Intelligent vehicle navigation system based on multi-sensor signal source

Abstract

The invention discloses an intelligent vehicle navigation system based on a multi-sensor signal source, which belongs to the technical field of intelligent vehicle navigation and comprises a photoelectric sensing module, a distance sensing module, a signal processing module, an actuating mechanism module, a return difference control module, a microprocessor module and a user interaction module. By integrating a plurality of high-precision sensors such as the photoelectric sensing module and the distance sensing module, all-directional sensing of the surrounding environment of the vehicle is achieved, the photoelectric sensing module collects light values in different directions in real time through the two photoelectric sensors arranged at the included angle, the optimal light source direction can be accurately judged, and therefore the vehicle is guided to conduct accurate navigation; the distance sensing module monitors the distance between the vehicle and the obstacle in real time, the collision risk is effectively avoided, the surrounding environment of the vehicle is monitored in real time, potential safety hazards such as collision are effectively avoided, the system can intelligently adjust the vehicle direction according to the light source direction judgment result, and the vehicle is kept on the optimal driving path all the time.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle intelligent navigation, and in particular refers to a vehicle intelligent navigation system based on multi-sensor signal sources. Background Art

[0002] With the rapid development of science and technology and the intelligent transformation of the automobile industry, vehicle navigation systems, as an important part of modern automobiles, are undergoing a profound transformation from traditional navigation to intelligent navigation;

[0003] However, the existing vehicle intelligent navigation system with multiple sensor signal sources still has certain defects. The existing vehicle navigation system mainly relies on GPS signals for positioning and navigation. However, this single reliance on GPS signals is susceptible to signal blocking and interference in certain specific environments, such as tunnels and urban high-rise building dense areas, resulting in reduced positioning accuracy or even complete loss of navigation capability, which brings many inconveniences and safety risks to drivers. Therefore, a vehicle intelligent navigation system based on multiple sensor signal sources is proposed. Summary of the invention

[0004] The purpose of the present invention is to provide a vehicle intelligent navigation system based on multiple sensor signal sources to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions: a vehicle intelligent navigation system based on a multi-sensor signal source, comprising a photoelectric sensor module, a distance sensor module, a signal processing module, an actuator module, a hysteresis control module, a microprocessor module and a user interaction module;

[0006] The photoelectric sensing module includes two photoelectric sensors arranged at an angle, which are used to collect light values ​​in different directions;

[0007] The distance sensor module is used to monitor the distance between the vehicle and the obstacle in real time;

[0008] The signal processing module uses a programmable controller to process the data collected by the photoelectric sensor, calculate the light value difference and determine the best light source direction;

[0009] The actuator module is used to adjust the direction of the vehicle according to the instructions output by the controller;

[0010] The hysteresis control module is used to reduce the swing phenomenon of the servo motor after rapid positioning;

[0011] The microprocessor module is used to receive photoelectric sensor data and run a preset algorithm, and issue precise control instructions to the servo motor;

[0012] The user interaction module is used to provide a human-computer interaction interface.

[0013] Among them, when the system is running, the two photoelectric sensors respectively collect light values ​​in their respective directions in real time, and transmit the collected data to the signal processing module. The data collection frequency is set according to the application scenario.

[0014] Among them, the sensor is installed at a key position of the vehicle. When the system starts, the distance sensor is initialized, including calibrating the zero point, setting the measurement range and adjusting the sensitivity. The distance sensor transmits a signal at a fixed frequency and receives the reflected signal. The distance between the vehicle and the obstacle is calculated based on the round-trip time of the signal. The formula is:

[0015]

[0016] Where D is the distance, c is the speed of the signal, and t is the round-trip time of the signal.

[0017] The signal processing module receives the real-time collected light value data from the photoelectric sensor through the interface, performs preliminary preprocessing on the received data, removes noise and corrects sensor errors, and sets the collected light value to V 1 and V 2 , calculate V 1 and V 2 The difference ΔV is:

[0018] ΔV=V 1 -V 2 ;

[0019] The direction of the light source is determined according to the sign and size of the light value difference ΔV, as follows:

[0020] A1: If ΔV>0, the light value collected by the left sensor is larger, and the light source is biased to the left;

[0021] A2: If ΔV < 0, the light value collected by the right sensor is larger, and the light source is biased to the right;

[0022] A3: If ΔV is close to zero, the vehicle is facing the light source.

[0023] When the system is started, the servo motor is initialized, including calibrating the zero point position, setting the maximum angular range and adjusting the response speed. The actuator module receives a control instruction from the signal processing module. The instruction content includes the angle value or adjustment range of the target direction. After receiving the control instruction, the servo motor rotates, driving the transmission device to adjust the direction of the vehicle.

[0024] Among them, the reason for the swing phenomenon after the servo motor is quickly positioned is analyzed, and the hysteresis value is set. The hysteresis value indicates that when the light source direction deviation is less than a certain threshold, the light value difference ΔV is obtained and compared with the hysteresis value to determine whether an adjustment action needs to be triggered.

[0025] Among them, in the hysteresis control module, when the absolute value of ΔV is greater than the hysteresis value, the actuator module adjusts the vehicle direction according to the instruction of the signal processing module, and when the absolute value of ΔV is less than or equal to the hysteresis value, the adjustment action is suspended to allow the vehicle to remain stable within the error range.

[0026] The communication interface receives the light value data collected in real time from the photoelectric sensor, performs preliminary processing on the received data, including removing noise and correcting sensor errors, and loading a pre-designed algorithm into the microprocessor.

[0027] The microprocessor module generates specific control instructions according to the result of determining the direction of the light source, and sends the control instructions to the servo motor through the communication interface.

[0028] The data are obtained from the signal processing module, photoelectric sensor and other related modules in real time, including the direction of the light source and the light value difference. When the system detects an abnormal situation, a clear alarm prompt is provided through the interface.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] 1. The present invention realizes all-round perception of the vehicle's surrounding environment by integrating multiple high-precision sensors such as photoelectric sensor modules and distance sensor modules. The photoelectric sensor module uses two photoelectric sensors arranged at an angle to collect light values ​​in different directions in real time. Through calculation and analysis by the signal processing module, it can accurately determine the direction of the best light source, thereby guiding the vehicle to perform precise navigation. The distance sensor module monitors the distance between the vehicle and obstacles in real time, effectively avoiding the risk of collision;

[0031] 2. The present invention performs signal processing through a programmable controller and has powerful data processing and algorithm operation capabilities. The system can flexibly adjust the data acquisition frequency of the photoelectric sensor according to different application scenarios to ensure the real-time and accuracy of the data. The microprocessor module runs a preset algorithm and can generate specific control instructions based on the result of the light source direction judgment, and send them to the servo motor through the communication interface to realize intelligent navigation of the vehicle;

[0032] 3. The present invention effectively avoids potential safety hazards such as collisions by real-time monitoring of the vehicle's surroundings. The system can intelligently adjust the vehicle's direction according to the result of the light source direction judgment, so that the vehicle always stays on the best driving path, thereby improving driving efficiency; BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a structural schematic diagram of a vehicle intelligent navigation system based on multi-sensor signal sources of the present invention;

[0034] Figure 2The operation flow of the vehicle intelligent navigation system based on multi-sensor signal sources of the present invention is as follows Figure 1 ;

[0035] Figure 3 The operation flow of the vehicle intelligent navigation system based on multi-sensor signal sources of the present invention is as follows Figure 2 . DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not 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.

[0037] Example

[0038] See also Figure 1-Figure 3 As shown, the present invention provides a technical solution: including a photoelectric sensor module, a distance sensor module, a signal processing module, an actuator module, a hysteresis control module, a microprocessor module and a user interaction module;

[0039] The photoelectric sensing module includes two photoelectric sensors arranged at an angle, which are used to collect light values ​​in different directions;

[0040] The distance sensor module is used to monitor the distance between the vehicle and the obstacle in real time;

[0041] The signal processing module uses a programmable controller to process the data collected by the photoelectric sensor, calculate the light value difference and determine the best light source direction;

[0042] The actuator module is used to adjust the direction of the vehicle according to the instructions output by the controller;

[0043] The hysteresis control module is used to reduce the swing phenomenon of the servo motor after rapid positioning;

[0044] The microprocessor module is used to receive photoelectric sensor data and run a preset algorithm, and issue precise control instructions to the servo motor;

[0045] The user interaction module is used to provide a human-computer interaction interface.

[0046] Among them, when the system is running, the two photoelectric sensors respectively collect light values ​​in their respective directions in real time, and transmit the collected data to the signal processing module. The data collection frequency is set according to the application scenario.

[0047] Among them, the sensor is installed at a key position of the vehicle. When the system starts, the distance sensor is initialized, including calibrating the zero point, setting the measurement range and adjusting the sensitivity. The distance sensor transmits a signal at a fixed frequency and receives the reflected signal. The distance between the vehicle and the obstacle is calculated based on the round-trip time of the signal. The formula is:

[0048]

[0049] Where D is the distance, c is the speed of the signal, and t is the round-trip time of the signal.

[0050] The signal processing module receives the real-time collected light value data from the photoelectric sensor through the interface, performs preliminary preprocessing on the received data, removes noise and corrects sensor errors, and sets the collected light value to V 1 and V 2 , calculate V 1 and V 2 The difference ΔV is:

[0051] ΔV=V 1 -V 2 ;

[0052] The direction of the light source is determined according to the sign and size of the light value difference ΔV, as follows:

[0053] A1: If ΔV>0, the light value collected by the left sensor is larger, and the light source is biased to the left;

[0054] A2: If ΔV < 0, the light value collected by the right sensor is larger, and the light source is biased to the right;

[0055] A3: If ΔV is close to zero, the vehicle is facing the light source.

[0056] When the system is started, the servo motor is initialized, including calibrating the zero point position, setting the maximum angular range and adjusting the response speed. The actuator module receives a control instruction from the signal processing module. The instruction content includes the angle value or adjustment range of the target direction. After receiving the control instruction, the servo motor rotates, driving the transmission device to adjust the direction of the vehicle.

[0057] Among them, the reason for the swing phenomenon after the servo motor is quickly positioned is analyzed, and the hysteresis value is set. The hysteresis value indicates that when the light source direction deviation is less than a certain threshold, the light value difference ΔV is obtained and compared with the hysteresis value to determine whether an adjustment action needs to be triggered.

[0058] Among them, in the hysteresis control module, when the absolute value of ΔV is greater than the hysteresis value, the actuator module adjusts the vehicle direction according to the instruction of the signal processing module, and when the absolute value of ΔV is less than or equal to the hysteresis value, the adjustment action is suspended to allow the vehicle to remain stable within the error range.

[0059] The communication interface receives the light value data collected in real time from the photoelectric sensor, performs preliminary processing on the received data, including removing noise and correcting sensor errors, and loading a pre-designed algorithm into the microprocessor.

[0060] The microprocessor module generates specific control instructions according to the result of determining the direction of the light source, and sends the control instructions to the servo motor through the communication interface.

[0061] The data are obtained from the signal processing module, photoelectric sensor and other related modules in real time, including the direction of the light source and the light value difference. When the system detects an abnormal situation, a clear alarm prompt is provided through the interface.

[0062] Working principle: Environmental data is collected through multiple sensor signal sources such as photoelectric sensor module and distance sensor module. After being processed by the signal processing module, the microprocessor module issues precise control instructions to drive the actuator module to adjust the direction of the vehicle and realize intelligent navigation. When the system starts, it is first initialized and set. The two photoelectric sensors arranged at an angle in the photoelectric sensor module begin to collect the light value in the direction in real time and transmit the data to the signal processing module. At the same time, the distance sensor module is also initialized, including calibrating the zero point, setting the measurement range and adjusting the sensitivity. Then, it transmits the signal at a fixed frequency and receives the reflected signal. The distance between the vehicle and the obstacle is calculated based on the round-trip time of the signal. After receiving the light value data from the photoelectric sensor, the signal processing module performs preliminary preprocessing to remove noise and correct sensor errors. Then, it calculates the difference in light values ​​collected by the two photoelectric sensors, and judges the direction of the light source based on the sign and size of the difference. This information is very important for the vehicle Vehicle navigation is crucial because it can help the system determine whether the vehicle is aligned with the target light source or needs to adjust its direction. Once the direction of the light source or the direction that needs to be adjusted is determined, the microprocessor module will generate specific control instructions based on the preset algorithm. These instructions are sent to the servo motor through the communication interface to drive the actuator module to adjust the direction of the vehicle. In order to ensure the accuracy of the adjustment, the system is also equipped with a hysteresis control module. This module will analyze the possible swing phenomenon after the servo motor is quickly positioned, and set a hysteresis value. When the deviation in the direction of the light source is less than the hysteresis value, the system will suspend the adjustment action, allowing the vehicle to remain stable within the error range, and the system also has user interaction functions. The user interaction module provides an intuitive human-computer interaction interface that can display key information such as the direction of the light source and the difference in light value in real time. When the system detects an abnormal situation, it will also provide clear alarm prompts through the interface to ensure that the driver can understand the vehicle status in time and take appropriate measures.

[0063] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

[0064] The present invention and its embodiments are described above, and such description is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. In short, if ordinary technicians in the field are inspired by it, without departing from the purpose of the invention, they can design a structure and embodiment similar to the technical solution without creativity, which should belong to the protection scope of the present invention.

Claims

1. A vehicle intelligent navigation system based on multi-sensor signal sources, characterized in that: It includes a photoelectric sensor module, a distance sensor module, a signal processing module, an actuator module, a hysteresis control module, a microprocessor module and a user interaction module; The photoelectric sensing module includes two photoelectric sensors arranged at an angle, which are used to collect light values ​​in different directions; The distance sensor module is used to monitor the distance between the vehicle and the obstacle in real time; The signal processing module uses a programmable controller to process the data collected by the photoelectric sensor, calculate the light value difference and determine the best light source direction; The actuator module is used to adjust the direction of the vehicle according to the command output by the controller; The hysteresis control module is used to reduce the swing phenomenon of the servo motor after rapid positioning; The microprocessor module is used to receive photoelectric sensor data and run a preset algorithm, and issue precise control instructions to the servo motor; The user interaction module is used to provide a human-computer interaction interface.

2. The vehicle intelligent navigation system based on multi-sensor signal sources according to claim 1, characterized in that: When the system is running, the two photoelectric sensors respectively collect light values ​​in their respective directions in real time, and transmit the collected data to the signal processing module. The data collection frequency is set according to the application scenario.

3. The vehicle intelligent navigation system based on multi-sensor signal sources according to claim 1, characterized in that: The sensor is installed at a key position of the vehicle. When the system starts, the distance sensor is initialized, including calibrating the zero point, setting the measurement range and adjusting the sensitivity. The distance sensor transmits a signal at a fixed frequency and receives the reflected signal. The distance between the vehicle and the obstacle is calculated based on the round-trip time of the signal. The formula is: Where D is the distance, c is the signal propagation speed, and t is the round-trip time of the signal.

4. The vehicle intelligent navigation system based on multi-sensor signal sources according to claim 1, characterized in that: The signal processing module receives the real-time collected light value data from the photoelectric sensor through the interface, performs preliminary preprocessing on the received data, removes noise and corrects sensor errors, and assumes that the collected light values ​​are V1 and V2, and calculates the difference ΔV between V1 and V2. The formula is: ΔV=V1-V2; The direction of the light source is determined according to the sign and size of the light value difference ΔV, as follows: A1: If ΔV>0, the light value collected by the left sensor is larger, and the light source is biased to the left; A2: If ΔV < 0, the light value collected by the right sensor is larger, and the light source is biased to the right; A3: If ΔV is close to zero, the vehicle is facing the light source.

5. The vehicle intelligent navigation system based on multi-sensor signal sources according to claim 1, characterized in that: When the system is started, the servo motor is initialized, including calibrating the zero point position, setting the maximum angular range and adjusting the response speed. The actuator module receives a control instruction from the signal processing module. The instruction content includes the angle value or adjustment range of the target direction. After receiving the control instruction, the servo motor rotates, driving the transmission device to adjust the direction of the vehicle.

6. The vehicle intelligent navigation system based on multi-sensor signal sources according to claim 1, characterized in that: The reason for the swing phenomenon after the servo motor is quickly positioned is analyzed, and a hysteresis value is set. The hysteresis value indicates that when the light source direction deviation is less than a certain threshold, the light value difference ΔV is obtained and compared with the hysteresis value to determine whether an adjustment action needs to be triggered.

7. The vehicle intelligent navigation system based on multi-sensor signal sources according to claim 1, characterized in that: In the hysteresis control module, when the absolute value of ΔV is greater than the hysteresis value, the actuator module adjusts the vehicle direction according to the instruction of the signal processing module, and when the absolute value of ΔV is less than or equal to the hysteresis value, the adjustment action is suspended to allow the vehicle to remain stable within the error range.

8. The vehicle intelligent navigation system based on multi-sensor signal sources according to claim 1, characterized in that: The communication interface receives the light value data collected in real time from the photoelectric sensor, performs preliminary processing on the received data, including removing noise and correcting sensor errors, and loading a pre-designed algorithm into the microprocessor.

9. The vehicle intelligent navigation system based on multi-sensor signal sources according to claim 1, characterized in that: The microprocessor module generates a specific control instruction according to the result of determining the direction of the light source, and sends the control instruction to the servo motor through the communication interface.

10. The vehicle intelligent navigation system based on multi-sensor signal sources according to claim 1, characterized in that: The system acquires data from the signal processing module, photoelectric sensor and other related modules in real time, including the direction of the light source and the light value difference. When the system detects an abnormal situation, a clear alarm prompt is provided through the interface.

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