Principles of Intelligent Automobiles

286 Pages·2019·9.59 MB·English

by  Xiubin Zhang

Xiubin Zhang 
Muhammad Mansoor Khan
Principles of
Intelligent
Automobiles
Principles of Intelligent Automobiles
Xiubin Zhang Muhammad Mansoor Khan
(cid:129)
Principles of Intelligent
Automobiles
123
XiubinZhang Muhammad MansoorKhan
ShanghaiJiao Tong University ShanghaiJiao Tong University
Shanghai, China Shanghai, China
ISBN978-981-13-2483-3 ISBN978-981-13-2484-0 (eBook)
https://doi.org/10.1007/978-981-13-2484-0
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Preface
Since the publication of the Chinese version of the book in 2011, it has been
winning repeated praise from broad readers. The theory and technology of auto-
mobileintelligenceprovidedbythisbookhavebeenappliedtotheimprovementof
automobile technology and played a positive role in promoting the progress of
automobile technology.
The automobile industry has been developing for nearly 130 years. Since the
first car appeared in the world, in order to get the most perfect car, people never
stopped working on the improvement of automobile technology. Automotive
Intelligent Technology (including “Intelligent driving vehicle” and “Driverless
Vehicle”) is always the goal pursued by people.
The so-called Intelligent Vehicle (IV) is the perfect mechanical and electrical
combination of traditional automobile (including new energy power car) and
modern sensing, information fusion, mathematical algorithms, microelectronics,
computer, automation, artificial intelligence, and communication.
Once the intelligent vehicle is integrated with the intelligent transportation
system,theroadcapacityandtrafficsafetywillbegreatlyimproved,andtheenergy
consumption of vehicles will be reduced.
Over the past decades, I have led my Ph.D. and master students to carry out
related research on automotive intelligent technology, and have obtained many
invention patents. This monograph is based on these research results. The focus
ofthebookistoexplainthetechnicalprincipleofintelligentvehiclefromthedepth
of image information sensing, mathematical model, and algorithm base, so readers
canunderstandandmastertheconceptanddesignmethodofautomobileintelligent
technologyfundamentally.Italsoenablesreaderstogetmanynewideasofscience
and technology and cultivate their innovative thinking ability.
The book is written by Prof. Xiubin Zhang. Dr. Junhao Ying, Dr. Muhammad
Mansoor Khan, Dr. Hao Wu, and Dr. Dongliang Lu have also undertaken some
auxiliary work. The English version of this book has enriched some new technical
v
vi Preface
contents in comparison with the Chinese version. Dr. Muhammad Mansoor Khan
made serious checks and corrections to English Manuscripts.
On this occasion, I would like to express my sincere gratitude to all the col-
leagues, students, and friends who have helped the publication of this book!
Shanghai, China Prof. Xiubin Zhang
May 2018
Contents
1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 History of Automobile Technology . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Concept of Intelligent Vehicle. . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.3 Basic Content of Automobile Intelligent Technology . . . . . . . . . . 6
1.3.1 Overview of Existing Vehicle Safety Assurance
Technologies. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.3.2 Development Trend of Automotive Intelligent
Technology. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.3.3 The Basic Content of This Book . . . . . . . . . . . . . . . . . . . 13
2 Vehicle Driving Safety Technology Based on IVP. . . . . . . . . . . . . . . 17
2.1 The Basic Hardware Structure of IVP in Automobile . . . . . . . . . . 18
2.1.1 System Hardware Configuration . . . . . . . . . . . . . . . . . . . . 18
2.1.2 System Basic Working Process. . . . . . . . . . . . . . . . . . . . . 21
2.2 Intelligent Identification Technique for Obstacles or Pits. . . . . . . . 22
2.2.1 Implement Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
2.2.2 Outer Pole Constraint Principle . . . . . . . . . . . . . . . . . . . . 24
2.2.3 Basic Algorithm Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
2.3 Intelligent Detection and Control Technology of Safety
Vehicle Distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
2.3.1 Method for Rapid Identification of Vehicle in Front . . . . . 33
2.3.2 Vehicle Distance Measurement. . . . . . . . . . . . . . . . . . . . . 49
2.3.3 Driving Decision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
2.4 Intelligent Technology for Preventing Vehicle from Impacting
Pedestrians. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
2.4.1 Algorithm Principle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
2.4.2 Threshold Extraction . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
2.4.3 Similarity Measurement . . . . . . . . . . . . . . . . . . . . . . . . . . 66
2.4.4 Advancement in Real Time Algorithm . . . . . . . . . . . . . . . 67
vii
viii Contents
2.5 Intelligent Rear View Technology of Automobile. . . . . . . . . . . . . 69
2.5.1 System Working Principle . . . . . . . . . . . . . . . . . . . . . . . . 70
2.5.2 Intelligent Rear View Kernel Algorithm of Vehicle . . . . . . 73
2.6 Automatic Identification Technique for Traffic Signs . . . . . . . . . . 77
2.6.1 Automatic Identification of Road Speed Limit Signs . . . . . 77
2.6.2 Automatic Recognition of Directional Signs . . . . . . . . . . . 88
2.7 Intelligent Technology to Prevent the Vehicle from Being
Hit by the Rear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
2.7.1 Device System Composition. . . . . . . . . . . . . . . . . . . . . . . 103
2.7.2 Identification of Trailing Vehicles and Active Control
of Their Spacing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
3 Intelligent Prosecution of Dangerous Driving . . . . . . . . . . . . . . . . . . 111
3.1 Intelligent Technology to Monitor Drunk Driving. . . . . . . . . . . . . 111
3.1.1 Alcohol Sensing Theory. . . . . . . . . . . . . . . . . . . . . . . . . . 112
3.1.2 Signal Processing Method for Alcohol Sensor. . . . . . . . . . 118
3.2 Prevent Mistake of Stepping on Accelerator When Stopping
Brakes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
3.2.1 Anti Misoperation Device for Emergency Brake . . . . . . . . 125
3.2.2 Anti Misoperation Algorithm for Emergency Braking . . . . 130
3.3 Monitoring Whether the Driver’s Both Hands off the Steering
Wheel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
3.3.1 Sensing Structure and Pre-processing . . . . . . . . . . . . . . . . 133
3.3.2 Sensing and Control Principle . . . . . . . . . . . . . . . . . . . . . 134
3.4 Intelligent Recognition Technology for Driver’s
Fatigue Driving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
3.4.1 Hardware Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . 137
3.4.2 Core Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
4 Intelligent Monitoring Technology of Automobile Power
and Transmission System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
4.1 Intelligent Control of Automobile Engine and Transmission
System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
4.1.1 Basic Functions of Power Control Systems . . . . . . . . . . . . 148
4.1.2 Basic Structure of Power Control System . . . . . . . . . . . . . 149
4.1.3 Three-Level Hierarchical Intelligent Control . . . . . . . . . . . 150
4.2 Intelligent Identification Technology of Power
and Transmission System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
4.2.1 Identification Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
4.2.2 Intelligent Identification Algorithm of Abnormal
Phenomena in Power and Transmission System. . . . . . . . . 158
Contents ix
5 Intelligent Vehicle Navigation and Traffic System. . . . . . . . . . . . . . . 175
5.1 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
5.2 Automobile Positioning Technology . . . . . . . . . . . . . . . . . . . . . . 177
5.2.1 GPS Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
5.2.2 Car GPS and GIS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
5.3 Intelligent Traffic Route Selection Technology . . . . . . . . . . . . . . . 185
5.3.1 Basic Principles of Traffic Route Planning . . . . . . . . . . . . 186
5.3.2 Intelligent Route Selection Algorithm . . . . . . . . . . . . . . . . 189
5.4 Vehicle Communication Technology in Intelligent
Transportation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
5.4.1 The Combined Action Principle of GPRS and GPS. . . . . . 194
5.4.2 The Role of 3G Technology in Intelligent Navigation . . . . 197
5.5 Real Time Increment Method of Navigation Map. . . . . . . . . . . . . 202
5.5.1 Information Incremental Updating Method . . . . . . . . . . . . 202
5.5.2 Application Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
6 Vehicle Auxiliary Intelligent Technology. . . . . . . . . . . . . . . . . . . . . . 211
6.1 Intelligent Control Technology of Car Light. . . . . . . . . . . . . . . . . 211
6.1.1 System and Circuit Structure . . . . . . . . . . . . . . . . . . . . . . 211
6.1.2 The Generation Principle of Controlling the Reference
Voltage of Headlamp. . . . . . . . . . . . . . . . . . . . . . . . . . . . 217
6.1.3 Intelligent Control of Anti Fog Lamp and Taillight . . . . . . 220
6.2 Intelligent Switch Technology of Car Door . . . . . . . . . . . . . . . . . 221
6.2.1 System Constitution. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
6.2.2 Kernel Algorithm of Intelligent Door Switch. . . . . . . . . . . 227
6.3 Intelligent Control of Vehicle Windscreen Wiper . . . . . . . . . . . . . 235
6.3.1 Rain-Sensing Principle. . . . . . . . . . . . . . . . . . . . . . . . . . . 235
6.3.2 Practical Technology of Wiper Intelligent Control . . . . . . . 243
6.4 Automatic Steering Technology of Automobile Headlamp . . . . . . 247
6.4.1 Beam Distribution of an Automobile Headlamp
at the Curved Road . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248
6.4.2 Automatic Steering Technology of Automobile
Headlamp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248
6.5 Automatic Response Technique for Parking Location . . . . . . . . . . 253
6.5.1 Automatic Response Technique for Ground Parking
Position. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
6.5.2 Location Response Technology of Underground
Parking Lot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255
7 Functions of Laser Radar in Intelligent Cars . . . . . . . . . . . . . . . . . . 263
7.1 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263
7.2 Working Principle of Laser Imaging Radar . . . . . . . . . . . . . . . . . 264
x Contents
7.2.1 System Structure of Laser Imaging Radar . . . . . . . . . . . . . 264
7.2.2 Mathematical Model of Laser Radar. . . . . . . . . . . . . . . . . 265
7.2.3 Target Characteristics and Laser Atmospheric
Attenuation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 266
7.3 Imaging Scanning of Laser Imaging Radar. . . . . . . . . . . . . . . . . . 267
7.3.1 Scanning Laser Imaging Radar. . . . . . . . . . . . . . . . . . . . . 267
7.3.2 Non-scanning Laser Imaging Radar . . . . . . . . . . . . . . . . . 268
7.4 Common Vehicle Laser Radar. . . . . . . . . . . . . . . . . . . . . . . . . . . 270
7.4.1 Example of Laser Radar. . . . . . . . . . . . . . . . . . . . . . . . . . 270
7.4.2 Common Configuration of Unmanned Vehicles. . . . . . . . . 271
7.5 Advantages and Disadvantages of Laser Radar. . . . . . . . . . . . . . . 272
7.5.1 Advantages of Laser Radar . . . . . . . . . . . . . . . . . . . . . . . 272
7.5.2 Disadvantages of Laser Radar . . . . . . . . . . . . . . . . . . . . . 273
7.6 Perfect Configuration of Driverless Vehicle Sensors . . . . . . . . . . . 274
References.... .... .... .... ..... .... .... .... .... .... ..... .... 275