CN1274536C - Intelligent control system for motor vehicle safety running - Google Patents
Intelligent control system for motor vehicle safety running Download PDFInfo
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- CN1274536C CN1274536C CN 03149517 CN03149517A CN1274536C CN 1274536 C CN1274536 C CN 1274536C CN 03149517 CN03149517 CN 03149517 CN 03149517 A CN03149517 A CN 03149517A CN 1274536 C CN1274536 C CN 1274536C
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Abstract
The present invention relates to an intelligent control safety running system for motor vehicles, which is composed of a forward looking radar, a side looking radar and an antenna. The present invention is used for detecting whether obstacles exist within the safe distance range, and the detection distance is determined according to vehicle speed, vehicle weight, meteorological conditions of road surfaces and longitudinal inclination of vehicle bodies; received reflected wave signals are identified through a comparator, and filtering shaping is carried out to obstacle signals which are amplified and counted in an executor circuit for enforcing deceleration or braking; for enhancing the conveying reliability of electric signals, a single chip computer also synchronously processes signals received by the radars, also reads parameters of vehicle speed, vehicle weight, weather conditions, longitudinal inclination of vehicle bodies, etc. looks up the safe distance in tables or computes the safe distance. The system can stop accidents such as collision, rear-end collision of vehicles, crash from cliffs, extrusion, etc. is free from the skill limitation of drivers, conforms to traffic laws and regulations and driving habits, is suitable for various vehicle types and has the advantages of oil saving, pollutant discharge reducing and visible economic and social benefit.
Description
Technical field
The present invention relates to traffic and transport field, to the identification of obstacle, reach the Based Intelligent Control of the speed of a motor vehicle in the motor-driven vehicle going, do not bump, knock into the back, push, weigh down the precipice when guaranteeing vehicle ', this system is not subjected to the technical ability of chaufeur, the influence of state, meets driving habit and rules.
Background technology
At present, all power actuated vehicles all do not have initiatively collision avoidance system, have only some passive safety methods, as safety strap, anti-collision air bag, the helmet, and all fundamentally generations of transport solution accident.
Automobile automatic navigation, computer navigation, intelligent vehicle highway system (IVHS) are being studied by the country that it is reported, the AXV-III type of Toyota, prevent rear-end impact with the laser positioning spacing, the driving radar system of the U.S., it is when reaching hazard level by detection the place ahead obstacle, report to the police to chaufeur with sound, light, take measures by chaufeur.The research that Japan carries out is; On highway, bury signal generation apparatus underground.The above technology of country's imagination global position system (annotating 1) that also has is also in conceptual phase.
Summary of the invention
The objective of the invention is: overcome the deficiencies in the prior art, for power actuated vehicle provides a kind of travel direction " safety distance " scope that can detect clear is arranged, determine whether to control the safety system of slowing down or implementing braking, avoid accident to take place, realize vehicle safe driving, and realize the automatic conversion of power output.
The object of the present invention is achieved like this: a kind of Based Intelligent Control self-propelled vehicle safety traffic system, comprise forward-looking radar 7 and antenna 6, side-looking radar and antenna 17,18, car speed sensor 1, car weight sensor 2, Single Chip Microcomputer (SCM) system 5 and program, car at position meteorological conditions sensor 3, vehicle body fore-and-aft tilt sensor 4, background noise receptor 16, switch 19 moves about;
Wherein, described car speed sensor 1, car weight sensor 2, car is at position meteorological conditions sensor 3, vehicle body fore-and-aft tilt sensor 4 links to each other with Single Chip Microcomputer (SCM) system 5, be used to obtain " safety distance " under precondition, Single Chip Microcomputer (SCM) system 5 also links to each other with forward-looking radar 7, car speed sensor 1 also links to each other with background noise receptor 16, vehicle body fore-and-aft tilt sensor 4 also links to each other with clutch actr 21, radar 7 with simulate switch 9 input end E and link to each other, the input end of comparator 8 links to each other with antenna 6, comparator 8 mouths extremely link to each other with the control that simulates switch 9, simulate the mouth F while and low pass amplification and rectification circuit 10 of switch 9, Single Chip Microcomputer (SCM) system 5 links to each other, low pass amplification and rectification circuit 10 links to each other with counting machine 11, a position output signal of counting machine 11 send throttle actuator 12 control throttle sizes, ten count signals send brake actuator 14, Single Chip Microcomputer (SCM) system 5 also with throttle actuator 12, brake actuator 14 links to each other;
Described background noise receptor 16 links to each other with car speed sensor 1, radar aerial 6;
The shift fork of the described switch 19 that moves about and steering wheel shaft mechanical connection, move about switch respectively with left and right sides steering indicating light 20, left and right sides side-looking radar 17,18 and power supply link to each other.
Forward-looking radar 7, side-looking radar 17,18 are made up of microwave oscillator, microstrip, antenna 6.Antenna is insulated the shielded metal tube center that is fixed on, have a hole at the front end face center of shutting, the wave beam field that can radiation has directive property, the field intensity of radiation (detection range) is determined by parameters such as the speed of a motor vehicle, car weight, road surface meteorological conditions, vehicle body fore-and-aft tilts.Forward sight, side-looking radar, whether the pan travel direction has obstacle signal.
Single Chip Microcomputer (SCM) system 5 contains central process unit (CPU) memory device, data line and interface, clock/counting machine, interrupt and instruction repertorie, micro controller system is connected with each sensor by data line, the speed of a motor vehicle of sending here according to sensor, car weight, car is in the position meteorological conditions, vehicle body fore-and-aft tilt data are tabled look-up in the memory device and are found corresponding " safety distance ", or press the formula of setting by micro controller system according to data and calculate " safety distance ", again by micro controller system with " safety distance " value control radar emissive power or drag radar aerial and change pitch angle, realize the change of radar range.The positive difference frequency signal of forward-looking radar antenna send clocking/counting machine in the micro controller system, under the control of frequency subprogram, judges the added value in the s-f unit time, this value is sent in the circuit of throttle actuator and brake actuator, and control is slowed down or implemented braking.The size of braking dynamics, the speed of action are by the recruitment decision of increasing value and unit time of frequency.When obstacle signal disappears, send reset instruction or reset to actr by mechanical spring by micro controller system.
Car is at road surface, position meteorological conditions sensor 3, form by temperature sensor 3a, visibility sensor 3b, humidity sensor 3c and circuit separately, in the indication vehicle ' process arbitrarily moment the position, ground-surface is done wet (rain, snow, ice) and space meteorological conditions (mist, sand and dust) etc., and they explain the quality (table 1) of car in road surface, position meteorological conditions by logical value by output signal.Visibility sensor is to cover in light, the ventilative railway carriage or compartment at one, laser beam emitting head, laser pick-off head are installed side by side, laser is radiated in the railway carriage or compartment power of scattering light on the gas, diaphaneity with gas in the railway carriage or compartment changes, receive the head induction after photoamplifier circuit is handled, when its electric signal reached setting value, the expression visbility was less than a certain distance, then one of this signal condition of travelling as limiting vehicle speed.
Vehicle body fore-and-aft tilt sensor 4, by being fixed on two cover electrodes in camber pipe on the vehicle body, the pipe, every cover electrode by a lead and a resistor wire and one can cunning be rolled in pipe mercury bulb [Fig. 3, among the 3d 1,2], mould/number integrated package composition.Mercury bulb drops on the direction of plumb bob vertical when static, does not all come in contact with two cover electrodes, i.e. zero-signal.When the vehicle uphill/downhill, mercury bulb slides to certain on one side along the camber pipe, contact with a cover electrode wherein, and resistance is so just arranged, and the IC6 in mould/number integrated package 3d becomes digital output, and the big resistance number of the gradient is big.Two cover electrodes are distinguished upward slope, descending and ratio of slope, participate in determining of " safety distance ", control gearshift open out during upward slope, speed limit during descending.
Actr is made up of driving circuit, motor, mechanical transmissioning piece, retracing spring, realizes the mechanical shift under the electric signal control, controls throttle, braking, gearshift actions such as (clutches) with displacement.Electric signal disappearance rear motor moment of torsion disappears, and the spring pulling resets or gives electric signal and resets.
The switch 19 that moves about is control vehicles when turning to, and makes the device of the side's of turning to side-looking radar and turning indicator work.
Description of drawings
Fig. 1 is a principle of the invention block diagram
Fig. 2 is a flow chart of the present invention
Fig. 3 is each sensor of the present invention and micro controller system catenation principle figure
Fig. 4 is schematic circuit diagram of the present invention
Fig. 5 is side-looking radar of the present invention, turning indicator, switch circuit figure moves about
Fig. 6 is for laser radar of the present invention is launched, the acceptor circuit scheme drawing
Fig. 7 is background noise receptor turning device figure of the present invention
Fig. 8 is the present invention's switch junctions composition that moves about
Among the figure: car speed sensor and circuit 1, car weight sensor and circuit 2, meteorological conditions sensor 3 (temperature sensor 3a, humidity sensor 3c, visibility sensor 3b), vehicle body longitudinal sensor 4, Single Chip Microcomputer (SCM) system 5, antenna 6, radar 7, frequency comparator 8, simulate switch 9, low pass amplification integeral type circuit 10, counting, binary coded decimal circuit 11, throttle actuator 12, reset circuit 13, brake actuator 14, reverser 15, background noise receptor 16, left and right side-looking radar 17,18, switch 19 moves about, left and right turning indicator 20, gearshift, clutch actr 21.
The specific embodiment
The present invention is further described below in conjunction with accompanying drawing:
BG2 is a fawshmotron at radar 7 (among Fig. 4), base stage has a microstrip, the BG2 collecting electrode meets amplifier IC1, amplification quantity is subjected to " safety distance " ABCD control and is coupled to the positive pole of antenna and diode D by microstrip, to the target transmitter pulse, only the obstacle in the safety distance scope just can reflect signal, and pick up the original signal mixing of sending here with D by the same antenna, difference frequency appears at the BG1 base stage, output is delivered to and is simulated switch 9 (IC5CD4006) after amplifying, backward whether level transmits and will determine through comparator 8, according to Doppler effect, and increase frequency when obstacle is close.Have only and reflect signal that frequency is higher than the original transmitted frequency from obstacle and be only dangerous.The original transmitted frequency is fixed, and to a voltage should be arranged, reflection wave frequency is higher than the original transmitted frequency, and then corresponding voltage is also high.Comparator 8 is got original frequency voltage, when establishing positive voltage output with the reflection wave frequency voltage ratio, conducting 9, make E end difference frequency signal to F, send 10 (low-pass filter U1-d, amplify U1-C high-pass filter U1-a, amplify U2-d and U2-a shaping to U1-b) (U4-b counts units to send into counting machine 11, arrive U4-a after the carry, the meter tens), individual position counting control throttle, ten counting control brake devices, U5 is delivered in the units pulse when obstacle signal, U8, U9 subtracts throttle descends the speed of a motor vehicle to idling, radar range shortens, if obstacle is not within the distance of radar detection at this moment, and the no-carry pulse, then drg is not worked, opposite obstacle signal does not disappear and makes ten digit pulses counting, U6 after the units carry, U11, U12 work, motor drags drg and implements braking.The size of speed, the dynamics of action is consistent with difference frequency size and interior recruitment of unit time, the one's carry signal also makes throttle actuator maintain the original state, obstacle signal disappearance comparator is output as " 0 ", motor torque in two actrs disappears, under spring tension, reset, K, the W of reset circuit 13 among also available this signal control Fig. 4 make K obtain inversion pulse W and make crystal oscillator and U5, U6 produce the antitone sequence pulse, and the motor counter-rotating is resetted.
In order to improve the reliability that signal transmits, send into micro controller system through the original frequency signal that is higher than that comparator 8 identifies through analog switch 9, make that micro controller system T0 is a timing mode, T1 is counting mode and is made as " 1 " simultaneously, subprogram with frequency test is finished the counting of frequency on the hardware in micro controller system, and deliver in the executor circuit (structure that is to use stepping motor that provides among the figure, then use the circuit in the actr instead D/A with common DC motor).
Another effect of micro controller system is according to the speed of a motor vehicle, car weight (containing load) road surface meteorological conditions, and the vehicle body fore-and-aft tilt is tabled look-up or calculated " safety distance ".Be lower than the blind spy of 0.7 meter per second radar in the speed of a motor vehicle.Some measured datas are write in the memory device of micro controller system, just can tilt to go to table look-up to find " safety distance " under precondition according to the speed of a motor vehicle, car weight, road surface meteorological conditions longitudinal direction of car, micro controller system makes radar range equal safety distance with the emissive power of " safety distance " value control radar 7 or the pitching of control radar antenna 6.Therefore radar aerial has the difference frequency signal that is higher than radiation frequency just in the expression " safety distance " obstacle to be arranged, and vehicle will slow down or brake.
" safety distance " has been a notion quantification of " maintaining safe distance ", and safety distance=stopping distance+speed of a motor vehicle is reduced to the segment distance N of zero position to obstacle, and the N value is determined in road surface, position meteorological conditions and vehicle body fore-and-aft tilt degree by car.
Car is at road surface, position meteorological conditions sensor 3, in Fig. 3 by relative humidity 3C pavement temperature 3a visbility 3b sensor and they separately circuit form, separately sensor in the circuit, SA, SB, SC is in temperature, humidity, present the dutycycle that different resistances influences oscillation frequency and oscillation wave under the influence of visbility, when arriving setting value, overturn, output " 1 " or " 0 ", be used for expressing and the significant weather feature of the direct relation that travels, if temperature is output as " 1 " otherwise is " 0 " negative more than 4 degrees centigrade, relative humidity is greater than 95% output " 1 " otherwise " 0 ", visbility is output as " 1 " otherwise " 0 " and states the cruising condition as " 1011 " for the tetrad code table and see Table 1 more than 100 meters
Table-1
| The temperature sensor output valve | The humidity sensor output valve | The visibility sensor output valve | Room benefit value | The road surface meteorological | Safety distance | |
| 1 | 0 | 1 | 1 | Normally | Normally | |
| 1 | 1 | 1 | 1 | There is water (the little mist of light rain) on the road surface | Increase | |
| 1 | 1 | 0 | 1 | There is water (heavy rain dense fog) on the road surface | Increase | |
| 0 | 1 | 0 | 1 | There is ice and snow (heavy snow) on the road surface | Double speed limit |
Vehicle body fore-and- aft tilt sensor 4,3d is used for the device of perception road gradient in Fig. 3, when vehicle ' mercury bulb when gradient road surface is arranged slide to wherein one the cover electrode, slide to S section camber pipe if go up a slope, mercury bulb makes electrode become path, IC6 has resistance output, the big more resistance of the gradient is big more, and enter the interface of micro controller system, when descending mercury bulb 1 then, 2 all slide to the H section simultaneously, make micro controller system obtain a sign bit pulse by mercury bulb 2 conductings, distinguishing vehicle is the size that is in upward slope or the descending and the gradient, by programmed decision upward slope open out, gear shift, when the vehicle descending, the gradient, the excessive then speed limit of speed per hour.
Switch 19 moves about, drive shift fork 8 by ratio wheel 16 when steering wheel shaft 2 rotates in Fig. 8, an insulator 6 is arranged in the middle of the shift fork, respectively there is an electrode 12 both sides, 15, by 9 upper and lower opening electrode retaining collar 4 in insulator and the slideway chamber, 7 connect, and by the clamping of power-on and power-off polar ring, having only can be suitable under the promotion of shift fork turning effort, conter clockwise slides, at Fig. 8 split shed 10 are positions, dead ahead, the G limit of (cw) shift fork 8 promotes and oppresses the switch electrode 12 that moves about to contact with shift fork during right-hand turning, by last ring-shaped electrode 4 conducting car right side side-looking radar and steering indicating lights, bearing circle left-handed turning (conter clockwise), then shift fork H limit promotes and compressing electrode 15, look radar and the work of left steering lamp on the left of ring-shaped electrode makes down, when vehicle returned to the straight line enforcement, the shift fork and the switch that moves about were got back to dead ahead opening 10 positions, move about this moment switch left and right sides electrode and not conductings of ring-shaped electrode up and down realize that side-looking radar and steering indicating light and wheel steering start simultaneously.
Annotate 1: 1069 pages of " the big review of world technology " volume two " following automobile and automotive technology ", elite press January calendar year 2001.
Claims (8)
1. a Based Intelligent Control self-propelled vehicle safety traffic system comprises forward-looking radar [7] and antenna [6], side-looking radar and antenna [17,18], car speed sensor [1], car weight sensor [2], Single Chip Microcomputer (SCM) system [5] and program, it is characterized in that also comprising:
Car is at position meteorological conditions sensor [3], vehicle body fore-and-aft tilt sensor [4], background noise receptor [16], the switch that moves about [19];
Wherein, described car speed sensor [1], car weight sensor [2], car is at position meteorological conditions sensor [3], vehicle body fore-and-aft tilt sensor [4] links to each other with Single Chip Microcomputer (SCM) system [5], be used to obtain " safety distance " under precondition, Single Chip Microcomputer (SCM) system [5] also links to each other with forward-looking radar [7], car speed sensor [1] also links to each other with background noise receptor [16], vehicle body fore-and-aft tilt sensor [4] also links to each other with clutch actr [21], radar [7] with simulate switch [9] input end [E] and link to each other, the input end of comparator [8] links to each other with antenna [6], comparator [8] mouth extremely links to each other with the control that simulates switch [9], simulate mouth [F] while and low pass amplification and rectification circuit [10] of switch [9], Single Chip Microcomputer (SCM) system [5] links to each other, low pass amplification and rectification circuit [10] links to each other with counting machine [11], a position output signal of counting machine [11] send throttle actuator [12] control throttle size, ten count signals send brake actuator [14], Single Chip Microcomputer (SCM) system [5] also with throttle actuator [12], brake actuator [14] links to each other;
Described background noise receptor [16] links to each other with car speed sensor [1], radar aerial [6];
The shift fork of the described switch that moves about [19] and steering wheel shaft mechanical connection, move about switch respectively with left and right sides steering indicating light [20], left and right sides side-looking radar [17,18] and power supply link to each other.
2. Based Intelligent Control self-propelled vehicle safety traffic according to claim 1 system, it is characterized in that, forward-looking radar [7], side-looking radar [17,18] are made up of microwave oscillator, microstrip, antenna [6], antenna is insulated the shielded metal tube center that is fixed on, have a hole at the front end face center of shutting, can radiation have the wave beam field of making the tropism, the distance of radar [7] detection range is to be determined by parameters such as the speed of a motor vehicle, car weight, road surface meteorological conditions, vehicle body fore-and-aft tilts.
3. Based Intelligent Control self-propelled vehicle safety traffic according to claim 1 system, it is characterized in that, Single Chip Microcomputer (SCM) system [5], contain treater (CPU) memory device, data line and interface, clock/counting machine, interruption and instruction repertorie form, read the speed of a motor vehicle, car weight, car data at position meteorological conditions, vehicle body fore-and-aft tilt, table look-up or calculate, when obstacle signal is arranged, judge that by clocking in the micro controller system/counting machine s-f slows down than the added value control throttle of transmitting frequency in high what and unit time or enforcement is braked, send reset instruction.
4. Based Intelligent Control self-propelled vehicle safety traffic according to claim 1 system, it is characterized in that, car is at road surface, position meteorological conditions sensor [3], form by temperature sensor [3a], visibility sensor [3b], humidity sensor [3c] and circuit separately, meteorological elements is changed into electric signal, form the coding that micro controller system can be discerned, in the statement vehicle ' process arbitrarily moment the position ground-surface do wet (rain, snow, ice) and space meteorological conditions (mist, sand and dust etc.) participate in safety distance computing, also be one of speed limit condition of travelling.
5. Based Intelligent Control self-propelled vehicle safety traffic according to claim 1 system, it is characterized in that, vehicle body fore-and-aft tilt sensor [4], by being fixed on two cover electrodes in arc type pipe on the vehicle body, the pipe, every cover electrode has mercury bulb [Fig. 3 that a lead and resistor wire and can cunning be rolled in pipe, 3d 1,2], mould/number integrated package [Fig. 3, the IC6 among the 3d] forms, and gradient size is changed into digital electric signal.
6. Based Intelligent Control self-propelled vehicle safety traffic according to claim 1 system, it is characterized in that, background noise receptor [16] links to each other with antenna [6], the scattering electric wave that forms after receiving radar ripple and ground cross, the tuning of background noise receptor controlled by the speed of a motor vehicle, and output signal is preferentially controlled actr.
7. Based Intelligent Control self-propelled vehicle safety traffic according to claim 1 system, it is characterized in that, switch [19] moves about, shift fork [8] and steering wheel shaft [2] mechanical connection in figure [8], there is an insulator [6] centre, and by power-on and power-off polar ring [4,7] clamping, contact with upper and lower opening electrode retaining collar [4,7] in the slideway chamber by insulator [6], realize that side-looking radar and steering indicating light and wheel steering start synchronously.
8. Based Intelligent Control self-propelled vehicle safety traffic according to claim 1 system, it is characterized in that, " safety distance " is the notion quantification that maintains safe distance, and " safety distance " equal stopping distance, add that the speed of a motor vehicle reduces to zero the position segment distance to obstacle.
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| CN 03149517 CN1274536C (en) | 2003-07-15 | 2003-07-15 | Intelligent control system for motor vehicle safety running |
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| US12194996B2 (en) * | 2022-03-01 | 2025-01-14 | Continental Autonomous Mobility US, LLC | Dynamically adjusting adaptive cruise control |
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2003
- 2003-07-15 CN CN 03149517 patent/CN1274536C/en not_active Expired - Fee Related
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| CN1569524A (en) | 2005-01-26 |
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