresponding state monitoring result according to the data feedback value and a preset third limit value; An alarm prompt module (7) is respectively connected to the first state monitoring module (2), the second state monitoring module (3), the third state monitoring module (4), the fourth state monitoring module (5), the fifth state monitoring module (6) and each of the running vehicles, and is used to receive each of the state monitoring results and, when at least one of the state monitoring results indicates an abnormal state, to issue an alarm prompt to the running vehicle corresponding to the state monitoring result indicating the abnormal state.

2. The vehicle status monitoring system according to claim 1, characterized in that: The first status monitoring module (2) comprises: a first data acquisition unit (21) for acquiring the vehicle offset value between the moving vehicle and the lane centerline detected by each of the sensors (1) in each of the sites; a first monitoring and analysis unit (22), connected to the first data acquisition unit (21), for comparing, for each sensor (1), the vehicle offset value detected by the sensor (1) with the first threshold range corresponding to the sensor (1), and outputting the state monitoring result indicating an abnormal state when the vehicle offset value is not within the first threshold range; or When the vehicle offset value is within the first threshold range, the state monitoring result indicating a normal state is output.

3. The vehicle status monitoring system according to claim 1, characterized in that: The second status monitoring module (3) comprises: a second data acquisition unit (31) for acquiring, for each of the sensors (1), a bottom-level steering angle control value, a bottom-level braking control value and a bottom-level throttle control value of the moving vehicle detected by the sensor (1) and including the values ​​in the bottom-level control data; a data processing unit (32), connected to the second data acquisition unit (31), and used for comparing the bottom-level steering angle control value, the bottom-level braking control value and the bottom-level throttle control value with the expected value respectively to obtain a corresponding error value; a second monitoring and analysis unit (33), connected to the data processing unit (32), and configured to compare each of the error values ​​with the second threshold range and output the state monitoring result indicating an abnormal state when at least one of the error values ​​is not within the second threshold range; or When all of the error values ​​are within the second threshold range, the status monitoring result indicating that the status is normal is output.

4. The vehicle status monitoring system according to claim 1, characterized in that: The third status monitoring module (4) comprises: a third data acquisition unit (41), configured to acquire, for each of the sensors (1), a bottom-free steering angle feedback value, a bottom-free braking feedback value and a bottom-free throttle feedback value of the moving vehicle detected by the sensor (1), and include the values ​​in the bottom-free feedback data, and to acquire the vehicle speed control value of the moving vehicle detected by the sensor (1); a third monitoring and analysis unit (42), connected to the third data acquisition unit (41), and configured to compare the bottom-free steering angle feedback value, the bottom-free braking feedback value, and the bottom-free throttle feedback value with the first limit value respectively, and output the state monitoring result indicating that the state is abnormal when at least one of the bottom-free steering angle feedback value, the bottom-free braking feedback value, and the bottom-free throttle feedback value is greater than the first limit value; or When the bottom-free steering angle feedback value, the bottom-free braking feedback value, and the bottom-free throttle feedback value are all not greater than the first limit value, outputting the state monitoring result indicating that the state is normal; a fourth monitoring and analysis unit (43), connected to the third data acquisition unit (41), configured to compare the vehicle speed control value with the second limit value and output the state monitoring result indicating an abnormal state when the vehicle speed control value is greater than the second limit value; or When the vehicle speed control value is not greater than the second limit value, the state monitoring result indicating that the state is normal is output.

5. The vehicle status monitoring system according to claim 1, characterized in that: The fourth status monitoring module (5) comprises: a fourth data acquisition unit (51), configured to acquire, for each of the sensors (1), the device connection status of the sensor (1); a fifth monitoring and analysis unit (52), connected to the fourth data acquisition unit (51), and configured to output the status monitoring result indicating that the status is abnormal when the device connection status indicates that the connection cannot be established; or When the device connection status indicates that the connection is established normally, the status monitoring result indicating that the status is normal is output.

6. The vehicle status monitoring system according to claim 5, characterized in that: The device connection status includes a laser radar status, a laser radar single frame point count status, a camera usage status, a millimeter wave radar usage status, a wheel speed meter status, a rotation angle sensor (1) status, a GNSS data status, and a GNSS signal status. The fifth monitoring and analysis unit (52) outputs the status monitoring result indicating that the status is abnormal when at least one of the laser radar status, the laser radar single frame point count status, the camera usage status, the millimeter wave radar usage status, the wheel speed meter status, the rotation angle sensor (1) status, the GNSS data status, and the GNSS signal status indicates that a connection cannot be established; or When all of the states indicate that the connection is established normally, the state monitoring result indicating that the state is normal is output.

7. The vehicle status monitoring system according to claim 1, characterized in that: The fifth status monitoring module (6) comprises: a fifth data acquisition unit (61), configured to acquire, for each of the sensors (1), the data feedback value of the sensor (1); a sixth monitoring and analysis unit (62), connected to the fifth data acquisition unit (61), configured to compare the data feedback value with the third limit value and output the state monitoring result indicating that the state is abnormal when the data feedback value is greater than the third limit value; or When the data feedback value is not greater than the third limit value, the state monitoring result indicating that the state is normal is output.

8. The vehicle status monitoring system according to claim 7, characterized in that: The data feedback value includes laser radar data feedback time, camera data feedback time, wheel speed meter data feedback time, millimeter wave radar data feedback time, camera screen data point number, camera picture state feedback time, millimeter wave radar obstacle detection feedback time, millimeter wave radar obstacle collision time value, wheel speed meter standard deviation feedback time, GNSS data feedback time and fusion positioning error feedback time, then the sixth monitoring and analysis unit (62) outputs the state monitoring result indicating state abnormality when at least one of the feedback values ​​among the laser radar data feedback time, the camera data feedback time, the wheel speed meter data feedback time, the millimeter wave radar data feedback time, the camera screen data point number, the camera picture state feedback time, the millimeter wave radar obstacle detection feedback time, the millimeter wave radar obstacle collision time value, the wheel speed meter standard deviation feedback time, the GNSS data feedback time and the fusion positioning error feedback time is greater than the third limit value; or When all the feedback values ​​are not greater than the third limit value, the state monitoring result indicating that the state is normal is output.

9. The vehicle status monitoring system according to claim 1, characterized in that: The site includes the main road site, the guardrail site, the dock surface site, the loading and unloading lock channel site and the approach bridge site.

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