CN108032825A - A kind of intelligent automobile anticollision device, collision-prevention device and control method - Google Patents
A kind of intelligent automobile anticollision device, collision-prevention device and control method Download PDFInfo
- Publication number
- CN108032825A CN108032825A CN201810033609.7A CN201810033609A CN108032825A CN 108032825 A CN108032825 A CN 108032825A CN 201810033609 A CN201810033609 A CN 201810033609A CN 108032825 A CN108032825 A CN 108032825A
- Authority
- CN
- China
- Prior art keywords
- msub
- mrow
- msup
- mfrac
- car
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 24
- 239000002243 precursor Substances 0.000 claims abstract description 15
- 230000005611 electricity Effects 0.000 claims abstract description 6
- 238000012544 monitoring process Methods 0.000 claims abstract description 6
- 238000009434 installation Methods 0.000 claims abstract description 5
- 241000736199 Paeonia Species 0.000 claims description 37
- 235000006484 Paeonia officinalis Nutrition 0.000 claims description 37
- 238000012937 correction Methods 0.000 claims description 18
- 238000001514 detection method Methods 0.000 claims description 9
- 229910000831 Steel Inorganic materials 0.000 claims description 7
- 239000010959 steel Substances 0.000 claims description 7
- 239000000835 fiber Substances 0.000 claims description 6
- 238000011002 quantification Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 5
- 239000011148 porous material Substances 0.000 claims description 4
- WHGYBXFWUBPSRW-FOUAGVGXSA-N beta-cyclodextrin Chemical compound OC[C@H]([C@H]([C@@H]([C@H]1O)O)O[C@H]2O[C@@H]([C@@H](O[C@H]3O[C@H](CO)[C@H]([C@@H]([C@H]3O)O)O[C@H]3O[C@H](CO)[C@H]([C@@H]([C@H]3O)O)O[C@H]3O[C@H](CO)[C@H]([C@@H]([C@H]3O)O)O[C@H]3O[C@H](CO)[C@H]([C@@H]([C@H]3O)O)O3)[C@H](O)[C@H]2O)CO)O[C@@H]1O[C@H]1[C@H](O)[C@@H](O)[C@@H]3O[C@@H]1CO WHGYBXFWUBPSRW-FOUAGVGXSA-N 0.000 claims description 2
- 238000009966 trimming Methods 0.000 claims description 2
- 239000004033 plastic Substances 0.000 description 11
- 230000003139 buffering effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 206010039203 Road traffic accident Diseases 0.000 description 4
- 230000006378 damage Effects 0.000 description 4
- 238000012360 testing method Methods 0.000 description 4
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 208000014674 injury Diseases 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 241000876833 Emberizinae Species 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003365 glass fiber Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000979 retarding effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R19/00—Wheel guards; Radiator guards, e.g. grilles; Obstruction removers; Fittings damping bouncing force in collisions
- B60R19/02—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R19/00—Wheel guards; Radiator guards, e.g. grilles; Obstruction removers; Fittings damping bouncing force in collisions
- B60R19/02—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects
- B60R19/18—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects characterised by the cross-section; Means within the bumper to absorb impact
- B60R19/20—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects characterised by the cross-section; Means within the bumper to absorb impact containing mainly gas or liquid, e.g. inflatable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
Abstract
The invention discloses a kind of intelligent automobile anticollision device, collision-prevention device, including：Beam main body, it includes body after beam precursor and beam, and beam main body has the first groove and the second groove being recessed inwardly；Decorative layer, its matching are fixed on the first inside grooves；Multiple cushion courses, its Matching installation have gap in the second inside grooves between cushion course；Air bag layer, it is fixed in the gap between cushion course；Baroceptor, its Electricity Federation air bag layer, for monitoring the air pressure in barosphere；Vehicle speed sensor, for monitoring speed；Feedback device, it includes in-car display screen and voice announcer；Controller, its Electricity Federation feedback device, laser radar, ultrasonic radar, baroceptor and vehicle speed sensor.The invention discloses a kind of control method of intelligent automobile anticollision device, collision-prevention device.
Description
Technical field
The present invention relates to vehicle anticollision security fields, and in particular to a kind of intelligent automobile anticollision device, collision-prevention device and control method.
Background technology
In recent years, being continuously increased with total vehicle, automobile have become the essential vehicles of people.Daily
Many traffic accidents will occur, cause the life and property loss of the people, according to incompletely statistics, traffic accident accounts for unexpected dead
More than the 50% of sum is died, and China is every year because the death toll of traffic accident reaches more than 100,000 people.Automotive safety is increasingly
It is of interest by people.Therefore, the research to collision proof means for automobiles and collision avoidance system meets current trend, can effectively increase
Add the security of automobile in the process of moving.
In vehicle anticollision security fields, many people have done relevant research.In Patent No. CN106019308A《It is a kind of
Car collision avoidance System and control method based on laser radar》In, pass through the opposite of laser radar detection barrier and automobile
Track so that the prediction of collision is more accurate.In Patent No. CN101445086A《Anti-collision device for automobile》In, pass through cushion course
And spring layer, Impact energy is absorbed, realizes the protection to automobile passenger.In Patent No. CN105984411A《Load software afterwards
Anti-collision device for automobile》In, pass through bunting, sponge and rubber bodies so that impact force becomes slowly uniformly, to ensure safety of person vehicle.
In Patent No. CN104369707A《Automobile fender buffer》In, the destruction to automobile is reduced by way of multilayer buffering
Degree, injury when avoiding the traffic accident from occurring to human body, improves security performance.Research is predicted and inhaled from car crass above
Collision energy is received, reduces and human injury etc. studies car collision avoidance System, being conducive to, which increases garage, crosses
Security in journey, reduces the injury to driver and passenger.
At present in terms of automotive crash safety, mainly some sides are taken from two angles of active safety and passive security
Method.It is exactly some car collision avoidance Systems from the point of view of active safety, is exactly bumper from the point of view of passive security
And anticollision device, collision-prevention device.Current car collision avoidance System is to front truck mostly using laser radar or the method for ultrasonic ranging
Location track is detected, it is impossible to handles back car well.And bumper uses plastic material mostly, hit in automobile
It can be deformed and come off when hitting, structure is single, and buffering effect is poor, some anticollision device, collision-prevention devices designed at present are also mostly
Using cushion and spring, the effect of energy-absorbing buffering is nor highly desirable.And for car and lorry, since its inertia is big,
One anticollision device, collision-prevention device that can bear strong impact power is just particularly important.Therefore, designing one kind can either detection of complex road
Condition, absorb collision produce huge energy can carry out again automatic alarm intelligent anti-collision device be vehicle anticollision security fields urgently
Technical problem to be solved.
The content of the invention
The present invention has designed and developed a kind of intelligent automobile anticollision device, collision-prevention device, and goal of the invention of the invention is convenient to be installed on
Conventional fuse thick stick is substituted on automobile, and then absorbs the huge shock strength that collision produces and reduces impact force.
The present invention has designed and developed a kind of control method of intelligent automobile anticollision device, collision-prevention device, and one of goal of the invention of the invention is
Judge speed and the track of front and back vehicle, corresponding prompting is provided to this car driver and rear car driver.
The two of the goal of the invention of the present invention are that this car driver and rear car driver are carried by establishing fuzzy control model
For more accurate anticipation and prompting.
Technical solution provided by the invention is：
A kind of intelligent automobile anticollision device, collision-prevention device, including：
Beam main body, it includes body after beam precursor and beam, and the beam main body has what is be recessed inwardly
First groove and the second groove；
Decorative layer, its matching are fixed on first inside grooves；
Multiple cushion courses, its Matching installation have gap in second inside grooves between the cushion course；
Air bag layer, it is fixed in the gap between the cushion course；
Wherein, laser radar mounting groove is set at the center of the beam precursor, and runs through the beam precursor
With the decorative layer, for installing laser radar；The top of body is provided with ultrasonic radar mounting groove after the beam, and passes through
Body and the decorative layer after the beam are worn, for installing warning light belt and ultrasonic radar；
Baroceptor, air bag layer described in its Electricity Federation, for monitoring the air pressure in the barosphere；
Vehicle speed sensor, for monitoring speed；
Feedback device, it includes in-car display screen and voice announcer；
Controller, feedback device described in its Electricity Federation, the laser radar, the ultrasonic radar, the baroceptor and
The vehicle speed sensor.
Preferably, the air bag layer includes：
Multiple air seats, set air-filled pore, have gap between the air seat thereon；And
Multiple air columns, it is arranged in the gap between the air seat.
Preferably, further include：Steel wire fibre layer, it is arranged between the cushion course and the air bag layer.
Preferably, the beam main body both sides are provided with lampshade；And
Through hole is provided through in the beam main body and the decorative layer.
A kind of control method of intelligent automobile anticollision device, collision-prevention device, using the intelligent automobile anticollision device, collision-prevention device, including following step
Suddenly：
Step 1: gathered data, leading vehicle distance and preceding vehicle speed, ultrasonic radar detection rear car are detected by laser radar
Distance and rear speed, vehicle speed sensor detect this car speed, and baroceptor detects the air pressure of air bag layer；
Step 2: controller judges that leading vehicle distance and rear car make following control after whether safe distance is more than：
If leading vehicle distance and rear car distance are all higher than safe distance, without alarming driver；
If leading vehicle distance is less than Chinese herbaceous peony safe distance, voice announcer sends driver warning；
If rear car distance is less than safe distance after car, warning light belt starts to flicker according to rear distance, including：When after
Car distance be more than car after safe distance 2/3rds when, warning light belt with 3Hz frequency scintillations；After rear car distance is in car
When between 2nd/1 to three/3rds of safe distance, warning light belt is with 2Hz frequency scintillations；Pacify after rear car distance is less than car
Full distance 1/3rd when, warning light belt with 1Hz frequency scintillations；
Step 3: when current vehicle distance is less than Chinese herbaceous peony safe distance, if controller judges that driver is not adjusted, control
Device processed sends signal, and forced deceleration and braking are carried out to this car；
Wherein, the safe distance is：When speed is more than 10km/h, the Chinese herbaceous peony safe distance is 3m and Ben Che per small
When speed subtract front truck and take higher value in the one thousandth of speed per hour, when speed is less than 10km/h, Chinese herbaceous peony safe distance
Take 0.5m；When speed is more than 10km/h, safe distance is speed subtracts this car per hour per hour after 3m and car after the car
Higher value is taken in the one thousandth of speed；When speed is less than 10km/h, safe distance takes 0.5m after car.
A kind of control method of intelligent automobile anticollision device, collision-prevention device, using the intelligent automobile anticollision device, collision-prevention device, including following step
Suddenly：
Step 1: gathered data, leading vehicle distance and preceding vehicle speed, ultrasonic radar detection rear car are detected by laser radar
Distance and rear speed, vehicle speed sensor detect this car speed, and baroceptor detects the air pressure of air bag layer；
Step 2: controller by safe distance after leading vehicle distance, Chinese herbaceous peony safe distance, rear car distance and car whether into
Row early warning judges and is controlled as follows：
If judging to need to carry out early warning according to leading vehicle distance and Chinese herbaceous peony safe distance, voice announcer sends out driver
Go out warning；
If judging to need to carry out early warning according to safe distance after rear car distance and car, warning light belt is according to rear distance
Start to flicker；
Step 3: if controller judges that driver is not adjusted, controller sends signal, and carrying out pressure to this car subtracts
Speed and braking.
Preferably, in the step 2, the first pre- alarm probability Q is exported respectively using fuzzy control1It is general with the second early warning
Rate Q2And then early warning is judged whether to, include the following steps：
Respectively by Chinese herbaceous peony safe distance and the difference Δ S of leading vehicle distance1, Ben Che and front truck opposite speed Δ V1And first
Pre- alarm probability Q1Be converted to the quantification gradation in fuzzy domain；By Chinese herbaceous peony safe distance and the difference Δ S of leading vehicle distance1And this car
The opposite speed Δ V with front truck1Fuzzy control model is inputted, is divided into 7 grades；Fuzzy control model output is described first
Pre- alarm probability Q1, it is divided into 5 grades；According to the described first pre- alarm probability Q1Judge whether to send voice announcer to driver pre-
It is alert；And
Respectively by safe distance after car and rear car apart from its difference Δ S2, rear car and this car opposite speed Δ V2And second
Pre- alarm probability Q2Be converted to the quantification gradation in fuzzy domain；By safe distance after car and rear car apart from its difference Δ S2And rear car
The opposite speed Δ V with this car2Fuzzy control model is inputted, is divided into 7 grades；Fuzzy control model output is described second
Pre- alarm probability Q2, it is divided into 5 grades；According to the described second pre- alarm probability Q2Whether judge to warn light belt into line flicker.
Preferably, the difference Δ S of Chinese herbaceous peony safe distance and leading vehicle distance1Domain be [- 80,80], Ben Che and front truck
With respect to speed Δ V1Domain be [- 60,60], the first pre- alarm probability Q1Domain be [0,1], if quantizing factor all be 1,
Set the first pre- alarm probability Q1Threshold value be 0.44~0.53 in one value；And
Safe distance and rear car are apart from its difference Δ S after car2Domain be [- 80,80], rear car and the opposite speed Δ of this car
V2Domain be [- 60,60], the second pre- alarm probability Q2Domain be [0,1], if quantizing factor is all 1, setting is second pre-
Alarm probability Q2Threshold value be 0.49~0.57 in one value.
Preferably, the difference Δ S of the Chinese herbaceous peony safe distance and leading vehicle distance1Fuzzy set for NB, NM, NS, ZO, PS,
PM, PB }, the opposite speed Δ V of described car and front truck1Fuzzy set be { NB, NM, NS, ZO, PS, PM, PB }, described first
Pre- alarm probability Q1Fuzzy set be { S, SM, M, MB, B }；Membership function selects trigonometric function；And
Safe distance and rear car are apart from its difference Δ S after the car2Fuzzy set be { NB, NM, NS, ZO, PS, PM, PB }, institute
State the opposite speed Δ V of rear car and this car2Fuzzy set be { NB, NM, NS, ZO, PS, PM, PB }, the second pre- alarm probability Q2
Fuzzy set be { S, SM, M, MB, B }；Membership function selects trigonometric function.
Preferably, alarm probability Q pre- to described first respectively1With the described second pre- alarm probability Q2Empirical calibration is carried out to obtain
The first pre- alarm probability Q of correction1' and the second pre- alarm probability Q of correction2', including following trimming process：
WhenV0＞ V1When, to the first pre- alarm probability Q of correction1' corrected as follows：
WhenV2＞ V0When, to the second pre- alarm probability Q of correction2' corrected as follows：
In formula, S1For leading vehicle distance, SS1For Chinese herbaceous peony safe distance, S2For rear car distance, SS2For safe distance after car, V ' is
Empirical calibration speed, λ1、λ2、λ3、γ1、γ2、γ3It is empirical correction factor；V ' value ranges are 45~60km/h, λ1Take
Value scope is 1.18~1.22, λ2Value range be 1.21~1.24, λ3Value range be 1.25~1.28, γ1Value
Scope is 1.03~1.06, γ2Value range be 1.11~1.14, γ3Value range be 1.22~1.24.
Present invention beneficial effect possessed compared with prior art：
1st, the present invention employs the structure setting of layering using anti-collision body, by cushion course, rubber layer, steel wire fibre layer with
And huge energy caused by the air bag layer absorption collision with special construction, it is poor to overcome traditional insurance thick stick damping, buffering effect
The shortcomings that；
2nd, air bag layer of the invention is detected by carrying baroceptor, and air pressure is replenished in time easy to user, and
And be conducive to the replacement of air bag layer, increase service life；
3rd, electronic system of the invention can be established according to the spacing and speed of front and back fuzzy control model and then
Judge and control, give front vehicle and Ben Che driver accordingly prompts, easy to make rational measure；
4th, electronic system of the invention can also carry out automobile when driver cannot take corresponding measure in time
Compulsory retarding braking, at utmost prevents from unexpectedly occurring.
Brief description of the drawings
Fig. 1 is a kind of beam front body structure schematic diagram of intelligent automobile anticollision device, collision-prevention device of the present invention.
Fig. 2 is body structure diagram after a kind of beam of intelligent automobile anticollision device, collision-prevention device of the present invention.
Fig. 3 is a kind of air bag Rotating fields schematic diagram of intelligent automobile anticollision device, collision-prevention device of the present invention.
Fig. 4 is a kind of air bag layer air column distribution schematic diagram of intelligent automobile anticollision device, collision-prevention device of the present invention.
Fig. 5 is a kind of structure diagram of intelligent automobile anticollision device, collision-prevention device electronic system of the present invention.
Fig. 6 is a kind of control method flow chart of intelligent automobile anticollision device, collision-prevention device of the present invention.
Fig. 7 is the membership function of the difference of Chinese herbaceous peony safe distance and leading vehicle distance.
Fig. 8 is the membership function of the opposite speed of Ben Che and front truck.
Fig. 9 is the membership function of the first pre- alarm probability.
Figure 10 be after car safe distance and rear car apart from the membership function of its difference.
Figure 11 is the membership function of rear car and the opposite speed of this car.
Figure 12 is the membership function of the second pre- alarm probability.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings, to make those skilled in the art with reference to specification text
Word can be implemented according to this.
As shown in Fig. 1~Fig. 5, the present invention provides a kind of intelligent automobile anticollision device, collision-prevention device, including beam main body and electronics
System, beam main body include body 200 after beam precursor 100 and beam；Wherein, beam precursor 100 from front to back according to
It is secondary including decorative plastic layer 120, beam rubber body 110, the first cushion 130, steel wire fibre layer 140, air bag layer 150, second
Cushion course 131,100 surface of beam precursor are provided with lampshade 121, car plate mounting groove 111, laser radar mounting groove 112, ventilation
Hole 160, lampshade 121 are arranged on 110 both sides of beam rubber body, and car plate mounting groove 111 and laser radar mounting groove 112 are fixed on
The anteriomedial of beam precursor 100, through decorative plastic layer 120 and beam rubber body 110, venthole 160 is arranged on anti-
100 front part sides of device precursor are hit, through decorative plastic layer 120 and beam rubber body 110, and are set on air bag layer 150
There is air-filled pore 330；
Body 200 includes decorative plastic layer 220, beam rubber body 210, the first cushion successively from front to back after beam
230th, steel wire fibre layer 240, air bag layer 250, the second cushion course 231,200 surface of body is provided with lampshade 221, car plate after beam
Mounting groove 211, venthole 260, lampshade 221 are arranged on 210 both sides of beam rubber body, and car plate mounting groove 211 is fixed on anticollision
The anteriomedial of body 200 after device, through decorative plastic layer 220 and beam rubber body 210, venthole 260 is arranged on beam
200 front part sides of body afterwards, through decorative plastic layer 220 and beam rubber body 210, and are provided with air bag layer 250 and fill
Stomata 330；
Wherein, difference lies in body 200 is not provided with laser thunder after beam for body 200 and beam precursor after beam
Warning light belt 212 and ultrasonic radar mounting groove 213 are added up to mounting groove 112, warning light belt 212 is installed on body after beam
Directly over 200 outsides, ultrasonic radar mounting groove 213 is arranged on 212 both sides of warning light belt and runs through decorative plastic layer 220 and beam
Rubber body 210；
In the present invention, electronic system includes detecting module, processing module, alarm module and feedback module.
In another embodiment, lampshade 121,221 is installed in beam rubber body 110,210, can occurred
Car light is effectively protected during collision, using the design of circular shrinkage hole, easy to the installation on automobile.
In another embodiment, the venthole 160 in beam precursor 100 runs through decorative plastic layer 120 and anticollision
Device rubber body 110, the venthole 260 after beam in body 200 run through decorative plastic layer 220 and beam rubber body 210, lead to
The service life of anti-collision body can be effectively increased so that the gas in anticollision body is effectively discharged by crossing setting for venthole 160,260.
In another embodiment, decorative plastic layer 120,220 is installed in the most external of anti-collision body, plays protection and dress
The effect of decorations.
In another embodiment, beam rubber body 110,210 is made of rubber, has enough elasticity, supports
Whole anti-collision body, and there is corresponding installation slotted eye at its back, is conveniently fixed on automobile.
In another embodiment, the first cushion course 130,230 and the second cushion course 131,231 are by high-density sponge
It is made, good cushioning effect can be played.
In another embodiment, steel wire fibre layer 140,240 is successively multiple by meshy steel wire layer and reticular glass fiber layer
Conjunction is formed by stacking, and has certain rigidity, can be played a very good protection to air bag layer 150,250.
As shown in Figure 3 and Figure 4, in another embodiment, air bag layer 150,250 is in dies, and both sides are
The air seat 320 of rectangle, two 320 sandwich air columns 310 of air seat, are provided with air-filled pore on the air seat 320
330, easy to supplement the air pressure of air bag layer 150,250, three air columns 310 are in triangular arranged between each other, this
Sample can have enough stability, obtain good buffering effect by the compressibility of air, be additionally provided with air bag layer
Baroceptor, can effectively detect internal pressure, prompt driver that air pressure is replenished in time.
In another embodiment, surface of the warning light belt 212 outside body 200 after beam, warns light belt
It is made of inside 212 LED small bulbs, back car is warned by the flicker frequency of light, is seen with the presence or absence of risk of collision.
In another embodiment, ultrasonic radar mounting groove 213 is arranged on 212 both sides of warning light belt, and the inside is provided with super
Acoustic radar, detects the distance and speed of back car, and the cost of ultrasonic radar passes through left and right two than relatively low but precision is poor
The ultrasonic radar comprehensive descision of side, can effectively improve accuracy of detection.
In another embodiment, detecting module includes two ultrasonic radars on body 200 after beam, beam precursor
Laser radar, beam baroceptor and vehicle speed sensor on 100, so can effectively detect front and rear car speed and
Air pressure in spacing signal and air bag layer 150,250.
In another embodiment, analysis module includes one the controller based on dsp chip, can receive detecting module
The signal that passes over and feedback signal is passed into alarm module and feedback module.
In another embodiment, alarm module is including the warning light belt 212 on body 200 after beam and accordingly
PLC chip, can control the glow frequency of warning light belt 212, warn back car.
In another embodiment, feedback module includes in-car display screen and voice announcer, can be according to analysis module
The signal passed over shows different information to driver, and carries out voice prompt to driver.
As shown in Figure 5, Figure 6, present invention also offers a kind of control method of intelligent automobile anticollision device, collision-prevention device, including following step
Suddenly：
Step 1: opening switch, the electronic section of automobile anti-collision device is started to work；
Step 2: laser radar, ultrasonic radar, vehicle speed sensor, baroceptor detect data, signal is passed into control
Device processed；Laser radar detects leading vehicle distance and preceding vehicle speed, and ultrasonic radar detection rear car distance and rear speed, speed pass
Sensor detects this car speed, and baroceptor detects the air pressure of air bag layer.
Step 3: controller handles the signal passed over, and the information that detecting module is obtained is handled
Afterwards, before being shown on display screen；
Step 4: controller judges whether leading vehicle distance is more than Chinese herbaceous peony safe distance, if so, performing step 5, otherwise jump
Go to step 7；When speed is more than 10km/h, Chinese herbaceous peony safe distance is that speed subtracts front truck per small per hour in 3m and Ben Che
When speed one thousandth in take higher value；When speed is less than 10km/h, Chinese herbaceous peony safe distance takes 0.5m.
Step 5: controller judges whether rear car distance is more than safe distance after car, if then jumping to step 10, otherwise
Perform step 6；When speed is more than 10km/h, safe distance is that speed subtracts this car per small per hour after 3m and car after car
When speed one thousandth in take higher value；When speed is less than 10km/h, safe distance takes 0.5m after car.
Step 6: warning light belt starts to flicker with 3Hz, 2Hz, 1Hz frequency respectively according to rear car distance；When rear car distance
Between the 2/3-1 of safe distance it is 3Hz frequency scintillations after car, the 1/3-2/3 of safe distance is 2Hz after car, in Che Houan
It is 1Hz frequency scintillations between the 0-1/3 of full distance.
Step 7: voice announcer sends driver warning.
Step 8: controller judges whether driver has carried out corresponding adjusting, if performing step 4, step is otherwise performed
Rapid nine；Controller judges whether driver has carried out corresponding adjusting according to the change of the speed of this car.
Step 9: electronic system sends signal to automobile master controller, forced deceleration and braking are carried out, jumps to step
Four, electronic system completes this process by the interaction between brake system of car.
Step 10: the course of work terminates.
Present invention also offers a kind of control method of intelligent automobile anticollision device, collision-prevention device, include the following steps：
Step 1: gathered data, leading vehicle distance and preceding vehicle speed, ultrasonic radar detection rear car are detected by laser radar
Distance and rear speed, vehicle speed sensor detect this car speed, and baroceptor detects the air pressure of air bag layer；
Step 2: controller by safe distance after leading vehicle distance, Chinese herbaceous peony safe distance, rear car distance and car whether into
Row early warning judges and is controlled as follows：
If judging to need to carry out early warning according to leading vehicle distance and Chinese herbaceous peony safe distance, voice announcer sends out driver
Go out warning；
If judging to need to carry out early warning according to safe distance after rear car distance and car, warning light belt is according to rear distance
Start to flicker；
Step 3: if controller judges that driver is not adjusted, controller sends signal, and carrying out pressure to this car subtracts
Speed and braking.
As shown in figs. 7-9, in step 2, the first pre- alarm probability Q is exported using fuzzy control model1Judge whether pair
Driver sends voice announcer early warning, includes the following steps：Respectively by Chinese herbaceous peony safe distance and the difference Δ S of leading vehicle distance1, this
The opposite speed Δ V of car and front truck1And the first pre- alarm probability Q1Be converted to the quantification gradation in fuzzy domain；By Chinese herbaceous peony safety
The difference Δ S of distance and leading vehicle distance1And the opposite speed Δ V of Ben Che and front truck1Input fuzzy control model, Fuzzy Control molding
Type output is the first pre- alarm probability Q1, and then carry out the prediction whether data export, the first pre- alarm probability Q1Threshold value for 0.44~
A value in 0.53, if the first pre- alarm probability Q1Reach given threshold, then show the first pre- alarm probability Q1Data are exportable,
Controller judges to send driver voice announcer early warning, if the first pre- alarm probability Q1Not up to given threshold, then show
First pre- alarm probability Q1Data are not exportable, and controller judges that to driver voice announcer early warning need not be sent；In this implementation
In example, in order to ensure the precision of control, it is set to be controlled well in different environments, according to repetition test,
Threshold value is determined as 0.48.
The difference Δ S of Chinese herbaceous peony safe distance and leading vehicle distance1Excursion be [- 80,80], Ben Che and front truck opposite car
Fast Δ V1Excursion be [- 60,60], setting quantizing factor all be 1, therefore, the difference of Chinese herbaceous peony safe distance and leading vehicle distance
ΔS1And the opposite speed Δ V of Ben Che and front truck1Domain be respectively [- 80,80] and [- 60,60], the first pre- alarm probability Q1
Domain be [0,1]；In order to ensure the precision of control, it is set to be controlled well in different environments, according to
Repetition test, the at last most difference Δ S of Chinese herbaceous peony safe distance and leading vehicle distance1Excursion be divided into 7 grades, fuzzy set is
{ NB, NM, NS, ZO, PS, PM, PB }, NB represent negative big, and NM represents negative medium, and NS represents negative small, and ZO represents that zero, PS is represented just
Small, PM represents just medium, and PB represents honest；The opposite speed Δ V of this car and front truck1Excursion be divided into 7 grades, obscure
Collect and represent negative big for { NB, NM, NS, ZO, PS, PM, PB }, NB, NM represents negative medium, and NS represents negative small, and ZO represents that zero, PS is represented
Just small, PM represents just medium, and PB represents honest；First pre- alarm probability Q of output1Be divided into 5 grades, fuzzy set for S, SM, M,
MB, B }, S represents small, and SM represents smaller, and M represents medium, and MB represents larger, and B represents big；Membership function selects triangle to be subordinate to
Membership fuction, as shown in Fig. 7,8,9.
The rule selection experience that controls of fuzzy control model is：
If the difference Δ S of Chinese herbaceous peony safe distance and leading vehicle distance1To be honest or just medium, the opposite car of Ben Che and front truck
Fast Δ V1To be honest or just medium, then the first pre- alarm probability Q1To be big, i.e., data are exportable, at this time, judge that controller is judged to driving
The person of sailing sends voice announcer early warning；
If the difference Δ S of Chinese herbaceous peony safe distance and leading vehicle distance1To be negative big, negative medium or negative small, Ben Che and front truck
With respect to speed Δ V1To be negative big or negative medium, then the first pre- alarm probability Q1To be small, i.e., data are not exportable, and at this time, controller judges
Voice announcer early warning need not be sent to driver；
If that is, the first pre- alarm probability Q1For " small or smaller ", then data are not exportable, and at this time, controller is sentenced
It is disconnected that voice announcer early warning need not be sent to driver；If the first pre- alarm probability Q1For " big or larger ", then data are exportable,
At this time, controller judges to send driver voice announcer early warning；If the first pre- alarm probability is " medium ", the first early warning
Probability Q1For threshold value, such a situation, if the difference Δ S of Chinese herbaceous peony safe distance and leading vehicle distance1Or the opposite car of this car and front truck
Fast Δ V1Vary slightly, then will necessarily be formed and early warning or the switching of not early warning both of these case are sent to driver；Specifically
Fuzzy control rule is as shown in table 1.
1 fuzzy control rule of table
As shown in Figure 10~12, in step 2, the second pre- alarm probability Q is exported using fuzzy control model2Judge warning
Whether light belt flickers, and includes the following steps：Respectively by safe distance after car and rear car apart from its difference Δ S2, rear car and the phase of this car
To speed Δ V2And the second pre- alarm probability Q2Be converted to the quantification gradation in fuzzy domain；By safe distance after car and rear car away from
From its poor Δ S2And rear car and the opposite speed Δ V of this car2Fuzzy control model is inputted, fuzzy control model output is second
Pre- alarm probability Q2, and then carry out the prediction whether data export, the second pre- alarm probability Q2Threshold value be 0.49~0.57 in one
Value, if the second pre- alarm probability Q2Reach given threshold, then show the second pre- alarm probability Q2Data are exportable, and controller judges police
Show that light belt flickers, if the second pre- alarm probability Q2Not up to given threshold, then show the second pre- alarm probability Q2Data are not exportable,
Controller judges that warning light belt does not flicker；In the present embodiment, in order to ensure the precision of control, it is made in different environments all
It can well be controlled, according to repetition test, threshold value is determined as 0.53.
Safe distance and rear car are apart from its difference Δ S after car2Excursion be [- 80,80], rear car and the opposite car of this car
Fast Δ V2Excursion be [- 60,60], setting quantizing factor all be 1, therefore, safe distance and rear car are apart from its difference after car
ΔS2And rear car and the opposite speed Δ V of this car2Domain be respectively [- 80,80] and [- 60,60], the second pre- alarm probability Q2
Domain be [0,1]；In order to ensure the precision of control, it is set to be controlled well in different environments, according to
Repetition test, most at last after car safe distance and rear car apart from its difference Δ S2Excursion be divided into 7 grades, fuzzy set is
{ NB, NM, NS, ZO, PS, PM, PB }, NB represent negative big, and NM represents negative medium, and NS represents negative small, and ZO represents that zero, PS is represented just
Small, PM represents just medium, and PB represents honest；Rear car and the opposite speed Δ V of this car2Excursion be divided into 7 grades, obscure
Collect and represent negative big for { NB, NM, NS, ZO, PS, PM, PB }, NB, NM represents negative medium, and NS represents negative small, and ZO represents that zero, PS is represented
Just small, PM represents just medium, and PB represents honest；Second pre- alarm probability Q of output2Be divided into 5 grades, fuzzy set for S, SM, M,
MB, B }, S represents small, and SM represents smaller, and M represents medium, and MB represents larger, and B represents big；Membership function selects triangle to be subordinate to
Membership fuction, as shown in Figure 10,11,12.
The rule selection experience that controls of fuzzy control model is：
If safe distance and rear car are apart from its difference Δ S after car2To be honest or just medium, rear car and the opposite car of this car
Fast Δ V2To be honest or just medium, then the second pre- alarm probability Q2To be big, i.e., data are exportable, and at this time, controller judges warning light belt
Flicker；
If safe distance and rear car are apart from its difference Δ S after car2To be negative big, negative medium or negative small, rear car and this car
With respect to speed Δ V2To be negative big or negative medium, then the second pre- alarm probability Q2To be small, i.e., data are not exportable, and at this time, controller judges
Warning light belt does not flicker；
If that is, the second pre- alarm probability Q2For " small or smaller ", then data are not exportable, and at this time, controller is sentenced
Disconnected warning light belt does not flicker；If the second pre- alarm probability Q2For " big or larger ", then data are exportable, and at this time, controller judges
Warning light belt does not flicker；If the second pre- alarm probability is " medium ", the second pre- alarm probability Q2For threshold value, such a situation, if
Safe distance and rear car are apart from its difference Δ S after car2Or rear car and the opposite speed Δ V of this car2Vary slightly, then will necessarily shape
The flicker of warning light belt or warning light belt do not flicker the switching of both of these case in pairs；The specific fuzzy control rule such as institute of table 2
Show.
2 fuzzy control rule of table
In another embodiment, alarm probability Q pre- to described first respectively1With the described second pre- alarm probability Q2Carry out experience
Correction obtains the pre- alarm probability Q of the first correction1' and the second pre- alarm probability Q of correction2', pass through the first pre- alarm probability Q of correction1' and second
Correct pre- alarm probability Q2' exported and judge to remind this car driver and rear car driver, to including following school
Positive process：
WhenWhen, to the first pre- alarm probability Q of correction1' corrected as follows：
WhenWhen, to the second pre- alarm probability Q of correction2' corrected as follows：
In formula, S1For leading vehicle distance, SS1For Chinese herbaceous peony safe distance, S2For rear car distance, SS2For safe distance after car, V ' is
Empirical calibration speed, λ1、λ2、λ3、γ1、γ2And γ3It is empirical correction factor；V ' value ranges are 45~60km/h, λ1's
Value range is 1.18~1.22, λ2Value range be 1.21~1.24, λ3Value range be 1.25~1.28, γ1Take
Value scope is 1.03~1.06, γ2Value range be 1.11~1.14, γ3Value range be 1.22~1.24；As one
Kind is preferred, and V ' is 55km/h, λ1For 1.18, λ2For 1.23, λ3For 1.27, γ1For 1.05, γ2For 1.13, γ3For 1.23.
Although embodiment of the present invention is disclosed as above, it is not restricted in specification and embodiment listed
With it can be applied to various suitable the field of the invention completely, can be easily for those skilled in the art
Realize other modification, therefore under the universal limited without departing substantially from claim and equivalency range, it is of the invention and unlimited
In specific details and shown here as the legend with description.
Claims (10)
- A kind of 1. intelligent automobile anticollision device, collision-prevention device, it is characterised in that including：Beam main body, it includes body after beam precursor and beam, and the beam main body has first to be recessed inwardly Groove and the second groove；Decorative layer, its matching are fixed on first inside grooves；Multiple cushion courses, its Matching installation have gap in second inside grooves between the cushion course；Air bag layer, it is fixed in the gap between the cushion course；Wherein, laser radar mounting groove is set at the center of the beam precursor, and runs through the beam precursor and institute Decorative layer is stated, for installing laser radar；The top of body is provided with ultrasonic radar mounting groove after the beam, and runs through institute Body and the decorative layer after beam are stated, for installing warning light belt and ultrasonic radar；Baroceptor, air bag layer described in its Electricity Federation, for monitoring the air pressure in the barosphere；Vehicle speed sensor, for monitoring speed；Feedback device, it includes in-car display screen and voice announcer；Controller, feedback device described in its Electricity Federation, the laser radar, the ultrasonic radar, the baroceptor and described Vehicle speed sensor.
- 2. intelligent automobile anticollision device, collision-prevention device as claimed in claim 1, it is characterised in that the air bag layer includes：Multiple air seats, set air-filled pore, have gap between the air seat thereon；AndMultiple air columns, it is arranged in the gap between the air seat.
- 3. intelligent automobile anticollision device, collision-prevention device as claimed in claim 1 or 2, it is characterised in that further include：Steel wire fibre layer, it sets Put between the cushion course and the air bag layer.
- 4. intelligent automobile anticollision device, collision-prevention device as claimed in claim 3, it is characterised in that the beam main body both sides are provided with lamp Cover；AndThrough hole is provided through in the beam main body and the decorative layer.
- 5. a kind of control method of intelligent automobile anticollision device, collision-prevention device, it is characterised in that usage right is required any one of 1-4 Intelligent automobile anticollision device, collision-prevention device, includes the following steps：Step 1: gathered data, leading vehicle distance and preceding vehicle speed, ultrasonic radar detection rear car distance are detected by laser radar And rear speed, vehicle speed sensor detect this car speed, baroceptor detects the air pressure of air bag layer；Step 2: controller judges that leading vehicle distance and rear car make following control after whether safe distance is more than：If leading vehicle distance and rear car distance are all higher than safe distance, without alarming driver；If leading vehicle distance is less than Chinese herbaceous peony safe distance, voice announcer sends driver warning；If rear car distance is less than safe distance after car, warning light belt starts to flicker according to rear distance, including：When rear car away from From more than after car safe distance 2/3rds when, warning light belt with 3Hz frequency scintillations；Safety after rear car distance is in car When between 2nd/1 to three/3rds of distance, warning light belt is with 2Hz frequency scintillations；When rear car distance be less than car after safely away from From 1/3rd when, warning light belt with 1Hz frequency scintillations；Step 3: when current vehicle distance is less than Chinese herbaceous peony safe distance, if controller judges that driver is not adjusted, controller Signal is sent, forced deceleration and braking are carried out to this car；Wherein, the safe distance is：When speed is more than 10km/h, the Chinese herbaceous peony safe distance is 3m and Ben Che cars per hour Speed subtracts front truck and takes higher value in the one thousandth of speed per hour, and when speed is less than 10km/h, Chinese herbaceous peony safe distance takes 0.5m；When speed is more than 10km/h, safe distance is speed subtracts this car car per hour per hour after 3m and car after the car Higher value is taken in the one thousandth of speed；When speed is less than 10km/h, safe distance takes 0.5m after car.
- 6. a kind of control method of intelligent automobile anticollision device, collision-prevention device, it is characterised in that usage right is required any one of 1-4 Intelligent automobile anticollision device, collision-prevention device, includes the following steps：Step 1: gathered data, leading vehicle distance and preceding vehicle speed, ultrasonic radar detection rear car distance are detected by laser radar And rear speed, vehicle speed sensor detect this car speed, baroceptor detects the air pressure of air bag layer；Step 2: whether controller is pre- by being carried out to safe distance after leading vehicle distance, Chinese herbaceous peony safe distance, rear car distance and car It is alert to judge and controlled as follows：If judging to need to carry out early warning according to leading vehicle distance and Chinese herbaceous peony safe distance, voice announcer sends police to driver Show；If judging to need to carry out early warning according to safe distance after rear car distance and car, warning light belt starts according to rear distance Flicker；Step 3: if controller judges that driver is not adjusted, controller sends signal, to this car carry out forced deceleration and Braking.
- 7. the control method of intelligent automobile anticollision device, collision-prevention device as claimed in claim 6, it is characterised in that in the step 2, adopt Export the first pre- alarm probability Q respectively with fuzzy control1With the second pre- alarm probability Q2And then early warning is judged whether to, including it is as follows Step：Respectively by Chinese herbaceous peony safe distance and the difference Δ S of leading vehicle distance1, Ben Che and front truck opposite speed Δ V1And first early warning Probability Q1Be converted to the quantification gradation in fuzzy domain；By Chinese herbaceous peony safe distance and the difference Δ S of leading vehicle distance1And Ben Che is with before The opposite speed Δ V of car1Fuzzy control model is inputted, is divided into 7 grades；Fuzzy control model output is first early warning Probability Q1, it is divided into 5 grades；According to the described first pre- alarm probability Q1Judge whether to send driver voice announcer early warning；With AndRespectively by safe distance after car and rear car apart from its difference Δ S2, rear car and this car opposite speed Δ V2And second early warning Probability Q2Be converted to the quantification gradation in fuzzy domain；By safe distance after car and rear car apart from its difference Δ S2And rear car and sheet The opposite speed Δ V of car2Fuzzy control model is inputted, is divided into 7 grades；Fuzzy control model output is second early warning Probability Q2, it is divided into 5 grades；According to the described second pre- alarm probability Q2Whether judge to warn light belt into line flicker.
- 8. the control method of intelligent automobile anticollision device, collision-prevention device as claimed in claim 7, it is characterised in that Chinese herbaceous peony safe distance is with before Car is apart from its difference Δ S1Domain be [- 80,80], Ben Che and front truck opposite speed Δ V1Domain be [- 60,60], described One pre- alarm probability Q1Domain be [0,1], if quantizing factor all be 1, set the first pre- alarm probability Q1Threshold value be 0.44~0.53 In one value；AndSafe distance and rear car are apart from its difference Δ S after car2Domain be [- 80,80], rear car and the opposite speed Δ V of this car2's Domain is [- 60,60], the second pre- alarm probability Q2Domain be [0,1], if quantizing factor all be 1, setting the second early warning it is general Rate Q2Threshold value be 0.49~0.57 in one value.
- 9. the control method of intelligent automobile anticollision device, collision-prevention device as claimed in claim 8, it is characterised in that the Chinese herbaceous peony safe distance With the difference Δ S of leading vehicle distance1Fuzzy set be { NB, NM, NS, ZO, PS, PM, PB }, described car and front truck opposite speed Δ V1Fuzzy set be { NB, NM, NS, ZO, PS, PM, PB }, the first pre- alarm probability Q1Fuzzy set be { S, SM, M, MB, B }； Membership function selects trigonometric function；AndSafe distance and rear car are apart from its difference Δ S after the car2Fuzzy set be { NB, NM, NS, ZO, PS, PM, PB }, after described The opposite speed Δ V of car and this car2Fuzzy set be { NB, NM, NS, ZO, PS, PM, PB }, the second pre- alarm probability Q2Mould Paste collection is { S, SM, M, MB, B }；Membership function selects trigonometric function.
- 10. the control method of intelligent automobile anticollision device, collision-prevention device as claimed in claim 7, it is characterised in that respectively to described first Pre- alarm probability Q1With the described second pre- alarm probability Q2Carry out empirical calibration and obtain the pre- alarm probability Q of the first correction1' and the second correction is in advance Alarm probability Q2', including following trimming process：WhenV0＞ V1When, to the first pre- alarm probability Q of correction1' corrected as follows：<mrow> <msup> <msub> <mi>Q</mi> <mn>1</mn> </msub> <mo>&prime;</mo> </msup> <mo>=</mo> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <mfrac> <msub> <mi>Q</mi> <mn>1</mn> </msub> <msub> <mi>&lambda;</mi> <mn>1</mn> </msub> </mfrac> <mrow> <mo>&lsqb;</mo> <mrow> <mo>-</mo> <mn>0.627</mn> <msup> <mrow> <mo>(</mo> <mfrac> <mrow> <msub> <mi>V</mi> <mn>0</mn> </msub> <mo>-</mo> <msub> <mi>V</mi> <mn>1</mn> </msub> </mrow> <msup> <mi>V</mi> <mo>&prime;</mo> </msup> </mfrac> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <mn>0.672</mn> <msup> <mrow> <mo>(</mo> <mfrac> <mrow> <msub> <mi>V</mi> <mn>0</mn> </msub> <mo>-</mo> <msub> <mi>V</mi> <mn>1</mn> </msub> </mrow> <msup> <mi>V</mi> <mo>&prime;</mo> </msup> </mfrac> <mo>)</mo> </mrow> <mn>1.013</mn> </msup> <mo>+</mo> <mn>0.014</mn> <mi>ln</mi> <mrow> <mo>(</mo> <mfrac> <mrow> <msub> <mi>V</mi> <mn>0</mn> </msub> <mo>-</mo> <msub> <mi>V</mi> <mn>1</mn> </msub> </mrow> <msup> <mi>V</mi> <mo>&prime;</mo> </msup> </mfrac> <mo>)</mo> </mrow> </mrow> <mo>&rsqb;</mo> </mrow> <mo>+</mo> <mfrac> <mrow> <mn>1.113</mn> <msub> <mi>Q</mi> <mn>1</mn> </msub> </mrow> <msub> <mi>&lambda;</mi> <mn>1</mn> </msub> </mfrac> <mo>,</mo> <msub> <mi>V</mi> <mn>0</mn> </msub> <mo>&le;</mo> <mn>40</mn> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mfrac> <msub> <mi>Q</mi> <mn>1</mn> </msub> <msub> <mi>&lambda;</mi> <mn>2</mn> </msub> </mfrac> <mrow> <mo>&lsqb;</mo> <mrow> <mo>-</mo> <mn>0.539</mn> <msup> <mrow> <mo>(</mo> <mfrac> <mrow> <msub> <mi>V</mi> <mn>0</mn> </msub> <mo>-</mo> <msub> <mi>V</mi> <mn>1</mn> </msub> </mrow> <msup> <mi>V</mi> <mo>&prime;</mo> </msup> </mfrac> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <mn>1.141</mn> <msup> <mrow> <mo>(</mo> <mfrac> <mrow> <msub> <mi>V</mi> <mn>0</mn> </msub> <mo>-</mo> <msub> <mi>V</mi> <mn>1</mn> </msub> </mrow> <msup> <mi>V</mi> <mo>&prime;</mo> </msup> </mfrac> <mo>)</mo> </mrow> <mn>1.03</mn> </msup> <mo>+</mo> <mn>0.029</mn> <mi>ln</mi> <mrow> <mo>(</mo> <mfrac> <mrow> <msub> <mi>V</mi> <mn>0</mn> </msub> <mo>-</mo> <msub> <mi>V</mi> <mn>1</mn> </msub> </mrow> <msup> <mi>V</mi> <mo>&prime;</mo> </msup> </mfrac> <mo>)</mo> </mrow> </mrow> <mo>&rsqb;</mo> </mrow> <mo>+</mo> <mfrac> <mrow> <mn>0.754</mn> <msub> <mi>Q</mi> <mn>1</mn> </msub> </mrow> <msub> <mi>&lambda;</mi> <mn>2</mn> </msub> </mfrac> <mo>,</mo> <mn>40</mn> <mo><</mo> <msub> <mi>V</mi> <mn>0</mn> </msub> <mo>&le;</mo> <mn>80</mn> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mfrac> <msub> <mi>Q</mi> <mn>1</mn> </msub> <msub> <mi>&lambda;</mi> <mn>3</mn> </msub> </mfrac> <mrow> <mo>&lsqb;</mo> <mrow> <mo>-</mo> <mn>0.432</mn> <msup> <mrow> <mo>(</mo> <mfrac> <mrow> <msub> <mi>V</mi> <mn>0</mn> </msub> <mo>-</mo> <msub> <mi>V</mi> <mn>1</mn> </msub> </mrow> <msup> <mi>V</mi> <mo>&prime;</mo> </msup> </mfrac> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <mn>1.567</mn> <msup> <mrow> <mo>(</mo> <mfrac> <mrow> <msub> <mi>V</mi> <mn>0</mn> </msub> <mo>-</mo> <msub> <mi>V</mi> <mn>1</mn> </msub> </mrow> <msup> <mi>V</mi> <mo>&prime;</mo> </msup> </mfrac> <mo>)</mo> </mrow> <mn>1.044</mn> </msup> <mo>+</mo> <mn>0.055</mn> <mi>ln</mi> <mrow> <mo>(</mo> <mfrac> <mrow> <msub> <mi>V</mi> <mn>0</mn> </msub> <mo>-</mo> <msub> <mi>V</mi> <mn>1</mn> </msub> </mrow> <msup> <mi>V</mi> <mo>&prime;</mo> </msup> </mfrac> <mo>)</mo> </mrow> </mrow> <mo>&rsqb;</mo> </mrow> <mo>+</mo> <mfrac> <mrow> <mn>0.057</mn> <msub> <mi>Q</mi> <mn>1</mn> </msub> </mrow> <msub> <mi>&lambda;</mi> <mn>3</mn> </msub> </mfrac> <mo>,</mo> <msub> <mi>V</mi> <mn>0</mn> </msub> <mo>></mo> <mn>80</mn> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> </mrow>WhenV2＞ V0When, to the second pre- alarm probability Q of correction2' corrected as follows：<mrow> <msup> <msub> <mi>Q</mi> <mn>2</mn> </msub> <mo>&prime;</mo> </msup> <mo>=</mo> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <mfrac> <msub> <mi>Q</mi> <mn>2</mn> </msub> <msub> <mi>&gamma;</mi> <mn>1</mn> </msub> </mfrac> <mo>&lsqb;</mo> <mo>-</mo> <mn>0.476</mn> <msup> <mrow> <mo>(</mo> <mfrac> <mrow> <msub> <mi>V</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>V</mi> <mn>0</mn> </msub> </mrow> <msup> <mi>V</mi> <mo>&prime;</mo> </msup> </mfrac> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <mn>0.57</mn> <msup> <mrow> <mo>(</mo> <mfrac> <mrow> <msub> <mi>V</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>V</mi> <mn>0</mn> </msub> </mrow> <msup> <mi>V</mi> <mo>&prime;</mo> </msup> </mfrac> <mo>)</mo> </mrow> <mn>1.021</mn> </msup> <mo>+</mo> <mn>0.015</mn> <mi>l</mi> <mi>n</mi> <mrow> <mo>(</mo> <mfrac> <mrow> <msub> <mi>V</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>V</mi> <mn>0</mn> </msub> </mrow> <msup> <mi>V</mi> <mo>&prime;</mo> </msup> </mfrac> <mo>)</mo> </mrow> <mo>&rsqb;</mo> <mo>+</mo> <mfrac> <mrow> <mn>0.909</mn> <msub> <mi>Q</mi> <mn>2</mn> </msub> </mrow> <msub> <mi>&gamma;</mi> <mn>1</mn> </msub> </mfrac> <mo>,</mo> <msub> <mi>V</mi> <mn>0</mn> </msub> <mo>&le;</mo> <mn>40</mn> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mfrac> <msub> <mi>Q</mi> <mn>2</mn> </msub> <msub> <mi>&gamma;</mi> <mn>2</mn> </msub> </mfrac> <mo>&lsqb;</mo> <mo>-</mo> <mn>0.387</mn> <msup> <mrow> <mo>(</mo> <mfrac> <mrow> <msub> <mi>V</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>V</mi> <mn>0</mn> </msub> </mrow> <msup> <mi>V</mi> <mo>&prime;</mo> </msup> </mfrac> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <mn>0.901</mn> <msup> <mrow> <mo>(</mo> <mfrac> <mrow> <msub> <mi>V</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>V</mi> <mn>0</mn> </msub> </mrow> <msup> <mi>V</mi> <mo>&prime;</mo> </msup> </mfrac> <mo>)</mo> </mrow> <mn>1.037</mn> </msup> <mo>+</mo> <mn>0.037</mn> <mi>l</mi> <mi>n</mi> <mrow> <mo>(</mo> <mfrac> <mrow> <msub> <mi>V</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>V</mi> <mn>0</mn> </msub> </mrow> <msup> <mi>V</mi> <mo>&prime;</mo> </msup> </mfrac> <mo>)</mo> </mrow> <mo>&rsqb;</mo> <mo>+</mo> <mfrac> <mrow> <mn>0.594</mn> <msub> <mi>Q</mi> <mn>2</mn> </msub> </mrow> <msub> <mi>&gamma;</mi> <mn>2</mn> </msub> </mfrac> <mo>,</mo> <mn>40</mn> <mo><</mo> <msub> <mi>V</mi> <mn>0</mn> </msub> <mo>&le;</mo> <mn>80</mn> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mfrac> <msub> <mi>Q</mi> <mn>2</mn> </msub> <msub> <mi>&gamma;</mi> <mn>3</mn> </msub> </mfrac> <mo>&lsqb;</mo> <mo>-</mo> <mn>0.476</mn> <msup> <mrow> <mo>(</mo> <mfrac> <mrow> <msub> <mi>V</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>V</mi> <mn>0</mn> </msub> </mrow> <msup> <mi>V</mi> <mo>&prime;</mo> </msup> </mfrac> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <mn>1.756</mn> <msup> <mrow> <mo>(</mo> <mfrac> <mrow> <msub> <mi>V</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>V</mi> <mn>0</mn> </msub> </mrow> <msup> <mi>V</mi> <mo>&prime;</mo> </msup> </mfrac> <mo>)</mo> </mrow> <mn>1.027</mn> </msup> <mo>+</mo> <mn>0.336</mn> <mi>l</mi> <mi>n</mi> <mrow> <mo>(</mo> <mfrac> <mrow> <msub> <mi>V</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>V</mi> <mn>0</mn> </msub> </mrow> <msup> <mi>V</mi> <mo>&prime;</mo> </msup> </mfrac> <mo>)</mo> </mrow> <mo>&rsqb;</mo> <mo>+</mo> <mfrac> <mrow> <mn>0.224</mn> <msub> <mi>Q</mi> <mn>2</mn> </msub> </mrow> <msub> <mi>&gamma;</mi> <mn>3</mn> </msub> </mfrac> <mo>,</mo> <msub> <mi>V</mi> <mn>0</mn> </msub> <mo>></mo> <mn>80</mn> </mrow> </mtd> </mtr> </mtable> </mfenced> </mrow>In formula, S1For leading vehicle distance, SS1For Chinese herbaceous peony safe distance, S2For rear car distance, SS2For safe distance after car, V ' is experience Correction rate, λ1、λ2、λ3、γ1、γ2、γ3It is empirical correction factor；V ' value ranges are 45~60km/h, λ1Value model Enclose for 1.18~1.22, λ2Value range be 1.21~1.24, λ3Value range be 1.25~1.28, γ1Value range For 1.03~1.06, γ2Value range be 1.11~1.14, γ3Value range be 1.22~1.24.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810033609.7A CN108032825B (en) | 2018-01-15 | 2018-01-15 | Intelligent automobile anti-collision device and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810033609.7A CN108032825B (en) | 2018-01-15 | 2018-01-15 | Intelligent automobile anti-collision device and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108032825A true CN108032825A (en) | 2018-05-15 |
| CN108032825B CN108032825B (en) | 2023-11-17 |
Family
ID=62096545
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810033609.7A Active CN108032825B (en) | 2018-01-15 | 2018-01-15 | Intelligent automobile anti-collision device and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108032825B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1740007A (en) * | 2004-08-23 | 2006-03-01 | 赵誓革 | Technological scheme of collision-resisting safety protection system for motor vehicle |
| CN201249725Y (en) * | 2008-06-30 | 2009-06-03 | 邹晓宁 | Rubber cushion safety bumper |
| WO2010000273A1 (en) * | 2008-06-30 | 2010-01-07 | Hadj Souissi | Active and passive outer airbags |
| CN201694142U (en) * | 2010-02-01 | 2011-01-05 | 徐玉华 | Automobile front/rear collision bumper |
| CN102463951A (en) * | 2011-09-07 | 2012-05-23 | 浙江吉利汽车研究院有限公司 | Automobile longitudinal collision mitigating system and control method |
| CN103661190A (en) * | 2014-01-07 | 2014-03-26 | 江苏新安电器有限公司 | Side anticollision device and side anticollision method when large-sized car turns corner |
| CN106428002A (en) * | 2016-11-04 | 2017-02-22 | 辽宁工业大学 | Anti-collision early warning device based on active safety of vehicle and method |
| CN207711992U (en) * | 2018-01-15 | 2018-08-10 | 吉林大学 | A kind of intelligent automobile anticollision device, collision-prevention device |
-
2018
- 2018-01-15 CN CN201810033609.7A patent/CN108032825B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1740007A (en) * | 2004-08-23 | 2006-03-01 | 赵誓革 | Technological scheme of collision-resisting safety protection system for motor vehicle |
| CN201249725Y (en) * | 2008-06-30 | 2009-06-03 | 邹晓宁 | Rubber cushion safety bumper |
| WO2010000273A1 (en) * | 2008-06-30 | 2010-01-07 | Hadj Souissi | Active and passive outer airbags |
| CN201694142U (en) * | 2010-02-01 | 2011-01-05 | 徐玉华 | Automobile front/rear collision bumper |
| CN102463951A (en) * | 2011-09-07 | 2012-05-23 | 浙江吉利汽车研究院有限公司 | Automobile longitudinal collision mitigating system and control method |
| CN103661190A (en) * | 2014-01-07 | 2014-03-26 | 江苏新安电器有限公司 | Side anticollision device and side anticollision method when large-sized car turns corner |
| CN106428002A (en) * | 2016-11-04 | 2017-02-22 | 辽宁工业大学 | Anti-collision early warning device based on active safety of vehicle and method |
| CN207711992U (en) * | 2018-01-15 | 2018-08-10 | 吉林大学 | A kind of intelligent automobile anticollision device, collision-prevention device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108032825B (en) | 2023-11-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202896403U (en) | Automobile rear-end collision warning device | |
| CN103612599A (en) | Vehicle alarm system | |
| CN104875679B (en) | Automobile door opening safety avoidance system and control method thereof | |
| CN102785660A (en) | Vehicle collision-proof early warning device | |
| CN106143449B (en) | A kind of autobrake system | |
| CN109733317A (en) | A kind of automobile multistage intelligent anti-collision system and control method | |
| CN102039865A (en) | Vehicle-mounted traffic accident intelligent warning system and control method thereof | |
| CN105912806A (en) | Small-overlap collision safety airbag control method based on adaptive neural fuzzy inference | |
| CN106864366A (en) | Vehicle anti-collision early warning system and method based on many radars | |
| CN207711992U (en) | A kind of intelligent automobile anticollision device, collision-prevention device | |
| CN201882025U (en) | Anti-collision device for automobile | |
| CN201914097U (en) | Safe assisting system for automobiles | |
| CN106864455A (en) | Novel automobile intelligent safety system | |
| Zhao et al. | Method to optimize key parameters and effectiveness evaluation of the AEB system based on rear-end collision accidents | |
| CN108032825A (en) | A kind of intelligent automobile anticollision device, collision-prevention device and control method | |
| Ross et al. | Vehicle design and the physics of traffic safety | |
| CN115257614B (en) | Whole-process collision safety control system of intelligent automobile and automobile | |
| CN206426932U (en) | A kind of vehicle-mounted pedestrian detects alarming device | |
| CN205075774U (en) | Alleviate air bag system that car weighs down precipice injury | |
| Zhang et al. | Research on subjective evaluation method of automatic emergency braking (AEB) for passenger car | |
| CN208715130U (en) | A kind of vehicle collision avoidance system based on controlled vehicle-mounted electrical rare-earth permanent magnet | |
| CN106904144A (en) | A kind of copilot air bag controlled method and system | |
| CN207842869U (en) | A kind of car collision avoidance System | |
| CN208198586U (en) | New-energy automobile energy-storage system collision protection airbag apparatus | |
| Zhang | Road safety in China: Challenges and opportunities |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |