CN105388482A - System for alarming vehicle distance during vehicle driving process - Google Patents
System for alarming vehicle distance during vehicle driving process Download PDFInfo
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- CN105388482A CN105388482A CN201510690536.5A CN201510690536A CN105388482A CN 105388482 A CN105388482 A CN 105388482A CN 201510690536 A CN201510690536 A CN 201510690536A CN 105388482 A CN105388482 A CN 105388482A
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000008569 process Effects 0.000 title claims abstract description 15
- 238000002604 ultrasonography Methods 0.000 claims description 9
- 230000008901 benefit Effects 0.000 claims description 4
- 230000000979 retarding effect Effects 0.000 claims description 4
- 230000004888 barrier function Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 3
- 238000013178 mathematical model Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 238000005070 sampling Methods 0.000 claims description 3
- 230000008054 signal transmission Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 3
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
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- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a system for alarming vehicle distance during vehicle driving process. Parameters of a stepping motor show that a four-phase four-beat stepping angle is 1.8 degrees, and vehicle driving linear velocity V=0.38m/s; vehicle driving distance S is calculated on the basis of vehicle moving time t displayed on an LCD of a vehicle in real time according to a formula: S=Vt=0.38t; and a single chip microcomputer records time t1 of the moment when the vehicle sends out ultrasonic waves through a counter, then obtains a time t2 when the counting times recorded at the moment when the ultrasonic waves are received, and the propagation velocity of sound waves in the air is V, thus the distance from the vehicle to an obstacle is S=V*(t2-t1)/2. The system can automatically measure and recognize the vehicle distance in front, alarms and reduces speed when the distance is less than a set value, ensures driving safety especially for the novice driver, and protects the safety of the vehicle and people inside the vehicle.
Description
Technical field
The present invention relates to automotive field, particularly, relate in a kind of vehicle travel process the system that vehicle distances is reported to the police.
Background technology
Automobile is just like giving a definition: by power drive, has the vehicle of the non-track carrying of more than 4 or 4 wheels, is mainly used in: carrying personnel and or goods; The vehicle of traction carrying personnel or goods; Specific use.1879, German slip-stick artist Ka Erbenci, tested a tentative engine of two-stroke successfully first.In October, 1883, he has founded " Ben Ci company and Lai Yin gas motor factory ", 1885, he has made first this thatch patent motor vehicle in Mannheim, this car is tricar, adopt the gasoline engine of a two-stroke single cylinder 0.9 horsepower, this car has possessed some basic characteristics of Hyundai Motor, as spark ignition, Water-cooling circulating, steel pipe vehicle frame, Leaf Spring Suspension, rear wheel drive front-wheel steer and binding handle etc.On the January of 1886 29, the German slip-stick artist Ka Erbenci patent that has been its motor vehicle application.In November in the same year, the three-wheeled motor vehicle of Ka Erbenci obtains Germany's patent right.First Hyundai Motor in the world that Here it is generally acknowledges.For above-mentioned reasons, people generally all using 1886 as automobile first year, also some scholar makes Ka Erbenci that is 1885 year on first tricar, is considered as automobile and is born year.It within 1885, is 1 year that automobile invention obtains decisive breakthrough.At that time with the Ben Ci of Daimler at same factory, also at research automobile.He almost made petrol engine with Daimler in 1885 simultaneously, was contained on automobile, with the speeds of 12 kilometers per hour, succeeded.In this year, the Butler of Britain have also been invented gasoline-powered automobile.In addition, gondola Claude Bernard have also been invented automobile, Pu Qiluofu and Fu Luobofu two human hair of Russia understands the automobile that internal combustion engine is housed.China did not have auto manufacturing in the past.On Chinese soil, first automobile is that the U.S. inputted for 1903 produces oldsmobile board car, and lead to obtain number one running car licence, its owner is Shanghai rich man.From July nineteen fifty-three First Automobile Works start building, in July, 1956 goes into operation, July 13 nineteen fifty-seven, China produced the Jiefang brand automobile of first loading, again in May, 1958, China's First Automobile Works voluntarily Development and design produces first and to rise and fall the red flag board passenger car jolting, share weal or woe with political wind and cloud at that time, is described as " east romantic charm ".In decades, Domestic Automotive Industry obtains and develops fast.Particularly since reform and opening-up, automobile production have employed safety and the amenities of various high-tech and hommization, draws the elite of Foreign Automobile scientific research.Not only grasp and taken advantage of traditional firm moulding, have more the gentle and lovely style and features of fashion automobile, the lines flow smoothly, drives comfortable " car " new lover and be constantly born.At the bottom of calendar year 2001, China has become a full member of the World Trade Organization, and taking this as an opportunity, and Chinese Auto Industry has welcome a new high-speed developing period.2009, Chinese automobile production and marketing was respectively 1379.10 ten thousand and 1364.48 ten thousand, surmounted the U.S. at one stroke, was called the first in the world automobile production and marketing big country.The annual production and marketing of Chinese automobile in 2012 is respectively 1927.18 ten thousand and 1930.64 ten thousand, within continuous 4 years, continues to hold a post or title the first in the world.Enter after 10 years high speed developments, Chinese independent brand passenger car technology obtains significant progress.The upper vapour Roewe that one vapour red flag, the gentry of Beijing Automobile Workshop of the successively listing first half of the year in 2013 are precious, farsightedly gallop in Chang'an, lucky Deidro Deluxe, BYD think sharp and successively listing before this, Guangzhou Automobile Workshop pass the high-end passenger car of independent brand for representative such as auspicious and initiate group type to joint brand and charge, and will progressively rewrite independent brand passenger car and can only seize in low and middle-end the present situation in market.Hyundai Motor is of a great variety, and people are driving a car in driving process, and due to Vehicle Speed or road environment restriction, naked eyes cannot carry out distance to front vehicles and identify, cause unexpected generation, especially new hand, lack experience and be more prone to have an accident.
Summary of the invention
Technical matters to be solved by this invention is to provide in a kind of vehicle travel process the system that vehicle distances is reported to the police; this system can carry out detection and identification to front vehicles distance automatically; report to the police lower than carrying out during setting value and slow down; ensure that driving safety; especially for new hand driver, the safety of vehicle and occupant is protected.
The present invention's adopted technical scheme that solves the problem is: to the system that vehicle distances is reported to the police in vehicle travel process, comprise the following steps:
(1) measuring and calculating of car wheel linear velocity V: known from the parameter of stepper motor, step angle when four phases four are clapped is 1.8 °, and through measuring, get car wheel diameter D=6.00cm, the time of one-period pulse persistance is the theoretical value of T=2.4ms, V:
V＝1.8/2π×πD/T＝1.8/360×3.14×0.06/0.0024＝0.39m/s
The actual value of V:
Through measuring, the distance S=15.2m that dolly ran in 40 seconds, then V=15.2/40=0.38m/s
In sum, the driving line speed V=0.38m/s of dolly is selected;
(2) dolly travels the calculating of distance: then calculate dolly according to the moving of car time t of display in real time on dolly LCD and travel distance S=Vt=0.38t;
(3) dolly ultrasonic ranging calculates: by counter, single-chip microcomputer remembers that dolly sends the time t1 in ultrasound wave moment, then be waitingly subject to counts that the ultrasound wave moment records and draw time t2, the aerial velocity of propagation of sound wave is V, distance then from barrier is S=V × (t2-t1)/2, the distance value of taking advantage of a situation recorded due to using ultrasound ripple is accurate, and the distance detected is different at every turn, when processing it with microprocessor, mathematical model is difficult to set up, from Theory of Automatic Control, distance keeping system is a little inertia system, the rate of change of input error signal directly has influence on the precision of fuzzy control, therefore system adopts two dimension fuzzy control structure, fuzzy variable has 3, be respectively e, △ e, and U, e=D1-D2, D1 is predetermined value, D2 is the data that sensor records, set the codomain of e as {-3, 3}, then:
1., as e>3, now system ignores current sampling, samples next time;
2. as e<3, dolly can carry out automatic retarding process △ e and is little vehicle speed and reported to the police to hummer by signal transmission, determined by initial preset value, U is the output of fuzzy controller, and it will be converted into control signal and pass to single-chip microcomputer to do process of slowing down.
To sum up; the invention has the beneficial effects as follows: this system can carry out detection and identification to front vehicles distance automatically, report to the police lower than carrying out during setting value and slow down, ensure that driving safety; especially for new hand driver, the safety of vehicle and occupant is protected.
Embodiment
Below in conjunction with embodiment, to the detailed description further of the present invention's do, but embodiments of the present invention are not limited thereto.
Embodiment:
To the system that vehicle distances is reported to the police in vehicle travel process, comprise the following steps:
(1) measuring and calculating of car wheel linear velocity V: known from the parameter of stepper motor, step angle when four phases four are clapped is 1.8 °, and through measuring, get car wheel diameter D=6.00cm, the time of one-period pulse persistance is the theoretical value of T=2.4ms, V:
V＝1.8/2π×πD/T＝1.8/360×3.14×0.06/0.0024＝0.39m/s
The actual value of V:
Through measuring, the distance S=15.2m that dolly ran in 40 seconds, then V=15.2/40=0.38m/s
In sum, the driving line speed V=0.38m/s of dolly is selected;
(2) dolly travels the calculating of distance: then calculate dolly according to the moving of car time t of display in real time on dolly LCD and travel distance S=Vt=0.38t;
(3) dolly ultrasonic ranging calculates: by counter, single-chip microcomputer remembers that dolly sends the time t1 in ultrasound wave moment, then be waitingly subject to counts that the ultrasound wave moment records and draw time t2, the aerial velocity of propagation of sound wave is V, distance then from barrier is S=V × (t2-t1)/2, the distance value of taking advantage of a situation recorded due to using ultrasound ripple is accurate, and the distance detected is different at every turn, when processing it with microprocessor, mathematical model is difficult to set up, from Theory of Automatic Control, distance keeping system is a little inertia system, the rate of change of input error signal directly has influence on the precision of fuzzy control, therefore system adopts two dimension fuzzy control structure, fuzzy variable has 3, be respectively e, △ e, and U, e=D1-D2, D1 is predetermined value, D2 is the data that sensor records, set the codomain of e as {-3, 3}, then:
1., as e>3, now system ignores current sampling, samples next time;
2. as e<3, dolly can carry out automatic retarding process △ e and is little vehicle speed and reported to the police to hummer by signal transmission, determined by initial preset value, U is the output of fuzzy controller, and it will be converted into control signal and pass to single-chip microcomputer to do process of slowing down.
The contour of the vehicle feature calculation parameter that this programme monitors according to infrared probe, uses algorithmic formula to obtain vehicle distances accurately, and reports to the police and automatic retarding brake.
This system can carry out detection and identification to front vehicles distance automatically, reporting to the police and slowing down, ensure that driving safety lower than carrying out during setting value, especially for new hand driver, protects the safety of vehicle and occupant.
The above; it is only preferred embodiment of the present invention; not any pro forma restriction is done to the present invention, every according to technology of the present invention, method in fact to any simple modification, equivalent variations that above embodiment is done, all fall within protection scope of the present invention.
Claims (1)
1. in vehicle travel process to the system that vehicle distances is reported to the police, it is characterized in that, comprise the following steps:
(1) measuring and calculating of car wheel linear velocity V: known from the parameter of stepper motor, step angle when four phases four are clapped is 1.8 °, and through measuring, get car wheel diameter D=6.00cm, the time of one-period pulse persistance is the theoretical value of T=2.4ms, V:
V＝1.8/2π×πD/T＝1.8/360×3.14×0.06/0.0024＝0.39m/s
The actual value of V:
Through measuring, the distance S=15.2m that dolly ran in 40 seconds, then V=15.2/40=0.38m/s
In sum, the driving line speed V=0.38m/s of dolly is selected;
(2) dolly travels the calculating of distance: then calculate dolly according to the moving of car time t of display in real time on dolly LCD and travel distance S=Vt=0.38t;
(3) dolly ultrasonic ranging calculates: by counter, single-chip microcomputer remembers that dolly sends the time t1 in ultrasound wave moment, then be waitingly subject to counts that the ultrasound wave moment records and draw time t2, the aerial velocity of propagation of sound wave is V, distance then from barrier is S=V × (t2-t1)/2, the distance value of taking advantage of a situation recorded due to using ultrasound ripple is accurate, and the distance detected is different at every turn, when processing it with microprocessor, mathematical model is difficult to set up, from Theory of Automatic Control, distance keeping system is a little inertia system, the rate of change of input error signal directly has influence on the precision of fuzzy control, therefore system adopts two dimension fuzzy control structure, fuzzy variable has 3, be respectively e, △ e, and U, e=D1-D2, D1 is predetermined value, D2 is the data that sensor records, set the codomain of e as {-3, 3}, then:
1., as e>3, now system ignores current sampling, samples next time;
2. as e<3, dolly can carry out automatic retarding process △ e and is little vehicle speed and reported to the police to hummer by signal transmission, determined by initial preset value, U is the output of fuzzy controller, and it will be converted into control signal and pass to single-chip microcomputer to do process of slowing down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510690536.5A CN105388482A (en) | 2015-10-22 | 2015-10-22 | System for alarming vehicle distance during vehicle driving process |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510690536.5A CN105388482A (en) | 2015-10-22 | 2015-10-22 | System for alarming vehicle distance during vehicle driving process |
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| CN105388482A true CN105388482A (en) | 2016-03-09 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113050104A (en) * | 2021-04-02 | 2021-06-29 | 中冶南方工程技术有限公司 | Vehicle position measuring method based on position estimation, terminal equipment and storage medium |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2283096A (en) * | 1993-10-20 | 1995-04-26 | Bosch Gmbh Robert | Method and device for ultrasonic distance measurement |
| JPH08136643A (en) * | 1994-11-04 | 1996-05-31 | Matsushita Electric Ind Co Ltd | Ultrasonic distance measuring device |
| US6166995A (en) * | 1997-10-07 | 2000-12-26 | Robert Bosch Gmbh | Apparatus for distance measurement by means of ultrasound |
-
2015
- 2015-10-22 CN CN201510690536.5A patent/CN105388482A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2283096A (en) * | 1993-10-20 | 1995-04-26 | Bosch Gmbh Robert | Method and device for ultrasonic distance measurement |
| JPH08136643A (en) * | 1994-11-04 | 1996-05-31 | Matsushita Electric Ind Co Ltd | Ultrasonic distance measuring device |
| US6166995A (en) * | 1997-10-07 | 2000-12-26 | Robert Bosch Gmbh | Apparatus for distance measurement by means of ultrasound |
Non-Patent Citations (2)
| Title |
|---|
| 孙兰兰: "自主避障系统的研究与设计", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
| 张新建等: "基于单片机的智能车载安全系统设计", 《计算机测量与控制》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113050104A (en) * | 2021-04-02 | 2021-06-29 | 中冶南方工程技术有限公司 | Vehicle position measuring method based on position estimation, terminal equipment and storage medium |
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Application publication date: 20160309 |
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