CN102556062A - Adaptive-control safety anti-collision system for automobiles - Google Patents
Adaptive-control safety anti-collision system for automobiles Download PDFInfo
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- CN102556062A CN102556062A CN2010105904235A CN201010590423A CN102556062A CN 102556062 A CN102556062 A CN 102556062A CN 2010105904235 A CN2010105904235 A CN 2010105904235A CN 201010590423 A CN201010590423 A CN 201010590423A CN 102556062 A CN102556062 A CN 102556062A
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Abstract
The invention relates to an adaptive-control safety anti-collision system for automobiles, which comprises a signal acquisition module, a CPU (central processing unit), an executive module, a power module and an alarm module, wherein the CPU is respectively connected with the signal acquisition module, the executive module, the power module and the alarm module. The signal acquisition module acquires automobile operational data in real time and transmits the data to the CPU, the CPU processes the data and determines whether the relative distance between two automobiles is larger than a distance allowing safety braking at the current speed or not in real time, if not, the CPU sends out a brake instruction to the executive module and sends out an alarm instruction to the alarm module, the executive module receives the instruction to perform electrically-controlled braking, and the alarm module receives the instruction to output alarms. Compared with the prior art, the adaptive-control safety anti-collision system has the advantages that using a laser radar for ranging is quick and high in precision, the system is highly integrated and high in adaptability, driving safety can be guaranteed by means of active forecast, and the like.
Description
Technical field
The present invention relates to a kind of anti-collision system for automobile, especially relate to a kind of automotive self-adaptive control safety anticollision system.
Background technology
Current automotive field people more and more value for the safety of automobile; But main safety measure mainly is Passive Defence such as safety air bag at present; The bumper/spoiler buffering; Initiatively predict dangerous safety system also in the starting stage for automobile, based on the radar of technology such as infrared ray, super sonic the application of part has been arranged in the system of automobile collision preventing, but such its particularity of system and stability are short of to some extent all; Speed is also slower, places this type systematic and carries out initiatively that still there is certain potential safety hazard in prediction on vehicle-mounted.
Summary of the invention
The object of the invention is exactly for the defective that overcomes above-mentioned prior art existence a kind of automotive self-adaptive control safety anticollision system to be provided.
The object of the invention can be realized through following technical scheme:
A kind of automotive self-adaptive control safety anticollision system is characterized in that comprise signal acquisition module, CPU, execution module, power module, alarm module, described CPU is connected with signal acquisition module, execution module, power module, alarm module respectively;
Described signal acquisition module is gathered the automotive operation data in real time and is sent it to CPU, and whether the relative distance that described CPU handles back real-time judge two cars is greater than distance that can safety arrestment with present speed, if not; CPU sends the brake instruction and gives execution module; Alarm module is given in the concurrent alert instruction of delivering newspaper, and described execution module receives that carrying out electric control braking after the instruction handles, and described alarm module is received the instruction output of reporting to the police; Otherwise, do not handle.
Described signal acquisition module comprises range finding assembly, speed of a motor vehicle coder.
Described range finding assembly is a laser radar range finding assembly, and adopts the pulse wave mode to work.
Described laser radar range finding assembly comprises laser transmitter, optical receiver, micro controller system; Described laser transmitter becomes electric pulse into light pulse and launches; Photoreceiver is reduced into electric pulse to the light pulse of returning from target reflection again, and is transferred to micro controller system.
Described laser radar range finding assembly is provided with three, is located at the both sides and the centre portion of headstock respectively.
The priority of described electric control braking is higher than artificial braking.
Compared with prior art, the present invention has the following advantages
1. adopt the laser radar range finding, the fast precision of speed is high, and data are reliable, and package unit does not change primary car structure, has kept the performance of former car, only when exceeding the safe driving scope, just can control.
2. native system has the performance that automatic collision is avoided risk, and exercises the place ahead when obstacle or front vehicles emergency braking occurring this car safety being constituted a threat to when automobile, and automobile can be implemented automatic deceleration, autobrake, finally makes automobile and obstacle avoid collision.
3. highly integrated, the high-intelligentization of total system device, high-adaptability, light harvesting, electricity, the many-sided means of machine design, its Based Intelligent Control, identification processing instruction speed is higher than the fastest response speed of human brain far away.Be applicable to the installation of various types of automobiles, improved the safety of driving greatly.
Description of drawings
Fig. 1 is this adaptive control anticollision safety system project organization figure;
Fig. 2 is an anti-collision system for automobile work scheme drawing;
Fig. 3 is the vehicle-mounted condition diagram of device;
Fig. 4 is a laser detection scope scheme drawing;
Fig. 5 is the system modelling structural representation.
The specific embodiment
Below in conjunction with accompanying drawing and specific embodiment the present invention is elaborated.
Embodiment
Like Fig. 1, shown in Figure 3; A kind of automotive self-adaptive control safety anticollision system; Comprise signal acquisition module, CPU 4, execution module 6, power module 3, alarm module 5, described CPU4 is connected with signal acquisition module, execution module 6, power module 3, alarm module 5 respectively; Described signal acquisition module is gathered the automotive operation data in real time and is sent it to CPU 4, and whether the relative distance that described CPU 4 handles back real-time judge two cars is greater than distance that can safety arrestment with present speed, if not; CPU 4 sends the brake instruction and gives execution module 6; Alarm module 5 is given in the concurrent alert instruction of delivering newspaper, and described execution module 6 receives that carrying out electric control braking after the instruction handles, and described alarm module 5 is received the instruction output of reporting to the police; Otherwise, do not handle.
Described signal acquisition module comprises range finding assembly, speed of a motor vehicle coder 2.Described range finding assembly is a laser radar range finding assembly 1, and adopts the pulse wave mode to work.Described laser radar range finding assembly 1 comprises laser transmitter, optical receiver, micro controller system; Described laser transmitter becomes electric pulse into light pulse and launches; Photoreceiver is reduced into electric pulse to the light pulse of returning from target reflection again, and is transferred to micro controller system.
As shown in Figure 2, when two cars went in the same way, the laser transmitter 9 of this car became electric pulse into infrared laser beam 8 irradiation the place aheads that pulse type is sent in light pulse; But and the reflected light 7 of utilization reflecting part, detect front truck reflected light 7 through optical receiver 10, light pulse is reduced into electric pulse sends into treater; Micro controller system calculates its distance according to the time difference; This partial circuit is made up of illuminating part, light accepting part, signal conditioning circuit etc., and native system adopts the mode of laser-scan that scanning probe and front truck or obstacle distance are carried out in fan-shaped highway section, the place ahead, and this detection can obtain than people sense organ failure-free data more at night or foggy weather; Because laser radar emission light beam is concentrated; Adopt single launch mode can't effectively detect the place ahead certain distance, thus in vehicle front 3 laser radar range finder modules are installed, as shown in Figure 4; Detected distance with minimum is as the criterion; If the distance that the both sides measuring distance is measured much smaller than the centre, showing has vehicle or other things to insert two workshops, and alarm module 5 will be reported to the police; Through laser radar range finding assembly 1 survey obtain with front vehicles or the relative spacing d of obstacle, measure self present speed v by the speed of a motor vehicle coder 2 of car self simultaneously
0, the acceleration/accel situation that can reach that combines thus self to brake calculates maximum travelling speed v through CPU4
MaxCan calculate current vehicle speed thus and brake the static S that needs distance; When d greater than this car can brake apart from S; Vehicle ' is exactly safe, so gather two spacing d and guarantee that S gets final product smaller or equal to d, adopts electric controlled brake system that brake is controlled with governing speed v if d≤S execution module 6 will send instruction
0And this priority is greater than manual work brake and throttle; Simultaneously send alarm by alarm module 5; S changes thus, gathers the real-time vehicle acceleration alpha according to acceleration pick-up again, obtains feeding back to CPU4 after the new speed of a motor vehicle by speed of a motor vehicle coder 2 again and compares; So obtain a closed loop control system, get into safe driving scope once more up to d>=S.
The concrete implementation procedure of algorithm is following:
1, the foundation of data
Two cars go in the same way, and the workshop has apart from S, when this vehicle speed greater than preceding vehicle speed; Two cars can be constantly approaching, avoid the car to car impact that goes in the same way, just needs the relative distance d of real-time judge two cars; Control road speed then, make vehicle safe driving, so the condition that two cars do not knock into the back is:
d≥S
S is that automobile is with present speed v
0Distance that can safety arrestment:
v
0Be that real-time speed records through coder, a
MaxBe the maximum acceleration/accel of vehicle.
For peak acceleration a
The max valueGiven:
There is theoretical a in the brake system of car appearance stage
Max0Value; But this value is only relevant with brake system self design organization, and this parameter is along with weather in the actual travel, and it is very big different that ground surface material and degree of drying have; And this directly has influence on the calculating of S value, will provide a of a cover to different situations according to different coefficients thus
MaxParameter.
a
max＝a
max0-μg
μ is that tire and various ground-surface friction coefficient all can have given value according to different kinds of tyre appearance specification, so can calculate a that needs
MaxValue.
2, the foundation of system model
Controlled variable is v
0, manipulated variable is α, at first provides the acceleration/accel a of a maximum according to weather condition of road surface, vehicle load and vehicle self brake system performance
Max, the data that record have two spacing d, present speed v
0Acceleration/accel a according to maximum
MaxWith present speed v
0Can calculate S, judge d and S size, if d>=S safety then, if d≤S then brake system is carried out the control break acceleration alpha reaches adjusting v
0Purpose, send alarm simultaneously, S changes up to d>=S thus.According to said process, draw system construction drawing, as shown in Figure 5.
Claims (6)
1. an automotive self-adaptive control safety anticollision system is characterized in that comprise signal acquisition module, CPU, execution module, power module, alarm module, described CPU is connected with signal acquisition module, execution module, power module, alarm module respectively;
Described signal acquisition module is gathered the automotive operation data in real time and is sent it to CPU, and whether the relative distance that described CPU handles back real-time judge two cars is greater than distance that can safety arrestment with present speed, if not; CPU sends the brake instruction and gives execution module; Alarm module is given in the concurrent alert instruction of delivering newspaper, and described execution module receives that carrying out electric control braking after the instruction handles, and described alarm module is received the instruction output of reporting to the police; Otherwise, do not handle.
2. a kind of automotive self-adaptive control safety anticollision system according to claim 1 is characterized in that described signal acquisition module comprises range finding assembly, speed of a motor vehicle coder.
3. a kind of automotive self-adaptive control safety anticollision system according to claim 1 is characterized in that described range finding assembly is a laser radar range finding assembly, and adopts the pulse wave mode to work.
4. a kind of automotive self-adaptive control safety anticollision system according to claim 1; It is characterized in that; Described laser radar range finding assembly comprises laser transmitter, optical receiver, micro controller system; Described laser transmitter becomes electric pulse into light pulse to be launched, and photoreceiver is reduced into electric pulse to the light pulse of returning from target reflection again, and is transferred to micro controller system.
5. a kind of automotive self-adaptive control safety anticollision system according to claim 1 is characterized in that described laser radar range finding assembly is provided with three, is located at the both sides and the centre portion of headstock respectively.
6. a kind of automotive self-adaptive control safety anticollision system according to claim 1 is characterized in that the priority of described electric control braking is higher than artificial braking.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010105904235A CN102556062A (en) | 2010-12-15 | 2010-12-15 | Adaptive-control safety anti-collision system for automobiles |
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| CN2010105904235A CN102556062A (en) | 2010-12-15 | 2010-12-15 | Adaptive-control safety anti-collision system for automobiles |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102749626A (en) * | 2012-07-17 | 2012-10-24 | 奇瑞汽车股份有限公司 | Radar sensor, automobile and target direction identification method |
| CN103112451A (en) * | 2013-02-06 | 2013-05-22 | 刘兆雄 | Automobile automatic collision avoidance system and method |
| CN104599517A (en) * | 2015-01-29 | 2015-05-06 | 柳州市二和汽车零部件有限公司 | Intelligent vehicle safety auxiliary control system |
| CN104765018A (en) * | 2014-01-06 | 2015-07-08 | 福特全球技术公司 | Method and system for a head unit application host for a radar detector |
| CN106143148A (en) * | 2016-07-16 | 2016-11-23 | 许乐群 | Automotive safety speed control system and control method thereof |
| CN107305744A (en) * | 2016-04-25 | 2017-10-31 | 山东理工大学 | A kind of device of variable inertia vehicle safe velocity prompting |
| CN107509138A (en) * | 2016-06-14 | 2017-12-22 | 福特全球技术公司 | Pedestrian's warning system |
| CN107521495A (en) * | 2016-06-15 | 2017-12-29 | 福特全球技术公司 | System and method for based on attachment frictional force |
| CN108562294A (en) * | 2018-04-12 | 2018-09-21 | 武汉导航与位置服务工业技术研究院有限责任公司 | Agricultural machinery working control method, device and computer readable storage medium |
| CN110588604A (en) * | 2019-08-27 | 2019-12-20 | 山东浩睿智能科技有限公司 | Active anti-collision control system under working state of sanitation vehicle |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102749626A (en) * | 2012-07-17 | 2012-10-24 | 奇瑞汽车股份有限公司 | Radar sensor, automobile and target direction identification method |
| CN103112451A (en) * | 2013-02-06 | 2013-05-22 | 刘兆雄 | Automobile automatic collision avoidance system and method |
| CN103112451B (en) * | 2013-02-06 | 2016-03-16 | 刘兆雄 | A kind of Automobile automatic collision avoidance system and method |
| CN104765018A (en) * | 2014-01-06 | 2015-07-08 | 福特全球技术公司 | Method and system for a head unit application host for a radar detector |
| CN104599517A (en) * | 2015-01-29 | 2015-05-06 | 柳州市二和汽车零部件有限公司 | Intelligent vehicle safety auxiliary control system |
| CN107305744A (en) * | 2016-04-25 | 2017-10-31 | 山东理工大学 | A kind of device of variable inertia vehicle safe velocity prompting |
| CN107509138A (en) * | 2016-06-14 | 2017-12-22 | 福特全球技术公司 | Pedestrian's warning system |
| CN107509138B (en) * | 2016-06-14 | 2021-02-26 | 福特全球技术公司 | Pedestrian alarm system |
| CN107521495A (en) * | 2016-06-15 | 2017-12-29 | 福特全球技术公司 | System and method for based on attachment frictional force |
| CN107521495B (en) * | 2016-06-15 | 2022-07-12 | 福特全球技术公司 | Traction-based system and method |
| CN106143148A (en) * | 2016-07-16 | 2016-11-23 | 许乐群 | Automotive safety speed control system and control method thereof |
| CN108562294A (en) * | 2018-04-12 | 2018-09-21 | 武汉导航与位置服务工业技术研究院有限责任公司 | Agricultural machinery working control method, device and computer readable storage medium |
| CN108562294B (en) * | 2018-04-12 | 2021-02-05 | 武汉导航与位置服务工业技术研究院有限责任公司 | Agricultural machinery operation control method and device and computer readable storage medium |
| CN110588604A (en) * | 2019-08-27 | 2019-12-20 | 山东浩睿智能科技有限公司 | Active anti-collision control system under working state of sanitation vehicle |
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Application publication date: 20120711 |