CN101010222A - Passive type car tail-bite pre-alarm collision-prevention method and device - Google Patents
Passive type car tail-bite pre-alarm collision-prevention method and device Download PDFInfo
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Abstract
A method of passive anti-collision with front of following car and thereof system include : a monitor unit for driving data which monitors and collects the driving data of the car; a transmitting and incepting unite which transmits and incepts the anti-collision formation ; a electrical control unite which analyzes and disposes the data to gain the anti-collision formation and incepts the anti-collision formation, and controls the driving state of the car depending on the incepted anti-collision formation to the car collides with the front of the car which transmits anti-collision formation. It can prevent and pre-warn collision with front of following car by passive incepting anti-collision formation from other cars.
Description
Passive type car tail-bite pre-alarm collision-prevention method and device
Technical field
The present invention relates to motor vehicle collision avoidance technical field, more particularly to passive automobile rear-collision prewarning anticollision technology, specially a kind of passive type car tail-bite pre-alarm collision-prevention method and device.Background technology
Rear-end collision anti-collision warning and collision avoidance technology are problems and problem important in Vehicle Security field, and the main cause of rear-end impact has：1) safe distance between vehicles keeps not enough between two cars；2) rain of low visibility, mist, snow environment；3) blow out, the burst accident such as off-axis；4) cast anchor among road or the urgent vehicle warning signal for resting against trackside is unintelligible.
Reason 1), 2), 3) in, key factor is that the brake reaction time of driver causes that it makes service brake or other emergency measures are delayed, because the physiology of people limits to, brake reaction time is 1 second or so during speed 60Km/h, then more than 2 seconds during 120Km/h, the consequence for being delayed braking because of brake reaction time is thrilling, and driver can not brake in 20 ~ 60 meters of distance, and the rear-end impact that can be avoided that finally leads to a disaster.
The main direction of studying of prior art is that " active spacing detection rear-end impact alarm/avoid system " is supported by basic fundamental of board techniques for distance measurement, this car is with technologies such as ultrasonic wave, infrared ray, laser, microwave Doppler, video imaging systems, to the object in the range of this front side certain distance（The object of motion and standstill）Detected, calculate its relative distance, speed and differentiate rear-end impact degree of danger, start this car early warning system or automatic speed reducing system, prevent and avoid the generation of rear-end impact.Prior art is remained the problems such as scanning ranging dead angle, signal blind zone and system complex, reliability have much room for improvement and are with high costs.The content of the invention
The present invention provides a kind of passive type car tail-bite pre-alarm collision-prevention method and device, to overcome the technological deficiency of the prior art that anticollision is realized by its car of this car onboard sensor active probe, by realizing the purpose of anticollision passively to receive collision avoidance information that its car sends.The method of the present invention（Technical scheme）
For：
Sampling is monitored to this garage car data, and Anticollision information is generated according to this garage car data of monitoring sampling, by Anticollision information according to preset program condition by wireless transmission, its car rear-end impact is prevented；The Anticollision information of its car transmitting is received, and differentiation, adjustment control this car driving states, to prevent Ben Che and transmitting Anticollision information its car rear-end impact are compared according to Anticollision information travelling data related to this car.
Travelling data promptly stops roadside data, this car breakdown data, this car traveling in road including this speed degrees of data, direct of travel data, collision or braking deceleration data, brake pressure data, this car and asks data etc. of overtaking other vehicles in low-visibility conditions road data, this car.
The wireless receiving and dispatching frequency of technical solution of the present invention is in microwave（More than 300MHz）In the range of, signal transmitting and receiving is carried out according to being received and dispatched during same frequency division, receive preferential preset program, and uses omnidirectional transmitter antenna and directional receiving antenna, only receives the radio signal in this front side certain area.
The present invention knock into the back collision avoidance function be handled by the Anticollision information to reception and travelling data related to this car compare differentiation, adjustment control this car driving states and realize, detailed process is：By electronic control unit（ECU) to this car sampled data（Sensor sample data and artificial setting data）Analyzed and processed, generation Anticollision information send radio transmitter, and according to setting same frequency division when transmitting-receiving, receive priority condition, control radio transmitter transmitting Anticollision information.
Electronic control unit（ECU) Anticollision information that receives and this garage car related data are handled, implement direct of travel to differentiate, differentiate the program processing such as distance range, Anticollision information speed data are compared with this car real-time speed, whether this car asks to overtake other vehicles with collision avoidance coordinated signals signal strength, output driving states control instruction or driving power are required according to preset program, adjustment controls the driving states of this car.
The present invention also provides a kind of passive automobile rear-collision prewarning anticollision device, including travelling data monitoring sampling unit, microwave（Containing RF) wireless transmitter receiver unit, electronic control unit（EOJ ).
Travelling data monitors sampling unit, for being monitored sampling to this garage car data, and travelling data monitoring sampling unit is sampled including Sensor monitoring sampling and artificial set, and sensor sample data is that speed, braking or collision are (negative）Acceleration, brake pressure, direct of travel etc., by sensor automatic data collection
Related data, data are variable quantity.Artificial to set sampled data be low visibility, stop trackside, casting anchor presets signal in road is medium, by driver judged according to environment after open corresponding switch and export and form sampled data, data are constant.Sampled data is transmitted to electronic control unit.
Microwave wireless launches receiving unit, for launching the Anticollision information that this car is sent, and/or receives the Anticollision information that its car is sent.By same frequency division of the electronic control unit according to setting when transmitting-receiving, receive priority condition, the transmitting to Anticollision information is controlled.Microwave wireless transmitting receiving unit uses omnidirectional transmitter antenna, and the defect such as dead angle, blind area to eliminate signal transmission, receiving portion uses directional receiving antenna, only receives the radio signal for entering front certain area from this garage.
Electronic control unit (ECU) is used to analyze and process this garage car data, anti-collision early warning and/or the Anticollision information of collision avoidance are aimed at by the generation of preset program condition, when manually setting data transfer to ECU, corresponding Anticollision information is generated immediately, switched as driver opens low visibility, low visibility Anticollision information is generation.When sensor gathered data reaches pre-determined amount, Anticollision information is also generated, and such as front truck brake hard or is collided, and is caused to brake or is collided (negative）When acceleration reaches pre-determined amount, that is, generate " front truck brake hard or collision " Anticollision information.
Anticollision information includes knock into the back pre-warning signal, collision avoidance coordinated signals signal and real-time speed, direct of travel signal.This vehicle speed and direct of travel signal are not launched separately as Anticollision information, only launch with related Anticollision information, and such as driver is opened after low visibility switch, will follow the direct of travel and rate signal of this car in the low visibility Anticollision information of generation automatically.
Electronic control unit（ECU another function) is that the Anticollision information received and this garage car related data are handled, implement direct of travel differentiate, differentiated with collision avoidance coordinated signals signal strength two car distance ranges, Anticollision information speed data and this car in real time ' whether speed ratio the program processing such as ask to overtake other vehicles compared with, this car, output driving states control instruction or driving power are required according to preset program, adjustment controls the driving states of this car, realizes and knocks into the back early warning and/or avoid the function of rear-end impact.
Technical solution of the present invention compared with prior art, there is following significant difference and beneficial effect：One is that the technical program launches Anticollision information, no signal dead angle or blind area in the effective overlay area of radio wave using omni-directional.
Two be that transmitting-receiving receives priority task pattern when the technical program is used with frequency division, solves radio with frequency transmitting-receiving interference problem, is not using code identification（Open transmitting-receiving）Under the conditions of, make the electric transceiver transmitting-receiving (MANET of many vehicle radios that may be present in the effective overlay area of radio wave）In order.
Three be that the technical program is differentiated and directional reception using direct of travel, direct of travel, which differentiates, can reject the Anticollision information that the opposite row horse history vehicle in front is sent, directional reception can suppress the Anticollision information that rear and side vehicle are sent, the function equivalent with receiving transmission amphiorentation in prior art is realized, cost can be greatly lowered.Direct of travel differentiates and directional reception can ensure that the front vehicle in traveling only in the same direction is controlled by early warning and collision avoidance instruction.
Four be that the technical program uses radio field intensity signal level comparison techniques, sampled by the detection of the corresponding level magnitude of the height to real time position radio field strength signal residing for this car, the judgement of two car relative distance scopes is realized in a simple manner decoupled, with the active scanning probe of prior art apart from project plan comparison, it is succinct and the technical program can be met to the less demanding use requirement of range accuracy, cost can be greatly reduced.
Five be that the technical program can provide the traffic safety under ^ fShi visibility, when low visibility situation down train can not be avoided, as long as driver opens the artificial early warning switch of low visibility, the Anticollision information that can be sent to rear car, also the Anticollision information that front truck is sent can be received, fore-aft vehicle can keep safe distance between vehicles, it is to avoid knock into the back, this consequence that will be reduced highway encapsulation situations and avoid highway closing from being likely to result in not in time, effect is prominent and beneficial.
Another major reason for occurring rear-end impact is safe distance between vehicles deficiency between two cars, if two car spacings exist
When within 50 meters, front truck is once occur brake hard or collision, and driver limits to because of brake reaction time physiology, it is impossible to implemented braking in 1 ~ 2 second, automobile empty driving distance is up to 30 ~ 50 meters, and driver is to look at rear-end impact helplessly.And use after the technical program, interior in 50 meters of distances, joint control rear car braking simultaneously compensate for the brake reaction time physiology limitation of driver by the brake hard of front truck, be prevented effectively from rear-end impact.Brief description of the drawings
Fig. 1 is technical solution of the present invention theory diagram.
Fig. 2 is technical solution of the present invention program control flow chart.
Fig. 3 is magnetic field orientation sensor schematic diagram.
Fig. 4 is that magnetic field orientation sensor orientation judges schematic diagram.
Fig. 5 is scheme of installation of the dual-mode antenna in kart.Embodiment
The principle of work and power and embodiment to the present invention elaborate below in conjunction with the accompanying drawings：Travelling data monitoring, coding, transmitter unit 1 and the command reception as Anticollision information receiving unit and driving states control unit of the invention by as travelling data monitoring unit and Anticollision information transmitter unit is handled, electronic program control unit（ECU) 2 (by microprocessor（CPU), RF transmission circuits and auxiliary circuit composition）Two large divisions constitutes, as shown in Figure 1.
In this garage car data Sensor monitoring sampled data, data are directly transferred to electronic control unit
ECU, is analyzed and processed by electronic control unit, is launched after generation Anticollision information, partial data such as speed, direct of travel etc. are used for programme-control comparison signal.
Electronic program control circuit is analyzed and processed the Anticollision information that its car received is sent, according to program condition set in advance, logical operation and differentiation are carried out to the signal received, implementation avoids rear-end impact early warning and collision avoidance driving intervening measure, including braking deceleration and reduction throttle opening.
Accompanying drawing 2 is present procedure control flow chart, is illustrated below according to program circuit：After driver opens electric switch key, system obtains electric perform and initializes self diagnosis detecting system state, if the system failure, that is, provides sound and light alarm prompting, and halt system works simultaneously.
System self-test result normally then enters this garage car data monitoring sampling flow, progress instruction encoding and storage data, and judges whether system is in receiving state signal, respectively enters Anticollision information and differentiates or this car Anticollision information launching condition differentiation flow.
When system is in reception state, data Anticollision information decoding is carried out first, makees direct of travel differentiation immediately, direction is different, interrupts to perform returning to subsequent cycle；Direction is identical, then continue in differentiation Anticollision information the information of " whether there is its car and stop trackside ", have and make sound and light alarm prompting, differentiate in Anticollision information whether there is " its car breakdown is in road " information without then continuation, have and continue to differentiate whether this car overtakes other vehicles state in request, when this car, which is in, overtakes other vehicles state, show that driver has been noted that front situation, system
Sound and light alarm prompting is only made, so that driver completes overtaking process.
Ruo Benche is not in the state of overtaking other vehicles, then enter the speed difference of its car of this car of computational discrimination Yu front, when this vehicle speed is more than its car and difference is more than 50Km/h, system immediately implements braking deceleration, and when speed difference is less than or equal to 5 0Kiii/h, system will drive throttle mechanisms to reduce throttle opening, control this garage vehicle speed, be approached under secured premise or surmount front vehicles.
If there is no " its car breakdown is in road " information in the Anticollision information received, then continue differentiation whether there is " its car collides or brake hard " information, have and carry out the distance calculating of two cars, if two cars distance is more than 50 meters, " the blunt alert promptings of ^; distance is less than or equal to 50 meters, and system implements braking deceleration that system only provides acousto-optic.
If there is no " its car collides or brake hard " information in the Anticollision information received, then enter " low visibility " information processing, compare two vehicle speeds, when its car of this vehicle speed, system only provides sound and light alarm, if its car of this vehicle speed ＞, then differentiate whether this car overtakes other vehicles state in request, when request is overtaken other vehicles, system provides sound and light alarm prompting, otherwise continues further speed ratio compared with when this vehicle speed is more than its car and numerical value is in more than 50Km/h, system implements braking deceleration, if speed difference numerical value<50Km/h, system drive air throttle reduces aperture, low row vehicle speed.
When system does not receive Anticollision information, enter this garage car data instruction formation condition and differentiate flow, the travelling data of this car sensor real-time sampling is analyzed and processed, discriminate whether successively " this car collides ", " brake hard of this car and the 5G of braking deceleration ＞ 0. ", " whether this car is in low visibility environment ", " whether this car casts anchor in road " and the sampled data of " whether this car promptly stops trackside ", there is associated sample data and when value reaches pre-provisioning request, system with will the data encoding turn into corresponding Anticollision information, and pass through wireless transmission, knock into the back early warning and collision avoidance control are carried out to its car entered in the effective overlay area of radio.During without associated sample data, interrupt execution and return to next round circulation.
This garage car data monitoring unit is made up of artificial warning data and sensor real-time sampling data two parts, artificial warning data has this car promptly to stop trackside, casting anchor to neutralize in road is traveling in low visibility environment three kinds, and opening coherent signal by driver occurs circuit generation；Sensor sample data has braking acceleration, speed, direct of travel and brake pressure signal etc., is produced by sensor real-time sampling.
When the maintenance of vehicle parking trackside or rest, driver can open " promptly stopping trackside " switch, the pre-warning signal generates Anticollision information and launched by radio immediately, the vehicle into radio effective coverage range is set to obtain anti-collision early warning, sound circuit is to provide " the faulty motor vehicle of trackside is stopped, notes collision " voice message, and corresponding alarm lamp is ignited.
When vehicle because blowing out, the catastrophic failure such as off-axis cast anchor in road when, driver opens " casting anchor in road " switch, generating corresponding Anticollision information makes to obtain early warning and joint control deceleration, sound circuit prompting " faulty motor-driven car breakdown, danger in road into danger zone vehicle！", 4 blunt alert indicator lamps are ignited, and air throttle reduces aperture, if this vehicle speed is more than 50Km/h, system will implement braking deceleration.
If driver asks to overtake other vehicles on the premise of safety is secure, passing signal indicator can be opened, this car joint control deceleration will be suppressed, and the fast speed that can be remained above 5 0Km/h is overtaken other vehicles.
When automobile is advanced under the low visibility harsh conditions such as rain, snow, mist, driver opens " low visibility " early warning switch, in entering signal effective coverage range automobile can receive Anticollision information and by early warning, voice message：" low visibility, please run at a low speed, and note knocking into the back！", warning lamp is ignited simultaneously.Electronic program control circuit (ECU) carries out Anticollision information speed data and compared with this vehicle speed, is instructed to air throttle or brake actuator output control, such as this vehicle speed is more than front truck, air throttle will be reduced aperture and slow down；If this vehicle speed substantially exceeds front truck（Before V sheets-V>During 50Km/h）, ECU will drive arrestment mechanism braking deceleration, make two cars while under low visibility situation（Or many cars）Keep safe distance between vehicles traveling, it is to avoid rear-end impact.
Front truck is opened after " low visibility " early warning switch, the requirement if automobile in the traveling of rear is overtaken other vehicles, and can open overtaking indicating light, and ECU will suppress the speed controlling function of air throttle or arrestment mechanism, be easy to rear car to implement to overtake other vehicles.
The monitoring in real time of sensor in this garage car data monitoring unit by aspect sensor, braking force sensor, acceleration transducer and Su degree Chuan Gan Qi Group into.Acceleration transducer monitors this car and collided or brake hard situation, and when collision occurs, negative acceleration moment steeply rises（ - a >G, g are acceleration of gravity.）；During driver's brake hard, braking deceleration also up to 0. more than 5g, therefore, if acceleration transducer detects braking deceleration 0. 5g of ＞, will automatically generate deceleration Anticollision information, to rear vapour
Car carries out the deceleration of joint control air throttle or linkage control braking slows down.
Brake-pressure sensor monitors running brake condition, when driver drives vehicle braking causes that pressure rises to predetermined value in brake piping, automatically generates Anticollision information, the deceleration of joint control air throttle or braking deceleration are carried out to rear car.
Velocity sensor uses automobile velocity sensor, such as hall speed sensor, electromagnetic type velocity sensor, sampled data is launched in company with this car Anticollision information, and simultaneously as comparison signal, electronic program control circuit (ECU) is sent into, the velocity information sent with its car in Anticollision information is calculated and compared.
Aspect sensor uses magnetic field orientation sensor or digital compass integrated circuit, magnetic field orientation sensor principle schematic as shown in figure 3,3 being detection coil X in figure, 4 be detection coil Y, and 5 be excitation coil, and 6 be ring-type iron（Magnetic）Core, 7 be bearing data process circuit ECU'.It is in then to produce corresponding voltage change in the alternating magnetic field of mechanical periodicity, detection coil X, Y that excitation coil produces direction, intensity on ring-shaped magnetic core, through orientation detection special electronic circuit（ECU') calculation process, you can detect the real-time azimuthal data-signal of automobile, the orientation judgement figure that magnetic field orientation sensor detection is obtained is as shown in Fig. 4.Orientation electric signal is also launched in company with this car Anticollision information, and feeding system electronic sequence circuit, as comparison signal, differentiates the similarities and differences of two car direct of travels simultaneously, rejects the Anticollision information that the opposite row Driving automobiles in front are sent.
Because automobile is the mobility vehicles, to ensure the realization of technical solution of the present invention, all vehicle-mounted collision avoidance system transceivers that knock into the back must use identical radio frequency, and the open transmitting-receiving without code identification, with random Wu Xian Zi Group net features.Under aforesaid way, priority task pattern is received and dispatched and received when the present invention is using with frequency division, and when this car needs alternate emission and receives signal, mode is received and dispatched using timesharing, setting three effective instruction serial data times of a length of transmitting when each transmitting, the several times of a length of transmitting duration during reception（It is a length of during the present embodiment setting transmitting-receiving to compare 5:1), receive and dispatch alternately, it is possible to resolve this car receives and dispatches interference problem, it is ensured that the reliability that this car system is transmitted and received.
Mode of priority is received to be also referred to as " robbing hair ", in the effective overlay area of signal, transmitted simply by the presence of a sender, other receivers automatically operate in reception state, once receiving data to finish, there is the sender for transmitting requirement to transmit, when thering is the multimachine requirement to transmit, then who rob formerly who transmit, to avoid
Multimachine " robbing hair " signal conflict problem under radio MANET mode, i.e. multimachine robs " dieback " problem that hair occurs simultaneously, the present invention randomly selects mode within the specific limits using emission duration, such as determine that the time interval for switching to rob hair from reception state is chosen immediately between 1 ~ 10 millisecond, then with one from Group net in two senders switch to the time interval that transmits from collecting mail and differ, or identical probability is very small, the disadvantage that the phenomenon for occurring transmitting conflict or signal dieback can be avoided to be brought, effectively ensure that only one sender of any moment is transmitted, multimachine in co-channel interference and the same area is avoided to receive and dispatch out-of-order problems.
Transmitting-receiving, which receives mode of priority, during with frequency division can solve the problems, such as the safe driving in the case of low visibility, when this car needs to launch Anticollision information, when also needing the Anticollision information that its car of reception is sent simultaneously, transmitting-receiving, which receives mode of priority, during with frequency division can meet above-mentioned requirements, realize the safe driving in the case of low visibility.
Radio theaomni-directional transmission directional reception mode can realize that the Anticollision information that this car is sent only carries out early warning and linkage control braking to automobile in the traveling in the same direction of rear, and this car receiver uses directional aerial（Such as yagi aerial or slot antenna, plate aerial）And direct of travel is pointed to, directional aerial can suppress rear and side signal, only receive the signal from front certain area of advancing.Theaomni-directional transmission avoids radio direction finding transmission signal blind area, the defect at dead angle, reduces tracking accuracy requirement of the receiver to signal source.
Radio transceiving circuitry of the embodiment of the present invention chooses the license frequency of use of 300 gangster's z range above of microwave band, warning information transmission power control is in effective 200 meters of covering radius, directional reception function is then realized by directional aerial, it is first choice with " yagi aerial " and " slot antenna " in view of installation site of the antenna on automobile and the influence to automobile appearance.
The radio transmitting reception technique of microwave frequency band and transmit-receive technology is maturation and the application of the mature technology in existing communication technique field, particularly embedded radio on-chip system during with frequency division, it is clean and reliable that the realizations of above-mentioned functions will become cylinder.Ins and outs content is repeated no more.
Radio theaomni-directional transmission, directional receiving antenna structure and scheme of installation are as shown in Figure 5.Omnidirectional transmitter antenna 8 is placed in roof or car rear portion, and it is 30 ° 60 in horizontal plane angle angle that directional receiving antenna, which receives beam angle,., the ratio of gains is more than 3 before and after directional aerial.
Directional receiving antenna is placed at the top of Automobile, and placement fixed form can refer to roof warning lamp, identification light or Multifunctional baggage carrier for automobile roof.
Electronic control unit（ECU) by microprocessor（CPU) RF transceiver modules and auxiliary circuit composition, mainly complete following logical operation and program control function：1st, carry out count operation, A/D to sensor signal to change and encode, generation Anticollision information send modulate emission unit；2nd, form timesharing transmitting-receiving control instruction and receive priority acccess control instruction；3rd, the Anticollision information received is decoded, decoded data send compare, computing, logic control circuit processing；4th, the Anticollision information signal strength level received is analyzed and processed, judging distance scope；5th, differentiation is compared to the Anticollision information medium velocity received, bearing signal data and this vehicle speed, bearing signal data；6th, the instruction overtaken other vehicles is asked to be disposed driver.
Signal coverage areas is divided into prewarning area and coordinated signals region, realization means are by technical solution of the present invention using radio field strength signal decibel meter Da Benche and front signal emission source distance range：The effective covering radius of transmitter power is set as 200 meters, joint control decelerating effect radius is 50 meters, by calculating the practical measurement with signal high field gradient, it is determined that signal level numerical value corresponding with distance range, it is stored in as preset data in system, and with receiving signal numeric ratio compared with, you can judging distance scope.
The execution driver element of the present invention is existing mature technology, sound light alarming circuit is made up of sound circuit and LED or LCD, the function of throttle control is the purpose for reaching deceleration according to program control instruction, the aperture of reduction air throttle, reduction engine power and rotating speed.
Brake actuator and the concrete mode of throttle control executing agency, there is a variety of patterns in the prior art, can be supported the use with technical solution of the present invention, and the road speed control completed under automatic control system driving is intervened, and the present invention is repeated no more.
Claims (5)
- Claim1st, a kind of passive type car tail-bite pre-alarm collision-prevention method, it is characterised in that：Sampling is monitored to this garage car data, and Anticollision information is generated according to this garage car data of monitoring sampling, by described Anticollision information according to preset program condition by wireless transmission, its car rear-end impact is prevented；The Anticollision information that its car is sent is received, and differentiation, adjustment control this car driving states, with its car rear-end impact for preventing Ben Che with launching the Anticollision information are compared according to Anticollision information travelling data related to this car.2nd, according to the method described in claim 1, it is characterised in that described travelling data includes：This speed degrees of data, direct of travel data, collision or braking deceleration data, brake pressure data, this car promptly stop roadside data, this car breakdown data, this car traveling in road asks data of overtaking other vehicles in low-visibility conditions road data, this car.3rd, according to the method described in claim 1, it is characterised in that described wireless receiving and dispatching is in microwave（More than 300MHz）In frequency range, signal transmitting and receiving is carried out according to being received and dispatched during same frequency division, receive preferential preset program, and uses omnidirectional transmitter antenna and directional receiving antenna, it is ensured that only receive the radio signal from this front side.4th, according to the method described in claim 1, it is characterised in that the Anticollision information to reception is handled and travelling data related to this car compares differentiation, adjustment control this car driving states, is by electronic control unit（ECU) realize, be specially：To this car sampled data（Sensor sample data and artificial setting data）Analyzed and processed, generation Anticollision information send radio transmitter, and according to setting same frequency division when transmitting-receiving, receive priority condition, control radio transmitter transmitting Anticollision information；The Anticollision information that receives and this garage car related data are handled, implement direct of travel to differentiate, differentiate the program processing such as distance range, Anticollision information speed data are compared with this car real-time speed, whether this car asks to overtake other vehicles with collision avoidance coordinated signals signal strength, output driving states control instruction or driving power are required according to preset program, adjustment controls the driving states of this car. 5th, a kind of passive automobile rear-collision prewarning anticollision device, including travelling data monitoring sampling unit, microwave wireless transmitting receiving unit, electronic control unit（ECU), it is characterised in that：Travelling data monitors sampling unit, and for being monitored sampling to this garage car data, sampled data is transmitted to electronic control unit；Microwave wireless launches receiving unit, for launching the Anticollision information that this car is sent, and receives the Anticollision information that its car is sent；Electronic control unit（ECU), for being analyzed and processed to this garage car data, anti-collision early warning and/or the Anticollision information of collision avoidance are aimed at by the generation of preset program condition, or the Anticollision information received and this garage car data are compared differentiation, instructed by preset program output with conditions thermoacoustic prime engine, control adjusts the driving states of this car, realizes and knocks into the back early warning and/or avoid the function of rear-end impact.6th, device according to claim 5, it is characterised in that described travelling data monitoring sampling unit includes Sensor monitoring sampling and manually sets sampling, and sensor sample data is speed, braking or collides (negative）Acceleration, brake pressure, direct of travel etc., it is artificial to set sampled data to be low visibility, stop trackside, cast anchor in the medium preliminary setting data of road.7th, device according to claim 5, it is characterised in that described Anticollision information includes knock into the back pre-warning signal, collision avoidance coordinated signals signal and real-time speed, direct of travel signal.8th, device according to claim 5, it is characterised in that described microwave wireless transmitting receiving unit, emitting portion uses omnidirectional antenna；Receiving portion uses directional receiving antenna.9th, device according to claim 5, it is characterised in that described electronic control unit uses microprocessor（CPU it is) core component, realizes following functions：To this car sampled data（Sensor sample data and artificial setting data）Analyzed and processed, generation Anticollision information send radio transmitter, and according to setting same frequency division when transmitting-receiving, receive priority condition, control radio transmitter transmitting Anticollision information；The Anticollision information that receives and this garage car related data are handled, implement direct of travel to differentiate, differentiate the program processing such as distance range, Anticollision information speed data are compared with this car real-time speed, whether this car asks to overtake other vehicles with collision avoidance coordinated signals signal strength, output driving states control instruction or driving power are required according to preset program, adjustment controls the driving states of this car.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2005800283885A CN100406307C (en) | 2005-01-02 | 2005-12-31 | Passive type car tail-bite pre-alarm collision-prevention method and device |
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| CN2005100005412.5 | 2005-01-02 | ||
| CN200510005412.5 | 2005-01-02 | ||
| CNA2005100054125A CN1799909A (en) | 2005-01-02 | 2005-01-02 | Passive automobile rear-collision prewarning anticollision technical scheme |
| CNB2005800283885A CN100406307C (en) | 2005-01-02 | 2005-12-31 | Passive type car tail-bite pre-alarm collision-prevention method and device |
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| CN101010222A true CN101010222A (en) | 2007-08-01 |
| CN100406307C CN100406307C (en) | 2008-07-30 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103794087A (en) * | 2014-02-17 | 2014-05-14 | 东南大学 | Method and system for assistant collision avoidance of objects moving to pass through road based on wireless coordination |
| CN112793586A (en) * | 2021-02-24 | 2021-05-14 | 奇瑞汽车股份有限公司 | Automatic driving control method and device for automobile and computer storage medium |
| CN113386759A (en) * | 2020-03-12 | 2021-09-14 | 本田技研工业株式会社 | Vehicle follow-up running system and information processing method |
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| DE102019202025B4 (en) * | 2019-02-15 | 2020-08-27 | Zf Friedrichshafen Ag | System and method for the safe operation of an automated vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1057234A (en) * | 1990-06-11 | 1991-12-25 | 邢伟华 | Automobile collision avoidance radar |
| CN1063458A (en) * | 1991-08-02 | 1992-08-12 | 许忠君 | Automatic controlling system of pursuit-prevention for motor vehicles |
| CN1124858A (en) * | 1994-12-12 | 1996-06-19 | 黄金富 | Positioning, auto-navigating and collision preventing system for moving device in running |
| JPH1044893A (en) * | 1996-08-02 | 1998-02-17 | Toyota Motor Corp | Obstacle detecting/warning device for vehicle |
| JP3799983B2 (en) * | 2000-10-12 | 2006-07-19 | 日産自動車株式会社 | Braking position approach warning device and automatic braking device |
| JP2003220911A (en) * | 2002-01-31 | 2003-08-05 | Denso Corp | Alarm device for vehicle |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103794087A (en) * | 2014-02-17 | 2014-05-14 | 东南大学 | Method and system for assistant collision avoidance of objects moving to pass through road based on wireless coordination |
| CN113386759A (en) * | 2020-03-12 | 2021-09-14 | 本田技研工业株式会社 | Vehicle follow-up running system and information processing method |
| CN112793586A (en) * | 2021-02-24 | 2021-05-14 | 奇瑞汽车股份有限公司 | Automatic driving control method and device for automobile and computer storage medium |
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| CN100406307C (en) | 2008-07-30 |
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