Laser emission apparatus for vehicle, and collision prevention control method therefor

Abstract

A laser emission apparatus for a vehicle, and a collision prevention control method therefor. The laser emission apparatus (800, 200, 600, 250, 501, 502) comprises: a sensor unit (10), a signal processing unit (20), and a control unit (30). The laser emission apparatus (800, 200, 600, 250, 501, 502) also comprises a laser emission board, a laser emitter (221, 104), or a laser rangefinder. The laser emission apparatus can scan a road surface and emit a laser beam in a specific direction onto the road surface to detect the distance, and can enable a light spot trajectory line, which consists of light spots formed by the laser beam on the road surface, to represent a left-side travel trajectory line or a right-side travel trajectory line that is formed on the road surface by the vehicle body of a vehicle that is about to arrive at the position; and when there is an obstacle or pit on the travel trajectory line, the laser beam emitted by the laser emission apparatus (800, 200, 600, 250, 501, 502) is reflected after reaching the surface of the obstacle or the inner surface of the pit, so as to obtain a detected distance, and then a collision prevention execution unit (40) is activated in linkage to perform a collision prevention action.

Description

Laser emitting device of vehicle and anti-collision control method thereof TECHNICAL FIELD

[0001] The present application relates to laser radar for vehicle driving. BACKGROUND

[0002] The laser radar equipped in the vehicle with automatic driving function has many shortcomings: the existing laser radar can scan and detect whether there is an obstacle on the road surface at a long distance of 200 meters or 250 meters, but there is a blind spot at medium and short distances. The current laser radar pursues high resolution and high point frequency, which requires very high control chips and algorithms, resulting in high cost. Moreover, there are defects of slow and inaccurate anti-collision response. SUMMARY

[0003] One of the purposes of the present application is to solve the problem of detection blind spot of the current laser radar when driving the vehicle, and to provide an anti-collision system that can not collide with obstacles or potholes during vehicle driving.

[0004] A laser emitting device of a vehicle, the laser emitting device comprising a sensor unit, a signal processing unit, a control unit, the laser emitting device comprising a laser emitting plate or a laser emitter or a laser range finder, the laser emitting device being capable of scanning and emitting laser beams of a specific direction to detect the distance on the road surface and forming a light spot track line composed of each light spot on the road surface, the light spot track line representing a left side running track line or a right side running track line formed by the vehicle body to be driven on the road surface, or forming a light spot track line composed of each light spot on the road surface, the light spot track line representing a left side safety running track line outside the left side running track line formed by the vehicle body to be driven on the road surface, or forming a light spot track line composed of each light spot on the road surface, the light spot track line representing a right side safety running track line outside the right side running track line formed by the vehicle body to be driven on the road surface, when there is an obstacle or a pothole on the running track line or the safety running track line, the laser emitting device emits laser beams to the surface of the obstacle or the inner surface of the pothole, and when the reflected detection distance is obtained, the anti-collision executing unit is linked to perform anti-collision action;

[0005] The laser emitting device includes a laser emitter and its chip, a laser receiver and its chip, a rotating mechanism, time measurement, data processing, a control chip, power management, etc. The laser emitting device can also use a laser emitting board or a laser range finder. The laser emitting device can also use a laser emitting board or a laser range finder or an existing mechanical laser radar connected with a servo motor or connected with a motor. When there is an obstacle or a pit on the running track line or the safe running track line, the distance between the light spot formed by the laser emitted by the laser emitting device to the obstacle or pit and the rotating point of the laser beam is suddenly broken compared with the theoretical distance between the light spot formed by the laser emitted by the laser emitting device to the ground on the running track line or the safe running track line and the rotating point of the laser beam when there is no obstacle or pit. This is because the theoretical distance between the light spot formed by the laser emitted by the laser emitting device to the ground on the running track line or the safe running track line and the rotating point of the laser beam increases with the increase of the distance from the car when there is no obstacle or pit. In the coordinate graph, a continuous rising curve can be formed. When the laser emitting device emits laser to the running track line or the safe running track line on the ground and encounters an obstacle or a pit, the detection distance between the light spot formed by the laser emitted by the laser emitting device to the obstacle or pit and the rotating point of the laser beam appears multiple almost same distance values. The number of almost same data of the detection distance is determined by the point frequency of the laser emitted by the laser emitter. The higher the point frequency, the more data collected and the greater the detection point density at the obstacle or pit. The detection points with close detection distances converge together in the coordinate graph to form an aggregation area of detection points with close detection distances. That is, when there is no obstacle or pit, the detection distances of the detection points are formed around the continuous rising curve of the theoretical distance to fluctuate and rise. However, when there is an obstacle or a pit on the running track line or the safe running track line, the laser beam emitted by the laser emitting device forms a light spot on the obstacle or in the pit, and the detection distance between the light spot and the rotating point of the laser beam appears a sudden breaking phenomenon. That is, the detection distance of the detection point deviates from the fluctuation range of the values of the detection distances of the detection points around the continuous rising curve. The rising trend of the fluctuating detection distances appears a sudden breaking phenomenon. At this time, it can be determined that there is an obstacle or a pit. The data analysis unit substitutes the x coordinate and the y coordinate of the obstacle or the pit into the running track line equation or the safe running track line equation to calculate and analyze whether the obstacle or the pit is on the running track line or the safe running track line. If the x coordinate and the y coordinate substituted into the track line equation satisfy the track line equation, it is verified that the obstacle or the pit is on the running track line or the safe running track line, and the anti-collision execution unit is immediately linked to perform a deceleration action or a brake action.

[0006] The judgment method of whether the above obstacles or pits exist can also be confirmed and verified twice or more, including: when the laser beam is emitted along the running track line or the safe running track line on the ground, the detection distance detected by the laser beam rotating twice appears twice The following phenomena on the coordinate graph: when the laser beam rotates the first time, the detection distance from the front of the vehicle increases with the increase of the distance to form an upward wave rising curve, but when the obstacle or pit is detected, the detection distance has a numerical mutation and a broken phenomenon, which is separated from the upward wave rising curve, and a plurality of detection values with almost the same detection distance appear. Then when the laser beam rotates the second time, the detection distance from the front of the vehicle again increases from a small value with the increase of the distance from the vehicle to form an upward curve, but when the obstacle or pit is detected, the detection distance has a numerical mutation and a broken phenomenon, which is separated from the wave rising curve, and a plurality of detection values with almost the same detection distance appear. In this way, the detection distance regularly increases from small to large twice, and in each frame of coordinate graph picture formed by each rotation scanning, the detection distance value has a mutation and a broken phenomenon, and a plurality of detection values with almost the same detection distance appear. At this time, it can be determined that there is an obstacle or pit on the road surface, and the data analysis unit verifies that the obstacle or pit is located at the running track line or the safe running track line, or confirms that the obstacle or pit is located between the left running track line and the right running track line, or confirms that the obstacle or pit is located between the left safe running track line and the right safe running track line. After that, the relay coil or the relay module is turned on to start the anti-collision execution unit to perform anti-collision action such as deceleration action or brake action;

[0007] And if the laser emitting device does not detect measurement data indicating a safe condition: because the angle between the laser beam and the ground is small and the reflectivity is low, the laser receiving plate does not receive the reflected laser signal, so the laser emitting device cannot detect the distance. But as long as there is an obstacle or pit, there will be a reflected laser signal, and the laser receiver will receive the reflected laser signal to get the detection distance information;

[0008] The laser emitting device can emit laser to detect the distance of the road surface in the safety range of the vehicle body that will be driven through on the track where the vehicle will be driven, and the light spot track line formed on the road surface forms a ring shape or a cow horn shape with a narrow inside and a wide outside. The specific form includes that the laser emitting device can emit laser to detect the running track line of the vehicle body that will be driven in place on the road surface or the safety running track line on the road surface outside the running track line of the vehicle body that will be driven in place. When the intersection point of the laser beam and the plane on the ground where the running track line or the safety running track line is formed and the theoretical distance of the rotating point of the laser beam compared with the actual road surface detection distance suddenly breaks, it indicates that there is an obstacle or a pit in front of the vehicle. After the data analysis unit verifies that the obstacle or pit is located at the running track line or the safety running track line, or confirms that the obstacle or pit is located between the left running track line and the right running track line, or confirms that the obstacle or pit is located between the left safety running track line and the right safety running track line, the anti-collision executing unit is linked to perform an anti-collision action such as a deceleration action or a brake action.

[0009] The signal processing unit receives the angle size signal and direction signal of the left front wheel or the right front wheel of the vehicle through the angle sensor, or the signal processing unit converts the angle signal from the angle sensor into the angle size and direction signal of the left front wheel or the right front wheel of the vehicle. The signal processing unit calculates the equation of the running track line of the left running control point of the vehicle or the equation of the safety running track line of the left safety running control point of the vehicle or the equation of the running track line of the right running control point of the vehicle or the equation of the safety running track line of the right safety running control point of the vehicle according to the angle size of the left front wheel or the right front wheel of the vehicle. The laser emitting device can emit single-line laser or multi-line laser to the running track line or the safety running track line on the road surface. The control unit can control the laser emitting device to scan and emit laser to measure the distance of the road surface according to the equation of the left running track line or the equation of the left safety running track line or the equation of the right running track line or the equation of the right safety running track line, and let the road surface light spot track line represent the running track line or the safety running track line of the vehicle. The specific way includes one of the following ways:

[0010] The left side of the vehicle is provided with a laser emitting device I, and the right side of the vehicle is provided with a laser emitting device II. The laser emitting device I is responsible for emitting laser to scan and detect the left safety running track line I which is the leftmost among all the track lines of the vehicle that will be driven in place according to the angle size of the left front wheel. The laser emitting device II is responsible for emitting laser to scan and detect the right safety running track line II which is the rightmost among all the track lines of the vehicle that will be driven in place according to the angle size of the left front wheel.

[0011] The vehicle is provided with a laser emitting device I on one side of the top of the vehicle, and a laser emitting device II on the other side, the laser emitting device I is arranged above the center of the left rear wheel, the laser emitting device II is arranged above the center of the right rear wheel, the laser emitting device I is responsible for emitting laser scanning detection on the left side safety running trajectory line I which is the leftmost trajectory line of all points on the vehicle to be driven in place according to the turning angle of the left front wheel, and the laser emitting device II is responsible for emitting laser scanning detection on the right side safety running trajectory line II which is the rightmost trajectory line of all points on the vehicle to be driven in place according to the turning angle of the left front wheel or the right front wheel;

[0012] The vehicle is provided with a laser emitting device I on the right side of the top of the vehicle, a laser emitting device II on the left side of the top, and a laser emitting device III in the middle part, the laser emitting device I is responsible for emitting laser scanning detection on the left side safety running trajectory line I which is the leftmost trajectory line outside the trajectory line of all points on the vehicle to be driven according to the turning angle of the left front wheel and the turning angle of the left rear wheel, the laser emitting device II is responsible for emitting laser scanning detection on the right side safety running trajectory line II which is the rightmost trajectory line outside the trajectory line II of all points on the vehicle to be driven according to the turning angle of the right front wheel and the turning angle of the right rear wheel, and the laser emitting device III performs horizontal scanning between the safety running trajectory line I and the safety running trajectory line II under the control of the control unit and gradually advances or retreats from the front side of the vehicle to the far side according to the safety distance;

[0013] The vehicle is provided with a laser emitting device I on the right side of the top of the vehicle, a laser emitting device II on the left side of the top, and a laser emitting device III in the middle part, the laser emitting device I is responsible for emitting laser scanning detection on the right side safety running trajectory line I which is the rightmost trajectory line outside the trajectory line of all points on the vehicle to be driven according to the turning angle of the left front wheel, the laser emitting device II is responsible for emitting laser scanning detection on the left side safety running trajectory line II which is the leftmost trajectory line outside the trajectory line of all points on the vehicle to be driven according to the turning angle of the front wheel, and the laser emitting device III is responsible for horizontal scanning between the left side safety running trajectory line I and the right side safety running trajectory line II at the position of the safety distance in front of the vehicle according to the safety distance corresponding to the speed of the vehicle, the laser emitting device III is arranged on a rudder, a gimbal, a motor, a servo motor or a stepping motor, and the rudder, the gimbal, the motor, the servo motor or the stepping motor can adjust the angle of the emitted laser beam according to the sensor information such as the speed of the vehicle to make the light spot emitted to the ground be 1 times or other set multiples of the safety distance of the vehicle;

[0014] The top of the vehicle is provided with a laser emitting device, which performs horizontal scanning back and forth within a safe distance between the left and right running trajectory lines, or performs horizontal scanning back and forth within a safe distance between the left and right safe running trajectory lines. The setting of the above-mentioned safe distance is generally set according to existing experience values, such as when the vehicle speed is 100 kilometers per hour, the safe distance between the running vehicle and the front obstacle is 100 meters, when the vehicle speed is 80 kilometers per hour, the safe distance between the running vehicle and the front obstacle is 80 meters, when the vehicle speed is 60 kilometers per hour, the safe distance between the running vehicle and the front obstacle is 60 meters, etc. The setting of the above-mentioned safe distance is not absolute, and can be set according to factors such as vehicle type, etc.

[0015] Among them, the meaning of the left running trajectory line is that the leftmost circular arc line in the circular arc line formed by the rotation of the vertical projection point of all points on the vehicle about to run on the vehicle on the plane at the road surface below the vehicle body when the vehicle changes direction is called the left running trajectory line, and the circular arc line formed by the rotation of the point at the safe redundant distance outside the left running trajectory line about the center of the vehicle when the vehicle changes direction is called the left safe running trajectory line. The meaning of the right running trajectory line is that the rightmost circular arc line in the circular arc line formed by the rotation of the vertical projection point of all points on the vehicle about to run on the vehicle about the center of the vehicle when the vehicle changes direction is called the right running trajectory line, and the circular arc line formed by the rotation of the point at the safe redundant distance outside the right running trajectory line about the center of the vehicle when the vehicle changes direction is called the right safe running trajectory line. The safe redundant distance can be set to 20 cm or 30 cm or 39 cm or 50 cm or other values. In this way, the road surface detection distance obtained by emitting laser light to the left and right safe running trajectory lines improves the safety of the vehicle during running between the left and right running trajectory lines. In this way, the left and right safe running trajectory lines form a safe channel for safe running of the vehicle. The above-mentioned left and right safe running trajectory lines form a ring shape or a cow horn shape with a narrow inside and a wide outside.

[0016] The left side of the vehicle is provided with a laser emitting device I, and the right side of the vehicle is provided with a laser emitting device II. The laser emitting device I is responsible for emitting laser scanning detection to the right running trajectory line I, which is the rightmost trajectory line of all points on the vehicle about to run in place, according to the turning angle of the left front wheel. The laser emitting device II is responsible for emitting laser scanning detection to the left running trajectory line II, which is the leftmost trajectory line of all points on the vehicle about to run in place, according to the turning angle of the left front wheel.

[0017] The left side of the vehicle is provided with a laser emitting device I, and the right side of the vehicle is provided with a laser emitting device II, the laser emitting device I is responsible for emitting laser scanning detection on the leftmost left running trajectory line I in the trajectory line of all points on the vehicle to be driven into position according to the angle of the left front wheel, and the laser emitting device II is responsible for emitting laser scanning detection on the rightmost right running trajectory line II in the trajectory line of all points on the vehicle to be driven into position according to the angle of the left front wheel;

[0018] The left side of the vehicle is provided with a laser emitting device I, and the right side of the vehicle is provided with a laser emitting device II, the laser emitting device I is responsible for emitting laser scanning detection on the leftmost left running trajectory line I in the trajectory line of all points on the vehicle to be driven into position according to the angle of the left front wheel, and the laser emitting device II is responsible for emitting laser scanning detection on the rightmost right running trajectory line II in the trajectory line of all points on the vehicle to be driven into position according to the angle of the left front wheel or the right front wheel;

[0019] The right side of the vehicle roof is provided with a laser emitting device I, the left side of the roof is provided with a laser emitting device II, and the middle part is provided with a laser emitting device III, the laser emitting device I is responsible for emitting laser scanning detection on the leftmost left running trajectory line I in the trajectory line of all points on the vehicle to be driven according to the angle of the left front wheel, the laser emitting device II is responsible for emitting laser scanning detection on the rightmost right running trajectory line II in the trajectory line of all points on the vehicle to be driven according to the angle of the left front wheel, and the laser emitting device III emits laser for transverse scanning between the running trajectory line I and the running trajectory line II through the control of the control unit, and gradually advances from the front side of the vehicle to the far side or gradually retreats to the front side of the vehicle according to the safety distance determined by the vehicle speed;

[0020] The right side of the roof of the vehicle is provided with a laser emitting device I, the left side of the roof is provided with a laser emitting device II, and the middle part is provided with a laser emitting device III. The laser emitting device I is responsible for emitting laser scanning detection on the rightmost right running track line I of the trajectory line of all points on the vehicle about to run according to the turning angle of the front left wheel. The laser emitting device II is responsible for emitting laser scanning detection on the leftmost left running track line II of the trajectory line of all points on the vehicle about to run according to the turning angle of the front left wheel. The laser emitting device III is responsible for transversely scanning the position at the safety distance in front of the vehicle between the left running track line I and the right running track line II according to the safety distance corresponding to the speed of the vehicle. The laser emitting device III is arranged on a rudder, a holder, a motor, a servo motor or a stepping motor. The rudder, the holder, the motor, the servo motor or the stepping motor can adjust the angle of the emitted laser beam so that the distance between the light spot emitted to the ground and the vehicle is 1 times or other set multiples of the speed of the vehicle.

[0021] A laser emitting device is arranged on the top of the vehicle. The laser emitting device performs horizontal scanning back and forth within the safety distance between the left running track line and the right running track line.

[0022] The laser emitting device is fixed to the front end of the vehicle or arranged on the top of the vehicle. The laser emitter or laser range finder can rotate or swing to reciprocally emit laser beams of a specific direction to the road surface to form a light spot track line representing a running track line or a safe running track line on the road surface. The laser emitter or laser range finder is vertically fixed to the rotating shaft of a motor, a servo motor or a stepping motor. When the laser emitter or laser range finder rotates or swings under the driving of the motor, the servo motor or the stepping motor, the center line of the laser beam emitted by the laser emitter or laser range finder forms a plane parallel to the center line of the wheel shaft of the rear wheel of the vehicle. The position of the rotating point of the laser emitted by the laser emitter or laser range finder is fixedly unchanged when the laser emitter or laser range finder rotates or swings.

[0023] The center point of the light spot formed by the laser beam emitted by the laser range finder or the laser emitter of the laser emitting device when the center line of the laser beam is perpendicular to the center line II of the rotating shaft II of the motor II and emitted to the road plane is taken as the coordinate origin of the coordinate graph. The coordinate origin at the light spot is moved to the left running control point or the right running control point or the left safety running control point or the right safety running control point by moving the laser emitting device. The plane formed by the center line of the laser beam and the center line II of the rotating shaft II of the motor II intersects the road plane at a straight line, and the straight line is taken as the x-axis. The straight line perpendicular to the x-axis and passing through the coordinate origin on the road plane is taken as the y-axis. In particular, the x-axis is taken to be parallel to the center line of the wheel shaft of the rear wheel of the vehicle. Thus, as long as the position of the rotating point of the laser beam emitted by the laser emitter is fixed and the position of the motor II is fixed when the laser range finder or the laser emitter rotates or swings, the center line of the laser beam emitted by the laser range finder or the laser emitter can be switched from the front running control point on the same side of the vehicle to the rear running control point outside the rear wheel on the same side of the vehicle by controlling the rotation of the rotating shaft II of the motor II. Thus, the initial target position of the laser emitting direction can be changed in real time, and the laser range finder or the laser emitter of one laser emitting device can be switched from rotating and scanning the running track line of the front running control point on the left side of the vehicle to rotating and scanning the running track line of the rear running control point on the left side of the vehicle.

[0024] The vehicle is provided with an angle sensor capable of detecting the angle of the left front wheel or the right front corner of the vehicle. According to the angle of the left front wheel or the right front corner of the vehicle, the equation of the left safe running track line of the vehicle is calculated by the data processing unit, and the equation of the right safe running track line of the vehicle is calculated. The laser emitting device I is arranged on the left side of the vehicle, the laser emitting device II is arranged on the right side of the vehicle, and the laser emitting device III is arranged on the middle part of the vehicle. According to the equation of the right safe running track line, the control unit can control the laser emitting device I to scan and emit laser ranging to the road surface and let the ground spot represent the right safe running track line. According to the equation of the left safe running track line, the control unit can control the laser emitting device II to scan and emit laser ranging to the road surface and let the ground spot represent the left safe running track line. According to the equation of the left safe running track line, the equation of the right safe running track line, and the safe distance in front of the vehicle, the control unit can control the laser emitting device III to perform transverse scanning on the road surface between the above-mentioned left safe running track line and the right safe running track line and at the safe distance in front of the vehicle to detect the distance of the ground laser spot. In this way, the scanning and emitting of the laser emitting device I, the laser emitting device II, and the laser emitting device III to the ground forms a safe detection range for the vehicle running. When there is an obstacle in the safe detection range, the detection distance of the laser emitting device I or the laser emitting device II or the laser emitting device III is less than the theoretical distance, and the phenomenon of sudden mutation of the detection distance value occurs. Or when there is a pit in the detection range, the detection distance of the laser emitting device I or the laser emitting device II or the laser emitting device III is greater than the theoretical distance, and the phenomenon of sudden mutation of the detection distance value occurs, and multiple similar values of the detection distance gather together. When the data processing unit verifies that the detection point of the sudden mutation of the detection distance value is located in the above-mentioned safe detection range, the anti-collision module or the anti-collision execution unit is started in time to perform deceleration or braking action.

[0025] The vehicle is provided with a laser emitting device, which determines the safe distance in front according to the left and right safe running trajectory lines and the speed of the vehicle, and controls the laser emitted by the laser emitting device to scan horizontally in the safe distance between the left and right safe running trajectory lines under the control of the control unit. When there is an obstacle in the detection range, the actual detection distance is smaller than the detection distance of the laser beam without obstacles or pits, and compared with the detection distance of the detection point in front of or behind the obstacle or pit, the value changes suddenly and has a breakpoint. When there is a pit in the detection range, the actual detection distance is greater than the detection distance of the laser beam without obstacles or pits, and compared with the detection distance of the detection point in front of or behind the obstacle or pit, the value changes suddenly and has a breakpoint, and a plurality of detection distances with similar values are gathered together. After verifying that the position of the obstacle or pit is between the left and right safe running trajectory lines of the vehicle, the anti-collision module or the anti-collision execution unit is started to slow down or brake in real time.

[0026] For the vehicle driving in front, the determination of the safe distance can also be calculated by twice continuous laser radar detection to calculate the relative speed v0, and then calculate the collision time TTC, which is obtained by dividing the remaining distance between the two vehicles by the relative speed v0, which provides the basis for the vehicle to maintain a safe distance from the front vehicle.

[0027] Wherein, the laser emitting device emits laser detection distance to the left side running trajectory line or the right side running trajectory line or the left side safe running trajectory line or the right side safe running trajectory line, when the information analysis unit verifies that the obstacle or the pit is at the left side running trajectory line or the right side running trajectory line or the left side safe running trajectory line or the right side safe running trajectory line, or the information analysis unit verifies that the obstacle or the pit is between the left side running trajectory line and the right side running trajectory line, or the information analysis unit verifies that the obstacle or the pit is between the left side safe running trajectory line and the right side safe running trajectory line, the real-time linkage anti-collision executing unit is started to slow down or brake; when the information analysis unit finds the obstacle or the pit, the x coordinate and the y coordinate of the obstacle or the pit detection point are substituted into the left side running trajectory line equation or the right side running trajectory line equation or the left side safe running trajectory line equation or the right side safe running trajectory line equation to judge the position of the obstacle or the pit, if the x coordinate and the y coordinate make the above trajectory line equation equal, it shows that the obstacle or the pit is at the left side running trajectory line or the right side running trajectory line or the left side safe running trajectory line or the right side safe running trajectory line; the position judgment method can also use the distance between the obstacle or the pit and the center of the vehicle running trajectory line to compare with the size of the radius of the left side running trajectory line or the right side running trajectory line or the left side safe running trajectory line or the right side safe running trajectory line: if the distance between the obstacle or the pit and the center of the running trajectory line is equal to the radius of the left side running trajectory line or the right side running trajectory line, it shows that the obstacle or the pit is on the left side running trajectory line or on the right side running trajectory line, if the above distance is less than the radius of the left side running trajectory line and less than the radius of the right side running trajectory line, it shows that the obstacle or the pit is outside the left side running trajectory line and the right side running trajectory line, if the above distance is greater than the radius of the left side running trajectory line and greater than the radius of the right side running trajectory line, it shows that the obstacle or the pit is outside the left side running trajectory line and the right side running trajectory line, if the above distance is greater than the radius of the left side running trajectory line and less than the radius of the right side running trajectory line, it shows that the obstacle or the pit is between the left side running trajectory line and the right side running trajectory line, if the above distance is greater than the radius of the right side running trajectory line and less than the radius of the left side running trajectory line, it shows that the obstacle or the pit is between the left side running trajectory line and the right side running trajectory line.If the distance is equal to the radius of the left safe running trajectory line or equal to the radius of the right safe running trajectory line, it means that the obstacle or the pothole is located on the left safe running trajectory line or on the right safe running trajectory line, if the distance is smaller than the radius of the left safe running trajectory line and smaller than the radius of the right safe running trajectory line, it means that the obstacle or the pothole is located outside the left safe running trajectory line and the right safe running trajectory line, if the distance is greater than the radius of the left safe running trajectory line and greater than the radius of the right safe running trajectory line, it means that the obstacle or the pothole is located outside the left safe running trajectory line and the right safe running trajectory line, if the distance is greater than the radius of the left safe running trajectory line and smaller than the radius of the right safe running trajectory line, it means that the obstacle or the pothole is located between the left safe running trajectory line and the right safe running trajectory line, if the distance is greater than the radius of the right safe running trajectory line and smaller than the radius of the left safe running trajectory line, it means that the obstacle or the pothole is located between the left safe running trajectory line or the right safe running trajectory line;

[0028] The vehicle is also provided with a camera, when the laser emitting device emits laser to detect the distance, the information analysis unit finds the obstacle or pit, the control unit controls the camera to capture a vertical picture passing through the light spot of the detection point of the obstacle or pit to confirm the position of the obstacle or pit, the detection point of the vehicle body located on the outside of the vertical projection line of the center line of the rear wheel axle of the vehicle and a certain distance outside the vertical projection point of the vehicle body on the vertical projection line is the coordinate origin and the vehicle safety operation control point, the information analysis unit finds the intersection of the left side safety operation trajectory line of the vehicle and the right side safety operation trajectory line of the vehicle with the vertical picture and marks it out after coordinate replacement and data fusion, the camera receives the light spot image data formed by the laser beam and transmits it to the image processing module, the image processing module can judge whether the obstacle or pit is between the left side safety operation trajectory line and the right side safety operation trajectory line according to the position relationship between the position of the laser light spot and the intersection of the left side safety operation trajectory line and the right side safety operation trajectory line with the vertical picture, if the obstacle or pit is between the left side safety operation control line and the right side safety operation line of the vehicle, the control unit judges whether there is a collision risk, if there is a collision risk, the anti-collision execution unit is linked to perform anti-collision action; the judgment scheme can also judge whether the obstacle or pit is between the left side safety operation trajectory line and the right side safety operation trajectory line according to the position relationship between the x coordinate and y coordinate of the detection point in the obstacle or pit and the left side safety operation trajectory line and the right side safety operation trajectory line, if the vehicle rotates counterclockwise when driving forward, taking the safety operation control point of the vehicle as the coordinate origin, the information processing unit analyzes the x coordinate and y coordinate of the obstacle or pit and calculates the distance between the detection point of the obstacle or pit and the center of the safety operation trajectory line of the vehicle, if the distance between the detection point and the center is less than the radius of the left side safety operation trajectory line of the vehicle, it means that the obstacle or pit is located on the left side of the left side safety operation trajectory line, if the distance is greater than the radius of the left side safety operation trajectory line and less than the radius of the right side safety operation trajectory line, it means that the obstacle or pit is in the driving trajectory of the vehicle, if the distance is greater than the radius of the right side safety operation trajectory line, it means that the obstacle or pit is located on the right side of the right side safety operation trajectory line, when the vehicle rotates clockwise, the analysis method in the counterclockwise rotation is adopted, the technical scheme can also dynamically display the picture containing the position relationship between the obstacle or pit and the operation trajectory line on the vehicle display screen through bus transmission and data fusion and other technical means, when the data analysis unit verifies that the obstacle or pit is between the left side safety operation control line and the right side safety operation line of the vehicle, the control unit judges whether there is a collision risk, if there is a collision risk, the anti-collision execution unit is linked to perform anti-collision action;

[0029] The laser emission plate or the laser emitter or the laser range finder is arranged on a rotating mechanism, the rotating mechanism includes a holder or a rudder or a driving arm driven by a motor, and the laser emission plate or the laser emitter or the laser range finder arranged on the holder or the rudder or the mechanical arm driven by the motor can emit laser beams in a specific direction to scan and detect the road surface under the control of the control unit, and the laser spot on the road surface forms a left running track line or a right running track line or a left safe running track line or a right safe running track line on the ground, and the specific structural scheme comprises the following steps:

[0030] The laser emission device comprises a motor I and a motor II, the rotating shaft I of the motor I is fixedly connected with a laser range finder, the center line of the laser beam emitted by the laser range finder is perpendicular to the center line of the rotating shaft I of the motor I and intersects at a point I, the shell of the motor I is fixed on the rotating shaft II of the motor II, the center line II of the rotating shaft II of the motor II is also perpendicular to the center line I of the rotating shaft I and intersects at the point I, and the point I is the rotation point of the laser beam, the laser emission device is arranged on a vehicle, and one laser emission device is responsible for scanning and detecting one running track line or one safe running track line, on the road surface, the running control point or the safe running control point of the vehicle on the road surface is taken as the coordinate origin, a horizontal plane where the coordinate origin is located is taken as the horizontal road surface to establish a plane rectangular coordinate system:

[0031] The laser emission device comprises a motor I and a motor II, the rotating shaft I of the motor I is fixedly connected with a laser range finder, the center line of the laser beam emitted by the laser range finder is perpendicular to the center line of the rotating shaft I of the motor I and intersects at a point I, the shell of the motor I is fixed on the rotating shaft II of the motor II, the center line II of the rotating shaft II of the motor II is also perpendicular to the center line I of the rotating shaft I and intersects at the point I, and the point I is the rotation point of the laser beam, the laser emission device is arranged on a vehicle, and one laser emission device is responsible for scanning and detecting one running track line or one safe running track line, on the road surface, the running control point or the safe running control point of the vehicle on the road surface is taken as the coordinate origin, a horizontal plane where the coordinate origin is located is taken as the horizontal road surface to establish a plane rectangular coordinate system:

[0032] A three-dimensional rectangular coordinate system for calculation can also be established: the running control point or the safe running control point of the vehicle on the road surface is taken as the coordinate origin, and a horizontal plane where the coordinate origin is located is taken as the horizontal road surface to establish a plane rectangular coordinate system:

[0033] The laser emitting device comprises motor I and motor II, the rotating shaft I of motor I is vertically fixedly connected with the laser range finder, the running control point or the safe running control point of the vehicle on the horizontal road surface is taken as the coordinate origin, the center line of the laser beam emitted by the laser range finder vertically fixedly connected with the rotating shaft I of motor I is perpendicular to the center line II of the rotating shaft II of motor II when the driving motor I stops rotating and positions, the center line of the laser beam is perpendicular to the center line II of the rotating shaft II and rotates around the rotating shaft II under the driving of the rotating shaft II, the plane formed by the rotating center line of the laser beam intersects with the horizontal road surface to form an intersecting straight line, the position of the laser emitting device is adjusted, the intersecting straight line passes through the coordinate origin and is set as the y axis, the straight line passing through the coordinate origin and perpendicular to the y axis is set as the x axis on the horizontal road surface, and the straight line passing through the coordinate origin and perpendicular to the x axis and the y axis forms a plane;

[0034] The center point of the light spot formed on the ground by the laser beam emitted by the laser range finder or the laser emitter when the center line of the laser beam is perpendicular to the center line II of the rotating shaft II of motor II is taken as the coordinate origin of the coordinate graph, the laser emitting device is moved to move the coordinate origin to the left running control point or the right running control point or the left safe running control point or the right safe running control point, the plane formed by the center line of the laser beam and the center line II of the rotating shaft II of motor II intersects with the ground to form a straight line, and the straight line is set as the x axis, and the straight line perpendicular to the x axis and passing through the coordinate origin is set as the y axis on the horizontal road surface;

[0035] The laser emitting device comprises motor I and motor II, the rotating shaft I of motor I is vertically fixedly connected with the laser range finder, the running control point or the safe running control point of the vehicle on the horizontal road surface is taken as the coordinate origin, the center line of the laser beam emitted by the laser range finder vertically fixedly connected with the rotating shaft I of motor I is perpendicular to the center line II of the rotating shaft II of motor II when the driving motor I stops rotating and positions, the center line of the laser beam is perpendicular to the center line II of the rotating shaft II and rotates around the rotating shaft II under the driving of the rotating shaft II, the plane formed by the rotating center line of the laser beam intersects with the horizontal road surface to form an intersecting straight line, the position of the laser emitting device is adjusted, the intersecting straight line passes through the coordinate origin and is set as the y axis, the straight line passing through the coordinate origin and perpendicular to the y axis is set as the x axis on the horizontal road surface, and the straight line passing through the coordinate origin and perpendicular to the x axis and the y axis forms a plane;

[0036] The laser emitting device comprises motor I, motor II and motor III, the rotating shaft I of motor I is vertically fixedly connected with a laser range finder, the center line of the laser beam emitted by the laser range finder intersects perpendicularly with the center line of the rotating shaft I of motor I at point I, the shell of motor I is fixed on the rotating shaft II of motor II, the center line II of the rotating shaft II of motor II intersects perpendicularly with the center line I of the rotating shaft I at point I, and point I is the rotating point of the laser beam, the shell of motor II is fixed on the rotating shaft III of motor III, the center line II of the rotating shaft II of motor II intersects perpendicularly with the center line of the rotating shaft III of motor III at point II, the center line of the rotating shaft II of motor II of the laser emitting device is parallel to the center line of the rear wheel axle of the vehicle, or the center line of the rear wheel axle of the vehicle is parallel to the plane where the laser light intersects with the center line of the rotating shaft II, when the direction of the laser emitted by the laser range finder is perpendicular to the center line of the rotating shaft II of motor II and rotates around the center line of the rotating shaft II of motor II, a rotating plane formed when the laser rotates is intersected with the ground to form a straight line;

[0037] The laser emitting device comprises motor I and motor II, the rotating shaft I of motor I is vertically fixedly connected with a laser emitter and a laser receiver, the laser emitter is provided with a chip, the laser receiver is also provided with a chip, the center line of the laser beam emitted by the laser emitter intersects perpendicularly with the center line of the rotating shaft I of motor I at point I, the shell of motor I is fixed on the rotating shaft II of motor II, the center line II of the rotating shaft II of motor II intersects perpendicularly with the center line I of the rotating shaft I at point I, and point I is the rotating point of the laser beam;

[0038] The laser emitting device can adopt the laser emitting device of the application, and can also adopt a single-line laser radar or a single-line laser emitter or a single-line laser radar which is mechanically rotated and which is available on the market. The single-line laser emitter is arranged on a two-dimensionally rotatable holder or rudder or connected with a multi-axis mechanical arm driven by a motor or a servo motor or a stepping motor. Alternatively, the entire laser emitting device of the application can be arranged on the holder or rudder or connected with the motor or the servo motor or the stepping motor. The laser receiving module is arranged around the laser emitter, so that the reflected signals of the laser can be received to the maximum extent during the rotation of the laser beam. The base of the entire laser emitting device can be directly arranged on the rudder holder. The laser emitting device arranged on the multi-axis mechanical arm or the rudder or the holder can be two-dimensionally rotated, so that the laser emitting device emits laser in a specific direction under the control of the control unit to perform rotating scanning detection and form a light spot track line on the ground, which represents a left running track line or a right running track line or a left safety running track line or a right safety running track line. The specific structural scheme comprises:

[0039] The laser emitting device is arranged on a two-dimensional steering engine, and the center line of the laser beam emitted by the laser emitting device is taken as a target controlled by the steering engine. The two-dimensional steering engine comprises a motor I and a motor II. The rotating shaft of the motor II is fixedly connected with the shell of the motor I. The rotating shaft of the motor I is fixedly connected with the shell of the laser emitting device. The center line of the rotating shaft of the motor I perpendicularly intersects with the laser light emitted by the laser emitting device at a rotating point. The center line of the rotating shaft of the motor II perpendicularly intersects with the center line of the rotating shaft of the motor I at the rotating point. The motor II can drive the motor I to rotate and drive the laser beam emitted by the laser emitting device to rotate around the center line of the rotating shaft of the motor II.

[0040] The laser emitting device adopts a rotatable single-line laser radar available on the market. The laser emitted by the rotatable single-line laser radar perpendicularly intersects with the rotating shaft I of a motor I in the single-line laser radar at a rotating point. The single-line laser radar can rotate 360 degrees to emit a laser beam. The rotating shaft of a motor II is fixedly connected with the shell of the single-line laser radar. The center line of the rotating shaft of the motor II perpendicularly intersects with the center line of the rotating shaft of the motor I at the rotating point. The motor II can drive the single-line laser radar to rotate and drive the laser beam emitted by the single-line laser radar to rotate around the center line of the rotating shaft of the motor II. The rotation speed and direction of the motor II and the rotation speed and direction of the motor I in the laser emitter can be coordinated by a single-chip microcomputer or a control unit, so that the laser beam emitted by the laser emitter of the single-line laser radar rotates and scans in a specific direction and forms a light spot track line on the ground, which can represent a left running track line or a right running track line or a left safe running track line or a right safe running track line.

[0041] The back of the laser emitter of the laser emitting device is fixedly connected with a thin steel rod with a diameter of 1 mm to 3 mm, the center line of the thin steel rod is on the same straight line as the center line of the laser beam when the laser emitter emits laser, a rotating point on the center line of the thin steel rod is rotatably fixed on the laser emitting device, the thin steel rod is arranged in a circular guide rail parallel to the ground, the circular guide rail is vertically movably fixed on a vertical guide rail perpendicular to the ground by a motor, the vertical guide rail has a length of 2 cm to 10 cm, the circular guide rail is also vertically arranged on a moving sliding table of a sliding table module, the data processing unit calculates and analyzes a left or right running track line equation according to the turning angle and direction of the front wheels of the vehicle, or calculates and analyzes a left or right safe running track line equation, the data processing unit calculates the in-place distance of the circular guide rail from the rotating point of the laser beam according to the height of the rotating point of the laser beam, the left or right running track line equation, the left or right safe running track line equation, and the radius of the circular guide rail, and then controls the sliding table to move to the in-place position, after the circular guide rail moves to the in-place position, the control unit controls the laser beam emitted by the laser emitting device to rotate or swing along the circular guide rail while emitting laser to the road surface to form a left or right running track line or a left or right safe running track line, the side of the above-mentioned circular track is provided with a plane parallel to the thin steel rod when it is vertically downward, the thin steel rod is tightly attached to the plane as a guide rail when it is vertically downward, a push rod capable of reciprocating can elastically press the thin steel rod to the plane as a guide rail or elastically press the thin steel rod to the outside of the circular track, so that when the circular guide rail is located at the position of the rotating point, the thin steel rod is driven to swing around the rotating point and tightly attach to the plane as a guide rail when the motor drives the push rod to reciprocate, and the laser emitted by the laser emitter forms a straight line spot on the ground when it swings, when the front wheels of the vehicle are counterclockwise turned by an angle, the data processing unit calculates the turning radius of the vehicle to calculate the leftmost left running track line and the rightmost right running track line when the vehicle is about to move to the in-place position, the control unit controls the motor connected with the circular track to rotate and drive the circular track to vertically fall by a corresponding displacement size, at this time, the thin steel rod is driven to reciprocate around the rotating point and tightly attach to the circular guide rail when the motor drives the push rod to reciprocate, and the laser emitted by the laser emitter forms a circular arc spot curve on the ground when it reciprocates, that is, the spot track formed by the laser emitted by the laser emitter when it swings in the circular track parallel to the ground is circular;

[0042] When the laser emitter swings back and forth in a circular track parallel to the ground, the laser beam emitted by the laser emitter will form a corresponding track on the ground, because the movement of the laser emitter is a circular movement around a center point, so the projection of the laser on the ground will also form a circular track, and this movement mode is that the moving track of the light spot generated on the ground by the laser emitting device provided with the laser emitter and the laser receiver through rapid rotation or swinging is a circular arc, and the laser range finder arranged on the steering engine can realize the swinging function.

[0043] In actual application, the accuracy of the movement track of the laser emitter or the laser range finder can be controlled by improving the collimation technology of the laser to ensure that the light spot track of the laser beam on the ground accurately represents the left or right running track line or the left or right safe running track line of the vehicle;

[0044] The rotating point of the laser emitted by the laser emitter of the laser emitting device is horizontally provided with a light blocking cover above, and the laser emitted by the laser emitter can only form a laser light spot towards the road surface, so that the laser emitted by the laser emitter can only be emitted towards the road surface and will not irradiate the human eye;

[0045] The data processing unit can calculate the safe running track line equations of two or more safe running track lines outside the running track line of the vehicle to be driven according to the turning angle of the front wheels of the vehicle, and the laser emitting device can emit two or more light spot track lines on the road surface to form two or more safe running track lines, for example, the data processing unit calculates the first safe running track line equation and the second safe running track line equation according to the turning angle of the front wheels of the vehicle, and the first safe running track line on the road surface is closer to the vehicle body than the second safe running track line, the control unit controls the alarm when the obstacle or pit appears on the first safe running track line, and the real-time linkage anti-collision execution unit is controlled when the obstacle or pit appears on the second safe running track line;

[0046] The sensor unit further comprises a motion state sensor (103) for judging the inclination, acceleration and steering state of the vehicle and transmitting the deviation of the laser emission direction to the control unit, and the motion state sensor can be integrated on the mainboard of the control unit;

[0047] The anti-collision system of the present application is basically consistent with the left or right running track line or the left or right safe running track line of the vehicle to be driven by scanning and emitting laser beams of specific directions to form light spots on the ground, and the detection protection range of safe driving of the vehicle is formed by the above-mentioned lateral scanning detection at the safe distance, and the laser emitting device is used to detect whether there is an obstacle or pit in the detection protection range;

[0048] The control unit can control the laser emitting device to emit laser on the left side of the vehicle to form a safe running track line I and a safe running track line II on the road surface, and the distance between the safe running track line I and the safe running track line II is a set value such as 10 cm. When there is a vehicle traveling in the same direction in front of the left side of the vehicle and the vehicle wants to change lanes and turn into the vehicle, the sensor unit and the data processing unit first detect obstacles from the laser spot reflection on the safe running track line I, and then detect obstacles from the laser spot on the safe running track line II. The data processing unit analyzes and calculates the approaching speed of the movable obstacle and makes deceleration or braking action. Specifically, it can be divided into left-turning vehicle in front of the left side, left-turning vehicle in the same side, left-turning vehicle in the rear, right-turning vehicle in front of the right side, right-turning vehicle in the same side, and right-turning vehicle in the rear. According to the distance of the left-turning vehicle or the right-turning vehicle detected by the left laser emitting device or the right laser emitting device, the position of the left-turning vehicle or the right-turning vehicle can be inferred, and the control program set by the control unit can be operated.

[0049] In order to control a laser emitter with a laser rotating point height h to continuously scan a circular arc line with a radius r that changes continuously on the ground according to the size of the turning angle of the front wheel of the vehicle, the control unit is used to dynamically adjust the direction and angle of the laser beam. Here, a servo motor or a stepper motor can be used to control the rotation of the laser emitter or the laser range finder, and a control algorithm (such as a microcontroller program) is used to dynamically calculate and adjust the rotation radius of the laser beam.

[0050] The hardware requirements are: a laser emitter for emitting laser, a rotating mechanism which can be a servo motor or a stepper motor for controlling two-dimensional rotation or three-dimensional rotation of the laser emitter, a microcontroller (such as Arduino, Raspberry Pi, etc.) for writing control algorithms, receiving input (such as radius change instructions), and controlling the rotating mechanism, a power supply for the laser emitter and the rotating mechanism, and a sensor for detecting the position or angle of the laser beam to provide feedback to improve control accuracy.

[0051] Wherein the control algorithm realizes the following functions: according to the angle signal output by the sensor capable of reflecting the front wheel turning angle of the vehicle, the radius r1 of the left side safety operation trajectory line of the left side safety operation control point of the leftmost side of the vehicle to be driven into position and the radius r2 of the right side safety operation trajectory line of the right side safety operation control point of the rightmost side are calculated, the data analysis unit continuously receives the change instruction of the turning radius, according to the current turning radius and the height h of the laser rotating point of the laser emitter, the rotation angle and direction of the laser beam on the ground are calculated, the calculated angle is converted into the control signal of the rotating mechanism including the control signal of servo motor I and the control signal of servo motor II, the rotating shaft of servo motor I is vertically fixed with the laser emitter or the laser range finder, the center line of the rotating shaft of servo motor I intersects with the laser emitted by the laser emitter at the laser rotating point, the plane formed by the laser emitted by the laser emitter under the driving of the rotating shaft of servo motor I is parallel to the center line of the wheel shaft of the rear wheel of the vehicle, the rotating shaft of servo motor II is fixed with the shell of servo motor I, the center line of the rotating shaft of servo motor II intersects with the center line of the rotating shaft of servo motor I at the rotating point, since the height of the laser rotating point of the laser emitter is h, when the turning radius of the light spot I of the laser beam emitted on the ground is r, the included angle between the vertical projection line of the laser beam on the horizontal road surface and the direction (y axis) of the vertical projection line of the vertical center line of the rear wheel of the vehicle, and the included angle with the direction (x) of the vertical projection line of the vertical center line of the rear wheel of the vehicle can be calculated by a functional relationship, and the coordinates of the light spot I can be calculated, when the light spot I moves a small distance along the safety operation trajectory line to the position of the light spot II, the data analysis unit can calculate the distance moved in the x direction and the distance moved in the y direction, and then calculate the rotation angle of servo motor I and servo motor II respectively, so that the control algorithm ensures that the light spot trajectory line formed on the ground by the laser beam in each rotation scanning on the ground can represent the left side or right side safety operation trajectory line of the vehicle;

[0052] Wherein, the control algorithm of the data processing unit ensures the stability and accuracy of the laser emitter and the rotating mechanism during operation;

[0053] Wherein, a laser emitting device for a vehicle and a collision avoidance control method thereof, comprising the following steps:

[0054] (1), receiving instruction to start the process, the laser emitter of the laser emitting device rotates to the starting direction of the laser beam emission;

[0055] (2), the control unit controls the laser emitting device to rotate and emit or swing to emit the laser detection distance in a certain direction according to the turning direction and size of the front wheel of the vehicle, and forms a light spot trajectory line on the road surface which represents the safety operation trajectory line of the vehicle:

[0056] (a), the data processing unit collects the turning angle data of the front wheel of the vehicle to determine the turning direction and calculate the turning radius;

[0057] (b) determining the coordinate origin, the safe operation control point, and the safe operation trajectory line equation;

[0058] (c) the control unit driving the laser emitter to control the laser emitter device to rotate and emit laser detection distance in a specific direction on the ground to form a light spot trajectory line representing the safe operation trajectory line of the vehicle;

[0059] (3) The data analysis unit determines whether the detection distance has a sudden break phenomenon. When the detection distance has a sudden break phenomenon, it indicates that there is an obstacle or a pit in front of the vehicle;

[0060] (4) Verify the position of the above-mentioned obstacle or pit: determine whether the position of the obstacle or pit is between the left and right safe operation trajectory lines or outside the left and right safe operation trajectory lines;

[0061] (5) When the data analysis unit verifies that the obstacle or pit is between the left and right safe operation trajectory lines, the control unit determines whether there is a collision risk. If there is a collision risk, the anti-collision execution unit is linked to perform anti-collision action;

[0062] (6) When the data analysis unit verifies that the obstacle or pit is outside the left and right safe operation trajectory lines, the vehicle does not link the anti-collision execution unit to act, (when executing the above-mentioned (2), (3), (4) steps, the laser emitter device always continuously rotates and emits laser detection distance along the ground safe operation trajectory line or swings reciprocally to emit laser detection distance;

[0063] (7) The laser emitter device continuously rotates and emits laser detection distance along the ground safe operation trajectory line or swings reciprocally to emit laser detection distance;

[0064] (8) When the above-mentioned process changes the angle of the front wheels of the vehicle, the data analysis unit continuously performs the above-mentioned steps 2 to 7 according to the angle value of the changed front wheels of the vehicle. The speed of each cycle is extremely fast, and the data processing unit can continuously receive new front wheel angle instructions and continuously cycle the above-mentioned steps 2 to 7. The control algorithm of the data processing unit can ensure the stability and accuracy of the laser emitter and the rotating mechanism during operation.

[0065] Wherein, a laser emitter device anti-collision control method of a vehicle, the step method comprises:

[0066] (1) Receive the instruction to start the process, and the control unit controls the laser emitter of the laser emitter device to rotate to the initial emission direction of the laser beam;

[0067] (2) The control unit controls the laser emitting device to rotate and emit or swing and emit laser in a specific direction to a road surface according to the direction and size of the turning angle of the front wheel of the vehicle to form a light spot track line representing the track line of safe operation of the vehicle on the road surface:

[0068] (a) The data processing unit collects the data of the turning angle of the front wheel of the vehicle to determine the turning direction and calculate the turning radius;

[0069] The signal processing unit receives the data of the direction and size of the turning angle of the front wheel of the vehicle to calculate the turning radius and the position of the center of the circle of the vehicle;

[0070] (b) Determine the coordinate origin, safe operation control point and safe operation track line equation;

[0071] First, a plane rectangular coordinate system is established: the laser emitting device is arranged on the vehicle, and one laser emitting device is responsible for scanning and detecting only one operation track line or one safe operation track line in a time period, on the road surface, taking the left operation control point or the right operation control point or the left safe operation control point or the right safe operation control point of the vehicle on the road surface as the coordinate origin, and establishing a plane rectangular coordinate system with the road surface below the vehicle where the coordinate origin is located:

[0072] The rotating shaft I of the motor I is vertically fixedly connected with the laser range finder or the laser emitter, the center line of the laser beam emitted by the laser range finder or the laser emitter of the laser emitting device vertically intersects with the center line I of the rotating shaft I at the rotating point, the center point of the light spot formed by the laser beam emitted by the laser range finder or the laser emitter of the laser emitting device on the road plane is taken as the coordinate origin of the coordinate graph when the center line of the laser beam vertically intersects with the center line II of the rotating shaft II of the motor II, the coordinate origin at the above light spot is moved to the left side running control point or the right side running control point or the left side safety running control point or the right side safety running control point by moving the laser emitting device, the straight line formed by the plane composed of the center line of the laser beam and the center line II of the rotating shaft II of the motor II is set as the x axis by passing through the coordinate origin at the above light spot, the straight line perpendicular to the x axis and passing through the above coordinate origin on the road plane is set as the y axis, and the x axis is particularly set to be parallel to the center line of the wheel shaft of the rear wheel of the vehicle, so that as long as the center line of the laser beam is perpendicular to the center line II of the rotating shaft II of the motor II (the motor I is in a state of stopping rotating) and the position of the rotating point of the laser beam is fixedly unchanged and the position of the motor II is fixedly unchanged when the laser range finder or the laser emitter rotates or swings to emit laser, the center line of the laser beam emitted by the laser range finder or the laser emitter can be switched from the front running control point on the same side of the vehicle to the rear running control point outside the rear wheel on the same side of the vehicle by controlling the rotation of the rotating shaft II of the motor II, so that the initial target position of the laser emitting direction can be changed in real time, and the rotating scanning of the running track line of the front running control point on the left side of the vehicle by the laser range finder or the laser emitter of the laser emitting device is switched to the rotating scanning of the running track line of the rear running control point on the left side of the vehicle.

[0073] The leftmost left side running track line equation or the leftmost left side safety running track line equation or the rightmost right side running track line equation or the rightmost right side safety running track line equation to be driven to the position in the future is determined with the left side running control point or the right side running control point or the left side safety running control point or the right side safety running control point as the coordinate origin.

[0074] For example, when the left front wheel of the vehicle rotates counterclockwise by an angle A or rotates clockwise by an angle A, the wheelbase between the left front wheel and the left rear wheel is L, the projection of the center of the left rear wheel on the ground has a horizontal distance a from the left side running control point of the vehicle, so r=L×cotan∠A-a, and r>0.

[0075] According to the front and rear wheel base, the front and rear wheel center position, the distance from the left side, the right side, the front side and the rear side of the vehicle, the laser emitting device setting height and position, when the vehicle turns clockwise or counterclockwise, the rotation center of the vehicle is on the projection line of the center line of the vehicle rear wheel shaft on the road plane, when the vehicle turns clockwise, the circular center coordinate of the vehicle turning is set as (r, 0), r>0, the vertical projection point of the outer side end point of the vehicle body above the right side of the center line of the vehicle rear wheel shaft on the road plane is the right side running control point 1 of the right side of the vehicle body when the vehicle turns clockwise and is set as the coordinate origin 1, all points on the vehicle rotate around the coordinate origin 1 during driving, and the point farthest from the circular center (r, 0) of the right side running track line when the vehicle turns clockwise among the vertical projection points of the vehicle body points in the front left of the vehicle on the ground is the left side running control point 2 of the left side of the vehicle body when the vehicle turns clockwise; when the vehicle turns counterclockwise, the circular center coordinate of the vehicle turning is set as (-r, 0), r>0, the vertical projection point of the outer side end point of the vehicle body above the left side of the center line of the vehicle rear wheel shaft on the road plane is the left side running control point 2 of the left side of the vehicle body when the vehicle turns counterclockwise and is set as the coordinate origin, and the point farthest from the circular center (-r, 0) of the left side running track line when the vehicle turns counterclockwise among the vertical projection points of the vehicle body points in the front right of the vehicle on the ground is the right side running control point of the right side of the vehicle body when the vehicle turns counterclockwise;

[0076] So a vehicle left side has two running control points: one is located in the rear wheel of the center line of the shaft on the projection line on the road plane left side running control point I, the other is located in the left side of the vehicle front left side running control point II; The right side of the vehicle has two running control points: one is located in the rear wheel of the center line of the shaft on the projection line on the road plane right side running control point III, the other is located in the right side of the vehicle right side running control point IV; In a period of time, a laser emitting device is responsible for scanning a running track line or a safe running track line, so at least two laser emitting devices are needed to work at the same time to scan the left and right running track lines. For example, when the vehicle drives forward counterclockwise, the left laser emitting device needs to rotate the laser to detect the running track line I of the left running control point I, and the right laser emitting device needs to rotate the laser to detect the right running track line IV of the right running control point IV of the vehicle; When the vehicle drives forward clockwise, the left laser emitting device switches the initial laser direction to the left side of the vehicle front left side running control point II to rotate the laser to scan the left side running track line II, and the right laser emitting device switches the initial laser direction to the right side of the rear wheel shaft center line on the projection line on the road plane right side running control point III to rotate the laser to scan the right side running track line III; Of course, four laser emitting devices can be set on the vehicle, and each laser emitting device is responsible for rotating and scanning a running track line.

[0077] In this way, when the vehicle drives forward counterclockwise, the left running control point on the vertical projection line of the center line of the rear wheel axle on the road plane is taken as the coordinate origin. In this scheme, the straight line through the coordinate origin parallel to the center line of the rear wheel axle on the road plane is taken as the x-axis, and the straight line through the coordinate origin perpendicular to the x-axis on the road plane is taken as the y-axis. The center coordinates are (-r, 0), and the radius is r, r>0. The trajectory equation of the left running track line of the left running control point is: (x+r) 2 +y 2 =r 2 , r>0, and the right running track line equation can be obtained according to the function relationship. When the vehicle drives forward clockwise, the right running control point on the vertical projection line of the center line of the rear wheel axle on the ground is taken as the coordinate origin. The straight line through the coordinate origin parallel to the center line of the rear wheel axle on the road plane is taken as the x-axis, and the straight line through the coordinate origin perpendicular to the x-axis on the road plane is taken as the y-axis. The center coordinates are (r, 0), and the radius is r, r>0. The trajectory equation of the right running track line of the right running control point is: (x-r) 2 +y 2 =r 2 , r>0, and the left running track line equation can be obtained according to the function relationship.

[0078] (c) controlling the laser emitting module to control the laser emitting device to rotate and emit laser to detect distance in a specific direction and form a light spot track line on the ground representing the safe running track line of the vehicle;

[0079] According to the left or right running track line equation, or according to the left or right safe running track line equation, the function relationship between the rotation angle increment I of the rotation shaft I of the servo motor I and the rotation angle increment II of the rotation shaft II of the servo motor II is determined and the servo motor I and the servo motor II are driven to rotate according to the function relationship after correction:

[0080] That is, when the rotation shaft I of the servo motor I rotates by an angle A (i.e. rotates by an angle A in the y direction of straight running forward of the vehicle), the corresponding rotation shaft II of the servo motor II also rotates by an angle B at the same time, at which time the laser beam rotates from the starting point to point I, point I being on the running track line, the above angle B and angle A having a certain function relationship; then when the rotation shaft I of the servo motor I rotates by an angle A again (i.e. rotates by an angle A in the y direction of straight running forward of the vehicle), the corresponding rotation shaft II of the servo motor II also rotates by an angle C at the same time, at which time the laser beam moves from point I to point II, point II being on the running track line, the above angle C and angle A having a function relationship, the servo motor I continues to rotate by an angle A at the same interval time while the servo motor II also rotates by an angle D at the same interval time to make the laser spot III on the ground on the running track line, so that the servo motor I and the servo motor II continue to rotate by respective angles at the same interval time to make the laser emitted by the laser emitting device form a laser spot on the road surface that can form a vehicle running track line, the smaller the angle A by which the rotation shaft I of the servo motor I rotates, the more the curve formed by the laser spot on the ground matches the running track line;

[0081] The optimal scheme includes: setting the laser emitting device I on the left side of the top of the vehicle, setting the laser emitting device II on the right side of the top of the vehicle, and setting the laser emitting device III in the middle of the top of the vehicle, the laser emitting device I rotates and emits laser to detect distance to the right side of the road surface of the vehicle and forms a right side running track line on the road surface, the laser emitting device II rotates and emits laser to detect distance to the left side of the ground of the vehicle and forms a left side running track line on the road surface, the laser emitting device III performs transverse scanning to detect distance to a set safe distance line between the left side running track line and the right side safe track line on the road surface, the left side running track line and the right side safe track line and the safe distance line form a channel for safe driving of the vehicle:

[0082] When the direction of the front wheel of the vehicle has no turning angle, the laser emitted by the laser emitting device I forms a spot straight line on the ground which passes through the right side running control point on the right side of the vehicle, the laser emitted by the laser emitting device II forms a spot straight line on the ground which passes through the left side running control point on the left side of the vehicle, and the laser emitting device III transversely scans the detection distance at a safe distance between the above-mentioned left side spot straight line and right side spot straight line;

[0083] (3) The data analysis unit determines whether the detection distance has a mutation fracture phenomenon, and when the detection distance has a mutation fracture phenomenon, it indicates that there is an obstacle or a pit in front of the vehicle: the signal processing unit (data processing unit) calculates the laser beam emitted by the laser emitting device on the mechanical hand to point to the running trajectory line or the safe running trajectory line and scan the detection distance along the running trajectory line or the safe running trajectory line according to the equation of the running trajectory line or the safe running trajectory line (the motor rotation angle of each rotation axis of the mechanical hand), while constantly receiving reflected laser information and calculating the detection distance of the detection point compared with the theoretical distance of the detection point, to determine whether there is an obstacle or a pit in front, if the comparison data of the detection distance with the theoretical distance appears a mutation fracture phenomenon, then it means that an obstacle or a pit is detected, so that the left side safe running trajectory line and the right side safe running trajectory line and the transverse scanning trajectory line in front form a safe detection range, as long as the value of the detection distance compared with the theoretical distance of the detection point in the safe range has a mutation fracture phenomenon, it indicates that there is an obstacle or a pit in front of the vehicle;

[0084] (4) Verify the position of the above-mentioned obstacle or pit: determine whether the position of the obstacle or pit is between the left side safe running trajectory line and the right side safe running trajectory line, or outside the left side safe running trajectory line and the right side safe running trajectory line: the data processing unit substitutes the x coordinate and y coordinate of the detected obstacle or pit into the equation representing the running trajectory line or the safe running trajectory line of the vehicle, and if the equation is established after substitution, the data processing unit confirms that the obstacle or pit is on the running trajectory line or the safe running trajectory line, and the control unit immediately determines whether there is a collision risk, and if the control unit determines that there is a collision risk, the real-time linkage anti-collision execution unit performs automatic driving anti-collision operation;

[0085] (5) When the data analysis unit verifies that the obstacle or pit is between the left side safe running trajectory line and the right side safe running trajectory line, the control unit determines whether there is a collision risk, and if there is a collision risk, the linkage anti-collision execution unit performs anti-collision action;

[0086] 6) When the data analysis unit verifies that the obstacle or pit is located outside the left and right safe running trajectory lines, the vehicle does not act in conjunction with the anti-collision execution unit, (when executing the above-mentioned steps (2), (3), (4), the laser emitting device continuously rotates to emit laser detection distance along the ground safe running trajectory line or swings to reciprocatingly emit laser detection distance;

[0087] (7) The laser emitting device continuously rotates to emit laser detection distance along the ground safe running trajectory line or swings to reciprocatingly emit laser detection distance;

[0088] (8) When the angle of the front wheel of the vehicle changes in the above-mentioned process, the data analysis unit continuously performs the above-mentioned steps 2 to 7 according to the angle value of the changed front wheel of the vehicle, the speed of each cycle is extremely fast, the data processing unit can continuously receive the new front wheel angle instruction of the vehicle and continuously cycle the above-mentioned steps 2 to 7. The control algorithm of the data processing unit can ensure the stability and accuracy of the laser emitter and the rotating mechanism during operation.

[0089] The laser emitting device of the present application can scan and detect the leftmost safe running trajectory line and the rightmost safe running trajectory line in the trajectory line of all points of the vehicle about to run into position, and can also scan and detect the safe distance in front of the vehicle between the leftmost safe running trajectory line and the rightmost safe running trajectory line. The scanning and detection of the three lines in front, left and right of the safe running range of the vehicle by the single-line laser emitting device can ensure the safety of the vehicle. The single-line laser emitting device has simple structure and low cost. The laser emitting device of the present application will not be attacked by external network hackers and has high safety, which can be used as a redundant system for safe running of the vehicle. The laser detection of the laser emitting device of the present application is downward to the road surface, which will not cause harm to the eyes of pedestrians. BRIEF DESCRIPTION OF DRAWINGS

[0090] In order to more clearly illustrate the technical solutions of the present application, the following will introduce the drawings. Obviously, the drawings described below are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0091] Fig. 1 is a system schematic diagram of the anti-collision system of the present application.

[0092] Fig. 2 is a structural schematic diagram of the first embodiment of the laser emitting device of the vehicle of the present application;

[0093] Fig. 3 is a control flow diagram of a vehicle provided with a laser emitting device of the present application;

[0094] Fig. 4 is a schematic diagram of the relationship between the detection distance and the position of curve 1 when the laser emitting device emits laser light rotatingly scanning the road surface along the safe running trajectory line of the vehicle without any obstacles or pits;

[0095] Fig. 5 is a schematic diagram of the principle of laser ranging for judging obstacles by the laser emitting device of the present application;

[0096] Fig. 6 is a top view of a vehicle provided with a laser emitting device of the present application driving on a road surface to form a vehicle running trajectory line;

[0097] Fig. 7 is a schematic diagram of a first embodiment of a laser emitting device of the present application;

[0098] Fig. 8 is a schematic diagram of a second embodiment of a laser emitting device of the present application;

[0099] Fig. 9 is a schematic diagram of a first embodiment of a vehicle provided with a laser emitting device of the present application;

[0100] Fig. 10 is a schematic diagram of the principle of laser light rotatingly scanning by the first embodiment of the vehicle provided with a laser emitting device of the present application to form a safe running trajectory line on the ground;

[0101] Fig. 11 is a calculation reference diagram of Fig. 10;

[0102] Fig. 12 is a schematic diagram of a second embodiment of a vehicle provided with a laser emitting device of the present application.

[0103] Embodiment

[0104] Hereinafter, an embodiment of a laser emitting device of the present application will be described with reference to the accompanying drawings.

[0105] First, Fig. 1 is a schematic diagram of a collision avoidance system of the present application. It should be understood that the system of the present application can be used in any type of vehicle, including a conventional vehicle, a hybrid electric vehicle (HEV), an extended-range electric vehicle (EREV), a battery electric vehicle (BEV), a passenger car, a sport utility vehicle (SUV), a crossover vehicle, a truck, a van, a bus, a recreational vehicle (RV), etc. These are only some of the possible applications, since the collision avoidance system of the present application is not limited to the present embodiment and can be implemented in a variety of different ways.

[0106] As shown in Fig. 1, the vehicle is provided with: a sensor unit (10) comprising: an angle sensor for steering direction recognition and steering angle measurement, a motion state sensor (103) for vehicle inclination, acceleration, the angle sensor being arranged on the rotation shaft of the front wheel or on the rotation shaft of the steering wheel, the angle sensor being capable of directly outputting the rotation angle of the front wheel or outputting the rotation angle of the front wheel through conversion; a laser emitter (104) for emitting a laser beam or a laser range finder; a signal processing unit (20) comprising: a motion state processing module (203) for processing, converting and analyzing the data of the motion state sensor, a laser control module (204) for controlling the direction of the laser beam, a distance processing module (201) for calculating and analyzing the detection distance, analyzing whether there is a sudden change or a broken phenomenon of the detection distance data, and analyzing the positional relationship between the obstacle or the pit and the vehicle running track or the safe vehicle running track; a control unit (30) for receiving and processing the data transmitted by the signal processing unit, and controlling the laser control module of the signal processing unit to command the laser emitter (104) to detect the distance of the road surface between the vehicle running track or the safe vehicle running track or the safe vehicle running track on the left and right sides of the vehicle, the distance processing module (201) obtains the distance information and analyzes the distance information to determine whether there is an obstacle or a pit on the road surface, and analyzes the positional relationship between the obstacle or the pit and the safe vehicle running track on the left and right sides of the vehicle, if the distance processing module (201) verifies that there is an obstacle or a pit on the road surface between the safe vehicle running track on the left and right sides of the vehicle, the control unit finds that there is a risk of collision and controls the anti-collision execution unit to perform anti-collision action; an anti-collision execution unit (40) comprising: a vehicle speed regulator (401) for executing the signal of the control unit to reduce or close the oil circuit or control the motor to reduce the speed to control the vehicle speed, a braking device (402) for executing the signal of the control unit to connect the brake circuit to brake the vehicle, an instrument (403) for executing the signal of the control unit to display the front obstacle warning, a brake light (404) for executing the signal of the control unit to remind the rear vehicle.

[0107] The above-mentioned motion state sensor (103) comprises: an angle sensor, a steering sensor, a 3-axis accelerometer, a 3-axis gyroscope, a 3-axis magnetometer, an air pressure sensor, an inclination sensor, which can be one or a combination of multiple, which can collect relevant signals and transmit them to the motion state processing module (203) for calculation and analysis.

[0108] The laser emitter (104) can be controlled by the laser control module (204) according to the instructions of the control unit (30) to emit laser beams to the ground to form various light spots on the ground, which can constitute a running track line or a safe running track line, including but not limited to: mechanical laser radar, single-line laser emitter, rotatable single-line laser emitter, and the detection distance data of the above light spots are used to determine whether there are obstacles or potholes on the front running track of the vehicle.

[0109] The motion state processing module (203) receives the data of the motion state sensor (103), and calculates the turning angle of the left front wheel or the right front wheel of the vehicle through fusion including Kalman filtering, particle filtering, and complementary filtering algorithm, and also calculates the inclination, acceleration, and steering state of the vehicle, and transmits the data to the control unit for deviation correction of the laser beam emission angle.

[0110] The laser control module (204) receives the control signal of the control unit (30) and controls the laser emitter to emit laser beams in a specific direction on the road surface to form a light spot track line representing a running track line or a safe running track line.

[0111] The control unit (30) is equipped with a microcomputer, an interface of a wire harness, etc. The above-mentioned microcomputer has a well-known structure with CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), I / O, and CAN (Controller Area Network) communication device, etc. The control unit (30) is mainly used to connect the signal processing unit (20), receive and analyze the processing data of the sensing signal, and send the data to the laser control module (204) to control the laser emitter to emit laser beams along the running track line or the safe running track line on the ground to scan the detection distance, calculate and analyze whether there is a collision risk of the front obstacle, and control the anti-collision execution unit (40) to perform anti-collision action.

[0112] The brake device (402) can be part of any suitable vehicle braking system, including systems associated with disc brakes, drum brakes, electro-hydraulic brakes, electronic mechanical brakes, regenerative brakes, and line control brakes, etc.

[0113] The instrument (403) is provided with an alarm indicator, which gives a warning when a safety risk of the front obstacle appears, and automatically avoids collision while prompting the driver to take further measures.

[0114] The brake light (404) is automatically started when it is judged that the front obstacle needs to be avoided, and the brake light is lit at the same time, prompting the rear vehicle to take precautions to avoid.

[0115] Figure 2 is a structural schematic diagram of a first embodiment of a laser emitting device of a vehicle of the present application;

[0116] As shown in Figure 2, the laser emitting device 800 comprises a servo motor 216, a servo motor 227, a laser emitter 221 and a laser receiver 300 are vertically fixedly connected to a rotating shaft 225 of the servo motor 227, the laser emitter 221 and the laser receiver 300 are each connected with a chip capable of emitting and receiving laser and processing, a rotating point of a laser beam 222 emitted by the laser emitter 221 is point 231. The servo motor 216 is horizontally arranged on the top of the vehicle, a center line 219 of a rotating shaft 230 of the servo motor 216 of the laser emitting device 800 is parallel to a center line of a rear wheel axle of the vehicle or the center line of the rear wheel axle of the vehicle is parallel to a plane in which the laser beam 222 and the center line 219 of the rotating shaft 230 of the servo motor 216 intersect, when the laser 222 emitted by the laser emitter 221 is perpendicular to the center line 219 of the rotating shaft 230 of the servo motor 216 and rotates around the center line 219 of the rotating shaft 230 of the servo motor 216, a rotating plane formed by the laser 222 and the center line 219 of the rotating shaft 230 of the servo motor 216 intersects with the ground to form a straight line and the straight line is perpendicular to the center line of the rear wheel axle of the vehicle, the servo motor 216 can drive the rotating shaft 230 to rotate and drive the center line 222 of the laser beam emitted by the laser emitter 221 to rotate. The rotating shaft 225 of the servo motor 227 is vertically fixedly connected to the laser emitter 221 and the laser receiver 300, the laser emitter 221 is provided with a chip, the laser receiver 300 is also provided with a chip, a center line 222 of a laser beam emitted by the laser emitter 221 and a center line 226 of the rotating shaft 225 of the servo motor 227 perpendicularly intersect at point 231, the center line 219 of the rotating shaft 230 of the servo motor 216 and the center line 226 of the rotating shaft 225 also perpendicularly intersect at point 231, the point 231 is a rotating point of the center line 222 of the laser beam, when the laser emitting device 800 is arranged on the top of the vehicle and starts to be used, the above-mentioned point 231 is inconvenient for the position of the vehicle and the servo motor 216. According to the size, direction and functional relationship of the left or right turning angle of the front wheel of the vehicle, the data processing unit can calculate the turning angle increment II of the rotating shaft 225 of the servo motor 227 according to the turning angle increment I of the rotating shaft 230 of the servo motor 216, after the same time, when the laser control module controls the rotating shaft 230 of the servo motor 216 to complete the turning angle increment I, the laser control module also controls the rotating shaft 225 of the servo motor 227 to synchronously complete the turning angle increment II, so that the laser beam emitted by the laser emitter 221 forms a laser spot on the ground, which is located on the running track line of the vehicle or on the safe running track line, thereby ensuring that the laser emitter 221 can rotate and scan the detection distance along the running track line or the safe running track line of the vehicle to be driven under the cooperative rotation of the servo motor 227 and the servo motor 216.

[0117] The motor of the above-mentioned laser emitting device can also be a stepping motor, that is, the servo motor of the above-mentioned laser emitting device can be replaced by a stepping motor. After completing the mechanical structure design of the above-mentioned laser emitting device, the configuration and design known to those skilled in the art in the field also need to be completed, including:

[0118] The components that need to be configured for the anti-collision system include: 1, FPGA development board, on which data acquisition, operation and display of the laser emitting device will be completed, Xilinx ZYNQ7000a is selected as the main chip, which is equipped with an HDMI interface that can output 1080p60 frames of video at the highest and 32 GPIO and other peripherals; 2, hardware circuit design; 3, motor drive circuit or frequency converter for controlling the speed, direction of rotation and accurate positioning of the stepping motor or servo motor;

[0119] The anti-collision system also needs software design:

[0120] 1, use ZYNQ chip, ZYNQ is a series of chips released by xiinx company.

[0121] ZYNQ-7000 series includes the upper part of ARM Cortex A dual-core main frequency of 766MHz to 1GHZ, and the lower part is programmable logic, that is, FPGA; in ZYNO development, the processor part is usually called PSC (Processing System), and the FPGA part is called PL (Programable Logic); the PS part includes SPI, IC, CAN, WART, GPIO, SDIO, USB, 10 / 100 / 1000 Ethernet, etc. Commonly used interfaces, Flash controller and DDR controller in addition to dual-core ARM; the data interaction between PS and PL is mainly realized through AMBA bus, that is, commonly used AXI bus;

[0122] 2、The software design and development of the laser emitting device is divided into two parts, including the embedded development of the PS side and the FPGA development of the PL side. For the two parts of PS and PL, the designed background image is stored in the SD card in advance. When the system starts running, the ARM reads the background image from the SD card and writes it into the DDR, and then informs the PL of the address of the picture storage. After that, the FPGA part starts to work. First, look at the laser emitting device detection data calculation part. The laser ranging sensor and the photoelectric encoder are connected to the data acquisition module for data fusion, outputting the starting angle of the laser emitter rotating to emit laser and the corresponding distance. First, look at the point cloud calculation part of the laser emitting device. The data output by the data acquisition module is polar coordinates, so it needs to be converted into rectangular coordinates and then into image coordinates through the coordinate conversion module to facilitate subsequent image superposition. Since the frequency of video display and the rate of laser emitting device detection data do not match, the data output by the coordinate conversion module will be stored in the ram. The coordinate sorting module will take out the coordinate data from the ram for sorting, and output the previously out-of-order coordinates according to the image row and column order. Since the coordinate sorting module cannot perform pipelining, it needs to consume time. In order to reduce the waiting time of image superposition, the data output by the sorting module will be stored in the ping-pong buffer, so that image superposition and coordinate sorting can be performed simultaneously. The calculation of the laser emitting device scanning line and the point cloud calculation process are basically the same. The scanning line generation module will generate a scanning line according to the starting angle of the current laser beam, and then store it in the ping-pong buffer after coordinate conversion and coordinate sorting. Finally, the video image superposition part. The video source generation module will generate video data with a resolution of 920x1080. The radar background image superposition module will read the radar background image written by the ARM from the DDR and superimpose it on the video data. Then, through the radar point cloud superposition module, the point cloud data detected by the laser emitting device is superimposed on the background image. Then, through the radar scanning line superposition module, the scanning line is superimposed on the video. Finally, through the RGB to HDMI module, the video data is sent to the display through the HDMI interface for display. The PS side reads the bmp format picture in the SD card and then writes it into the specified address. The FPGA development on the PL side can first perform timing design according to the functional modules, and then code in hardware description language. After that, timing simulation is performed to confirm that the result is consistent with the previously designed timing. After the timing simulation is passed, the designed code can be compiled into a circuit in the synthesis tool to generate a bitstream file, which is then downloaded to the FPGA for on-board debugging. If the on-board debugging result is abnormal, debugging information needs to be added to the code. The signal is captured and analyzed through the built-in logic analysis tool of the FPGA to find and fix the abnormal code. The above is the basic process of FPGA development.

[0123] Figure 3 is a control flow diagram of a vehicle provided with a laser emitting device of a vehicle according to the present application;

[0124] The control flow can be selected as follows: 1. Receive the instruction to start the flow, the laser emitter of the laser emitting device rotates to the initial emission direction of the laser beam, the initial emission direction of the laser beam is aligned with the left side safety operation control point of the vehicle or the right side safety operation control point, when the vehicle drives forward and turns clockwise, the center of the turning circle of the vehicle is located to the right of the vertical projection line of the center line of the rear axle on the ground, the right side operation control point or the right side safety operation control point closest to the center of the turning circle of the vehicle is located on the vertical projection line and to the right of the vehicle body, and the left side operation control point or the left side safety operation control point farthest from the center of the turning circle is located in front of the left side of the vehicle, and vice versa, when the vehicle drives forward and turns counterclockwise, the center of the turning circle of the vehicle is located to the left of the vertical projection line of the center line of the rear axle on the ground, the left side operation control point or the left side safety operation control point closest to the center of the turning circle of the vehicle is located on the vertical projection line and to the left of the vehicle body, and the right side operation control point or the right side safety operation control point farthest from the center of the turning circle is located in front of the right side of the vehicle;

[0125] 2. The data processing unit collects the front wheel turning angle data to determine the turning direction and calculate the turning radius: the angle sensor outputs the angle signal to the data processing unit according to the turning angle of the front wheel of the vehicle, and the data processing unit analyzes and processes to obtain the size value of the turning angle of the front wheel of the vehicle and calculates the turning radius r of the vehicle, so that the data processing unit continuously receives the turning angle information of the front wheel of the vehicle during the driving process and continuously calculates the changing instruction of the changing turning radius r;

[0126] 3. Determine the coordinate origin, safety operation control point and safety operation trajectory line equation:

[0127] The laser emitting device is fixed at the front end of the vehicle or arranged on the top of the vehicle, the laser emitter or laser range finder is vertically fixed on the rotating shaft of a servo motor of the rotating mechanism, the center line of the laser beam emitted by the laser emitter or laser range finder when rotating or swinging under the driving of the servo motor forms a plane parallel to the center line of the wheel shaft of the rear wheel of the vehicle, the position of the rotating point of the laser emitted by the laser emitter or laser range finder is fixed when the laser emitter or laser range finder rotates or swings; the signal processing unit receives the data of the turning angle direction and size of the front wheel of the vehicle, obtains the turning radius and the center position of the vehicle through calculation, determines the left or right safe operation control point, and determines the leftmost left safe operation trajectory equation and the rightmost right safe operation trajectory equation to be driven into position in the future; when the vehicle turns clockwise or counterclockwise, the rotating center of the vehicle is on the projection line of the center line of the wheel shaft of the rear wheel of the vehicle on the ground, when the vehicle turns clockwise, the center coordinates of the safe operation trajectory of the vehicle are set as (r+b, 0), when the vehicle turns counterclockwise, the center coordinates of the left safe operation trajectory of the vehicle are set as (-r-b, 0), the above center coordinates are calculated based on a coordinate graph constructed by taking the vertical projection line of the center line of the wheel shaft of the rear wheel of the vehicle on the ground as the x-axis, taking the left safe operation control point on the x-axis as the origin, and taking the straight line perpendicular to the x-axis through the coordinate origin as the y-axis, the left operation control point of the vehicle closest to the left operation trajectory or the center of the left safe operation trajectory is the vertical projection point of the end point of the vehicle body outside on the left side of the center line of the wheel shaft of the rear wheel of the vehicle on the ground, the control point outside the left operation control point by a certain distance b is the left safe operation control point, and the trajectory of the left safe operation control point rotating around the center is the safe operation trajectory.The vertical projection point of the vehicle body point farthest from the center of the circle on the ground is the right side running control point of the vehicle, and the control point at a distance b outside the right side running control point is the right side safe running control point. The locus of the right side safe running control point rotating around the center of the circle is the right side safe running locus of the vehicle. The solving of the equation of the right side safe running locus requires the establishment of another plane rectangular coordinate system. This is because one laser emitting device is responsible for scanning and detecting only one running locus or one safe running locus. The specific method is as follows: taking the left or right side running control point or the left or right side safe running control point of the other side of the vehicle on the road surface as the coordinate origin, and taking the horizontal plane where the coordinate origin is located as the horizontal road surface to establish a plane rectangular coordinate system. The laser emitting device used by the vehicle includes a servo motor 1 and a servo motor 2. The rotating shaft 1 of the servo motor 1 is vertically fixedly connected with a laser range finder. Taking the left or right side running control point or the left or right side safe running control point of the vehicle on the horizontal road surface as the coordinate origin, the laser emitting device is driven to rotate the laser beam emitted by the laser range finder vertically fixedly connected with the rotating shaft 1 of the servo motor 1. When the center line of the laser beam and the center line 2 of the rotating shaft 2 of the servo motor 2 are perpendicular to each other, the rotation of the servo motor 1 is stopped and the laser beam is positioned. The center line of the laser beam rotates around the rotating shaft 2 under the driving of the servo motor 2. The plane formed by the rotating center line of the laser beam intersects with the horizontal road surface to form an intersecting straight line. The position of the laser emitting device is adjusted so that the intersecting straight line passes through the coordinate origin and is set as the y-axis. On the horizontal road surface, a straight line passing through the coordinate origin and perpendicular to the y-axis is set as the x-axis. Through the establishment of the above-mentioned coordinate system, the running locus equation or the safe running locus equation of both sides of the vehicle can be derived.

[0128] 4. The control unit drives the laser emitting module to control the laser emitting device to emit laser to the ground to form a light spot locus representing the safe running locus of the vehicle. The data analysis unit calculates the rotation angle increment I of the servo motor I and the rotation angle increment II of the servo motor II. The control unit rectifies the rotation angle increment I and the rotation angle increment II according to the data transmitted by the data analysis unit after analyzing the information collected by various sensors, and converts the rectified rotation angle increment I and the rotation angle increment II into control signals of the rotating mechanism to drive the laser emitting device to emit laser in a specific direction. The light spot of the laser beam on the ground forms a light spot locus representing the safe running locus of the vehicle to be driven into position. The receiving module of the laser emitting device continuously receives signals, and the control unit continuously calculates the new rotation angle increment of the servo motor I and the new rotation angle increment of the servo motor II according to the received reflected laser signals to adjust the direction of the laser emitted by the laser emitting device in real time.

[0129] 5、Data analysis unit determines whether the detection distance has a sudden change: when the data analysis unit finds that the detection distance has a sudden change, it means that there is an obstacle or a pit in front of the vehicle, and the data analysis unit verifies the position of the obstacle or pit;

[0130] 6、If the data analysis unit verifies that the obstacle or pit is located between the left and right safe running trajectory lines, the control unit determines whether there is a collision risk: if there is a collision risk, the anti-collision execution unit performs anti-collision action, and when the data analysis unit verifies the position of the obstacle or pit, the laser emitting device continues to rotate and emit laser detection distance along the ground safe running trajectory line, and the process of continuously scanning and emitting laser detection distance is continued;

[0131] 7、If the data analysis unit verifies that the obstacle or pit is located outside the left and right safe running trajectory lines, the laser emitting device continues to rotate and emit laser detection distance along the ground safe running trajectory line, and the process of continuously scanning and emitting laser detection distance is continued;

[0132] 8、If the turning angle of the front wheels of the vehicle changes during the above process, the data analysis unit continuously cycles the above steps 2 to 7, and the speed of each cycle is extremely fast, and the data processing unit can continuously receive new vehicle front wheel turning angle instructions and continuously cycle the above steps 2 to 7. Through the control algorithm of the data processing unit, the stability and accuracy of the laser emitter and the rotating mechanism during operation are ensured.

[0133] As shown in FIG. 4, FIG. 4 is a schematic diagram of the position relationship between the detection distance and curve 1 when the laser emitted by the laser emitting device rotates and scans the safe running trajectory line of the vehicle without obstacles or pits. Curve 1 is an upward curve formed by the theoretical distance between each point on the safe running trajectory line and the rotating point of the light beam after the laser rotates and scans the safe running trajectory line on the horizontal road surface. The left or right running trajectory line and the left or right safe running trajectory line of the present application are located on the plane at the road surface in contact with the vehicle wheels, and each point on the actual road surface is arranged at a small distance above and below the plane at the road surface.

[0134] In the coordinate diagram, the horizontal coordinate is the rotation angle value of the laser beam, in degree, and the vertical coordinate s is the distance between the rotating point of the laser beam and each detection point on the road surface and the distance between different points on the safe running track, in meter. As can be seen from FIG. 4, curve 1 is an upward curve formed by the theoretical distance. In the actual detection distance process, when there is no obstacle or pit, the detection distance between each detection point on the road surface and the rotating point of the laser beam after the laser in the anti-collision system is rotated and scanned to irradiate the safe running track of the vehicle increases with the increase of the rotation angle of the laser beam (the initial emission direction of the laser beam is aligned with the safe running control point on the left side of the vehicle or with the safe running control point on the right side of the vehicle, and the rotation direction is from the near side of the vehicle to the front side of the vehicle), and the positions of the detection distance value points of each detection point are arranged around the upper and lower sides of curve 1, for example, detection distance value point 2, detection distance value point 15, detection distance value point 9, detection distance value point 12, detection distance value point 13, detection distance value point 7, detection distance value point 11, and detection distance value point 3 all fluctuate and rise within a certain floating range around curve 1, and the detection distance value difference between adjacent detection points will be less than a constant value 1.5b, b is the maximum empirical value of the detection distance value difference between adjacent detection points after statistics, and in FIG. 4, b is the difference between detection distance value point 15 and detection distance value point 9.

[0135] The theoretical distance from the intersection point of the laser spot formed on the left or right running track line or the left or right safe running track line on the ground by the laser emitting device to the rotating point of the laser beam increases with the increase of the distance from the vehicle when there is no obstacle or pit. In the coordinate graph, a continuous rising curve 1 can be formed. When the laser emitting device emits laser to the left or right running track line or the left or right safe running track line on the ground and encounters an obstacle or pit, the detection distance of the laser spot formed in the obstacle or pit to the rotating point of the laser beam appears multiple almost same distance values. The number of the above detection distance almost same data is determined by the point frequency of the laser emitted by the laser emitter. The higher the point frequency, the more data collected and the greater the density of the detection points at the obstacle or pit, so that the detection points with close detection distances gather together in the coordinate graph to form an aggregation area of the detection points. That is, the detection distance of each detection point when there is no obstacle or pit fluctuates around the above continuous rising curve 1 to form a wave rising curve. However, when there is an obstacle or pit on the left or right running track line or the left or right safe running track line, the detection distance of the laser spot formed by the laser emitted by the laser emitting device on the obstacle or in the pit to the rotating point of the laser beam appears a broken mutation phenomenon, that is, the detection distance of the detection point deviates from the fluctuation range of the above continuous rising curve 1 surrounded by the detection distance values of the laser range finder when there is no obstacle or pit. In the rising trend formed by the fluctuating detection distance, a broken mutation phenomenon appears. When the detection distance appears a broken mutation phenomenon, the detection distance deviates from the above wave rising curve. At this time, it can be determined that there is an obstacle or pit in front of the vehicle.

[0136] As shown in FIG. 5, FIG. 5 is a laser ranging judgment obstacle principle diagram of a laser emitting device of a vehicle of the present application.

[0137] FIG. 5 is a schematic diagram of the position relationship between the detection distance of each detection point on the road surface, the obstacle and the rotating point of the light beam after the laser rotatingly scans and irradiates the safe running track line of the vehicle in the anti-collision system when an obstacle appears on the safe running track line;

[0138] Since the running track line or the safe running track line is located on the horizontal road surface in the theoretical calculation, the position of the rotating point of the laser emitted by the laser emitter is fixed and unchanged. The distance between the above rotating point and each point on the left or right running track line or the left or right safe running track line is the theoretical distance which can form the curve 1 in FIG. 5. However, when the vehicle actually turns and runs, the control unit controls the laser emitter to scan and emit laser along the left or right running track line or the left or right safe running track line on the actual road surface. The detection distance of the light spot formed on the actual road surface after reflection is each detection distance value point fluctuating around the curve 1 in the drawing;

[0139] As shown in Fig. 5, curve 1 is an ascending curve formed by the theoretical distance, and the detection distance values of each detection point are arranged above and below curve 1, for example, detection distance value point 2, detection distance value point 15, detection distance value point 9, detection distance value point 11, and detection distance value point 3 fluctuate and ascend around curve 1, and the difference between the detection distance values of adjacent detection points is less than a constant value 1.5b, b is the maximum empirical value of the difference between the detection distance values of adjacent detection points after statistics, and in Fig. 5, b is the difference between detection distance value point 15 and detection distance value point 9. However, as shown in Fig. 5, detection distance value point 5, detection distance value point 6, and detection distance value point 8 obviously deviate from curve 1, the difference between detection distance value point 5 and detection distance value point 9 is greater than 1.5b, the difference between detection distance value point 8 and detection distance value point 9 is also greater than 1.5b, and the difference between detection distance value point 6 and detection distance value point 9 is also greater than 1.5b. In actual detection, due to the high point frequency of the laser emitted by the laser emitter, a large number of detection distance value points with similar values will actually gather together, which is because the laser emitted by the laser emitter towards the safe running track line is blocked and reflected by the obstacle, so the distance detected by the laser receiver of the laser emitting device is greatly reduced, causing the detection distance of adjacent detection points to suddenly change and break. As shown in Fig. 5, the phenomenon of numerical break between detection distance value point 5 and detection distance value point 9 occurs, causing the detection distance value points representing each detection point to break and be discontinuous in the fluctuating and ascending process. As shown in Fig. 5, detection distance value point 5, detection distance value point 6, and detection distance value point 8 deviate from the above-mentioned wavy ascending curve formed by connecting each detection distance value point, indicating that there is an obstacle or a pit in front of the vehicle.

[0140] As shown in Fig. 6, Fig. 6 is a top view of a vehicle provided with a laser emitting device of the vehicle according to the present application.

[0141] When the center line of the laser beam emitted by the laser range finder or the laser emitter is perpendicular to the center line II of the rotating shaft II of the servo motor II, the center point of the light spot formed on the ground by the laser beam emitted towards the ground is taken as the coordinate origin of the coordinate graph, the plane formed by the center line of the laser beam and the center line II of the rotating shaft II of the servo motor II intersects the ground at a straight line, and the straight line is set as the x-axis, and the straight line perpendicular to the x-axis and passing through the coordinate origin on the ground is set as the y-axis,

[0142] The rotation center of the vehicle on the road surface is point G, when the left front wheel 21 rotates counterclockwise by an angle A, the distance between the left front wheel 21 (R) and the left rear wheel 22 (S) is L, the vertical projection of the center of the left rear wheel 22 on the ground is point S, the projection of the left side of the vehicle on the ground is point E, the horizontal distance between S and E is a, GE is the turning radius r of the left front wheel 21 when it rotates counterclockwise by an angle A, tan ∠A = L / (a + r) r = GE = (L - a x tan ∠A) / tan ∠A = L x cot ∠A - a

[0143] The left side of the vehicle is provided with a laser generating device 25, and the right side of the vehicle is provided with a laser generating device 26, when the left front wheel 21 rotates counterclockwise by an angle A, the running track line 27 of point E on the left side of the vehicle is the leftmost left running track line among the running track lines of all points on the vehicle, the running track line 28 of point 29 on the right side of the vehicle is the rightmost right running track line among the running track lines of all points on the vehicle, the running track line 27 and the running track line 28 form a safe passage of the vehicle when the left front wheel 21 rotates counterclockwise by an angle A, it is obvious that if the vehicle shown in the figure is scaled down by 80% or 90%, for example, then the running track line 27 and the running track line 28 become the safe running track line 27 and the safe running track line 28 of claim 1 of the present application, that is, when the scaled-down vehicle travels between the safe running track line 27 and the safe running track line 28, point E on the left side of the vehicle is a certain distance away from the safe running track line 27, and point 29 on the right side of the vehicle is also a certain distance away from the safe running track line 28, so that the scaled-down vehicle can pass more freely between the safe running track line 27 and the safe running track line 28, ensuring the safety of the passage. The laser generating device 25 can be controlled by the control unit to rotate and scan the distance of the running track line 27 or to swing and scan the distance, and the laser generating device 26 can be controlled by the control unit to rotate and scan the distance of the running track line 28 or to swing and scan the distance, when there is an obstacle or a pit on the running track line 27 or the running track line 28, the laser emitting device detects the distance of the obstacle or the pit, and the detected distance will have a sudden change, break and deviate from the rising curve of the theoretical distance compared with the theoretical distance, when the road surface is a theoretical horizontal surface, the detected distance of each detection point detected by the laser emitting device on the vehicle along the safe running track line on the theoretical horizontal road surface forms a rising theoretical curve, the detected distance of each detection point detected by the laser emitting device on the actual vehicle along the safe running track line on the actual road surface is around the upper or lower part of the rising theoretical curve, the average of 5 times or more of each difference between the detected distance of each detection point and the rising theoretical curve can be defined as the sudden change of the detected distance, that is, it can be determined that there is an obstacle or a pit.

[0144] As shown in Figure 7, Figure 7 is a schematic diagram of a first embodiment of a laser emitting device of a vehicle of the present application. As shown in Figure 7, a laser emitting device 200, comprising a laser radar 227, a servo motor 216, a servo motor 223, a servo motor 212, a cloud platform 210, the laser radar 227 comprising a radar servo motor, the outer end of the rotating shaft 225 of the radar servo motor is fixed vertically downward with a laser emitter 221, the rotating shaft 225 is vertically fixed downward with a laser receiver 300, the laser emitter 221 is connected with an emitting chip, and the laser receiver 300 is connected with a receiving chip. The rotatable round table 211 of the cloud platform 210 is fixedly connected with the servo motor 212, the servo motor 212 is vertically provided with a guide round guide rod 215, a round guide rod 217 and a screw rod 218, the servo motor 223 is sleeved on the round guide rod 215, the round guide rod 217 and the screw rod 218, the servo motor 213 can drive the screw rod 218 to rotate, and the servo motor 223 can move vertically up and down along the round guide rod 215 and the round guide rod 217 and be positioned under the driving of the rotation of the screw rod 218. The rotating shaft 228 of the servo motor 223 is fixedly connected with the back surface of the servo motor 216 in parallel, and the rotating shaft 230 of the servo motor 216 is fixedly connected with the side plate 301 of the laser radar 227 in vertical. The center line 226 of the rotating shaft 225 of the servo motor in the laser radar 227 intersects with the center line 219 of the rotating shaft 230 of the servo motor 216 at the point 231 in vertical. The center line 219 of the rotating shaft 230 of the servo motor 216 intersects with the center line 220 of the rotating shaft 228 of the servo motor 223 at the point 229 in vertical. The end of the rotating shaft 225 of the servo motor of the laser radar 227 is fixedly connected with the laser emitter 221, and the center line 222 of the laser beam emitted by the laser emitter 221 intersects with the center line 226 at the point 231 in vertical, so that the laser beam 222 can rotate under the rotation of the rotating shaft 225. In this way, after the bottom surface of the cloud platform 210 of the laser emitting device of the present embodiment is horizontally arranged on the top of the vehicle 277, the laser emitter 221 emits a laser beam to scan and detect the distance along the running track line or the safe running track line of the vehicle to be driven under the rotation driving of the servo motor and the servo motor 216 in the laser radar 227, the rotation angle increment of the servo motor 216 and the servo motor 227 is calculated according to the change of the rotation angle of the front wheel of the vehicle and the function relationship of the running safety control line of the vehicle control point by the data analysis unit. That is, according to the size of the left rotation angle or the right rotation angle of the front wheel of the vehicle and the set function relationship, the data processing unit can calculate the rotation angle increment of the rotating shaft 225 of the servo motor 227 according to the rotation angle increment of the rotating shaft 300 of the servo motor 216, so as to ensure that the laser emitter 221 can rotate to scan and detect the distance along the running track line or the safe running track line of the vehicle to be driven under the driving of the servo motor 227 and the servo motor 216.

[0145] As shown in FIG. 8, which is a schematic view of a second embodiment of a laser emitting device of a vehicle of the present application, the laser emitting device 600 comprises a servo motor 223, a servo motor 216, a servo motor 227, the vertical fixed connection of the rotating shaft 225 of the servo motor 227 with a laser emitter 221 and a laser receiver 300, the respective connection of the laser emitter 221 and the laser receiver 300 with chips capable of emitting and receiving laser and processing, the rotating point 231 of the laser beam 222 emitted by the laser emitter 221 being O1. The servo motor 223 can be horizontally arranged on the top of the vehicle, the servo motor 223 being capable of driving the rotating shaft 228 to rotate and driving the connected servo motor 216 to rotate in the vertical plane, the servo motor 216 being capable of driving the rotating shaft 230 to rotate and driving the rotating scanning of the laser beam 222 emitted by the laser emitter 221 to detect the distance. The vertical fixed connection of the rotating shaft 225 of the servo motor 227 with the laser emitter 221 and the laser receiver 300, the laser emitter 221 being provided with a chip, the laser receiver 300 also being provided with a chip, the center line of the laser beam 222 emitted by the laser emitter 221 being perpendicular to the center line of the rotating shaft 225 of the servo motor 227 at the point 231, the center line 219 of the rotating shaft 230 of the servo motor 216 being also perpendicular to the center line of the rotating shaft 225 of the servo motor 227 at the point 231, the point 231 being the rotating point of the laser beam 222, the center line 219 of the rotating shaft 230 of the servo motor 216 being perpendicular to the center line 220 of the rotating shaft 228 of the servo motor 223 at the point 229. According to the size of the left or right turning angle of the front wheel of the vehicle and the set functional relationship, the data processing unit can calculate the turning angle increment of the rotating shaft 225 of the servo motor 227 according to the turning angle increment of the rotating shaft 300 of the servo motor 216, so as to ensure that the laser emitter 221 driven by the servo motor 227 and the servo motor 216 can rotate and scan the distance along the running track line or the safe running track line of the vehicle to be driven.

[0146] As shown in Fig. 9, Fig. 9 is a schematic view of a first embodiment of a vehicle provided with a laser emitting device of the application, the laser emitting device 250 is arranged on the top of the vehicle 277. The laser emitting device 250 comprises a servo motor 278, a servo motor 251, a servo motor 253, a servo motor 257, and a laser emitter 261 arranged on the rotating shaft 258 of the servo motor 257. A guide round rod 280, a round rod 281, and a screw rod 283 are arranged vertically on the servo motor 278, and the servo motor 251 is sleeved on the round rod 280, the round rod 281, and the screw rod 283. The servo motor 278 can drive the screw rod 283 to rotate, and the servo motor 251 can move vertically up and down along the round rod 280 and the round rod 281 and be positioned under the drive of the rotating screw rod 283. The rotating shaft 266 of the servo motor 251 is fixedly connected with the back surface of the servo motor 253 in parallel, and the rotating shaft 262 of the servo motor 253 is fixedly connected with the side plate 285 of the servo motor 257 in perpendicular. The center line 252 of the rotating shaft 266 of the servo motor 251 intersects perpendicularly with the center line 255 of the rotating shaft 262 of the servo motor 253 at a point 265. The center line 255 of the rotating shaft 262 of the servo motor 253 intersects perpendicularly with the center line 256 of the rotating shaft 258 of the servo motor 257 at a point 260. The end of the rotating shaft 258 of the servo motor 257 is fixedly connected with the laser emitter 261, and the center line of the laser beam emitted by the laser emitter 261 intersects perpendicularly with the center line 256 at the point 260, so that the laser beam can perform rotational motion under the rotation of the rotating shaft 258. As shown in Fig. 9, the rotating shaft 266 of the servo motor 251 rotates by an angle D, a horizontal line 288 perpendicular to the center line 252 intersects the center line 255 at the point 265, and the center line 255 also intersects the center line 288 at the point 265, and the center line 255 and the center line 288 form an angle D. The servo motor 281 is arranged on the top of the vehicle 277, the bottom surface 286 of the servo motor 281 is parallel to the road surface 286 (horizontal plane), the side edge 259 is parallel to the side edge of the vehicle 277 and parallel to the center line 252 of the rotating shaft 266 of the servo motor 251, the vertical projection of the right front corner point 289 of the vehicle 277 on the road surface 286 is the point 275, and when the front wheel of the vehicle 277 rotates counterclockwise, the point 275 is the outermost control point when the vehicle safely passes. If the point 275 of the vehicle 277 can safely pass, then other parts of the right side of the vehicle body can also safely pass.The projection of the side 263 of the vehicle 277 on the road surface 286 is a straight line 272 passing through the point 275, and the point 291 on the road surface 286 and passing through the point 275 and perpendicular to the straight line 272 at a certain distance is a safety redundancy distance point for ensuring the safety of the vehicle, that is, the point 291 is located outside the point 275, and in FIG. 4, the point 291 is on the driving safety control trajectory line 270 when the front left wheel of the vehicle 277 is turned counterclockwise at a certain angle, and the point 290 is a point on the safety running trajectory line 270 in front of the vehicle 277, the laser emitter 261 emits laser light to the driving safety control trajectory line 270 for scanning and detecting the distance under the rotation of the servo motor 257 and the servo motor 253, and the size of the rotation angle of each of the servo motor 257 and the servo motor 253 is obtained by analyzing and calculating the change of the rotation angle of the front wheel of the vehicle 277 and the functional relationship by the data analysis unit. In FIG. 9, the laser vertically downwardly emits laser light to the road surface to form a point 273, there is a straight line 276 on the road surface 286 and passing through the point 273 and perpendicular to the straight line 272, and the vehicle 277 has a rear wheel 279.

[0147] As shown in FIG. 10, FIG. 10 is a calculation principle diagram of the laser rotary scanning of the first embodiment of the vehicle provided with the laser emitting device of the vehicle of the present application to form a safety running trajectory line on the ground;

[0148] The position of the laser rotating point W1 of the embodiment is constant relative to the vehicle body. After starting the laser emitting device, the laser emitted by the laser emitting device first points to the T1 point. The point 275 (T3) is the vertical projection point of the vehicle body on the horizontal road surface when the vehicle body is turning, which is also the running control point on the right side of the vehicle. The distance between the T1 point and the T3 point is a safe running control point. Now, the laser beam emitted by the laser emitting device needs to rotate and scan around the laser rotating point 260 (W1) along the safe running track line 270. Only the cooperation of the servo motor 257 and the servo motor 253 can rotate step by step. In each time period after subdivision, when the servo motor 253 rotates by a small angle, the control unit controls the servo motor 257 to rotate by a corresponding small angle, so that the laser emitted by the laser emitter 261 irradiates on the safe control track line 270. The shorter the subdivision time, the closer the light spot track line formed by the laser spot on the ground to the safe running track line. This is because the laser emitter 261 is driven by the motor, so the resolution can be very high, generally up to 0.01 degrees. Therefore, the movement of the laser beam from the W1T1 line to the W1U1 line position can be decomposed into x-axis direction movement and y-axis direction movement. Specifically, when the rotating shaft 262 of the servo motor 253 rotates by an angle ∠V1W1T1 = ∠A, the laser beam rotates from W1T1 to W1V1. However, the rotating shaft 258 of the servo motor 257 also synchronously completes the rotation angle ∠V1W1U1 at the same time. In this way, the laser beam emitted by the laser emitter 261 can reach the U1 point on the safe running track line 270 under the cooperation of the servo motor 253 and the servo motor 257. Then, when the rotating shaft 262 of the servo motor 253 continues to rotate by an angle ∠V2W1V1 = ∠A, the laser beam rotates from W1V1 to W1V2. However, the rotating shaft 258 of the servo motor 257 also synchronously completes the rotation angle ∠V2W1U2 - ∠V1W1U1 at the same time. In this way, the laser beam emitted by the laser emitter 261 can reach the U2 point on the safe running track line 270 under the cooperation of the servo motor 253 and the servo motor 257. The purpose of the calculation of the embodiment is to enable the laser beam emitted by the laser emitter to point to the safe running track line 270. Therefore, the size of the rotation angle of the rotating shaft 258 of the servo motor 257 corresponding to each rotation angle ∠A of the rotating shaft 262 of the servo motor 253 needs to be calculated, and the functional relationship between the rotation angle ∠A of the rotating shaft 262 of the servo motor 253 and the rotation angle of the rotating shaft 258 of the servo motor 257 needs to be found.

[0149] There are many calculation schemes for the embodiment, which are well known to those skilled in the art. One of them is introduced as follows:

[0150] I. Laser spot from T1 point to U1 point

[0151] 1. T1V1 can be obtained from the known angle ∠V1W1T1 = ∠A;

[0152] 2. V1U1 can be calculated by using the obtained T1V1 value, radius r, and the position of the center of the circle, and by using the Pythagorean theorem at T1 and U1 points respectively to establish the relationship with the radius r;

[0153] 3. ∠V1W1U1 can be obtained by using the obtained V1U1;

[0154] II. Calculation of the spot from U1 point to U2 point

[0155] 1. V2V1 can be obtained from the known angle ∠V2W1V1 = ∠A;

[0156] 2. V2U2 can be calculated by using the obtained V2V1 value, radius r, and the position of the center of the circle, and by using the Pythagorean theorem at U2 and U1 points respectively to establish the relationship with the radius r;

[0157] 3. ∠V2W1U2 can be obtained by using the obtained V2U2;

[0158] 4. The angle size of the synchronous rotation of the rotation shaft 258 of the servo motor 257 can be obtained by using the obtained ∠V2W1U2 and the obtained ∠V1W1U1 in the above-mentioned step 1, that is, ∠V2W1U2- ∠V1W1U1;

[0159] III. The angle size of the rotation of the rotation shaft 258 of the servo motor 257 corresponding to the rotation of the rotation shaft 262 of the servo motor 253 by one angle ∠A can be calculated by using the calculation procedure of the above-mentioned step 2, and the functional relationship between the angle size of the rotation of the rotation shaft 262 of the servo motor 253 and the angle size of the rotation of the rotation shaft 258 of the servo motor 257 can be found. The functional relationship can be imported into the data analysis unit for use.

[0160] As shown in FIG. 11, FIG. 11 is a calculation reference drawing of FIG. 10. As shown in FIG. 11, FIG. 11 is another angle view of FIG. 10, and the specific description can be found in the description of FIG. 10, which is not expanded here. FIG. 11 is used as a reference drawing of FIG. 10.

[0161] As shown in FIG. 12, FIG. 12 is a schematic diagram of a second embodiment of a vehicle provided with a laser emitting device of the vehicle according to the present application. (a) is a top view when turning counterclockwise, and (b) is a top view when turning clockwise;

[0162] As shown in Fig. 12(a), the laser emitter 501 includes a servo motor 517, a servo motor 522, a laser range finder 519 is vertically fixed on the rotating shaft 518 of the servo motor 517, the servo motor 522 is arranged on the top of the vehicle 500, the center line 521 of the rotating shaft 523 of the servo motor 522 is parallel to the center line G6E of the rear wheel axle of the vehicle 500 or the center line G6E of the rear wheel axle of the vehicle is parallel to the plane where the laser beam 520 intersects with the center line 521 of the rotating shaft 523, when the laser 520 emitted by the laser emitter 519 is perpendicular to the center line 521 of the rotating shaft 523 of the servo motor 522 and rotates around the center line 521 of the rotating shaft 523 of the servo motor 522, the rotating surface formed by the rotation intersects with the road plane to form a straight line and the straight line is perpendicular to the center line G6E of the rear wheel axle of the vehicle. The laser emitter 502 is arranged on the right side of the vehicle 500, the center line 526 of the rotating shaft 527 of the servo motor 525 is parallel to the plane where the laser range finder emits the laser intersects with the center line G6E of the rear wheel axle.

[0163] So the left side of the vehicle 500 has two running control points: one is the left running control point 507 located on the vertical projection line of the center line of the rotation shaft of the rear wheel on the road plane, and the other is the left running control point 505 located in front of the left side of the vehicle; the right side of the vehicle has two running control points: one is the right running control point 508 located on the vertical projection line of the center line of the rotation shaft of the rear wheel on the road plane, and the other is the right running control point 506 located in front of the right side of the vehicle; in order to simplify the mechanical design and improve the operation efficiency of the control unit, generally only one laser emitting device is responsible for rotating and emitting laser to detect the running track line of one running control point, so a vehicle generally needs to be provided with four laser emitting devices to detect the running track line of four running control points, in order to save costs, the improved scheme of the embodiment is that the vehicle 500 is provided with only two laser emitting devices to realize the detection task of the running track of the above-mentioned four running control points of a vehicle, as shown in FIG. 12(a), the left side of the vehicle 500 is provided with a laser emitting device 501, and the right side is provided with a laser emitting device 502, when the center line 520 of the laser beam emitted by the laser range finder 519 of the laser emitting device 501 of the embodiment is perpendicular to the center line 521 of the rotation shaft 523 of the motor 522, the center point of the light spot formed on the road plane by the laser beam emitted by the laser range finder 519 of the laser emitting device 501 of the embodiment is the coordinate origin of the coordinate graph, the plane intersecting the center line 521 of the rotation shaft 523 of the motor 522 and the center line 520 of the laser beam emitted by the laser range finder 519 is parallel to the center line of the wheel shaft of the rear wheel of the vehicle, and when the above-mentioned center line 520 of the laser beam only rotates around the center line of the rotation shaft 518 of the servo motor 517 (the servo motor 522 is in a state of stopping rotating), the plane formed by the rotation of the above-mentioned center line 520 of the laser beam intersects the road plane at a straight line which can be set as the x-axis, and after driving the servo motor 522 to rotate, the x-axis position is positioned on the running control point 505 or the running control point 507, and the straight line perpendicular to the x-axis and passing through the running control point 505 or the running control point 507 on the road plane is set as the y-axis, that is, the embodiment sets the x-axis parallel to the vertical projection line G6E of the center line of the wheel shaft of the rear wheel of the vehicle, so that as long as the position of the rotation point of the laser beam emitted by the laser range finder 519 is fixed and the position of the motor 522 is fixed when the center line 520 of the laser beam emitted by the laser range finder 519 and the center line 521 of the rotation shaft 523 of the motor 522 are in a vertical intersection state, controlling the rotation of the rotation shaft 523 of the motor 522 can control the center line 520 of the laser beam emitted by the laser range finder 519 to switch from the front running control point 505 on the left side of the vehicle 500 to the rear running control point 507 on the outer side of the rear wheel on the left side of the vehicle 500, so that the detection of the running track line of the original running control point by the laser range finder 519 can be changed and the direction can be changed to the initial target position of the new running control point,The laser range finder 519 of the left laser emitting device 501 rotates the scanning laser beam to the running track line 511 of the left front running control point 505 (see b) and then switches to the running track line 509 of the left rear running control point 507. The laser range finder 519 of the left laser emitting device 501 can switch the detection between the running track line 509 of the left rear running control point 507 and the running track line 511 of the left front running control point 505 (see b). Similarly, the laser range finder of the right laser emitting device 502 can switch the detection between the running track line 510 of the right front running control point 506 and the running track line 512 of the right rear running control point 508 (see b).

[0164] When the vehicle 500 rotates counterclockwise, the left laser emitting device 501 rotates the scanning laser beam to the running track line 509 of the left rear running control point 507, and the right laser emitting device 502 rotates the scanning laser beam to the running track line 510 of the right front running control point 506.

[0165] When the vehicle 500 rotates clockwise, the left laser emitting device 501 switches the initial laser target direction from the running track line 509 of the left rear running control point 507 (see a) to the left running track line 511 of the left front running control point 505, and the right laser emitting device 502 switches the initial laser target direction from the running track line 510 of the right front running control point 506 (see a) to the right running track line 512 of the right rear running control point 508. Of course, we can set a separate laser emitting device on the top of the vehicle 500 to perform the horizontal scanning detection between the left running track line 511 and the right running track line 512 or between the left running track line 509 and the right running track line 510 (see a). When the vehicle 500 rotates clockwise, the left running track line 511 and the right running track line 512 or the left running track line 509 and the right running track line 510 and the horizontal scanning detection at the front safe distance of the vehicle 500 form a safe channel for the safe driving of the vehicle 500.

Claims

1. A laser emitting device of a vehicle, characterized by: The laser emitting device includes a sensor unit, a signal processing unit, and a control unit. The laser emitting device includes a laser emitting plate or a laser emitter or a laser range finder. The laser emitting device can emit laser beams in a specific direction to scan the road surface and form a light spot track on the road surface. The light spot track represents a left or right running track of a vehicle body on the road surface. Alternatively, the light spot track represents a left or right safety running track of the vehicle body on the road surface. When there is an obstacle or a pit on the running track or the safety running track, the laser emitting device emits laser beams to the surface of the obstacle or the inner surface of the pit to obtain a detection distance by reflection, and then the anti-collision execution unit performs an anti-collision action.

2. A laser emitting device for a vehicle as claimed in claim 1, characterized in that: The control unit can control the laser emitting device to emit laser beams to scan the road surface and form a light spot track on the road surface. The light spot track represents a running track or a safety running track of a vehicle. The specific method includes one of the following methods: The right side of the roof of the vehicle is provided with a laser emitting device I, the left side of the roof is provided with a laser emitting device II, and the middle part is provided with a laser emitting device III. The laser emitting device I is responsible for scanning and detecting a safety running track I outside the rightmost track of all the tracks of all the points of the vehicle to be driven according to the turning angle of the left front wheel. The laser emitting device II is responsible for scanning and detecting a safety running track II outside the leftmost track of all the tracks of all the points of the vehicle to be driven according to the turning angle of the front wheel. The laser emitting device III is responsible for scanning the position between the safety running track I and the safety running track II at a safety distance in front of the vehicle according to the corresponding safety distance of the vehicle speed. The laser emitting device III is arranged on a rudder, a gimbal, or a servo motor. The rudder, the gimbal, or the servo motor can adjust the angle of the emitted laser beams to make the distance between the light spot on the ground and the vehicle be 1 times or other set multiples of the vehicle speed. The left side of the vehicle is provided with a laser emitting device I, and the right side of the vehicle is provided with a laser emitting device II. The laser emitting device I is responsible for scanning and detecting a running track I of the leftmost track of all the tracks of all the points of the vehicle to be driven according to the turning angle of the left front wheel. The laser emitting device II is responsible for scanning and detecting a running track II of the rightmost track of all the tracks of all the points of the vehicle to be driven according to the turning angle of the left front wheel.

3. A laser emitting device for a vehicle as defined in claim 1, characterized in that: The laser emitting device I is arranged on the left side of the vehicle, the laser emitting device II is arranged on the right side of the vehicle, the laser emitting device III is arranged on the middle part of the vehicle, the control unit can control the laser emitting device I to emit laser ranging to the road surface and form a right side safe running track line on the ground light spot, the control unit can control the laser emitting device II to emit laser ranging to the road surface and form a left side safe running track line on the ground light spot, and the control unit can control the laser emitting device III to scan and detect the distance of the road surface between the left side safe running track line and the right side safe running track line and at a safe distance in front of the vehicle.

4. A laser emitting device for a vehicle as claimed in claim 2 or 3, characterized in that: When the laser emitting device emits laser to detect the distance of the left side running track line or the right side running track line or the left side safe running track line or the right side safe running track line, if the information analysis unit verifies that the obstacle or the pit is on the left side running track line or the right side running track line or the left side safe running track line or the right side safe running track line, or the information analysis unit verifies that the obstacle or the pit is between the left side running track line and the right side running track line, or the information analysis unit verifies that the obstacle or the pit is between the left side safe running track line and the right side safe running track line, the real-time linkage anti-collision execution unit is controlled to slow down or brake.

5. A laser emitting device for a vehicle as claimed in claim 2 or 3, characterized in that: The vehicle is also provided with a camera, when the laser emitting device emits laser to detect the distance and the information analysis unit finds the obstacle or the pit, the control unit controls the camera to capture a vertical plane passing through the light spot of the detection point of the obstacle or the pit to confirm the position of the obstacle or the pit, and when the information analysis unit verifies that the obstacle or the pit is on the safe running track line or between the left side safe running track line and the right side safe running track line, the linkage anti-collision execution unit is controlled to slow down or brake.

6. A laser emitting device for a vehicle as defined in claim 1, characterized in that: The laser emitting plate, the laser emitter or the laser range finder is arranged on a rotating mechanism, the rotating mechanism includes a holder or a rudder or a mechanical arm driven by a motor, and the laser emitting plate, the laser emitter or the laser range finder arranged on the holder or the rudder or the mechanical arm driven by the motor can emit laser in a specific direction to scan and detect the road surface under the control of the control unit, and the laser light spot on the road surface forms a left side running track line or a right side running track line or a left side safe running track line or a right side safe running track line on the ground, and the specific structure scheme includes: The laser emitting device includes a motor I and a motor II, a rotating shaft I of the motor I is fixedly connected with a laser range finder, a center line of a light beam of laser emitted by the laser range finder and a center line of the rotating shaft I of the motor I are perpendicular and intersect at a point I, an outer shell of the motor I is fixed on a rotating shaft II of the motor II, a center line II of the rotating shaft II of the motor II and the center line I of the rotating shaft I are also perpendicular and intersect at the point I, and the point I is a rotating point of the laser light beam. The laser emitting device comprises a motor I, a motor II and a motor III, the rotating shaft I of the motor I is fixedly connected with a laser range finder vertically, the center line of the laser beam emitted by the laser range finder intersects the center line of the rotating shaft I of the motor I at a point I vertically, the shell of the motor I is fixed on the rotating shaft II of the motor II, the center line II of the rotating shaft II of the motor II intersects the center line I of the rotating shaft I at the point I vertically, the point I is the rotating point of the laser beam, the shell of the motor II is fixed on the rotating shaft III of the motor III, the center line of the rotating shaft II of the motor II intersects the center line of the rotating shaft III of the motor III at a point II vertically. The laser emitting device comprises a motor I and a motor II, the rotating shaft I of the motor I is fixedly connected with a laser emitter and a laser receiver vertically, the laser emitter is provided with a chip, the laser receiver is also provided with a chip, the center line of the laser beam emitted by the laser emitter intersects the center line of the rotating shaft I of the motor I at a point I vertically, the shell of the motor I is fixed on the rotating shaft II of the motor II, the center line II of the rotating shaft II of the motor II intersects the center line I of the rotating shaft I at the point I vertically, and the point I is the rotating point of the laser beam.

7. A laser emitting device for a vehicle as defined in claim 1, characterized in that: The laser emitting device is arranged on a rotating mechanism, and the rotating mechanism comprises a holder, a rudder or a mechanical arm driven by a servo motor. The laser emitting device is arranged on a two-dimensional rudder, and the center line of the laser beam emitted by the laser emitting device is taken as a target controlled by the rudder, the two-dimensional rudder comprises a servo motor I and a servo motor II, the rotating shaft of the servo motor II is fixedly connected with the shell of the servo motor I, the rotating shaft of the servo motor I is fixedly connected with the shell of the laser emitting device, the center line of the rotating shaft of the servo motor I intersects the laser light emitted by the laser emitting device at a rotating point vertically, the center line of the rotating shaft of the servo motor II intersects the center line of the rotating shaft of the servo motor I at the rotating point vertically, and the servo motor II can drive the servo motor I to rotate and drive the laser beam emitted by the laser emitting device to rotate around the center line of the rotating shaft of the servo motor II. The laser emitting device adopts a rotatable single-line laser radar available on the market, the laser emitted by the rotatable single-line laser radar intersects the rotating shaft I of a motor I at a rotating point vertically, the single-line laser radar can rotate 360 degrees to emit a laser beam, the rotating shaft of a servo motor II is fixedly connected with the shell of the single-line laser radar, the center line of the rotating shaft of the servo motor II intersects the center line of the rotating shaft of the motor I at the rotating point vertically, and the servo motor II can drive the single-line laser radar to rotate and drive the laser beam emitted by the single-line laser radar to rotate around the center line of the rotating shaft of the servo motor II.

8. A laser emitting device for a vehicle as defined in claim 1, characterized in that: The laser emitting device can emit two or more light spot track lines on the road surface to form two or more safe running track lines, the first safe running track line is closer to the vehicle body than the second safe running track line, when an obstacle or a pit appears on the first safe running track line, the control unit controls the alarm, and when an obstacle or a pit appears on the second safe running track line, the anti-collision executing unit is linked in real time.

9. A control method for the anti-collision of a laser emitting device of a vehicle, comprising the following steps: (1) receiving the instruction to start the process, the laser emitter of the laser emitting device rotates to the initial direction of the laser beam; (2) the control unit controls the laser emitting device to rotate and emit laser detection distance in a specific direction on the road surface according to the direction and size of the front wheel angle, and forms a light spot trajectory line representing the safe running trajectory line of the vehicle on the road surface: (a) the data processing unit collects the front wheel angle data to determine the turning direction and calculate the turning radius; (b) determine the coordinate origin, safe running control point and safe running trajectory line equation; (c) the control unit drives the laser emitting module to control the laser emitting device to rotate and emit laser detection distance in a specific direction on the ground, and forms a light spot trajectory line representing the safe running trajectory line of the vehicle on the ground; (3) the data analysis unit determines whether the detection distance has a sudden change or fracture phenomenon, and when the detection distance has a sudden change or fracture phenomenon, it means that there is an obstacle or pit in front of the vehicle; (4) verify the position of the above obstacle or pit: determine whether the position of the obstacle or pit is between the left and right safe running trajectory lines, or outside the left and right safe running trajectory lines; (5) when the data analysis unit verifies that the obstacle or pit is between the left and right safe running trajectory lines, the control unit determines whether there is a collision risk, and if there is a collision risk, the anti-collision execution unit is linked to perform anti-collision action; (6) when the data analysis unit verifies that the obstacle or pit is outside the left and right safe running trajectory lines, the vehicle does not link the anti-collision execution unit to act, (when executing the above steps (2), (3), (4), the laser emitting device always continuously rotates and emits laser detection distance along the ground safe running trajectory line or swings reciprocatingly emits laser detection distance; (7) the laser emitting device continuously rotates and emits laser detection distance along the ground safe running trajectory line or swings reciprocatingly emits laser detection distance; (8) when the front wheel angle of the vehicle changes in the above process, the data analysis unit continuously performs the above steps 2 to 7 according to the angle value of the changed front wheel angle of the vehicle, the speed of each cycle process is extremely fast, the data processing unit can continuously receive new front wheel angle instructions of the vehicle, and continuously cycle the above steps 2 to 7, which can ensure the stability and accuracy of the laser emitter and the rotating mechanism in the operation process through the control algorithm of the data processing unit.

Images