CN106080482A - A kind of automobile deceleration safety system - Google Patents
A kind of automobile deceleration safety system Download PDFInfo
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- CN106080482A CN106080482A CN201610608526.7A CN201610608526A CN106080482A CN 106080482 A CN106080482 A CN 106080482A CN 201610608526 A CN201610608526 A CN 201610608526A CN 106080482 A CN106080482 A CN 106080482A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/44—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating braking action or preparation for braking, e.g. by detection of the foot approaching the brake pedal
- B60Q1/444—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating braking action or preparation for braking, e.g. by detection of the foot approaching the brake pedal with indication of the braking strength or speed changes, e.g. by changing shape or intensity of the indication
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8093—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for obstacle warning
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Abstract
本发明公开了一种汽车减速安全系统，包括速度采集模块、汽车防碰撞模块、前进方向障碍检测模块、路况检测模块、油门防误踩模块、制动力大小警示系统、ECU、自动控制模块。本发明综合考虑了汽车、障碍物以及路面的情况，自带防碰撞功能和防误踩功能，大大加到了汽车在减速运行过程的安全性，且可实现自动化控制，使用方便。
The invention discloses an automobile deceleration safety system, which comprises a speed acquisition module, an automobile anti-collision module, an obstacle detection module in the forward direction, a road condition detection module, a throttle anti-misstepping module, a braking force warning system, an ECU, and an automatic control module. The present invention comprehensively considers the conditions of automobiles, obstacles, and road surfaces, has anti-collision functions and anti-misstepping functions, greatly increases the safety of automobiles during the deceleration process, and can realize automatic control and is easy to use.
Description
技术领域technical field
本发明涉及汽车安全领域，具体涉及一种汽车减速安全系统。The invention relates to the field of automobile safety, in particular to an automobile deceleration safety system.
背景技术Background technique
随着社会经济水平的发展，汽车也开始进入千家万户，从最初的奢侈品成为一种基本消费品，保有量越来越大，汽车厂商的竞争也越来越激烈，消费者对于汽车的要求和期望也越来越高，尤其对安全性要求尤为重视。目前汽车减速安全系统有很多，主要是通过雷达发射超声波或红外线确定前后车距，当车距较小时便报警提醒驾驶员。但这样的装置只在行驶中的汽车对驾驶员起到提示作用，且当汽车在红绿灯口低速跟进时以及靠近停车时，便会产生误报警现象。也就是说，这样的装置没有考虑到不同车速情况下的安全距离。即使是有些防碰撞报警系统考虑到车速的影响，但也只有警示作用，而驾驶员开始制动的反应时间差异明显，尤其是新手，制动减速是否及时直接影响防碰撞的效果。同时驾驶者在遇到紧急情况时，驾驶者误把油门当作刹车操作的事例是屡见不鲜的(例如新手驾驶经验不足；酒后驾车者反应迟钝及女性驾车者容易紧张)，导致交通事故的发生。With the development of social and economic level, cars have also begun to enter thousands of households. From the initial luxury goods to become a basic consumer goods, the number of stocks is increasing, and the competition of auto manufacturers is becoming more and more fierce. Consumers' requirements for cars And expectations are getting higher and higher, especially for security requirements. At present, there are many automobile deceleration safety systems, which mainly use radar to emit ultrasonic waves or infrared rays to determine the distance between front and rear vehicles, and when the distance between vehicles is small, they will call the police to remind the driver. But such device only plays a prompting effect to the driver in the running automobile, and when the automobile follows up at a traffic light crossing at a low speed and when it is close to parking, a false alarm phenomenon will be produced. That is to say, such devices do not take into account the safety distance under different vehicle speed situations. Even if some anti-collision warning systems take into account the impact of vehicle speed, they only have a warning effect, and the reaction time of drivers starting to brake is significantly different, especially for novices, whether the braking deceleration is timely directly affects the effect of anti-collision. At the same time, when drivers encounter emergency situations, it is not uncommon for drivers to mistake the accelerator for brake operation (such as novice driving experience is insufficient; drunk drivers are slow to respond and female drivers are prone to nervousness), resulting in traffic accidents .
发明内容Contents of the invention
为解决上述问题，本发明提供了一种汽车减速安全系统，综合考虑了汽车、障碍物以及路面的情况，自带防碰撞功能和防误踩功能，大大加到了汽车在减速运行过程的安全性，且可实现自动化控制，使用方便。In order to solve the above problems, the present invention provides a vehicle deceleration safety system, which comprehensively considers the situation of the vehicle, obstacles and road surface, and has its own anti-collision function and anti-misstepping function, which greatly increases the safety of the vehicle during the deceleration process. , and can realize automatic control, easy to use.
为实现上述目的，本发明采取的技术方案为：In order to achieve the above object, the technical scheme that the present invention takes is:
一种汽车减速安全系统，包括A vehicle deceleration safety system, comprising
速度采集模块，用于通过安装在汽车车身内的速度传感器和加速度传感器进行汽车速度数据和加速度数据的采集，并将采集到的数据通过北斗模块发送到ECU；The speed collection module is used to collect the speed data and acceleration data of the car through the speed sensor and acceleration sensor installed in the car body, and send the collected data to the ECU through the Beidou module;
汽车防碰撞模块，使用雷达传感器超声波的发射与接收测定汽车与前方物体的距离及两者接近的相对速度，以前方距离和相对车速作为微机控制系统判定报警的依据，每一相对车速对应相应的安全车距，并根据车辆自身车速对安全车距进行修正；The automobile anti-collision module uses the ultrasonic transmission and reception of the radar sensor to measure the distance between the automobile and the object in front and the relative speed between the two. The distance in front and the relative speed are used as the basis for the microcomputer control system to determine the alarm. Each relative speed corresponds to the corresponding Safe inter-vehicle distance, and correct the safe inter-vehicle distance according to the vehicle's own speed;
前进方向障碍检测模块，用于通过安装在汽车的前方靠近中间的位置和靠近两侧位置的微波雷达传感器分别进行障碍物的交叉扫描检测，然后根据预设的算法以及检测到的数据计算障碍物与汽车之间的距离，并将发送到ECU；The obstacle detection module in the forward direction is used to perform cross-scan detection of obstacles through the microwave radar sensors installed in the front of the car near the middle and near the sides, and then calculate the obstacles according to the preset algorithm and the detected data The distance to the car and will be sent to the ECU;
路况检测模块，用于通过汽车的前端、两侧和后端的中轴线上的摄像头进行汽车周围路况视频图像的采集，并将采集到的视频图像通过北斗模块发送到ECU；The road condition detection module is used to collect video images of road conditions around the car through the cameras on the central axis of the front, both sides and rear of the car, and send the collected video images to the ECU through the Beidou module;
油门防误踩模块，通过微波雷达传感器、速度传感器、加速度传感器分别收集各自数据传输到单片机，单片机进行对比分析判断，得出是否是误踩油门的结论，从而发出相应指令，限油机构和刹车辅助机构根据指令做出相应反应；The accelerator anti-misstepping module collects data from the microwave radar sensor, speed sensor, and acceleration sensor and transmits them to the single-chip microcomputer. The single-chip microcomputer performs comparative analysis and judgment, and draws a conclusion whether the accelerator is stepped on by mistake, so as to issue corresponding instructions. The oil limiting mechanism and the brake Auxiliary agencies respond accordingly to instructions;
制动力大小警示系统，用于进行汽车制动力大小的检测和警示；The braking force warning system is used to detect and warn the braking force of the vehicle;
ECU，用于接收速度采集模块、微波雷达传感器所检测到的数据，并将检测到的数据发送给相应的模块；用于接收前进方向障碍检测模块、路况检测模块的检测数据，并按照预设的算法进行最优减速驾驶方案的输出，并根据车辆行驶的情况进行后车灯警示语的播放；The ECU is used to receive the data detected by the speed acquisition module and the microwave radar sensor, and send the detected data to the corresponding modules; it is used to receive the detection data of the obstacle detection module in the forward direction and the road condition detection module, and send the detected data according to the preset The algorithm outputs the optimal deceleration driving plan, and plays the rear light warning according to the driving situation of the vehicle;
自动控制模块，用于根据用户的选择进行车辆的自动控制。The automatic control module is used for automatic control of the vehicle according to the selection of the user.
优选地，所述制动力大小警示系统包括紧急制动力大小警示系统和一般制动力大小警示系统。Preferably, the braking force level warning system includes an emergency braking force level warning system and a general braking force level warning system.
优选地，所述制动力大小警示系统包括Preferably, the braking force warning system includes
安装在前轮的制动分油管上的制动油压传感器，用于采集油压信号，并将采集到的油压信号发送到数模器；The brake oil pressure sensor installed on the brake oil distribution pipe of the front wheel is used to collect the oil pressure signal and send the collected oil pressure signal to the digital analog device;
数模器，用于将接收的油压信号转换成数字信号后输入到单片机；Digital-to-analog device, used to convert the received oil pressure signal into a digital signal and then input it to the microcontroller;
单片机，用于接收数模器发送的数字信号，并根据这些数据信号控制LED显示；Single-chip microcomputer, used to receive the digital signal sent by the digital-to-analog device, and control the LED display according to these data signals;
安装在驾驶舱仪表盘上的LED数码管、用于接收单片机的命令，以数字形式向驾驶员反映制动油压或制动力情况；The LED digital tube installed on the dashboard of the cockpit is used to receive commands from the single-chip microcomputer, and to reflect the brake oil pressure or brake force to the driver in digital form;
安装于后窗上的LED红色警示灯柱，在原高位刹车灯位置布置成一列，用于接收单片机的命令，以亮灯柱的高度反应制动力的大小，亮灯柱的高度反应制动力的大小成线性正比关系。The LED red warning light post installed on the rear window is arranged in a row at the position of the original high-position brake light, and is used to receive the command of the single-chip microcomputer. The height of the light post reflects the magnitude of the braking force, and the height of the light post reflects the magnitude of the braking force. into a linear proportional relationship.
优选地，所述防碰撞报警系统包括Preferably, the anti-collision warning system includes
传感器，用于侦测机动车与障碍物的距离；Sensors for detecting the distance between the motor vehicle and the obstacle;
控制器，电性连接至传感器，用以根据机动车当前车速得到报警车距；The controller is electrically connected to the sensor, and is used to obtain the warning vehicle distance according to the current speed of the motor vehicle;
报警装置，采用显示灯或蜂鸣器，电性连接控制器，其中若距离小于报警车距，控制器控制报警装置报警；The alarm device adopts a display light or a buzzer, and is electrically connected to the controller. If the distance is less than the alarm distance, the controller controls the alarm device to alarm;
控制器，连接至机动车的制动踏板，根据机动车当前车速得到制动车距，若距离小于制动车距，控制器控制制动踏板进行制动操作；The controller is connected to the brake pedal of the motor vehicle, and the braking distance is obtained according to the current speed of the motor vehicle. If the distance is less than the braking distance, the controller controls the brake pedal to perform the braking operation;
步进电机，电性连接至控制器，步进电机根据控制器的信号转动；The stepping motor is electrically connected to the controller, and the stepping motor rotates according to the signal of the controller;
制动拉索，连接步进电机和制动踏板，受步进电机的控制牵动制动踏板进行制动，若距离回复到大于制动车距，控制器控制制动踏板撤销制动。The brake cable is connected to the stepper motor and the brake pedal, and is controlled by the stepper motor to pull the brake pedal for braking. If the distance returns to be greater than the braking distance, the controller controls the brake pedal to cancel the brake.
优选地，所述油门防误踩模块包括加速度传感器、微波雷达传感器、转速传感器和单片机，加速度传感器安装于油门踏板的背面，微波雷达传感器安装于车身前端，转速传感器通过信号盘安装于车轮的轮轴上；单片机的输出端通过A/D转换连接有第一步进电机和第二步进电机；第一步进电机通过制动拉线与制动踏板连接；第二步进电机与油路中的限油阀连接，第一步进电机和制动拉线之间设置有一个起变向作用的滑轮，第一步进电机安装于制动踏板的后侧，第二步进电机与限油阀安装于油路前端。Preferably, the accelerator anti-misstepping module includes an acceleration sensor, a microwave radar sensor, a rotational speed sensor and a single-chip microcomputer, the acceleration sensor is installed on the back of the accelerator pedal, the microwave radar sensor is installed on the front of the vehicle body, and the rotational speed sensor is installed on the axle of the wheel through a signal plate On; the output end of the single chip microcomputer is connected with the first stepper motor and the second stepper motor through A/D conversion; the first stepper motor is connected with the brake pedal through the brake cable; the second stepper motor is connected with the brake pedal in the oil circuit Oil limiting valve connection, a pulley for changing direction is set between the first stepping motor and the brake cable, the first stepping motor is installed on the rear side of the brake pedal, the second stepping motor is installed on the oil limiting valve at the front end of the oil line.
优选地，所述防碰撞模块采用两级报警模式，其中，一级报警：制动车距＜前方车距≤报警车距，此时，只报警不自行制动，驾驶员有时间停止加速或减速控制车距；二级报警：前方车距≤制动车距，此时，报警继续，并立刻启用制动电机对汽车进行最大力度的制动，直至前方车距大于制动车距。Preferably, the anti-collision module adopts a two-level alarm mode, wherein, the first-level alarm: braking distance < front distance ≤ warning distance, at this time, only the alarm does not brake automatically, and the driver has time to stop accelerating or decelerating Control the distance between vehicles; Level 2 alarm: the distance between vehicles in front ≤ the distance between vehicles under braking. At this time, the alarm continues, and the brake motor is immediately activated to brake the car with maximum strength until the distance between vehicles ahead is greater than the distance between vehicles under braking.
优选地，所述后车灯警示语通过安装在后车灯一侧的显示屏进行显示。Preferably, the warning words of the rear vehicle lights are displayed through a display screen installed on one side of the rear vehicle lights.
优选地，所述ECU通过均值法进行背景建模，在视频图像中取连续N帧，计算这N帧图像像素灰度值的平均值作为背景图像的像素灰度值，建立不同车速、加速度和前进方向上障碍物距离下的减速控制方案模型；用于将灰度图像与对应的建模背景进行差分操作，并对差分后的图像进行滤波处理，去除噪音，利用预设阈值，对差分后的图像进行对比检测，确定减速控制方案的输出，并将所得的数据发送到触控屏进行显示，用户可以根据显示屏显示的数据进行人为操控，也可以通过自动控制模块根据输出的减速控制方案进行车辆的自动控制。Preferably, the ECU carries out background modeling by the mean value method, takes consecutive N frames in the video image, calculates the average value of the pixel gray value of the N frame images as the pixel gray value of the background image, and establishes different vehicle speeds, accelerations and The deceleration control scheme model under the obstacle distance in the forward direction; it is used to perform difference operation between the grayscale image and the corresponding modeling background, and filter the difference image to remove noise. The images are compared and tested to determine the output of the deceleration control scheme, and the obtained data is sent to the touch screen for display. The user can perform manual manipulation according to the data displayed on the display screen, or through the automatic control module according to the output deceleration control scheme. Carry out automatic control of the vehicle.
本发明具有以下有益效果：The present invention has the following beneficial effects:
综合考虑了汽车、障碍物以及路面的情况，自带防碰撞功能和防误踩功能，大大加到了汽车在减速运行过程的安全性，且可实现自动化控制，使用方便。Comprehensively considering the situation of the car, obstacles and road surface, it has built-in anti-collision function and anti-misstepping function, which greatly increases the safety of the car during the deceleration process, and can realize automatic control and is easy to use.
附图说明Description of drawings
图1为本发明实施例一种汽车减速安全系统的结构示意图。FIG. 1 is a schematic structural diagram of an automobile deceleration safety system according to an embodiment of the present invention.
具体实施方式detailed description
为了使本发明的目的及优点更加清楚明白，以下结合实施例对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。In order to make the objects and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
如图1所示，本发明实施例提供了一种汽车减速安全系统，包括As shown in Figure 1, an embodiment of the present invention provides a vehicle deceleration safety system, including
速度采集模块，用于通过安装在汽车车身内的速度传感器和加速度传感器进行汽车速度数据和加速度数据的采集，并将采集到的数据通过北斗模块发送到ECU；The speed collection module is used to collect the speed data and acceleration data of the car through the speed sensor and acceleration sensor installed in the car body, and send the collected data to the ECU through the Beidou module;
汽车防碰撞模块，使用雷达传感器超声波的发射与接收测定汽车与前方物体的距离及两者接近的相对速度，以前方距离和相对车速作为微机控制系统判定报警的依据，每一相对车速对应相应的安全车距，并根据车辆自身车速对安全车距进行修正；The automobile anti-collision module uses the ultrasonic transmission and reception of the radar sensor to measure the distance between the automobile and the object in front and the relative speed between the two. The distance in front and the relative speed are used as the basis for the microcomputer control system to determine the alarm. Each relative speed corresponds to the corresponding Safe inter-vehicle distance, and correct the safe inter-vehicle distance according to the vehicle's own speed;
前进方向障碍检测模块，用于通过安装在汽车的前方靠近中间的位置和靠近两侧位置的微波雷达传感器分别进行障碍物的交叉扫描检测，然后根据预设的算法以及检测到的数据计算障碍物与汽车之间的距离，并将发送到ECU；The obstacle detection module in the forward direction is used to perform cross-scan detection of obstacles through the microwave radar sensors installed in the front of the car near the middle and near the sides, and then calculate the obstacles according to the preset algorithm and the detected data The distance to the car and will be sent to the ECU;
路况检测模块，用于通过汽车的前端、两侧和后端的中轴线上的摄像头进行汽车周围路况视频图像的采集，并将采集到的视频图像通过北斗模块发送到ECU；The road condition detection module is used to collect video images of road conditions around the car through the cameras on the central axis of the front, both sides and rear of the car, and send the collected video images to the ECU through the Beidou module;
油门防误踩模块，通过微波雷达传感器、速度传感器、加速度传感器分别收集各自数据传输到单片机，单片机进行对比分析判断，得出是否是误踩油门的结论，从而发出相应指令，限油机构和刹车辅助机构根据指令做出相应反应；The accelerator anti-misstepping module collects data from the microwave radar sensor, speed sensor, and acceleration sensor and transmits them to the single-chip microcomputer. The single-chip microcomputer performs comparative analysis and judgment, and draws a conclusion whether the accelerator is stepped on by mistake, so as to issue corresponding instructions. The oil limiting mechanism and the brake Auxiliary agencies respond accordingly to instructions;
制动力大小警示系统，用于进行汽车制动力大小的检测和警示；The braking force warning system is used to detect and warn the braking force of the vehicle;
ECU，用于接收速度采集模块、微波雷达传感器所检测到的数据，并将检测到的数据发送给相应的模块；用于接收前进方向障碍检测模块、路况检测模块的检测数据，并按照预设的算法进行最优减速驾驶方案的输出，并根据车辆行驶的情况进行后车灯警示语的播放；The ECU is used to receive the data detected by the speed acquisition module and the microwave radar sensor, and send the detected data to the corresponding modules; it is used to receive the detection data of the obstacle detection module in the forward direction and the road condition detection module, and send the detected data according to the preset The algorithm outputs the optimal deceleration driving plan, and plays the rear light warning according to the driving situation of the vehicle;
自动控制模块，用于根据用户的选择进行车辆的自动控制。The automatic control module is used for automatic control of the vehicle according to the selection of the user.
优选地，所述制动力大小警示系统包括紧急制动力大小警示系统和一般制动力大小警示系统。Preferably, the braking force level warning system includes an emergency braking force level warning system and a general braking force level warning system.
所述制动力大小警示系统包括The braking force warning system includes
安装在前轮的制动分油管上的制动油压传感器，用于采集油压信号，并将采集到的油压信号发送到数模器；The brake oil pressure sensor installed on the brake oil distribution pipe of the front wheel is used to collect the oil pressure signal and send the collected oil pressure signal to the digital analog device;
数模器，用于将接收的油压信号转换成数字信号后输入到单片机；Digital-to-analog device, used to convert the received oil pressure signal into a digital signal and then input it to the microcontroller;
单片机，用于接收数模器发送的数字信号，并根据这些数据信号控制LED显示；Single-chip microcomputer, used to receive the digital signal sent by the digital-to-analog device, and control the LED display according to these data signals;
安装在驾驶舱仪表盘上的LED数码管、用于接收单片机的命令，以数字形式向驾驶员反映制动油压或制动力情况；The LED digital tube installed on the dashboard of the cockpit is used to receive commands from the single-chip microcomputer, and to reflect the brake oil pressure or brake force to the driver in digital form;
安装于后窗上的LED红色警示灯柱，在原高位刹车灯位置布置成一列，用于接收单片机的命令，以亮灯柱的高度反应制动力的大小，亮灯柱的高度反应制动力的大小成线性正比关系。The LED red warning light post installed on the rear window is arranged in a row at the position of the original high-position brake light, and is used to receive the command of the single-chip microcomputer. The height of the light post reflects the magnitude of the braking force, and the height of the light post reflects the magnitude of the braking force. into a linear proportional relationship.
所述防碰撞报警系统包括The anti-collision warning system includes
传感器，用于侦测机动车与障碍物的距离；Sensors for detecting the distance between the motor vehicle and the obstacle;
控制器，电性连接至传感器，用以根据机动车当前车速得到报警车距；The controller is electrically connected to the sensor, and is used to obtain the warning vehicle distance according to the current speed of the motor vehicle;
报警装置，采用显示灯或蜂鸣器，电性连接控制器，其中若距离小于报警车距，控制器控制报警装置报警；The alarm device adopts a display light or a buzzer, and is electrically connected to the controller. If the distance is less than the alarm distance, the controller controls the alarm device to alarm;
控制器，连接至机动车的制动踏板，根据机动车当前车速得到制动车距，若距离小于制动车距，控制器控制制动踏板进行制动操作；The controller is connected to the brake pedal of the motor vehicle, and the braking distance is obtained according to the current speed of the motor vehicle. If the distance is less than the braking distance, the controller controls the brake pedal to perform the braking operation;
步进电机，电性连接至控制器，步进电机根据控制器的信号转动；The stepping motor is electrically connected to the controller, and the stepping motor rotates according to the signal of the controller;
制动拉索，连接步进电机和制动踏板，受步进电机的控制牵动制动踏板进行制动，若距离回复到大于制动车距，控制器控制制动踏板撤销制动。The brake cable is connected to the stepper motor and the brake pedal, and is controlled by the stepper motor to pull the brake pedal for braking. If the distance returns to be greater than the braking distance, the controller controls the brake pedal to cancel the brake.
所述油门防误踩模块包括加速度传感器、微波雷达传感器、转速传感器和单片机，加速度传感器安装于油门踏板的背面，微波雷达传感器安装于车身前端，转速传感器通过信号盘安装于车轮的轮轴上；单片机的输出端通过A/D转换连接有第一步进电机和第二步进电机；第一步进电机通过制动拉线与制动踏板连接；第二步进电机与油路中的限油阀连接，第一步进电机和制动拉线之间设置有一个起变向作用的滑轮，第一步进电机安装于制动踏板的后侧，第二步进电机与限油阀安装于油路前端。系统的工作原理如下：Described throttle anti-misstepping module comprises acceleration sensor, microwave radar sensor, rotational speed sensor and single-chip microcomputer, and acceleration sensor is installed on the back side of accelerator pedal, and microwave radar sensor is installed on vehicle body front end, and rotational speed sensor is installed on the axle of wheel by signal plate; The output end of the output terminal is connected with the first stepping motor and the second stepping motor through A/D conversion; the first stepping motor is connected with the brake pedal through the brake cable; the second stepping motor is connected with the oil limit valve in the oil circuit A pulley for changing direction is set between the first stepping motor and the brake cable, the first stepping motor is installed on the rear side of the brake pedal, the second stepping motor and the oil limiting valve are installed in the oil circuit front end. The system works as follows:
第一步，信号的收集：安装在油门踏板上的加速度传感器收集踏板下压的加速度信号，同时车速传感器收集该车的行驶速度，最后安装在车前端的雷达测距传感器收集前方障碍物(车、人或动物)与本车的距离。The first step is signal collection: the acceleration sensor installed on the accelerator pedal collects the acceleration signal when the pedal is pressed down, and the vehicle speed sensor collects the driving speed of the car at the same time, and finally the radar ranging sensor installed on the front of the car collects the front obstacle (vehicle , people or animals) and the distance from the vehicle.
第二步，信号的转换及传递：各传感器收集的信号通过A\D转换后传递到单片机中。The second step is the conversion and transmission of signals: the signals collected by each sensor are converted by A\D and then transmitted to the single chip microcomputer.
第三步，信号的分析与处理：单片机依照程序将接受到的信号进行分析处理。The third step is signal analysis and processing: the single chip microcomputer analyzes and processes the received signal according to the program.
第四步，命令的发出及执行：单片机完成信号分析处理后，发出命令信号，通过D\A转换传达到执行器，执行器(步进电机)执行命令。The fourth step is the issuance and execution of commands: after the single-chip microcomputer completes signal analysis and processing, it sends out command signals, which are transmitted to the actuator through D\A conversion, and the actuator (stepping motor) executes the command.
所述防碰撞模块采用两级报警模式，其中，一级报警：制动车距＜前方车距≤报警车距，此时，只报警不自行制动，驾驶员有时间停止加速或减速控制车距；二级报警：前方车距≤制动车距，此时，报警继续，并立刻启用制动电机对汽车进行最大力度的制动，直至前方车距大于制动车距。The anti-collision module adopts a two-stage alarm mode, wherein, the first-stage alarm: braking distance < front distance ≤ warning distance, at this time, only the alarm does not brake automatically, and the driver has time to stop accelerating or decelerating to control the distance ;Second-level alarm: the distance between vehicles in front ≤ the distance between vehicles under braking. At this time, the alarm continues, and the brake motor is immediately activated to brake the vehicle with maximum force until the distance between vehicles ahead is greater than the distance between vehicles under braking.
所述后车灯警示语通过安装在后车灯一侧的显示屏进行显示。The warning words of the rear lights are displayed through a display screen installed on one side of the rear lights.
所述ECU通过均值法进行背景建模，在视频图像中取连续N帧，计算这N帧图像像素灰度值的平均值作为背景图像的像素灰度值，建立不同车速、加速度和前进方向上障碍物距离下的减速控制方案模型；用于将灰度图像与对应的建模背景进行差分操作，并对差分后的图像进行滤波处理，去除噪音，利用预设阈值，对差分后的图像进行对比检测，确定减速控制方案的输出，并将所得的数据发送到触控屏进行显示，用户可以根据显示屏显示的数据进行人为操控，也可以通过自动控制模块根据输出的减速控制方案进行车辆的自动控制。The ECU carries out background modeling through the mean value method, takes consecutive N frames in the video image, calculates the average value of the pixel gray value of the N frame images as the pixel gray value of the background image, and establishes different vehicle speeds, accelerations and forward directions. The deceleration control scheme model under the obstacle distance; it is used to perform difference operation between the grayscale image and the corresponding modeling background, and filter the difference image to remove noise, and use the preset threshold value to perform the difference operation on the difference image Compare and detect, determine the output of the deceleration control scheme, and send the obtained data to the touch screen for display. The user can perform manual manipulation according to the data displayed on the display screen, or use the automatic control module to control the vehicle according to the output deceleration control scheme. automatic control.
所述微波雷达的输出频率为10.525GHZ，功率为20毫瓦，作为测速时，被测物体每经过波长2.85cm*1/2输出一个周波频率19.5Hz或1km/h；使用3DB辐射角度为12.5度，探测距离1-300m。The output frequency of the microwave radar is 10.525GHZ, and the power is 20 milliwatts. When measuring speed, the measured object outputs a cycle frequency of 19.5Hz or 1km/h every time the measured object passes through a wavelength of 2.85cm*1/2; using 3DB, the radiation angle is 12.5 Degree, detection distance 1-300m.
以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以作出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。The above is only a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications should also be It is regarded as the protection scope of the present invention.
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Application publication date: 20161109 |