CN105539435A - Combination vehicle active collision avoidance system and method - Google Patents
Combination vehicle active collision avoidance system and method Download PDFInfo
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- CN105539435A CN105539435A CN201511017794.3A CN201511017794A CN105539435A CN 105539435 A CN105539435 A CN 105539435A CN 201511017794 A CN201511017794 A CN 201511017794A CN 105539435 A CN105539435 A CN 105539435A
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- 206010039203 Road traffic accident Diseases 0.000 description 3
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/14—Tractor-trailers, i.e. combinations of a towing vehicle and one or more towed vehicles, e.g. caravans; Road trains
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- Automation & Control Theory (AREA)
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- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention relates to a combination vehicle active collision avoidance system and method. The system comprises a motor tractor side object detecting unit, a steering wheel torque turn angle collecting unit, a speed sensor, a trailer side object detecting unit, a traction device detecting unit, a microcontroller and a collision avoidance executing subsystem, wherein the motor tractor side object detecting unit, the steering wheel torque turn angle collecting unit and the speed sensor are arranged on a motor tractor, the trailer side object detecting unit is arranged on a trailer, and the traction device detecting unit is arranged on the traction device. A collision avoidance analysis result is obtained through treatment by collecting motor tractor side object information, trailer side object information, turn angle information of a motor tractor steering wheel, motor tractor speed information and angle information of the trailer relative to the motor tractor, and the collision avoidance executing subsystem is controlled to execute the corresponding action. By means of the active collision avoidance system and method, motor tractor side object information can be collected, the trailer side object information and the angle information of the trailer relative to the motor tractor can also be collected, the motor tractor can achieve the active collision avoidance and meanwhile the trailer can achieve the active collision avoidance as well. Accidents caused by the blind area of rearview mirrors are reduced, and the combination vehicle driving safety is improved.
Description
Technical field
The present invention relates to train-type vehicle security technology area, particularly relate to a kind of train-type vehicle active collision-avoidance system and method.
Background technology
Along with the development of society, increasing automobile enters the life of people.Although Highway Conditions is in continuous improvement, but still keeps away unavoidable highway and to get on the car crowded present situation, traffic accident also constantly occurs.
Vehicle bumper systems is a kind of detection du vehicule obstacle, prevents the system that vehicle and obstacle bump against.Current vehicle bumper systems mainly carries out the automobile run as a rigid unitary for vehicle body in steering procedure, by installing detector on auto body, detect close to the pedestrian of auto body, vehicle or other obstacles etc., the generation avoided traffic accident.
What require along with road transport improves constantly, and train-type vehicle can complete superelevation that other transport points can not or be difficult to, ultra-wide, overlength, super high bearing capacity ability with it, have the transport of particular requirement, becomes highway main conveyance.And train-type vehicle is different from common automobile, the car team that it is made up of tractor truck and trailer, current vehicle bumper systems cannot gather trailer sense of motion or movement tendency, also the rotational angle of the draw gear for connecting tractor truck and trailer cannot be gathered, therefore sense of motion or the movement tendency of trailer cannot be obtained, can not realize while tractor truck is initiatively crashproof, trailer also realizes initiatively crashproof.
Summary of the invention
The invention provides a kind of train-type vehicle active collision-avoidance system and method, trailer sense of motion or movement tendency cannot be gathered to solve in prior art, and draw gear rotational angle cannot be gathered, and then can not realize while tractor truck is initiatively crashproof, trailer also realizes initiatively crashproof problem.
For this purpose, the present invention proposes following technical scheme.
On the one hand, the invention provides a kind of train-type vehicle active collision-avoidance system, comprise tractor truck side object detection unit, trailer side object detection unit, draw gear detecting unit, steering wheel torque corner collecting unit, car speed sensor, microcontroller and crashproof executive subsystem;
Described tractor truck side object detection unit is arranged on tractor truck, for gathering tractor truck side object information, and the information of described collection is sent to microcontroller;
Described trailer side object detection unit is arranged on trailer, for gathering trailer side object information, and the information of described collection is sent to microcontroller;
Described draw gear detecting unit is arranged on the draw gear for connecting tractor truck and trailer, comprise angle of turn sensor, described angle information for gathering the angle information of described trailer relative to described tractor truck, and is sent to microcontroller by described angle of turn sensor;
Described steering wheel torque corner collecting unit and car speed sensor are all arranged on tractor truck, described steering wheel torque corner collecting unit is for gathering the corner information of tractor truck bearing circle, described corner information and tractor truck speed information for gathering the tractor truck speed of a motor vehicle, and are sent to microcontroller by described car speed sensor;
The information that described microcontroller is used for receiving carries out analyzing and processing, obtains crashproof analysis result, and described crashproof analysis result is sent to CAN network, controls crashproof executive subsystem perform corresponding actions by CAN network.
Particularly, described microcontroller comprises:
Tractor truck analysis module, for according to the corner information of described tractor truck bearing circle and tractor truck speed information, analyzes and obtains tractor truck road occupation scope in tractor truck travel direction and driving process;
Trailer analysis module, for according to described tractor truck travel direction, the tractor truck speed of a motor vehicle and the described trailer angle information relative to tractor truck, analyzes and draws trailer road occupation scope in trailer travel direction and driving process;
Crashproof analysis module, for according to described tractor truck road occupation scope, trailer road occupation scope, tractor truck side object information, trailer side object information, judge whether tractor truck side object and trailer side object enter road occupation scope and collision situation, and draw crashproof analysis result.
Preferably, described tractor truck side object detection unit comprises at least three tractor truck radar sensors, each tractor truck radar sensor is connected with microcontroller respectively, described tractor truck radar sensor is arranged on the front side of tractor truck, left side and right side respectively, is respectively used to the displacement and the velocity information that gather object, left side object and right side object on front side of tractor truck.
Preferably, described trailer side object detection unit comprises at least three trailer radar sensors, each trailer radar sensor is connected with microcontroller respectively, described trailer radar sensor is arranged on the rear side of trailer, left side and right side respectively, is respectively used to the displacement and the velocity information that gather object, left side object and right side object on rear side of trailer.
Particularly, described crashproof executive subsystem comprises steering-by-wire unit and brake-by-wire unit, and described steering-by-wire unit is for controlling tractor truck and trailer turns to, and described brake-by-wire unit is for controlling the braking of tractor truck and trailer.
Preferably, described collision avoidance system also comprises display unit, and described display unit connects CAN network, for display automobile train driving situation.
Preferably, described collision avoidance system also comprises alarm unit, and described alarm unit connects CAN network, during for entering when described tractor truck side object and/or trailer side object within the scope of the road occupation in train-type vehicle traveling, reports to the police.
On the other hand, the present invention also provides a kind of train-type vehicle active anti-collision method, comprising:
Gather tractor truck side object information by tractor truck side object detection unit, and the information of described collection is sent to microcontroller;
Gather trailer side object information by trailer side object detection unit, and the information of described collection is sent to microcontroller;
Gather the angle information of described trailer relative to described tractor truck by draw gear detecting unit, and described angle information is sent to microcontroller;
Gathered the corner information of tractor truck bearing circle by steering wheel torque corner collecting unit, gather the tractor truck speed of a motor vehicle by car speed sensor, and described corner information and tractor truck speed information are sent to microcontroller;
Microcontroller receives the information that described tractor truck side object detection unit, trailer side object detection unit, draw gear detecting unit, steering wheel torque corner collecting unit and car speed sensor send, and analyzing and processing is carried out to the information of described reception, obtain crashproof analysis result, and described crashproof analysis result is sent to CAN network, give crashproof executive subsystem by CAN network sending controling instruction, control train-type vehicle and turn to or brake.
Preferably, describedly gather tractor truck side object information by tractor truck side object detection unit and refer to: by being arranged on front side of tractor truck, the tractor truck radar sensor on left side and right side gathers displacement and the velocity information of object on front side of tractor truck, left side object and right side object respectively;
Describedly gather trailer side object information by trailer side object detection unit and refer to: by being arranged on rear side of trailer, the trailer radar sensor on left side and right side gathers displacement and the velocity information of object on rear side of trailer, left side object and right side object respectively.
Preferably, above-mentioned avoiding collision also comprises:
After CAN network obtains described crashproof analysis result, control display unit display automobile train driving situation, and control alarm unit is reported to the police.
Beneficial effect of the present invention is:
Train-type vehicle active collision-avoidance system provided by the invention and method, by arranging tractor truck side object detection unit, trailer side object detection unit and draw gear detecting unit, in train-type vehicle driving process, tractor truck side object information can not only be gathered, trailer side object information can also be gathered, and trailer is relative to the angle information of tractor truck, and then the road occupation scope obtained in tractor truck and trailer driving process, and judge whether tractor truck side object and trailer side object enter this road occupation scope and collision situation, control crashproof executive subsystem action, while making tractor truck realization active crashproof, trailer also realizes initiatively crashproof, especially in train-type vehicle steering procedure, reduce because of the accident caused by rear view mirror blind zone, improve train-type vehicle travel safety.
Accompanying drawing explanation
Can understanding the features and advantages of the present invention clearly by reference to accompanying drawing, accompanying drawing is schematic and should not be construed as and carry out any restriction to the present invention, in the accompanying drawings:
Fig. 1 shows the schematic diagram of train-type vehicle active collision-avoidance system of the present invention;
Fig. 2 shows the schematic diagram of steering wheel torque corner collecting unit in Fig. 1;
Fig. 3 shows the schematic diagram of line traffic control steering unit in Fig. 1.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiments of the present invention is described in detail.
Fig. 1 is the schematic diagram of train-type vehicle active collision-avoidance system of the present invention, as shown in Figure 1, this collision avoidance system comprises tractor truck side object detection unit, trailer side object detection unit, draw gear detecting unit, steering wheel torque corner collecting unit, car speed sensor, microcontroller and crashproof executive subsystem;
Tractor truck side object detection unit is arranged on tractor truck, for gathering tractor truck side object information, and the information of collection is sent to microcontroller;
Trailer side object detection unit is arranged on trailer, for gathering trailer side object information, and the information of collection is sent to microcontroller;
Draw gear detecting unit is arranged on the draw gear for connecting tractor truck and trailer, comprises angle of turn sensor, and angle information for gathering the angle information of trailer relative to tractor truck, and is sent to microcontroller by angle of turn sensor;
Steering wheel torque corner collecting unit and car speed sensor are all arranged on tractor truck, wherein, steering wheel torque corner collecting unit is for gathering the corner information of tractor truck bearing circle, corner information and tractor truck speed information for gathering the tractor truck speed of a motor vehicle, and are sent to microcontroller by car speed sensor;
The information that microcontroller is used for receiving carries out analyzing and processing, obtains crashproof analysis result, and crashproof analysis result is sent to CAN network, controls crashproof executive subsystem perform corresponding actions by CAN network.
The embodiment of the present invention is by arranging tractor truck side object detection unit, trailer side object detection unit and draw gear detecting unit, in train-type vehicle driving process, tractor truck side object information can not only be gathered, trailer side object information can also be gathered, and trailer is relative to the angle information of tractor truck, and then obtain crashproof analysis result, control crashproof executive subsystem action, while making tractor truck realization active crashproof, trailer also realizes initiatively crashproof; Especially in train-type vehicle steering procedure, reduce because of the accident caused by rear view mirror blind zone, improve train-type vehicle travel safety.
Particularly, microcontroller comprises tractor truck analysis module, trailer analysis module and crashproof analysis module.Wherein, tractor truck analysis module is used for, according to the corner information of tractor truck bearing circle and tractor truck speed information, analyzing and obtaining tractor truck road occupation scope in tractor truck travel direction and driving process; Trailer analysis module is used for according to tractor truck travel direction, the tractor truck speed of a motor vehicle and the trailer angle information relative to tractor truck, analyzes and draws trailer road occupation scope in trailer travel direction and driving process; Crashproof analysis module is used for according to tractor truck road occupation scope, trailer road occupation scope, tractor truck side object information, trailer side object information, judge whether tractor truck side object and trailer side object enter road occupation scope and collision situation, and draw crashproof analysis result.
It should be noted that, above-mentioned microcontroller is provided with data memory, what store tractor truck in this data memory turns to the data such as positional parameter, car load wheelbase, wheelspan, vehicle body geometric parameter (as length), tractor truck analysis module is according to the data in this data memory, in conjunction with corner information and the tractor truck speed information of the tractor truck bearing circle gathered, calculate the tractor truck road occupation scope in tractor truck travel direction and driving process thereof, especially in steering procedure.Concrete computation process can calculate according to existing Ah Kaman steering principle.
Accordingly, the data such as the car load wheelbase of trailer, wheelspan, vehicle body geometric parameter (as length) are also stored in data memory.Due to trailer in the process of moving, its power is drawn by tractor truck and produces, therefore, trailer analysis module analyze time tractor truck analysis module can be utilized to receive information, as the corner information, tractor truck speed information etc. of tractor truck bearing circle.Trailer analysis module is according to the data in data memory, tractor truck travel direction, tractor truck speed information, again in conjunction with the angle information of trailer relative to tractor truck, calculate trailer road occupation scope in trailer travel direction, moving velocity and driving process thereof.The frequency of microcontroller analyzing and processing can set according to the actual requirements.
The object information of tractor truck side object detection unit, the object detection unit collection of trailer side comprises ohject displacement, speed, acceleration/accel, position etc., certainly, also can by arranging imageing sensor, gather subject image, recognition object type, as full-sized car train, miniature car, people or other obstacles etc.Because object acceleration/accel can calculate according to the speed gathered and time, position is determined by the displacement information collected, and as a kind of embodiment of the embodiment of the present invention, the object information of above-mentioned collection comprises ohject displacement and speed.
During concrete enforcement, the car speed sensor that tractor truck is installed can be Hall-type car speed sensor, photo-electric car speed sensor, engine speed sensor, rotating speed sensor for gearbox etc.In order to gather tractor truck side ohject displacement, ultrasonic distance-measuring sensor, laser range sensor, radar sensor etc. can be installed on tractor truck.In order to gather tractor truck side object speed information, GPS velocity measurement sensor, radar sensor etc. can be installed on tractor truck.
Because radar sensor both can complete speed measuring function, distance measurement function can be completed again, and its survey precision is not by the impact of dielectric permittivity, pressure, temperature, also by external environment like rain, the impact of mist, dust etc., preferably, in the embodiment of the present invention, tractor truck side object detection unit comprises tractor truck radar sensor, and tractor truck radar sensor is connected with microcontroller, for gathering tractor truck side ohject displacement and velocity information.
In order to omnibearing detection tractor truck side object, preferably, embodiment of the present invention tractor truck side object detection unit comprises at least three tractor truck radar sensors, and be arranged on the front side of tractor truck, left side and right side respectively, be respectively used to the displacement and the velocity information that gather object, left side object and right side object on front side of tractor truck.As a kind of embodiment, the embodiment of the present invention arranges three tractor truck radar sensors, i.e. tractor truck radar sensor A, tractor truck radar sensor B and tractor truck radar sensor C, and on front side of tractor truck, left side and right side respectively install one.Understandablely be, also can be according to the actual requirements, in the every side of tractor truck, multiple tractor truck radar sensor is installed, as the accuracy in order to improve with right side object detection on the left of tractor truck, especially in train-type vehicle steering procedure, on the left of tractor truck, with right side, multiple tractor truck radar sensor is installed respectively, by the comprehensive treatment of multi-group data, improves accuracy in detection.
Based on similar thinking, preferably, trailer side object detection unit comprises at least three trailer radar sensors, each trailer radar sensor is connected with microcontroller respectively, trailer radar sensor is arranged on the rear side of trailer, left side and right side respectively, is respectively used to the displacement and the velocity information that gather object, left side object and right side object on rear side of trailer.The embodiment of the present invention arranges three trailer radar sensors, i.e. trailer radar sensor A ', trailer radar sensor B ' and trailer radar sensor C ', and on rear side of trailer, left side and right side respectively install one.
Steering wheel torque corner collecting unit is for gathering the corner information of tractor truck bearing circle, in the specific implementation, as shown in Figure 2, steering wheel torque corner collecting unit comprises steering wheel torque rotary angle transmitter, Signal-regulated kinase, A/D converter and the first controller, steering wheel torque rotary angle transmitter is for gathering rotational angle and the applying steering torque on the steering wheel of bearing circle, steering wheel torque rotary angle transmitter passes through Signal-regulated kinase successively, A/D converter is connected with the first controller, corner information is after treatment sent to microcontroller by the first controller.
During concrete enforcement, crashproof executive subsystem comprises steering-by-wire unit and brake-by-wire unit, and steering-by-wire unit is for controlling tractor truck and trailer turns to, and brake-by-wire unit is for controlling the braking of tractor truck and trailer.
As shown in Figure 3, steering-by-wire unit comprises steering wheel assembly, turn to and perform assembly and second controller, steering wheel assembly and turn to execution assembly to be connected with second controller respectively.Wherein steering wheel assembly sends second controller to for converting the rotational angle information on bearing circle to digital signal, accepts the torque signals that second controller sends simultaneously, produces steering wheel return positive moment, to be supplied to the corresponding road feel information of chaufeur.Turn to and perform assembly for receiving the diversion order of second controller, control to turn to actuating motor to operate by steer motor controller, and then drive wheel steering device to rotate.
Continue with reference to Fig. 3, steering wheel assembly comprises steering wheel angle sensor, torque sensor, steering wheel return positive moment motor and bearing circle, steering wheel angle sensor is connected with second controller respectively with torque sensor, and the control end of second controller is by direction aligning torque electric machine control bearing circle.Turn to execution assembly to comprise steer motor controller, turn to actuating motor and wheel steering device, control to turn to actuating motor to operate by steer motor controller, and then drive wheel steering device to rotate.
In order to show crashproof analysis result intuitively, be convenient to the travel situations that chaufeur controls its train-type vehicle in driving procedure in real time, preferably, embodiment of the present invention collision avoidance system also comprises display unit, this display unit connects CAN network, for display automobile train driving situation.
During concrete enforcement, after CAN network receives the crashproof analysis result of microcontroller transmission, this crashproof analysis result can be shown by display unit.The information of display comprises tractor truck road occupation scope, trailer road occupation scope, tractor truck side object information, trailer side object information, collision situation etc.Wherein tractor truck road occupation scope and trailer road occupation scope can be represented by the form of the strong train-type vehicle driving trace figure of intuitive; Display tractor truck side object information, trailer side object information can be the particular locations of only display object; The collision situation of display refers to whether display object enters tractor truck road occupation scope and trailer road occupation scope, how long can collide afterwards, and meanwhile, also display can avoid train-type vehicle corner setting range or the moving velocity scope of collision.Chaufeur can perform corresponding actions according to the crashproof executive subsystem of display result manual control, turn to as controlled train-type vehicle or control train-type vehicle braking etc., also can automatically control crashproof executive subsystem by system and perform corresponding actions, and then avoid chaufeur to neglect or the improper traffic accident caused of manual operation.
In order to improve traffic safety further, preferably, embodiment of the present invention collision avoidance system also comprises alarm unit, and alarm unit connects CAN network, during for entering during train-type vehicle travels the road scope used when tractor truck side object and/or trailer side object, report to the police.The mode of reporting to the police can be the mode of sound and light alarm, also can be the mode of image alarm.Annunciator can be arranged in operator's compartment, also meanwhile can arrange annunciator in the optional position of train-type vehicle vehicle body, to remind chaufeur and periphery object, improves the safety of driving further.
The embodiment of the present invention also provides a kind of train-type vehicle active anti-collision method, comprising:
Gather tractor truck side object information by tractor truck side object detection unit, and the information of collection is sent to microcontroller;
Gather trailer side object information by trailer side object detection unit, and the information of collection is sent to microcontroller;
Gather the angle information of trailer relative to tractor truck by draw gear detecting unit, and angle information is sent to microcontroller;
Gathered the corner information of tractor truck bearing circle by steering wheel torque corner collecting unit, gather the tractor truck speed of a motor vehicle by car speed sensor, and corner information and tractor truck speed information are sent to microcontroller;
Microcontroller receives the information that tractor truck side object detection unit, trailer side object detection unit, draw gear detecting unit, steering wheel torque corner collecting unit and car speed sensor send, and analyzing and processing is carried out to the information received, obtain crashproof analysis result, and crashproof analysis result is sent to CAN network, give crashproof executive subsystem by CAN network sending controling instruction, control train-type vehicle and turn to or brake.
Particularly, microcontroller carries out analyzing and processing comprise the information received:
By tractor truck analysis module according to the corner information of tractor truck bearing circle and tractor truck speed information, analyze and obtain tractor truck road occupation scope in tractor truck travel direction and driving process;
By trailer analysis module according to tractor truck travel direction, the tractor truck speed of a motor vehicle and the trailer angle information relative to tractor truck, analyze and draw trailer road occupation scope in trailer travel direction and driving process;
By crashproof analysis module according to tractor truck road occupation scope, trailer road occupation scope, tractor truck side object information, trailer side object information, judge whether tractor truck side object and trailer side object enter road occupation scope and collision situation, and draw crashproof analysis result.
Preferably, gather tractor truck side object information by tractor truck side object detection unit to refer to: by being arranged on front side of tractor truck, the tractor truck radar sensor on left side and right side gathers displacement and the velocity information of object on front side of tractor truck, left side object and right side object respectively.
Gather trailer side object information by trailer side object detection unit to refer to: by being arranged on rear side of trailer, the trailer radar sensor on left side and right side gathers displacement and the velocity information of object on rear side of trailer, left side object and right side object respectively.
Preferably, above-mentioned avoiding collision also comprises:
After CAN network obtains crashproof analysis result, control display unit display automobile train driving situation, and control alarm unit is reported to the police.
Although describe embodiments of the present invention by reference to the accompanying drawings, but those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, such amendment and modification all fall into by within claims limited range.
Claims (10)
1. a train-type vehicle active collision-avoidance system, it is characterized in that, comprise tractor truck side object detection unit, trailer side object detection unit, draw gear detecting unit, steering wheel torque corner collecting unit, car speed sensor, microcontroller and crashproof executive subsystem;
Described tractor truck side object detection unit is arranged on tractor truck, for gathering tractor truck side object information, and the information of described collection is sent to microcontroller;
Described trailer side object detection unit is arranged on trailer, for gathering trailer side object information, and the information of described collection is sent to microcontroller;
Described draw gear detecting unit is arranged on the draw gear for connecting tractor truck and trailer, comprise angle of turn sensor, described angle information for gathering the angle information of described trailer relative to described tractor truck, and is sent to microcontroller by described angle of turn sensor;
Described steering wheel torque corner collecting unit and car speed sensor are all arranged on tractor truck, described steering wheel torque corner collecting unit is for gathering the corner information of tractor truck bearing circle, described corner information and tractor truck speed information for gathering the tractor truck speed of a motor vehicle, and are sent to microcontroller by described car speed sensor;
The information that described microcontroller is used for receiving carries out analyzing and processing, obtains crashproof analysis result, and described crashproof analysis result is sent to CAN network, controls crashproof executive subsystem perform corresponding actions by CAN network.
2. collision avoidance system according to claim 1, is characterized in that, described microcontroller comprises:
Tractor truck analysis module, for according to the corner information of described tractor truck bearing circle and tractor truck speed information, analyzes and obtains tractor truck road occupation scope in tractor truck travel direction and driving process;
Trailer analysis module, for according to described tractor truck travel direction, the tractor truck speed of a motor vehicle and the described trailer angle information relative to tractor truck, analyzes and draws trailer road occupation scope in trailer travel direction and driving process;
Crashproof analysis module, for according to described tractor truck road occupation scope, trailer road occupation scope, tractor truck side object information, trailer side object information, judge whether tractor truck side object and trailer side object enter road occupation scope and collision situation, and draw crashproof analysis result.
3. collision avoidance system according to claim 2, it is characterized in that, described tractor truck side object detection unit comprises at least three tractor truck radar sensors, each tractor truck radar sensor is connected with microcontroller respectively, described tractor truck radar sensor is arranged on the front side of tractor truck, left side and right side respectively, is respectively used to the displacement and the velocity information that gather object, left side object and right side object on front side of tractor truck.
4. collision avoidance system according to claim 2, it is characterized in that, described trailer side object detection unit comprises at least three trailer radar sensors, each trailer radar sensor is connected with microcontroller respectively, described trailer radar sensor is arranged on the rear side of trailer, left side and right side respectively, is respectively used to the displacement and the velocity information that gather object, left side object and right side object on rear side of trailer.
5. collision avoidance system according to claim 2, it is characterized in that, described crashproof executive subsystem comprises steering-by-wire unit and brake-by-wire unit, and described steering-by-wire unit is for controlling tractor truck and trailer turns to, and described brake-by-wire unit is for controlling the braking of tractor truck and trailer.
6. the collision avoidance system according to any one of claim 1-5, is characterized in that, described collision avoidance system also comprises display unit, and described display unit connects CAN network, for display automobile train driving situation.
7. the collision avoidance system according to any one of claim 1-5, it is characterized in that, described collision avoidance system also comprises alarm unit, described alarm unit connects CAN network, during for entering when described tractor truck side object and/or trailer side object within the scope of the road occupation in train-type vehicle traveling, report to the police.
8. a train-type vehicle active anti-collision method, is characterized in that, comprising:
Gather tractor truck side object information by tractor truck side object detection unit, and the information of described collection is sent to microcontroller;
Gather trailer side object information by trailer side object detection unit, and the information of described collection is sent to microcontroller;
Gather the angle information of described trailer relative to described tractor truck by draw gear detecting unit, and described angle information is sent to microcontroller;
Gathered the corner information of tractor truck bearing circle by steering wheel torque corner collecting unit, gather the tractor truck speed of a motor vehicle by car speed sensor, and described corner information and tractor truck speed information are sent to microcontroller;
Microcontroller receives the information that described tractor truck side object detection unit, trailer side object detection unit, draw gear detecting unit, steering wheel torque corner collecting unit and car speed sensor send, and analyzing and processing is carried out to the information of described reception, obtain crashproof analysis result, and described crashproof analysis result is sent to CAN network, give crashproof executive subsystem by CAN network sending controling instruction, control train-type vehicle and turn to or brake.
9. avoiding collision according to claim 8, it is characterized in that, describedly gather tractor truck side object information by tractor truck side object detection unit and refer to: by being arranged on front side of tractor truck, the tractor truck radar sensor on left side and right side gathers displacement and the velocity information of object on front side of tractor truck, left side object and right side object respectively;
Describedly gather trailer side ohject displacement and velocity information by trailer side object detection unit and refer to: by being arranged on rear side of trailer, the trailer radar sensor on left side and right side gathers displacement and the velocity information of object on rear side of trailer, left side object and right side object respectively.
10. the avoiding collision according to Claim 8 according to any one of-9, is characterized in that, also comprises:
After CAN network obtains described crashproof analysis result, control display unit display automobile train driving situation, and control alarm unit is reported to the police.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201511017794.3A CN105539435A (en) | 2015-12-29 | 2015-12-29 | Combination vehicle active collision avoidance system and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201511017794.3A CN105539435A (en) | 2015-12-29 | 2015-12-29 | Combination vehicle active collision avoidance system and method |
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| CN105539435A true CN105539435A (en) | 2016-05-04 |
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| CN201511017794.3A Pending CN105539435A (en) | 2015-12-29 | 2015-12-29 | Combination vehicle active collision avoidance system and method |
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