CN109774706A - A kind of intelligent braking and throttle judge switching system and its switching method - Google Patents
A kind of intelligent braking and throttle judge switching system and its switching method Download PDFInfo
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- CN109774706A CN109774706A CN201811613456.XA CN201811613456A CN109774706A CN 109774706 A CN109774706 A CN 109774706A CN 201811613456 A CN201811613456 A CN 201811613456A CN 109774706 A CN109774706 A CN 109774706A
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Abstract
The invention discloses a kind of intelligent brakings and throttle to judge switching system and its switching method, the front end of car body is equipped with preposition ultrasonic detector, rear end is equipped with postposition ultrasonic detector, it further include brake load cell, throttle load cell, vehicle-mounted computer, acceleration sensor, engine and brake gear set in car body, the pressure signal of throttle load cell and brake load cell is transferred to engine and brake gear respectively by vehicle-mounted computer.Known to from the above, of the invention a kind of intelligent braking and throttle judge switching system and its switching method, prejudge out whether car body can bump against with barrier, switch throttle by vehicle-mounted computer and the generation to avoid traffic accident of braking, device is ingenious simple, securely and reliably, and low production cost is convenient for universal, security risk and safety accident caused by greatly reducing because of the throttle that accidentally touches on the brake.
Description
Technical field
The present invention relates to a kind of field of intelligent control technology of vehicle, and in particular to a kind of intelligent braking and throttle judgement are cut
Change system and its switching method.
Background technique
Scientific and technological with the continuous improvement of people's living standards be constantly progressive, people's traffic public affairs tool when for trip is wanted
It asks and increasingly improves, promoted Hyundai Motor toward developing on more comfortable, convenient, safe and intelligent direction, it is comfortable to drive
Environment, efficiently line efficiency out allow more and more people by automobile as preferred walking-replacing tool, but following problem
And it is more and more, traffic jam, traffic accident takes place frequently, wherein accidentally touching on the brake with traffic accident caused by throttle is even more that number is unequal to
Number, the also unskilled driver of many driving technologies cause accidentally to step on after upper road because the position of throttle and brake is hard to tell, with
Afterwards there is a phenomenon where knocking into the back or hitting roadside fence, most serious is then possible to the situation for occurring thrusting into lethal generation, and misses
The case where touching on the brake, which also not only only occurs in, to be driven with new hand, just possesses the driver of abundant driving experience at last as prominent
Heat condition and generate and throttle and brake stepped on into wrong situation in flurried, at present it has been reported that much occurring because of emergency case
Tragedy, and often such tragedy once occur just it is inevitable, it is also a kind of accidentally to touch on the brake and the case where throttle is to drive
Occur barrier either people, can not judging the front whether have barrier for driver in the sight blind area for the person of sailing and has just stepped on oil
Door starting automobile and barrier in sight blind area either people can then be bumped against, the blind area that often driver is seated within a vehicle all is
Front lower place and the back lower place, the people at headstock or the tailstock that squats by chance are very easy to be bumped against, and unnecessary accident is caused to occur.
Summary of the invention
It is an object of the invention to: overcome the deficiencies of the prior art and provide a kind of intelligent braking and throttle judgement switching system
System and its switching method avoid anticipate in sight blind area well by installing ultrasonic detector at headstock and the tailstock
Outer phenomenon, and central processing unit carries out the comparison of relative velocity using Doppler effect to the vehicle of front and back, in advance
Sentence whether car body out can bump against with barrier, throttle is switched by vehicle-mounted computer and the generation to avoid traffic accident of braking, device
Ingenious simple, securely and reliably, and low production cost, convenient for universal, safety is hidden caused by greatly reducing because of the throttle that accidentally touches on the brake
Trouble and safety accident；The work on any kind of automobile can be set, so that the range of device application is wider, operability
It is stronger；Diaphragm type capacitor load cell greatly reduces driver in the pressure for driving foot on the way, slows down long-duration driving
The feeling of fatigue of driver；Driver is only lain against on diaphragm type capacitor load cell with by foot, and sensor has experienced pressure just
Brake gear or engine operation can be driven automatically, and change the size of brake force by changing the pressure size on sensor
Or the size of engine drive power, mitigate feeling of fatigue of the driver after long-duration driving, allows driver when trampling throttle or brake
It is more laborsaving；Judge that whether vehicle can bump against traveling with barrier on the way, not only prevent driving using Doppler effect
The emergency situations of member on startup, even more can be monitored in real time the speed for travelling fore-aft vehicle on the way, driver can more pacify
Full traveling；This system is applicable not only to drive unskilled driver, can more allow driver to avoid because emergency situations are accidentally grasped
The phenomenon that making can avoid car to car impact with whole intelligent monitoring, equal traffic accidents of thrusting into.
The technical solution used in the present invention is:
A kind of intelligent braking and throttle judge switching system, including car body, and the front end of the car body is equipped with preposition ultrasonic listening
Device, rear end are equipped with postposition ultrasonic detector, further include brake load cell set in car body, throttle load cell,
Vehicle-mounted computer, acceleration sensor, engine and brake gear, the vehicle-mounted computer respectively with preposition ultrasonic detector,
Postposition ultrasonic detector, brake load cell, throttle load cell and acceleration transducer electrical connection, wherein preposition super
The detectable signal that acoustic detector and postposition ultrasonic detector are collected respectively is transmitted to vehicle-mounted computer, and pressure sensing is surveyed in the brake
The pressure signal that device and throttle load cell are collected respectively is transmitted to vehicle-mounted computer, the speed that the acceleration transducer is collected
Signal and acceleration signal are transmitted to vehicle-mounted computer, and throttle load cell and brake are surveyed pressure sensing respectively by the vehicle-mounted computer
The pressure signal of device is transferred to engine and brake gear.
The present invention is further improved scheme, and the brake load cell and throttle load cell are diaphragm type electricity
Hold load cell.
The brake and throttle carried out using system as described above judges switching method, comprising the following steps:
1) preposition ultrasonic detector and postposition ultrasonic detector respectively detect Chinese herbaceous peony barrier and car and obstruction,
And detectable signal is transmitted to vehicle-mounted computer；The speed signal of car body and acceleration signal are transmitted to by acceleration transducer simultaneously
Vehicle-mounted computer；
2) vehicle-mounted computer is according to the detectable signal of preposition ultrasonic detector and postposition ultrasonic detector, acceleration transducer
Speed signal and acceleration signal calculating judge whether car body can collide with Chinese herbaceous peony barrier or car and obstruction；
3) when vehicle-mounted computer calculate judge car body Chinese herbaceous peony or vehicle after there is no barrier or will not be with Chinese herbaceous peony barrier or vehicle
When barrier collides afterwards, the pressure signal of throttle load cell is transferred to engine, pressure is surveyed in brake by vehicle-mounted computer
The pressure signal of sensor is transferred to brake gear；Judging car body when vehicle-mounted computer calculating can collide with Chinese herbaceous peony barrier, is same
When vehicle-mounted computer when judge that maloperation has occurred in driver, throttle load cell and brake are surveyed pressure sensing by vehicle-mounted computer
The pressure signal of device is transferred to brake gear；
4) judge that car body can be collided with car and obstruction and the Chinese herbaceous peony of car body not have barrier or will not when vehicle-mounted computer calculates
With when Chinese herbaceous peony barrier collides, vehicle-mounted computer judges that maloperation has occurred in driver simultaneously, throttle is surveyed and is pressed by vehicle-mounted computer
The pressure signal of sensor and brake load cell is transferred to engine；
5) when vehicle-mounted computer calculating judges that car body no longer meets brake load cell and the switching of throttle load cell signal
Condition when, the pressure signal of throttle load cell is transferred to engine by vehicle-mounted computer, will brake load cell
Pressure signal be transferred to brake gear.
The further improvement project of the present invention is, in the step 2, it is assumed that the ultrasonic wave of preposition ultrasonic detector is sent out
The frequency for penetrating the issued signal of machine is f1, the frequency of signal received by the ultrasonic receiver of preposition ultrasonic detector is f2,
Relative motion between the ultrasound wave emitter of preposition ultrasonic detector and the ultrasonic receiver of preposition ultrasonic detector
Speed:
f1=(c ± v)/λ=f2±v/λ=f2± △ f, in which:
C is spread speed of the ultrasonic wave in free space,
λ is the wavelength of ultrasonic wave,
The ultrasonic receiver of preposition ultrasonic detector and surpassing for preposition ultrasonic detector can be obtained by △ f=v/ λ
The Doppler frequency shift generated when doing relative motion between acoustic transmitter, comparison difference on the frequency obtain relative velocity in turn.
The further improvement project of the present invention is that a ultrasound source is for linear motion towards observer with speed v, and this
Ultrasound source issues the impulse wave that frequency is v', according to formula:
It calculates,
When observer and ultrasound source are approached each other with relative velocity v, ultrasonic wave v received by observer will be greater than wave source
The ultrasonic frequency v' emitted, it is assumed that the speed of the Chinese herbaceous peony barrier in front of car body is v1, vehicle positioned at car body rear
The speed of barrier is-v afterwards1, the speed for the car body that acceleration transducer is detected is v2, in addition define the quality m of car body2,
The relative distance of car body and Chinese herbaceous peony barrier or car and obstruction is x, it is assumed that after t after a period of time, car body knocks Chinese herbaceous peony barrier
Hinder object or car and obstruction, then it can be with column:
,
Assuming that when brake gear is braked: a<0, when engine driving: a>0；
Thus relative distance x can be released are as follows:
,
Wherein μ is the coefficient of friction of car body,
Then frictional force when vehicle body braking are as follows:
f=μm2g=m2A,
Then automobile wants the minimum acceleration that safety shut-down can't bump against are as follows:
A=μ g,
Further according to publicity:
f*l=m2v2/ 2,
Total braking distance can be calculated are as follows: l=m2v2/μm2g；
Then when car body and Chinese herbaceous peony barrier apart: x=v1t-μg t*t/2-v2t；
When and when car body and car and obstruction apart: x=- v1t+μg t*t/2-v2t；
When, it is the minimum safe distance of car body.
The further improvement project of the present invention is, in the step 3) and step 4), when between car body and Chinese herbaceous peony barrier
Distance when being less than minimum safe distance, or when the distance between car body and Chinese herbaceous peony barrier greater than minimum safe distance but
When distance is less than minimum safe distance between car body and car and obstruction, if: | a | > μ g, Δ t < t；
Wherein | a | by the acceleration absolute value for the car body that acceleration transducer detects, Δ t is | a | vehicle mounted electric under > μ g state
The car body and Chinese herbaceous peony barrier or car and obstruction that brain is calculated bump against the required time；
Vehicle-mounted computer judges that maloperation has occurred in driver at this time.
The further improvement project of the present invention is, in the step 3) and step 4), is surveyed and is pressed by the diaphragm type capacitor
The capacitance of sensor:
C=ε * A/d,
Wherein ε is dielectric constant, and A is pressure suffered by diaphragm type capacitor load cell, and d is diaphragm type capacitor load cell
Two-plate between distance；
The functional relation of the corresponding pressure A of increment △ C of capacitor: △ C=f(A can be obtained)；
The capacitance signal △ C that vehicle-mounted computer is issued by diaphragm type capacitor load cell simulates the behaviour of the driver of car body
Make.
The beneficial effects of the present invention are:
The first, of the invention a kind of intelligent braking and throttle judge switching system and its switching method, by headstock and the tailstock
Place's installation ultrasonic detector is avoided well in sight blind area there is a phenomenon where unexpected, and how general central processing unit utilization is
The comparison that effect carries out relative velocity to the vehicle of front and back is strangled, prejudges out whether car body can bump against with barrier, passes through
The generation that vehicle-mounted computer switching throttle and brake avoid traffic accident, device is ingenious simple, securely and reliably, and low production cost
Convenient for universal, security risk and safety accident caused by greatly reducing because of the throttle that accidentally touches on the brake.
The second, of the invention a kind of intelligent braking and throttle judge switching system and its switching method, can be set in office
Carry out work on the automobile of which kind of class, so that the range of device application is wider, operability is stronger.
Third, a kind of intelligent braking of the invention and throttle judge that switching system and its switching method, diaphragm type capacitor are surveyed
Pressure sensor greatly reduces driver in the pressure for driving foot on the way, slows down the feeling of fatigue of long-duration driving driver.
4th, of the invention a kind of intelligent braking and throttle judge switching system and its switching method, and driver will be only with will
Foot is lain against on diaphragm type capacitor load cell, and sensor has experienced pressure will drive brake gear or engine automatically
Work, and change the size of brake force or the size of engine drive power by changing the pressure size on sensor, mitigate
Feeling of fatigue of the driver after long-duration driving makes driver more laborsaving when trampling throttle or brake.
5th, of the invention a kind of intelligent braking and throttle judge switching system and its switching method, are imitated using Doppler
It should judge that whether vehicle can bump against traveling with barrier on the way, not only prevent the emergency situations of driver on startup,
The speed that traveling fore-aft vehicle on the way even more can be monitored in real time, allows the traveling that driver can be safer.
6th, of the invention a kind of intelligent braking and throttle judge switching system and its switching method, this system is not only fitted
For driving unskilled driver, driver can be more allowed to avoid because the phenomenon that emergency situations maloperation, it can be with whole intelligence
It can monitor and avoid car to car impact, equal traffic accidents of thrusting into.
Detailed description of the invention:
Fig. 1 is the schematic front view of the application.
Fig. 2 is the logic diagram of the application.
Fig. 3 is the control circuit schematic diagram of the application.
Specific embodiment:
In conjunction with Fig. 1 ~ Fig. 3 it is found that the present invention includes car body 10, the front end of the car body 10 be equipped with preposition ultrasonic detector 2, after
End is equipped with postposition ultrasonic detector 3, further include brake load cell 1 set in car body 10, throttle load cell 4,
Vehicle-mounted computer 5, acceleration sensor 6, engine 8 and brake gear 9, the vehicle-mounted computer 5 are visited with preposition ultrasonic wave respectively
Device 2, postposition ultrasonic detector 3, brake load cell 1, throttle load cell 4 and acceleration transducer 6 is surveyed to be electrically connected,
The detectable signal that wherein preposition ultrasonic detector 2 and postposition ultrasonic detector 3 are collected respectively is transmitted to vehicle-mounted computer 5, institute
It states the pressure signal that brake load cell 1 and throttle load cell 4 are collected respectively and is transmitted to vehicle-mounted computer 5, the acceleration
The speed signal and acceleration signal that degree sensor 6 is collected are transmitted to vehicle-mounted computer 5, and the vehicle-mounted computer 5 respectively surveys throttle
The pressure signal of pressure sensor 4 and brake load cell 1 is transferred to engine 8 and brake gear 9.
The brake load cell 1 and throttle load cell 4 are diaphragm type capacitor load cell.
The brake and throttle carried out using system as described above judges switching method, comprising the following steps:
1) preposition ultrasonic detector 2 and postposition ultrasonic detector 3 respectively visit Chinese herbaceous peony barrier and car and obstruction
It surveys, and detectable signal is transmitted to vehicle-mounted computer 5；Acceleration transducer 6 believes the speed signal of car body 10 and acceleration simultaneously
Number it is transmitted to vehicle-mounted computer 5；
2) vehicle-mounted computer 5 is according to detectable signal, the acceleration sensing of preposition ultrasonic detector 2 and postposition ultrasonic detector 3
Speed signal and the acceleration signal calculating of device 6 judge whether car body 10 can touch with Chinese herbaceous peony barrier or car and obstruction
It hits；
3) when vehicle-mounted computer 5 calculate judge car body 10 Chinese herbaceous peony or vehicle after there is no barrier or will not be with Chinese herbaceous peony barrier
Or when car and obstruction collision, the pressure signal of throttle load cell 4 is transferred to engine 8, will stopped by vehicle-mounted computer 5
The pressure signal of vehicle load cell 1 is transferred to brake gear 9；When the calculating of vehicle-mounted computer 5 judges that car body 10 can hinder with Chinese herbaceous peony
Hinder object collision, simultaneously vehicle-mounted computer 5 when judge that maloperation has occurred in driver, vehicle-mounted computer 5 is by throttle load cell 4
Brake gear 9 is transferred to the pressure signal of brake load cell 1；
4) judge that car body 10 can not have barrier with the Chinese herbaceous peony of car and obstruction collision and car body 10 when vehicle-mounted computer 5 calculates
Or will not be with when Chinese herbaceous peony barrier collides, vehicle-mounted computer 5 judges that maloperation has occurred in driver simultaneously, vehicle-mounted computer 5 will
The pressure signal of throttle load cell 4 and brake load cell 1 is transferred to engine 8；
5) when the calculating of vehicle-mounted computer 5 judges that car body 10 no longer meets brake load cell 1 and 4 signal of throttle load cell
When the condition of switching, the pressure signal of throttle load cell 4 is transferred to engine 8, pressure is surveyed in brake by vehicle-mounted computer 5
The pressure signal of sensor 1 is transferred to brake gear 9.
In the step 2, it is assumed that the frequency of the issued signal of ultrasound wave emitter of preposition ultrasonic detector 2 is f1,
The frequency of signal received by the ultrasonic receiver of preposition ultrasonic detector 2 is f2, the ultrasound of preposition ultrasonic detector 2
Speed of related movement between wave transmitter and the ultrasonic receiver of preposition ultrasonic detector 2:
f1=(c ± v)/λ=f2±v/λ=f2± △ f, in which:
C is spread speed of the ultrasonic wave in free space,
λ is the wavelength of ultrasonic wave,
The ultrasonic receiver and preposition ultrasonic detector 2 of preposition ultrasonic detector 2 can be obtained by △ f=v/ λ
The Doppler frequency shift generated when doing relative motion between ultrasound wave emitter, comparison difference on the frequency obtain relative velocity in turn.
One ultrasound source is for linear motion towards observer with speed v, and this ultrasound source issues the arteries and veins that frequency is v'
Wave is rushed, according to formula:
It calculates,
When observer and ultrasound source are approached each other with relative velocity v, ultrasonic wave v received by observer will be greater than wave source
The ultrasonic frequency v' emitted, it is assumed that the speed positioned at the Chinese herbaceous peony barrier in 10 front of car body is v1, it is located at 10 rear of car body
Car and obstruction speed be-v1, the speed for the car body 10 that acceleration transducer 6 is detected is v2, in addition define car body 10
Quality m2, car body 10 is x with the relative distance of Chinese herbaceous peony barrier or car and obstruction, it is assumed that and after t after a period of time, car body
10 knock Chinese herbaceous peony barrier or car and obstruction, then can be with column:
,
Assuming that when brake gear 9 is braked: a<0, when engine 8 drives: a>0；
Thus relative distance x can be released are as follows:
,
Wherein μ is the coefficient of friction of car body 10,
Frictional force when then car body 10 is braked are as follows:
f=μm2g=m2A,
Then automobile wants the minimum acceleration that safety shut-down can't bump against are as follows:
A=μ g,
Further according to publicity:
f*l=m2v2/ 2,
Total braking distance can be calculated are as follows: l=m2v2/μm2g；
Then when car body 10 and Chinese herbaceous peony barrier apart: x=v1t-μg t*t/2-v2t；
When and when car body 10 and car and obstruction apart: x=- v1t+μg t*t/2-v2t；
When, it is the minimum safe distance of car body 10.
In the step 3) and step 4), when the distance between car body 10 and Chinese herbaceous peony barrier are less than minimum safe distance
When, or when the distance between car body 10 and Chinese herbaceous peony barrier be greater than minimum safe distance but car body 10 and car and obstruction it
Between distance be less than minimum safe distance when, if: | a | > μ g, Δ t < t；
Wherein | a | by the acceleration absolute value for the car body (10) that acceleration transducer (6) detects, Δ t is | a | > μ g state
The car body 10 and Chinese herbaceous peony barrier or car and obstruction that lower vehicle-mounted computer 5 is calculated bump against the required time；
Vehicle-mounted computer 5 judges that maloperation has occurred in driver at this time.
In the step 3) and step 4), pass through the capacitance of the diaphragm type capacitor load cell:
C=ε * A/d,
Wherein ε is dielectric constant, and A is pressure suffered by diaphragm type capacitor load cell, and d is diaphragm type capacitor load cell
Two-plate between distance；
The functional relation of the corresponding pressure A of increment △ C of capacitor: △ C=f(A can be obtained)；
The capacitance signal △ C that vehicle-mounted computer 5 is issued by diaphragm type capacitor load cell simulates the driver's of car body 10
Operation.
System circuit diagram of the invention is as shown in Figure 3, comprising: clock circuit, reset circuit, single-chip microcontroller, serial communication electricity
Road, single-chip microcontroller model AT89C51 used, electric control valve control direct current generator by single-chip microcontroller to switch, and single-chip microcontroller will be preposition super
The electric signal that acoustic detector 2, the transmitting of postposition ultrasonic detector 3 come is handled, and confirms road conditions locating for current driver's,
And barrier is judged whether there is, single-chip microcontroller transmits signal control and opens vehicle-mounted computer switch.
Reset circuit: ensure single-chip microcontroller operation, reset circuit has following functions: electrification reset can to internal storage into
Row resets；Synchronize inside and outside clock signal；Voltage fluctuation or it is unstable when, reset circuit is to circuit delay until circuit stability；
Single-chip microcontroller is set to restore normal operating condition by reset circuit when program error.
Serial communication circuit: it is usually used in the data that vehicle-mounted computer obtains remote collection.MAX232 is level shifter interface,
COMPIM, that is, standard computer RS232 interface.The signal that single-chip microcontroller issues is through passing through RS232 interface after MAX232 switching levels
It is transferred to computer.
Circuit system is made of clock circuit, reset circuit, serial communication circuit, chip used model in system
AT89C51。
Clock circuit: the effect of crystal oscillator is that basic clock signal is provided for system, usual one crystalline substance of a system share
Vibration, so that each section keeps synchronizing；Two resonant capacitance sizes depend on the load capacitance value of crystal oscillator, and effect is to filter out interference.
In order to ensure that single-chip microcontroller is run, increase reset circuit to single-chip microcontroller, it has electrification reset can be to internal storage
Resetted, synchronize inside and outside voltage clock signal fluctuation or it is unstable when, reset circuit to circuit delay until circuit stability,
Make the function of single-chip microcontroller recovery normal operating condition by reset circuit when program error.
The ultrasound examination of preposition ultrasonic detector 2, postposition ultrasonic detector 3 uses hc-sro4 ultrasonic distance measurement
Module, the port 2 and 3 both ends of port of hc-sro4 ultrasonic distance measuring module are electrically connected the port single-chip microcontroller INTO1 and INTO2.
Acceleration transducer 6 detects that the speed signal of car body 10 and acceleration signal pass through serial communication 7 and be transmitted to vehicle
Carry computer 5.
Under the premise of there is Chinese herbaceous peony barrier in the front of car body 10 and can knock Chinese herbaceous peony barrier, and vehicle-mounted computer 5
When judging driver for maloperation, vehicle-mounted computer 5 cuts the signal transmission between throttle load cell 4 and engine 8
It is disconnected, and at the same time being transferred to signal measured by throttle load cell 4 as signal measured by brake load cell 1
Brake gear 9 makes 10 braking deceleration of car body, so that car body 10 be avoided to knock Chinese herbaceous peony barrier.
When the front of car body 10 does not have Chinese herbaceous peony barrier or vehicle-mounted computer 5 to judge that car body 10 will not be with Chinese herbaceous peony barrier phase
It hits under the premise of the car and obstruction of car body 10 can knock car body 10, and vehicle-mounted computer 5 judges driver for maloperation
When, the signal between brake load cell 1 and brake gear 9 is transmitted and is cut off by vehicle-mounted computer 5, and at the same time brake is surveyed
Signal measured by pressure sensor 1 is transferred to engine 8 as signal measured by throttle load cell 4, adds car body 10
Speed forward, so that car body 10 be avoided to be knocked by car and obstruction.
Claims (7)
1. a kind of intelligent braking and throttle judge switching system, it is characterised in that: including car body (10), before the car body (10)
End is equipped with preposition ultrasonic detector (2), rear end is equipped with postposition ultrasonic detector (3), further includes set in car body (10)
Brake load cell (1), throttle load cell (4), vehicle-mounted computer (5), acceleration sensor (6), engine (8) and
Brake gear (9), the vehicle-mounted computer (5) respectively with preposition ultrasonic detector (2), postposition ultrasonic detector (3), brake
Load cell (1), throttle load cell (4) and acceleration transducer (6) electrical connection, wherein preposition ultrasonic detector
(2) it is transmitted to vehicle-mounted computer (5) with the detectable signal collected respectively of postposition ultrasonic detector (3), pressure sensing is surveyed in the brake
The pressure signal that device (1) and throttle load cell (4) are collected respectively is transmitted to vehicle-mounted computer (5), the acceleration transducer
(6) speed signal and acceleration signal collected are transmitted to vehicle-mounted computer (5), and throttle is surveyed press respectively by the vehicle-mounted computer (5)
Sensor (4) and the pressure signal of brake load cell (1) are transferred to engine (8) and brake gear (9).
2. a kind of intelligent braking as described in claim 1 and throttle judge switching system, it is characterised in that: pressure is surveyed in the brake
Sensor (1) and throttle load cell (4) are diaphragm type capacitor load cell.
3. using claim 1 ~ 2 its any one of as described in system carry out brake and throttle judge switching method,
Be characterized in that the following steps are included:
1) preposition ultrasonic detector (2) and postposition ultrasonic detector (3) respectively to Chinese herbaceous peony barrier and car and obstruction into
Row detection, and detectable signal is transmitted to vehicle-mounted computer (5)；Acceleration transducer (6) is by the speed signal of car body (10) simultaneously
Vehicle-mounted computer (5) are transmitted to acceleration signal；
2) vehicle-mounted computer (5) is according to the detectable signal of preposition ultrasonic detector (2) and postposition ultrasonic detector (3), acceleration
Spend sensor (6) speed signal and acceleration signal calculating judge car body (10) whether can with hinder after Chinese herbaceous peony barrier or vehicle
Object is hindered to collide；
3) when vehicle-mounted computer (5) calculate judge car body (10) Chinese herbaceous peony or vehicle after there is no barrier or will not hinder with Chinese herbaceous peony
When hindering object or car and obstruction to collide, the pressure signal of throttle load cell (4) is transferred to by vehicle-mounted computer (5) to be started
The pressure signal of brake load cell (1) is transferred to brake gear (9) by machine (8)；Judge when vehicle-mounted computer (5) calculate
Car body (10) can with Chinese herbaceous peony barrier collision, vehicle-mounted computer (5) judges that maloperation has occurred in driver simultaneously when, vehicle mounted electric
The pressure signal of throttle load cell (4) and brake load cell (1) is transferred to brake gear (9) by brain (5)；
4) judge that car body (10) can not have with the Chinese herbaceous peony of car and obstruction collision and car body (10) when vehicle-mounted computer (5) calculate
Barrier or will not with Chinese herbaceous peony barrier collide, vehicle-mounted computer (5) judges that maloperation has occurred in driver simultaneously when, it is vehicle-mounted
The pressure signal of throttle load cell (4) and brake load cell (1) is transferred to engine (8) by computer (5)；
5) judge that car body (10) no longer meets brake load cell (1) and throttle surveys pressure sensing when vehicle-mounted computer (5) calculate
When the condition of device (4) signal switching, the pressure signal of throttle load cell (4) is transferred to by vehicle-mounted computer (5) to be started
The pressure signal of brake load cell (1) is transferred to brake gear (9) by machine (8).
4. brake as claimed in claim 3 and throttle judge switching method, it is characterised in that: in the step 2, it is assumed that preceding
The frequency for setting the issued signal of ultrasound wave emitter of ultrasonic detector (2) is f1, the ultrasound of preposition ultrasonic detector (2)
The frequency of signal received by wave receiver is f2, ultrasound wave emitter and the preposition ultrasonic wave of preposition ultrasonic detector (2)
Speed of related movement between the ultrasonic receiver of detector (2):
f1=(c ± v)/λ=f2±v/λ=f2± △ f, in which:
C is spread speed of the ultrasonic wave in free space,
λ is the wavelength of ultrasonic wave,
The ultrasonic receiver and preposition ultrasonic detector of preposition ultrasonic detector (2) can be obtained by △ f=v/ λ
(2) Doppler frequency shift generated when doing relative motion between ultrasound wave emitter, comparison difference on the frequency obtain relative velocity in turn.
5. brake as claimed in claim 4 and throttle judge switching method, it is characterised in that: a ultrasound source is with speed v court
Observer it is for linear motion, and this ultrasound source issue frequency be v' impulse wave, according to formula:
It calculates,
When observer and ultrasound source are approached each other with relative velocity v, ultrasonic wave v received by observer will be greater than wave source
The ultrasonic frequency v' emitted, it is assumed that the speed for being located at the Chinese herbaceous peony barrier in front of car body (10) is v1, it is located at car body (10)
The speed of the car and obstruction at rear is-v1, the speed for the car body (10) that acceleration transducer (6) is detected is v2, in addition fixed
The quality m of adopted car body (10)2, car body (10) is x with the relative distance of Chinese herbaceous peony barrier or car and obstruction, it is assumed that passes through one section
After time t, car body (10) knocks Chinese herbaceous peony barrier or car and obstruction, then can be with column:
,
Assuming that when brake gear (9) is braked: a<0, when engine (8) drives: a>0；
Thus relative distance x can be released are as follows:
,
Wherein μ is the coefficient of friction of car body (10),
Frictional force when then car body (10) is braked are as follows:
f=μm2g=m2A,
Then automobile wants the minimum acceleration that safety shut-down can't bump against are as follows:
A=μ g,
Further according to publicity:
f*l=m2v2/ 2,
Total braking distance can be calculated are as follows: l=m2v2/μm2g；
Then when car body (10) and Chinese herbaceous peony barrier apart: x=v1t-μg t*t/2-v2t；
When and when car body (10) and car and obstruction apart: x=- v1t+μg t*t/2-v2t；
When, it is the minimum safe distance of car body (10).
6. brake as claimed in claim 5 and throttle judge switching method, it is characterised in that: the step 3) and step 4)
In, when the distance between car body (10) and Chinese herbaceous peony barrier are less than minimum safe distance, or when car body (10) and Chinese herbaceous peony hinder
Hinder the distance between object to be greater than distance between minimum safe distance but car body (10) and car and obstruction and is less than minimum safe distance
When, if: | a | > μ g, Δ t < t；
Wherein | a | by the acceleration absolute value for the car body (10) that acceleration transducer (6) detects, Δ t is | a | > μ g state
The car body (10) and Chinese herbaceous peony barrier or car and obstruction that lower vehicle-mounted computer (5) is calculated bump against the required time；
Vehicle-mounted computer (5) judges that maloperation has occurred in driver at this time.
7. brake as claimed in claim 3 and throttle judge switching method, it is characterised in that: the step 3) and step 4)
In, pass through the capacitance of the diaphragm type capacitor load cell:
C=ε * A/d,
Wherein ε is dielectric constant, and A is pressure suffered by diaphragm type capacitor load cell, and d is diaphragm type capacitor load cell
Two-plate between distance；
The functional relation of the corresponding pressure A of increment △ C of capacitor: △ C=f(A can be obtained)；
The capacitance signal △ C that vehicle-mounted computer (5) is issued by diaphragm type capacitor load cell simulates the driving of car body (10)
The operation of person.
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