Method, system and device for centralized overall control of locking of luggage compartment

Abstract

The invention relates to the technical field of luggage compartment locking, solves the technical problems that in the prior art, locking of a compartment door cannot be automatically controlled, and a compartment door fault caused by unbalanced stress of the compartment door during turning cannot be solved, and particularly relates to a method, system and device for centralized overall control of locking of a luggage compartment. The method comprises the following steps that S1, a vehicle speed signal obtained by a detector of a vehicle where a luggage compartment is located is preprocessed to obtain a preprocessed vehicle speed, and a preliminary locking signal is sent to a controller of the vehicle according to the preprocessed vehicle speed; s2, acquiring a driving image in front of the vehicle through a vehicle-mounted camera of the vehicle where the luggage compartment is located, and preprocessing the driving image to obtain a preprocessed image.By conducting image processing on the lane in front of the vehicle, the situation that the compartment door bears too much pressure and breaks down due to long-term use is avoided, meanwhile, the system is more intelligent, and the driving safety is improved. The overall automation efficiency of the passenger car is improved, and the operation time of a driver is shortened.

Description

Technical Field

[0001] The present invention relates to the technical field of luggage compartment locking, and in particular to a method, system and device for centralized and coordinated control of luggage compartment locking. Background Art

[0002] A luggage compartment lock generally refers to a device installed in the luggage compartment of a commercial bus and used to lock the luggage compartment door. It can store and lock the passengers' luggage in the luggage compartment during driving to ensure that the luggage is intact. In the prior art, after stacking the luggage, the driver is required to close the compartment door and lock the compartment door with a key or button. However, this method is very inconvenient to operate, and the driver is required to operate both opening and closing. In addition, the prior art cannot solve the problem that the pressure on one side of the compartment door increases due to turning during driving, which affects the normal use and service life of the locking device, causing gaps in the compartment door lock or even failures. Summary of the invention

[0003] In view of the deficiencies in the prior art, the present invention provides a method, system and device for centrally and comprehensively controlling the locking of the luggage compartment, which solves the technical problems that the prior art cannot automatically control the locking of the cabin door and cannot solve the cabin door failure caused by unbalanced force on the cabin door during turning, thereby achieving the purpose of automatically controlling the locking of the cabin door and avoiding cabin door failure during turning.

[0004] In order to solve the above technical problems, the present invention provides the following technical solutions: a method for centrally and comprehensively controlling the locking of a luggage compartment, the method comprising the following steps: S1, preprocessing the vehicle speed signal obtained by the detector of the vehicle where the luggage compartment is located to obtain a preprocessed vehicle speed, and sending a preliminary locking signal to the controller of the vehicle according to the preprocessed vehicle speed; S2, obtaining a driving image in front of the vehicle through a vehicle-mounted camera of the vehicle where the luggage compartment is located, and preprocessing the driving image to obtain a preprocessed image; S3, determining a root point in the preprocessed image, and identifying a lane dividing line based on the root point; S4, establishing a two-dimensional coordinate system with the center of the preprocessed image as the coordinate origin, and calculating the lane curvature according to the coordinates of the pixel points on the lane dividing line; S5. Sending a deep locking signal according to the lane curvature; S6. According to the handbrake start / stop status of the vehicle where the luggage compartment is located, a lock release signal and a lock start signal are issued.

[0005] Preferably, in step S1, the specific implementation steps are as follows: S11, filtering the vehicle speed signal through a bandpass filter to obtain a filtered signal; S12, processing the filtered signal through an amplifier to obtain an amplified signal; S13, convert the amplified signal into a vehicle speed signal through an analog-to-digital conversion circuit, and obtain the real-time vehicle speed ; S14. Setting a detection threshold according to the force exerted on the luggage during vehicle driving , according to the real-time vehicle speed Send out a preliminary locking signal; like , a preliminary locking signal is issued; like , no locking signal is issued and the process returns to step S13.

[0006] Preferably, in step S2, the specific implementation steps are as follows: S21, pixel points in the driving image Convert to RGB space and calculate the grayscale of the pixel , and get the RGB image, grayscale number The calculation formula is: in, Represents the grayscale number of pixels. , and Represents pixel points Pixel value in RGB space; S22, filtering the RGB image by a median filtering method to obtain a filtered image; S23, using a global threshold method to binarize the filtered image and obtain a preprocessed image.

[0007] Preferably, in step S3, the specific implementation steps are as follows: S31, randomly select a pixel value in the preprocessed image , and determine whether it can be a root point ; like 255, then this pixel is determined to be the root point And proceed to step S32; like 255, then return to step S31 to reselect new pixels; S32, root point is the detection center, and the detection radius Root point Multiple pixels in the neighborhood Perform pixel value detection and obtain multiple lane dividing points; like , then it is determined as the lane dividing point and is combined with the root point Merge and obtain a merged image; like , it is not a lane dividing point, and for other pixel points Conduct testing; S33, select the vertex of the merged image as the new root point And repeat step S32 until all the pixels of the preprocessed image are detected and the lane dividing lines are obtained.

[0008] Preferably, in step S4, the specific implementation steps are as follows: S41, selecting the center of the preprocessed image as the coordinate origin, and establishing a two-dimensional coordinate system with the horizontal direction as the X-axis and the vertical direction as the Y-axis; S42, according to the lane dividing line Pixels Calculate the fitting coefficients and the intercept , the expression is: in, represents the fitting coefficient, represents the intercept; S43, according to the fitting coefficient and the intercept Get the straight fitting line , the expression is: in, represents the straight fitting line, represents the independent variable of the straight fitting line; S44, based on lane dividing line Pixels Calculated lane dividing line curvature , the calculation formula is: in, Indicates the curvature of the lane dividing line, Indicates The horizontal coordinate of the pixel point, Indicates The vertical coordinate of the pixel point, The number of pixels representing lane dividing lines.

[0009] Preferably, in step S5, the specific implementation steps are as follows: S51. Obtain the distance from the side plane of the vehicle to the lane dividing line through the on-board radar of the vehicle where the luggage compartment is located ; S52, according to the distance Calculating the Turn Threshold , the calculation formula is: in, represents the turning threshold, Indicates the length of the vehicle where the luggage compartment is located. Indicates the distance from the vehicle side plane to the lane dividing line; S53, according to the turning threshold and curvature generating a deep locking signal and sending the deep locking signal to a controller of the vehicle where the luggage compartment is located; like , it is a right turn, generating a deep locking signal for the left door; like , then it goes straight and ends; like , it is a left turn and a right door depth locking signal is generated.

[0010] Preferably, in step S6, the specific implementation steps are as follows: S61, a lock release signal is sent after the handbrake of the vehicle where the luggage compartment is located is activated, and a lock start signal is sent after the handbrake of the vehicle where the luggage compartment is located is closed; S62, the controller controls the locking of the luggage compartment door according to the locking release signal and the locking start signal of the vehicle where the luggage compartment is located; If the lock release signal is issued, all lock states of the hatch will be released; If a lock start signal is issued, the door is adjusted to a state ready for locking.

[0011] The technical solution also provides a system for applying the luggage compartment locking method, the system comprising: A vehicle speed detection module, used for preprocessing a vehicle speed signal acquired by a detector of the vehicle where the luggage compartment is located to obtain a preprocessed vehicle speed, and issuing a preliminary locking signal according to the preprocessed vehicle speed; A preprocessing module, used to obtain a driving image in front of the vehicle through a vehicle-mounted camera of the vehicle where the luggage compartment is located, and preprocess the driving image to obtain a preprocessed image; A recognition module, used for determining a root point in the preprocessed image and identifying lane dividing lines based on the root point; A detection module is used to establish a two-dimensional coordinate system with the center of the preprocessed image as the coordinate origin, and calculate the lane curvature according to the coordinates of the pixel points on the lane dividing line; A turning lock module, which is used to send a deep lock signal according to the curvature of the lane; The handbrake control module is used to send a lock release signal and a lock start signal according to the handbrake start and stop status of the vehicle where the luggage compartment is located.

[0012] The technical solution also provides a luggage compartment locking device using the luggage compartment locking method, the device comprising a luggage compartment and a door, the inner wall of the door being provided with a locking mechanism for locking the door and a control mechanism for controlling the locking mechanism.

[0013] Preferably, the locking mechanism includes a fixed rotating shaft fixed at the center of the inner wall of the cabin door, a swing rod is fixedly connected to the fixed rotating shaft, both ends of the swing rod are rotatably connected to lock cabin rods for achieving preliminary locking and deep locking, the bottom end of the lock cabin rod is slidably connected to a fixed lock hole, the lock cabin rod is sleeved with a guide tube for limiting the sliding of the lock cabin rod, and a protective shell is fixedly connected to the outer wall of the fixed rotating shaft.

[0014] Preferably, the control mechanism includes a controller fixed to the inner wall of the cabin door, a side end of the controller is fixedly connected to a cylinder for extension and retraction, and the extension end of the cylinder is rotatably connected to a swing rod.

[0015] By means of the above technical solution, the present invention provides a method, system and device for centrally and comprehensively controlling the locking of a luggage compartment, which has at least the following beneficial effects: 1. The present invention processes the image of the lane ahead of the vehicle and accurately identifies the left and right turns of the curve. It can deeply lock the door on the force-bearing side of the curve before entering the curve, which can not only ensure the safety of the luggage, but also prevent the door from being subjected to excessive pressure and causing the locking device to deform, thereby preventing long-term use from causing failure. At the same time, the left and right doors are accurately controlled to be locked, which is more intelligent, improves the overall automation efficiency of the bus, and reduces the operation time of the driver.

[0016] 2. The present invention can automatically control the state of the cabin door during driving and starting and stopping of the bus by coordinating the vehicle speed signal and the handbrake signal, and the driver can also directly control the opening of the cabin door, which can not only improve the automation of the cabin door, but also solve the problem of using manual control of the cabin door to deal with emergencies after the automatic system fails, thereby improving the emergency response capability of the luggage compartment door.

[0017] 3. The present invention can fundamentally solve the problem of low firmness of the luggage compartment of a passenger car and the safety of luggage in the luggage compartment during driving through the door locking device and the centralized overall control method. The locking device has a simple structure and can avoid potential safety hazards in production operations to the greatest extent. It is fast to install and easy to maintain, thereby reducing maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings: Figure 1 A flowchart of a method for centralized and coordinated control of luggage compartment locking according to the present invention; Figure 2 This is a structural block diagram of a centralized and coordinated luggage compartment locking system of the present invention; Figure 3 A three-dimensional structural diagram of a luggage compartment locking device for centralized and coordinated control of the present invention; Figure 4 It is a side plan view of the locking mechanism and the control mechanism of the present invention; Figure 5 It is a three-dimensional structural diagram of the luggage compartment and the door of the present invention; Figure 6 It is a side perspective structural diagram of the luggage compartment of the present invention; Figure 7 Schematic diagram of the luggage compartment locking method of the present invention.

[0019] In the figure: 1. luggage compartment; 2. compartment door; 3. locking mechanism; 31. fixed shaft; 32. swing rod; 33. guide tube; 34. compartment lock rod; 35. fixed lock hole; 36. protective shell; 4. control mechanism; 41. controller; 42. cylinder. DETAILED DESCRIPTION

[0020] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments, so that the implementation process of how the present application uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0021] As the existing technology cannot automatically control the door lock, nor can it solve the technical problem of door failure caused by unbalanced force on the door during turning, please refer to Figure 1 and Figure 7 This embodiment provides a method for centralized and coordinated control of luggage compartment locking, which can automatically control the locking of the door and avoid door failure when turning. The method includes the following steps: S1. Preprocess the vehicle speed signal obtained by the detector of the vehicle where the luggage compartment is located to obtain a preprocessed vehicle speed, and send a preliminary locking signal to the vehicle controller according to the preprocessed vehicle speed; after the vehicle speed reaches a certain speed, the luggage compartment can be automatically preliminarily locked without manual operation. In step S1, the specific implementation steps are as follows: S11. Filter the vehicle speed signal through a bandpass filter to obtain a filtered signal. The vehicle speed signal can be filtered through a bandpass filter to make the signal more accurate. This can be completed without other steps. Bandpass filter is a common filtering method and will not be described in detail here.

[0022] S12, processing the filtered signal through an amplifier to obtain an amplified signal; since the vehicle speed signal is relatively weak, in order to enable the signal to be clearly amplified by the amplifier, no other steps are required, and amplifying the signal by the amplifier is a common method for amplifying the signal, which will not be elaborated on here.

[0023] S13, convert the amplified signal into a vehicle speed signal through an analog-to-digital conversion circuit, and obtain the real-time vehicle speed ; Since the vehicle speed signal is an analog signal, it needs to be converted into a digital signal through an analog-to-digital conversion circuit. The analog-to-digital conversion circuit is a circuit commonly used to convert digital signals, which will not be described in detail here.

[0024] S14. Setting a detection threshold according to the force exerted on the luggage during vehicle driving , according to the real-time vehicle speed Send out a preliminary locking signal; like , a preliminary locking signal is issued; like , no locking signal is issued and the process returns to step S13. When the vehicle speed exceeds a certain value, it indicates that the vehicle has started. At this time, the luggage compartment is preliminarily locked. Preliminary locking means that the controller controls the lock compartment 34 rod to enter a small part of the fixed lock hole 35, so as to lock the luggage compartment.

[0025] S2, obtaining a driving image in front of the vehicle through the on-board camera of the vehicle where the luggage compartment is located, and preprocessing the driving image to obtain a preprocessed image; existing buses are generally equipped with multiple cameras for providing the driver with images of blind spots. The image in front of the vehicle can be obtained through the front camera. In step S2, the specific implementation steps are as follows: S21, pixel points in the driving image Convert to RGB space and calculate the grayscale of the pixel , and get the RGB image, grayscale number The calculation formula is: in, Represents the grayscale number of pixels. , and Represents pixel points Pixel value in RGB space; convert the image in front of the vehicle into a grayscale image to facilitate the identification of road boundaries through grayscale values.

[0026] S22. Filter the RGB image by median filtering and obtain a filtered image. Median filtering is a filtering method that replaces the central pixel value with the median of the pixel values ​​of pixels within a certain range. The filtering effect is good and filtering can be completed without other steps. Median filtering is a common filtering method and will not be described in detail here.

[0027] S23. Use the global threshold method to binarize the filtered image and obtain a preprocessed image. In order to facilitate the identification of road boundary lines, the filtered image needs to be binarized, so as to facilitate the identification of lane boundary lines in subsequent steps. By preprocessing the formal image, the image can be made clearer, which is convenient for the subsequent steps to identify the boundaries and curvature of the road, and the results can be more accurate in subsequent analysis.

[0028] S3, determining a root point in the preprocessed image, and identifying the lane dividing line based on the root point; in order to solve the force problem of the hatches on both sides during the vehicle turning process, in step S3, the specific implementation steps are as follows: S31, randomly select a pixel value in the preprocessed image , and determine whether it can be a root point ; like 255, then this pixel is determined to be the root point And proceed to step S32; like 255, then return to step S31 to reselect new pixels; among the many pixels in the preprocessed image, through the root point Gradually diffuse outward for careful identification, improving the recognition efficiency and accuracy of road boundaries.

[0029] S32, root point is the detection center, and the detection radius Root point Multiple pixels in the neighborhood Perform pixel value detection and obtain multiple lane dividing points; like , then it is determined as the lane dividing point and is combined with the root point Merge and obtain a merged image; like , it is not a lane dividing point, and for other pixel points To test; to root point For outward diffusion detection, multiple lane dividing points are determined. Since the lane dividing lines are obviously white, the lane dividing points are also white, with a pixel value of 255.

[0030] S33, select the vertex of the merged image as the new root point Repeat step S32 until all pixels of the preprocessed image are detected and lane boundaries are obtained. All lane dividing points are detected and merged into lane dividing lines by gradually diffusing outward. Lane dividing lines can be found quickly through image recognition, and this diffusion method is more accurate, which improves the recognition accuracy of the image.

[0031] S4, establish a two-dimensional coordinate system with the center of the preprocessed image as the coordinate origin, and calculate the lane curvature according to the coordinates of the pixel points on the lane dividing line; in order to solve the force problem of the side wall of the luggage compartment of the vehicle at the turn, in step S4, the specific implementation steps are as follows: S41, selecting the center of the preprocessed image as the coordinate origin, establishing a two-dimensional coordinate system with the horizontal direction as the X-axis and the vertical direction as the Y-axis; establishing the coordinate axis can facilitate the subsequent calculation of the curvature.

[0032] S42, according to the lane dividing line Pixels Calculate the fitting coefficients and the intercept , the expression is: in, represents the fitting coefficient, Represents the intercept; multiple pixel points are obtained on the lane dividing line, and the fitting coefficient of the lane dividing line on the straight road is first calculated according to the coordinate values ​​of these pixel points and the intercept , which is convenient for the subsequent calculation of curvature.

[0033] S43, according to the fitting coefficient and the intercept Get the straight fitting line , the expression is: in, represents the straight fitting line, represents the independent variable of the straight fitting line; S44, based on lane dividing line Pixels Calculated lane dividing line curvature , the calculation formula is: in, Indicates the curvature of the lane dividing line, Indicates The horizontal coordinate of the pixel point, Indicates The vertical coordinate of the pixel point, The number of pixels representing the lane dividing line can be used to obtain the curvature of the road ahead through the recognition of the pre-processed image and the calculation of the curvature. This not only allows the degree of curvature of the road to be identified, but also allows the luggage compartment to be locked in advance, so as to prepare for the locking of the luggage compartment in advance and prevent the luggage from colliding with the side wall of the luggage compartment laterally due to lack of preparation, thereby causing the luggage compartment door to malfunction.

[0034] S5. Sending a deep locking signal according to the curvature of the lane; In order to solve the problem of uneven force on the left and right side walls of the luggage compartment in a curve, in step S5, the specific implementation steps are as follows: S51. Obtain the distance from the side plane of the vehicle to the lane dividing line through the on-board radar of the vehicle where the luggage compartment is located ; Vehicle-mounted radar is a common device installed around the vehicle. It has a ranging function. By detecting the fence of the lane dividing line through radar, the distance between the vehicle and the lane dividing line can be known. Laser radar or visual recognition machines can also be used for identification here, and road boundaries can be identified without fences.

[0035] S52, according to the distance Calculating the Turn Threshold , the calculation formula is: in, represents the turning threshold, Indicates the length of the vehicle where the luggage compartment is located. Indicates the distance from the side plane of the vehicle to the lane dividing line. By calculating the threshold from the side wall of the vehicle to the lane boundary line, it can provide a comparison for the degree of turn completion when turning.

[0036] S53, according to the turning threshold and curvature generating a deep locking signal and sending the deep locking signal to a controller of the vehicle where the luggage compartment is located; like , it is a right turn, generating a deep locking signal for the left door; like , then it goes straight and ends; like , it is a left turn, and a deep locking signal of the right door is generated. By identifying left turns, right turns and straight driving, different signals can be provided in advance for the locking of the luggage compartment door, and then the left door is deeply locked by utilizing the centripetal force provided by the left door and the fact that the right door is not subjected to force when turning right. The deep locking refers to the movement of the lock compartment rod 34 to a deeper position of the fixed lock hole 35, which can ensure the safety of the door locking, increase the contact area, and prevent the deformation of the fixed lock hole 35 caused by a large pressure. At the same time, the right door that is not subjected to force only needs to maintain the preliminary locking. By performing image processing on the lane in front of the vehicle, the left and right turns of the curve can be accurately identified, and the door on the side subjected to the force of the turn can be deeply locked before entering the curve, which can not only ensure the safety of the luggage, but also prevent the door from being subjected to excessive pressure, thereby preventing the door from malfunctioning after long-term use. At the same time, the left and right doors can be accurately controlled to be locked, which is more intelligent, improves the overall automation efficiency of the bus, and reduces the operation time of the driver.

[0037] S6, according to the handbrake start / stop status of the vehicle where the luggage compartment is located, a lock release signal and a lock start signal are issued; in order to solve the problem that the vehicle luggage compartment cannot automatically control the opening and closing of the door according to the start / stop status, in step S6, the specific implementation steps are as follows: S61. A lock release signal is sent after the handbrake of the vehicle where the luggage compartment is located is activated, and a lock start signal is sent after the handbrake of the vehicle where the luggage compartment is located is closed; when the vehicle handbrake is activated, it means that the vehicle is in a stopped state and will not be started temporarily, so the luggage compartment can be unlocked; when the vehicle handbrake is closed, it means that the vehicle is in a state of preparing to start, so the luggage compartment needs to be locked.

[0038] S62, the controller controls the locking of the luggage compartment door according to the locking release signal and the locking start signal of the vehicle where the luggage compartment is located; If the lock release signal is issued, all lock states of the hatch will be released; If a locking start signal is issued, the cabin door will be adjusted to a state ready to lock. After the luggage compartment is controlled by the handbrake signal, the automation of luggage compartment door locking can be greatly improved, and no manual operation or intervention is required. At the same time, the controller of the locking device also has a manual control button. When there is a problem with the camera, the handbrake signal or the system, the cabin door cannot be locked. The manual button can solve this special situation. Through the cooperation of the vehicle speed signal and the handbrake signal, the state of the cabin door can be automatically controlled during driving and starting and stopping of the bus, and the driver can also directly control the opening of the cabin door, which can not only improve the automation of the cabin door, but also solve the problem of using manual control of the cabin door to deal with emergencies after the automatic system fails, thereby improving the emergency response capability of the luggage compartment door.

[0039] See also Figure 2, which is a structural block diagram of the luggage compartment locking system provided in this embodiment, and the luggage compartment locking system includes a vehicle speed detection module, a preprocessing module, an identification module, a detection module, a turning locking module, and a handbrake control module.

[0040] The vehicle speed detection module is used to pre-process the vehicle speed signal obtained by the detector of the vehicle where the luggage compartment is located to obtain a pre-processed vehicle speed, and to send a preliminary locking signal according to the pre-processed vehicle speed; the pre-processing module is used to obtain the driving image in front of the vehicle through the on-board camera of the vehicle where the luggage compartment is located, and pre-process the driving image to obtain a pre-processed image; the recognition module is used to determine a root point in the pre-processed image , based on the root point Identify lane dividing lines; detection module, used to establish a two-dimensional coordinate system with the center of the preprocessed image as the origin, and calculate the lane curvature based on the coordinates of the pixel points on the lane dividing line ; Turn lock module, used to adjust the curvature of the lane Send out a deep locking signal; the handbrake control module is used to send out a lock release signal and a lock start signal according to the handbrake start and stop status of the vehicle where the luggage compartment is located. Example

[0041] In this embodiment, due to the complex structure of the existing locking device, it is necessary to control it with a key or button to complete the locking. Figure 3 - Figure 6 The present embodiment further provides a luggage compartment locking device, which can automatically control the locking of the cabin door without manual operation by the driver. The luggage compartment locking device includes a luggage compartment 1 and a cabin door 2. The inner wall of the cabin door 2 is provided with a locking mechanism 3 for locking the cabin door 2 and a control mechanism 4 for controlling the locking mechanism 3. The locking mechanism 3 includes a fixed shaft 31 fixed at the center of the inner wall of the cabin door 2, a swing rod 32 is fixedly connected to the fixed shaft 31, and both ends of the swing rod 32 are rotatably connected with a lock cabin rod 34 for achieving preliminary locking and deep locking, a fixed lock hole 35 is slidably connected to the bottom end of the lock cabin rod 34, a guide tube 33 for limiting the sliding of the lock cabin rod 34 is sleeved on the lock cabin rod 34, a protective shell 36 is fixedly connected to the outer wall of the fixed shaft 31, and the control mechanism 4 includes a controller 41 fixed to the inner wall of the cabin door 2, and a cylinder 42 for extension and retraction is fixedly connected to the side end of the controller 41, and the retractable end of the cylinder 42 is rotatably connected to the swing rod 32.

[0042] After the hatch is closed, the handbrake is released. At this time, the controller 41 receives a locking start signal and prepares to lock. When the vehicle starts to a certain speed, the controller 41 receives a preliminary locking signal, and then controls the cylinder 42 to extend, driving the swing rod 32 to rotate and move a distance around the fixed rotating shaft 31, so that the lock cabin rod 34 slides within the guide tube 33, and the lock cabin rod 34 moves a short distance into the fixed lock hole 35 to complete the preliminary locking. When the controller 41 receives a deep locking signal, the lock cabin rod 34 moves a deeper distance into the fixed lock hole 35, thereby increasing the contact area and avoiding deformation of the lock cabin rod 34 or the fixed lock hole 35 due to excessive force. The hatch door locking device and the use of centralized and coordinated control can fundamentally solve the problem of low firmness of the luggage compartment of the passenger car and the safety of the luggage in the luggage compartment during driving. The locking device has a simple structure, can avoid potential safety hazards in production operations to the greatest extent, is quick to install and easy to maintain, and reduces maintenance costs.

[0043] Those skilled in the art can understand that all or part of the steps in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a program, so the present application can be in the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application can be in the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0044] The above implementation methods have been described in detail. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A method for centralized and coordinated control of luggage compartment locking, characterized in that: The method comprises the following steps: S1, preprocessing the vehicle speed signal obtained by the detector of the vehicle where the luggage compartment is located to obtain a preprocessed vehicle speed, and sending a preliminary locking signal to the controller of the vehicle according to the preprocessed vehicle speed; S2, obtaining a driving image in front of the vehicle through a vehicle-mounted camera of the vehicle where the luggage compartment is located, and preprocessing the driving image to obtain a preprocessed image; S3. Determine a root point in the preprocessed image , based on the root point Identify lane dividing lines; S4. Establish a two-dimensional coordinate system with the center of the preprocessed image as the origin, and calculate the lane curvature based on the coordinates of the pixel points on the lane dividing line. ; S5. According to the curvature of the lane Send out a deep lock signal; S6. According to the handbrake start / stop status of the vehicle where the luggage compartment is located, a lock release signal and a lock start signal are issued.

2. The luggage compartment locking method according to claim 1, characterized in that: In step S1, the specific implementation steps are as follows: S11, filtering the vehicle speed signal through a bandpass filter to obtain a filtered signal; S12, processing the filtered signal through an amplifier to obtain an amplified signal; S13, convert the amplified signal into a vehicle speed signal through an analog-to-digital conversion circuit, and obtain the real-time vehicle speed ; S14. Setting a detection threshold according to the force exerted on the luggage during vehicle driving , according to the real-time vehicle speed Send out a preliminary locking signal; like , a preliminary locking signal is issued; like , no locking signal is issued and the process returns to step S13.

3. The luggage compartment locking method according to claim 1, characterized in that: In step S2, the specific implementation steps are as follows: S21, pixel points in the driving image Convert to RGB space and calculate the grayscale of the pixel , and get the RGB image, grayscale number The calculation formula is: in, Represents the grayscale number of pixels. , and Represents pixel points Pixel value in RGB space; S22, filtering the RGB image by a median filtering method to obtain a filtered image; S23, using a global threshold method to binarize the filtered image and obtain a preprocessed image.

4. The luggage compartment locking method according to claim 1, characterized in that: In step S3, the specific implementation steps are as follows: S31, randomly select a pixel value in the preprocessed image , and determine whether it can be a root point ; like 255, then this pixel is determined to be the root point And proceed to step S32; like 255, then return to step S31 to reselect new pixels; S32, root point is the detection center, and the detection radius Root point Multiple pixels in the neighborhood Perform pixel value detection and obtain multiple lane dividing points; like , then it is determined as the lane dividing point and is combined with the root point Merge and obtain a merged image; like , it is not a lane dividing point, and for other pixel points Conduct testing; S33, select the vertex of the merged image as the new root point And repeat step S32 until all the pixels of the preprocessed image are detected and the lane dividing lines are obtained.

5. The luggage compartment locking method according to claim 1, characterized in that: In step S4, the specific implementation steps are as follows: S41, selecting the center of the preprocessed image as the coordinate origin, and establishing a two-dimensional coordinate system with the horizontal direction as the X-axis and the vertical direction as the Y-axis; S42, according to the lane dividing line Pixels Calculate the fitting coefficients and the intercept , the expression is: in, represents the fitting coefficient, represents the intercept; S43, according to the fitting coefficient and the intercept Get the straight fitting line , the expression is: in, represents the straight fitting line, represents the independent variable of the straight fitting line; S44, based on lane dividing line Pixels Calculated lane dividing line curvature , the calculation formula is: in, Indicates the curvature of the lane dividing line, Indicates The horizontal coordinate of the pixel point, Indicates The vertical coordinate of the pixel point, The number of pixels representing lane dividing lines.

6. The luggage compartment locking method according to claim 1, characterized in that: In step S5, the specific implementation steps are as follows: S51. Obtain the distance from the side plane of the vehicle to the lane dividing line through the on-board radar of the vehicle where the luggage compartment is located ; S52, according to the distance Calculating the Turn Threshold , the calculation formula is: in, represents the turning threshold, Indicates the length of the vehicle where the luggage compartment is located. Indicates the distance from the vehicle side plane to the lane dividing line; S53, according to the turning threshold and curvature generating a deep locking signal and sending the deep locking signal to a controller of the vehicle where the luggage compartment is located; like , it is a right turn, generating a deep locking signal for the left door; like , then it goes straight and ends; like , it is a left turn and a right door depth locking signal is generated.

7. The luggage compartment locking method according to claim 1, characterized in that: In step S6, the specific implementation steps are as follows: S61, a lock release signal is sent after the handbrake of the vehicle where the luggage compartment is located is activated, and a lock start signal is sent after the handbrake of the vehicle where the luggage compartment is located is closed; S62, the controller controls the locking of the luggage compartment door according to the locking release signal and the locking start signal of the vehicle where the luggage compartment is located; If the lock release signal is issued, all lock states of the hatch will be released; If a lock start signal is issued, the door is adjusted to a state ready for locking.

8. A system comprising the luggage compartment locking method according to any one of claims 1 to 7, characterized in that: The system includes: A vehicle speed detection module, used for preprocessing a vehicle speed signal acquired by a detector of the vehicle where the luggage compartment is located to obtain a preprocessed vehicle speed, and issuing a preliminary locking signal according to the preprocessed vehicle speed; A preprocessing module, used to obtain a driving image in front of the vehicle through a vehicle-mounted camera of the vehicle where the luggage compartment is located, and preprocess the driving image to obtain a preprocessed image; Identification module, used to determine a root point in the preprocessed image , based on the root point Identify lane dividing lines; The detection module is used to establish a two-dimensional coordinate system with the center of the preprocessed image as the origin, and calculate the lane curvature based on the coordinates of the pixel points on the lane dividing line ; Turn lock module for lane curvature Send out a deep lock signal; The handbrake control module is used to send a lock release signal and a lock start signal according to the handbrake start and stop status of the vehicle where the luggage compartment is located.

9. A luggage compartment locking device applied to the luggage compartment locking method according to any one of claims 1 to 7, comprising a luggage compartment (1) and a compartment door (2), characterized in that: The inner wall of the hatch door (2) is provided with a locking mechanism (3) for locking the hatch door (2) and a control mechanism (4) for controlling the locking mechanism (3); The locking mechanism (3) comprises a fixed rotating shaft (31) fixed at the center of the inner wall of the hatch (2), a swinging rod (32) fixedly connected to the fixed rotating shaft (31), a lock rod (34) for realizing preliminary locking and deep locking of the hatch (2) being rotatably connected to both ends of the swinging rod (32), a fixed lock hole (35) being slidably connected to the bottom end of the lock rod (34), a guide tube (33) for limiting the sliding of the lock rod (34) being sleeved on the lock rod (34), and a protective shell (36) being fixedly connected to the outer wall of the fixed rotating shaft (31).

10. The luggage compartment locking device according to claim 9, characterized in that: The control mechanism (4) comprises a controller (41) fixed to the inner wall of the cabin door (2), a side end of the controller (41) being fixedly connected to a cylinder (42) for extension and retraction, and a retractable end of the cylinder (42) being rotationally connected to a swing rod (32).

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