CN109050459A - A kind of omnidirectional vehicle collision protection system, monitoring protection method and the automobile for being equipped with the system - Google Patents
A kind of omnidirectional vehicle collision protection system, monitoring protection method and the automobile for being equipped with the system Download PDFInfo
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- CN109050459A CN109050459A CN201810830872.9A CN201810830872A CN109050459A CN 109050459 A CN109050459 A CN 109050459A CN 201810830872 A CN201810830872 A CN 201810830872A CN 109050459 A CN109050459 A CN 109050459A
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- 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
- B60R21/0132—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 responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
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- 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
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
-
- 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
- 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
- B60R19/205—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 inflatable in the direction of an obstacle upon impending impact, e.g. using air bags
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- 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
- B60Q2400/00—Special features or arrangements of exterior signal lamps for vehicles
- B60Q2400/50—Projected symbol or information, e.g. onto the road or car body
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of omnidirectional vehicle collision protection system, monitoring protection method and the automobiles for being equipped with the system, system includes comprehensive laser monitoring module, human-computer interaction module, wireless blue tooth module, voice alarm module and urgent auxiliary braking module, wireless blue tooth module is connect with comprehensive laser monitoring module, urgent auxiliary braking module and voice alarm module, realizes the remote wireless transmission of data-signal.The present invention is for the traffic emergency situations easily ignored in vehicle travel process; using the method for high-precision laser range-finding Module cycle monitoring vehicle's surroundings vehicle condition; by under the current vehicle condition of security parameter comparing calculation occur traffic accident a possibility that size; and the measures such as audio alert and urgent auxiliary braking are taken when possibility is greater than a certain particular value to protect safety of person vehicle, reduce collision safety accident occurrence probability.
Description
Technical field
The present invention relates to car crass guard system and methods, more particularly to a kind of omnidirectional vehicle collision protection system
System, monitoring protection method and the automobile for being equipped with the system.
Background technique
In recent years in the case where vehicles number rapid growth, traffic accident and the number of casualties are on the rise.
As drunk driving, fatigue driving, Getting Started, driving a variety of illegal the phenomenon that of driving such as make a phone call, are more serious, traffic thing
Therefore incidence also shows an increasing trend year by year.For due to driver attention do not concentrate and other factors under the influence of can not be timely
Dangerous situation is coped with, a kind of automatic emergency brake system (Automous Emergency Braking, AEB) is produced.
Although existing technology is also achieved compared with much progress, there is also some shortcomings: (1) existing AEB system
Only automobile and the distance between front automobile or barrier and relative velocity where monitoring, but in vehicle travel process, if
Monitoring front vehicles, then can ignore the danger from vehicle two sides and rear；(2) monitoring accuracy of system and speed is not
Height, the function of emergency braking system is not perfect, implementation effect is bad；(3) system price is expensive and has a single function, and is not suitable for reality
Border application.
Summary of the invention
Goal of the invention: it is an object of the present invention to provide a kind of omnidirectional vehicle collision protection systems, monitoring protection
Method and the automobile for being equipped with the system are realized with solving the above-mentioned problems in the prior art to vehicle in driving process
The comprehensive, quick of surrounding security situation, exact cycle monitoring, and audio alert and urgent auxiliary system are taken under dangerous situation
It is dynamic to wait measures, reduce automotive crash safety accident occurrence probability.
Technical solution: for achieving the above object, the present invention adopts the following technical scheme that:
A kind of omnidirectional vehicle collision protection system, the system include: comprehensive laser monitoring module, human-computer interaction mould
Block, wireless blue tooth module, voice alarm module and urgent auxiliary braking module, wherein
The comprehensive laser monitoring module includes control unit, electric power driving module, stepper motor rotary module, high-precision
Spend laser ranging module, signal condition amplifying circuit, filter circuit, high-precision adc data collector and with stepping electricity
The monitoring switch of machine rotary module connection, the electric power driving module are human-computer interaction module, voice alarm module, stepper motor
Rotary module, high-precision laser range-finding module and control unit provide voltage；The stepper motor rotary module output and height
The input connection of precision laser range finder module, high-precision laser range-finding module export successively through signal condition amplifying circuit, filtered electrical
Behind road and high-precision adc data collector, control unit is transferred to by wireless blue tooth module；Described control unit and outside
RTC block and the electrical connection of EEPROM data cache module；
The human-computer interaction module include the TFTLCD touch screen module being electrically connected with control unit, speech recognition module,
EEPROM data cache module, external RTC block；It is single that EEPROM data cache module and external RTC block pass through control respectively
Member is connect with TFTLCD touch screen module, will be from EEPROM data cache module and outside RTC using IIC data transfer mode
The time scale value of reading is transferred to TFTLCD display screen and shows；
The wireless blue tooth module is made with stepper motor rotary module, high-precision adc data collector, urgent auxiliary respectively
Dynamic model block, voice alarm module and control unit connection, realize the remote wireless transmission of data-signal.
Preferably, described control unit by TFTLCD touch screen module and speech recognition module issue control command with
Control all modules；The TFTLCD touch screen module further includes designed, designed gui interface, utilizes stm32 programming software keil
The GUIBuild software developed under environment carries out gui interface design, and benefit shows a C language program code；The TFTLCD is touched
Panel module is according to system monitoring situation display monitoring data and information or according to external RTC block and EEPROM data cache module
It initializes and shows current time value information.
Preferably, the wireless blue tooth module is made of the wireless blue tooth module group that multiple BF10-A bluetooth modules form,
Including the multiple main equipments for being connected to control unit and it is connected to comprehensive laser monitoring module, audio alert mould
Block, urgent auxiliary braking module it is multiple from equipment, pass through the BF10-A agreement generation followed between bluetooth module and bluetooth module
For original serial communication, the remote wireless transmission of data-signal is realized.
Preferably, the voice alarm module includes the module drive control circuit being electrically connected with control unit, SYN6288
Voice playing module, chip interior integrated DAC conversion module and loudspeaker output module；The module drive control circuit
Including reset circuit and condition indication circuit, illustrate that chip is waiting pending datas when STATUS leg signal is low level, when
It indicates that data can be sent to SYN6288 chip when generating a failing edge interrupt requests data；The SYN6288 voice plays
Module provides the asynchronous serial communication interface of one group of full duplex, is connect in fact using TXD and RXD and GND pin with control unit
Existing serial communication；The loudspeaker output module can be directly driven as the push-pull type DAC built in SYN6288, and it is real to carry out voice
When broadcast.
Preferably, the urgent auxiliary braking module includes braking steering engine, by control unit output PWM wave control steering engine rotation
Gyration, the process of simulation brake pedal braking, when system is monitoring that danger is single by control when i.e. vehicle will collide
Member control steering engine is rotated to press to brake pedal, to play the role of emergency deceleration, after system is completed to slow down, control is single
Member control steering engine goes back to initial position.
Preferably, the electric power driving module includes DC voltage source and voltage amplification module, and DC voltage source is by two sections
1.5v dry cell is provided in series 3v DC voltage, amplifies respectively by multiple PT1301 chip voltages, mentions for speech recognition module
For 3.6v driving voltage, 5v voltage is provided for voice alarm module, stepper motor rotary module and TFTLCD display screen, is simultaneously
Control unit provides 3.3v on piece supply voltage.
Preferably, the high-precision laser range-finding module is the OV7725 monocular cam being placed on stepper motor, prison
The relative distance and relative velocity parameters between this vehicle and his vehicle of each orientation are surveyed, data are completed using IIC data communication mode and are passed
It is defeated；Then determine whether vehicle is in unsafe condition compared with security parameter, wherein OV7725 monocular cam uses trigonometry
As a right-angle side, the linear distance between camera and his vehicle utilizes hook stock as bevel edge for ranging, i.e. known vehicle height
Theorem calculates the relative distance between a vehicle；The calculation formula of relative velocity is as follows:Wherein, v is that two vehicles are opposite
Speed, x1For the two vehicle relative distances that first measurement period measures, x2Two vehicles measured for second measurement period it is opposite away from
From time interval of the t between measurement period twice.
In another embodiment of the present invention, a kind of omnidirectional vehicle collision monitoring protection method, this method is based on a kind of full side
Position car crass guard system, which includes: comprehensive laser monitoring module, human-computer interaction module, wireless blue tooth module, language
Sound alarm module and urgent auxiliary braking module, wherein
The comprehensive laser monitoring module includes control unit, electric power driving module, stepper motor rotary module, high-precision
Spend laser ranging module, signal condition amplifying circuit, filter circuit, high-precision adc data collector and with stepping electricity
The monitoring switch of machine rotary module connection, the electric power driving module are human-computer interaction module, voice alarm module, stepper motor
Rotary module, high-precision laser range-finding module and control unit provide voltage；The stepper motor rotary module output and height
The input connection of precision laser range finder module, high-precision laser range-finding module export successively through signal condition amplifying circuit, filtered electrical
Behind road and high-precision adc data collector, control unit is transferred to by wireless blue tooth module；Described control unit and outside
RTC block and the electrical connection of EEPROM data cache module；
The human-computer interaction module include the TFTLCD touch screen module being electrically connected with control unit, speech recognition module,
EEPROM data cache module, external RTC block；It is single that EEPROM data cache module and external RTC block pass through control respectively
Member is connect with TFTLCD touch screen module, will be from EEPROM data cache module and outside RTC using IIC data transfer mode
The time scale value of reading is transferred to TFTLCD display screen and shows；
The wireless blue tooth module is made with stepper motor rotary module, high-precision adc data collector, urgent auxiliary respectively
Dynamic model block, voice alarm module and control unit connection, realize the remote wireless transmission of data-signal；
Method includes the following steps:
(1) system initialization, if each module is in normal operating conditions, normally-open monitoring；Otherwise continue be
System initialization；
(2) human-computer interaction module automatically switches TFTLCD touch screen input command mode or speech recognition inputs order mould
Formula, input order is all converted to digital information by system under both of which, is sent to by wireless blue tooth module from control unit
Each different module；
(3) stepper motor rotary module collocation high-precision laser range-finding module completes comprehensive, quick, precision ranging and tests the speed
Function；
(4) by comparing the relative distance measured and relative velocity with security parameter, the system of obtaining is control unit
No result in a safe condition；
(5) if vehicle is in a safe condition, voice alarm module broadcasts current vehicle condition, and by vehicle current safety distance
Information real-time display is on TFTLCD touch screen；
(6) if vehicle is in the hole and the non-active brake of car owner or indicating brake action are insufficient, system is opened urgent auxiliary
Braking function is helped to release until danger, system restPoses.
Further, the high-precision laser range-finding module is the OV7725 monocular cam being placed on stepper motor,
The relative distance and relative velocity parameters between this vehicle and his vehicle of each orientation are monitored, data are completed using IIC data communication mode
Transmission；Then determine whether vehicle is in unsafe condition compared with security parameter, wherein OV7725 monocular cam uses triangle
As a right-angle side, the linear distance between camera and his vehicle utilizes hook as bevel edge for method ranging, i.e. known vehicle height
Stock theorem calculates the relative distance between a vehicle；The calculation formula of relative velocity is as follows:Wherein, v is two vehicle phases
To speed, x1For the two vehicle relative distances that first measurement period measures, x2Two vehicles measured for second measurement period it is opposite away from
From time interval of the t between measurement period twice.
In another embodiment of the present invention, a kind of automobile being equipped with omnidirectional vehicle collision protection system, including automobile sheet
Body and the omnidirectional vehicle collision protection system being mounted on automobile body, which includes comprehensive laser monitoring module, people
Machine interactive module, wireless blue tooth module, voice alarm module and urgent auxiliary braking module, wherein
The comprehensive laser monitoring module includes control unit, electric power driving module, stepper motor rotary module, high-precision
Signal condition amplifying circuit, filter circuit, the height spending laser ranging module, sequentially being connect with the high-precision laser range-finding module
Precision adc data collector and the monitoring switch connecting with the stepper motor rotary module, the electric power driving module are
Human-computer interaction module, voice alarm module, stepper motor rotary module, high-precision laser range-finding module and control unit provide
Voltage；The stepper motor rotary module output is connected with the input of high-precision laser range-finding module, high-precision laser range-finding module
Output successively after signal condition amplifying circuit, filter circuit and high-precision adc data collector, is passed by wireless blue tooth module
It is defeated by control unit；Described control unit is electrically connected with external RTC block and EEPROM data cache module；
The human-computer interaction module include the TFTLCD touch screen module being electrically connected with control unit, speech recognition module,
EEPROM data cache module and external RTC block；It is single that EEPROM data cache module and external RTC block pass through control respectively
Member is connect with TFTLCD touch screen module, will be from EEPROM data cache module and outside RTC using IIC data transfer mode
The time scale value of reading is transferred to TFTLCD touch screen and shows；
The wireless blue tooth module is made with stepper motor rotary module, high-precision adc data collector, urgent auxiliary respectively
Dynamic model block, voice alarm module and control unit connection, realize the remote wireless transmission of data-signal；
Wherein, control unit is set to below meter panel of motor vehicle, and electric power driving module is placed in inside vehicle chassis, stepping electricity
Machine rotary module is placed in vehicle roof center, and high-precision laser range-finding module is placed on stepper motor rotary module；Human-computer interaction
Module is directly electrically connected with control unit, is placed on the right side of meter panel of motor vehicle；Wireless blue tooth module host directly connects with control unit
It connects, slave part follows each submodule distribution to be set to vehicle various pieces, and is directly connected to each submodule, completes data
It receives；Voice alarm module is set on the inside of vehicle roof；Urgent auxiliary braking module is attached on brake pedal.
The utility model has the advantages that compared with prior art, the invention has the following advantages that
(1) present invention uses comprehensive laser monitoring module, controls stepper motor by control unit, drive is placed in stepping
OV7725 monocular cam rotation on motor, the traveling state of vehicle of monitoring all around different direction, and measure Ben Che with
Relative distance and relative velocity between his vehicle, it is whether in the hole by calculating multilevel iudge vehicle.
(2) present invention has selected stm32f103zet6 chip, which has big memory, more pins, high speed, low-power consumption
The characteristics of, while OV7725 monocular cam is used, AD7705 high precision analogue conversion chip of arranging in pairs or groups realizes high-precision prison rapidly
It surveys.
(3) electric power driving module of the invention makes full use of the low power consumption characteristic of system entirety, and all modules are by same electricity
Tubular member separately designs amplifying circuit according to multiple PT1301 chips, and respectively disparate modules provide supply voltage.
(4) it the present invention provides TFTLCD touch screen and the human-computer interaction module of speech recognition two ways, fully considers
Driver drives concrete condition when vehicle, enhances the practicability and convenience of system.
(5) present invention using bluetooth module instead of all serial communications, facilitate the discrete of each module be distributed with
Real-time communication of data.
(6) urgent auxiliary braking module of the invention is will to brake steering engine to be attached on brake pedal, passes through control steering engine rotation
Turn to press to brake pedal and complete to slow down, only under dangerous situation and after audio alert, driver does not make system
Any reply and active brake measure or indicating brake action not enough can just trigger urgent auxiliary system when so that colliding at once
Dynamic measure.
Detailed description of the invention
Fig. 1 is omnidirectional vehicle collision protection system structure diagram of the present invention；
Fig. 2 is the automobile overall structure diagram for being equipped with system shown in Figure 1；
Fig. 3 is the method for the present invention flow chart.
Specific embodiment
Technical solution of the present invention is described in detail in the following with reference to the drawings and specific embodiments.
The present invention implements a kind of omnidirectional vehicle collision protection system, means of defence and the automobile for being equipped with the system, energy
Enough realize comprehensive, quick, precision ranging speed measuring function, human-computer interaction function, wireless blue tooth transfer function, audio alert function
Can, urgent auxiliary brake function, wherein STM32F103ZET6 is master chip.
As shown in Figure 1, omnidirectional vehicle collision protection system of the invention, including comprehensive laser monitoring module, it is man-machine
Interactive module, wireless blue tooth module, voice alarm module and urgent auxiliary braking module.
Comprehensive laser monitoring module includes control unit, electric power driving module, stepper motor rotary module, swashs in high precision
Ligh-ranging module, signal condition amplifying circuit, filter circuit, high-precision adc data collector and with the stepper motor revolve
The monitoring switch of revolving die block connection.Wherein, electric power driving module is made of DC voltage source, voltage amplification module, DC voltage
Source is provided in series 3v DC voltage by two section 1.5v dry cells, amplifies respectively by multiple PT1301 chip voltages, knows for voice
Other module provides 3.6v driving voltage, provides 5v voltage for voice alarm module, stepping electricity rotary module and TFTLCD display screen,
3.3v on piece supply voltage is provided simultaneously for control unit；Stepper motor rotary module is by control unit control selections rotation angle
Degree monitors different direction traveling state of vehicle；High-precision laser range-finding module is mainly mono- by the OV7725 being placed on stepper motor
Mesh camera composition, entire module are placed in vehicle roof, monitor to obtain not according to the different angle camera that stepper motor rotates
With the traveling state of vehicle in orientation, while keeping monitoring range controllable；Signal condition amplifying circuit and filter circuit are mainly to acquisition
The analog signal arrived carries out signal condition amplification and filtering processing, facilitates next step analog-to-digital conversion, improves the monitoring accuracy of system；
High-precision adc data collector is equipped with AD7705 high precision analogue conversion chip, and acquisition precision is up to 16, using the side SPI
Formula is communicated with control unit.Control unit has selected STM32F103ZET6 chip, which has big memory, more pins, height
The characteristics of speed, low-power consumption.High-precision adc data collector is equipped with AD7705 high precision analogue conversion chip, further increases
Monitoring accuracy.
The human-computer interaction module include the TFTLCD touch screen module being electrically connected with control unit, speech recognition module,
EEPROM data cache module and external RTC block；The onboard control chip of the TFTLCD touch screen module is XPT2046,
XPT2046 is a piece of 4 conducting wire touch screen controller, includes 12 bit resolution 125KHZ conversion rate Step wise approximation type A/D and turns
Parallel operation；The speech recognition module is based primarily upon in the SYN7318 for being integrated with speech recognition, speech synthesis and voice arousal function
Literary voice interaction module design, receives command frame by UART interface communication modes, the voice of 10000 entries can be supported to know
Other and semantic understanding, is easy to implement human-computer interaction；The EEPROM data cache module and external RTC block pass through control respectively
Unit is connect with TFTLCD touch screen module, will be from EEPROM data cache module and outside using IIC data transfer mode
The time scale value that RTC is read is transferred to TFTLCD display screen and shows, the TFTLCD display panel module connects voltage amplification mould
The 5v voltage output of block monitors input control according to touch modules in measurement process and shows different content.
The human-computer interaction module can by TFTLCD touch screen module and speech recognition module issue control command with
Control all modules；The TFTLCD touch screen module further includes designed, designed gui interface, can use stm32 programming software
The GUIBuild software that keil is developed under environment carries out gui interface design, and benefit shows a C language program code；The TFTLCD
Touch screen module, can also be according to external RTC mould other than it can show monitoring data and information according to system monitoring situation
Block and EEPROM data cache module initialize and show the information such as current time value.
The wireless blue tooth module is made of the wireless blue tooth module group that multiple BF10-A bluetooth modules form, including
It is connected to multiple main equipments of control unit and is connected to comprehensive laser monitoring module, voice alarm module, urgent auxiliary
The multiple from equipment of brake module are helped, the original string of BF10-A protocol instead followed between bluetooth module and bluetooth module is passed through
Port communications realize the remote wireless transmission of data-signal.
The voice alarm module includes that the module drive control circuit being electrically connected with control unit, SYN6288 voice are broadcast
Amplification module, chip interior integrated DAC conversion module and loudspeaker output module；The module drive control circuit mainly by
Reset circuit and condition indication circuit composition, illustrate that chip is waiting pending datas when STATUS leg signal is low level, when
It indicates that data can be sent to SYN6288 chip when generating a failing edge interrupt requests data；The SYN6288 voice plays
Module provides asynchronous serial communication (UART) interface of one group of full duplex, utilizes TXD and RXD and GND pin and control unit
Serial communication is realized in connection；The loudspeaker output module can be directly driven as the push-pull type DAC built in SYN6288, be carried out
Voice real-time broadcasting.
The urgent auxiliary braking module is mainly made of braking steering engine, by control unit output PWM wave control steering engine rotation
Gyration, the process of simulation brake pedal braking, when system is when monitoring danger, i.e., system is by calculating this vehicle and working as front
Whether relative distance and speed between his vehicle of position are in unsafe condition with security parameter comparison, when this vehicle is in unsafe condition
It is lower and after system voice is alarmed, driver do not make any reply and active brake measure or indicating brake action not enough with
Urgent auxiliary braking measure can be just triggered as system when colliding at once, rotated from control unit control steering engine to brake and stepped on
Plate pressure, pressure dynamics is codetermined by this vehicle current dangerous degree and indicating brake action, to play the work of urgent auxiliary braking
With after system completes braking process or situation out of danger, control unit control steering engine goes back to initial position.
The stepper motor rotary module can be selected open and-shut mode by monitoring switch, and then control the work shape of whole system
State, and the rotation angle and frequency of stepper motor can pass through human-computer interaction module on-line selection.
As shown in Fig. 2, be equipped with the automobile of omnidirectional vehicle collision protection system, overall structure by vehicle body and from
It dissipates and is distributed in each module of vehicle body different piece and collectively forms, each module is by the power drives that are connected directly with control unit
Module is unified to power.Wherein, the high-precision laser range-finding module being made of the OV7725 monocular cam being placed on stepper motor
It is placed in roof center, is responsible for monitoring the parameters such as relative distance and the relative velocity between this vehicle and his vehicle of each orientation, so as to
Determine whether vehicle is in unsafe condition compared with security parameter in next step, wherein OV7725 monocular cam uses triangle
As a right-angle side, the linear distance between camera and his vehicle utilizes hook as bevel edge for method ranging, i.e. known vehicle height
Stock theorem calculates the relative distance between a vehicle；The calculation formula of relative velocity is as follows:Wherein, V is two vehicle phases
To speed, x1For the two vehicle relative distances that first measurement period measures, x2Two vehicles measured for second measurement period it is opposite away from
From time interval of the t between measurement period twice；The man-machine friendship being made of TFTLCD touch screen module and speech recognition module
Mutual module is directly electrically connected with control unit, is placed on the right side of meter panel of motor vehicle, is facilitated driver's practical operation control system, is realized
Human-computer interaction；Voice alarm module is placed on the inside of roof, broadcasts the traveling state of vehicle of vehicle's surroundings to car owner in real time；Power supply drives
Dynamic model block is placed in inside vehicle chassis, and electric power driving module connects system rest part by conducting wire；Urgent auxiliary braking module
It is mainly made of, is attached on brake pedal braking steering engine, pressed by control steering engine rotation to brake pedal, into master cylinder
Brake fluid apply pressure, pressure is transmitted on the piston of each wheel brake clamp by liquid by pipeline, piston driving brake
Vehicle clamp, which clamp brake disc, enables vehicle deceleration to generate huge frictional force；Control unit is integrated in one and is placed in meter panel of motor vehicle
On internal control single chip computer, control command, comprehensive laser monitoring module monitoring information all by being mounted on each module
On bluetooth module complete data transmission, wireless blue tooth module host is equally placed in the control single chip computer inside meter panel of motor vehicle
On, it is directly electrically connected with control unit, is responsible for sending data；Wireless blue tooth module slave part follows each submodule distribution to set
Vehicle various pieces are placed in, and are directly connected to each submodule, are responsible for that submodule is helped to receive data.
As shown in figure 3, a kind of monitoring protection method based on omnidirectional vehicle collision protection system, this method includes following
Step:
(1) system initialization, if each module is in normal operating conditions, normally-open monitoring；Otherwise continue be
System initialization；
(2) human-computer interaction module automatic switchover TFT touch-screen input command mode or speech recognition input command mode, two
Input order is all converted to digital information by system under kind of mode, is sent to by bluetooth module from control unit each different
Module；
(3) stepper motor rotary module collocation high-precision laser range-finding module completes comprehensive, quick, precision ranging and tests the speed
Function；
(4) by comparing the relative distance measured and relative velocity with security parameter, the system of obtaining is control unit
No result in a safe condition；
(5) if vehicle is in a safe condition, voice alarm module broadcasts current vehicle condition, and by vehicle current safety distance
Information real-time display is on TFTLCD screen；
(6) if vehicle is in the hole and the non-active brake of car owner or indicating brake action are insufficient, system is opened urgent auxiliary
Braking function is helped to release until danger, system restPoses.
The present invention is directed to the traffic emergency situations that driver easily ignores in the process of moving, using high-precision laser range-finding
The method that Module cycle monitors vehicle's surroundings vehicle condition, by with traffic accident occurs under the current vehicle condition of security parameter comparing calculation
Possibility size simultaneously takes corresponding emergency protection measure to protect safety of person vehicle when possibility is greater than a certain particular value.
Claims (10)
1. a kind of omnidirectional vehicle collision protection system, which is characterized in that the system includes: comprehensive laser monitoring module, people
Machine interactive module, wireless blue tooth module, voice alarm module and urgent auxiliary braking module, wherein
The comprehensive laser monitoring module includes control unit, electric power driving module, stepper motor rotary module, swashs in high precision
Ligh-ranging module, signal condition amplifying circuit, filter circuit, high-precision adc data collector and with the stepper motor revolve
The monitoring switch of revolving die block connection, the electric power driving module are human-computer interaction module, voice alarm module, stepper motor rotation
Module, high-precision laser range-finding module and control unit provide voltage；The stepper motor rotary module output and high-precision
Laser ranging module input connection, high-precision laser range-finding module output successively through signal condition amplifying circuit, filter circuit and
After high-precision adc data collector, control unit is transferred to by wireless blue tooth module；Described control unit and outside RTC mould
Block and the electrical connection of EEPROM data cache module；
The human-computer interaction module include the TFTLCD touch screen module being electrically connected with control unit, speech recognition module,
EEPROM data cache module, external RTC block；It is single that EEPROM data cache module and external RTC block pass through control respectively
Member is connect with TFTLCD touch screen module, will be from EEPROM data cache module and outside RTC using IIC data transfer mode
The time scale value of reading is transferred to TFTLCD display screen and shows；
The wireless blue tooth module respectively with stepper motor rotary module, high-precision adc data collector, urgent auxiliary braking mould
Block, voice alarm module and control unit connection, realize the remote wireless transmission of data-signal.
2. a kind of omnidirectional vehicle collision protection system according to claim 1, it is characterised in that: described control unit is logical
It crosses and control command is issued to control all modules to TFTLCD touch screen module and speech recognition module；The TFTLCD touch screen
Module further includes designed, designed gui interface, is carried out using the GUIBuild software that stm32 programming software keil is developed under environment
Gui interface design, benefit show a C language program code；The TFTLCD touch screen module shows according to system monitoring situation and supervises
Measured data and information initialize according to external RTC block and EEPROM data cache module and show current time value information.
3. a kind of omnidirectional vehicle collision protection system according to claim 1, it is characterised in that: the wireless blue tooth mould
Block is made of the wireless blue tooth module group that multiple BF10-A bluetooth modules form, including the multiple masters for being connected to control unit
Equipment and be connected to comprehensive laser monitoring module, voice alarm module, urgent auxiliary braking module it is multiple from equipment,
By the original serial communication of BF10-A protocol instead followed between bluetooth module and bluetooth module, the remote of data-signal is realized
Range wireless transmission.
4. a kind of omnidirectional vehicle collision protection system according to claim 1, it is characterised in that: the audio alert mould
Block includes that the module drive control circuit being electrically connected with control unit, SYN6288 voice playing module, chip interior are integrated
DAC conversion module and loudspeaker output module；The module drive control circuit includes reset circuit and condition indication circuit,
Illustrate that chip is waiting pending datas when STATUS leg signal is low level, when generating a failing edge interrupt requests data
It indicates that data can be sent to SYN6288 chip；The SYN6288 voice playing module provides the asynchronous serial of one group of full duplex
Communication interface is connect with control unit using TXD and RXD and GND pin and realizes serial communication；The loudspeaker output module
It can be directly driven as the push-pull type DAC built in SYN6288, carry out voice real-time broadcasting.
5. a kind of omnidirectional vehicle collision protection system according to claim 1, it is characterised in that: the urgent auxiliary system
Dynamic model block includes braking steering engine, controls steering engine rotation angle degree, the mistake of simulation brake pedal braking by control unit output PWM wave
Journey, when system monitor it is dangerous i.e. vehicle will collide when steering engine controlled from control unit rotate to brake pedal and apply
Pressure, to play the role of emergency deceleration, after system is completed to slow down, control unit control steering engine goes back to initial position.
6. a kind of omnidirectional vehicle collision protection system according to claim 1, it is characterised in that: the power drives mould
Block includes DC voltage source and voltage amplification module, and DC voltage source is provided in series 3v DC voltage by two section 1.5v dry cells,
Respectively by multiple PT1301 chip voltages amplify, provide 3.6v driving voltage for speech recognition module, for voice alarm module,
Stepper motor rotary module and TFTLCD display screen provide 5v voltage, while providing 3.3v on piece supply voltage for control unit.
7. a kind of omnidirectional vehicle collision protection system according to claim 1, it is characterised in that: the high-precision laser
Range finder module is the OV7725 monocular cam being placed on stepper motor, monitor between this vehicle and his vehicle of each orientation it is opposite away from
From and relative velocity parameters, using IIC data communication mode complete data transmission；Then determine that vehicle is compared with security parameter
It is no to be in unsafe condition, wherein OV7725 monocular cam uses triangle measurement method, i.e., known vehicle height is as a right angle
Side, the linear distance between camera and his vehicle calculate the relative distance between a vehicle using Pythagorean theorem as bevel edge；Relatively
The calculation formula of speed is as follows:Wherein, v is two vehicle relative velocities, x1Two vehicles measured for first measurement period
Relative distance, x2For the two vehicle relative distances that second measurement period measures, time interval of the t between measurement period twice.
8. a kind of omnidirectional vehicle collides monitoring protection method, which is characterized in that this method is collided based on a kind of omnidirectional vehicle
Guard system, the system include: comprehensive laser monitoring module, human-computer interaction module, wireless blue tooth module, voice alarm module
And urgent auxiliary braking module, wherein
The comprehensive laser monitoring module includes control unit, electric power driving module, stepper motor rotary module, swashs in high precision
Ligh-ranging module, signal condition amplifying circuit, filter circuit, high-precision adc data collector and with the stepper motor revolve
The monitoring switch of revolving die block connection, the electric power driving module are human-computer interaction module, voice alarm module, stepper motor rotation
Module, high-precision laser range-finding module and control unit provide voltage；The stepper motor rotary module output and high-precision
Laser ranging module input connection, high-precision laser range-finding module output successively through signal condition amplifying circuit, filter circuit and
After high-precision adc data collector, control unit is transferred to by wireless blue tooth module；Described control unit and outside RTC mould
Block and the electrical connection of EEPROM data cache module；
The human-computer interaction module include the TFTLCD touch screen module being electrically connected with control unit, speech recognition module,
EEPROM data cache module, external RTC block；It is single that EEPROM data cache module and external RTC block pass through control respectively
Member is connect with TFTLCD touch screen module, will be from EEPROM data cache module and outside RTC using IIC data transfer mode
The time scale value of reading is transferred to TFTLCD display screen and shows；
The wireless blue tooth module respectively with stepper motor rotary module, high-precision adc data collector, urgent auxiliary braking mould
Block, voice alarm module and control unit connection, realize the remote wireless transmission of data-signal；
Method includes the following steps:
(1) system initialization, if each module is in normal operating conditions, normally-open monitoring；Otherwise at the beginning of continuing system
Beginningization；
(2) human-computer interaction module automatically switches TFTLCD touch screen input command mode or speech recognition inputs command mode,
Input order is all converted to digital information by system under both of which, is sent to by wireless blue tooth module from control unit each
Different modules；
(3) stepper motor rotary module collocation high-precision laser range-finding module completes comprehensive, quick, precision ranging and tests the speed function
Energy；
(4) control unit obtains whether system is located by comparing the relative distance measured and relative velocity with security parameter
In the result of safe condition；
(5) if vehicle is in a safe condition, voice alarm module broadcasts current vehicle condition, and by vehicle current safety range information
Real-time display is on TFTLCD touch screen；
(6) if vehicle is in the hole and the non-active brake of car owner or indicating brake action are insufficient, system opens urgent auxiliary system
Dynamic function is released until danger, and system restPoses.
9. a kind of omnidirectional vehicle according to claim 8 collides monitoring protection method, which is characterized in that the high-precision
Laser ranging module is the OV7725 monocular cam being placed on stepper motor, monitors the phase between this vehicle and his vehicle of each orientation
It adjusts the distance and relative velocity parameters, data transmission is completed using IIC data communication mode；Then vehicle is determined compared with security parameter
Whether be in unsafe condition, wherein OV7725 monocular cam use triangle measurement method, i.e., known vehicle height is as one
Right-angle side, the linear distance between camera and his vehicle calculate the relative distance between a vehicle using Pythagorean theorem as bevel edge；
The calculation formula of relative velocity is as follows:Wherein, v is two vehicle relative velocities, x1It is measured for first measurement period
Two vehicle relative distances, x2For the two vehicle relative distances that second measurement period measures, time of the t between measurement period twice
Interval.
10. a kind of automobile for being equipped with omnidirectional vehicle collision protection system, it is characterised in that: including automobile body and be mounted on
Omnidirectional vehicle collision protection system on automobile body, the system include comprehensive laser monitoring module, human-computer interaction module,
Wireless blue tooth module, voice alarm module and urgent auxiliary braking module, wherein
The comprehensive laser monitoring module includes control unit, electric power driving module, stepper motor rotary module, swashs in high precision
Ligh-ranging module, signal condition amplifying circuit, the filter circuit, high-precision sequentially being connect with the high-precision laser range-finding module
Adc data collector and the monitoring switch connecting with the stepper motor rotary module, the electric power driving module are man-machine
Interactive module, voice alarm module, stepper motor rotary module, high-precision laser range-finding module and control unit provide electricity
Pressure；The stepper motor rotary module output is connected with the input of high-precision laser range-finding module, and high-precision laser range-finding module is defeated
It is successively transmitted after signal condition amplifying circuit, filter circuit and high-precision adc data collector by wireless blue tooth module out
To control unit；Described control unit is electrically connected with external RTC block and EEPROM data cache module；
The human-computer interaction module include the TFTLCD touch screen module being electrically connected with control unit, speech recognition module,
EEPROM data cache module and external RTC block；It is single that EEPROM data cache module and external RTC block pass through control respectively
Member is connect with TFTLCD touch screen module, will be from EEPROM data cache module and outside RTC using IIC data transfer mode
The time scale value of reading is transferred to TFTLCD touch screen and shows；
The wireless blue tooth module respectively with stepper motor rotary module, high-precision adc data collector, urgent auxiliary braking mould
Block, voice alarm module and control unit connection, realize the remote wireless transmission of data-signal；
Wherein, control unit is set to below meter panel of motor vehicle, and electric power driving module is placed in inside vehicle chassis, stepper motor rotation
Revolving die block is placed in vehicle roof center, and high-precision laser range-finding module is placed on stepper motor rotary module；Human-computer interaction module
It is directly electrically connected, is placed on the right side of meter panel of motor vehicle with control unit；Wireless blue tooth module host is directly connected to control unit, from
Machine part follows each submodule distribution to be set to vehicle various pieces, and is directly connected to each submodule, completes data receiver；
Voice alarm module is set on the inside of vehicle roof；Urgent auxiliary braking module is attached on brake pedal.
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