CN1785723A - Vehicle imbedding type system - Google Patents
Vehicle imbedding type system Download PDFInfo
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Abstract
The present invention discloses a vehicle-mounted embedded system. It includes vehicle-mounted embedded platform, vehicle-mounted display, vehicle-mounted wireless communication unit, GPS receiver apparatus, vehicle-mounted type digital image information collection unit and electronic map data base which are connected by means of bus. In the interior of the described vehicle-mounted embedded platform a central control unit, a safety monitoring control unit, a car automatic navigation control unit, car failure diagnosis control unit and family car interaction control unit.
Description
Technical field
The present invention relates to a kind of automatic control device that is used in the automobile, particularly a kind of vehicle imbedding type system.
Technical background
Nowadays along with the fast development of auto-industry, by originally simple walking-replacing tool, change into gradually to provide life assistant how comfortable and that enjoy to automobile, and more and more comes into common people's life.Therefore, people also from the requirement of simple mechanical characteristics, develop the many-sided demands such as " convenience, safety, economy, usefulness " that becomes today to the requirement of automobile in the past.Regrettably, though today, automotive electronic technology obtained significant progress, especially wherein as the Vehicle Electronic Control class device of main flow, as controlled vehicle-mounted electrical unit (ECU), with vehicle electronics info class device, as vehicle mounted GPS guidance system, their technology innovation and the progressive auto-industry that promoted greatly adapt to people's demand.But, but still there are not a similar automobile electronics so far, can satisfy many-sided demand of people simultaneously.And still there is defective more or less in each existing products, as existing vehicle mounted GPS guidance system, what have can only the current geographic position of display automobile, but can't obtain the navigation information of running route, even the demonstration travel way that has, also just according to the existing road conditions in the electronic map database, do not consider the road traffic situation, even therefore occur traffic congestion on the road even open circuit etc. seriously hinders the situation of travelling, it still can be shown to chaufeur with these routes, causes the misleading to chaufeur.Existing for another example ECU is though the failure message of detected system that can store car can not in time accurately be informed chaufeur with these failure messages.Existing for another example reversing alarm device generally is to be used in meeting, when parking, but can not effectively to solve problem such as knock into the back, side is hit, and prevents traffic accidents such as Che-Che bumps against, people-Che bumps against, Che-Che side impact/side is scraped comprehensively.In addition, existing automobile electronics often all are to depend on chaufeur to operate control at automotive interior, can not realize that but long-range data interaction and control are interactive, use also inconvenient.
Summary of the invention
The objective of the invention is: at the deficiencies in the prior art, provide a kind of degree height easy to use, intelligent, can increase the multi-functional vehicle-mounted embedded type platform of the safety performance of vehicle drive.
In order to solve the problems of the technologies described above, the technical solution adopted in the present invention is: a kind of vehicle imbedding type system comprises by bus bonded assembly vehicle-mounted embedded type platform, Vehicular display device, in-vehicle wireless communication unit, GPS receiving instrument, in-vehicle digital image information acquiring unit and electronic map database;
Be provided with the interactive control unit of Central Processing Unit (CPU), security monitoring control unit, automobile automatic navigation control unit, automobile failure diagnosis control unit and tame car in the described vehicle-mounted embedded type platform, wherein,
Described security monitoring control unit is used for by described in-vehicle digital image information acquiring unit, obtain the real scene image of motor vehicle environment, after these images are carried out analyzing and processing, generate threat category and threat level signal, on Vehicular display device, to demonstrate threat category and threat level information;
Described automobile automatic navigation control unit is used for the Control of Automobile automatic navigation, at least comprise that the described GPS receiving instrument of control receives gps signal, obtain real-time geographic position coordinate code, thereby this real-time geographic position coordinate code is converted into vehicular seat station location marker information and is input to described Vehicular display device, simultaneously, also from described electronic map database, read electronic map information, thereby show this electronic map information by Vehicular display device, and on the relevant position of electronic chart, demonstrate the vehicular seat station location marker;
Described automobile failure diagnosis control unit is used for the status information of each the detected system in the automobile of gathering automatically by the cab signal collecting unit that is arranged at each detected system in the automobile, thereby generate the status information code and be sent to remote service center by described in-vehicle wireless communication unit, and, also receive automobile fault information code, with at Vehicular display device display automobile failure message from remote service center by described in-vehicle wireless communication unit;
The interactive control unit of described family car is used to control the communication protocol of described in-vehicle wireless communication unit according to agreement, communicates with the appliance control system that is arranged in the family, thus the control of interaction each other;
Described Central Processing Unit (CPU) is used to control the co-ordination between the interactive control unit of described security monitoring control unit, automobile automatic navigation control unit, automobile failure diagnosis control unit and tame car.
In technique scheme, vehicle imbedding type system provided by the present invention is owing to possess the function of fault detection, security monitoring, automatic navigation and tame car interaction simultaneously, thus can be by fault detection, in time find the potential safety hazard that automobile exists, and under the guidance of remote service center, help chaufeur to make the correct operation of getting rid of the danger; Also can be by security monitoring, the vehicle length time takes place in running car way departs from the moving traffic lane of oneself or closes under the situation by other vehicles or obstacle, automatically alarm, and threat is presented on the telltale, so that chaufeur averts danger, avoid the accident that causes because of the chaufeur carelessness effectively; Also can be by automatic navigation, obtain the preferable route between driving starting point and the terminal point automatically, and the traffic on the travel way of sending according to remote service center, make route selection timely and effectively and adjustment; More can set up the communications conduit between the electric-control system in interior electric-control system of car and the family, thereby realize mutual control between the two, use very flexible, convenient by tame car interaction.Therefore relative prior art, the present invention can satisfy people for the omnibearing demand of automobile " convenience, safety, economy, usefulness ", has characteristics such as simple and reasonable, that enforcement is easy, easy to use, safe.
Description of drawings
Accompanying drawing 1 is the functional-block diagram of vehicle imbedding type system of the present invention;
Accompanying drawing 2 is the principle of work block scheme of vehicle failure detection control unit among Fig. 1;
Accompanying drawing 3 is the vehicle failure detection workflow diagram of vehicle imbedding type system of the present invention;
Accompanying drawing 4 is the simplification principle of work scheme drawing of an embodiment of security monitoring control unit among Fig. 1;
Accompanying drawing 5 is the simplification principle of work scheme drawing of another embodiment of security monitoring control unit among Fig. 1;
Accompanying drawing 6 is the scheme drawing of a kind of installation site of the digital camera of vehicle-mounted image information acquisition unit among Fig. 1;
Accompanying drawing 7 is the system's image processing of security monitoring control unit among Fig. 1 and the composition block scheme and the information conveying flow scheme drawing thereof of Decision Control unit;
Accompanying drawing 8 is to threaten the calculating scheme drawing of differentiating parameter under dynamic coordinate system;
Accompanying drawing 9 is formulated the process detail flowchart of control decision for the security monitoring control unit;
Accompanying drawing 10 is the principle of work block scheme of automatic navigation control unit among Fig. 1;
Accompanying drawing 11 is the scheme drawing of a kind of occupation mode of Figure 10;
Accompanying drawing 12 is the scheme drawing of a kind of embodiment of automatic navigation control unit among Fig. 1;
Accompanying drawing 13 be with remote service center in the composition scheme drawing of long rang navigation unit;
Accompanying drawing 14 is the composition scheme drawing of a kind of in-vehicle wireless communication unit among Fig. 1;
Accompanying drawing 15 is the composition structural representation of optimum navigator fix computing subsystem among the present invention;
Accompanying drawing 16 is simplification principle of work block schemes of the interactive control unit of tame car among Fig. 1;
Accompanying drawing 17 is scheme drawings of a kind of occupation mode of Figure 16.
The specific embodiment
Below in conjunction with Figure of description and specific embodiment the present invention is described in further detail.
With reference to figure 1, a kind of vehicle imbedding type system provided by the invention comprises by vehicle-mounted bus bonded assembly vehicle-mounted embedded type platform, Vehicular display device, in-vehicle wireless communication unit, GPS receiving instrument, in-vehicle digital image information acquiring unit, vehicle-mounted manual-input unit, sound and light alarm device and electronic map database.
Described Vehicular display device can adopt Liquid Crystal Display (LCD).
Described vehicle-mounted bus can be CAN (Controller Area Network, controller local area network) bus, or LIN (Local Interconnect Network, local serial communication network) bus, or the RS232 bus, also can be other known vehicle-mounted bus in this area.Described vehicle-mounted bus also can be the combination of these bussing techniques.
Described in-vehicle wireless communication unit can adopt GPRS/GSM module well known in the art, or the CDMA module, or other wireless communication module.Also can form by serial interface, control module, TCP/IP processing module, GPRS/GSM wireless transport module and GPRS/GSM antenna that cascade is successively joined, TCP/IP processing module wherein, finish the data packing according to communication protocol, between control module and the TCP/IP processing module and between TCP/IP processing module and the GPRS/GSM wireless transport module, each is joined by two separate parallel buses, and one of them is used for move instruction, one and is used for transmitting data.
Described vehicle-mounted manual-input unit can be keyboard or be integrated in touch-screen or speech input device on the telltale.
Described sound and light alarm device can adopt buzzer phone well known in the art and LED lamp etc.
Described electronic map database can be stored in the hard disk or CD disc that described vehicle-mounted embedded type platform sets up.
Described vehicle-mounted embedded type platform specifically can adopt integrated components such as micro controller system, FPGA to realize, its inside is provided with the interactive control unit of Central Processing Unit (CPU), security monitoring control unit, automobile automatic navigation control unit, automobile failure diagnosis control unit and tame car.
Described Central Processing Unit (CPU) is used to control the co-ordination between the interactive control unit of described security monitoring control unit, automobile automatic navigation control unit, automobile failure diagnosis control unit and tame car.
At the beginning of system start-up, described Central Processing Unit (CPU) can detect the situation of each hardware module in the whole vehicle imbedding type system, judges whether they move normally, and reminds chaufeur when certain hardware breaks down.
When system moved, Central Processing Unit (CPU) can be implemented in the switching/startup button that shows each function on the Vehicular display device.After by artificial input switching/startup command, then make the key frame of corresponding certain function of demonstration on the telltale.As when switching to automobile automatic navigation function, automobile automatic navigation control unit enters running state, and simultaneously, picture displayed then is navigation informations such as electronic chart and automobile position and running route on the telltale.Family's car interaction function is similar with it.
And automobile failure diagnosis control unit and security monitoring control unit can be started by chaufeur, also can be in running state under the control of Central Processing Unit (CPU) always, are used for carrying out automatically automobile failure diagnosis and security monitoring.In case find vehicle failure or security threat, then send interrupt request to described Central Processing Unit (CPU) immediately, make Vehicular display device switch to corresponding interface immediately, show detailed failure message or security threat.Certainly, chaufeur also can pass through switching key, current automobile failure diagnosis information of active inquiry or security monitoring information.
Described in-vehicle wireless communication unit can be connected with described Central Processing Unit (CPU), thereby makes its communications status be subjected to the control of Central Processing Unit (CPU) and tunable work.When described fault detection control unit, the interactive control unit of tame car, security monitoring control unit need start the in-vehicle wireless communication unit with extraneous communication with the automatic navigation control unit, they all send request to Central Processing Unit (CPU), after obtaining the replying of Central Processing Unit (CPU), just transmit communication instruction to the in-vehicle wireless communication unit.Described communication instruction also can send described in-vehicle wireless communication unit to by Central Processing Unit (CPU).Also can comprise the communication instruction buffer module in the described Central Processing Unit (CPU), the communication instruction that other each control units are sent is cached in this buffer module successively, and is transferred to successively in the in-vehicle wireless communication unit according to the principle of first-in first-out and sends.And the communication data that the in-vehicle wireless communication unit receives will be transferred to described Central Processing Unit (CPU), and distinguish that by described Central Processing Unit (CPU) this communication data belongs to the data of which control unit needs, thereby export in this control unit.
The structure that will describe four kinds of functions below in detail is formed and principle of work.
One, vehicle failure automatic diagnostic function:
With reference to the accompanying drawings 1,2, described automobile failure diagnosis control unit is gathered the status information of each detected system in the automobile automatically by being arranged at the cab signal collecting unit in each detected system in the automobile, thereby generate the status information code and be sent to remote service center by described in-vehicle wireless communication unit, and, also receive automobile fault information code, with at Vehicular display device display automobile failure message from remote service center by described in-vehicle wireless communication unit.
Described cab signal collecting unit can be for being arranged at each detected intrasystem state detection sensor.Described state detection sensor can be used for detecting automobile engine oil pressure, water temperature, amount of fuel, electric energy generated, closing of the door and whether waits performance state.Described automobile failure diagnosis control unit can receive data by the RS data bus, also can directly have the data-in port (present embodiment adopts this scheme) corresponding to each state detection sensor, the status information from described state detection sensor of its reception is a status signal.
Described cab signal collecting unit also can be for being arranged at each detected intrasystem ECU (Electrical Control Unit) (ECU).Described ECU can for as anti-skid brake system (Anti-Lock Braking System is called for short ABS), (Traction Control System is called for short TCS to anti-slip regulation, also claim ASR), four-wheel steering system (WS), Study on Vehicle Dynamic Control system (Vehicle Dynamic Control is called for short VDC, also claims VSC, ESP), tire inflation pressure determining system intrasystem ECU such as (TirePressure Monitoring System are called for short TPMS).Described automobile failure diagnosis control unit can pass through CAN (Controller Area Network, controller local area network) bus or LIN (LocalInterconnect Network, the local serial communication network) bus is communicated by letter with it, and the status information from described ECU (Electrical Control Unit) of its reception is a failure code.
Described cab signal collecting unit can also comprise described state detection sensor and ECU (Electrical Control Unit) simultaneously.Present embodiment promptly adopts this scheme.
Described remote service center is the platform that is used for carrying out with this vehicle imbedding type system data communication, services such as necessary traffic related information, vehicle failure analysis, automotive traffic emergency handling are provided for vehicle imbedding type system, it can be arranged at the traffic control center, also can set up separately.
In the described remote service center, described failure analysis unit is used for receiving the status information code that sends from the onboard wireless data communication units in the automobile by described RFDC unit, and analysis obtains the automobile fault information code, thereby, return the automobile fault information code to described automobile failure diagnosis control unit by described RFDC unit.
Described failure analysis is provided with data bank in the unit, and described data bank is used to store the automobile fault information data, the vehicle condition information that described failure analysis element analysis is received, and carry out data with data bank and compare, to produce the automobile fault information code.
With reference to figure 3, the method that the vehicle failure that present embodiment adopted detects automatically mainly comprises the steps:
Vehicle condition information detects step, promptly each detected system in the automobile is carried out state-detection, thereby obtains status information;
Wherein, present embodiment mainly is to detect the status information that obtains automobile by being arranged at ECU (Electrical Control Unit) in each detected system in the automobile or state detection sensor.Described status information comprises failure code and status signal.Described automobile failure diagnosis control unit can adopt active mode or passive mode to obtain these status informations.Wherein active mode is automobile failure diagnosis control unit interval at regular intervals, and the data-in port of its each coupled condition detecting sensor of poll and the CAN/LIN bus of communicating by letter with each ECU are read in status information.When passive mode changes for the state of each state detection sensor, or the failure code of each ECU is when producing, promptly give notice (as interrupt signal), make the automobile failure diagnosis control unit can in time read in status information to the automobile failure diagnosis control unit.
Vehicle condition information transfer step, the vehicle condition information that is about to be obtained is encoded according to predefined agreement, produces the status information code, and be wirelessly transmitted to remote service center in automobile;
Wherein, comprise vehicle condition information and automobile heading code in the described vehicle condition message code, described automobile heading code is and automobile identity of automobile sign one to one, be used at wireless communication procedure, judge the information receive from where, whether the information that perhaps receives belongs to the information of this automobile.The automobile heading code that adopts in the present embodiment comprises license plate code and automobile model code.But also can adopt the code of other unique identification identity of automobile certainly, as comprise ID card No. of car owner etc.
The vehicle failure analytical procedure, promptly at remote service center, wireless receiving is analyzed the automobile current state behind the status information code from automobile, and produces the automobile fault information code when automobile breaks down;
Wherein, comprise automobile heading code and automobile fault information data/normal information in the described automobile fault information code.
The method of described analysis automobile current state is specially: the data bank that is provided for storing the automobile fault information data at remote service center, after remote service center receives status information code from automobile, with wherein the status information and the data in the data bank of automobile compare, thereby judge whether automobile exists fault, and when having fault, cooresponding automobile fault information data in the read-out information storehouse, in order to produce the automobile fault information code, or at vehicle condition just often, produce the automobile fault information code with normal information.
The automobile fault information transmitting step, the automobile fault information that is about to be obtained sends in the cooresponding automobile with Wireless transmission mode;
The automobile fault information step display promptly after cooresponding automobile receives the automobile fault information code, shows the automobile fault information from remote service center in automobile;
Wherein, automobile failure diagnosis control unit in the automobile is after the onboard wireless data communication units receives the automobile fault information code, at first judge the code whether this automobile fault information code should receive for this automobile according to wherein automobile heading code, if not, then will not further handle; If, then this automobile fault information code is further decoded, obtain automobile fault information.When the automobile fault information of decoding acquisition is normal information, will on Vehicular display device, show the normal prompting of operation.Otherwise, will on Vehicular display device, show concrete fault.
In addition, this method also can be worked as the vehicle condition information of vehicle condition information that the automobile failure diagnosis control unit gathers and last time collection when identical, do not send this status information, and have only when vehicle condition information changes, just send the status information after changing to remote service center.
As the further extension of this method, remote service center also can provide corresponding solution to this fault when judging automobile fault is arranged, and sends in the automobile and show, carries out the operation of correct trouble-shooting with the prompting chaufeur.Providing of this solution, only need increase corresponding data in the data bank of remote service center gets final product, when providing indicating fault, the solution that accesses simultaneously under the corresponding failure gets final product, to different vehicles, can provide some kinds of different solutions and select according to concrete environmental conditions, wherein, can be included in the interim measure that thoroughly to eliminate under the failure condition for chaufeur.
This function has been owing to realized that vehicle imbedding type system detects, collects vehicle condition information automatically, and sends to remote service center analysis, thereby can obtain the failure message of automobile fast and accurately.And this failure message can be informed chaufeur in time by Vehicular display device, makes it can grasp condition of the vehicle in real time, thereby has avoided the existence of potential safety hazard effectively.And, because failure analysis is handled by remote service center, so just can reduce the data processing amount of onboard system on the one hand, simplify the structure of onboard system, also can utilize the powerful data processing function of remote service center in addition, automobile is carried out comprehensive and deep state-detection, obtain failure message accurately.Further, because the present invention can gather from the failure code of ECU (Electrical Control Unit) with from the status signal of state detection sensor, then can realize complete detection to vehicle condition.Relative prior art, the present invention can in time, intuitively, comprehensively reflect automobile fault information, improves vehicle safety performance, and simple and reasonable, method is easy to implement.
Two, automotive safety monitoring function:
With reference to figure 1,4, described security monitoring control unit is used for obtaining the real scene image of motor vehicle environment, after these images are carried out analyzing and processing by described in-vehicle digital image information acquiring unit, generate threat category and threat level signal, thereby produce the safety precaution action.In the present embodiment, described security monitoring control unit is system's image processing and Decision Control unit.
Described vehicle-mounted digital image information acquisition unit comprises the digital camera that it is built-in, described digital camera obtains the real scene image of vehicle periphery, behind pretreatment, give described system image processing and the Decision Control unit is handled by bus, therefrom extract on every side target (lane mark for example, restriction such as other vehicles or obstacle on every side or hinder the target of vehicle ') with the relative position information of this car, and the suffered threat level of this car is judged as criterion, then make control decision in view of the above, send corresponding instruction, give described Vehicular display device with the result of decision (instruction or information) by control bus respectively by described security monitoring control unit, sound and light alarm device, ECU (Electrical Control Unit) or in-vehicle wireless communication unit, or the grade that impends shows, or send audible and visual alarm, or change car behaviour rapidly by one group of ECU (Electrical Control Unit), so that make this car hightail the dangerous area; When needing, described system decision-making control module will be sent the information of making a request for help to remote service center by security monitoring control unit direct control in-vehicle wireless communication unit.
Referring to Fig. 6, described DV autozoom DV and the distribution mode of digital camera head on automobile should guarantee to obtain this car complete image on every side, embodiment shown in Figure 5 is provided with a High Performance autozoom DV, be installed in the positive front end of vehicle, this is the main direction that influences vehicle ' (or dangerous source), 5 digital camera heads with low cost 1.2,1.3,1.4,1.5 and 1.6 be distributed in car around.
Owing to security monitoring carried out in driving needed information support, consider that graphicinformation obtains easily, and low cost, so the present invention with the image of road as information generator.Preferably, described vehicle-mounted digital image information acquisition unit can be located module in advance by High Performance autozoom DV, some digital camera heads, buffer circuit, a data image signal and constitute, and autozoom DV and digital camera head all have the sunscreen protection cover; The autozoom DV is positioned in the front end of automobile by quakeproof bracket, and digital camera head is fixed on front, side and the back of automobile respectively then by quakeproof bracket; The digital image pre-processing module is by the special digital signal processing chip, this chip is provided with set of diagrams as pre-processing module software, be used to carry out processing such as image distortion correction, smothing filtering noise reduction process, figure image intensifying and sharpening processing, edge detection processing, its effect is the various interference of effective filtering, reduce image fault, so that provide more accurate, failure-free foundation for security monitoring.
The original image signal of sending here by autozoom DV and the first-class digital camera of digital vedio recording, deliver to the signal input part of described digital signal processing chip by buffer circuit, transferring to described digital image pre-processing module handles, to draw the high-fidelity digital view data, the video image main processing block of giving the security monitoring control unit by control bus CAN/LIN and serial ports RS-232 is done further processing then.Incidentally, original image is carried out pretreatment to be very important, this be because, though with the image is that information generator is simple, cheap, but because the position of camera and target relation is easily brought distortion, thermal noise, light pollution and other interference, these factors are very serious sometimes, thereby must remove these useless and even destructive information earlier, and why Here it is will carry out pretreated reason earlier.
Referring to Fig. 7, in system's image processing and Decision Control unit, digital signal processing chip is subjected to the co-operative control of system works coordination service software, comprise the video image main processing block, the image display control module, threaten the processed module, system decision-making control module, described video image main processing block returns the vehicle to the garage and knock off by bus interface and carries the pretreatment image information of digital image information acquiring unit output, after the wherethrough reason draws this car vector digital image on every side, give the image display control module respectively and threaten the processed module to carry out the determination processing of image demonstration and threat category and threat level, after threatening the processed module from the vector digital image, to extract threat level information, one the tunnel send the Vehicular display device grade that impends to show, one the tunnel gives described system decision-making control module handles, and make the control decision of system according to threat level, send corresponding instruction.
The process that decision-making realizes is: by the control information of security monitoring control unit with the output of system decision-making control module, give described Vehicular display device, sound and light alarm device, ECU (Electrical Control Unit) or in-vehicle wireless communication unit that each is relevant by control bus, or the grade that impends shows or sends audible and visual alarm, or change car behaviour rapidly by one group of ECU (Electrical Control Unit) (make control mechanical device brake, change travel direction and road speed), so that make this car hightail the dangerous area.When needing, system decision-making control module will be sent the information of making a request for help to remote service center by security monitoring control unit direct control in-vehicle wireless communication unit.
Described Vehicular display device is when showing security monitoring information, and the mode that can adopt subregion to show shows different contents, helps like this observing.At this moment, described Vehicular display device subregion comprises the main district that shows, threat level attribute and threat icon display area, car icon display space and touch keyboard display space, the main vector digital image that shows the district with background medium demonstration road, threat level attribute and threat icon display area show threat level property parameters (threat category and threat level etc.) with the form stacked system, the car icon display space is presented at (the main district's bottom center that shows) on the background image to car icon to add lustre stacked system, the touch keyboard display space is integrated with touch-screen, in order to carry out man machine communication, like this with the quantity that can reduce Vehicular display device.As one preferred embodiment, the main district that shows is positioned at the right-hand of Vehicular display device, area accounts for 2/3 of full screen, threaten parameter display area to be positioned at the upper left corner of Vehicular display device, area accounts for 1/6 of full screen, and the car icon display space is positioned at main showing within the district, and its area size is decided by icon, the touch keyboard display space is positioned at the lower right corner of Vehicular display device, and area accounts for 1/6 of full screen.
The demonstration of image is mainly finished by the image display control module, and it is provided with an image based on pixel and screen size relation structure and shows the control specific program, is used for to the Vehicular display device subregion with to the image display control processing program.Its embodiment is, at first set up displaing coordinate system, promptly the upper left corner with the Vehicular display device screen is the origin of coordinates, according to the screen size of Vehicular display device, with the corresponding relation of pixel and screen size, draw the full width of cloth and show the due number of picture elements of required number of picture elements and every row/be listed as; Screen is windowed at diverse location according to afore mentioned rules then, and the described display space of difference called after.The so-called demonstration handles and control, at first be based on same method (each district is considered as a little Vehicular display device), wanting content displayed to be sent to this zone, if desired, just with pixel size handle, the page handles and the Data Update technology, shown content is carried out stepless zooming, translation, rolling, arbitrarily angled rotation, is dynamically updated etc.The data that this software receives are video image main processing block and the information that threatens the output of processed module; Described image shows control and treatment software, discern sending apparent image digitization information, classification, and will be road vectors DID behind the discriminator deliver to the main district that shows and carry out image and show, to threaten the priority attribute supplemental characteristic to deliver to the threat parameter display area, carrying out form shows, under the control of man machine communication or described system works coordination service software, described image shows that control and treatment software video image main processing block can also carry out stepless zooming for the main shown content in district that shows, translation, roll, arbitrarily angled rotation, dynamically update processing etc., satisfy different display requirements, to make things convenient for driver observation road conditions image.
Described security monitoring control unit mainly comprises the brake electric control unit by vehicle-mounted bus bonded assembly ECU (Electrical Control Unit) ECU, the tractive force ECU (Electrical Control Unit), the automatic speed changing ECU (Electrical Control Unit), the electrical power steering ECU (Electrical Control Unit), they are under the coordination of system works coordination service software, pass through system's control bus by described security monitoring control unit, directly the control information of described system decision-making control module output, delivering to the control information treater of each ECU (Electrical Control Unit) handles, generate the required control signal of corresponding controlled mechanical device with it and make it produce corresponding action, change car behaviour and kinematic parameter.
With reference to the accompanying drawings 9, the method for supervising of the ride safety of automobile monitored control system of native system comprises following several key step:
(1) the vehicle-mounted digital camera with system obtains the real scene image of vehicle periphery road etc. and carries out pretreatment, draws the high-fidelity digital image of vehicle periphery outdoor scene;
(2) the outdoor scene high-fidelity digital of vehicle periphery is led processing, draw this car vector digital image on every side;
(3) extract lane mark, the relative position information of target such as other vehicles or obstacle and this car on every side the vector data image around described the car, with this car edge from every side targeted species and apart from the target image edge be criterion apart from size, present safety provides kind and descriptive grade to this car;
(4) under situation about occur threatening, according to threat category and threat level alarm accordingly, urgent hedging automatically control and/or promptly require assistance.
The detailed process of described step (1) mainly is:
(1.1) adopt vehicle-mounted digital camera to obtain the original image that this car comprises the object scene of lane line, front and back vehicle and other operation signs on every side;
(1.2) original image of object scene is handled, comprise that image distortion correction, smothing filtering noise reduction process, figure image intensifying and sharpening processing, edge detect processing etc., with the various interference of effective filtering, reduce image fault, draw the high-fidelity digital image of vehicle periphery outdoor scene.
The detailed process of described step (3) mainly is:
(3.1) from the vector digital image of vehicle periphery target, extract and calculate lane mark, the edge of target such as other vehicles or obstacle and the distance between this car edge on every side, and as criterion, threat category and the threat level present to this car provide quantitative description;
(3.2) the default threat processing scheme data bank of contrast, judgement is under present residing threat category of this car and threat level, whether need to alarm, urgent danger prevention automatic guidance and/or promptly require assistance, as needs, send corresponding instruction, the control corresponding device thereof is done corresponding action, and wherein said alarm, urgent danger prevention automatic guidance and the employing following manner of promptly requiring assistance are carried out:
(a) send threat category and threat level idsplay order to Vehicular display device, demonstrate threat category and threat level information by Vehicular display device;
(b) send the instruction of urgent danger prevention automatic guidance to the corresponding ECU (Electrical Control Unit) of vehicle self, do corresponding urgent danger prevention action by the ECU (Electrical Control Unit) control vehicle;
(c) send the instruction of promptly requiring assistance to the in-vehicle wireless communication unit, start the in-vehicle wireless communication unit and send urgent Call for assistance to extraneous (for example, remote service center) according to default mode.
Referring to Fig. 8, system decision-making control unit can adopt what is called " dynamic coordinate system " when threaten formulating alarm and control decision and the vector digital image by Vehicular display device demonstration road.This system of axes is to stipulate like this: the longitudinal axis with this car vehicle body is the positive dirction of the working direction of x axle and vehicle for this, with the transverse axis of vehicle body is that the positive dirction of y axle and this axle meets right-hand screw rule, and the geometric centre of vehicle forever overlaps such system of axes with the initial point of system of axes.This system of axes is convenient to the driver especially by the observation of Vehicular display device to scene image around this car.
In order under this system of axes system to be carried out control decision, Fig. 8 has provided and has threatened the definition of differentiating parameter and calculate scheme drawing under this dynamic coordinate system.ρ among the figure
AMh, ρ
AMvFor arriving the vertical distance ρ of the origin of coordinates in vertical/widthwise edge edge of this car
AMh, ρ
AMv, ρ
Lr, ρ
LlBe the vertical distance of left and right boundary line, track to the origin of coordinates, ρ
Tf, ρ
TbBe the vertical distance of the vehicle before and after this car to the origin of coordinates, d
i=ρ
Li(t)-ρ
AMhBe lateral error, d
j=ρ
Tj(t)-ρ
AMvBe longitudinal error d
j=ρ
Tj(t)-ρ
AMv, (i=r, l; J=f, b).Can calculate under dynamic coordinate system with " distance criterion " discriminant parameter method of calculating when doing criterion according to this figure.
Fig. 8 has provided system and has differentiated the process detailed process that threatens, formulates control decision according to mentioned above principle.In the method for supervising of a kind of ride safety of automobile monitored control system shown in the present, with the safe class present of the threat processed module in the described numeral to this car (because safe class and threat category and threat level are all explained the safety of vehicle ', think that in this manual these two notions are equal to) for sign provides quantitative description, mainly comprise following several concrete steps:
1) extracts lane mark, other vehicles and other obstacles and mark edge location information and the dynamic coordinate [x thereof in dynamic coordinate system on every side
k(t
i), y
k(t
i)], wherein subscript k is used to distinguish vehicle before and after the lane, this car, and other marks, obstacle, and subscript i is used to represent the current time;
2) according to the dynamic position coordinate [x at described target edge
k(t
i), y
k(t
t)], calculate ρ respectively
AMh, ρ
AMv, ρ
Lr, ρ
Ll, ρ
Tf, ρ
Tb, and lateral error d
i=ρ
Li(t)-ρ
AMhWith longitudinal error d
j=ρ
Tj(t)-ρ
AMv, (i=r, l; J=f, b);
3) according to error d
iAnd d
jNumerical value and symbol, in conjunction with the visual image of road,, provide quantitative description for as follows the current safe class of vehicle, and provide Control Countermeasure with threatening processed module, system decision-making control module:
1. as 0≤d
iAnd D
Sf≤ d
jDuring≤∞, (i=r, l; J=f, b) alarming control system does not send warning signal, and the alarm threat level color that Vehicular display device shows is green, and this car can continue safety traffic in the track of oneself;
2. work as d
i≤ 0 but D
Sf≤ d
jDuring≤∞, the alarm threat level color that Vehicular display device shows is yellow, and sound and light alarm device sends soft warning signal, and alarm Ben Che driver makes car return the moving traffic lane driving of oneself rapidly;
3. as 0≤d
iBut d
j≤ D
SfThe time, the threat level signal that Vehicular display device shows is orange, sound and light alarm device Xiang Benche driver sends alarm prompt, and control loudspeaker/illuminating lamp of this car etc., send the audible and visual alarm signal to being positioned at the front/rear vehicle of this car, allow their accelerate or reduce road speed, to avoid collision or knock into the back;
4. work as d
i≤ 0 and d
j≤ D
SfThe time, alarming control system sends loud warning signal, the threat level signal that Vehicular display device shows is red, at this moment, system tells Ben Che driver by sound and light alarm device with special acousto-optic on the one hand, on the other hand then by blowing a whistle, modes such as bright car light, send the audible and visual alarm cue to the vehicle that is positioned at this car front and back, meanwhile, system is under the coordination of described system works coordination service software, give ECU (Electrical Control Unit) with the Decision Control information of system decision-making control module output by bus by described security monitoring control unit, size by the automatic guidance throttle changes road speed, make car stop rapidly travelling by drag, or pass through the travel direction that the domain afterburner system changes car, make this car hightail danger;
5. as Ben Che and other vehicles knock into the back, collide, abrade or other major traffic accidents, to such an extent as to when making this car can't continue normally to drive a vehicle, described monitoring warning system can in time send alarm, distress signals to remote service center by the in-vehicle wireless communication unit.
Because this function can be by the automatic realization of system, at the moving traffic lane that departs from oneself for a long time or close under the situation by other vehicles or obstacle, can alarm automatically, and threat is presented on the telltale, chaufeur is averted danger, avoid effectively neglecting the accident that causes, can also carry out urgent danger prevention by the automatic guidance vehicle where necessary simultaneously because of chaufeur, and send urgent Call for assistance automatically, the possibility that accident occurs is even lower.
Three, automobile automatic navigation function:
With reference to figure 1,10, establish navigation software in the described automobile automatic navigation control unit, be used for the Control of Automobile automatic navigation, at least comprise that the described GPS receiving instrument of control receives gps signal, obtain real-time geographic position coordinate code, thereby this real-time geographic position coordinate code is converted into vehicular seat station location marker information and is input to described Vehicular display device, simultaneously, also from described electronic map database, read electronic map information, thereby show this electronic map information by Vehicular display device, and on the relevant position of electronic chart, demonstrate the vehicular seat station location marker.
Described automobile automatic navigation control unit can also connect described in-vehicle wireless communication module, thereby sends the real-time road traffic condition information of navigation requests information, the transmission of receiving remote navigation elements to the long rang navigation unit that is arranged at remote service center by described in-vehicle wireless communication module.
Described automobile automatic navigation control unit can also receive from vehicle-mounted manual-input unit, chaufeur is imported the driving destination information by vehicle-mounted manual-input unit to described embedded platform, described automatic navigation control unit is according to this destination information of driving a vehicle, driving starting point information and the road traffic condition information that sends by remote service center, under the support of navigation software, read the electronic map data of electronic map database, possible travel way is analyzed, generate electronic map information, driving starting point markup information, driving destination markup information, preferred travel way and/or best travel way markup information and traffic identification information, and be transported to described telltale, on its read-out, demonstrate corresponding electronic chart by described telltale, and on the relevant position of described electronic chart, demonstrate driving starting point sign, preferred travel route and/or best travel way sign and traffic sign.
After described automatic navigation control unit receives the described driving destination information of artificial input, can start wireless communication module and receive the real-time traffic condition information that described long rang navigation unit sends automatically, perhaps by, generation contains this car navigation requests code of driving starting point information and driving destination information, send to described long rang navigation unit by described wireless communication module, after this car navigation requests code is received in described long rang navigation unit, read the electronic map information of its digital map library, read the information in its traffic related information data bank again, generate electronic map information, driving starting point markup information, driving destination markup information, preferred travel way and/or best travel way markup information and traffic identification information, and these information are sent by wireless mode, described embedded platform receives these information by described wireless communication module, shows this information by described telltale then.
Described automobile automatic navigation control unit also is included in the running car way, certain interval of time or in conversion during running section, automatically by the traffic related information of described in-vehicle wireless communication unit to remote service center inquiry running section, and according to this traffic related information, revise current possible travel way, and show by described Vehicular display device.
The vehicular seat location information that the information real-time geographic position coordinate code that can be described embedded platform send into according to described GPS receiving instrument in described driving starting point generates also can be by manually importing separately by described vehicle-mounted manual-input unit.
Described telltale can be Liquid Crystal Display (LCD), described wireless communication module can be the GPRS module, described electronic map database can be stored in the hard disk or CD disc that described embedded platform sets up, and described embedded platform all can be RS232 with the interface between described wireless communication module and the described GPS receiving instrument.
Referring to Figure 11, a kind of occupation mode of the present invention relates to the long rang navigation unit of GPS navigation satellite and remote service center, can intercom mutually by the GPRS/INTERNET wireless communication system between the present invention and the long rang navigation unit, described wireless communication module can communicate according to usual manner for being arranged on GPRS/INTERNET wireless communication unit in the native system.The information organization relation of this occupation mode is such: when native system requires the long rang navigation unit when traffic related information is correlated with in its transmission, be built in the Control Software in the native system, just pass through wireless communication system, send the navigation requests code to the long rang navigation unit, the generation of navigation requests code and transmission, can be after chaufeur be imported the destination by vehicle-mounted manual-input unit, automatically carry out under the support of its navigation software by embedded platform, generally should comprise driving starting point information and driving destination information (code in other words) in this navigation requests code, so that the long rang navigation unit is judged relating to the zone, the navigation requests code sends to described long rang navigation unit by described wireless communication module, after this car navigation requests code is received in described long rang navigation unit, under the support in electronic chart of putting within it and real-time road traffic status data storehouse, carry out navigation processing, generate the traffic related information in the related zone of request vehicle, this information generally includes block up highway section and congestion (jam level) information thereof that relates to the zone, and can be by means of long rang navigation unit powerful data bank and processing capacity, provide the travel way suggestion, after these information are received by native system, decoding and processing through embedded platform, finally send into telltale, be formed on the mark directly perceived on the electronic chart.
Use for reference prior art, the long rang navigation unit also can continue, regularly or where necessary (for example take place that traffic accident cause seriously block up) send the traffic related information in its coverage in real time, native system can receive the information from the long rang navigation unit at any time, and choose the information of relevant range according to driving starting point and driving destination by embedded platform, in this case, no longer need native system to submit navigation requests to, behind chaufeur input destination, embedded platform under the support of its navigation software, the information of automatic reception long rang navigation unit.
That Figure 12 provides is an embodiment of automatic navigation control of the present invention, it comprises described GPS receiving instrument and automatic navigation control unit, also comprise by computer-internal bus or CAN/LIN bus and be articulated in electronic geographic-information subsystem on the described automatic navigation control unit, optimum navigator fix computing subsystem, the buffer register group, described in-vehicle wireless communication module, audible and visual alarm suggestion device and described telltale and vehicle-mounted manual-input unit, described each several part carries out information exchange under built-in system's navigator fix co-operative control of described automatic navigation control unit and service software co-operative control; Described electronic geographic-information subsystem comprises electronic map database, electronic map database access control program, electronic chart process software; In electronic map database, have and the cooresponding cognizance code of every width of cloth map, the electronic map database access control program is carried out control command from vehicle-mounted manual-input unit or system's navigator fix co-operative control and service software according to cognizance code, and the electronic chart process software can carry out stepless zooming, arbitrarily angled rotation, translation, processing such as dynamically update the map of choosing according to ordering.
The working process of described electronic geographic-information subsystem is: after the electronic map database access control program is received control command and control routine, at first from electronic map database, access corresponding map, after the electronic chart process software is done respective handling, be presented on the telltale with the form of map background.
The part working process of system is in the present embodiment: under the co-operative control of system's navigator fix co-operative control and service software, the automatic navigation control unit receives position code from the GPS receiving instrument by serial ports or bus, by the return the vehicle to the garage and knock off driving destination information of manned worker's input block of serial ports or bus interface, by the in-vehicle wireless communication module and by means of public corresponding wireless communication system such as GPRS/GSM, the road traffic condition information that obtains being correlated with from described long rang navigation unit, after data fusion, form the required original input data of optimum navigator fix computing subsystem, position or navigation calculating by the navigator fix calculation procedure that is arranged in optimum navigator fix computing subsystem, finally provide the real time position of this car, and preferred travel way and/or best travel way, and give to show at telltale.
When driving, meet unexpected situation as vehicle, or near landform, the location that road conditions are poor, so that in the time of certain danger may occurring, system can also send warning by the control sound and light alarm device, the related work mode is: at first system is given in the best travel way under certain meaning according to a conventional method, then under the support of described electronic geographic-information subsystem, exist some location of potential danger (for example to exist the sharp turn with map matching technology to described best route, big descending, arrow path, the perhaps junction of three roads) indicates, record carries out special demonstration (the course line overstriking of the section of for example this being driven a vehicle) then; When vehicle will be advanced arrival this place section, system's navigator fix co-operative control of system and service software will start sound and light alarm device and send early warning to the driver.
Figure 13 has shown a kind of long rang navigation unit that native system relates to, this navigation elements is as a kind of improvement of aforementioned navigation elements, the general utility functions that not only have aforementioned navigation elements, function such as determine but also have GPS location, preferred travel way and/or best travel way, therefore it not only can be used with native system, but also can be used with the in-vehicle navigationsystem of simplifying (for example not establishing GPS receiving instrument and handler).This long rang navigation unit is the same with aforementioned long rang navigation unit, can on the basis of the traffic information computer management system that has public safety traffic management department now, set up, in the existing traffic information computer management system, corresponding electronic map database and real-time traffic states data bank have been set up, obtain traffic related information from the scene by modes such as shootings, and be presented on the other telltale of administration and road, for operating personal and chaufeur provide reference and facility.This long rang navigation unit mainly by the GPRS/GSM/GPS antenna assemblies (according to the wireless communication systems of selecting for use, can adopt corresponding antenna), management and server workstation and by system bus articulate electronic chart workstation on it, road traffic status data storehouse, GPS location navigation workstation are formed in real time, described management and server workstation comprise navigation information processing unit, data exchange control unit, traffic situation buffer and large screen display unit; Described management and server workstation join by cable and GPRS/GSM/GPS antenna assemblies, receive the signal of the GPS navigation satellite that it sends here, and the navigation requests signal of on-vehicle navigation apparatus, then under the control of the data exchange control unit in described management and server workstation, the GPS positioning signal of being received is delivered to GPS location navigation workstation position processing, after determining the exact location coordinate of described long rang navigation unit, by system bus the position coordinate data of GPS location navigation workstation output is sent back to management again and handle the unit program inlet with the navigation information in the server workstation, by means of described electronic chart workstation and the support in road traffic status data storehouse in real time, extrapolate the position coordinate in area under one's jurisdiction, this long rang navigation unit each node of traffic road net and traffic congestion highway section, after forming the traffic situation map, send traffic situation buffer in described management and the server workstation and large screen display unit to keep in it and situation shows, and in time upgrade by certain time interval.
This navigation elements, not only can send traffic related information to the vehicle loading type auto-navigation unit, but also can GPS locating information, preferred and/or best travel way and corresponding traffic related information be sent to the vehicle loading type auto-navigation control unit according to the request of vehicle loading type auto-navigation unit.Its process is: when the navigation requests signal of described vehicle imbedding type system is received by described technical service and management work station, described data exchange control unit, just will be temporary in the current traffic condition situation map data in the traffic situation buffer, deliver to the program entry that described navigation information is handled the unit together with the navigation requests information of this car, and pass through navigation calculating, draw this car and pass through navigation informations such as regional traffic and roadway line chart, and then by described GPRS/GSM/GPS antenna assemblies, wireless communication system, described navigation information is sent to described vehicle loading type auto-navigation system to be proceeded to handle, finally generate best travel way of this car and near traffic thereof, and their stacks are presented on the telltale of described on-vehicle navigation apparatus.
Figure 14 has shown an embodiment of described in-vehicle wireless communication module (under the GPRS/GSM communication system), it comprises serial interface, control module, the TCP/IP processing module, GPRS/GSM wireless transport module and GPRS/GSM antenna, join successively between them, two bidirectional transmission passages that are parallel to each other are respectively being arranged between described control module and the described TCP/IP processing module and between described TCP/IP processing module and the described GPRS/GSM wireless transport module, one of them is used for move instruction, another is used to transmit data, the input end of described serial interface joins by bus and described automatic navigation control unit, described antenna is used to transmit and receive information, realizes the bi-directional exchanges of information between native system and the described long rang navigation unit.
Figure 15 has provided an embodiment of described optimum navigator fix computing subsystem, it is by optimum navigator fix math modeling and find the solution the calculation procedure storehouse and model and algorithm select control program to form, find the solution at described best navigator fix math modeling and to comprise n optimum navigator fix model in the calculation procedure storehouse and to find the solution counting subroutine that each subprogram all has corresponding selection code; Described model and algorithm select control program by " buffer register unit, model are selected the control command generator program with algorithm, and carry out the control unit of data exchange with its outside " composition; In described buffer register unit, the temporary original location navigation data message that " model and algorithm selection control word " is arranged and send here from GPS receiving instrument and long rang navigation unit; When needs navigate to the vehicle self poisoning, model and algorithm select control program at first the buffer register unit to be scanned, find the concrete numerical value of selecting control word, then select the control command generator program by its model and algorithm, generate the selection control command of navigator fix program, and find the solution the calculation procedure storehouse from best navigator fix math modeling by this order cooresponding best navigator fix calculation procedure is accessed, to be temporary in original data in the buffer register unit by the control unit of its data exchange then, send the program entry of " choosing " best navigator fix calculation procedure to, as its input data, then carrying out navigator fix calculates, finally draw the present position or the best travel way of this car, and sign stacked system or other corresponding manners (as highlight) shows on telltale and vehicle-mounted manual-input unit's map background; When automobile when navigation way travels, bad as the place ahead road conditions, landform, to such an extent as to may danger occur the time, the hazard level sign should be arranged on telltale or make the course line flicker, in time send alarm prompt by described audible and visual alarm suggestion device simultaneously, to guarantee traffic safety to the driver.
In view of native system can independently use, thus can't with the situation of described long rang navigation unit communication under, also can carry out autonomous navigation, its key step is as follows:
1) from the map data base of electronic geographic-information subsystem, accesses the fine resolution traffic electronic chart of the present region of vehicle, and it is presented on Vehicular display device and the vehicle-mounted manual-input unit's telltale in the mode of background;
2) under the co-operative control of automatic navigation control unit and Central Processing Unit (CPU), the coordinate code of GPS receiving instrument output is converted into the identification information of position, stack demonstrates the position sign on the actual position of the electronic chart that telltale shows;
3) best travel way under the situation of not considering the road traffic situation, is determined with the optimum Navigator in the described optimum navigator fix computing subsystem in input driving destination, and this lane is labeled on the electronic chart of telltale demonstration.
This function is owing to organically combine the GPS location with electronic chart, the longitude and latitude that GPS location is produced is converted into the position display on the electronic chart, and chaufeur can be seen vehicle place relative position and road environment on every side intuitively by telltale at any time; Because electronic chart is organically combined with traffic related information, on the electronic chart that telltale demonstrates, mark out preferred automatically and/best travel way, and mark out corresponding traffic related information automatically, make chaufeur can see corresponding travel way and corresponding real-time traffic situation intuitively by telltale at any time, correctly select travel way according to the personal considerations.
Four, tame car interaction function:
With reference to figure 1 and Figure 16, the interactive control unit of described family car is used to control the communication protocol of described in-vehicle wireless communication unit according to agreement, communicate with the appliance control system that is arranged in the family, thus the control of interaction each other.
Appliance control system in the described family comprises the interactive control unit of family's communication unit and family,
Described in-vehicle wireless communication unit intercoms by public communication network mutually with described family communication unit, wherein said in-vehicle wireless communication unit receives the control information that the interactive control unit of described family car is sent here, generate control routine according to communication protocol, send to described family communication unit, described in-vehicle wireless communication unit also receives the control routine of being sent by family's communication unit, send the interactive control unit of described family car to, by the control command of the interactive control unit generation of tame car to vehicle electronic device, described family communication unit receives the control information that the interactive control unit of described family is sent here, generate control routine according to communication protocol, send to described in-vehicle wireless communication unit, described family communication unit also receives the control routine of being sent by the in-vehicle wireless communication unit, send the interactive control unit of described family to, by the control command of the interactive control unit generation of described family to household electronic equipment.
According to prior art, the interactive control unit of described family can adopt microcomputer, micro controller system or other similar programmable data processing equipment of various suitable forms, described microcomputer can adopt WINDOWS/LINUX operating system, to support required various softwares and the program of native system, software and the program of using native system can freely realize the understanding of this explanation according to those skilled in the art on the basis of existing known technology.
The interactive control unit of described family car can comprise vehicle-mounted control order generator, the on-vehicle information exchange control unit, vehicle-mounted instruction recognizer and vehicle-mounted control scheme database, after described vehicle-mounted control order generator is received the control command of artificial output, produce into corresponding control information, send into described in-vehicle wireless communication unit by described on-vehicle information exchange control unit, by encoding and send in this unit, after described in-vehicle wireless communication unit receives the control routine that described family communication unit sends, adopt dma mode to send this code information to described on-vehicle information exchange control unit, described vehicle-mounted instruction recognizer reads the code information of described information exchange controller reception and discerns, under the support of vehicle-mounted control scheme database, draw concrete control word, control vehicle-mounted controlled electronic machine and carry out corresponding action, these concrete control words, the selection of control program and mode should suitably be provided with according to prior art and existence conditions.Be understandable that compatible with prior art and existing installation for guaranteeing, it is useful to utilize existing mode, Control Software and control setup to be not only, sometimes or even necessary, like this too for the control of home amenity.
The interactive control unit of described family can comprise family's control command generator, the family information exchange control unit, family's instruction recognizer and family's controlling schemes data bank, after described family control command generator is received the control command of artificial output, produce into corresponding control information, send into described family communication unit by described family information exchange control unit, by encoding and send in this unit, after described family communication unit receives the control routine of sending described in-vehicle wireless communication unit, adopt dma mode to send this code information to described family information exchange control unit, described family instruction recognizer reads the code information of described information exchange controller reception and discerns, under the support of family's controlling schemes data bank, draw concrete control word, the controlled electronic machine of control family carries out corresponding action.
Described appliance control system can also comprise family's telltale and family's man machine communication device, the interactive control unit of described family, family's communication unit, family's telltale are connected by home bus with family man machine communication device, the mutual transmission of realization information, its mode of intelligence transmission can adopt prior art.
Under the prior art background, described family telltale can adopt Liquid Crystal Display (LCD) usually, described family man machine communication device can adopt the touch-screen that is integrated on the Liquid Crystal Display (LCD) usually, it also can be keyboard, or touch-screen and keyboard, and the man machine communication device of other arbitrary forms or their combination.
Described family communication unit can comprise modem that cascade successively joins, based on the home gateway and the Ethernet card of OSGi agreement, described Ethernet card can be directly installed on or directly be integrated on the computer motherboard of the interactive control unit of described family by the PCI slot, and described modem then can receive or transmission information by public communication network in the wired or wireless communication mode.
Under the prior art background, described family communication unit can adopt wired mode of any suitable or wireless mode with the communication of internet communication base station system, or with other arbitrary forms access internets, also can be directly with the communication of GPRS/GSM base station system, too for the in-vehicle wireless communication unit.But according to present condition, adopting the signalling methods of in-vehicle wireless communication unit-GPRS/GSM base station system-internet communication base station system one family's communication unit will be a kind of preferred version of native system.Because the development of public communication network technology may go out other wireless and network communication form, these communication technologys change, and can cause the variation of described each communication unit concrete form, but not influence enforcement of the present invention.
Point out that in passing along with the progress of IT-applied household appliances, the kind of household electronic equipment is more and more, the information household appliances of place in operation just have air conditioner, micro-wave oven, electric refrigerator, light-source system, Web TV and video request program WebTV﹠amp at present; IPTV, online game machine WebGamer, networking telephone webPhone, the electronic audio system, timing services system of family, integrated information (agenda, meteorological, road conditions, stock market etc.) service system, environment and safety monitoring system (sensor, smog, antitheft) etc., how the different types of information household electrical appliances that are arranged in different home to be control effectively by the internet, bussing technique and communication protocol and the gateway particular importance that just seems, in view of vehicle-mounted and family lan control bus technology, the GPRS communication technology, Ipv6 (Internet Protocol version6), and OSGi (Open ServiceGateway Initiative) gateway has many characteristics and the advantages that can tackle following challenge, so the present invention has adopted this technology, thereby is with good expansibility.
Because the realization of this function is a support with the hyundai electronics computer technology and the communication technology etc., on the basis of existing vehicle electronics information system and home information appliance system, carry out technology innovation, by being separately positioned on the vehicle-mounted subsystem in automobile electronic information system and the home information appliance system and the intercommunication mutually of family's subsystem, realized mutual control between the two, used very flexible, convenient; Owing to adopt integrated design, adopt vehicle local network control system bus and family lan control bus that controll plant is controlled, not only implement succinctly especially, be convenient to the expansion of system control function again especially; In addition, since described vehicle-mounted subsystem and tame car subsystem can also with existing automobile electronic information system and home information appliance system shared system computing machine and universal controller resource, thereby the interaction that not only is suitable for increasing newly control, also being suitable for control to existing device, compatible special property is good.Because the technology of the present invention advanced person, function are strong, easy to use, good with the existing installation compatibility, and equipment is simple, low cost of manufacture, be convenient to realize, compare with prior art, overcome not only in the prior art that mode falls behind, design lacks and totally considers thereby systematicness is poor, implement drawbacks such as messy, and can bring convenience to people, comfortable, enjoy, realized purpose of the present invention.
Claims (10)
1, a kind of vehicle imbedding type system comprises by bus bonded assembly vehicle-mounted embedded type platform, Vehicular display device, in-vehicle wireless communication unit, GPS receiving instrument, in-vehicle digital image information acquiring unit and electronic map database;
Be provided with the interactive control unit of Central Processing Unit (CPU), security monitoring control unit, automobile automatic navigation control unit, automobile failure diagnosis control unit and tame car in the described vehicle-mounted embedded type platform, wherein,
Described security monitoring control unit is used for by described in-vehicle digital image information acquiring unit, obtain the real scene image of motor vehicle environment, after these images are carried out analyzing and processing, generate threat category and threat level signal, on Vehicular display device, to demonstrate threat category and threat level information;
Described automobile automatic navigation control unit is used for the Control of Automobile automatic navigation, at least comprise that the described GPS receiving instrument of control receives gps signal, obtain real-time geographic position coordinate code, thereby this real-time geographic position coordinate code is converted into vehicular seat station location marker information and is input to described Vehicular display device, simultaneously, also from described electronic map database, read electronic map information, thereby show this electronic map information by Vehicular display device, and on the relevant position of electronic chart, demonstrate the vehicular seat station location marker;
Described automobile failure diagnosis control unit is used for the status information of each the detected system in the automobile of gathering automatically by the cab signal collecting unit that is arranged at each detected system in the automobile, thereby generate the status information code and be sent to remote service center by described in-vehicle wireless communication unit, and, also receive automobile fault information code, with at Vehicular display device display automobile failure message from remote service center by described in-vehicle wireless communication unit;
The interactive control unit of described family car is used to control the communication protocol of described in-vehicle wireless communication unit according to agreement, communicates with the appliance control system that is arranged in the family, thus the control of interaction each other;
Described Central Processing Unit (CPU) is used to control the co-ordination between the interactive control unit of described security monitoring control unit, automobile automatic navigation control unit, automobile failure diagnosis control unit and tame car.
2, vehicle imbedding type system according to claim 1, it is characterized in that: also comprise vehicle-mounted manual-input unit and sound and light alarm device, described vehicle-mounted manual-input unit is used for manually to described vehicle-mounted embedded type platform input control order;
Described sound and light alarm device is used under the control of described vehicle-mounted embedded type flat-bed security monitoring control unit, produces the audible and visual alarm action; Described cab signal collecting unit comprises and is arranged at each detected intrasystem state detection sensor and/or ECU (Electrical Control Unit) that described vehicle-mounted embedded type platform is attached thereto by vehicle-mounted bus.
3, as vehicle imbedding type system as described in the claim 2, it is characterized in that: described security monitoring control unit is system's image processing and Decision Control unit, described vehicle-mounted digital image information acquisition unit obtains the real scene image of vehicle periphery by its built-in digital camera, and generates the pretreatment digital image information and give described system image processing and Decision Control unit; Described system image processing and Decision Control unit carry out analyzing and processing to described pretreatment data image signal, generate threat category and threat level signal, when threat category and threat level arrival alarm standard, send alarm command to described sound and light alarm device, alarm; When threat category and threat level arrive when promptly requiring assistance standard, send the instruction of promptly requiring assistance to described in-vehicle wireless communication unit, start described RFDC unit and send urgent Call for assistance according to the mode of reservation; When threat category and threat level arrival urgent danger prevention automatic guidance standard, send the instruction of urgent danger prevention automatic guidance to the corresponding ECU (Electrical Control Unit) of vehicle, move with control vehicle.
4, as vehicle imbedding type system as described in the claim 3, it is characterized in that: described system image processing and Decision Control unit comprise the video image main processing block, the image display control module, threaten the processed module, system decision-making control module, described video image main processing block returns the vehicle to the garage and knock off by bus interface and carries the pretreatment digital image information of digital image information acquiring unit output, handle the back and generate described vector digital image, and this vector digital image information given the image display control module respectively and threaten the processed module, so that carrying out image demonstration and threat category and threat level judges, threaten the processed module from the vector digital image, to extract threat category and threat level information, and this information one road delivered to the impend demonstration of kind and threat level of described Vehicular display device, one the road delivers to described system decision-making control module handles, described system decision-making control module compares described threat category and threat level data with default threat processing scheme data of database, generate and this threat category and the corresponding described alarm of threat level, the urgent danger prevention automatic guidance and the instruction of promptly requiring assistance.
5, ride safety of automobile monitored control system as claimed in claim 4, it is characterized in that: described image display control module is provided with based on the Vehicular display device subregion control program of pixel and screen size relation and image display control program, under the support of described Vehicular display device subregion control program, Vehicular display device is divided into main display space, threatens parameter display area, car icon display space and touch keyboard display space; Under the support of described image display control program, to discerning from video image main processing block and the output data information that threatens the processed module and classifying, the apparent district of master that vector DID behind the discriminator is delivered to Vehicular display device carries out the image demonstration, to threaten the priority attribute supplemental characteristic to deliver to and threaten parameter display area to carry out the form demonstration, or shown image be carried out stepless zooming, translation, rolling, arbitrarily angled rotation and/or dynamically updates processing according to the man machine communication order.
6, as vehicle imbedding type system as described in the claim 3, it is characterized in that: described vehicle-mounted digital image information acquisition unit can be by some digital cameras, buffer circuit, the digital image pre-processing module is formed, described digital image pre-processing module mainly is made up of the digital signal processing chip that is provided with the image pre-processing module, be used to carry out image distortion correction, the smothing filtering noise reduction process, figure image intensifying and sharpening are handled, the edge detects to be handled, with the various interference of effective filtering, reduce image fault, original image signal by burnt DV of automatic friendship and the first-class digital camera generation of digital vedio recording, deliver to the signal of described digital signal processing chip handles by buffer circuit, generate the high-fidelity digital view data, send into described system image processing by CAN/LIN bus and serial ports RS-232 then and further processing is done in the Decision Control unit, described some digital cameras comprise a High Performance autozoom DV and several digital cameras, described High Performance autozoom DV and digital camera head generally all should have the sunscreen protection cover, wherein said High Performance autozoom DV is positioned in the positive front end of automobile by quakeproof bracket, and digital camera head is then by the front both sides of quakeproof bracket stationary distribution at automobile, side and back.
7, as vehicle imbedding type system as described in the claim 2, it is characterized in that: current vehicle geographical location information or the artificial driving starting point information of importing that described automobile automatic navigation control unit is also determined according to the GPS receiving instrument, the driving destination information of artificial input, and the road traffic condition information that sends by remote service center, and read the electronic map data of electronic map database, possible travel way is analyzed, generate electronic map information, driving starting point markup information, driving destination markup information, preferred travel way and/or best travel way markup information and traffic identification information, and be transported to described Vehicular display device, on its read-out, demonstrate corresponding electronic chart by described Vehicular display device, and on the relevant position of described electronic chart, demonstrate driving starting point sign, preferred travel route and/or best travel way sign and traffic sign.
8, as vehicle imbedding type system as described in the claim 5, it is characterized in that: described automobile automatic navigation control unit also is included in the running car way, certain interval of time or in conversion during running section, automatically by the traffic related information of described in-vehicle wireless communication unit to remote service center inquiry running section, and according to this traffic related information, revise current possible travel way, and show by described Vehicular display device.
9, as vehicle imbedding type system as described in one of in the claim 1 to 8, it is characterized in that: the moving control unit in described family car family comprises vehicle-mounted control order generator, the on-vehicle information exchange control unit, vehicle-mounted instruction recognizer and vehicle-mounted control scheme database, after described vehicle-mounted control order generator is received the control command of artificial output, produce into corresponding control information, send into described in-vehicle wireless communication unit by described on-vehicle information exchange control unit, by encoding and send in this unit, after described in-vehicle wireless communication unit receives the control routine that described family communication unit sends, adopt dma mode to send this code information to described on-vehicle information exchange control unit, described vehicle-mounted instruction recognizer reads the code information of described information exchange controller reception and discerns, under the support of vehicle-mounted control scheme database, draw concrete control word, control vehicle-mounted controlled electronic machine and carry out corresponding action.
10, as vehicle imbedding type system as described in one of in the claim 1 to 9, it is characterized in that: the serial interface that described in-vehicle wireless communication unit is joined by cascade successively, control module, the TCP/IP processing module, GPRS/GSM wireless transport module and GPRS/GSM antenna are formed, TCP/IP processing module wherein, finish the data packing according to communication protocol, between control module and the TCP/IP processing module and between TCP/IP processing module and the GPRS/GSM wireless transport module, each is joined by two separate parallel buses, and one of them is used for move instruction, one is used for transmitting data.
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| CNB200510116714XA CN100374332C (en) | 2005-09-09 | 2005-10-28 | Vehicle imbedding type system |
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| CNB200510116714XA CN100374332C (en) | 2005-09-09 | 2005-10-28 | Vehicle imbedding type system |
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| CNB200510116714XA Active CN100374332C (en) | 2005-09-09 | 2005-10-28 | Vehicle imbedding type system |
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