CN107985297A - The method that early warning of knocking into the back is braked based on CAN bus vehicle - Google Patents

The method that early warning of knocking into the back is braked based on CAN bus vehicle Download PDF

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CN107985297A
CN107985297A CN201711341164.0A CN201711341164A CN107985297A CN 107985297 A CN107985297 A CN 107985297A CN 201711341164 A CN201711341164 A CN 201711341164A CN 107985297 A CN107985297 A CN 107985297A
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sensor
distance
control unit
bus
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王宪彬
孔德璇
李晓艺
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Northeast Forestry University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
    • B60T17/18—Safety devices; Monitoring
    • B60T17/22—Devices for monitoring or checking brake systems; Signal devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
    • B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • Instrument Panels (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

基于CAN总线车辆制动追尾预警的方法。目前我国的车辆在行驶时只能靠驾驶员观察前车情况来进行反应，但是驾驶员有反应时间。本发明包括如下步骤：（1）安装在汽车前保险杠上的雷达传感器实时测量与前方目标物之间的距离和相对速度；（2）安装在车上的自动车速传感器、侧向距离传感器、转向角度传感器、路面状况传感器和制动踏板传感器测得车辆信号并送入信息采集单元中；（3）雷达传感器测得的信号和信息采集单元中的信号经过处理后通过CAN总线通讯接口输送到主控单元；（4）主控单元根据得到的数据对行车安全进行判断，并发送到显示‑声光报警单元实时显示速度、距离并报警。本发明用于基于CAN总线车辆制动追尾预警的方法。

A method of vehicle braking rear-end collision warning based on CAN bus. At present, the vehicles in our country can only react by the driver observing the situation of the vehicle in front when driving, but the driver has time to react. The invention includes the following steps: (1) The radar sensor installed on the front bumper of the car measures the distance and relative speed between the front target in real time; (2) The automatic vehicle speed sensor, the lateral distance sensor, The steering angle sensor, road condition sensor and brake pedal sensor measure the vehicle signal and send it to the information collection unit; (3) The signal measured by the radar sensor and the signal in the information collection unit are processed and sent to the Main control unit; (4) The main control unit judges the driving safety according to the obtained data, and sends it to the display-sound and light alarm unit to display the speed, distance and alarm in real time. The invention is used in a method for early warning of vehicle brake rear-end collision based on CAN bus.

Description

基于CAN总线车辆制动追尾预警的方法A Method of Vehicle Brake Rear Collision Warning Based on CAN Bus

技术领域：Technical field:

本发明涉及车辆制动技术领域，具体涉及一种基于CAN总线车辆制动追尾预警的方法。The invention relates to the technical field of vehicle braking, in particular to a method for vehicle braking rear-end collision warning based on CAN bus.

背景技术：Background technique:

追尾碰撞是我国目前公路交通事故中最为常见的一类事故，追尾碰撞和车辆的制动息息相关，目前我国的车辆在行驶时只能靠驾驶员观察前车情况来进行反应，将车辆进行制动，但是驾驶员有反应时间，很多情况在驾驶员没有反应过来已经发生了交通事故，因此，能够对车辆进行追尾预警显得尤为重要。Rear-end collision is the most common type of accident in my country's current road traffic accidents. Rear-end collision is closely related to the braking of vehicles. At present, vehicles in our country can only rely on the driver to observe the situation of the vehicle in front to react and brake the vehicle. , but the driver has time to react. In many cases, traffic accidents have occurred before the driver has reacted. Therefore, it is particularly important to be able to carry out rear-end warning of the vehicle.

发明内容：Invention content:

本发明的目的是解决追尾交通事故驾驶员不能及时反应的问题，提供一种可以及时进行追尾预警，计算安全距离的基于CAN总线车辆制动追尾预警的方法。The purpose of the present invention is to solve the problem that the driver of a rear-end collision traffic accident cannot respond in time, and provides a method for rear-end collision warning based on CAN bus vehicle braking that can timely perform rear-end collision warning and calculate a safe distance.

上述的目的通过以下的技术方案实现：Above-mentioned purpose realizes by following technical scheme:

一种基于CAN总线车辆制动追尾预警的方法，该方法包括如下步骤：A kind of method based on CAN bus vehicle brake rear-end collision early warning, this method comprises the steps:

（1）安装在汽车前保险杠上的雷达传感器实时测量与前方目标物之间的距离和相对速度；(1) The radar sensor installed on the front bumper of the car measures the distance and relative speed to the target in front in real time;

（2）安装在车上的自动车速传感器、侧向距离传感器、转向角度传感器、路面状况传感器和制动踏板传感器测得车辆信号并送入信息采集单元中；(2) The automatic vehicle speed sensor, lateral distance sensor, steering angle sensor, road surface condition sensor and brake pedal sensor installed on the vehicle measure the vehicle signal and send it to the information collection unit;

（3）雷达传感器测得的信号和信息采集单元中的信号经过处理后通过CAN总线通讯接口输送到主控单元；(3) The signal measured by the radar sensor and the signal in the information acquisition unit are processed and sent to the main control unit through the CAN bus communication interface;

（4）主控单元根据得到的数据对行车安全进行判断，并发送到显示-声光报警单元实时显示速度、距离并进行提醒和危险报警。(4) The main control unit judges the driving safety according to the obtained data, and sends it to the display-sound and light alarm unit to display the speed and distance in real time and give reminders and danger alarms.

所述的基于CAN总线车辆制动追尾预警的方法，所述的雷达传感器以180MHz的中频信号进行输出，该中频信号包括距离信息，相对速度信息和目标度的位置信息，并经过处理成为3个数字信号通过CAN总线通讯接口输送到主控单元中，雷达数据发送单元不断的向雷达ECU发送符合要求的数据，维持雷达的工作环境。In the method of vehicle brake rear-end collision warning based on the CAN bus, the radar sensor outputs an intermediate frequency signal of 180 MHz, which includes distance information, relative speed information and position information of the target degree, and is processed into three The digital signal is sent to the main control unit through the CAN bus communication interface, and the radar data sending unit continuously sends the required data to the radar ECU to maintain the working environment of the radar.

所述的基于CAN总线车辆制动追尾预警的方法，所述的主控单元根据得到的数据对行车安全进行判断，通过CAN总线通讯接口发送到显示-声光报警单元实时显示速度、距离并进行报警具体为：主控单元根据得到的数据对行车安全进行判断，将车辆分为停止、减速和加速三种状态，前车减速或停止状态下危险报警距离为：According to the method of vehicle brake rear-end collision warning based on CAN bus, the main control unit judges the driving safety according to the obtained data, and sends it to the display-sound and light alarm unit through the CAN bus communication interface to display the speed and distance in real time and perform The alarm is specifically: the main control unit judges the driving safety according to the obtained data, and divides the vehicle into three states of stop, deceleration and acceleration. The danger alarm distance when the vehicle in front is decelerating or stopping is:

其中：a1为自车的最大减速度，a2为前车的最大减速的，v1为自车速度，v2为前车速度，tx为制动器协调时间，ve为两车间的相对速度，ts为制动减速度增长时间，d0为安全距离；Among them: a 1 is the maximum deceleration of the ego vehicle, a 2 is the maximum deceleration of the front vehicle, v 1 is the speed of the ego vehicle, v 2 is the speed of the front vehicle, t x is the brake coordination time, v e is the relative speed, t s is the braking deceleration growth time, d 0 is the safety distance;

提醒报警距离为：The reminder alarm distance is:

其中：thm为驾驶员的反应动作时间。Among them: t hm is the reaction time of the driver.

所述的基于CAN总线车辆制动追尾预警的方法，所述的主控单元采用P89V51RD2，对雷达发送来的数据帧和信息采集单元发送来的数据帧进行处理。In the CAN bus-based vehicle braking rear-end collision warning method, the main control unit uses P89V51RD2 to process the data frames sent by the radar and the data frames sent by the information acquisition unit.

所述的基于CAN总线车辆制动追尾预警的方法，所述的显示-声光报警单元包括液晶显示模块、声音报警模块、指示灯报警模块和电源模块，声音报警模块由绿、黄、红三种发光二级管组成，所述的液晶显示模块实时给驾驶员提供自车与前车的实际间距和自车车速等信息。The described method based on CAN bus vehicle brake rear-end collision warning, described display-sound and light alarm unit comprises liquid crystal display module, sound alarm module, indicator light alarm module and power supply module, and sound alarm module consists of green, yellow, red three Composed of a light-emitting diode, the liquid crystal display module provides the driver with information such as the actual distance between the vehicle in front and the vehicle in front and the speed of the vehicle in real time.

有益效果：Beneficial effect:

1.本发明采用CAN总线进行通讯，提高了系统的实用性和可靠性，通过安装在车上的自动车速传感器、侧向距离传感器、转向角度传感器、路面状况传感器和制动踏板传感器测得车辆信号并送入信息采集单元中，雷达传感器测得的信号和信息采集单元中的信号经过处理后通过CAN总线通讯接口输送到主控单元，主控单元根据得到的数据对行车安全进行判断，并发送到显示-声光报警单元实时显示速度、距离并进行提醒和危险报警，可以实时显示行车状态以及根据前车的形式状态来及时作出预警或报警处理，梯形驾驶员进行车辆制动，可以为驾驶员提供充分的反应时间，保障行车安全。1. The present invention adopts CAN bus to carry out communication, has improved the practicability and reliability of the system, and the automatic vehicle speed sensor, lateral distance sensor, steering angle sensor, road condition sensor and brake pedal sensor that are installed on the car measure the vehicle The signal is sent to the information acquisition unit, the signal measured by the radar sensor and the signal in the information acquisition unit are processed and sent to the main control unit through the CAN bus communication interface, the main control unit judges the driving safety according to the obtained data, and Send to the display-sound and light alarm unit to display the speed and distance in real time and give reminders and danger alarms. It can display the driving status in real time and make early warning or alarm processing in time according to the state of the vehicle in front. The trapezoidal driver can brake the vehicle, which can be used for The driver provides sufficient reaction time to ensure driving safety.

本发明选用ARS-200毫米波多普勒雷达测距，测速准确，误差在0.5m以内，最高测距300m，满足系统对车距的测量要求。The invention selects ARS-200 millimeter wave Doppler radar for distance measurement, which has accurate speed measurement, error within 0.5m, and maximum distance measurement of 300m, which meets the system's requirements for vehicle distance measurement.

本发明的报警分为提醒报警和危险报警两种，绿、黄、红三种发光二级管组成，可以直观的看到预警内容，通过液晶显示模块实时给驾驶员提供自车与前车的实际间距和自车车速等信息，可以起到对驾驶员的预警作用，使得驾驶员有足够的反应时间。The alarm of the present invention is divided into two types: reminder alarm and danger alarm. It is composed of three kinds of light-emitting diodes, green, yellow, and red. Information such as the actual distance and the speed of the vehicle can serve as an early warning to the driver, so that the driver has enough time to react.

本发明在驾驶员对预警内容作出及时处理后，可以自动停止报警，本系统完全自动化处理，处理及时。The present invention can automatically stop the alarm after the driver processes the early warning content in time, and the system is fully automatic and timely.

附图说明：Description of drawings:

附图1是本发明的结构框图；Accompanying drawing 1 is a structural block diagram of the present invention;

具体实施方式：Detailed ways:

实施例1：Example 1:

一种基于CAN总线车辆制动追尾预警的方法，该方法包括如下步骤：A kind of method based on CAN bus vehicle brake rear-end collision early warning, this method comprises the steps:

（1）安装在汽车前保险杠上的雷达传感器实时测量与前方目标物之间的距离和相对速度；(1) The radar sensor installed on the front bumper of the car measures the distance and relative speed to the target in front in real time;

（2）安装在车上的自动车速传感器、侧向距离传感器、转向角度传感器、路面状况传感器和制动踏板传感器测得车辆信号并送入信息采集单元中，自动车速传感器为霍尔车速传感器，采用测周期法对速度信号进行处理；(2) The automatic vehicle speed sensor, lateral distance sensor, steering angle sensor, road surface condition sensor and brake pedal sensor installed on the vehicle measure the vehicle signal and send it to the information collection unit. The automatic vehicle speed sensor is a Hall speed sensor. The speed signal is processed by the cycle measurement method;

（3）雷达传感器测得的信号和信息采集单元中的信号经过处理后通过CAN总线通讯接口输送到主控单元；(3) The signal measured by the radar sensor and the signal in the information acquisition unit are processed and sent to the main control unit through the CAN bus communication interface;

（4）主控单元根据得到的数据对行车安全进行判断，并发送到显示-声光报警单元实时显示速度、距离并进行提醒和危险报警；(4) The main control unit judges the driving safety according to the obtained data, and sends it to the display-sound and light alarm unit to display the speed and distance in real time and give reminders and danger alarms;

所述的雷达传感器以180MHz的中频信号进行输出，该中频信号包括距离信息，相对速度信息和目标度的位置信息，并经过处理成为3个数字信号通过CAN总线通讯接口输送到主控单元中，雷达数据发送单元不断的向雷达ECU发送符合要求的数据，维持雷达的工作环境；The radar sensor outputs with an intermediate frequency signal of 180MHz, which includes distance information, relative speed information and position information of the target degree, and is processed into three digital signals and sent to the main control unit through the CAN bus communication interface, The radar data sending unit continuously sends the required data to the radar ECU to maintain the working environment of the radar;

所述的主控单元根据得到的数据对行车安全进行判断，通过CAN总线通讯接口发送到显示-声光报警单元实时显示速度、距离并进行报警具体为：主控单元根据得到的数据对行车安全进行判断，将车辆分为停止、减速和加速三种状态，前车减速或停止状态下危险报警距离为：The main control unit judges the driving safety according to the data obtained, and sends it to the display-sound and light alarm unit through the CAN bus communication interface to display the speed and distance in real time and give an alarm. Specifically: the main control unit judges the driving safety according to the obtained data. To judge, the vehicle is divided into three states of stop, deceleration and acceleration. The danger alarm distance in the state of deceleration or stop of the preceding vehicle is:

其中：a1为自车的最大减速度，a2为前车的最大减速的，v1为自车速度，v2为前车速度，tx为制动器协调时间，ve为两车间的相对速度，ts为制动减速度增长时间，d0为安全距离；Among them: a 1 is the maximum deceleration of the ego vehicle, a 2 is the maximum deceleration of the front vehicle, v 1 is the speed of the ego vehicle, v 2 is the speed of the front vehicle, t x is the brake coordination time, v e is the relative speed, t s is the braking deceleration growth time, d 0 is the safety distance;

提醒报警距离为：The reminder alarm distance is:

其中：thm为驾驶员的反应动作时间。Among them: t hm is the reaction time of the driver.

所述的主控单元采用P89V51RD2，对雷达发送来的数据帧，帧ID为506和信息采集单元发送来的数据帧，帧ID为542进行处理；The main control unit adopts P89V51RD2 to process the data frame sent by the radar, the frame ID is 506 and the data frame sent by the information acquisition unit, the frame ID is 542;

所述的显示-声光报警单元包括液晶显示模块、声音报警模块、指示灯报警模块和电源模块，声音报警模块由绿、黄、红三种发光二级管组成，所述的液晶显示模块实时给驾驶员提供自车与前车的实际间距和自车车速等信息，液晶显示模块。The display-sound and light alarm unit includes a liquid crystal display module, a sound alarm module, an indicator light alarm module and a power supply module, and the sound alarm module is composed of three kinds of light-emitting diodes of green, yellow and red. To provide the driver with information such as the actual distance between the vehicle in front and the vehicle in front and the speed of the vehicle, the liquid crystal display module.

Claims (5)

1. a kind of method for early warning of being knocked into the back based on the braking of CAN bus vehicle, it is characterized in that：This method comprises the following steps：
（1）Radar sensor on automobile front beam measures the distance between target lead object and relatively speed in real time Degree；
（2）Vehicle-mounted automatic vehicle speed sensor, lateral distance sensor, steering angle sensor, pavement behavior sensing Device and brake pedal sensor measure signals of vehicles and are sent into information acquisition unit；
（3）Signal in signal and information acquisition unit that radar sensor measures is connect by CAN bus communication after treatment Mouth is transported to main control unit；
（4）Main control unit judges traffic safety according to obtained data, and it is real-time to be sent to display-acousto-optic warning unit Display speed, distance are simultaneously reminded and danger warning.
2. the method for early warning according to claim 1 of being knocked into the back based on the braking of CAN bus vehicle, it is characterized in that：The thunder Exported up to sensor with the intermediate-freuqncy signal of 180MHz, which includes range information, relative velocity and target The positional information of degree, and be transported to by being treated as 3 digital signals by CAN bus communication interface in main control unit, thunder Satisfactory data constantly are sent to radar ECU up to data transmission unit, maintain the working environment of radar.
3. the method for early warning according to claim 1 or 2 of being knocked into the back based on the braking of CAN bus vehicle, it is characterized in that：Described Main control unit judges traffic safety according to obtained data, and display-acousto-optic report is sent to by CAN bus communication interface Alert unit real-time display speed, distance are simultaneously alarmed specially：Main control unit carries out traffic safety according to obtained data Judge, vehicle is divided into stopping, deceleration and accelerates three kinds of states, danger warning distance is under front truck deceleration or halted state：
Wherein：a1For from the maximum deceleration of car, a2For the maximum deceleration of front truck, v1For from vehicle speed, v2For preceding vehicle speed, tx For reaction time of braking device, veFor the relative velocity in two workshops, tsFor braking deceleration rise time, d0For safe distance；
Reminding alarm distance is：
Wherein：thmFor the reaction actuation time of driver.
4. the method for early warning according to claim 3 of being knocked into the back based on the braking of CAN bus vehicle, it is characterized in that：The master Control unit uses P89V51RD2, and the data frame that the data frame and information acquisition unit sent to radar is sent is handled.
5. the method for early warning according to claim 3 of being knocked into the back based on the braking of CAN bus vehicle, it is characterized in that：Described is aobvious Show-acousto-optic warning unit includes LCD MODULE, audible alarm module, indicator light alarm module and power module, sound report Alert module is made of green, yellow, red three kinds of Light-Emitting Diodes, and the LCD MODULE is provided from car with before to driver in real time The actual spacing of car and from information such as car speeds.
CN201711341164.0A 2017-12-14 2017-12-14 The method that early warning of knocking into the back is braked based on CAN bus vehicle Pending CN107985297A (en)

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CN108819844A (en) * 2018-07-18 2018-11-16 厦门镭通智能科技有限公司 A kind of adaptive security prior-warning device and method
CN108922242A (en) * 2018-06-05 2018-11-30 宁波金洋化工物流有限公司 The preventative tracking of harmful influence haulage vehicle and control platform
CN109509363A (en) * 2018-11-21 2019-03-22 招银云创（深圳）信息技术有限公司 Running information suggestion device
CN110155046A (en) * 2019-05-09 2019-08-23 武汉理工大学 Automatic emergency brake hierarchical control method and system
CN113071469A (en) * 2021-04-06 2021-07-06 深圳市明华澳汉智能卡有限公司 Motor vehicle steering and braking alarm system based on RFID

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Application publication date: 20180504