CN108128293A - A kind of autonomous anti-collision system of vehicle - Google Patents
A kind of autonomous anti-collision system of vehicle Download PDFInfo
- Publication number
- CN108128293A CN108128293A CN201711439355.0A CN201711439355A CN108128293A CN 108128293 A CN108128293 A CN 108128293A CN 201711439355 A CN201711439355 A CN 201711439355A CN 108128293 A CN108128293 A CN 108128293A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- collision
- control
- control mechanism
- executing agency
- 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.)
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Classifications
-
- 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
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
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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
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
- B60T13/686—Electrical control in fluid-pressure brake systems by electrically-controlled valves in hydraulic systems or parts thereof
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
Abstract
The invention discloses a kind of autonomous anti-collision systems of vehicle, including sensing mechanism, control mechanism, executing agency, the sensing mechanism is for collection vehicle parameter and is fed through control mechanism, the control mechanism judges the risk of collision of vehicle according to the vehicle data of reception and controls executing agency, and the executing agency performs collision avoidance operation.The advantage of the invention is that：According to vehicle operation data and front-and-rear vehicle distance from judging risk of collision in advance, and warning message is provided in time, and according to preset collision avoidance strategy, control brake system oil pressure, with regulation speed, reduce driver's carelessness or collide wind accident caused by lacking experience.
Description
Technical field
The present invention relates to field of automobile safety, more particularly to a kind of autonomous anti-collision system of automobile.
Background technology
With the continuous growth of car ownership, traffic accident quantity is also swift and violent therewith to be increased, this makes safely economy and life
Into great damage.Since driver can not possibly accomplish to avoid road safety accident completely, automobile oneself is allowed to have peace
Full collision avoidance function is with regard to necessary, it is possible to reduce many traffic accidents.
Invention content
The purpose of the present invention is to provide a kind of autonomous anti-collision system of vehicle, sensor which is carried based on vehicle body and
Distance measuring sensor obtains the state of vehicle, may collide, send out early warning；Vehicle is controlled to brake simultaneously.
To achieve these goals, the technical solution adopted by the present invention is：A kind of autonomous anti-collision system of vehicle, including sensing
Mechanism, control mechanism, executing agency, the sensing mechanism is for collection vehicle parameter and is fed through control mechanism, described
Control mechanism judges the risk of collision of vehicle according to the vehicle data of reception and controls executing agency, and the executing agency performs
Collision avoidance operates.
The sensing mechanism includes onboard sensor and laser radar, and the onboard sensor is used for collection vehicle
Driving parameters, the laser radar is for measuring distance of the vehicle away from front truck.
The parameter of the onboard sensor acquisition includes speed, acceleration, brake pedal aperture.
The control mechanism according to the speed of vehicle, acceleration, brake pedal aperture, front and rear vehicle vehicle Distance Judgment
With the presence or absence of risk of collision.
The executing agency is arrestment mechanism, and the arrestment mechanism includes electro-hydraulic proportional valve, the electric-hydraulic proportion
The aperture of valve control electro-hydraulic proportional valve after the obstacle instruction that control mechanism sends out is connected to so as to control the oil pressure of brake piping, with
Control vehicle deceleration.
The control mechanism is microcontroller, and the microcontroller obtains vehicle driving parameters and fore-aft vehicle distance letter
Breath is judging vehicle there are during risk of collision, by the aperture of PID control electro-hydraulic proportional valve so as to control braking oil pressure.
The advantage of the invention is that：According to vehicle operation data and front-and-rear vehicle distance from judging risk of collision in advance, and in time
Warning message is provided, and according to preset collision avoidance strategy, controls brake system oil pressure, with regulation speed, reduces and drive
Member collides wind accident caused by neglecting or lacking experience.
Description of the drawings
Label in each width attached drawing is expressed to description of the invention below content and figure is briefly described：
Fig. 1 is the autonomous anti-collision system schematic diagram of vehicle of the present invention.
Specific embodiment
Below against attached drawing, by the description to optimum embodiment, the specific embodiment of the present invention is made further detailed
Thin explanation.
As shown in Figure 1, this system uses laser radar as sensing mechanism critical piece, with millimeter wave ultrasonic radar phase
Than laser radar high resolution, precision is high, detection property and strong antijamming capability.Can accurately measure front truck with from vehicle away from
From.Electro-hydraulic proportional valve：Electro-hydraulic proportional valve is executing agency, and terminal control braking system (brake piping) is by electric signal tune
Section passes through the hydraulic pressure of valve and the element of flow, this system selection side valve type proportional pressure valve.The effect of electro-hydraulic proportional valve is to adjust
Brake piping oil pressure, so as to control braking deceleration.Laser radar range, the transmission and reading of information are communicated by LIN
Agreement is parsed, so as to read range information.
Sensing mechanism is for collection vehicle parameter and is fed through control mechanism, and control mechanism is sentenced according to the vehicle data of reception
The risk of collision of disconnected vehicle simultaneously controls executing agency, and executing agency performs collision avoidance operation.Sensing mechanism include onboard sensor with
And laser radar, onboard sensor are used for the driving parameters of collection vehicle, laser radar is used to measure distance of the vehicle away from front truck.
The parameter of onboard sensor acquisition includes speed, acceleration, brake pedal aperture.Control mechanism according to the speed of vehicle, accelerate
Degree, brake pedal aperture, front and rear vehicle vehicle Distance Judgment whether there is risk of collision.Executing agency is arrestment mechanism, described
Arrestment mechanism include electro-hydraulic proportional valve, the electro-hydraulic proportional valve controls electricity after the obstacle instruction that control mechanism sends out is connected to
The aperture of liquid proportional valve is so as to control the oil pressure of brake piping, to control vehicle deceleration.
Risk of collision is calculated according to the speed of the front-and-rear vehicle distance of acquisition and this vehicle, acceleration, brake pedal aperture, by transporting
It is dynamic to learn principle, the relative acceleration for measuring front and rear vehicle is calculated, when front and rear vehicle keeps present speed, rear car catch up with the time of front truck,
Then think the risk for having collision when threshold value of the time less than setting, send out and alarm and braked, reduce speed.Risk of collision
Judgement calculating realized by control mechanism, control mechanism acquisition with data processing computing function chip microcontroller, microcontroller
Vehicle driving parameters and fore-aft vehicle range information are obtained, is judging vehicle there are during risk of collision, it is electro-hydraulic by PID control
The aperture of proportioning valve is so as to control braking oil pressure.
Sensing mechanism is made of laser radar and onboard sensor, and laser radar is responsible for acquiring front obstacle information, vehicle
Set sensor be responsible for acquire autonomous land vehicle from vehicle parameter, including information such as speed, acceleration, brake pedal apertures.
Control mechanism is by singlechip group into according to laser radar data and from vehicle parameter, being set with reference to Safety distance model
Collision avoidance strategy is counted, while according to collision avoidance strategy, automatic braking is realized by PID control electro-hydraulic proportional valve；Executing agency is by electro-hydraulic
The elements such as proportioning valve and two-position three-way valve form, and braking system is controlled according to control strategy.
Electro-hydraulic proportional valve controls brake pressure, and brake pressure P is according to the front truck that sensing mechanism is measured and the speed relatively from vehicle
Degree, relative acceleration and relative distance obtain.
Wherein, PdesIt is expected brake pressure, KbIt (can be obtained for brake force and brake pressure ratio by fitting experimental data
To), m, CD, the numerical value such as A, ρ, f be kinetic parameters, books automobile theory can be consulted and Automobile Design obtains.
Obviously present invention specific implementation is not subject to the restrictions described above, as long as employing the methodology and skill of the present invention
The improvement for the various unsubstantialities that art scheme carries out, within protection scope of the present invention.
Claims (6)
1. a kind of autonomous anti-collision system of vehicle, it is characterised in that：Including sensing mechanism, control mechanism, executing agency, the biography
Sense mechanism is for collection vehicle parameter and is fed through control mechanism, and the control mechanism judges vehicle according to the vehicle data of reception
Risk of collision and control executing agency, the executing agency perform collision avoidance operation.
2. a kind of autonomous anti-collision system of vehicle as described in claim 1, it is characterised in that：The sensing mechanism includes vehicle-mounted
Sensor and laser radar, the onboard sensor are used for the driving parameters of collection vehicle, and the laser radar is used for
Measure distance of the vehicle away from front truck.
3. a kind of autonomous anti-collision system of vehicle as claimed in claim 2, it is characterised in that：The onboard sensor acquisition
Parameter includes speed, acceleration, brake pedal aperture.
4. a kind of autonomous anti-collision system of vehicle as claimed in claim 3, it is characterised in that：The control mechanism is according to vehicle
Speed, acceleration, brake pedal aperture, front and rear vehicle vehicle Distance Judgment whether there is risk of collision.
5. a kind of autonomous anti-collision system of vehicle as described in claim 1, it is characterised in that：The executing agency is brake
Structure, the arrestment mechanism include electro-hydraulic proportional valve, and the electro-hydraulic proportional valve is being connected to the obstacle instruction that control mechanism sends out
The aperture of control electro-hydraulic proportional valve is so as to control the oil pressure of brake piping afterwards, to control vehicle deceleration.
6. a kind of autonomous anti-collision system of vehicle as described in claim 1-5 is arbitrary, it is characterised in that：The control mechanism is
Microcontroller, the microcontroller obtain vehicle driving parameters and fore-aft vehicle range information, and wind is collided judging that vehicle exists
When dangerous, by the aperture of PID control electro-hydraulic proportional valve so as to control braking oil pressure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711439355.0A CN108128293A (en) | 2017-12-27 | 2017-12-27 | A kind of autonomous anti-collision system of vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711439355.0A CN108128293A (en) | 2017-12-27 | 2017-12-27 | A kind of autonomous anti-collision system of vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108128293A true CN108128293A (en) | 2018-06-08 |
Family
ID=62392966
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711439355.0A Pending CN108128293A (en) | 2017-12-27 | 2017-12-27 | A kind of autonomous anti-collision system of vehicle |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1199919A (en) * | 1997-09-30 | 1999-04-13 | Tokico Ltd | Braking hydraulic pressure controller |
| CN1966321A (en) * | 2005-11-18 | 2007-05-23 | 丰田自动车株式会社 | Brake control apparatus and control method thereof |
| CN200954814Y (en) * | 2006-10-20 | 2007-10-03 | 浙江亚太机电股份有限公司 | Vehicle automatic braking system |
| CN104108387A (en) * | 2013-04-15 | 2014-10-22 | 株式会社万都 | Solenoid valve control apparatus and method |
| CN105501204A (en) * | 2016-01-14 | 2016-04-20 | 江苏大学 | Active collision-avoidance system based on novel solenoid valve controlling hydraulic braking and braking method |
| EP3225476A1 (en) * | 2016-03-30 | 2017-10-04 | Autoliv Nissin Brake Systems Japan Co., Ltd. | Vehicle brake hydraulic pressure control device |
-
2017
- 2017-12-27 CN CN201711439355.0A patent/CN108128293A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1199919A (en) * | 1997-09-30 | 1999-04-13 | Tokico Ltd | Braking hydraulic pressure controller |
| CN1966321A (en) * | 2005-11-18 | 2007-05-23 | 丰田自动车株式会社 | Brake control apparatus and control method thereof |
| CN200954814Y (en) * | 2006-10-20 | 2007-10-03 | 浙江亚太机电股份有限公司 | Vehicle automatic braking system |
| CN104108387A (en) * | 2013-04-15 | 2014-10-22 | 株式会社万都 | Solenoid valve control apparatus and method |
| CN105501204A (en) * | 2016-01-14 | 2016-04-20 | 江苏大学 | Active collision-avoidance system based on novel solenoid valve controlling hydraulic braking and braking method |
| EP3225476A1 (en) * | 2016-03-30 | 2017-10-04 | Autoliv Nissin Brake Systems Japan Co., Ltd. | Vehicle brake hydraulic pressure control device |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180608 |
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| RJ01 | Rejection of invention patent application after publication |