CN107472256A - Use driver's interactive system of inertia measurement - Google Patents
Use driver's interactive system of inertia measurement Download PDFInfo
- Publication number
- CN107472256A CN107472256A CN201710617110.6A CN201710617110A CN107472256A CN 107472256 A CN107472256 A CN 107472256A CN 201710617110 A CN201710617110 A CN 201710617110A CN 107472256 A CN107472256 A CN 107472256A
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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
- B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Navigation (AREA)
Abstract
The invention discloses driver's interactive system using inertia measurement, including vehicle speed detection system, also include the processor being connected with vehicle speed detection system, be also associated with being arranged on the haptic interaction module of IMU modules and setting in the car of the rear range finder module of the tailstock, setting onboard on the processor；This programme in the tailstock by setting range sensor, when driver carries out emergency brake, IMU modules detect the change of vehicle acceleration, processor sends control signals to haptic interaction module according to the travel speed of vehicle, acceleration and with the distance of rear car, and the control signal action that haptic interaction module is sent according to processor is prompted driver.It is an advantage of the invention that：Prompting driver in time, avoids car rear-end caused by unnecessary emergency brake；While the safe distance with front truck is ensure that, reliability is higher.
Description
Technical field
The present invention relates to one kind driving accessory system, and in particular to uses driver's interactive system of inertia measurement.
Background technology
Using the decoupling of three axle earth magnetism and three axis accelerometer, influenceed by external force acceleration very greatly, in environment such as movement/vibrations
In, outbound course angle error is larger, and geomagnetic sensor has shortcoming in addition, and its absolute object of reference is the magnetic line of force in earth's magnetic field, ground
The characteristics of magnetic is that use range is big, but intensity is relatively low, about several Gausses of zero point, is highly susceptible to the interference of other magnets, if
The instantaneous angular of Z axis gyroscope is merged, so that it may so that system data is more stable.Acceleration analysis is gravity direction,
In the case of without external force acceleration, it can accurately export the axle attitude angles of ROLL/PITCH two and this angle does not have accumulation and missed
Difference, all it is accurate in longer time scale.But the shortcomings that acceleration transducer measuring angle is acceleration transducer reality
It is miniature deformation caused by detecting inertia force with MEMS technology on border, and inertia force and gravity essence are the same, so accelerating
Degree meter would not distinguish acceleration of gravity and external force acceleration, and when system does variable motion in three dimensions, its output is just
It is incorrect.Gyroscope Output speed, is instantaneous flow, and angular speed is directly to use, it is necessary to which angle is fast on posture balancing
Degree calculates angle with time integral, and obtained angle variable quantity is added with initial angle, angle on target is just obtained, wherein when integrating
Between Dt it is smaller, output angle is more accurate, but the principle of gyroscope determines that its measuring basis is itself, not outside system
Absolute object of reference, being plus Dt impossible infinitely small, so the accumulated error of integration can increase sharply as time go on, finally
Output angle is caused not conform to the actual conditions, so gyroscope can only operate in relatively short time scale.In general, one
IMU contains the accelerometer of three single shafts and the gyro of three single shafts, and accelerometer detection object is in carrier coordinate system unification and independence
The acceleration signal of vertical three axles, and gyro detection carrier measures object in three-dimensional relative to the angular velocity signal of navigational coordinate system
Angular speed and acceleration in space, and calculate with this posture of object.There is critically important application value in navigation.For
Raising reliability, can also be that each axle is equipped with more sensors.In general IMU will be arranged on the center of gravity of testee
On.IMU is used in the equipment for needing to carry out motion control mostly, on automobile and robot.Being also used in needs to be carried out with posture
The inertial navigation set of occasion, such as submarine, aircraft, guided missile and spacecraft that accurate displacement calculates.
Existing BAS is typically all to detect the distance with front truck, and pre- anticollision is sent, and does not detect itself
Acceleration and driver is prompted with the distance of rear car.
The content of the invention
The technical problems to be solved by the invention are that existing BAS is typically all to detect the distance with front truck,
Pre- anticollision is sent, and is not detected self-acceleration and driver is prompted with the distance of rear car, it is therefore intended that is carried
For driver's interactive system using inertia measurement, solve existing BAS be typically all detect with front truck away from
From, pre- anticollision is sent, do not detect self-acceleration and with the distance of rear car come driver is prompted the problem of.
The present invention is achieved through the following technical solutions：
Connect using driver's interactive system of inertia measurement, including vehicle speed detection system, in addition to vehicle speed detection system
The processor connect, be also associated with being arranged on the rear range finder module of the tailstock on the processor, set IMU modules onboard and
Haptic interaction module in the car is set；
Vehicle speed detection system：Detection Vehicle Speed is sent to processor as speed parameter；
Processor：The acceleration information of IMU modules transmission, the speed parameter that vehicle speed detection system is sent and rear is received to survey
The rear vehicle distance data sent away from module, sends control signals to haptic interaction module after processing；
Rear range finder module：Detection dead astern vehicle is sent to processor with the spacing of oneself as rear vehicle distance data；
IMU modules：The change of vehicle acceleration is detected, the acceleration information of vehicle is sent into processor；
Haptic interaction module：The control signal that reception processing device is sent, the control signal sent according to processor enter action
Make.This programme in the tailstock by setting range sensor, and when driver carries out emergency brake, IMU modules detect vehicle acceleration
Change, processor sends control signals to haptic interaction mould according to the travel speed of vehicle, acceleration and with the distance of rear car
Block, the control signal action that haptic interaction module is sent according to processor are prompted driver.
The haptic interaction module includes shaking device.
The haptic interaction module also includes delayer.After haptic interaction module receives the control signal of processor,
The certain duration of shaking device work can be controlled by delayer.
Processor is sent to after the distance of detection front truck and front obstacle, speed of the processor according to vehicle, acceleration
Whether can be collided with front obstacle with the Distance Judgment with front obstacle, adjust brake system accordingly
It is also associated with being arranged on the light modules of headstock on the processor.When detecting nearer away from front obstacle,
Processor control light modules are opened, and illustrate front obstacle.
It is also associated with setting alarm module in the car on the processor.Prompt in-car driver.
The present invention compared with prior art, has the following advantages and advantages：
1st, the present invention uses driver's interactive system of inertia measurement, prompts driver in time, avoids unnecessary urgency
Car rear-end caused by brake；
2nd, the present invention uses driver's interactive system of inertia measurement, while ensure that the safe distance with front truck, reliably
Property is higher.
Brief description of the drawings
Accompanying drawing described herein is used for providing further understanding the embodiment of the present invention, forms one of the application
Point, do not form the restriction to the embodiment of the present invention.In the accompanying drawings：
Fig. 1 is present system structural representation.
Embodiment
For the object, technical solutions and advantages of the present invention are more clearly understood, with reference to embodiment and accompanying drawing, to this
Invention is described in further detail, and exemplary embodiment of the invention and its explanation are only used for explaining the present invention, do not make
For limitation of the invention.
Embodiment 1
As shown in figure 1, the present invention uses driver's interactive system of inertia measurement, including vehicle speed detection system, in addition to
The arm processor being connected with vehicle speed detection system, it is also associated with being arranged on the HZH-D80 rears ranging of the tailstock on the processor
The haptic interaction module of NV-IMU150IMU modules and setting in the car of module, setting onboard；The haptic interaction module
Including shaking device.The haptic interaction module also includes 555 delayers.It is also associated with being arranged on headstock on the processor
Range finder module in front of HZH-D80.It is also associated with being arranged on the light modules of headstock on the processor.Also connect on the processor
It is connected to the sound and light alarm reminding module set in the car.
Vehicle speed detection system：Detection Vehicle Speed is sent to processor as speed parameter；
Processor：The acceleration information of IMU modules transmission, the speed parameter that vehicle speed detection system is sent and rear is received to survey
The rear vehicle distance data sent away from module, sends control signals to haptic interaction module after processing；
Rear range finder module：Detection dead astern vehicle is sent to processor with the spacing of oneself as rear vehicle distance data；
IMU modules：The change of vehicle acceleration is detected, the acceleration information of vehicle is sent into processor；
Haptic interaction module：The control signal that reception processing device is sent, the control signal sent according to processor enter action
Make.
Above-described embodiment, the purpose of the present invention, technical scheme and beneficial effect are carried out further
Describe in detail, should be understood that the embodiment that the foregoing is only the present invention, be not intended to limit the present invention
Protection domain, within the spirit and principles of the invention, any modification, equivalent substitution and improvements done etc., all should include
Within protection scope of the present invention.
Claims (6)
1. use driver's interactive system of inertia measurement, it is characterised in that examine including vehicle speed detection system, in addition to speed
The processor of examining system connection, it is also associated with the processor being arranged on the rear range finder module of the tailstock, sets onboard
The haptic interaction module of IMU modules and setting in the car；
Vehicle speed detection system：Detection Vehicle Speed is sent to processor as speed parameter；
Processor：Receive acceleration information, the speed parameter and rear ranging mould of vehicle speed detection system transmission that IMU modules are sent
The rear vehicle distance data that block is sent, sends control signals to haptic interaction module after processing；
Rear range finder module：Detection dead astern vehicle is sent to processor with the spacing of oneself as rear vehicle distance data；
IMU modules：The change of vehicle acceleration is detected, the acceleration information of vehicle is sent into processor；
Haptic interaction module：The control signal that reception processing device is sent, acted according to the control signal that processor is sent.
2. driver's interactive system according to claim 1 using inertia measurement, it is characterised in that the haptic interaction
Module includes shaking device.
3. driver's interactive system according to claim 2 using inertia measurement, it is characterised in that the haptic interaction
Module also includes delayer.
4. driver's interactive system according to claim 1 using inertia measurement, it is characterised in that on the processor
It is also associated with being arranged on the front range finder module of headstock.
5. driver's interactive system according to claim 4 using inertia measurement, it is characterised in that on the processor
It is also associated with being arranged on the light modules of headstock.
6. driver's interactive system according to claim 1 using inertia measurement, it is characterised in that on the processor
It is also associated with setting alarm module in the car.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710617110.6A CN107472256A (en) | 2017-07-26 | 2017-07-26 | Use driver's interactive system of inertia measurement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710617110.6A CN107472256A (en) | 2017-07-26 | 2017-07-26 | Use driver's interactive system of inertia measurement |
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| Publication Number | Publication Date |
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| CN107472256A true CN107472256A (en) | 2017-12-15 |
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| CN201710617110.6A Pending CN107472256A (en) | 2017-07-26 | 2017-07-26 | Use driver's interactive system of inertia measurement |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1799909A (en) * | 2005-01-02 | 2006-07-12 | 傅建中 | Passive automobile rear-collision prewarning anticollision technical scheme |
| CN201761481U (en) * | 2010-09-17 | 2011-03-16 | 陈晶雅 | Automobile rear-end collision preventing device |
| CN102294983A (en) * | 2011-06-30 | 2011-12-28 | 东南大学 | Anti-rear-end vehicle-mounted device |
| CN202243308U (en) * | 2011-10-26 | 2012-05-30 | 长安大学 | Vehicular rear collision preventing device |
| CN102795184A (en) * | 2012-08-27 | 2012-11-28 | 奇瑞汽车股份有限公司 | Active avoiding system for preventing rear-end collision and control method thereof |
-
2017
- 2017-07-26 CN CN201710617110.6A patent/CN107472256A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1799909A (en) * | 2005-01-02 | 2006-07-12 | 傅建中 | Passive automobile rear-collision prewarning anticollision technical scheme |
| CN201761481U (en) * | 2010-09-17 | 2011-03-16 | 陈晶雅 | Automobile rear-end collision preventing device |
| CN102294983A (en) * | 2011-06-30 | 2011-12-28 | 东南大学 | Anti-rear-end vehicle-mounted device |
| CN202243308U (en) * | 2011-10-26 | 2012-05-30 | 长安大学 | Vehicular rear collision preventing device |
| CN102795184A (en) * | 2012-08-27 | 2012-11-28 | 奇瑞汽车股份有限公司 | Active avoiding system for preventing rear-end collision and control method thereof |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171215 |
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| RJ01 | Rejection of invention patent application after publication |