CN103332180A - Speed-reducing anti-collision method for speed-reducing anti-collision system of small-sized four-wheel vehicle - Google Patents

Abstract

The invention discloses a speed-reducing anti-collision method for a speed-reducing anti-collision system of a small-sized four-wheel vehicle, which relates to an anti-collision speed-reducing system, and is used for solving the problem that the anti-collision system of the conventional small-sized four-wheel vehicle cannot make any judgment and lower the speed in advance to prevent collision when a vehicle gets close. The method comprises the following steps of: acquiring information of a nearby vehicle through a sensor, calculating information of the four-wheel vehicle and the nearby vehicle, and transmitting the information to a control module; when the four-wheel vehicle and the nearby vehicle enter a preset danger distance, judging whether the two vehicles keep the current direction and speed or not and whether the opposite vehicle is also provided with the anti-collision system by using the control module; and calculating the distance between the vehicles tend to collide with each other, and starting electromagnetic modules of the two vehicles at the same time when the distance between the two vehicles reduces gradually to the preset danger distance to finish the speed reducing processes of the two vehicles. The speed-reducing anti-collision method can be widely applied to speed-reducing anti-collision control of small-sized four-wheel vehicles.

Description

The deceleration collision-proof method that is used for small four-wheel car deceleration collision avoidance system

Technical field

The present invention relates to a kind of anticollision deceleration system.

Background technology

Along with The development in society and economy, private car is more and more universal, and traffic safety receives people's very big concern, even the speed when bumping against is 1m/s, the impulsive force of its generation is also very huge.If the speed in the time of reducing to collide when traffic accident takes place alleviates actv. the harm of traffic accident as far as possible.Existing vehicle collision protective system generally has only safety air bag, ejects when bump and carries out protection work.But such protection can not vehicle near the time just make judgement, prevent trouble before it happens.

Summary of the invention

The present invention for solve existing small four-wheel car collision avoidance system can not vehicle near the time make judgement, slowing down in advance reaches the problem of anticollision.

Are based on the deceleration collision-proof method that is used for small four-wheel car deceleration collision avoidance system, described method sensor assembly, communication module, control module and electromagnetic module realize,

The sensing data mouth of described sensor assembly links to each other with control module sensing data input end, and the communication terminal of communication module links to each other with the communication terminal of control module, and the electromagnetic control end of control module links to each other with electromagnetic module;

Sensor assembly is used for obtaining this car travel direction, moving velocity and vehicle weight, and near vehicle heading, moving velocity and vehicle weight;

Communication module is used for carrying out the information transmission with near vehicle;

Control module, near the driving information being used for judging between vehicle and this car, and control starts communication module and electromagnetic module;

Electromagnetic module is used for energising and produces the magnetic field of repelling each other;

It comprises the steps:

Step 1: obtain near information of vehicles by sensor, calculate two spacings, moving velocity and the acceleration information that travels of this car and near vehicle, and be sent to control module in real time;

Step 2: when this vehicle and near vehicle entered default danger meet apart from the time, control module can bump against behind certain hour if according to real-time direction and the real-time speed of two cars, judge two cars if keep existing direction and speed, then enters step 3;

Step 3: control module starts communication module, judges whether the other side's vehicle also is equipped with this collision avoidance system; If then enter step 4, then point out chaufeur that collision trend and end are arranged if not;

Step 4: calculate the distance with the vehicle that collision trend is arranged, when two spacings be contracted to gradually default danger meet apart from the time start the electromagnetic module of two cars simultaneously, finish two car moderating processes.

The present invention has realized carrying out compact car deceleration anticollision by sensor measurement, electromagnetic induction.The present invention is based on sensor measurement, when the hypotelorism of judging two cars, when reaching danger range, start the electromagnetic module in the car, produce a very big electromagnetic repulsion force in moment, even if artificial like this braking fails timely the speed of a motor vehicle to be lowered, electromagnetic force also can slow down two cars by actv., and then reduces or even stop and collide.

Description of drawings

Fig. 1 is used for the diagram of circuit of the deceleration collision-proof method of compact car deceleration collision avoidance system for the present invention;

Fig. 2 is that the specific embodiment two described coils calculate scheme drawing;

Fig. 3 is the specific embodiment one described coil configuration mode figure;

Fig. 4 is specific embodiment Matlab simulation curve figure.

The specific embodiment

The specific embodiment one, in conjunction with Fig. 1 this specific embodiment is described.Are based on the deceleration collision-proof method that is used for small four-wheel car deceleration collision avoidance system, described method sensor assembly, communication module, control module and electromagnetic module realize,

The sensing data mouth of described sensor assembly links to each other with control module sensing data input end, and the communication terminal of communication module links to each other with the communication terminal of control module, and the electromagnetic control end of control module links to each other with electromagnetic module;

Sensor assembly is used for obtaining this car travel direction, moving velocity and vehicle weight, and near vehicle heading, moving velocity and vehicle weight;

Communication module is used for carrying out the information transmission with near vehicle;

Control module, near the driving information being used for judging between vehicle and this car, and control starts communication module and electromagnetic module;

Electromagnetic module is used for energising and produces the magnetic field of repelling each other;

It comprises the steps:

Step 1: obtain near information of vehicles by sensor, calculate two spacings, moving velocity and the acceleration information that travels of this car and near vehicle, and be sent to control module in real time;

Step 2: when this vehicle and near vehicle entered default danger meet apart from the time, control module can bump against behind certain hour if according to real-time direction and the real-time speed of two cars, judge two cars if keep existing direction and speed, then enters step 3;

Step 3: control module starts communication module, judges whether the other side's vehicle also is equipped with this collision avoidance system; If then enter step 4, then point out chaufeur that collision trend and end are arranged if not;

Step 4: calculate the distance with the vehicle that collision trend is arranged, when two spacings be contracted to gradually default danger meet apart from the time start the electromagnetic module of two cars simultaneously, finish two car moderating processes.

By distance, orientation, vehicle weight and the Encounter Time etc. between the sensor mensuration vehicle of described system, judge by the data that control module provides according to sensor whether two cars can bump against.If judge and can bump against, then start communication module, communication module informs that the other side's vehicle will bump against.When control module can be judged the little electromagnetic module that starts during to predeterminable range of two spacings, give the coil assembly galvanization, the arrangement mode of coil as shown in Figure 3, the size of current that each coil led to, and the big or small control module of electric current is regulated in real time according to distance, speed and the strength under shock of two cars, make the identical magnetic field of two car polarizations, according to principle of same-sex repulsion, when two spacings are very near, will be subjected to the power with own reverse movement so, two vehicle speeds are subtracted each other, thereby reach the harmfulness that reduces to collide.

The specific embodiment two, in conjunction with Fig. 2 illustrate this specific embodiment and the specific embodiment one different be described step 4: calculate the distance with the vehicle that collision trend is arranged, when two spacings be contracted to gradually default danger meet apart from the time start the electromagnetic module of two cars simultaneously electromagnetic intensity computation process be:

The loop length of vehicle is l, coil round section radius a, and the mid point of the two car lines of centres is P; Along line, make that P is x to the distance of end turn, x calculates by sensor.D is coil diameter, and n is coil turn, β ₁Be the angle of end turn to P point line and line of centers, β ₂Be the angle of coil bottom to P point line and line of centers, F is by magnetic field force induced, and β is the angle integration variable, and d β is the differential of independent variable β.μ is the actual magnetic conductance, μ ₀Be space permeability, after supposing to insert iron staff in coil, actual magnetic conductance μ increase is 3000 times of space permeability, and I is coil institute galvanization size, and according to Maxwell equation as can be known, all the electric current circles at the electromagnetic intensity that the P point produces are:

$B\left(P\right)=-\frac{n{\mathrm{\μ}}_{0}I}{2}{\∫}_{{\mathrm{\β}}_1}^{{\mathrm{\β}}_2}\sin \mathrm{\βd\β}=\frac{3000n{\mathrm{\μ}}_{0}I}{2}(\cos {\mathrm{\β}}_2-\cos {\mathrm{\β}}_1)$

$F=n\stackrel{\‾}{B}2\mathrm{\πaI}$

Wherein: ${\mathrm{\β}}_1=\arctan \frac{a}{x},$ ${\mathrm{\β}}_2=\arctan \frac{a}{l+x}.$

The specific embodiment three, this specific embodiment and the specific embodiment one and the specific embodiment two are different is that the described default danger distance of meeting is 0.5m, this predeterminable range can be according to sensor institute return data, as the weight of four-wheeled and two vehicle speeds etc., do an amount of adjustment, this process is finished jointly by control module and sensor assembly.

What the specific embodiment four, this specific embodiment and the specific embodiment one were different is that described electromagnetic module comprises electromagnetic induction coil, the concrete parameter of coil and the concrete array of coil should determine that jointly described electromagnetic induction coil array distribution is at four drift angles of small four-wheel car by various factors such as the moulding of vehicle itself and weight.

Innovation part of the present invention is that the improvement of brake system different from the past is to reduce the harm of collision, by power opposite with sense of motion of device generation of electric magnetisation, for safe driving provides a new thinking.Compare with existing SRS system, both have points of resemblance aspect utilizing at sensor, must collide but the prerequisite of SRS systemic effect is two cars, and have following deficiency:

(1) should avoid safety air bag to be subjected to the above high temperature of 85 degree;

(2) safety air bag main part and control unit should be avoided being collided with and vibrating;

(3) as if vehicle generation slight impact, SRS might not can trigger, but slight impact also can cause cerebral commotion etc., and harm exists to health;

(4) no matter collision and the not reproducible use of crash sensor that triggered of SRS system took place, be left side or right side, even middle crash sensor all should change simultaneously, and more high-precision sensor is more expensive.

Specific embodiment:

Suppose that small-sized electric car weight is 900kg, headstock and the tailstock respectively are equipped with 4 coils, and the two cars speed that will bump against is 80km/h, start electric magnetisation module, electric current I=100A during for 0.5m at two spacings.The coil specification is as follows:

A=100mm, lead radius r=1.5mm, L=600mm, n=2000

Then ${\mathrm{\β}}_1=\arctan \frac{a}{x}=\arctan \frac{100}{x},$ ${\mathrm{\β}}_2=\arctan \frac{a}{L+x}=\arctan \frac{100}{300+x}$

$B\left(x\right)=-\frac{\mathrm{n\μI}}{2}{\∫}_{{\mathrm{\β}}_1}^{{\mathrm{\β}}_2}\sin \mathrm{\βd\β}=\frac{3000n{\mathrm{\μ}}_{0}I}{2}(\cos {\mathrm{\β}}_2\left(x\right)-\cos {\mathrm{\β}}_1\left(x\right))$

Do a simple mathematical emulation with software Matlab, program is as follows:

a＝0.1；

Lc＝0.6；

rx＝1.5*10e-4；

n＝Lc/rx；

m＝900；

s＝0.05；

u＝3000*4*pi*10e-8；

I＝100；

v＝zeros(1，10)；

x＝zeros(1，10)；

Al＝zeros(1，10)；

A2＝zeros(1，10)；

B＝zeros(1，10)；

F＝zeros(1，10)；

v(1)＝23；

x(1)＝0.5；

for?i＝2:10

x(i)＝0.5-(i-1)*0.05；

Al(i)＝atan(a/x(i))；

A2(i)＝atan(a/(Lc+x(i)))；

B(i)＝I*0.5*n*u*(cos(A2(i))-cos(Al(i)))；

F(i)＝n*B(i)*2*pi*a*I*4；

al(i)＝F(i)/m；

v(i)＝sqrt(v(i-1)*v(i-1)-2*al(i)*s)；

end

t＝1:10

plot(t，v(t))；

The result can see as shown in Figure 4, two cars during at a distance of 0.1m two cars stop.

Claims (4)

1. are based on the deceleration collision-proof method that is used for small four-wheel car deceleration collision avoidance system, described method sensor assembly, communication module, control module and electromagnetic module realize,

The sensing data mouth of described sensor assembly links to each other with control module sensing data input end, and the communication terminal of communication module links to each other with the communication terminal of control module, and the electromagnetic control end of control module links to each other with electromagnetic module;

Sensor assembly is used for obtaining this car travel direction, moving velocity and vehicle weight, and near vehicle heading, moving velocity and vehicle weight;

Communication module is used for carrying out the information transmission with near vehicle;

Control module, near the driving information being used for judging between vehicle and this car, and control starts communication module and electromagnetic module;

Electromagnetic module is used for energising and produces the magnetic field of repelling each other;

It is characterized in that it comprises the steps:

Step 1: obtain near information of vehicles by sensor, calculate two spacings, moving velocity and the acceleration information that travels of this car and near vehicle, and be sent to control module in real time;

Step 2: when this vehicle and near vehicle entered default danger meet apart from the time, control module can bump against behind certain hour if according to real-time direction and the real-time speed of two cars, judge two cars if keep existing direction and speed, then enters step 3;

Step 3: control module starts communication module, judges whether the other side's vehicle also is equipped with this collision avoidance system; If then enter step 4, then point out chaufeur that collision trend and end are arranged if not;

Step 4: calculate the distance with the vehicle that collision trend is arranged, when two spacings be contracted to gradually default danger meet apart from the time start the electromagnetic module of two cars simultaneously, finish two car moderating processes.

2. the deceleration collision-proof method for small four-wheel car deceleration collision avoidance system according to claim 1, it is characterized in that described step 4: calculate the distance with the vehicle that collision trend is arranged, when two spacings be contracted to gradually default danger meet apart from the time start the electromagnetic module of two cars simultaneously electromagnetic intensity computation process be:

The loop length of vehicle is l, coil round section radius a, and the mid point of the two car lines of centres is P; Along line, make that P is x to the distance of end turn, x calculates by sensor.D is coil diameter, and n is coil turn, β ₁Be the angle of end turn to P point line and line of centers, β ₂Be the angle of coil bottom to P point line and line of centers, F is by magnetic field force induced, and β is the angle integration variable, and d β is the differential of independent variable β.μ is the actual magnetic conductance, μ ₀Be space permeability, after supposing to insert iron staff in coil, actual magnetic conductance μ increases 3000 times for space permeability.I is coil institute galvanization size, and according to Maxwell equation as can be known, all the electric current circle at the electromagnetic intensity that the P point produces is:

$B\left(P\right)=-\frac{\mathrm{n\μI}}{2}{\∫}_{{\mathrm{\β}}_1}^{{\mathrm{\β}}_2}\sin \mathrm{\βd\β}=\frac{3000n{\mathrm{\μ}}_{0}I}{2}(\cos {\mathrm{\β}}_2-\cos {\mathrm{\β}}_1)$

$F=n\stackrel{\‾}{B}2\mathrm{\πaI}$

Wherein: ${\mathrm{\β}}_1=\arctan \frac{a}{x},$ ${\mathrm{\β}}_2=\arctan \frac{a}{l+x}.$

3. the deceleration collision-proof method for small four-wheel car deceleration collision avoidance system according to claim 1 and 2 is characterized in that the described default danger distance of meeting is 0.5m.

4. the deceleration collision-proof method for small four-wheel car deceleration collision avoidance system according to claim 1 is characterized in that described electromagnetic module comprises electromagnetic induction coil, and described electromagnetic induction coil is distributed in four drift angles of small four-wheel car.

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