Parking safety intelligent monitoring system

Abstract

The invention discloses a parking safety intelligent monitoring system, relates to the technical field of automobile safety, and solves the technical problem that collision accidents occur when a vehicle runs next time due to the fact that the parking position of the vehicle is not considered in the prior art. According to the method, turning angle information of a tire and parking position information are collected, running data of a vehicle are monitored, based on the running data of the vehicle and the turning angle information of the tire, when the tire angle does not accord with the vehicle angle, the center line direction is delimited, the tire angle and the vehicle angle are combined to obtain an aligning angle, and an aligning starting signal is generated; and obtaining the parking state of the vehicle according to the parking position information. The minimum turning radius of the vehicle is calculated according to the parking state and the turning angle information, and the safety distance of the vehicle is obtained based on the minimum turning radius; detecting an aligning starting signal, obtaining a deflection angle state according to the aligning angle and the parking space included angle, calculating a deflection angle, and completing automatic aligning according to the deflection angle, the deflection angle state and the safety distance.

Description

Technical Field

[0001] The invention belongs to the field of automobile safety, and in particular is a parking safety intelligent monitoring system. Background Art

[0002] With the development of vehicle technology and the substantial increase in the number of vehicles in use, people have put forward higher and higher requirements for the intelligence and safety of vehicles. Many drivers will encounter the problem of being unable to judge whether the steering wheel has been returned to the center when parking. Usually, they need to stick their heads out of the window or directly walk out of the cab to check the tire steering, which causes great trouble to the driver. After parking, if the driver leaves in a hurry without returning the steering wheel to the center, it will cause wear of the vehicle's steering system, suspension system and tires in the long run, affecting driving safety. If there is a parking space, it may also affect other drivers' parking, and there is a potential risk of collision with other vehicles when starting the vehicle next time.

[0003] The invention patent with application number CN202110713282X discloses a method, device, medium and vehicle for automatic steering wheel return. After receiving the power-off signal of the vehicle, the invention obtains the status parameters of the vehicle and determines the preset start conditions based on the status parameters. If the preset start conditions are met, the steering wheel rotation angle information and the driver's hand force information are used for return. When the tire is returned, the invention analyzes the steering wheel rotation angle information and the driver's hand force information, and the actual situation of the tire cannot be identified. If the owner's parking position in the parking space does not correspond to the parking space, then when automatically returning, the impact of the vehicle's parking position on the return angle must also be considered. If this impact is not considered, it may lead to potential hazards of collision with other vehicles when the car is started next time.

[0004] The present invention provides a parking safety intelligent monitoring system to solve the above technical problems. Summary of the invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art; to this end, the present invention proposes an intelligent parking safety monitoring system for solving the technical problem in the prior art that the vehicle may collide with the vehicle when it runs next time because the parking position of the vehicle itself is not taken into consideration.

[0006] To achieve the above-mentioned object, a first aspect of the present invention provides a parking safety intelligent monitoring system, comprising: a data collection module, a signal processing module and an automatic return module;

[0007] Data collection module: used to collect tire corner information and parking position information in real time, and monitor vehicle operation data;

[0008] Signal processing module: used to generate a return-to-center start signal based on the vehicle's operating data and the tire's turning angle information; detect the vehicle's parking data based on the turning angle information and the parking position information;

[0009] Automatic return module: used to complete automatic return based on the return start signal and parking data.

[0010] Preferably, the generating of the return-to-center start signal based on the vehicle operation data and the tire rotation angle information includes:

[0011] A1: extracting operation data and turning angle information; wherein the operation information includes the operation state and the vehicle angle of the vehicle; the turning angle information is the tire angle of the vehicle tire; the operation state includes the operating state and the engine off state;

[0012] A2: Determine whether the vehicle is in the off state; if yes, jump to A3; if no, generate a pause signal;

[0013] A3: Determine whether the tire angle matches the vehicle angle; if yes, generate a corrected signal; if no, obtain the return angle based on the tire angle and the vehicle angle, and generate a return start signal.

[0014] Preferably, obtaining the return angle according to the tire angle and the vehicle angle includes:

[0015] Compare the tire angle with the vehicle angle, take the vehicle angle as the center angle, take the center point of the vehicle as the midpoint, and take the line with the midpoint in the direction of the front of the center angle as the center line direction;

[0016] Determine whether the tire angle is to the left of the centerline direction; if yes, mark the return angle state as positive castor; if no, mark the return angle state as negative castor;

[0017] The included angle between the tire angle and the centerline direction is taken as the return angle, and the return angle is combined with the corresponding return angle state to obtain the return angle.

[0018] Preferably, the detecting the parking data of the vehicle according to the turning angle information and the parking position information includes:

[0019] B1: Extracting turning angle information and parking position information; wherein the parking position information includes the left lateral distance, right lateral distance, front longitudinal distance and rear longitudinal distance of the vehicle from the parking space boundary line measured by the distance measuring sensor on the vehicle;

[0020] B2: Determine whether the parking position information has different sub-data on the same side; if yes, mark the parking state of the vehicle as an oblique state and jump to B4; if no, mark the parking state of the vehicle as a normal state and jump to B3; the sub-data include left lateral distance, right lateral distance, front longitudinal distance and rear longitudinal distance;

[0021] B3: Select the larger value of the left lateral distance and the right lateral distance as the lateral distance, and select the larger value of the front longitudinal distance and the rear longitudinal distance as the longitudinal distance; extract the vehicle length from the vehicle database, take the quotient of the vehicle length and the tangent value of the return angle as the minimum turning radius of the vehicle, and add the minimum turning radius to the average value of the lateral distance and the longitudinal distance to obtain the safety distance;

[0022] B4: Connect the distance measuring sensors to obtain the left lateral direction, the right lateral direction, the front longitudinal direction and the rear longitudinal direction, and combine the left lateral direction, the right lateral direction, the front longitudinal direction and the rear longitudinal direction to obtain the parking space angle between the center line of the vehicle and the parking space; determine whether the parking space angle is to the left of the center line direction; if yes, mark the parking space angle state corresponding to the parking space angle as positive forward tilt, and jump to B5; if no, mark the parking space angle state corresponding to the parking space angle as negative forward tilt, and jump to B6;

[0023] B5: The quotient of the vehicle length and the sum of the return angle and the parking space angle is taken as the minimum turning radius of the vehicle. The minimum turning radius is added to the average of the lateral distance and the longitudinal distance to obtain the safe distance.

[0024] B6: The quotient of the vehicle length and the difference between the return angle and the parking space angle is taken as the minimum turning radius of the vehicle. The minimum turning radius is added to the average of the lateral distance and the longitudinal distance to obtain the safe distance.

[0025] B7: Integrate the parking status, parking space angle and safety distance of the vehicle to obtain parking data.

[0026] Preferably, the automatic return to the correct position based on the return to the correct position start signal and the parking data includes:

[0027] Detection of positive start signal;

[0028] If a return-to-center start signal is detected, the parking space angle and the corresponding parking space angle status are integrated to obtain the parking space angle data. The deflection angle status is obtained based on the return-to-center angle and the parking space angle data, and the deflection angle is calculated. The system automatically returns to the left direction of the center line to an angle that is the same as the deflection angle, and ensures that half of the vehicle length is less than the safety distance to complete the automatic return.

[0029] Preferably, the step of obtaining the deflection state and calculating the deflection angle according to the return angle and the parking space angle data includes:

[0030] S1: extract the data of the return angle and the parking space angle;

[0031] S2: Determine whether the return angle state is left positive tilt; if yes, jump to S3; if no, jump to S4;

[0032] S3: Determine whether the parking space angle state is positive forward tilt; if yes, add the return angle to the parking space angle to obtain the deflection angle, and mark the deflection angle state as left tilt; if no, jump to S5;

[0033] S4: Determine whether the parking space angle state is positive forward tilt; if yes, jump to S5; if no, add the return angle to the parking space angle to obtain the deflection angle, and mark the deflection angle state as right tilt state;

[0034] S5: Determine whether the return angle is greater than the parking space angle; if yes, subtract the return angle from the parking space angle to obtain the deflection angle, select the direction of the return angle as the deflection direction, and obtain the deflection state according to the deflection direction; if no, subtract the parking space angle from the return angle to obtain the deflection angle, select the direction of the parking space angle as the deflection direction, and obtain the deflection state according to the deflection direction.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] 1. The present invention collects the turning angle information and parking position information of the tires and monitors the operation data of the vehicle. Based on the operation data of the vehicle and the turning angle information of the tires, when the tire angle does not match the vehicle angle, the centerline direction is defined, the tire angle and the vehicle angle are combined to obtain the return angle, and a return start signal is generated. The specific conditions of the vehicle tires can be accurately identified, and the return angle state of the vehicle tires can be accurately judged. The parking state of the vehicle can be analyzed according to the parking position information, and the parking state of the vehicle can be accurately identified when the tires are not returned to the correct position. Combined with the parking state, the analysis can better avoid the vehicle from restarting. The automatic self-centering function can be used to detect the presence of a vehicle in the parking space, prevent collisions, and prevent the driver from colliding with other vehicles the next time the car is started because the driver forgot to park and the steering wheel was not straightened, thereby ensuring the safety of the vehicle the next time it is started and reducing the chances of collisions due to parking errors.

[0037] 2. The present invention analyzes the parking state of the vehicle and controls the automatic self-centering system in combination with the parking state of the vehicle and the self-centering angle of the vehicle tires, thereby improving the reliability and safety of the vehicle and ensuring that the vehicle can safely and smoothly drive out of the parking space; if only the vehicle tire condition is considered, analysis errors may occur due to the owner's failure to park the vehicle straight when parking, and the automatic self-centering system cannot be accurately completed according to the actual situation to ensure the parking safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 The following is a flowchart of an embodiment of the present invention.

[0040] Figure 2 It is a system composition diagram of the present invention.

[0041] Figure 3 The complete flow chart of obtaining the deflection state and calculating the deflection in one embodiment of the present invention. DETAILED DESCRIPTION

[0042] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] See also Figure 1-Figure 3 , the first aspect of the present invention provides a parking safety intelligent monitoring system, including: a data collection module, a signal processing module and an automatic return module;

[0044] Data collection module: used to collect tire corner information and parking position information in real time, and monitor vehicle operation data.

[0045] Exemplarily, the turning angle information of each vehicle tire and the parking position information of the vehicle are measured by angle sensors and laser sensors installed on the vehicle tires, and the running status of the vehicle and the vehicle angle in the parking space are collected by acceleration sensors and rear cameras.

[0046] It should be noted that the running status of the vehicle can be obtained by measuring whether the acceleration of the vehicle is 0 through an acceleration sensor, or by connecting the vehicle's engine to obtain the engine running status, and the engine running status is equivalent to the vehicle running status.

[0047] Signal processing module: used to generate a return-to-center start signal based on the vehicle's operating data and the tire's turning angle information; and detect the vehicle's parking data based on the turning angle information and the parking position information.

[0048] Exemplarily, determine whether the current operating state of the vehicle is the engine-off state. In this embodiment, the current operating state of the vehicle is the engine-off state. Continue to determine whether the tire angle of the vehicle is consistent with the vehicle angle. In this embodiment, the tire angle of the vehicle is selected to use the rotation axis angle of the left front wheel and the right front wheel as the tire angle of the vehicle. The vehicle angle is the angle from the rear of the vehicle to the front of the vehicle, with the front direction as the positive direction. In this embodiment, the tire angle of the vehicle is 15 degrees to the left of the positive direction. If it is determined that the tire angle does not match the vehicle angle, the vehicle angle is used as the center angle, the exact center point of the vehicle is used as the midpoint of the vehicle, and the line with the midpoint in the direction of the front of the vehicle at the center angle is used as the center line direction.

[0049] Determine whether the tire angle is to the left of the center line direction, determine that the tire angle is to the left of the center line direction, mark the vehicle's return angle state as positive castor, take the angle between the tire angle and the center line direction as the return angle of 15 degrees, and mark the return angle of 15 degrees of positive castor as the return angle.

[0050] In some other preferred embodiments, if the tire angle matches the vehicle angle when the vehicle is in the off state, it means that the tire has been straightened after parking and the direction is consistent with the direction of the vehicle head, then there is no need for automatic straightening, and a straightening signal is generated and sent to the automatic straightening module.

[0051] By using multiple distance measuring sensors around the vehicle to measure multiple groups of left lateral distances, right lateral distances, front longitudinal distances and rear longitudinal distances from surrounding vehicles or buildings when the vehicle is parked, it is determined whether there is a difference among the left lateral distance, right lateral distance, front longitudinal distance and rear longitudinal distance in the parking position information of the vehicle; in this embodiment, it is determined that there is a difference between the left lateral distance and the right lateral distance data, indicating that the parking position of the vehicle is already inclined relative to the parking space, and the parking state of the vehicle is marked as an inclined state. The distance measuring sensor can be used to preliminarily determine the specific position of the vehicle in the parking space, and distinguish the outer side of the parking space for exiting the vehicle and the inner side for parking, as well as the parking state of the vehicle in the parking space, which can provide better data support and better understand the real-time position information of the vehicle.

[0052] The distance measuring sensors on the vehicle are connected to obtain the left lateral direction, right lateral direction, front longitudinal direction and rear longitudinal direction around the vehicle. The left lateral direction is the same as the right lateral direction and is combined into a lateral direction. The front longitudinal direction and the rear longitudinal direction are combined into a longitudinal direction. In this embodiment, the lateral direction of the vehicle has an angle with the center line, and this angle is marked as the parking space angle; it is determined whether the parking space angle is in the left direction of the center line direction, and it is determined that the angle of the vehicle is in the right direction of the center line direction, then the parking space angle state corresponding to the parking space angle is marked as negative forward tilt, and the minimum turning radius RT of the vehicle is calculated by the formula RT=CL / (HZJ-CWJ); the minimum turning radius RT is added to the average value of the lateral distance and the longitudinal distance of the vehicle to obtain the safe distance; wherein CL represents the vehicle length, HZJ represents the return angle, and CWJ represents the parking space angle; calculating the safe distance of the vehicle at the parking position can achieve more accurate parking, reduce parking errors, and help optimize the path planning of the vehicle out of the parking space to ensure the safety and feasibility of the path.

[0053] It should be noted that in this embodiment, the parking state of the vehicle is an oblique state, so the lateral distance and longitudinal distance of the vehicle are different. The lateral distance and longitudinal distance in this embodiment are obtained by reaching the midpoint of the margin in four directions through the midpoint of the vehicle. The larger value between the left lateral distance and the right lateral distance corresponding to the midpoint of the margin is selected to obtain the lateral distance, and the larger value between the front longitudinal distance and the rear longitudinal distance corresponding to the midpoint of the margin is selected to obtain the longitudinal distance.

[0054] In some other preferred embodiments, if the parking position information does not contain different sub-data on the same side, it means that the parking position of the vehicle in the parking space is consistent with the parking space, and the parking state of the vehicle is marked as the correct state; the larger value of the left lateral distance and the right lateral distance is selected as the lateral distance, and the larger value of the front longitudinal distance and the rear longitudinal distance is selected as the longitudinal distance, and the minimum turning radius RT is calculated by the formula RT=CL / (HZJ+CWJ), and the minimum turning radius RT is added to the average of the lateral distance and the longitudinal distance to obtain the safety distance.

[0055] In some other preferred embodiments, the safety distance will be sent to the automatic self-centering module for analysis and judgment, and a safety threshold will be set. If the safety distance is less than the safety threshold, it means that the vehicle may collide when it is started next time, or more steering wheel adjustments are needed to keep the radius of the parking path within the safety distance.

[0056] Automatic return module: used to complete automatic return based on the return start signal and parking data.

[0057] Exemplarily, after detecting the return-to-center start signal, the parking space angle and the corresponding parking space angle state are integrated to obtain the parking space angle data, and it is determined whether the return-to-center angle state is left positive tilt. If the return-to-center angle state is determined to be left positive tilt, it is further determined whether the parking space angle state is positive forward tilt. If the parking space angle state is determined to be negative forward tilt, it is further determined whether the return-to-center angle is greater than the parking space angle. In this embodiment, the parking space angle is 10 degrees, then it is determined that the return-to-center angle is greater than the parking space angle, and the deflection angle is obtained by subtracting the return-to-center angle from the parking space angle. The direction of the return-to-center angle is selected as the deflection angle direction, and the deflection angle state is marked as a left-leaning state. The automatic return-to-center system automatically returns to the left direction of the center line to an angle that is the same as the deflection angle, and ensures that half of the vehicle length is less than the safety distance to complete the automatic return.

[0058] Part of the data in the above formula is calculated by removing the dimension and taking its numerical value. The formula is a formula closest to the actual situation obtained by software simulation of a large amount of collected data; the preset parameters and preset thresholds in the formula are set by technical personnel in this field according to actual conditions or obtained through simulation of a large amount of data.

[0059] Working principle of the present invention:

[0060] The present invention collects the turning angle information of the vehicle tires and the parking position information of the vehicle, monitors the running data of the vehicle, analyzes the comparison result of the tire angle and the vehicle angle based on the running state of the vehicle, obtains the return angle, and generates a return start signal; obtains the parking state of the vehicle according to the parking position information. The minimum turning radius of the vehicle is calculated according to the parking state and the turning angle information, and the safe distance of the vehicle is obtained based on the minimum turning radius; detects the return start signal, obtains the deflection state according to the return angle and the parking space angle, calculates the deflection angle, and completes automatic return according to the deflection angle, the deflection state and the safe distance.

[0061] The above embodiments are only used to illustrate the technical method of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical method of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the present invention.

Claims

1. A parking safety intelligent monitoring system, characterized in that: include: Data collection module, signal processing module and automatic return module; Data collection module: used to collect tire corner information and parking position information in real time, and monitor vehicle operation data; Signal processing module: used to generate a return-to-center start signal based on the vehicle's operating data and the tire's turning angle information; detect the vehicle's parking data based on the turning angle information and the parking position information; Automatic return module: used to complete automatic return based on the return start signal and parking data.

2. The parking safety intelligent monitoring system according to claim 1, characterized in that: The generating of the return-to-center start signal based on the vehicle operation data and the tire rotation angle information includes: A1: extracting operation data and turning angle information; wherein the operation information includes the operation state and the vehicle angle of the vehicle; the turning angle information is the tire angle of the vehicle tire; the operation state includes the operating state and the engine off state; A2: Determine whether the vehicle is in the off state; if yes, jump to A3; if no, generate a pause signal; A3: Determine whether the tire angle matches the vehicle angle; if yes, generate a corrected signal; if no, obtain the return angle based on the tire angle and the vehicle angle, and generate a return start signal.

3. The parking safety intelligent monitoring system according to claim 2 is characterized in that: The method of obtaining the return angle according to the tire angle and the vehicle angle includes: Compare the tire angle with the vehicle angle, take the vehicle angle as the center angle, take the center point of the vehicle as the midpoint, and take the line with the midpoint in the direction of the front of the center angle as the center line direction; Determine whether the tire angle is to the left of the centerline direction; if yes, mark the return angle state as positive castor; if no, mark the return angle state as negative castor; The included angle between the tire angle and the centerline direction is taken as the return angle, and the return angle is combined with the corresponding return angle state to obtain the return angle.

4. The parking safety intelligent monitoring system according to claim 1, characterized in that: The detecting of the parking data of the vehicle according to the turning angle information and the parking position information includes: B1: Extracting turning angle information and parking position information; wherein the parking position information includes the left lateral distance, right lateral distance, front longitudinal distance and rear longitudinal distance of the vehicle from the parking space boundary line measured by the distance measuring sensor on the vehicle; B2: Determine whether the parking position information has different sub-data on the same side; if yes, mark the parking state of the vehicle as an oblique state and jump to B4; if no, mark the parking state of the vehicle as a normal state and jump to B3; the sub-data include left lateral distance, right lateral distance, front longitudinal distance and rear longitudinal distance; B3: Select the larger value of the left lateral distance and the right lateral distance as the lateral distance, and select the larger value of the front longitudinal distance and the rear longitudinal distance as the longitudinal distance; extract the vehicle length from the vehicle database, take the quotient of the vehicle length and the tangent value of the return angle as the minimum turning radius of the vehicle, and add the minimum turning radius to the average value of the lateral distance and the longitudinal distance to obtain the safety distance; B4: Connect the distance measuring sensors to obtain the left lateral direction, the right lateral direction, the front longitudinal direction and the rear longitudinal direction, and combine the left lateral direction, the right lateral direction, the front longitudinal direction and the rear longitudinal direction to obtain the parking space angle between the center line of the vehicle and the parking space; determine whether the parking space angle is to the left of the center line direction; if yes, mark the parking space angle state corresponding to the parking space angle as positive forward tilt, and jump to B5; if no, mark the parking space angle state corresponding to the parking space angle as negative forward tilt, and jump to B6; B5: The quotient of the vehicle length and the sum of the return angle and the parking space angle is taken as the minimum turning radius of the vehicle. The minimum turning radius is added to the average of the lateral distance and the longitudinal distance to obtain the safe distance. B6: The quotient of the vehicle length and the difference between the return angle and the parking space angle is taken as the minimum turning radius of the vehicle. The minimum turning radius is added to the average of the lateral distance and the longitudinal distance to obtain the safe distance. B7: Integrate the parking status, parking space angle and safety distance of the vehicle to obtain parking data.

5. The parking safety intelligent monitoring system according to claim 1, characterized in that: The automatic return to the original position based on the return to the original position start signal and the parking data includes: Detection of positive start signal; If a return-to-center start signal is detected, the parking space angle and the corresponding parking space angle status are integrated to obtain the parking space angle data. The deflection angle status is obtained based on the return-to-center angle and the parking space angle data, and the deflection angle is calculated. The system automatically returns to the left direction of the center line to an angle that is the same as the deflection angle, and ensures that half of the vehicle length is less than the safety distance to complete the automatic return.

6. The parking safety intelligent monitoring system according to claim 5, characterized in that: The step of obtaining the deflection state and calculating the deflection angle according to the return angle and the parking space angle data includes: S1: extract the data of the return angle and the parking space angle; S2: Determine whether the return angle state is left positive tilt; if yes, jump to S3; if no, jump to S4; S3: Determine whether the parking space angle state is positive forward tilt; if yes, add the return angle to the parking space angle to obtain the deflection angle, and mark the deflection angle state as left tilt; if no, jump to S5; S4: Determine whether the parking space angle state is positive forward tilt; if yes, jump to S5; if no, add the return angle to the parking space angle to obtain the deflection angle, and mark the deflection angle state as right tilt state; S5: Determine whether the return angle is greater than the parking space angle; if yes, subtract the return angle from the parking space angle to obtain the deflection angle, select the direction of the return angle as the deflection direction, and obtain the deflection state according to the deflection direction; if no, subtract the parking space angle from the return angle to obtain the deflection angle, select the direction of the parking space angle as the deflection direction, and obtain the deflection state according to the deflection direction.

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