CN102407816A - Early warning system and detection method for safety performance of large bus based on controller area network (CAN) bus - Google Patents

Early warning system and detection method for safety performance of large bus based on controller area network (CAN) bus Download PDF

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Publication number
CN102407816A
CN102407816A CN2011102237770A CN201110223777A CN102407816A CN 102407816 A CN102407816 A CN 102407816A CN 2011102237770 A CN2011102237770 A CN 2011102237770A CN 201110223777 A CN201110223777 A CN 201110223777A CN 102407816 A CN102407816 A CN 102407816A
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China
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monitoring module
bus
vehicle
module
information
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CN2011102237770A
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Chinese (zh)
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CN102407816B (en
Inventor
周炜
李文亮
董轩
李臣
张国盛
任春晓
尤宁
袁卫波
富子丞
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交通运输部公路科学研究所
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Abstract

The invention provides an early warning system and a detection method for the safety performance of a large bus based on a controller area network (CAN) bus. On the premise of not influencing safety and operation, the system is used as a node to be mounted into a CAN bus network system of a finished vehicle and is used for extracting operation performance information and fault information in electric units of all electronic control devices of an original vehicle, acquiring the posture information of the vehicle by arranging a gyroscope and monitoring and early warning the sideslip and the side tipping of the vehicle by a time to rollover (TTR) algorithm; a CAN network is formed by a CAN interface, an environment monitoring module and a display screen module, so that the operating environment of the vehicle is monitored and early warned, and a display screen node is used for receiving all alarming information for displaying; a wheel speed signal can be directly acquired by an antilock bake system (ABS) wheel speed sensor and can also be acquired by a CAN bus; when a dangerous state occurs, a display screen displays dangerous index names; simultaneously, the fault information is transmitted in a voice newspaper reading mode, and other pieces of information are transmitted in a buzz alarming mode and are ranked by priority according to time.

Description

Motor omnibus safety performance forewarn system and method for inspection based on the CAN bus

Technical field

The present invention relates to vehicle safety monitoring and early warning technology, relate in particular to a kind of motor omnibus on-vehicle safety performance forewarn system and method for inspection based on CAN bus network technology.

Background technology

Be accompanied by the growth with automobile pollution that develops rapidly of highway communication, road traffic accident sharply increases, and the safety traffic situation is also increasingly serious, and the statistics of United Nations shows that the whole world has more than 120 ten thousand people to die from traffic accident every year, and the millions of people is injured.And China's toll on traffic ranked first in the world in continuous especially more than 10 years, and particularly the particularly serious frequent accidents of the dead crowd's wound of crowd takes place.Statistics to vehicle traffic accident shows, 2009, causes once the especially big traffic accident more than dead 10 people to account for 50% of similar accident total amount by the operating passenger car accident.

To commerial vehicle monitoring safety status early warning technology and device, developed as hitting technology such as warning before brake pressure of automobile monitoring, tire air pressure monitoring, the automobile.Yet; To the motor omnibus that is prone to cause major traffic accidents in China; The development of safe in operation monitoring technology is then at the early-stage, and especially from omnibearing dangerous identification of performance, attitude and environment and the then less research of integrated early warning technology, relative technological products then more lacks.

Summary of the invention

To the problems referred to above; The purpose of this invention is to provide a kind of motor omnibus on-vehicle safety performance forewarn system and method for inspection based on CAN bus network technology; Vehicle performance, attitude and running environment are carried out omnibearing monitoring and early warning, thus guarantee driving safety, the conveying efficiency that improves.

Be to realize above-mentioned purpose, the present invention takes following technical scheme: a kind of motor omnibus safety performance forewarn system based on the CAN bus, it is characterized in that: it comprises a treater, and with the former car CAN of treater bonded assembly network; Display panel module, environment monitoring module, voice broadcast module, GPS/GPRS module; Buzzer phone, gyroscope, pedal of clutch, 7 tunnel gear signal; The ABS wheel speed sensors, front wheel angle sensor, steering wheel angle sensor, brake-pressure sensor; Comprise reversing hazards monitoring module in the said treater, change the hazards monitoring module, collision risk monitoring modular, deviation hazards monitoring module, rollover hazards monitoring module, sideslip hazards monitoring module, dangerous comparison module, brake fault monitoring modular, turn to malfunction monitoring module, tire fault, transmission malfunction monitoring module, automatically controlled malfunction monitoring module; Said reversing hazards monitoring module to the brake fault monitoring modular, change the hazards monitoring module and carry out transmission information; The said hazards monitoring module of changing is carried out the information transmission to collision risk monitoring modular, deviation hazards monitoring module, rollover hazards monitoring module, sideslip hazards monitoring module simultaneously; Said collision risk monitoring modular, deviation hazards monitoring module, rollover hazards monitoring module, sideslip hazards monitoring module are carried out the information transmission to dangerous comparison module simultaneously, said brake fault monitoring modular, turn to malfunction monitoring module, tire fault, transmission malfunction monitoring module, automatically controlled malfunction monitoring module to carry out the information transmission successively.

Said treater has two-way CAN interface; Be connected with former car CAN network through interface one; Comprise driving engine node, instrument node, ABS node, TPMS node, baud rate is 250Kbps, obtains drive ability information and failure message in each ECU of former car; Be connected with display panel module, environment monitoring module through interface two, comprise environmental monitoring node, read-out node, baud rate is set to 500Kbps, obtains car status information.

Said two-way CAN interface selects for use the CTM8251T chip as interface chip.

Said ABS wheel speed sensors is gathered the signal of four wheels, and it adopts two magnetoelectric sensor conversion chip NCV1124, through four road sinusoidal waveform processing of circuit, converts sine wave signal into square-wave signal.

Said voice broadcast module to vehicle braked, turn to, tire, transmission, electric-controlled system fault report to the police; Said buzzer phone to move backward, change, depart from, collision, rollover, sideslip danger report to the police.

A kind of safety performance method of inspection that utilizes above-mentioned forewarn system to carry out comprises following flow process:

1) system accomplishes initialization;

2) judge whether vehicle is in the reversing state, if detect whether there is reversing danger, and buzzing is carried out in danger reported to the police, show;

3) otherwise judge whether vehicle is in the state of changing, if detect whether to exist and change danger, and buzzing is carried out in danger reported to the police, show;

4) otherwise to the collision of vehicle, depart from, rollover, sideslip danger judge, if dangerous, the time T TC that takes place of computed range collision, time T LC, distance rollover TTR, distance that distance the departs from generation time T TS that breaks away and take place respectively;

5) size of TTC, TLC, TTR, TTS is relatively then selected minimum value to carry out buzzing and is reported to the police, shows;

6) system simultaneously successively to vehicle braked, turn to, tire, transmission, electric-control system carry out fault detection, the lang sound of going forward side by side enters for warning.

Said TTC estimates with the relative speed of a motor vehicle through spacing to obtain; TLC estimates through the distance in vehicle and track and the speed of a motor vehicle to obtain; TTR is through the real-time differential of side direction accekeration is obtained; TTS obtains through yaw velocity is carried out differential.

Said speed information is gathered through the ABS wheel speed sensors, or gathers through the CAN bus.

The present invention takes above technical scheme; It has the following advantages: 1, based on the motor omnibus safety performance forewarn system of CAN bus as one independently node articulate in the car load CAN bus network system; Make full use of drive ability information and failure message in each electronic control package ECU of former car; Realize data sharing, avoid information redundancy, cost-cutting.2, the present invention can directly gather the wheel speed sensors signal, also can gather the ABS wheel speed signal through the CAN bus, has excellent adaptability.3, the present invention carries out omnibearing monitoring and early warning to vehicle operating performance, fault, attitude and running environment, and monitoring and early warning range are wide.4, the present invention gives full play to the subjective initiative of chaufeur, vehicle is not controlled, and only chaufeur is carried out early warning.5, the present invention install simply, safety, do not change body construction, do not change oil circuit, circuit, do not influence traffic safety and normal operation.6, the present invention oneself constitutes an isolated node, does not rely on other any auxiliary facilities, is easy to apply.7, the efficient height of early warning of the present invention, early warning is efficient >=and 90%.8, real-time of the present invention is high, and the response time of system is that system performance detects the alerting signal output time and is not more than 0.5 second.

Description of drawings

Fig. 1 is an overall system block diagram of the present invention;

Fig. 2 is processor module figure of the present invention;

Fig. 3 is CAN bus architecture figure of the present invention;

Fig. 4 is ABS wheel speed signal handling principle figure;

Fig. 5 is a method of inspection diagram of circuit of the present invention.

The specific embodiment

Below in conjunction with accompanying drawing and instance the present invention is carried out detailed description.

The present invention is a research object with the motor omnibus based on CAN bus network technology; Under the prerequisite that does not influence safety and operation; Drive ability information and failure message that former car is provided extract through the CAN bus, to information such as the associated safety parts that do not provide, the attitude of going and running environment through installing sensor collection additional; Then according to the integrated information obtained, the vehicle precarious position is judged and discern, carry out early warning according to decision-making mechanism, and utilize telecommunication realization warning function.

As shown in Figure 1, provided by the inventionly comprise the CAN network 1 of former car, display panel module 2, environment monitoring module 3 based on the motor omnibus safety performance forewarn system of CAN bus; Voice broadcast module 4, ABS wheel speed sensors 5, GPS/GPRS module 6, gyroscope (attitude module) 7; Front wheel angle sensor 8, steering wheel angle sensor 9, brake-pressure sensor 10; 7 tunnel gear signal 11, pedal of clutch 12, buzzer phone 13; Treater more than 14 parts, wherein treater 14 is electrically connected above-mentioned each parts respectively, carries out information interaction or sends instruction to them with them.

As shown in Figure 2, mainly comprise reversing hazards monitoring module 15 in the treater 14, change hazards monitoring module 16, collision risk monitoring modular 17, deviation hazards monitoring module 18, rollover hazards monitoring module 19, sideslip hazards monitoring module 20, dangerous comparison module 21, brake fault monitoring modular 22, turn to malfunction monitoring module 23, tire fault 24, transmission malfunction monitoring module 25, automatically controlled malfunction monitoring module 26 etc.Reversing hazards monitoring module 15 is carried out the information transmission to changing hazards monitoring module 16; Change hazards monitoring module 16 and carry out the information transmission to collision risk monitoring modular 17, deviation hazards monitoring module 18, rollover hazards monitoring module 19, sideslip hazards monitoring module 20 simultaneously, last collision risk monitoring modular 17, deviation hazards monitoring module 18, rollover hazards monitoring module 19, sideslip hazards monitoring module 20 are carried out the information transmission to dangerous comparison module 21.The hazards monitoring module 15 of moveing backward is simultaneously also carried out the information transmission to brake fault monitoring modular 22, brake fault monitoring modular 22, turns to malfunction monitoring module 23, tire fault 24, transmission malfunction monitoring module 25, automatically controlled malfunction monitoring module 26 to carry out the information transmission more successively.

As shown in Figure 3; Treater 14 has two-way CAN interface; Be connected with former car CAN network 1 through interface one CAN0, comprise driving engine node, instrument node, ABS node, TPMS node etc., baud rate is set to 250Kbps; Obtain drive ability information and failure message in each electronic control package ECU of former car, realize data sharing; Be connected with display panel module 2, environment monitoring module 3 through interface two CAN1; Constitute car load CAN network with former car CAN network; Comprise environmental monitoring node, read-out node, baud rate is set to 500Kbps, obtains car status information such as this car speed of a motor vehicle, speed-slackening signal, left and right sides turn sign, astern signal etc.; And the alarm message of reception environment monitoring node transmission; Make a strategic decision in conjunction with self detected vehicle precarious position, outwards send the warning decision information, the read-out node receives these alarm messages and shows.

Two-way CAN interface can select for use the CTM8251T chip as interface chip, simplifies peripheral circuit.Integrated protective circuit in this chip has isolation features, the CAN-bus bus over-voltage protection function of DC 2500V.

4 pairs of detected ECUs of voice broadcast module and non-automatically controlled unit failure message enter for.

ABS wheel speed sensors 5 is gathered the wheel speed signal of four wheels, and the speed of a motor vehicle is estimated, also can gather the wheel speed information of ABS through the CAN bus, is used for the estimation of the speed of a motor vehicle.ABS wheel speed sensors 5 adopts two magnetoelectric sensor conversion chip NCV1124; Signal converts sine wave signal into main control chip accessible square-wave signal through four road sinusoidal waveform processing of circuit, and is as shown in Figure 4; PIN0, PIN1, PIN2, PIN3 link to each other with the output of four magnetoelectricity wheel speed sensors 5; POUT0, POUT1, POUT2, POUT3 link to each other with the timer conter of treater, and what PIN imported is sine wave signal, and POUT is output as square-wave signal.

The remote transmission and the warning of the collection of the 6 realization vehicle locations of GPS/GPRS module, speed and vehicle trouble, precarious position.

Gyroscope 7 collection vehicle attitude informations after the Treatment Analysis, compare with preset threshold in treater, through the TTR algorithm, judge that the time of sideslip, rollover precarious position appears in vehicle.

Front wheel angle sensor 8 is used to gather steering wheel angle, output voltage 0-5v.

Steering wheel angle sensor 9 is used to gather steering wheel angle, output voltage 0-5v.

Brake-pressure sensor 10 is used for gathering the braking master cylinder pressure, and treated device Treatment Analysis compares with preset threshold, when brake-pressure is not enough, reports to the police.

7 tunnel gear signal 11 are used to gather gear signal.

Pedal of clutch 12 is gathered the pedal of clutch signal.

Hit danger before 13 pairs of the buzzer phones, deviation is dangerous, rollover is dangerous, sideslip danger is carried out buzzing and reported to the police.

14 pairs of entire system resources of treater are calculated, are controlled and manage.

Through above-mentioned this device, can detect following precarious position: precedingly hit that danger, deviation are dangerous, rollover is dangerous, break away danger, brake fault, transmission fault, turn to fault, from the fault of former car CAN network extraction.Concrete safety performance method of inspection is as shown in Figure 5, comprises following treatment scheme:

1, system accomplishes initialization.

2, judge whether vehicle is in the reversing state, if detect whether there is reversing danger, and buzzing is carried out in danger reported to the police, show.

3 otherwise judge whether vehicle is in the state of changing, if detect whether to exist and change danger, and buzzing is carried out in danger reported to the police, show.

4 otherwise to the collision of vehicle, depart from, rollover, sideslip danger judge, if dangerous, dangerous time T TC, TLC, TTR, the TTS that takes place of computed range respectively; Wherein take TTC (time to collision) as characterization parameter, estimate the time that the distance collision is taken place through the spacing and the relative speed of a motor vehicle; Take TLC (time to land crossing) as characterization parameter, estimate the time that vehicle will cross lane boundary through the distance and the speed in vehicle and track; Take TTR (time to rollover) as characterization parameter,, draw the safety time of rollover through to the real-time differential of side direction accekeration; Take TTS (time to sliding) as characterization parameter,, calculate the safety time of sideslip through yaw velocity is carried out differential.

5, the size that compares TTC, TLC, TTR, TTS is then selected minimum value to carry out buzzing and is reported to the police, shows.

6, system simultaneously successively to vehicle braked, turn to, tire, transmission, electric-control system carry out fault detection, the lang sound of going forward side by side enters for.

When above-mentioned precarious position occurring, read-out shows the title of precarious position.For failure message, the mode of taking voice to enter for enters for out of order title.Report to the police time of driver's reaction is had relatively high expectations for preceding hitting warning, deviation warning, rollover alarming, sideslip; Requirement can make chaufeur obtain dangerous information fast and take corresponding measure rapidly to remind chaufeur; Therefore the mode of taking buzzing to report to the police, and by time priority.

The above; Be merely a certain specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, any those of ordinary skill in the art are in the technical scope that the present invention discloses; Can expect easily changing or replacement; So long as on the basis of technical scheme of the present invention, to improvement and the conversion that individual component is carried out, all should be within protection scope of the present invention.

Claims (10)

1. motor omnibus safety performance forewarn system based on the CAN bus, it is characterized in that: it comprises a treater, and with the former car CAN of treater bonded assembly network, display panel module; Environment monitoring module, voice broadcast module, GPS/GPRS module, buzzer phone; Gyroscope, pedal of clutch, 7 tunnel gear signal, ABS wheel speed sensors; The front wheel angle sensor, steering wheel angle sensor, brake-pressure sensor;
Comprise reversing hazards monitoring module in the said treater, change the hazards monitoring module, collision risk monitoring modular, deviation hazards monitoring module, rollover hazards monitoring module, sideslip hazards monitoring module, dangerous comparison module, brake fault monitoring modular, turn to malfunction monitoring module, tire fault, transmission malfunction monitoring module, automatically controlled malfunction monitoring module;
Said reversing hazards monitoring module to the brake fault monitoring modular, change the hazards monitoring module and carry out transmission information; The said hazards monitoring module of changing is carried out the information transmission to collision risk monitoring modular, deviation hazards monitoring module, rollover hazards monitoring module, sideslip hazards monitoring module simultaneously; Said collision risk monitoring modular, deviation hazards monitoring module, rollover hazards monitoring module, sideslip hazards monitoring module are carried out the information transmission to dangerous comparison module simultaneously, said brake fault monitoring modular, turn to malfunction monitoring module, tire fault, transmission malfunction monitoring module, automatically controlled malfunction monitoring module to carry out the information transmission successively.
2. the motor omnibus safety performance forewarn system based on the CAN bus as claimed in claim 1; It is characterized in that: said treater has two-way CAN interface; Be connected with former car CAN network through interface one; Comprise driving engine node, instrument node, ABS node, TPMS node, baud rate is 250Kbps, obtains drive ability information and failure message in each ECU of former car; Be connected with display panel module, environment monitoring module through interface two, comprise environmental monitoring node, read-out node, baud rate is set to 500Kbps, obtains car status information.
3. the motor omnibus safety performance forewarn system based on the CAN bus as claimed in claim 2 is characterized in that: said two-way CAN interface selects for use the CTM8251T chip as interface chip.
4. like claim 1 or 2 or 3 described motor omnibus safety performance forewarn systems based on the CAN bus; It is characterized in that: said ABS wheel speed sensors is gathered the signal of four wheels; It adopts two magnetoelectric sensor conversion chip NCV1124; Through four road sinusoidal waveform processing of circuit, convert sine wave signal into square-wave signal.
5. like claim 1 or 2 or 3 described motor omnibus safety performance forewarn systems, it is characterized in that based on the CAN bus: said voice broadcast module to vehicle braked, turn to, tire, transmission, electric-controlled system fault report to the police; Said buzzer phone to move backward, change, depart from, collision, rollover, sideslip danger report to the police.
6. the motor omnibus safety performance forewarn system based on the CAN bus as claimed in claim 4 is characterized in that: said voice broadcast module to vehicle braked, turn to, tire, transmission, electric-controlled system fault report to the police; Said buzzer phone to move backward, change, depart from, collision, rollover, sideslip danger report to the police.
7. the motor omnibus safety performance method of inspection based on the CAN bus that carries out of one of a utilization such as claim 1~6 system is characterized in that, comprises following treatment scheme:
1) system accomplishes initialization;
2) judge whether vehicle is in the reversing state, if detect whether there is reversing danger, and buzzing is carried out in danger reported to the police, show;
3) otherwise judge whether vehicle is in the state of changing, if detect whether to exist and change danger, and buzzing is carried out in danger reported to the police, show;
4) otherwise to the collision of vehicle, depart from, rollover, sideslip danger judge, if dangerous, the time T TC that takes place of computed range collision, time T LC, distance rollover TTR, distance that distance the departs from generation time T TS that breaks away and take place respectively;
5) size of TTC, TLC, TTR, TTS is relatively then selected minimum value to carry out buzzing and is reported to the police, shows;
6) system simultaneously successively to vehicle braked, turn to, tire, transmission, electric-control system carry out fault detection, the lang sound of going forward side by side is reported to the police.
8. the motor omnibus safety performance method of inspection based on the CAN bus as claimed in claim 7 is characterized in that, said TTC estimates with the relative speed of a motor vehicle through spacing to obtain; TLC estimates through the distance in vehicle and track and the speed of a motor vehicle to obtain; TTR is through the real-time differential of side direction accekeration is obtained; TTS obtains through yaw velocity is carried out differential.
9. the motor omnibus safety performance method of inspection based on the CAN bus as claimed in claim 8 is characterized in that, said speed information is gathered through the ABS wheel speed sensors.
10. the motor omnibus safety performance method of inspection based on the CAN bus as claimed in claim 8 is characterized in that, said speed information is gathered through the CAN bus.
CN 201110223777 2011-08-05 2011-08-05 Early warning system and detection method for safety performance of large bus based on controller area network (CAN) bus CN102407816B (en)

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CN103625459A (en) * 2012-08-29 2014-03-12 交通运输部公路科学研究所 Automobile service braking efficiency dynamic monitoring and alarming system
CN103669265A (en) * 2013-12-20 2014-03-26 北京智行鸿远汽车技术有限公司 Pure electric environmental sanitation vehicle drive motor control method based on CAN network
CN104590166A (en) * 2014-12-25 2015-05-06 江苏大学 Intelligent automobile inspection system
CN105319065A (en) * 2015-10-27 2016-02-10 刘志海 Clutch safety monitoring system based on GPRS network
CN105398407A (en) * 2015-11-04 2016-03-16 华晨汽车集团控股有限公司 CAN bus fault monitoring and displaying system for vehicle-mounted controller
CN106559431A (en) * 2016-12-02 2017-04-05 北京奇虎科技有限公司 A kind of visual analysis method and device for automotive safety detection
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CN109050404A (en) * 2018-08-17 2018-12-21 成都跟驰科技有限公司 The big visual angle image supervisory control of automobile with mechanical arm and automatic pedestrian system
CN109159736A (en) * 2018-08-17 2019-01-08 成都跟驰科技有限公司 The big visual angle image supervisory control and manual control system of automobile with mechanical arm

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CN103625459A (en) * 2012-08-29 2014-03-12 交通运输部公路科学研究所 Automobile service braking efficiency dynamic monitoring and alarming system
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CN103669265B (en) * 2013-12-20 2016-08-17 北京智行鸿远汽车技术有限公司 Motor control method is filled on pure electric sanitation truck based on CAN network
CN103669265A (en) * 2013-12-20 2014-03-26 北京智行鸿远汽车技术有限公司 Pure electric environmental sanitation vehicle drive motor control method based on CAN network
CN104590166A (en) * 2014-12-25 2015-05-06 江苏大学 Intelligent automobile inspection system
CN105319065A (en) * 2015-10-27 2016-02-10 刘志海 Clutch safety monitoring system based on GPRS network
CN105398407A (en) * 2015-11-04 2016-03-16 华晨汽车集团控股有限公司 CAN bus fault monitoring and displaying system for vehicle-mounted controller
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CN106559431B (en) * 2016-12-02 2020-05-12 北京奇虎科技有限公司 Visual analysis method and device for automobile safety detection
CN108933930A (en) * 2018-08-17 2018-12-04 成都跟驰科技有限公司 The big visual angle imaging monitoring system of vehicle portable formula
CN109050404A (en) * 2018-08-17 2018-12-21 成都跟驰科技有限公司 The big visual angle image supervisory control of automobile with mechanical arm and automatic pedestrian system
CN109159736A (en) * 2018-08-17 2019-01-08 成都跟驰科技有限公司 The big visual angle image supervisory control and manual control system of automobile with mechanical arm

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