CN106218614A - Active brake gear based on VANET wireless short range communication - Google Patents
Active brake gear based on VANET wireless short range communication Download PDFInfo
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- CN106218614A CN106218614A CN201610698461.XA CN201610698461A CN106218614A CN 106218614 A CN106218614 A CN 106218614A CN 201610698461 A CN201610698461 A CN 201610698461A CN 106218614 A CN106218614 A CN 106218614A
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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
-
- 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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
-
- 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
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/10—Detection or estimation of road conditions
- B60T2210/12—Friction
-
- 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
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/30—Environment conditions or position therewithin
- B60T2210/32—Vehicle surroundings
-
- 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
- B60T2240/00—Monitoring, detecting wheel/tire behaviour; counteracting thereof
- B60T2240/06—Wheel load; Wheel lift
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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
- B60T2250/00—Monitoring, detecting, estimating vehicle conditions
- B60T2250/04—Vehicle reference speed; Vehicle body speed
-
- 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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/10—ABS control systems
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a kind of active brake gear based on VANET wireless short range communication, it includes VANET wireless short range communication module, actively brake control module and sensor group, VANET wireless short range communication module includes total data communication module, the outfan of sensor group is connected with the signal input part of active brake control module, actively brake control module is connected with total data communication module, described sensor group includes wheel vertical load sensor and/or road surface inclination sensor and/or range sensor and/or Wheel cylinder pressure sensors, described active brake control module controls to be connected with the brake module of vehicle, wherein, described VANET wireless short range communication module is for obtaining the running condition information of surrounding vehicles.The present invention utilizes VANET wireless short range communication to make vehicle intercommunication, acquisition surrounding vehicles information, and combines the vehicle running state of self, vehicle is implemented effective actively brake, substantially increases reliability, safety and stability.
Description
Technical field
The present invention relates to a kind of active brake gear based on VANET wireless short range communication, belong to automobile active safety neck
Territory.
Background technology
At present, automobile is travelling when, and brake is essentially all by driver's control, at driver fatigue, deserts
When, it is easy to getting into an accident, knock the barrier in front, existing electronic equipment substantially can not actively brake, keep away
Exempt from the generation of traffic accident.
The Chinese patent of Application No. CN201210067652.8 discloses a kind of automobile active breaking systems and automobile, its
A kind of automobile active breaking systems of middle disclosure, it includes laser transmitting-receiving device, image acquisition system, brake system and controls system
System.By laser transmitting-receiving device and image acquisition system, control system judges whether vehicle front has pedestrian, then automatically control
Brake system carries out action, reduces the unexpected injury to pedestrian.But this invention only considered pedestrian, do not account for other vehicle
Danger driving vehicle caused with barrier.
The Chinese patent of Application No. CN201410574529.4 discloses a kind of automobile active breaking systems, it comprise away from
From induction module, speed acquisition module, brake module, alert module and control module.This invention can be at vehicle and front car
, the distance of barrier or pedestrian less than safe distance time, it is possible to remind driver also to implement braking, but this invention exist bright
Aobvious defect, the most 1. this invention does not accounts for road gradient problem, when vehicle is on lower abrupt slope, the peace calculated due to controller
Full distance is too small, causes great potential safety hazard, easily has an accident when driver too relies on this invention；2. this invention does not has
There is consideration coefficient of road adhesion problem, it is impossible to distinguish the different road surfaces such as ice and snow road and dry cement, therefore in ice and snow road traveling
Time, controller calculates too small safe distance, causes potential safety hazard, and vehicle rear-end collision accident occurs；3. controller is calculating car
Do not account for the speed of front truck between during safe distance, make again theory α coefficient apart from excessive, it is impossible to make full use of path resource, right
Waste is caused in crowded urban road resource.
Summary of the invention
The technical problem to be solved is the defect overcoming prior art, it is provided that a kind of wireless short based on VANET
The active brake gear of Cheng Tongxin, it utilizes VANET wireless short range communication to make vehicle intercommunication, obtains surrounding vehicles letter
Breath, and combine the vehicle running state of self, vehicle is implemented effective actively brake, substantially increases reliability, safety
And stability.
In order to solve above-mentioned technical problem, the technical scheme is that a kind of master based on VANET wireless short range communication
Moving brake gear, it includes VANET wireless short range communication module, actively brake control module and sensor group, and it is short that VANET is wireless
Journey communication module includes total data communication module, the signal input part phase of the outfan of sensor group and actively brake control module
Even, actively brake control module is connected with total data communication module, described sensor group include wheel vertical load sensor with/
Or road surface inclination sensor and/or range sensor and/or Wheel cylinder pressure sensors, described active brake control module and vehicle
Brake module control connect, wherein,
Described VANET wireless short range communication module is used for obtaining the running condition information of surrounding vehicles, and by surrounding vehicles
Running condition information send actively brake control module to by total data communication module；
Described sensor group for sending actively brake control module to by the corresponding own parameter information gathered；
Actively brake control module transmits according to the vehicle wheel rotational speed information received, VANET wireless short range communication module
The own parameter information that the running condition information of surrounding vehicles and sensor group collect controls the work of brake module.
Further provide the acquiring way of a kind of vehicle wheel rotational speed information, the anti-blocking brake system of vehicle and/or vehicle body
Electric stabilizing system is connected with described total data communication module, and described anti-blocking brake system and/or described body electronics are stable
The vehicle wheel rotational speed information obtained is passed to described active brake control module by described total data communication module by system, and
Described anti-blocking brake system and/or described body electronics stabilisation systems coordinate described active brake control module to control together to stop
The work of car module.
Further, described total data communication module is CAN-BUS data communication system.
Further provide the concrete structure of a kind of VANET wireless short range communication module, described VANET wireless short range communication
Module also includes VANET wireless short range communication control module, GPS module and radio receiving transmitting module, total data communication module, GPS
Module is connected with VANET wireless short range communication control module respectively with radio receiving transmitting module；Wherein,
Described GPS module is for the positional information of acquisition vehicle in real time；
Described radio receiving transmitting module is between the vehicle and the wireless receiving and dispatching of vehicle and roadside unit data.
Further for drawing coefficient of road adhesion μmax, such that it is able to distinguish different gradient road surface, as upward trend
Face, descending road surface；The road surface of different attachment coefficients, such as ice and snow road, wet-skid road surface, is dried cement pavement, dried asphalt road
Deng, described sensor group includes wheel vertical load sensor and Wheel cylinder pressure sensors, and described wheel vertical load
Collecting vehicle wheel speed in sensor, described Wheel cylinder pressure sensors and anti-blocking brake system and/or body electronics stabilisation systems
Wheel speed sensors composition coefficient of road adhesion module；Wherein,
Described Wheel cylinder pressure sensors is for gathering the brake fluid pressure of wheel hydraulic cylinder；
Described wheel vertical load sensor is for gathering single wheel in the vertical load afforded；
The vehicle present speed that described coefficient of road adhesion module gathers according to described wheel speed sensors, described pressure of wheel braking cylinder
The brake fluid pressure of the hydraulic wheel cylinder of sensor acquisition and the single wheel of described wheel vertical load sensor acquisition are hanging down
Coefficient of road adhesion is obtained to the load afforded.
Further providing the concrete structure of a kind of active brake control module, described active brake control module comprises biography
Sensor signal processing module, one-chip computer module, communication module and driving signal processing module, the signal output of described sensor group
End is connected with the signal input part of sensor signal processing module, the signal output part of described sensor signal processing module and list
The signal input part of sheet machine module is connected, and described communication module is connected with one-chip computer module bidirectional data communication, described communication mould
Block is connected with total data communication module, the signal output part of described one-chip computer module and the signal input driving signal processing module
End is connected, and the signal output part of described driving signal processing module is connected with brake module；Wherein,
Described sensor signal processing module passes to list after processing the own parameter information that sensor group is transmitted
Sheet machine module；
Described communication module is for actively communicating between brake control module and total data communication module；
Described one-chip computer module parameter information after processing according to the sensor signal processing module received own
And the running condition information of the vehicle wheel rotational speed information of communication module transmission and surrounding vehicles produces and drives signal to deliver to drive
Signal processing module, thus control the work of brake module.
Further, described one-chip computer module is ARM series monolithic.
Further for reminding driver that actively brake gear is the most in running order, lead to based on VANET radio short
The active brake gear of letter also includes effective relay indicating light, and described effective relay indicating light controls mould by the instrument board of vehicle
Block is connected with total data communication module, and described active brake control module sends control information to instrument by total data communication module
Dash board control module controls the light on and off of effective relay indicating light.
Further, described range sensor is provided with two, the respectively first range sensor and second distance sensor.
Further, described range sensor is infrared induction range sensor or ultrasonic distance sensor.
After have employed technique scheme, the present invention has following technical effect that
1, the fully automated work of this active brake gear, it is not necessary to intervene artificially；
2, different road conditions can the most accurately be identified, according to road gradient, coefficient of road adhesion μm ax, fore-aft vehicle
The parameter such as different speeds calculate theoretical safe distance in real time.
3, vehicle is in unsafe condition when, driver can be pointed out, improve the vigilant of driver, it is to avoid
The generation of vehicle accident；
4, actively can brake vehicle is in emergency when, it is to avoid the generation of vehicle accident.
Accompanying drawing explanation
Fig. 1 is the theory diagram of the active brake gear based on VANET wireless short range communication of the present invention.
Detailed description of the invention
It is clearly understood to make present disclosure be easier to, below according to specific embodiment and combine accompanying drawing, right
The present invention is described in further detail.
As it is shown in figure 1, a kind of active brake gear based on VANET wireless short range communication, it includes VANET radio short
Communication module, actively brake control module and sensor group, VANET wireless short range communication module includes total data communication module,
The outfan of sensor group is connected with the signal input part of active brake control module, and actively brake control module leads to total data
Letter module is connected, and described sensor group includes wheel vertical load sensor and/or road surface inclination sensor and/or Distance-sensing
Device and/or Wheel cylinder pressure sensors, described active brake control module controls to be connected with the brake module of vehicle；Wherein,
Described VANET wireless short range communication module is used for obtaining the running condition information of surrounding vehicles, and by surrounding vehicles
Running condition information send actively brake control module to by total data communication module；
Described sensor group for sending actively brake control module to by the corresponding own parameter information gathered；
Actively brake control module transmits according to the vehicle wheel rotational speed information received, VANET wireless short range communication module
The own parameter information that the running condition information of surrounding vehicles and sensor group collect controls the work of brake module.
The mould as it is shown in figure 1, the anti-blocking brake system of vehicle and/or body electronics stabilisation systems communicate with described total data
Block is connected, and the vehicle wheel rotational speed information obtained is passed through institute by described anti-blocking brake system and/or described body electronics stabilisation systems
State total data communication module and pass to described active brake control module, and described anti-blocking brake system and/or described car
Body electric stabilizing system coordinates described active brake control module to control the work of brake module together.
Described total data communication module is CAN-BUS data communication system, and CAN-BUS data communication system is for from vehicle body
Interface in obtain information of vehicles, pass data to actively brake control module, the present invention uses CAN interface as vehicle number
According to mutual data-interface, total data communication module is mainly by CAN controller, CAN transceiver, high speed optoelectronic isolation
Chips etc. form.Described CAN-BUS data communication system is the abbreviation of Controller Area Network BUS, is for solving
Certainly data exchange between numerous control and test instrunment and the serial of a kind of ISO International standardization developed in Hyundai Motor
Data communication protocol, it is a kind of multi-master bus, and communication media can be twisted-pair feeder, coaxial cable or optical fibers.
As it is shown in figure 1, described VANET wireless short range communication module also include VANET wireless short range communication control module,
GPS module and radio receiving transmitting module, total data communication module, GPS module and radio receiving transmitting module respectively with VANET radio short
Communication control module is connected；Wherein,
VANET wireless short range communication control module is connected to the modules of VANET wireless short range communication module, for each
The process of individual module data, VANET wireless short range communication control module needs to control bluetooth module, radio receiving transmitting module, GPS mould
Other module such as block, uses flush bonding processor to build the control of VANET wireless short range communication module in this active brake gear
Molding block；
Described GPS module is for the positional information of acquisition vehicle in real time；By the position of vehicle when vehicle travels on road
Confidence breath and VANET wireless short range communication address, in the most numerous vehicles, identify before and after this node vehicle is nearest
4 cars in left and right, the present invention mainly carries out data friendship to 4 cars of this node vehicle periphery by VANET wireless short range communication system
Mutually.GPS module of the present invention is multi-functional self reliance type GPS module, framework based on ROM, uses u-blox up-to-date
KickStart small-signal seizes technology, can ensure that the equipment using this module in any position receiving signal and is appointed
What antenna size can have optimal initial alignment performance and quickly position.Can synchronous tracking GPS and Galileo navigation
Satellite-signal, arranges multiple interfaces: UART, USB, I2C, SPI.Module arranges backup battery, uses chargeable twist button battery, after
Standby battery can preserve current information after GPS module power-off, is again started up GPS module and can realize quickly positioning；
Described radio receiving transmitting module is between the vehicle and the wireless receiving and dispatching of vehicle and roadside unit data.Wireless receiving and dispatching mould
Block meets 802.11n 4.0 draft and the 802.11b/g standard that IEEE proposes；In radio receiving transmitting module, radio frequency receiver (RF
Receiver) it is used for receiving wireless signal, then will receive signal by analog-to-digital conversion module (ADC) and be converted to numeral letter
Number, then radiofrequency signal is converted to baseband signal by baseband processor (BBP), and delivers to media access controller (MAC) to letter
Number be packaged and encryption etc. processes, and transmits a signal to usb host equipment or by system control finally by USB controller
Signal is stored in EEPROM by molding block.
VANET wireless short range communication module should be in extensive range, may be used for Vehicular automatic driving, Automatic dispatching, information
The fields such as amusement, active safety.This active brake gear is mainly used in obtain surrounding vehicles speed, on-position, GPS location
Information etc. the information of oneself is sent are carried out for other vehicle of surrounding.VANET wireless short range communication module refers to
Vehicular ad hoc network, vehicular ad hoc network (VANET:Vehicular Ad-hoc Network) refer in traffic environment vehicle it
Between, between vehicle and fixed access point and the open type moving Ad hoc network of intercommunication composition of vehicle and pedestrian, its
Target is in order to build a self-organizing, dispose convenience, low cost, the inter-vehicular communication net of structure opening on road
Network, it is provided that the data transmission capabilities that non-stop layer, self-organizing, support multi-hop forward, to realize accident early warning, auxiliary is driven, road
Traffic information inquiry, inter-vehicle communication and Internet access service etc. are applied.Advanced vehicular ad hoc network (VANET) technology is for handing over
Logical safety problem provides a kind of new solution route.
As it is shown in figure 1, described sensor group includes wheel vertical load sensor and Wheel cylinder pressure sensors, and institute
State wheel vertical load sensor, described Wheel cylinder pressure sensors and anti-blocking brake system and/or body electronics stability series
The wheel speed sensors composition coefficient of road adhesion module of collecting vehicle wheel speed in system；Wherein,
Described Wheel cylinder pressure sensors is for gathering the brake fluid pressure of wheel hydraulic cylinder；Coefficient of road adhesion module is with being somebody's turn to do
Signal calculates the longitudinal force that wheel is subject to；
Described wheel vertical load sensor is for gathering single wheel in the vertical load afforded；
The vehicle present speed that described coefficient of road adhesion module gathers according to described wheel speed sensors, described pressure of wheel braking cylinder
The brake fluid pressure of the hydraulic wheel cylinder of sensor acquisition and the single wheel of described wheel vertical load sensor acquisition are hanging down
Coefficient of road adhesion is obtained to the load afforded；Coefficient of road adhesion module is for measuring coefficient of road adhesion in real time, in real time
Distinguish ice and snow road, wet-skid road surface, be dried cement pavement and dried asphalt road etc.；Vehicle is obtained sliding by wheel speed sensors signal
Shifting rate s, is obtained wheel longitudinal force F by wheel vertical load sensor signalx, further by vehicle slip rate s, wheel longitudinal force
FxCoefficient of road adhesion μ is obtained with vehicle wheel cylinder pressure transducer signalmax。
In remaining sensor group, road surface inclination sensor for measuring road gradient in real time, as calculate vehicle safety away from
From an important parameter.Range sensor, for measuring the distance of vehicle and preceding vehicle, measures the inswept region of Vehicular turn
The most whether there is barrier, and deliver the data to actively brake control module；Wheel speed sensors is for measuring the current of vehicle
Speed, and pass it to car braking antilock control unit or body electronics stability contorting unit.
Brake module makes vehicle deceleration or stopping for being braked vehicle.
As it is shown in figure 1, described active brake control module comprises sensor signal processing module, one-chip computer module, communication
Module and driving signal processing module, the signal output part of described sensor group inputs with the signal of sensor signal processing module
End is connected, and the described signal output part of sensor signal processing module is connected with the signal input part of one-chip computer module, described logical
Letter module is connected with one-chip computer module bidirectional data communication, and described communication module is connected with total data communication module, described monolithic
The signal output part of machine module is connected with the signal input part driving signal processing module, the letter of described driving signal processing module
Number outfan is connected with brake module；Wherein,
Described sensor signal processing module passes to list after processing the own parameter information that sensor group is transmitted
Sheet machine module；The sensor signal (parameter information own) of input one-chip computer module is mainly carried out by sensor signal processing module
Shield, isolate, convert, filter, amplify, decay, the suppression of noise and A/D conversion etc. process；
Described communication module is for actively communicating between brake control module and total data communication module；
Described one-chip computer module parameter information after processing according to the sensor signal processing module received own
And the running condition information of the vehicle wheel rotational speed information of communication module transmission and surrounding vehicles produces and drives signal to deliver to drive
Signal processing module, thus control the work of brake module.The described one-chip computer module real-time speed according to this car, the reality of front truck
Shi Sudu, road grade and vehicle dimension etc. obtain this vehicle and preceding vehicle, the safe distance of front vehicle, further according to away from
From data and the difference of safe distance of sensor measurement, implement optimum braking force, make vehicle deceleration, stopping or not taking any
Action.
Described one-chip computer module is ARM series monolithic, such as single-chip microcomputer S3C2440.
As it is shown in figure 1, active brake gear based on VANET wireless short range communication also includes effective relay indicating light, have
Effect relay indicating light may be located on Vehicular instrument panel, described effective relay indicating light by the instrument board control module of vehicle with
Total data communication module is connected, and described active brake control module sends control information to instrument board by total data communication module
Control module controls the light on and off of effective relay indicating light.Effectively work when this active brake gear is braked operation and refer to
Show that lantern festival lights.
As it is shown in figure 1, described range sensor is provided with two, the respectively first range sensor and second distance sensing
Device.
As it is shown in figure 1, described range sensor is infrared induction range sensor or ultrasonic distance sensor.
Being connected by between described active brake control module and sensor group is electrically connected, actively brake control module
And the connection between other system controller such as ESP, EPS, ABS system controller uses CAN-BUS to communicate, but above-mentioned
Connect and be not limited to electrical connection or CAN-BUS connection.
This active brake gear utilizes VANET wireless short range communication to make vehicle intercommunication, obtains surrounding vehicles information,
Obtain this active brake gear need speed, GPS geographical position, increase road surface inclination sensor, Wheel cylinder pressure sensors and
Wheel vertical load sensor, draws coefficient of road adhesion μmax, such that it is able to distinguish different gradient road surface, as upward trend
Face, descending road surface；The road surface of different attachment coefficients, such as ice and snow road, wet-skid road surface, is dried cement pavement, dried asphalt road
Deng, make actively brake control module calculate more accurate safe distance in real time, make actively brake gear can be operated in not
Same road gradient, different coefficients of road adhesion, under the travel conditions such as different speeds, substantially increase reliability, safety and steady
Qualitative.
Such as, when vehicle present speed is 80 kilometers/hour, this car passes through VANET wireless short range communication module and front
Vehicle communicates, it is thus achieved that the GPS information of front vehicles and NID, further, and the active brake controller root of this car
Identify from the nearest vehicle of this car according to the GPS information of Ben Che and front vehicles and NID, compare GPS further and record
With leading vehicle distance LGPSWith data L recorded by range sensorDContrast, if 1. LGPSWith LDIdentical, this is described
Do not have other can not the vehicle of networking or barrier between the front truck of car and networking.Further, obtaining front truck present speed is
75 kilometers/hour, road surface inclination sensor obtaining road gradient is 5 °, based on μ-s Model Identification coefficient of road adhesion μmax,
Further, according to front vehicle speed, rear vehicle speed, road gradient, coefficient of road adhesion μmaxCalculate the safe distance of current 2 cars
Ls is 54m, if LDMore than LSI.e. 54m, then brakes does not take any action；If LDLess than LS, then brakes is taked
Action, makes vehicle deceleration or parking, until LDMore than or equal to LSOr stop, the effective action display lamp on Vehicular instrument panel
Can flash.If 2. LGPSWith LDDiffer, illustrate to have between the front truck of this car and networking other can not networking vehicle or
Barrier.Being obtained road gradient by road surface inclination sensor is 5 °, based on μ-s Model Identification coefficient of road adhesion μmax, enter one
Step, according to this vehicle speed, road gradient, coefficient of road adhesion μmaxCalculate the safety of current 2 cars or vehicle and barrier away from
It is 60m from Ls, if LDMore than LSI.e. 60m, then brakes does not take any action；If LDLess than LS, then brakes is adopted
Take action, make vehicle deceleration or parking, until LDMore than or equal to LSOr stop, the effective action instruction on Vehicular instrument panel
Lantern festival flashes.
The difference of above-mentioned 2 kinds of situations is that safe distance is different.Not having barrier between 1st kind of situation 2 car, 2 cars are permissible
Communication, makes theory α coefficient distance between 2 cars diminish, makes full use of road.Have between 2nd kind of situation 2 car barrier or other not
The vehicle that can communicate, makes theory α coefficient distance between Ben Che with barrier or other vehicle that can not communicate become big.Above 2 kinds of feelings
Condition all makes vehicle improve safety.
Particular embodiments described above, to present invention solves the technical problem that, technical scheme and beneficial effect carry out
Further describe, be it should be understood that the specific embodiment that the foregoing is only the present invention, be not limited to this
Invention, all within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. done, should be included in this
Within bright protection domain.
Claims (10)
1. an active brake gear based on VANET wireless short range communication, it is characterised in that: it includes VANET radio short
Communication module, actively brake control module and sensor group, VANET wireless short range communication module includes total data communication module,
The outfan of sensor group is connected with the signal input part of active brake control module, and actively brake control module leads to total data
Letter module is connected, and described sensor group includes wheel vertical load sensor and/or road surface inclination sensor and/or Distance-sensing
Device and/or Wheel cylinder pressure sensors, described active brake control module controls to be connected with the brake module of vehicle, wherein,
Described VANET wireless short range communication module is used for obtaining the running condition information of surrounding vehicles, and by the row of surrounding vehicles
Sail status information and send actively brake control module to by total data communication module；
Described sensor group for sending actively brake control module to by the corresponding own parameter information gathered；
Actively brake control module transmits around according to the vehicle wheel rotational speed information received, VANET wireless short range communication module
The own parameter information that the running condition information of vehicle and sensor group collect controls the work of brake module.
Active brake gear based on VANET wireless short range communication the most according to claim 1, it is characterised in that: vehicle
Anti-blocking brake system and/or body electronics stabilisation systems be connected with described total data communication module, described braking anti-lock
The vehicle wheel rotational speed information obtained is passed to by system and/or described body electronics stabilisation systems by described total data communication module
Described active brake control module, and described anti-blocking brake system and/or described body electronics stabilisation systems coordinate described
Actively brake control module controls the work of brake module together.
Active brake gear based on VANET wireless short range communication the most according to claim 1, it is characterised in that: described
Total data communication module is CAN-BUS data communication system.
Active brake gear based on VANET wireless short range communication the most according to claim 1, it is characterised in that: described
VANET wireless short range communication module also includes VANET wireless short range communication control module, GPS module and radio receiving transmitting module, always
Data communication module, GPS module are connected with VANET wireless short range communication control module respectively with radio receiving transmitting module；Wherein,
Described GPS module is for the positional information of acquisition vehicle in real time；
Described radio receiving transmitting module is between the vehicle and the wireless receiving and dispatching of vehicle and roadside unit data.
Active brake gear based on VANET wireless short range communication the most according to claim 2, it is characterised in that: described
Sensor group includes wheel vertical load sensor and Wheel cylinder pressure sensors, and described wheel vertical load sensor,
In described Wheel cylinder pressure sensors and anti-blocking brake system and/or body electronics stabilisation systems, the wheel speed of collecting vehicle wheel speed passes
Sensor composition coefficient of road adhesion module；Wherein,
Described Wheel cylinder pressure sensors is for gathering the brake fluid pressure of wheel hydraulic cylinder；
Described wheel vertical load sensor is for gathering single wheel in the vertical load afforded；
The vehicle present speed that described coefficient of road adhesion module gathers according to described wheel speed sensors, described pressure of wheel braking cylinder sense
The brake fluid pressure of the hydraulic wheel cylinder of device collection and the single wheel of described wheel vertical load sensor acquisition hold vertical
Load subjected to obtains coefficient of road adhesion.
Active brake gear based on VANET wireless short range communication the most according to claim 1, it is characterised in that: described
Actively brake control module comprises sensor signal processing module, one-chip computer module, communication module and driving signal processing module,
The signal output part of described sensor group is connected with the signal input part of sensor signal processing module, at described sensor signal
The signal output part of reason module is connected with the signal input part of one-chip computer module, described communication module and the two-way number of one-chip computer module
According to communication connection, described communication module is connected with total data communication module, the signal output part of described one-chip computer module and driving
The signal input part of signal processing module is connected, and the signal output part of described driving signal processing module is connected with brake module；
Wherein,
Described sensor signal processing module passes to single-chip microcomputer after processing the own parameter information that sensor group is transmitted
Module；
Described communication module is for actively communicating between brake control module and total data communication module；
Described one-chip computer module parameter information after processing according to the sensor signal processing module that receives own and
The vehicle wheel rotational speed information of communication module transmission and the running condition information of surrounding vehicles produce and drive signal to deliver to drive signal
Processing module, thus control the work of brake module.
Active brake gear based on VANET wireless short range communication the most according to claim 6, it is characterised in that: described
One-chip computer module is ARM series monolithic.
Active brake gear based on VANET wireless short range communication the most according to claim 1, it is characterised in that: also wrap
Including effective relay indicating light, described effective relay indicating light passes through instrument board control module and the total data communication module phase of vehicle
Even, described active brake control module sends control information by total data communication module and controls to instrument board control module to have
The light on and off of effect relay indicating light.
Active brake gear based on VANET wireless short range communication the most according to claim 1, it is characterised in that: described
Range sensor is provided with two, the respectively first range sensor and second distance sensor.
Active brake gear based on VANET wireless short range communication the most according to claim 1, it is characterised in that: described
Range sensor is infrared induction range sensor or ultrasonic distance sensor.
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