CN103171555A - System for active collision avoidance at crossroad - Google Patents
System for active collision avoidance at crossroad Download PDFInfo
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- CN103171555A CN103171555A CN2013100792097A CN201310079209A CN103171555A CN 103171555 A CN103171555 A CN 103171555A CN 2013100792097 A CN2013100792097 A CN 2013100792097A CN 201310079209 A CN201310079209 A CN 201310079209A CN 103171555 A CN103171555 A CN 103171555A
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Abstract
The invention discloses a system for active collision avoidance at a crossroad. The system for active collision avoidance at the crossroad comprises a crossroad ground unit and an on-board unit. The crossroad ground unit comprises electronic marks, a lane terminal, a signal light and a ground controller, wherein the electronic marks are sequentially arranged along the center of a lane at intervals, the signal light is connected with the ground controller in a wireless mode, and the lane terminal is communicated with the ground controller through a wireless network. The on-board unit comprises a controller, a mark reader-writer, a controller area network (CAN) communication controller and a voice assembly, wherein the mark reader-writer is connected with the controller in a double-way mode, the mark reader-writer is connected with the electronic marks in a wireless double-way mode, and the reading and writing of the electronic marks is achieved by the lane terminal through the mark reader-writer. According to the system for the active collision avoidance at the crossroad, active speed limit and in-time stop of a car can be achieved through the controller, and thus the occurrence of traffic collision at the crossroad is avoided.
Description
Technical field
The present invention relates to initiatively anti-collision system of a kind of four corners.
Background technology
By in by the end of June, 2012, the total recoverable amount of Chinese self-propelled vehicle reaches 2.33 hundred million, and wherein automobile is 1.14 hundred million, 1.03 hundred million of motor bikes.Whole nation vehicle driver reaches 2.47 hundred million people, wherein motorist 1.86 hundred million people.The steerman of driving age below 3 years has 9,471 ten thousand people, accounts for 38.33% of national vehicle driver sum.
According to the Shanghai City statistics, approximately 7,500,000 of all kinds of traffic violations of the annual punishment in the whole city, what wherein occur in cross roads accounts for 70%.Approximately 2800 of etesian general above road traffic accidents wherein occur in cross roads more than 60%.
As seen, the Chinese automobile recoverable amount is large, and traffic accident is multiple, and, occur in cross roads more than 60%, therefore, the Automotive active anti-collision system that is enclosed within four corners that builds extremely is necessary.The four cornerss such as T-shaped road, cross road, as the area occurred frequently of accident, its main potential safety hazard is make a dash across the red light and exceed the speed limit, and can avoid by a cover active control system generation of this situation fully.Can build a system, when vehicle enters the crossing stated limit, the speed of a motor vehicle of vehicle be carried out ACTIVE CONTROL, make car retardation to the scope of speed limit, locate under " red light stops " state brake at once at automobile near stop line and track, place.So, can realize that automobile travels and red light stops extremely in the speed limit of four corners, should be able to play the effect of the generation that cuts down traffic accidents by active control system.
Summary of the invention
In order to overcome the existing four corners more shortcoming that has an accident, the invention provides initiatively anti-collision system of a kind of four corners.
The technical solution used in the present invention is:
Four corners is anti-collision system initiatively, it is characterized in that: comprise four corners surface units and board units; Described four corners surface units comprises electronic mark, track terminal, signal lamp and ground controller, described electronic mark arranges along track central authorities interval successively, described signal lamp and described ground controller wireless connections, described track terminal is by wireless network and described ground controller communication; Described board units comprises controller, sign read write line, CAN communication controller and voice component; Described sign read write line is connected with described controller is two-way, and described sign read write line is connected with described electronic mark wireless two-way, and the read-write of described electronic mark is realized via described sign read write line by described track terminal; Described CAN communication controller is connected with described controller is two-way, and described CAN communication controller is connected with car running computer is two-way; Described voice component is connected with described controller, when the regional described voice component that enters system's startup work can carry out real-time broadcasting to working; Described board units reads data in the electronic mark that is laid on the track by the sign read write line, when reading speed limit, namely realizes the active speed limit of automobile by controller, guarantees that the speed of a motor vehicle is no more than speed limit; When reading cutoff command, namely realize the instant parking of automobile by controller, guarantee the dangerous play that automobile can not occur making a dash across the red light;
At first described board units reads speed limit data in laying passive electronic sign on the way by the sign read write line, and then definite speed limit, and carries out the active speed limit, and its speed limit program circuit is as follows:
(1) read electric sign, data fit " data format 1 " changes (2) over to, otherwise changes (1) over to;
(2) voice suggestion " enters speed limit zone, crossing ", and calculating mileage is as poor in mileage〉threshold value a, change (3) over to, otherwise change (4) over to;
(3) voice suggestion " is sailed out of speed limit zone, crossing ", thinks to exceed the electronic mark active distance, and initiatively anti-collision system lost efficacy, and recovers former car brake pedal to former car brake system signal, Das Gaspedal to former car E-gas system signal, and the car load chaufeur is controlled; Change (1) over to;
(4) read the current vehicle speed of automobile from the CAN bus; If speed limit〉current vehicle speed, carry out (5), otherwise carry out (6);
(5) voice suggestion " enters the driver's operation pattern ", and native system deceleration of electrons, E-gas module are not worked, and recovers former car brake pedal to former car brake system signal, Das Gaspedal to former car E-gas system signal, is controlled by chaufeur;
(6) change as former car deceleration of electrons sensor values threshold value a, carry out (7), otherwise, carry out (8);
(7) under this pattern, the chaufeur deceleration measure of having taken the initiative, initiatively anti-collision system deceleration of electrons and E-gas module are not worked; Change (9) over to;
(8) voice suggestion " enters initiatively collision avoidance pattern ", enters the deceleration of electrons pattern, cuts off former car brake pedal to brake system signal, Das Gaspedal to former car E-gas system signal, by the given former car brake system speed-slackening signal of native system; Automobile reduces speed now;
(9) read the current vehicle speed of automobile from the CAN bus; If current vehicle speed〉speed limit, carry out (4), otherwise carry out (10);
(10) as former car throttle sensor numerical value change〉threshold value b, carry out (11), otherwise, carry out (12);
(11) under this pattern, chaufeur has been taken the initiative and has been controlled the measure of throttle, and initiatively anti-collision system deceleration of electrons and E-gas module are not worked; Change (13) over to;
(12) voice suggestion " enters the constant speed operation mode ", under this pattern, chaufeur does not have step on the accelerator, automobile speed has the possibility of further decline, enter the E-gas pattern, cut off former car brake pedal to brake system signal, Das Gaspedal to former car E-gas system signal, by the given former car E-gas system oil gate signal of native system, stabilizing speed;
(13) change (1) over to;
Described board units then reads the traffic lights data in the passive electronic sign that is laid on the stop line position by the sign read write line, and then realizes initiatively stopping when track, place red light and amber light, and its flow process is as follows:
(1) read electric sign, data fit " data format 2 " changes (2) over to, otherwise changes (1) over to;
(2) if lamp mode bit respective value is the 0(red light), the 2(amber light), change (3) over to; Lamp mode bit respective value is the 1(green light), 4(green light flicker), change (4) over to; Lamp mode bit respective value is the flicker of 3(amber light), change (5) over to; Lamp mode bit respective value is the 5(lamp failure), change (6) over to;
(3) verbal cue " the place ahead red light initiatively stops ", system enters the deceleration of electrons pattern, cuts off former car brake pedal to brake system signal, Das Gaspedal to former car E-gas system signal, by the given former car brake system speed-slackening signal of native system; Automobile reduces speed now and stops, and changes (1) over to;
(4) verbal cue " the place ahead green light, normal driving states ", former car brake pedal recovers to brake system signal, Das Gaspedal to former car E-gas system signal in system, controls automobile by chaufeur, changes aforementioned Control for Speed Limitation program over to;
(5) verbal cue " the amber light flicker is slowed down by four corners and gone slowly ", former car brake pedal recovers to brake system signal, Das Gaspedal to former car E-gas system signal in system, controls automobile by chaufeur, changes aforementioned Control for Speed Limitation program over to;
(6) verbal cue " street lamp fault; slow down by four corners and go slowly ", slow down by four corners and go slowly, and former car brake pedal recovers to brake system signal, Das Gaspedal to former car E-gas system signal in system, control automobile by chaufeur, change aforementioned Control for Speed Limitation program over to.
Further, described data format 1 is: the stop bit of the speed limit data bit of the track data bit of the stated-speed sign position of the start bit of 1 character+1 character+6 characters+8 characters+1 character;
Wherein, start bit: perseverance is 1, the stated-speed sign position: perseverance is 1, and track data bit: 0-63 can represent 64 tracks altogether, speed limit data bit: 0-255, speed limit can the 0-255 km/hour between set, stop bit: perseverance is 1;
Described data format 2 is: the stop bit of the lamp mode bit of the track data bit of the traffic lights zone bit of the start bit of 1 character+1 character+6 characters+3 characters+1 character;
Wherein, start bit: perseverance is 1, the traffic lights zone bit: perseverance is 0, and track data bit: 0-63 can represent 64 tracks altogether, lamp mode bit: 0-6, and stop bit: perseverance is 1;
In the lamp mode bit, 0 is red light, and 1 is green light, and 2 is amber light, and 3 are the amber light flicker, and 4 are the green light flicker, and 5 is lamp failure, and 6 for reserving.
Further, described board units also comprises the contingency mode switch, described contingency mode switch is connected with described controller, when ground system confusion out of control or crossing by artificial commander etc. in particular cases, open described contingency mode switch and can close active control system, make by deceleration and the parking behavior of crossing vehicle and complete by manual operation.
Further, described ground controller comprises traffic lights control module and radio receiving transmitting module; Described track terminal comprises sign module for reading and writing and radio receiving transmitting module.
Further, described board units also comprises Electronic Brake Control Module and E-gas control module, and described Electronic Brake Control Module and E-gas control module all are connected with described controller.
Further, described ground controller is controlled the signal lamp in each track, and on the one hand, the traffic light state sends data via the radio receiving transmitting module of described ground controller to the track terminal in track, place; On the other hand, for the track of " red light stops ", car Taoist monastic name, stop signal are write among the electronic mark of laying in corresponding track by wireless network and described track terminal.
Further, write car Taoist monastic name, speed limit in the described electronic mark at stated-speed sign place; Under near stop line and place, track, place " red light stops " state, write car Taoist monastic name, stop signal in described electronic mark.
Further, described voice component comprises speech chip and audio frequency loudspeaker.
Further, described board units also comprises I/O circuit and status indicator lamp, and described I/O circuit is connected with described controller is unidirectional, and described status indicator lamp is electrically connected to described I/O circuit.
Ground controller of the present invention is mainly controlled the traffic lights in each track, simultaneously, lights state sends data via the radio receiving transmitting module of ground controller to the track terminal in track, place, data format is as shown in " data format 2 ", and these data finally write in the electronic mark of track, place near stop line.
When the people is carried out for traffic control in crossing, the place ahead or initiatively the anti-collision system appearance is abnormal, arrange on board units by " emergency switch ", " emergency switch " adopts the mechanical self-latching structure, press emergency switch, namely pass through this switch physically with the deceleration of electrons control signal on the active collision prevention control system and the brake system on E-gas control signal and former car and E-gas realization cut-out, and brake pedal and accelerator pedal signal are connected on the brake system and E-gas of former car.Thereby realize the people for traffic control or initiatively anti-collision system occur can thoroughly cutting off the initiatively effect of anti-collision system when abnormal.
Beneficial effect of the present invention is embodied in:
1, automobile enters speed limit when zone, and board units namely identifies the speed limit data among the electronic mark that read write line reads laying, by deceleration of electrons module and E-gas module, realizes the active speed limit of automobile, guarantees that the speed of a motor vehicle is no more than speed limit;
When 2, automobile is near stop line, read cutoff command, by deceleration of electrons module and E-gas module, realize the instant parking of automobile, guarantee the dangerous plays such as making a dash across the red light can not appear in automobile;
3, when the zone that enters system's startup work, by system, the active operation operating modes such as speed limit, parking are carried out real-time broadcasting, take the hedging measure to facilitate steerman;
4, when ground system confusion out of control or crossing by artificial commander etc. in particular cases, can select the contingency mode switch of board units, close active control system, make by deceleration and the parking behavior of crossing vehicle and complete by manual operation.
Description of drawings
Fig. 1 is board units frame diagram of the present invention.
Fig. 2 is ground controller control framework figure of the present invention.
Fig. 3 is the present invention
Track terminal control frame diagram.
Fig. 4 is initiatively anti-collision system chief component figure of the present invention.
The specific embodiment
Referring to figs. 1 through Fig. 4, four corners is anti-collision system initiatively, comprises four corners surface units and board units; Described four corners surface units comprises electronic mark 5, track terminal, signal lamp and ground controller, described electronic mark 5 arranges along track central authorities interval successively, described signal lamp and described ground controller wireless connections, described track terminal is by wireless network and described ground controller communication; Described board units comprises controller 1, sign read write line 3, CAN communication controller 2 and voice component; Described sign read write line 3 and described two-way connection of controller 1, described sign read write line 3 is connected with described electronic mark 5 wireless two-ways, and the read-write of described electronic mark 5 is realized via described sign read write line 3 by described track terminal; Described CAN communication controller 2 and described two-way connection of controller 1, described CAN communication controller 2 is connected with car running computer 4 is two-way; Described voice component is connected with described controller 1, when the regional described voice component that enters system's startup work can carry out real-time broadcasting to working; Described board units reads data in the electronic mark 5 that is laid on the track by sign read write line 3, when reading speed limit, namely realizes the active speed limit of automobile by controller 1, guarantees that the speed of a motor vehicle is no more than speed limit; When reading cutoff command, namely realize the instant parking of automobile by controller 1, guarantee the dangerous play that automobile can not occur making a dash across the red light;
At first described board units reads speed limit data in laying passive electronic sign on the way by sign read write line 3, and then definite speed limit, and carries out the active speed limit, and its speed limit program circuit is as follows:
(1) the read electric sign 5, and data fit " data format 1 " changes (2) over to, otherwise changes (1) over to;
(2) voice suggestion " enters speed limit zone, crossing ", and calculating mileage is as poor in mileage〉threshold value a, change (3) over to, otherwise change (4) over to;
(3) voice suggestion " is sailed out of speed limit zone, crossing ", thinks to exceed the electronic mark active distance, and initiatively anti-collision system lost efficacy, and recovers former car brake pedal to former car brake system signal, Das Gaspedal to former car E-gas system signal, and the car load chaufeur is controlled; Change (1) over to;
(4) read the current vehicle speed of automobile from the CAN bus; If speed limit〉current vehicle speed, carry out (5), otherwise carry out (6);
(5) voice suggestion " enters the driver's operation pattern ", and native system deceleration of electrons, E-gas module are not worked, and recovers former car brake pedal to former car brake system signal, Das Gaspedal to former car E-gas system signal, is controlled by chaufeur;
(6) change as former car deceleration of electrons sensor values threshold value a, carry out (7), otherwise, carry out (8);
(7) under this pattern, the chaufeur deceleration measure of having taken the initiative, initiatively anti-collision system deceleration of electrons and E-gas module are not worked; Change (9) over to;
(8) voice suggestion " enters initiatively collision avoidance pattern ", enters the deceleration of electrons pattern, cuts off former car brake pedal to brake system signal, Das Gaspedal to former car E-gas system signal, by the given former car brake system speed-slackening signal of native system; Automobile reduces speed now;
(9) read the current vehicle speed of automobile from the CAN bus; If current vehicle speed〉speed limit, carry out (4), otherwise carry out (10);
(10) as former car throttle sensor numerical value change〉threshold value b, carry out (11), otherwise, carry out (12);
(11) under this pattern, chaufeur has been taken the initiative and has been controlled the measure of throttle, and initiatively anti-collision system deceleration of electrons and E-gas module are not worked; Change (13) over to;
(12) voice suggestion " enters the constant speed operation mode ", under this pattern, chaufeur does not have step on the accelerator, automobile speed has the possibility of further decline, enter the E-gas pattern, cut off former car brake pedal to brake system signal, Das Gaspedal to former car E-gas system signal, by the given former car E-gas system oil gate signal of native system, stabilizing speed;
(13) change (1) over to;
Described board units then reads the traffic lights data in the passive electronic sign that is laid on the stop line position by the sign read write line, and then realizes initiatively stopping when track, place red light and amber light, and its flow process is as follows:
(1) read electric sign, data fit " data format 2 " changes (2) over to, otherwise changes (1) over to;
(2) if lamp mode bit respective value is the 0(red light), the 2(amber light), change (3) over to; Lamp mode bit respective value is the 1(green light), 4(green light flicker), change (4) over to; Lamp mode bit respective value is the flicker of 3(amber light), change (5) over to; Lamp mode bit respective value is the 5(lamp failure), change (6) over to;
(3) verbal cue " the place ahead red light initiatively stops ", system enters the deceleration of electrons pattern, cuts off former car brake pedal to brake system signal, Das Gaspedal to former car E-gas system signal, by the given former car brake system speed-slackening signal of native system; Automobile reduces speed now and stops, and changes (1) over to;
(4) verbal cue " the place ahead green light, normal driving states ", former car brake pedal recovers to brake system signal, Das Gaspedal to former car E-gas system signal in system, controls automobile by chaufeur, changes aforementioned Control for Speed Limitation program over to;
(5) verbal cue " the amber light flicker is slowed down by four corners and gone slowly ", former car brake pedal recovers to brake system signal, Das Gaspedal to former car E-gas system signal in system, controls automobile by chaufeur, changes aforementioned Control for Speed Limitation program over to;
(6) verbal cue " street lamp fault; slow down by four corners and go slowly ", slow down by four corners and go slowly, and former car brake pedal recovers to brake system signal, Das Gaspedal to former car E-gas system signal in system, control automobile by chaufeur, change aforementioned Control for Speed Limitation program over to.
Further, described data format 1 is: the stop bit of the speed limit data bit of the track data bit of the stated-speed sign position of the start bit of 1 character+1 character+6 characters+8 characters+1 character;
Wherein, start bit: perseverance is 1, the stated-speed sign position: perseverance is 1, and track data bit: 0-63 can represent 64 tracks altogether, speed limit data bit: 0-255, speed limit can the 0-255 km/hour between set, stop bit: perseverance is 1;
Described data format 2 is: the stop bit of the lamp mode bit of the track data bit of the traffic lights zone bit of the start bit of 1 character+1 character+6 characters+3 characters+1 character;
Wherein, start bit: perseverance is 1, the traffic lights zone bit: perseverance is 0, and track data bit: 0-63 can represent 64 tracks altogether, lamp mode bit: 0-6, and stop bit: perseverance is 1;
In the lamp mode bit, 0 is red light, and 1 is green light, and 2 is amber light, and 3 are the amber light flicker, and 4 are the green light flicker, and 5 is lamp failure, and 6 for reserving.
Further, described board units also comprises the contingency mode switch, described contingency mode switch is connected with described controller 1, when ground system confusion out of control or crossing by artificial commander etc. in particular cases, open described contingency mode switch and can close active control system, make by deceleration and the parking behavior of crossing vehicle and complete by manual operation.
Further, described ground controller comprises traffic lights control module and radio receiving transmitting module; Described track terminal comprises sign module for reading and writing and radio receiving transmitting module.
Further, described board units also comprises Electronic Brake Control Module and E-gas control module 10, and described Electronic Brake Control Module is connected with the E-gas control module and all is connected with described controller 1.
Further, described ground controller is controlled the signal lamp in each track, and on the one hand, the traffic light state sends data via the radio receiving transmitting module of described ground controller to the track terminal in track, place; On the other hand, for the track of " red light stops ", car Taoist monastic name, stop signal are write among the electronic mark of laying in corresponding track by wireless network and described track terminal.
Further, write car Taoist monastic name, speed limit in the described electronic mark at stated-speed sign place; Under near stop line and place, track, place " red light stops " state, write car Taoist monastic name, stop signal in described electronic mark.
Further, described voice component comprises speech chip 8 and audio frequency loudspeaker 9.
Further, described board units also comprises I/O circuit 6 and status indicator lamp 7, and described I/O circuit 6 is electrically connected to described I/O circuit 6 with described unidirectional connection of controller 1, described status indicator lamp 7.
Ground controller of the present invention is mainly controlled the traffic lights in each track, simultaneously, lights state sends data via the radio receiving transmitting module of ground controller to the track terminal in track, place, data format is as shown in " data format 2 ", and these data finally write in the electronic mark of track, place near stop line.
When the people is carried out for traffic control in crossing, the place ahead or initiatively the anti-collision system appearance is abnormal, arrange on board units by " emergency switch ", " emergency switch " adopts the mechanical self-latching structure, press emergency switch, namely pass through this switch physically with the deceleration of electrons control signal on the active collision prevention control system and the brake system on E-gas control signal and former car and E-gas realization cut-out, and brake pedal and accelerator pedal signal are connected on the brake system and E-gas of former car.Thereby realize the people for traffic control or initiatively anti-collision system occur can thoroughly cutting off the initiatively effect of anti-collision system when abnormal.
With reference to figure 2, described ground controller with micro controller system (MCU) or digital signal processor (DSP) or ARM as control unit, realize control to traffic lights and status indicator lamp 7 by I/O circuit 6, by the Zigbee wireless module with the state transfer of traffic lights to the track terminal.
With reference to figure 3, the track terminal with micro controller system (MCU) or digital signal processor (DSP) or ARM as control unit, by the control of I/O circuit 6 realizations to status indicator lamp 7, by the traffic light status information of Zigbee wireless module reception from ground controller, realize the electronic mark that is laid on ground is carried out read-write operation by the electronic mark read write line.
With reference to figure 1, board units with micro controller system (MCU) or digital signal processor (DSP) or ARM as control unit, by the control of I/O circuit 6 realizations to status indicator lamp 7, by the traffic light status information of Zigbee wireless module reception from ground controller, realize the electronic mark that is laid on ground is carried out read-write operation by the electronic mark read write line, by speech chip, voice reminder is carried out in the ACTIVE CONTROL operation of active system.Realize the active collision avoidance of automobile is controlled by deceleration of electrons/E-gas control module 10.
The described content of this specification sheets embodiment is only enumerating the way of realization of inventive concept; protection scope of the present invention should not be regarded as only limiting to the concrete form that embodiment states, protection scope of the present invention also reaches conceives the equivalent technologies means that can expect according to the present invention in those skilled in the art.
Claims (9)
1. four corners active anti-collision system, is characterized in that: comprise four corners surface units and board units; Described four corners surface units comprises electronic mark, track terminal, signal lamp and ground controller, described electronic mark arranges along track central authorities interval successively, described signal lamp and described ground controller wireless connections, described track terminal is by wireless network and described ground controller communication; Described board units comprises controller, sign read write line, CAN communication controller and voice component; Described sign read write line is connected with described controller is two-way, and described sign read write line is connected with described electronic mark wireless two-way, and the read-write of described electronic mark is realized via described sign read write line by described track terminal; Described CAN communication controller is connected with described controller is two-way, and described CAN communication controller is connected with car running computer is two-way; Described voice component is connected with described controller, when the regional described voice component that enters system's startup work can carry out real-time broadcasting to working; Described board units reads data in the electronic mark that is laid on the track by the sign read write line, when reading speed limit, namely realizes the active speed limit of automobile by controller, guarantees that the speed of a motor vehicle is no more than speed limit; When reading cutoff command, namely realize the instant parking of automobile by controller, guarantee the dangerous play that automobile can not occur making a dash across the red light;
At first described board units reads speed limit data in laying passive electronic sign on the way by the sign read write line, and then definite speed limit, and carries out the active speed limit, and its speed limit program circuit is as follows:
(1) read electric sign, data fit " data format 1 " changes (2) over to, otherwise changes (1) over to;
(2) voice suggestion " enters speed limit zone, crossing ", and calculating mileage is as poor in mileage〉threshold value a, change (3) over to, otherwise change (4) over to;
(3) voice suggestion " is sailed out of speed limit zone, crossing ", thinks to exceed the electronic mark active distance, and initiatively anti-collision system lost efficacy, and recovers former car brake pedal to former car brake system signal, Das Gaspedal to former car E-gas system signal, and the car load chaufeur is controlled; Change (1) over to;
(4) read the current vehicle speed of automobile from the CAN bus; If speed limit〉current vehicle speed, carry out (5), otherwise carry out (6);
(5) voice suggestion " enters the driver's operation pattern ", and native system deceleration of electrons, E-gas module are not worked, and recovers former car brake pedal to former car brake system signal, Das Gaspedal to former car E-gas system signal, is controlled by chaufeur;
(6) change as former car deceleration of electrons sensor values threshold value a, carry out (7), otherwise, carry out (8);
(7) under this pattern, the chaufeur deceleration measure of having taken the initiative, initiatively anti-collision system deceleration of electrons and E-gas module are not worked; Change (9) over to;
(8) voice suggestion " enters initiatively collision avoidance pattern ", enters the deceleration of electrons pattern, cuts off former car brake pedal to brake system signal, Das Gaspedal to former car E-gas system signal, by the given former car brake system speed-slackening signal of native system; Automobile reduces speed now;
(9) read the current vehicle speed of automobile from the CAN bus; If current vehicle speed〉speed limit, carry out (4), otherwise carry out (10);
(10) as former car throttle sensor numerical value change〉threshold value b, carry out (11), otherwise, carry out (12);
(11) under this pattern, chaufeur has been taken the initiative and has been controlled the measure of throttle, and initiatively anti-collision system deceleration of electrons and E-gas module are not worked; Change (13) over to;
(12) voice suggestion " enters the constant speed operation mode ", under this pattern, chaufeur does not have step on the accelerator, automobile speed has the possibility of further decline, enter the E-gas pattern, cut off former car brake pedal to brake system signal, Das Gaspedal to former car E-gas system signal, by the given former car E-gas system oil gate signal of native system, stabilizing speed;
(13) change (1) over to;
Described board units then reads the traffic lights data in the passive electronic sign that is laid on the stop line position by the sign read write line, and then realizes initiatively stopping when track, place red light and amber light, and its flow process is as follows:
(1) read electric sign, data fit " data format 2 " changes (2) over to, otherwise changes (1) over to;
(2) if lamp mode bit respective value is the 0(red light), the 2(amber light), change (3) over to; Lamp mode bit respective value is the 1(green light), 4(green light flicker), change (4) over to; Lamp mode bit respective value is the flicker of 3(amber light), change (5) over to; Lamp mode bit respective value is the 5(lamp failure), change (6) over to;
(3) verbal cue " the place ahead red light initiatively stops ", system enters the deceleration of electrons pattern, cuts off former car brake pedal to brake system signal, Das Gaspedal to former car E-gas system signal, by the given former car brake system speed-slackening signal of native system; Automobile reduces speed now and stops, and changes (1) over to;
(4) verbal cue " the place ahead green light, normal driving states ", former car brake pedal recovers to brake system signal, Das Gaspedal to former car E-gas system signal in system, controls automobile by chaufeur, changes aforementioned Control for Speed Limitation program over to;
(5) verbal cue " the amber light flicker is slowed down by four corners and gone slowly ", former car brake pedal recovers to brake system signal, Das Gaspedal to former car E-gas system signal in system, controls automobile by chaufeur, changes aforementioned Control for Speed Limitation program over to;
(6) verbal cue " street lamp fault; slow down by four corners and go slowly ", slow down by four corners and go slowly, and former car brake pedal recovers to brake system signal, Das Gaspedal to former car E-gas system signal in system, control automobile by chaufeur, change aforementioned Control for Speed Limitation program over to.
2. four corners as claimed in claim 1 anti-collision system initiatively, it is characterized in that: described data format 1 is: the stop bit of the speed limit data bit of the track data bit of the stated-speed sign position of the start bit of 1 character+1 character+6 characters+8 characters+1 character;
Wherein, start bit: perseverance is 1, the stated-speed sign position: perseverance is 1, and track data bit: 0-63 can represent 64 tracks altogether, speed limit data bit: 0-255, speed limit can the 0-255 km/hour between set, stop bit: perseverance is 1;
Described data format 2 is: the stop bit of the lamp mode bit of the track data bit of the traffic lights zone bit of the start bit of 1 character+1 character+6 characters+3 characters+1 character;
Wherein, start bit: perseverance is 1, the traffic lights zone bit: perseverance is 0, and track data bit: 0-63 can represent 64 tracks altogether, lamp mode bit: 0-6, and stop bit: perseverance is 1;
In the lamp mode bit, 0 is red light, and 1 is green light, and 2 is amber light, and 3 are the amber light flicker, and 4 are the green light flicker, and 5 is lamp failure, and 6 for reserving.
3. four corners as claimed in claim 1 or 2 anti-collision system initiatively, it is characterized in that: described board units also comprises the contingency mode switch, described contingency mode switch is connected with described controller, when ground system confusion out of control or crossing by artificial commander etc. in particular cases, open described contingency mode switch and can close active control system, make by deceleration and the parking behavior of crossing vehicle and complete by manual operation.
4. four corners as claimed in claim 3 anti-collision system initiatively, it is characterized in that: described ground controller comprises traffic lights control module and radio receiving transmitting module; Described track terminal comprises sign module for reading and writing and radio receiving transmitting module.
5. four corners as claimed in claim 4 anti-collision system initiatively, it is characterized in that: described board units also comprises Electronic Brake Control Module and E-gas control module, and described Electronic Brake Control Module and E-gas control module all are connected with described controller.
6. four corners as claimed in claim 5 anti-collision system initiatively, it is characterized in that: described ground controller is controlled the signal lamp in each track, on the one hand, the traffic light state sends data via the radio receiving transmitting module of described ground controller to the track terminal in track, place; On the other hand, for the track of " red light stops ", car Taoist monastic name, stop signal are write among the electronic mark of laying in corresponding track by wireless network and described track terminal.
7. four corners active anti-collision system as claimed in claim 6, is characterized in that: write car Taoist monastic name, speed limit in the described electronic mark at stated-speed sign place; Under near stop line and place, track, place " red light stops " state, write car Taoist monastic name, stop signal in described electronic mark.
8. four corners as claimed in claim 7 anti-collision system initiatively, it is characterized in that: described voice component comprises speech chip and audio frequency loudspeaker.
9. four corners as claimed in claim 8 anti-collision system initiatively, it is characterized in that: described board units also comprises I/O circuit and status indicator lamp, and described I/O circuit is connected with described controller is unidirectional, and described status indicator lamp is electrically connected to described I/O circuit.
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| CN201310079209.7A CN103171555B (en) | 2013-03-13 | 2013-03-13 | System for active collision avoidance at crossroad |
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| CN201310079209.7A CN103171555B (en) | 2013-03-13 | 2013-03-13 | System for active collision avoidance at crossroad |
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