CN102556062A - Adaptive-control safety anti-collision system for automobiles - Google Patents

Abstract

The invention relates to an automobile adaptive control safety collision avoidance system, comprising a signal acquisition module, a CPU, an execution module, a power supply module, and an alarm module, wherein the CPU is respectively connected to the signal acquisition module, the execution module, the power supply module, and the alarm module; The signal acquisition module collects the running data of the car in real time and sends it to the CPU. After the CPU processes it, it judges in real time whether the relative distance between the two cars is greater than the distance that can be safely braked at the current speed. If not, the CPU sends a braking signal. The command is given to the execution module, and the alarm command is sent to the alarm module. The execution module performs electronic control braking processing after receiving the command, and the alarm module receives the command and performs alarm output. Compared with the prior art, the present invention has the advantages of fast and high-precision ranging by using laser radar, high system integration, high adaptability, active prediction to ensure driving safety, and the like.

Description

An Automobile Adaptive Control Safety Collision Avoidance System

technical field

The invention relates to an automobile anti-collision system, in particular to an automobile adaptive control safety anti-collision system.

Background technique

In today's automotive field, people pay more and more attention to the safety of cars, but the main safety measures at present are mainly passive defenses such as airbags and bumper buffers. The safety system for actively predicting dangers for cars is still in its infancy, based on infrared, ultrasonic and other technologies. Radar has been partially applied in automobile anti-collision systems, but the accuracy and stability of such systems are lacking, and the speed is relatively slow. Putting such systems on vehicles for active prediction still has some security risks.

Contents of the invention

The object of the present invention is to provide an automobile adaptive control safety collision avoidance system in order to overcome the above-mentioned defects in the prior art.

The purpose of the present invention can be achieved through the following technical solutions:

An automobile self-adaptive control safety collision avoidance system is characterized in that it comprises a signal acquisition module, a CPU, an execution module, a power supply module, and an alarm module, and the CPU is respectively connected with the signal acquisition module, the execution module, the power supply module, and the alarm module ;

The signal acquisition module collects the running data of the car in real time and sends it to the CPU. After the CPU processes it, it judges in real time whether the relative distance between the two cars is greater than the distance that can be safely braked at the current speed. If not, the CPU sends a braking signal. An instruction is given to the execution module, and an alarm instruction is sent to the alarm module. The execution module performs electronic control braking processing after receiving the instruction, and the alarm module receives the instruction to output an alarm. Otherwise, it does not process.

The signal acquisition module includes a distance measuring component and a vehicle speed encoder.

The ranging component is a laser radar ranging component and works in a pulse wave mode.

The laser radar ranging component includes a laser transmitter, an optical receiver, and a single-chip microcomputer. The laser transmitter converts electrical pulses into optical pulses and emits them, and the optical receiver restores the optical pulses reflected from the target into electrical pulses. Pulse, and transmitted to the microcontroller.

There are three laser radar ranging components, which are respectively arranged on both sides and the middle part of the front of the vehicle.

The priority of the electric braking is higher than that of the manual braking.

Compared with the prior art, the present invention has the following advantages

1. Using laser radar for distance measurement, the speed is fast, the precision is high, and the data is reliable. The whole set of devices does not change the structure of the original car, and maintains the performance of the original car. It will only be controlled when it exceeds the safe driving range.

2. This system has the function of automatic collision avoidance and risk avoidance. When an obstacle appears in front of the car or the emergency braking of the vehicle in front poses a threat to the safety of the car, the car can automatically decelerate and brake, and finally avoid the car and the obstacle. collide.

3. The whole system device is highly integrated, highly intelligent, and highly adaptable. It is designed by integrating optical, electrical, and mechanical means. Its intelligent control, recognition and processing instruction speed is much higher than the fastest reaction speed of the human brain. . It is suitable for the installation of various types of automobiles, which greatly improves the safety of driving.

Description of drawings

Fig. 1 is the design structural diagram of this self-adaptive control anti-collision safety system;

Fig. 2 is the working schematic diagram of automobile anti-collision system;

Fig. 3 is a vehicle-mounted status diagram of the device;

Figure 4 is a schematic diagram of the laser detection range;

Figure 5 is a schematic diagram of the system modeling structure.

Detailed ways

The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

Example

As shown in Fig. 1 and Fig. 3, a kind of automobile adaptive control safety collision avoidance system comprises signal acquisition module, CPU 4, execution module 6, power supply module 3, alarm module 5, and described CPU4 is respectively connected with signal acquisition module, Executive module 6, power supply module 3, alarm module 5 are connected; Described signal acquisition module collects automobile operation data in real time and sends it to CPU 4, and after described CPU 4 processes, judge whether the relative distance of two cars is greater than with current The distance that the speed can be safely braked, if not, CPU 4 sends a brake instruction to the execution module 6, and sends an alarm instruction to the alarm module 5, and the execution module 6 performs electronically controlled braking after receiving the instruction. The alarm module 5 receives the instruction to output the alarm, otherwise, it does not process it.

The signal acquisition module includes a distance measuring component and a vehicle speed encoder 2 . The ranging component is a laser radar ranging component 1, and works in a pulse wave mode. Described lidar ranging component 1 comprises laser transmitter, optical receiver, single-chip microcomputer, and described laser transmitter turns electrical pulse into light pulse and sends out, and optical receiver restores the light pulse that returns from target again into Electrical pulse, and transmitted to the microcontroller.

As shown in Figure 2, when the two vehicles are driving in the same direction, the laser transmitter 9 of the vehicle converts the electric pulse into a light pulse and emits a pulsed infrared laser beam 8 to illuminate the front, and uses the reflected light 7 of the reflective component to pass through the The optical receiver 10 detects the reflected light 7 of the vehicle in front, restores the light pulse to an electric pulse and sends it to the processor, and the single-chip microcomputer calculates the distance according to the time difference. This part of the circuit is composed of a light emitting part, a light receiving part, and a signal conditioning circuit. This system adopts The laser scanning method scans the front fan-shaped road section to detect the distance from the vehicle or obstacle in front. This detection can obtain more reliable data than human senses in the dark or in foggy weather. Since the laser radar emits concentrated beams, it cannot be detected by a single emission method. Effectively detect a certain distance ahead, so install 3 laser radar ranging modules in front of the car, as shown in Figure 4, the minimum detected distance shall prevail. If the distance measured on both sides is much smaller than the distance measured in the middle, it indicates that there is a vehicle or other things are inserted into the two workshops, the alarm module 5 will alarm, and the distance d relative to the vehicle or obstacle in front detected by the laser radar ranging component 1 is obtained, and the current speed v of the vehicle itself is measured by the speed encoder 2 of the vehicle itself _. , thus combined with the acceleration that can be achieved by self-braking, the maximum driving speed v _max can be calculated by CPU4, and the distance S required for braking to a standstill at the current speed can be calculated. When d is greater than the distance S that the vehicle can brake, the vehicle Driving is safe, so just collect the distance d between the two vehicles and ensure that S is less than or equal to d. If d≤S, the execution module 6 will issue an instruction to use the electronic brake system to control the brakes to adjust the speed v ₀ and this priority Greater than the manual brake and accelerator, at the same time the alarm module 5 sends out an alarm prompt, thus S changes, and then collects the real-time vehicle acceleration α according to the acceleration sensor, and then obtains the new vehicle speed by the vehicle speed encoder 2 and then feeds it back to the CPU4 for comparison, thus obtaining A closed-loop control system until d≥S enters the safe driving range again.

The specific implementation process of the algorithm is as follows:

1. Data creation

Two vehicles are driving in the same direction, and there is a distance S between the two vehicles. When the speed of the vehicle is greater than the speed of the vehicle in front, the two vehicles will continue to approach. To avoid the collision of two vehicles traveling in the same direction, it is necessary to judge the relative distance d of the two vehicles in real time, and then control Driving speed, so that the vehicle can run safely, so the conditions for the two vehicles not to collide are:

d≥S

S is the distance the car can safely brake at the current speed v ₀ :

$\mathrm{<span\; class="notranslate">\; S</span>}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 0</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}{\mathrm{<span\; class="notranslate">\; a</span>}}_{\mathrm{<span\; class="notranslate">\; max</span>}}}$

v ₀ is the real-time speed measured by the encoder, and a _max is the maximum acceleration of the vehicle.

For the given _{value of the maximum acceleration a max} :

The car braking system has a theoretical a _max0 value in the stage of appearance, but this value is only related to the design mechanism of the braking system itself, and this parameter will vary greatly with the weather, road material and dryness in actual driving, and this It directly affects the calculation of the S value, so a set of a _max parameters for different situations will be given according to different coefficients.

a _max ＝a _max0 -μg

μ is the coefficient of friction between the tire and various road surfaces. According to different tire specifications, there will be a given value, so the required a _max value can be calculated.

2. Establishment of system model

The controlled variable is v ₀ , and the manipulated variable is α. Firstly, a maximum acceleration a _max is given according to the weather and road conditions, the vehicle load and the performance of the vehicle's own braking system. The measured data include the distance between two vehicles d and the current speed v ₀ . S can be calculated according to the maximum acceleration a _max and the current speed v ₀ , and the size of d and S can be judged. If d ≥ S, it is safe. If d ≤ S, control the braking system and change the acceleration α to achieve the purpose of adjusting v ₀ , at the same time an alarm prompt is issued, and S changes until d≥S. According to the above process, the system structure diagram is obtained, as shown in Figure 5.

Claims (6)

1. An automobile self-adaptive control safety collision avoidance system, is characterized in that, comprises signal acquisition module, CPU, execution module, power supply module, alarm module, described CPU and signal acquisition module, execution module, power supply module, alarm respectively module connection; The signal acquisition module collects the running data of the car in real time and sends it to the CPU. After the CPU processes it, it judges in real time whether the relative distance between the two cars is greater than the distance that can be safely braked at the current speed. If not, the CPU sends a braking signal. An instruction is given to the execution module, and an alarm instruction is sent to the alarm module. The execution module performs electronic control braking processing after receiving the instruction, and the alarm module receives the instruction to output an alarm. Otherwise, it does not process. 2. A vehicle adaptive control safety collision avoidance system according to claim 1, wherein the signal acquisition module includes a distance measuring component and a vehicle speed encoder. 3 . The vehicle adaptive control safety collision avoidance system according to claim 1 , wherein the ranging component is a laser radar ranging component and works in a pulse wave mode. 4 . 4. A kind of automobile self-adaptive control safety anti-collision system according to claim 1, is characterized in that, described lidar ranging assembly comprises laser transmitter, optical receiver, single-chip microcomputer, and described laser transmitter will The electrical pulse becomes an optical pulse and is sent out, and the optical receiver restores the optical pulse reflected from the target into an electrical pulse, and transmits it to the single-chip microcomputer. 5 . The vehicle adaptive control safety collision avoidance system according to claim 1 , wherein there are three laser radar ranging components, which are respectively arranged on both sides and the middle part of the front of the vehicle. 6 . 6 . The vehicle adaptive control safety collision avoidance system according to claim 1 , wherein the priority of the electric braking is higher than that of the manual braking. 7 .

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