Research And Development Of Driving Assistance System For Engineering Vehicles Based On Multi-sensor Technology

Advanced driver assistance systems iprove driving safety and reduce driving intensity.The engineering vehicle driver needs to control the basic driving function as well as to manipulate the control mechanism to achieve job control,which make them very easy to fatigue.In addition,the construction vehicle has a special structure and a complicated working environment that is easy to induce safety accidents such as instability,rollover and collision.Therefore,this paper is aimed at variable structure engineering vehicles,researching on its spatial attitude multi-sensor acquisition,attitude solution method and attitude real-time digital display.It is proposed to realize the real-time digital three-dimensional description of the space attitude of large-scale variable structure engineering vehicles,which provides the basis and reference for the engineering vehicle instability warning and assisted driving system The research content of this paper mainly includes the folowing aspects:(1)We have studied the error compensation model for low-cost gyroscope random drift to improve measurement accuracy and the effective compensation of the random drift error of the gyroscope is realized.In this paper,the error source of the gyroscope is identified by Allan analysis of variance.Based on the error identification,a time series based prediction model and a phase space reconstruction based prediction model are created for the output of the MPU-6050 triaxial-gyroscope at rest.We have verified the single-step direct and indirect prediction and compensation effects of the random drift error of the gyroscope through experimental tests.(2)We have study the suppression of gyroscope noise under dynamic conditions and the effective identification of the attitude information of engineering vehicles.In view of the practical application,the dynamic characteristics of the gyroscope are considered.In order to solve the effective suppression of the gyroscope noise under dynamic conditions,a multi-sensor data fusion algorithm based on random drift error compensation is proposed.The error of the heading angle is compensated by the fusion of the geomagnetic sensor,the accelerometer is compensated for the error of the roll angle and the pitch angle,and the complementary solution is used to realize the dynamic solution of the carrier attitude.Furthermore,for the character:istics of engineering vehicles with variable structure,the articulated wheel loader is taken as an example to introduce the attitude calculation method for engineering vehicles based on quaternion algorithm.The attitude calculation of the engineering vehicle through the fusion of multi-attitude sensors is realized,and the key problem of using the low-cost multi-pose sensor to pose recognition of the engineering vehicle is solved.(3)We designed and developed a human-computer interaction driving assistance system for digital model visualization and provied a strong guarantee for the safe and stable driving of construction vehicles.Based on the system requirements analysis and functional architecture design,the server is proposed as an intermediate storage bridge for interactive information such as posture information and user information.The construction of the 3D digital human-machine interface was introduced,and the 3D digital model of the engineering vehicle driven by the actual attitude data was developed,and the multi-angle remote driving angle was provided.In addition,the driver is provided with warning information through the Steady-State Residual Angle(SSMA),and is equipped with a remote PTZ camera and map coordinates,which has good real-time performance and dynamic interactivity.In sumimary,this paper studies the random drift error conpensation of MEMS gyroscopes at low cost by combining the existing attitude sensor data processing methods with the working environment of engineering vehicles.In particular,the multi-sensor error compensation and accurate measurement methods are studied for the variable structure of the articulated engineering vehicle,which solves the problems of installation,signal processing,fusion and synchronization of the low-cost multi-attitude sensor measurement system.And finally,the driving assistance system for the articulated engineering vehicle was designed and Iaid the foundation for improving the safety performance of the articulated engineering vehicle.