CN103465888A - Automobile automatic braking system applicable to four types of pavement and control method thereof - Google Patents
Automobile automatic braking system applicable to four types of pavement and control method thereof Download PDFInfo
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- CN103465888A CN103465888A CN2013104417457A CN201310441745A CN103465888A CN 103465888 A CN103465888 A CN 103465888A CN 2013104417457 A CN2013104417457 A CN 2013104417457A CN 201310441745 A CN201310441745 A CN 201310441745A CN 103465888 A CN103465888 A CN 103465888A
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Abstract
The invention discloses an automobile automatic braking system applicable to four types of pavement and a control method thereof; the system comprises an electronic controller, a detection device, an actuation device and a power module. The control method comprises the following steps that the electronic controller calculates a real-time automobile braking distance through a real-time automobile driving speed and a pavement driving environment, measures the real-time distances between two vehicles on the same lane, a vehicle and an object, a vehicle and a person through a ranging sensor, sends out a control instruction according to a control program, brakes a vehicle and gives out a voice alarm. The automobile automatic braking system has the characteristic of high intelligentization degree, and can ensure safe driving on the pavement in different environments.
Description
Technical field
The present invention relates to the vehicle safety technical field, specifically refer to a kind of automobile auto brake system and control method thereof of applicable four kinds of road surfaces.
Background technology
The impact of the factors such as absent minded during some driver drives vehicle, tired, medicine, mood and weather, cause and with between front vehicles, obstacle or the pedestrian in track or when reversing produce and judge by accident with distance between vehicle, obstacle or pedestrian, make between two cars, car thing or car people distance be equal to or less than the automobile brake distance (critical safe distance) of the real-time speed of a motor vehicle, so just very easily cause the generation of road traffic accident.
At present, there are no the scientific and technical literature of the automobile auto brake system similar techniques with applicable four kinds of road surfaces.
Summary of the invention
For solving institute's problem in background technology, the present invention proposes four kinds of road surfaces of a kind of self adaptation, safe and reliable intellectuality, automobile auto brake system and the control method thereof of automation.
The present invention includes: electronic controller, detection means, performer and power module.
Described detection means comprise ice-patch surface motoring condition button switch, snowy road traveling status button switch, humidity sensor, car speed sensor, car before measurement apart from distance measuring sensor after sensor, car, signal switch and back-up radar probe reverse gear.
Described performer comprises relay, phonic warning module, car brakeing electromagnet, car brakeing indicator lamp and vehicle risk alarm lamp.
Described power module comprises automotive battery, automobile ignition switch and DC converter, and its effect is to provide power supply for system.
Described electronic controller, its effect is calculated, is analyzed and judged according to the information of running car road surface, the speed of a motor vehicle, distance, reversing, when the distance when the distance between the place ahead vehicle, obstacle and pedestrian or front vehicle or reversing between front vehicle, obstacle or pedestrian is equal to or less than the stopping distance of the real-time speed of a motor vehicle, electronic controller sends control signal to performer, makes performer work.
Described ice-patch surface motoring condition button switch, its effect be automobile when ice-patch surface travels, chaufeur is pressed ice-patch surface motoring condition button switch, to electronic controller, transmits the information that automobile travels at ice-patch surface.
Described snowy road traveling status button switch, its effect be automobile when snowy road traveling, chaufeur is pressed snowy road traveling status button switch, to electronic controller, transmits the information of automobile at snowy road traveling.
Described humidity sensor, be arranged on the vehicle body of wheel back; Its effect is the wet and slippery situation on indirect detection road surface; When the rain of road surface, throw backward and form vaporificly due to the turning handle rainwater on road surface of wheel, the humidity of air is increased, humidity sensor is the change transitions of humidity electric signal, and sends electronic controller to.When if humidity sensor detects running car, wheel rear air humidity parameter is less than 95%RH, electronic controller judgement automobile is at dry pitch (mixed earth) road traveling; If, when humidity sensor detection wheel rear air humidity equals to be greater than 95%RH, electronic controller judgement automobile is at rainwater pitch (mixed earth) road traveling.
Described car speed sensor, its effect is the real-time speed of a motor vehicle that detects running car, and transmits the information of the real-time speed of a motor vehicle of automobile to electronic controller.
Described distance measuring sensor, its effect is to detect running automobile with the real-time distance between the place ahead, track or front vehicle, obstacle and pedestrian, and transmits the information of real-time distance to electronic controller.
Described back-up radar probe, its effect is while detecting vehicle backing and the real-time distance between front vehicle, object or pedestrian, and to the information of electronic controller transfer instant distance.
Described astern signal switch, switch closure when its effect is vehicle backing, for back-up radar probe provides power supply.
Described relay, its effect is the control signal according to electronic controller, the circuit of the module that switches on power and brake electromagnet and automobile brake indicator lamp, or the circuit of switch on power module and automobile danger alarm lamp.
Described phonic warning module, be the circuit of control multistage phonic warning able to programme, and it comprises speech chip and loud speaker; Its effect is store voice according to the control signal of electronic controller, the instruction of play operation vehicle and the dynamic information of driving.Its memory device is solidified with three sections voice modules that comprise " spacing is too near, at once braking deceleration " and " being in danger of vehicle distance, system autobrake is immediately slowed down " and " front vehicle is followed too closely, and system is opened danger alarm lamp automatically ".
Described car brakeing electromagnet has two, and one is arranged on automobile brake pedal, and another piece is arranged on the vehicle body of brake pedal below; Its effect is when energising to produce magnetic field, and two blocks of electromagnet are attracted each other, and drives brake pedal and move down, and reaches the purpose of automobile brake.
Described automobile brake indicator lamp, when its effect is car brakeing, the automobile brake signal lamp is switched on power supply and is shinny, to extraneous bulletin automobile in braking mode.
Described automobile danger alarm lamp, when its effect is the dangerous situation of vehicle, the automobile danger alarm lamp is switched on power supply and is shinny, in the hole to external world's warning automobile.
The main road surface of running car has four kinds, that is: dry pitch (mixed earth) road surface, rainwater pitch (mixed earth) road surface, snowy road surface and ice-patch surface.It is investigated that the adhesion value on " Automobile Engineering Manual " these four kinds of road surfaces is respectively 0.75,0.45,0.15 and 0.07.
By dry pitch (mixed earth) coefficient of road adhesion 0.75 and 10 kilometers/hour, 11 kilometers/hour, 12 kilometers/hour, 13 kilometers/hour of the speed of a motor vehicle ..., 150 speed of a motor vehicle numerical value between 148 kilometers/hour, 149 kilometers/hour, 150 kilometers/hour respectively substitution calculate the automobile brake range formulas
in formula, S is automobile brake distance (critical safe distance), V is the real-time speed of a motor vehicle, μ is adhesion value, g is acceleration due to gravity), can obtain respectively automobile on dry pitch (mixed earth) road surface 10 kilometers/hour, 11 kilometers/hour, 12 kilometers/hour, 13 kilometers/hour of the speed of a motor vehicle ..., the automobile brake of 150 speed of a motor vehicle of 148 kilometers/hour, 149 kilometers/hour, 150 kilometers/hour is apart from S.
In like manner, calculate respectively the automobile brake of 150 speed of a motor vehicle between rainwater pitch (mixed earth) road surface, snowy road surface and ice-patch surface 10 kilometers/hour to 150 kilometers/hour apart from S.
System control method:
After chaufeur rotates the switch activated automobile of igniting, power module provides power supply for system, system enters mode of operation, and humidity sensor, car speed sensor and distance measuring sensor send the parameter of distance after the humidity that detects, the speed of a motor vehicle, car front truck to electronic controller.If automobile is when dry pitch (mixed earth) road traveling, humidity sensor detects humidity parameter and is less than 95%RH, electronic controller judges that automobile, at dry pitch (mixed earth) road traveling, is just monitored vehicle traveling process according to the control program of the dry pitch of setting (mixed earth) road traveling; If automobile is when rainwater pitch (mixed earth) road traveling, humidity sensor detects humidity parameter and is equal to or greater than 95%RH, electronic controller judges that automobile, at rainwater pitch (mixed earth) road traveling, is just monitored vehicle traveling process according to the control program of the rainwater pitch of setting (mixed earth) road traveling; If the running car road surface is snowy road surface, chaufeur will be pressed snowy road traveling status button switch, and electronic controller obtains automobile in snowy road traveling information, just according to the control program of the snowy road traveling of setting, vehicle traveling process is monitored; If the running car road surface is ice-patch surface, chaufeur will be pressed ice-patch surface motoring condition button switch, and electronic controller obtains automobile at the ice-patch surface driving information, and the control program just travelled according to the ice-patch surface of setting is monitored vehicle traveling process.
The car before measurement is apart from the distance between the real-time monitoring of sensor and front vehicles, obstacle or pedestrian, when the distance detected:
Equal automobile brake apart from the time, electronic controller sends instruction to the phonic warning module, controls it and sends the alarm voice, " spacing is too near, please braking deceleration " at once; Be less than automobile brake apart from the time, the electronic controller control relay is connected the brake electromagnet circuit, makes its brake electromagnet produce electromagnetic force and drives brake pedal and move, and reaches the effect that automobile brake slows down; Send instruction to the phonic warning module, the phonic warning module is sent voice, " being in danger of vehicle distance, system autobrake is immediately slowed down " simultaneously; Brake also bright opening of indicator lamp simultaneously, slow down or change lane with the alarm succeeding vehicle.
When reversing, back-up radar probe detects between the automobile front vehicle, the distance between obstacle or pedestrian equal automobile brake apart from the time, electronic controller sends instruction to the phonic warning module, controls it and sends the alarm voice, " spacing is too near, at once braking deceleration "; Be less than automobile brake apart from the time, the electronic controller control relay is connected the brake electromagnet circuit, makes its brake electromagnet produce electromagnetic force and drives brake pedal and move, and reaches the effect that automobile brake slows down; Send instruction to the phonic warning module, the phonic warning module is sent voice, " being in danger of vehicle distance, system autobrake is immediately slowed down " simultaneously.
After car distance measuring sensor detect automobile with between the front vehicle of track the distance equal automobile brake apart from the time, electronic controller sends instruction to the phonic warning module, control it and send warning information, " front vehicle is followed too closely, and system is opened danger alarm lamp automatically "; Electronic controller sends instruction simultaneously, makes the vehicle risk alarm lamp flicker, and the bulletin front vehicle is slowed down and pulled open spacing.
Beneficial effect: 1, electronic controller is by the driving road environment of setting vehicle and the monitoring of humidity sensor road pavement situation, the car speed sensor monitoring speed of a motor vehicle and distance measuring sensor detect vehicle and actual distance with the place ahead, track, front vehicle, obstacle and pedestrian, set the stopping distance of the different speed of a motor vehicle, and control program is solidificated in electronic controller, vehicle traveling process is monitored, reach Intellectualized monitoring, alleviate the pressure of driving of chaufeur; 2, control brake pedal by electronic controller, without manual operation, can guarantee in time, automobile brake accurately.
The accompanying drawing explanation
Fig. 1 block diagram of system
Fig. 2 system circuit diagram
Fig. 3 system control program block diagram
Fig. 4 system unit scheme of installation
The specific embodiment
As shown in Figure 2, the back-up radar probe model is PSA96638, and its power lead is connected with electronic controller with the astern signal switch respectively with data line.
As shown in Figure 2, astern signal switch model is 17004E, and its power lead is connected with system power supply.
As shown in Figure 2, the distance measuring sensor model is LDM301 laser type distance measuring sensor, its parameter: measuring distance 0.5～700m; Survey precision ± 20mm; Resolution 1mm; Measuring speed 0m/s～100m/s; Operating temperature-40 ℃～+ 60 ℃; Size sensor 136 * 57 * 104mm (length * wide * height), its power lead is connected with electronic controller with system power supply respectively with data line.
As shown in Figure 2, the automobile brake signal lamp means with symbol HL, and its power lead is connected with relay.
As shown in Figure 2, the brake electromagnet symbol is YA1 and YA2, and its power lead is connected with relay.
As shown in Figure 2, the relay model is JGX-20F, and its power lead is connected with electronic controller with system power supply respectively with data line.
As shown in Figure 2, the automobile danger alarm lamp means with symbol H, and its power lead is connected with relay.
As shown in Figure 2, the DC converter model is ADP1073, and its power lead is connected with automotive battery.
As shown in Figure 2, the automobile key ignition lock means with symbol SK, and its power lead is connected with automotive battery.
As shown in Figure 2, automotive battery means with symbol GB, and it is anodal is connected with the input of DC converter power supply.
As shown in Figure 2, the electronic controller model is Atgema603, its principal parameter: 32 general purpose I/0 interfaces, PF interfaces have SRAM, operating temperature-55～+ 125 ℃ of EEROM, the 4K of A/D translation function, 2K, and its interface is connected with crystal oscillator, resistance, electric capacity, system power supply and performer data line respectively.
As shown in Figure 2, the speech chip model is SK080H, its data line respectively with electronic controller and loud speaker
As shown in Figure 2, the loud speaker model is SPYD5D.Its data line is connected with speech chip.
As shown in Figure 2, distance measuring sensor (before car and after car) model is that LDM301 is the laser type rang sensor, its parameter: measuring distance 0.5～700m; Survey precision ± 20mm; Resolution 1mm; Measuring speed 0m/s～100m/s; Operating temperature-40 ℃～+ 60 ℃; Size sensor 136 * 57 * 104mm (length * wide * height), its power lead is connected with electronic controller with system power supply respectively with data line.
As shown in Figure 2, the humidity sensor model is HS1101, its principal parameter: range 1～99%RH, range of temperatures-40～140 ℃, response time 5S.Its data line is connected with electronic controller respectively.
As shown in Figure 2, the car speed sensor model of photo-electric is SZGB-4A, and its principal parameter is: range of speed 10～3000r/min; Operating temperature :-40 ℃～+ 70 ℃.Be equipped with the automobile of automatic transmission with hydraulic torque converter or ABS, can directly the car speed sensor signal wire (SW) on car be connected with electronic control unit.Otherwise need to install car speed sensor additional, method of attachment: its power lead is connected with electronic controller with system power supply respectively with data line.
As shown in Figure 2, ice-patch surface motoring condition circuit button switch model is LA19-11D6V (G), and its power lead is connected with system power supply.
As shown in Figure 2, snowy road traveling status circuit button switch model is LA19-11D6V (R), and its power lead is connected with system power supply.
150 automobile brake distance values between 10 kilometers/hour～150 kilometers/hour of the speed of a motor vehicle of being programmed after four kinds of road surfaces and reversing and car by the computer controlled block diagram as shown in Figure 3, also are solidificated in the memory device of electronic controller.
As shown in Figure 4, the machine box is made with engineering plastics, in-built ice-patch surface motoring condition circuit switch button, snowy road traveling status circuit shift knob, car before measurement are apart from sensor, electronic controller, relay, phonic warning module, and these electronic apparatus parts are connected with power supply by carrying out data line shown in Fig. 2.
As shown in Figure 4, humidity sensor is arranged on by screw on the vehicle body of vehicle front back, and data line is connected with the electronic controller in the machine box.
As shown in Figure 4, brake electromagnet YA2 is arranged on the vehicle body steel plate of automobile brake pedal below by bolt, and brake electromagnet YA1 is arranged on brake pedal by bolt; The method for making of electromagnet be by the 0.1mm enamel wire on iron core and be arranged in can, its shape is identical with automobile brake pedal, its power lead is connected with the relay in the machine box by electric wire.
As shown in Figure 4, after car, distance measuring sensor is arranged on the midway location of the below of rear seat windscreen in the minibus car or is arranged on the midway location of automobile tail by screw, and its power lead is connected with electronic controller in the machine box with system power supply respectively with data line.
As shown in Figure 4,4 back-up radar probes evenly are arranged on tailstock bumper/spoiler, and its power lead is connected with electronic controller with the automobile reverse gear signal lamp respectively with data line.
The signal switch that reverses gear is arranged on speed-changing lever with screw and reverses gear on position, and switch out-put supply line is connected with electronic controller.
By shown in Fig. 4, each parts being carried out and being arranged on automobile, just can realize the present invention.
Claims (5)
1. the automobile auto brake system on applicable four kinds of road surfaces, is characterized in that: comprise electronic controller, detection means, performer and power module.
2. automobile auto brake system according to claim 1 is characterized in that: described detection means comprise ice-patch surface motoring condition button switch, snowy road traveling status button switch, humidity sensor, car speed sensor, car before measurement apart from distance measuring sensor after sensor, car, signal switch and back-up radar probe reverse gear.
3. automobile auto brake system according to claim 1, it is characterized in that: described performer comprises relay, phonic warning module, car brakeing electromagnet, car brakeing indicator lamp and vehicle risk alarm lamp.
4. automobile auto brake system according to claim 1, it is characterized in that: described power module comprises automotive battery, automobile ignition switch and DC converter.
5. the control method of automobile auto brake system according to claim 1, it is characterized in that: after chaufeur rotates the switch activated automobile of igniting, power module provides power supply for system, system enters mode of operation, and humidity sensor, car speed sensor and distance measuring sensor send the parameter of distance after the humidity that detects, the speed of a motor vehicle, car front truck to electronic controller.If automobile is when dry pitch (mixed earth) road traveling, humidity sensor detects humidity parameter and is less than 95%RH, electronic controller judges that automobile, at dry pitch (mixed earth) road traveling, is just monitored vehicle traveling process according to the control program of the dry pitch of setting (mixed earth) road traveling; If automobile is when rainwater pitch (mixed earth) road traveling, humidity sensor detects humidity parameter and is equal to or greater than 95%RH, electronic controller judges that automobile, at rainwater pitch (mixed earth) road traveling, is just monitored vehicle traveling process according to the control program of the rainwater pitch of setting (mixed earth) road traveling; If the running car road surface is snowy road surface, chaufeur will be pressed snowy road traveling status button switch, and electronic controller obtains automobile in snowy road traveling information, just according to the control program of the snowy road traveling of setting, vehicle traveling process is monitored; If the running car road surface is ice-patch surface, chaufeur will be pressed ice-patch surface motoring condition button switch, and electronic controller obtains automobile at the ice-patch surface driving information, and the control program just travelled according to the ice-patch surface of setting is monitored vehicle traveling process.
The car before measurement is apart from the distance between the real-time monitoring of sensor and front vehicles, obstacle or pedestrian, when the distance detected: equal automobile brake apart from the time, electronic controller sends instruction to the phonic warning module, controls it and sends the alarm voice, " spacing is too near, at once braking deceleration "; Be less than automobile brake apart from the time, the electronic controller control relay is connected the brake electromagnet circuit, makes its brake electromagnet produce electromagnetic force and drives brake pedal and move and reach the effect that automobile brake slows down; Send instruction to the phonic warning module, the phonic warning module is sent voice, " being in danger of vehicle distance, system autobrake is immediately slowed down " simultaneously; Brake also bright opening of indicator lamp simultaneously, slow down or change lane with the alarm succeeding vehicle.
When reversing, back-up radar probe detects between the automobile front vehicle, the distance between obstacle or pedestrian equal automobile brake apart from the time, electronic controller sends instruction to the phonic warning module, controls it and sends the alarm voice, " spacing is too near, at once braking deceleration "; Be less than automobile brake apart from the time, the electronic controller control relay is connected the brake electromagnet circuit, makes its brake electromagnet produce electromagnetic force and drives brake pedal and move and reach the effect that automobile brake slows down; Send instruction to the phonic warning module, the phonic warning module is sent voice, " being in danger of vehicle distance, system autobrake is immediately slowed down " simultaneously.
After car distance measuring sensor detect automobile and with between the front vehicle of track the distance equal automobile brake apart from the time, electronic controller sends instruction to the phonic warning module, control it and send the alarm voice, " front vehicle is followed too closely, and system is opened danger alarm lamp automatically "; Electronic controller sends instruction simultaneously, makes the vehicle risk alarm lamp flicker, and the bulletin front vehicle is slowed down and pulled open spacing.
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| CN2013104417457A CN103465888A (en) | 2013-09-25 | 2013-09-25 | Automobile automatic braking system applicable to four types of pavement and control method thereof |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104460411A (en) * | 2014-10-24 | 2015-03-25 | 苏州佑瑞检测技术有限公司 | Car inside environment monitoring system based on projecting device and rain and dew detection device |
| CN107878428A (en) * | 2017-12-29 | 2018-04-06 | 河南护航实业股份有限公司 | A kind of vehicle remote brakes |
| CN108883771A (en) * | 2016-04-01 | 2018-11-23 | 罗伯特·博世有限公司 | Method and apparatus for determining the coefficient of friction on travelable ground by this vehicle |
| CN110488814A (en) * | 2019-07-30 | 2019-11-22 | 深圳市前海胡桃科技有限公司 | A kind of automatic Pilot method, apparatus and terminal device |
| CN110979181A (en) * | 2019-12-26 | 2020-04-10 | 安徽合力股份有限公司 | Electric fork-lift safety protection control system |
| CN111016894A (en) * | 2020-01-08 | 2020-04-17 | 陈莲红 | System capable of automatically identifying road conditions and controlling automobile cruise control |
| CN111301435A (en) * | 2019-12-23 | 2020-06-19 | 长安大学 | Safe distance prompting device and method for vehicles in narrow road section |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104460411A (en) * | 2014-10-24 | 2015-03-25 | 苏州佑瑞检测技术有限公司 | Car inside environment monitoring system based on projecting device and rain and dew detection device |
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| CN111301435A (en) * | 2019-12-23 | 2020-06-19 | 长安大学 | Safe distance prompting device and method for vehicles in narrow road section |
| CN110979181A (en) * | 2019-12-26 | 2020-04-10 | 安徽合力股份有限公司 | Electric fork-lift safety protection control system |
| CN111016894A (en) * | 2020-01-08 | 2020-04-17 | 陈莲红 | System capable of automatically identifying road conditions and controlling automobile cruise control |
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